feat: expose rotation axis info in UrdfJoint #985
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EzraBrooks
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Nov 4, 2025
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Great enhancement! one comment about possibly validating the schema
src/urdf/UrdfJoint.ts
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| const axis = xml.getElementsByTagName(UrdfAttrs.Axis); | ||
| if (axis.length > 0) { | ||
| const xyzValue = axis[0].getAttribute(UrdfAttrs.Xyz)?.split(' '); | ||
| if (xyzValue && xyzValue.length === 3) { |
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The axis element itself is optional, however according to the URDF spec the xyz attribute is mandatory if axis exists.
I think we should fail hard (throw) if xyzValue is null or malformed.
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okay, make sense!
EzraBrooks
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Nov 10, 2025
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Sorry to hijack your PR 😉. You did most of the work, I just wanted to get it in!
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Public API Changes
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Description
On some of the urdf joints the default axis is not X, this changes exposes the information adding an
axisfield to the URDF Joint.by default if the value is not available or parseable, use X as fallback.