Loading Worlds

Loading Worlds#

This exercise shows how to load a world description from a URDF file using the URDFParser.

You will:

  • Compose a file path to a URDF file shipped with this repository

  • Use URDFParser to create a World

0. Setup#

Just execute this cell without changing anything.

1. Load the table world#

Your goal:

  • Load the URDF file into a World and store it in a variable named world

root = get_semantic_digital_twin_directory_root(os.getcwd())
table_urdf = os.path.join(root, "resources", "urdf", "table.urdf")

world = URDFParser.from_file(table_urdf).parse()
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