def get_urdf_element(self):
attributes = {'joint': self.joint}
if self.multiplier != 1.0:
attributes['multiplier'] = self.multiplier
if self.offset != 0.0:
attributes['offset'] = self.offset
return URDFElement('mimic', attributes)
def get_urdf_element(self):
attributes = {'name': self.name}
if self.type is not None:
attributes['type'] = self.type
attributes.update(self.attr)
elements = self.visual + self.collision + [self.inertial]
return URDFElement('link', attributes, elements)
def get_urdf_element(self):
attributes = {
'damping': self.damping,
'friction': self.friction,
}
attributes.update(self.attr)
return URDFElement('dynamics', attributes)
def get_urdf_element(self):
attributes = {}
if self.name is not None:
attributes['name'] = self.name
attributes.update(self.attr)
elements = [self.origin, self.geometry]
return URDFElement('collision', attributes, elements)
def get_urdf_element(self):
attributes = {}
if self.name is not None:
attributes['name'] = self.name
attributes.update(self.attr)
elements = [self.origin, self.geometry, self.material]
return URDFElement('visual', attributes, elements)
def get_urdf_element(self):
attributes = {
'rising': self.rising,
'falling': self.falling,
'reference_position': self.reference_position,
}
attributes = dict(filter(lambda x: x[1], attributes.items()))
return URDFElement('calibration', attributes)
def get_urdf_element(self):
attributes = {
'k_position': self.k_position,
'soft_lower_limit': self.soft_lower_limit,
'soft_upper_limit': self.soft_upper_limit,
}
attributes = dict(filter(lambda x: x[1], attributes.items()))
attributes['k_velocity'] = self.k_velocity
return URDFElement('safety_controller', attributes)
def get_urdf_element(self):
attributes = {
'lower': self.lower,
'upper': self.upper,
}
attributes = dict(filter(lambda x: x[1], attributes.items()))
attributes['effort'] = self.effort
attributes['velocity'] = self.velocity
return URDFElement('limit', attributes)
def get_urdf_element(self):
attributes = {
'name': self.name,
'type': self.SUPPORTED_TYPES[self.type]
}
attributes.update(self.attr)
elements = [self.parent, self.child, self.axis, self.calibration, self.dynamics,
self.limit, self.safety_controller, self.mimic, self.origin]
return URDFElement('joint', attributes, elements)
def get_urdf_element(self):
attributes = {
'ixx': self.ixx,
'ixy': self.ixy,
'ixz': self.ixz,
'iyy': self.iyy,
'iyz': self.iyz,
'izz': self.izz,
}
return URDFElement('inertia', attributes)
def get_urdf_element(self):
attributes = {'name': self.name}
attributes.update(self.attr)
elements = self.links + self.joints + self.materials
return URDFElement('robot', attributes, elements)
def get_urdf_element(self):
return URDFElement('child', {'link': self.link})
def get_urdf_element(self):
return URDFElement('parent', {'link': self.link})
def get_urdf_element(self):
attributes = {'xyz': "{} {} {}".format(self.x, self.y, self.z)}
attributes.update(self.attr)
return URDFElement('axis', attributes)
def get_urdf_element(self):
attributes = {'value': self.value}
return URDFElement('mass', attributes)
def get_urdf_element(self):
elements = [self.origin, self.mass, self.inertia]
return URDFElement('inertial', elements=elements)
