class Group(xmlr.Object):
def __init__(self, name=None):
self.aggregate_init()
self.name = name
self.links = []
self.joints = []
self.chains = []
self.groups = []
self.subgroups = self.groups
xmlr.reflect(Group,
params=[
name_attribute,
xmlr.AggregateElement('link', Link),
xmlr.AggregateElement('joint', Joint),
xmlr.AggregateElement('chain', Chain),
xmlr.AggregateElement('group', Group)
])
class GroupState(xmlr.Object):
def __init__(self, name=None, group=None):
self.aggregate_init()
self.name = name
self.joints = []
self.group = group
xmlr.reflect(GroupState,
class TransmissionJoint(xmlr.Object):
def __init__(self, name=None):
self.aggregate_init()
self.name = name
self.hardwareInterfaces = []
def check_valid(self):
assert len(self.hardwareInterfaces) > 0, "no hardwareInterface defined"
xmlr.reflect(TransmissionJoint,
tag='joint',
params=[
name_attribute,
xmlr.AggregateElement('hardwareInterface', str),
])
class Transmission(xmlr.Object):
""" New format: http://wiki.ros.org/urdf/XML/Transmission """
def __init__(self, name=None):
self.aggregate_init()
self.name = name
self.joints = []
self.actuators = []
def check_valid(self):
assert len(self.joints) > 0, "no joint defined"
assert len(self.actuators) > 0, "no actuator defined"
@classmethod
def from_parameter_server(cls, key='robot_description'):
"""
Retrieve the robot model on the parameter server
and parse it to create a URDF robot structure.
Warning: this requires roscore to be running.
"""
# Could move this into xml_reflection
import rospy
return cls.from_xml_string(rospy.get_param(key))
xmlr.reflect(
Robot,
tag='robot',
params=[
# name_attribute,
xmlr.Attribute('name', str, False), # Is 'name' a required attribute?
xmlr.AggregateElement('link', Link),
xmlr.AggregateElement('joint', Joint),
xmlr.AggregateElement('gazebo', xmlr.RawType()),
xmlr.AggregateElement('transmission', 'transmission'),
xmlr.AggregateElement('material', Material)
])
# Make an alias
URDF = Robot
xmlr.end_namespace()
if self.collisions:
self.collisions[0] = collision
else:
self.collisions.append(collision)
# Properties for backwards compatibility
visual = property(__get_visual, __set_visual)
collision = property(__get_collision, __set_collision)
xmlr.reflect(Link,
tag='link',
params=[
name_attribute,
origin_element,
xmlr.AggregateElement('visual', Visual),
xmlr.AggregateElement('collision', Collision),
xmlr.Element('inertial', Inertial, False),
])
class PR2Transmission(xmlr.Object):
def __init__(self,
name=None,
joint=None,
actuator=None,
type=None,
mechanicalReduction=1):
self.name = name
self.type = type
self.joint = joint
])
class Link(Entity):
def __init__(self, name=None, pose=None, inertial=None, kinematic=False):
Entity.__init__(self, name, pose)
self.inertial = inertial
self.kinematic = kinematic
xmlr.reflect(Link,
parent_cls=Entity,
params=[
xmlr.Element('inertial', Inertial),
xmlr.Attribute('kinematic', bool, False),
xmlr.AggregateElement('visual', Visual, var='visuals'),
xmlr.AggregateElement('collision',
Collision,
var='collisions')
])
class Model(Entity):
def __init__(self, name=None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(Model,
class Link(Entity):
def __init__(self, name=None, pose=None, inertial=None, kinematic=False):
Entity.__init__(self, name, pose)
self.inertial = inertial
self.kinematic = kinematic
xmlr.reflect(
Link,
parent_cls=Entity,
params=[
xmlr.Element("inertial", Inertial),
xmlr.Attribute("kinematic", bool, False),
xmlr.AggregateElement("visual", Visual, var="visuals"),
xmlr.AggregateElement("collision", Collision, var="collisions"),
],
)
class Model(Entity):
def __init__(self, name=None, pose=None):
Entity.__init__(self, name, pose)
self.links = []
self.joints = []
self.plugins = []
xmlr.reflect(
Model,