skrobot.sdf.signed_distance_function.link2sdf

skrobot.sdf.signed_distance_function.link2sdf(link, urdf_path, dim_grid=30)[source]

Convert Link to corresponding sdf

Parameters:

  • link (skrobot.model.Link) – link object

  • urdf_path (str) – urdf path of the robot model that the link belongs to

  • dim_grid (int) – dimension of the GridSDF

Returns:

sdf – corresponding signed distance function to the link type. e.g. if Link has geometry of urdf.Box, then BoxSDF is created.

Return type:

skrobot.sdf.SignedDistanceFunction