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 test_robot_material(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<material name="mat">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
material = urdf.Material(name='mat', color=urdf.Color([0.0, 0.0, 0.0, 1.0]))
robot.add_aggregate('material', material)
self.xml_and_compare(robot, xml)
def from_object_state(cls, object_state, *args, **kwargs):
"""
:type world_body: knowrob_objects.msg._ObjectState.ObjectState
:rtype: URDFObject
"""
links = []
joints = []
shape = [object_state.size.y, object_state.size.x, object_state.size.z]
if object_state.has_visual and object_state.mesh_path == u'':
geometry = up.Box(shape)
elif object_state.has_visual:
geometry = up.Mesh(object_state.mesh_path)
else:
raise CorruptShapeException(u'object state has no visual')
link = up.Link(object_state.object_id,
visual=up.Visual(geometry,
material=up.Material(u'green',
color=up.Color(
0, 1, 0, 1))),
collision=up.Collision(geometry))
links.append(link)
return cls.from_parts(object_state.object_id, links, joints, *args,
**kwargs)
def colorFromAffordance(aff):
color = aff.getProperty('Color')
return urdf.Color(color[0], color[1], color[2], 1)
def black():
col_black = urdf.Material(name="black", color=urdf.Color([0, 0, 0, 1.0]))
return col_black
def orange():
col_orange = urdf.Material(
name="orange",
color=urdf.Color([1.0, 0.423529411765, 0.0392156862745, 1.0]))
return col_orange
def white():
col_white = urdf.Material(name="white",
color=urdf.Color([1.0, 1.0, 1.0, 1.0]))
return col_white
