assert len(self.joints) > 0, "no joint defined"
assert len(self.actuators) > 0, "no actuator defined"
xmlr.reflect(Transmission,
tag='new_transmission',
params=[
name_attribute,
xmlr.Element('type', str),
xmlr.AggregateElement('joint', TransmissionJoint),
xmlr.AggregateElement('actuator', Actuator)
])
xmlr.add_type(
'transmission',
xmlr.DuckTypedFactory('transmission', [Transmission, PR2Transmission]))
class Robot(xmlr.Object):
def __init__(self, name=None):
self.aggregate_init()
self.name = name
self.joints = []
self.links = []
self.materials = []
self.gazebos = []
self.transmissions = []
self.joint_map = {}
self.link_map = {}
name_attribute,
xmlr.Attribute('type', str),
xmlr.Element('actuator', 'element_name'),
xmlr.Element('gap_joint', PR2GapJoint),
xmlr.Element('use_simulated_gripper_joint', 'element_name'),
xmlr.AggregateElement('passive_joint', 'element_name',
'passive_joint'),
xmlr.Element('simulated_actuated_joint',
PR2SimulatedActuatedJoint),
])
#xmlr.add_type('transmission', xmlr.DuckTypedFactory('transmission', [Transmission, PR2WristTransmission, PR2GripperTransmission]))
xmlr.add_type(
'transmission',
xmlr.DuckTypedFactory('transmission', [
Transmission, PR2Transmission, PR2WristTransmission,
PR2GripperTransmission
]))
class Robot(xmlr.Object):
def __init__(self, name=None):
self.aggregate_init()
self.name = name
self.joints = []
self.links = []
self.materials = []
self.gazebos = []
self.transmissions = []
self.joint_map = {}