def get_urdf_element(self):
attributes = {'filename': self.filename}
# There is no need to record default values. Usually these
# coincide with some form of 0 and are filtered out with
# `attributes = dict(filter(lambda x: x[1], attributes.items()))`,
# but here we must be explicit.
if self.scale != [1.0, 1.0, 1.0]:
attributes['scale'] = "{} {} {}".format(*self.scale)
return URDFElement('mesh', attributes)
def get_urdf_element(self):
attributes = {'radius': self.radius}
return URDFElement('sphere', attributes)
def get_urdf_element(self):
attributes = {'radius': self.radius, 'length': self.length}
return URDFElement('cylinder', attributes)
def get_urdf_element(self):
attributes = self.attr.copy()
elements = [self.shape]
return URDFElement('geometry', attributes, elements)
def get_urdf_element(self):
attributes = {'size': '{} {} {}'.format(*self.size)}
return URDFElement('box', attributes)
def get_urdf_element(self):
attributes = {'name': self.name}
elements = [self.color, self.texture]
return URDFElement('material', attributes, elements)
def get_urdf_element(self):
attributes = {'filename': self.filename}
return URDFElement('texture', attributes)
def get_urdf_element(self):
attributes = {'rgba': "{} {} {} {}".format(*self.rgba)}
return URDFElement('color', attributes)
def get_urdf_element(self):
attributes = {
'xyz': "{} {} {}".format(self.point.x, self.point.y, self.point.z),
'rpy': "{} {} {}".format(*self.euler_angles())
}
return URDFElement('origin', attributes)