def get_urdf_element(self): attributes = {'joint': self.joint} if self.multiplier != 1.0: attributes['multiplier'] = self.multiplier if self.offset != 0.0: attributes['offset'] = self.offset return URDFElement('mimic', attributes)
def get_urdf_element(self): attributes = {'name': self.name} if self.type is not None: attributes['type'] = self.type attributes.update(self.attr) elements = self.visual + self.collision + [self.inertial] return URDFElement('link', attributes, elements)
def get_urdf_element(self): attributes = { 'damping': self.damping, 'friction': self.friction, } attributes.update(self.attr) return URDFElement('dynamics', attributes)
def get_urdf_element(self): attributes = {} if self.name is not None: attributes['name'] = self.name attributes.update(self.attr) elements = [self.origin, self.geometry] return URDFElement('collision', attributes, elements)
def get_urdf_element(self): attributes = {} if self.name is not None: attributes['name'] = self.name attributes.update(self.attr) elements = [self.origin, self.geometry, self.material] return URDFElement('visual', attributes, elements)
def get_urdf_element(self): attributes = { 'rising': self.rising, 'falling': self.falling, 'reference_position': self.reference_position, } attributes = dict(filter(lambda x: x[1], attributes.items())) return URDFElement('calibration', attributes)
def get_urdf_element(self): attributes = { 'k_position': self.k_position, 'soft_lower_limit': self.soft_lower_limit, 'soft_upper_limit': self.soft_upper_limit, } attributes = dict(filter(lambda x: x[1], attributes.items())) attributes['k_velocity'] = self.k_velocity return URDFElement('safety_controller', attributes)
def get_urdf_element(self): attributes = { 'lower': self.lower, 'upper': self.upper, } attributes = dict(filter(lambda x: x[1], attributes.items())) attributes['effort'] = self.effort attributes['velocity'] = self.velocity return URDFElement('limit', attributes)
def get_urdf_element(self): attributes = { 'name': self.name, 'type': self.SUPPORTED_TYPES[self.type] } attributes.update(self.attr) elements = [self.parent, self.child, self.axis, self.calibration, self.dynamics, self.limit, self.safety_controller, self.mimic, self.origin] return URDFElement('joint', attributes, elements)
def get_urdf_element(self): attributes = { 'ixx': self.ixx, 'ixy': self.ixy, 'ixz': self.ixz, 'iyy': self.iyy, 'iyz': self.iyz, 'izz': self.izz, } return URDFElement('inertia', attributes)
def get_urdf_element(self): attributes = {'name': self.name} attributes.update(self.attr) elements = self.links + self.joints + self.materials return URDFElement('robot', attributes, elements)
def get_urdf_element(self): return URDFElement('child', {'link': self.link})
def get_urdf_element(self): return URDFElement('parent', {'link': self.link})
def get_urdf_element(self): attributes = {'xyz': "{} {} {}".format(self.x, self.y, self.z)} attributes.update(self.attr) return URDFElement('axis', attributes)
def get_urdf_element(self): attributes = {'value': self.value} return URDFElement('mass', attributes)
def get_urdf_element(self): elements = [self.origin, self.mass, self.inertia] return URDFElement('inertial', elements=elements)