def test_link_material_missing_color_and_texture(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>
</link>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link',
visual=urdf.Visual(
geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat')))
robot.add_link(link)
self.xml_and_compare(robot, 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'))
robot.add_link(link)
self.xml_and_compare(robot, xml)
def test_new_transmission_multiple_joints(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<transmission name="simple_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="foo_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<joint name="bar_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="foo_motor">
<mechanicalReduction>50.0</mechanicalReduction>
</actuator>
</transmission>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
trans = urdf.Transmission(name='simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name='foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
joint = urdf.TransmissionJoint(name='bar_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name='foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)
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_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_parts(cls, robot_name, links, joints, *args, **kwargs):
"""
:param robot_name:
:param links:
:param joints:
:rtype: URDFObject
"""
r = up.Robot(robot_name)
for link in links:
r.add_link(link)
for joint in joints:
r.add_joint(joint)
return cls(r.to_xml_string(), *args, **kwargs)
def test_old_transmission(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<transmission name="PR2_trans" type="SimpleTransmission">
<joint name="foo_joint"/>
<actuator name="foo_motor"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
</robot>'''
self.parse_and_compare(xml)
robot = urdf.Robot(name='test', version='1.0')
trans = urdf.PR2Transmission(name='PR2_trans', joint='foo_joint', actuator='foo_motor', type='SimpleTransmission', mechanicalReduction=1.0)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)
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 urdfStringFromAffordances(affordanceList):
r = urdf.Robot(name='affordance_environment')
for aff in affordanceList:
r.add_link(linkFromAffordance(aff))
return r.to_xml_string()
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
def generate_robot(namespace):
robot = urdf.Robot("Camera")
ns = namespace
l_base = urdf.Link("base_link")
l_base.inertial = default_inertial()
robot.add_link(l_base)
l_camera = urdf.Link("camera_link")
l_camera.inertial = default_inertial()
l_camera.collision = default_collision()
l_camera.visual = default_visual()
robot.add_link(l_camera)
j_camera = urdf.Joint("camera_joint",
parent="base_link",
child="camera_link",
joint_type="fixed",
axis=[0, 1, 0],
origin=urdf.Pose([-1, 0, 0.5]))
robot.add_joint(j_camera)
a = etree.Element("gazebo", {"reference": "camera_link"})
b = etree.SubElement(a, "sensor", {"type": "camera", "name": "camera1"})
c = etree.SubElement(b, "update_rate")
c.text = "30.0"
d = etree.SubElement(b, "camera", {"name": "camera_main"})
r = etree.SubElement(d, "horizontal_fov")
r.text = "1.3962634"
e = etree.SubElement(d, "image")
f = etree.SubElement(e, "width")
f.text = "800"
g = etree.SubElement(e, "height")
g.text = "800"
h = etree.SubElement(e, "format")
h.text = "R8G8B8"
s = etree.SubElement(d, "clip")
t = etree.SubElement(s, "near")
t.text = "0.02"
w = etree.SubElement(s, "far")
w.text = "300"
i = etree.SubElement(b, "plugin", {
"name": "camera_controller",
"filename": "libgazebo_ros_camera.so"
})
j = etree.SubElement(i, "alwaysOn")
j.text = "true"
k = etree.SubElement(i, "updateRate")
k.text = "0.0"
l = etree.SubElement(i, "cameraName")
l.text = "camera1"
m = etree.SubElement(i, "imageTopicName")
m.text = ns + "camera/image_raw"
n = etree.SubElement(i, "cameraInfoTopicName")
n.text = ns + "camera/info"
o = etree.SubElement(i, "frameName")
o.text = "camera_link"
p = etree.SubElement(a, "static")
p.text = "true"
q = etree.SubElement(a, "turnGravityOff")
q.text = "true"
robot.add_aggregate("gazebo", a)
return robot
