from urdf_parser_py.xml_reflection.basics import *
import urdf_parser_py.xml_reflection as xmlr
xmlr.start_namespace('srdf')
verbose = True
# Common stuff
name_attribute = xmlr.Attribute('name', str)
class Link(xmlr.Object):
def __init__(self, name=None):
self.name = name
xmlr.reflect(Link, params=[name_attribute])
class Joint(xmlr.Object):
def __init__(self, name=None):
self.name = name
xmlr.reflect(Joint, params=[name_attribute])
class JointVal(xmlr.Object):
def __init__(self, name=None, value=[]):
self.name = name
self.value = value
@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
xmlr.reflect(Pose,
params=[
xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]),
xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0])
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
def rotation(self, value):
self.rpy = value
@property
def position(self):
return self.xyz
@position.setter
def position(self, value):
self.xyz = value
xmlr.reflect(Pose,
tag='origin',
params=[
xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]),
xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0])
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
return xyz + rpy
def read_xml(self, node):
# Better way to do this? Define type?
vec = get_type('vector6').read_xml(node)
self.load_vec(vec)
def write_xml(self, node):
vec = self.as_vec()
get_type('vector6').write_xml(node, vec)
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute('name', str)
pose_element = xmlr.Element('pose', Pose, False)
class Entity(xmlr.Object):
def __init__(self, name=None, pose=None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params=[name_attribute, pose_element])
class Inertia(xmlr.Object):
KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']
@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
xmlr.reflect(Pose,
params=[
xmlr.Attribute('xyz', 'vector3', False),
xmlr.Attribute('rpy', 'vector3', False)
])
# Common stuff
name_attribute = xmlr.Attribute('name', str)
origin_element = xmlr.Element('origin', Pose, False)
class Color(xmlr.Object):
def __init__(self, *args):
# What about named colors?
count = len(args)
if count == 4 or count == 3:
self.rgba = args
elif count == 1:
return xyz + rpy
def read_xml(self, node):
# Better way to do this? Define type?
vec = get_type("vector6").read_xml(node)
self.load_vec(vec)
def write_xml(self, node):
vec = self.as_vec()
get_type("vector6").write_xml(node, vec)
def check_valid(self):
assert self.xyz is not None or self.rpy is not None
name_attribute = xmlr.Attribute("name", str)
pose_element = xmlr.Element("pose", Pose, False)
class Entity(xmlr.Object):
def __init__(self, name=None, pose=None):
self.name = name
self.pose = pose
xmlr.reflect(Entity, params=[name_attribute, pose_element])
class Inertia(xmlr.Object):
KEYS = ["ixx", "ixy", "ixz", "iyy", "iyz", "izz"]
