def geometryFromAffordance(aff):
if isinstance(aff, affordanceitems.SphereAffordanceItem):
radius = aff.getProperty('Radius')
return urdf.Sphere(radius=radius)
if isinstance(aff, affordanceitems.BoxAffordanceItem):
dimensions = aff.getProperty('Dimensions')
return urdf.Box(size=dimensions)
if isinstance(aff, affordanceitems.CylinderAffordanceItem):
return urdf.Cylinder(length=aff.getProperty('Length'),
radius=aff.getProperty('Radius'))
if isinstance(aff, affordanceitems.CapsuleAffordanceItem):
return urdf.Cylinder(length=aff.getProperty('Length'),
radius=aff.getProperty('Radius'))
if isinstance(aff, affordanceitems.CapsuleRingAffordanceItem):
raise Exception('not supported yet')
if isinstance(aff, affordanceitems.MeshAffordanceItem):
filename = aff.getProperty('Filename')
filename = affordanceitems.MeshAffordanceItem.getMeshManager(
).getFilesystemFilename(filename)
return urdf.Mesh(filename=filename, scale=[1.0, 1.0, 1.0])
def test_xml_and_urdfdom_robot_only_supported_since_melodic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.add_aggregate(
'visual',
urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat')))
link.add_aggregate(
'visual',
urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2')))
link.add_aggregate(
'collision',
urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1)))
link.add_aggregate(
'collision',
urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5)))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))
def test_link_multiple_collision(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<link name="link">
<collision>
<geometry>
<cylinder length="1" radius="1"/>
</geometry>
</collision>
<collision>
<geometry>
<cylinder length="4" radius="0.5"/>
</geometry>
</collision>
</link>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.collision = urdf.Collision(
geometry=urdf.Cylinder(length=1, radius=1))
link.collision = urdf.Collision(
geometry=urdf.Cylinder(length=4, radius=0.5))
robot.add_link(link)
self.xml_and_compare(robot, xml)
def test_link_multiple_visual(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<link name="link">
<visual>
<geometry>
<cylinder length="1" radius="1"/>
</geometry>
<material name="mat"/>
</visual>
<visual>
<geometry>
<cylinder length="4" radius="0.5"/>
</geometry>
<material name="mat2"/>
</visual>
</link>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2'))
robot.add_link(link)
self.xml_and_compare(robot, xml)
def default_collision(geometry=None, origin=None):
""" Return default collision """
if geometry is None:
geometry = urdf.Cylinder(radius=0.05, length=n_len)
if origin is None:
origin = urdf.Pose(xyz=[0, 0, n_len / 2], rpy=[0, 0, 0])
return urdf.Collision(geometry=geometry, origin=origin)
def default_visual(geometry=None, origin=None):
if geometry is None:
geometry = urdf.Cylinder(radius=0.05, length=n_len)
if origin is None:
origin = urdf.Pose(xyz=[0, 0, n_len / 2], rpy=[0, 0, 0])
return urdf.Visual(geometry=geometry,
origin=origin,
material=urdf.Material("Gazebo/Black"))
def frame_visual(geometry=None, origin=None):
if geometry is None:
geometry = urdf.Cylinder(radius=l_f_rad, length=l_f_len)
if origin is None:
origin = urdf.Pose(xyz=[0, 0, l_f_len / 2], rpy=[0, 0, 0])
return urdf.Visual(geometry=geometry,
origin=origin,
material=urdf.Material(name="Gazebo/Orange"))
def test_xml_and_urdfdom_robot_compatible_with_kinetic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2'))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))
def frame_collision(scale=1):
""" Return default collision """
# if geometry is None:
_x = (0.033 / 2) * scale
_y = (0.022 / 2) * scale
_z = (0.103 / 2) * scale
geometry = urdf.Cylinder(length=_z, radius=_x)
# if origin is None:
origin = urdf.Pose(xyz=[0, 0, 0], rpy=[0, 0, 0])
return urdf.Collision(geometry=geometry, origin=origin)
def from_world_body(cls, world_body, *args, **kwargs):
"""
:type world_body: giskard_msgs.msg._WorldBody.WorldBody
:rtype: URDFObject
"""
links = []
joints = []
if world_body.type == world_body.PRIMITIVE_BODY or world_body.type == world_body.MESH_BODY:
if world_body.shape.type == world_body.shape.BOX:
geometry = up.Box(world_body.shape.dimensions)
elif world_body.shape.type == world_body.shape.SPHERE:
geometry = up.Sphere(world_body.shape.dimensions[0])
elif world_body.shape.type == world_body.shape.CYLINDER:
geometry = up.Cylinder(
world_body.shape.dimensions[
world_body.shape.CYLINDER_RADIUS],
world_body.shape.dimensions[
world_body.shape.CYLINDER_HEIGHT])
elif world_body.shape.type == world_body.shape.CONE:
raise TypeError(u'primitive shape cone not supported')
