"""
Retrieve the robot semantic model on the parameter server
and parse it to create a SRDF robot structure.
Warning: this requires roscore to be running.
"""
# Could move this into xml_reflection
import rospy
return cls.from_xml_string(rospy.get_param(key))
xmlr.reflect(
Robot,
tag='robot',
params=[
# name_attribute,
xmlr.Attribute('name', str, False), # Is 'name' a required attribute?
xmlr.AggregateElement('group', Group),
xmlr.AggregateElement('group_state', GroupState),
xmlr.AggregateElement('end_effector', EndEffector),
xmlr.AggregateElement('virtual_joint', VirtualJoint),
xmlr.AggregateElement('passive_joint', PassiveJoint),
xmlr.AggregateElement('disable_collisions', DisableCollisions),
xmlr.AggregateElement('link_sphere_approximation',
LinkSphereApproximation)
])
# Make an alias
SRDF = Robot
xmlr.end_namespace()
root = link
assert root is not None, "No roots detected, invalid URDF."
return root
@classmethod
def from_parameter_server(cls, key = 'robot_description'):
"""
Retrieve the robot model on the parameter server
and parse it to create a URDF robot structure.
Warning: this requires roscore to be running.
"""
# Could move this into xml_reflection
import rospy
return cls.from_xml_string(rospy.get_param(key))
xmlr.reflect(Robot, tag = 'robot', params = [
# name_attribute,
xmlr.Attribute('name', str, False), # Is 'name' a required attribute?
xmlr.AggregateElement('link', Link),
xmlr.AggregateElement('joint', Joint),
xmlr.AggregateElement('gazebo', xmlr.RawType()),
xmlr.AggregateElement('transmission', 'transmission'),
xmlr.AggregateElement('material', Material)
])
# Make an alias
URDF = Robot
xmlr.end_namespace()
xmlr.reflect(Link,
parent_cls=Entity,
params=[
xmlr.Element('inertial', Inertial),
xmlr.Attribute('kinematic', bool, False),
xmlr.AggregateElement('visual', Visual, var='visuals'),
xmlr.AggregateElement('collision',
Collision,
var='collisions')
])
class Model(Entity):
def __init__(self, name=None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(Model,
parent_cls=Entity,
params=[
xmlr.AggregateElement('link', Link, var='links'),
xmlr.AggregateElement('joint', Joint, var='joints'),
xmlr.AggregateElement('plugin', Plugin, var='plugins')
])
xmlr.end_namespace('sdf')
class Link(Entity):
def __init__(self, name = None, pose = None, inertial = None, kinematic = False):
Entity.__init__(self, name, pose)
self.inertial = inertial
self.kinematic = kinematic
xmlr.reflect(Link, parent_cls = Entity, params = [
xmlr.Element('inertial', Inertial),
xmlr.Attribute('kinematic', bool, False),
xmlr.AggregateElement('visual', Visual, var = 'visuals'),
xmlr.AggregateElement('collision', Collision, var = 'collisions')
])
class Model(Entity):
def __init__(self, name = None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(Model, parent_cls = Entity, params = [
xmlr.AggregateElement('link', Link, var = 'links'),
xmlr.AggregateElement('joint', Joint, var = 'joints'),
xmlr.AggregateElement('plugin', Plugin, var = 'plugins')
])
xmlr.end_namespace('sdf')
Link,
parent_cls=Entity,
params=[
xmlr.Element("inertial", Inertial),
xmlr.Attribute("kinematic", bool, False),
xmlr.AggregateElement("visual", Visual, var="visuals"),
xmlr.AggregateElement("collision", Collision, var="collisions"),
],
)
class Model(Entity):
def __init__(self, name=None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(
Model,
parent_cls=Entity,
params=[
xmlr.AggregateElement("link", Link, var="links"),
xmlr.AggregateElement("joint", Joint, var="joints"),
xmlr.AggregateElement("plugin", Plugin, var="plugins"),
],
)
xmlr.end_namespace("sdf")
Link,
parent_cls=Entity,
params=[
xmlr.Element("inertial", Inertial),
xmlr.Attribute("kinematic", bool, False),
xmlr.AggregateElement("visual", Visual, var="visuals"),
xmlr.AggregateElement("collision", Collision, var="collisions"),
],
)
class Model(Entity):
def __init__(self, name=None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(
Model,
parent_cls=Entity,
params=[
xmlr.AggregateElement("link", Link, var="links"),
xmlr.AggregateElement("joint", Joint, var="joints"),
xmlr.AggregateElement("plugin", Plugin, var="plugins"),
],
)
xmlr.end_namespace("sdf")