Python xacro示例

示例#1

文件： atlas_skeleton_v4.py 项目： openhumanoids/oh-distro

        element.text = "../materials/textures/torso_diffuse_unplugged_mit.jpg"

    dae.write(inFile)
    mit.convertMeshTo(inFile, ".obj")
    colladaFile = os.path.splitext(inFile)[0] + ".vtm"
    convertCollada.colladaToPolyData(inFile, colladaFile)
os.chdir(originalDirectory)

for inFile in glob(os.path.join(meshesDirectory, "*.obj")):
    if "chull" not in inFile:
        mit.createConvexHullMesh(inFile)

for inFile in glob(os.path.join(meshesDirectory, "*.obj")):
    mit.convertMeshTo(inFile, ".wrl")

mit.xacro(full_mesh_xacro_path, full_mesh_urdf_path)

urdf = etree.parse(full_mesh_urdf_path)
mit.renameJoints(urdf, jointNameMap)

# Weld dummy lwy joints
mit.weldJoint(urdf, "l_arm_lwy")
mit.weldJoint(urdf, "r_arm_lwy")

mit.replaceMeshPaths(urdf, "package://atlas_v4/meshes")
mit.useObjMeshes(urdf)

mit.addFrame(urdf, "l_foot_sole", "l_foot", "0.0426  0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "r_foot_sole", "r_foot", "0.0426 -0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "l_foot_toe", "l_foot", "0.1728 0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "r_foot_toe", "r_foot", "0.1728 -0.0017 -0.07645", "0 0 0")

示例#2

#!/usr/bin/python
import os
drc_base_path = os.getenv("DRC_BASE")

import sys
sys.path.append(
    os.path.join(drc_base_path, "software", "models", "model_transformation"))

import mitUrdfUtils as mit

os.chdir(os.path.dirname(os.path.realpath(__file__)))
mit.xacro("atlas_v4_LR_RR.xacro", "../model_LR_RR.urdf", verbose=True)
mit.xacro("atlas_v4_minimal_contact.xacro",
          "../model_minimal_contact.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_open_hands.xacro",
          "../model_convex_hull.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_fingers.xacro",
          "../model_convex_hull_fingers.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_closed_hands.xacro",
          "../model_convex_hull_closed_hands.urdf",
          verbose=True)

示例#3

        element.text = '../materials/textures/torso_diffuse_unplugged_mit.jpg'

    dae.write(inFile)
    mit.convertMeshTo(inFile, ".obj")
    colladaFile = os.path.splitext(inFile)[0] + '.vtm'
    convertCollada.colladaToPolyData(inFile, colladaFile)
os.chdir(originalDirectory)

for inFile in glob(os.path.join(meshesDirectory, "*.obj")):
    if "chull" not in inFile:
        mit.createConvexHullMesh(inFile)

for inFile in glob(os.path.join(meshesDirectory, "*.obj")):
    mit.convertMeshTo(inFile, ".wrl")

mit.xacro(full_mesh_xacro_path, full_mesh_urdf_path)

urdf = etree.parse(full_mesh_urdf_path)
mit.renameJoints(urdf, jointNameMap)

mit.replaceMeshPaths(urdf, "package://atlas_v5/meshes")
mit.useObjMeshes(urdf)

mit.addFrame(urdf, "l_foot_sole", "l_foot", "0.0426  0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "r_foot_sole", "r_foot", "0.0426 -0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "l_foot_toe", "l_foot", "0.1728 0.0017 -0.07645", "0 0 0")
mit.addFrame(urdf, "r_foot_toe", "r_foot", "0.1728 -0.0017 -0.07645", "0 0 0")
mit.removeCollisions(urdf, ['mtorso', 'ltorso', 'l_talus', 'r_talus'])

armLinkNames = ['clav', 'scap', 'uarm', 'larm', 'ufarm', 'lfarm', 'hand']
for armLinkName in armLinkNames:

示例#4

文件： generateURDFs.py 项目： Gastd/oh-distro

#!/usr/bin/python
import os
drc_base_path = os.getenv("DRC_BASE")

import sys
sys.path.append(os.path.join(drc_base_path, "software", "models",
                             "model_transformation"))

import mitUrdfUtils as mit

os.chdir(os.path.dirname(os.path.realpath(__file__)))
mit.xacro("atlas_v4_LR_RR.xacro", "../model_LR_RR.urdf", verbose=True)
mit.xacro("atlas_v4_minimal_contact.xacro", "../model_minimal_contact.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_open_hands.xacro", "../model_convex_hull.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_fingers.xacro", "../model_convex_hull_fingers.urdf",
          verbose=True)
mit.xacro("atlas_v4_convex_hull_closed_hands.xacro",
          "../model_convex_hull_closed_hands.urdf", verbose=True)

示例#5

文件： robotiq_hand.py 项目： Gastd/oh-distro

        mit.convertMeshTo(inFile, ".obj")
        mit.convertMeshTo(inFile, ".wrl")

for directory in [collisionMeshesDirectory,
                  articulatedCollisionMeshesDirectory]:
    for inFile in glob(os.path.join(directory, "*.obj")):
        if "chull" not in inFile:
            mit.createConvexHullMesh(inFile)

    for inFile in glob(os.path.join(directory, "*.wrl")):
        if "chull" not in inFile:
            mit.createConvexHullMesh(inFile)

# Expand all includes to ensure proper editing of mesh filenames below
tmp = tempfile.NamedTemporaryFile()
mit.xacro(original_urdf_path, tmp.name, includes_only=True,
          recursive_includes=True)

# Load urdf
urdf = etree.parse(tmp.name)

# Use .obj meshes
mit.useObjMeshes(urdf)

# Use convex hull meshes for collisions
mit.useConvexHullMeshes(urdf)

# Generate full urdf
urdf.write(urdf_path, pretty_print=True)

# Generate no-collision urdf
no_collision_urdf = copy.deepcopy(urdf)

示例#6

文件： robotiq_hand.py 项目： omelinopineda/Robot-Human

for directory in [
        collisionMeshesDirectory, articulatedCollisionMeshesDirectory
]:
    for inFile in glob(os.path.join(directory, "*.obj")):
        if "chull" not in inFile:
            mit.createConvexHullMesh(inFile)

    for inFile in glob(os.path.join(directory, "*.wrl")):
        if "chull" not in inFile:
            mit.createConvexHullMesh(inFile)

# Expand all includes to ensure proper editing of mesh filenames below
tmp = tempfile.NamedTemporaryFile()
mit.xacro(original_urdf_path,
          tmp.name,
          includes_only=True,
          recursive_includes=True)

# Load urdf
urdf = etree.parse(tmp.name)

# Use .obj meshes
mit.useObjMeshes(urdf)

# Use convex hull meshes for collisions
mit.useConvexHullMeshes(urdf)

# Generate full urdf
urdf.write(urdf_path, pretty_print=True)

# Generate no-collision urdf