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