elif world_body.type == world_body.MESH_BODY:
geometry = up.Mesh(world_body.mesh)
else:
raise CorruptShapeException(
u'primitive shape \'{}\' not supported'.format(
world_body.shape.type))
# FIXME test if this works on 16.04
try:
link = up.Link(world_body.name)
link.add_aggregate(
u'visual',
up.Visual(geometry,
material=up.Material(u'green',
color=up.Color(0, 1, 0,
1))))
link.add_aggregate(u'collision', up.Collision(geometry))
except AssertionError:
link = up.Link(world_body.name,
visual=up.Visual(geometry,
material=up.Material(
u'green',
color=up.Color(0, 1, 0,
1))),
collision=up.Collision(geometry))
links.append(link)
elif world_body.type == world_body.URDF_BODY:
o = cls(world_body.urdf, *args, **kwargs)
o.set_name(world_body.name)
return o
else:
raise CorruptShapeException(
u'world body type \'{}\' not supported'.format(
world_body.type))
return cls.from_parts(world_body.name, links, joints, *args, **kwargs)
def frame_visual(scale=10):
""" Return default collision """
# if geometry is None:
_x = (0.033 / 2) * scale
_y = (0.022 / 2) * scale
_z = (0.103 / 2) * scale
# geometry = urdf.Box(size=[_x, _y,
# _z])
geometry = urdf.Cylinder(length=_z, radius=_x)
# if origin is None:
origin = urdf.Pose(xyz=[0, 0, 0], rpy=[0, 0, 0])
return urdf.Visual(geometry=geometry, origin=origin, material=orange())
def generate_robot(namespace):
""" Generate Inverted Pendulum URDF """
# Robot
robot = urdf.Robot(name)
# Base
l_world = urdf.Link("world")
robot.add_link(l_world)
# Frame
frame_geometry = urdf.Cylinder(radius=l_f_rad, length=l_f_len)
l_frame = urdf.Link("l_frame")
l_frame.collision = frame_collision(geometry=frame_geometry)
l_frame.inertial = frame_inertial()
l_frame.visual = frame_visual(geometry=frame_geometry)
robot.add_link(l_frame)
# World Joint
j_world = urdf.Joint(name="fixed",
parent="world",
child="l_frame",
joint_type="fixed",
origin=urdf.Pose([0, 0, 0], [0, 0, 0]))
robot.add_joint(j_world)
# Links
l_link = [urdf.Link("l_{}".format(i)) for i in range(n_links)]
j_link = [urdf.Joint("j_{}".format(i)) for i in range(n_links)]
for i in range(n_links):
l_y = (0.1 if i == 0 else 2 * l_link_rad)
l_z = ((l_f_len - 0.05) if i == 0 else (l_link_len - 0.05))
l_pos = urdf.Pose(xyz=[0, l_y, l_z], rpy=[0, 0, 0])
l_link[i].visual = default_visual()
l_link[i].inertial = default_inertial()
l_link[i].collision = default_collision()
robot.add_link(l_link[i])
j_link[i] = urdf.Joint(
name="j_{}".format(i),
parent=("l_frame" if i == 0 else "l_{}".format(i - 1)),
child="l_{}".format(i),
origin=l_pos,
joint_type="continuous",
axis=[0, 1, 0],
dynamics=default_dynamics())
robot.add_joint(j_link[i])
for joint in j_link:
# Transmission
t = urdf.Transmission(joint.name + "_trans")
t.type = "transmission_interface/SimpleTransmission"
transjoint = urdf.TransmissionJoint(name=joint.name)
transjoint.add_aggregate("hardwareInterface", "EffortJointInterface")
t.add_aggregate("joint", transjoint)
actuator = urdf.Actuator(joint.name + "_motor")
actuator.mechanicalReduction = 1
t.add_aggregate("actuator", actuator)
robot.add_aggregate("transmission", t)
# joint force-torque sensors
if use_ftSensors:
joints = get_continous_joints(robot)
for joint_i, joint in enumerate(joints):
# Provide feedback
a = etree.Element("gazebo", {"reference": joint.name})
b = etree.SubElement(a, "provideFeedback")
b.text = "true"
robot.add_aggregate("gazebo", a)
# Sensor
a = etree.Element("gazebo")
b = etree.SubElement(
a, "plugin", {
"name": "force_torque_plugin_" + joint.name,
"filename": "libgazebo_ros_ft_sensor.so"
})
c = etree.SubElement(b, "alwaysOn")
c.text = "true"
d = etree.SubElement(b, "updateRate")
d.text = "100"
d = etree.SubElement(b, "jointName")
d.text = joint.name
d = etree.SubElement(b, "topicName")
d.text = namespace + "ftSensors/" + joint.name
robot.add_aggregate("gazebo", a)
# Gazebo Color Plugin for all links
for link_i, link in enumerate(get_all_links(robot)):
a = etree.Element("gazebo", {"reference": link.name})
b = etree.SubElement(a, "material")
b.text = "Gazebo/Black"
robot.add_aggregate("gazebo", a)
# Gazebo Color Plugin for Frame
a = etree.Element("gazebo", {"reference": "l_frame"})
b = etree.SubElement(a, "material")
b.text = "Gazebo/Orange"
robot.add_aggregate("gazebo", a)
# Gazebo plugin
a = etree.Element("gazebo")
b = etree.SubElement(a, "plugin", {
"name": "gazebo_ros_control",
"filename": "libgazebo_ros_control.so"
})
c = etree.SubElement(b, "robotNamespace")
c.text = namespace
# d = etree.SubElement(b, "robotParam")
# d.text = "/robot_description"
robot.add_aggregate("gazebo", a)
return robot
