Where is the URDF?

[ChenyangRan]

Hi, your work is really helpful. But I need the urdf path transfer parameter, could you please tell me where it is saved? I checked sit-packgs and did not find it.

[stephane-caron]

The way to get the URDF path currently is to import the robot description as a submodule and get the path from it, for example:

$ python
Python 3.12.3 | packaged by conda-forge | (main, Apr 15 2024, 18:38:13) [GCC 12.3.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> from robot_descriptions import jvrc_description
>>> jvrc_description.URDF_PATH
'/home/your_user/.cache/robot_descriptions/jvrc_description/urdf/jvrc1.urdf'

Unlike example-robot-data where all descriptions are packaged and installed to site-packages, in robot_descriptions the descriptions are cloned to a local cache at runtime. You can set the location of this cache via the ROBOT_DESCRIPTIONS_CACHE environment variable.