from urdf_parser_py.xml_reflection.basics import * import urdf_parser_py.xml_reflection as xmlr # Add a 'namespace' for names so that things don't conflict between URDF and SDF? # A type registry? How to scope that? Just make a 'global' type pointer? # Or just qualify names? urdf.geometric, sdf.geometric xmlr.start_namespace('urdf') xmlr.add_type('element_link', xmlr.SimpleElementType('link', str)) xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3')) verbose = True class Pose(xmlr.Object): def __init__(self, xyz=None, rpy=None): self.xyz = xyz self.rpy = rpy def check_valid(self): assert self.xyz is not None or self.rpy is not None # Aliases for backwards compatibility @property def rotation(self): return self.rpy @rotation.setter def rotation(self, value): self.rpy = value @property def position(self): return self.xyz @position.setter def position(self, value): self.xyz = value
from urdf_parser_py.xml_reflection.basics import * import urdf_parser_py.xml_reflection as xmlr # Add a 'namespace' for names to avoid a conflict between URDF and SDF? # A type registry? How to scope that? Just make a 'global' type pointer? # Or just qualify names? urdf.geometric, sdf.geometric xmlr.start_namespace('urdf') xmlr.add_type('element_link', xmlr.SimpleElementType('link', str)) xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3')) verbose = True class Pose(xmlr.Object): def __init__(self, xyz=None, rpy=None): self.xyz = xyz self.rpy = rpy def check_valid(self): assert (self.xyz is None or len(self.xyz) == 3) and \ (self.rpy is None or len(self.rpy) == 3) # Aliases for backwards compatibility @property def rotation(self): return self.rpy @rotation.setter def rotation(self, value):
from urdf_parser_py.xml_reflection.basics import * import urdf_parser_py.xml_reflection as xmlr # Add a 'namespace' for names so that things don't conflict between URDF and SDF? # A type registry? How to scope that? Just make a 'global' type pointer? # Or just qualify names? urdf.geometric, sdf.geometric xmlr.start_namespace('urdf') xmlr.add_type('element_link', xmlr.SimpleElementType('link', str)) xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3')) verbose = True class Pose(xmlr.Object): def __init__(self, xyz=None, rpy=None): self.xyz = xyz self.rpy = rpy def check_valid(self): assert self.xyz is not None or self.rpy is not None # Aliases for backwards compatibility @property def rotation(self): return self.rpy @rotation.setter def rotation(self, value): self.rpy = value