rofunc.utils.robolab.formatter.urdf_parser.urdf

1.  Module Contents

1.1.  Classes

Pose
Color
JointDynamics
Box
Cylinder
Sphere
Mesh
GeometricType
Collision
Texture
Material
LinkMaterial
Visual
Inertia
Inertial
JointCalibration
JointLimit
JointMimic
SafetyController
Joint
Link
PR2Transmission
Actuator
TransmissionJoint
Transmission	New format: http://wiki.ros.org/urdf/XML/Transmission
Robot

1.2.  Data

verbose
name_attribute
origin_element
URDF

1.3.  API

rofunc.utils.robolab.formatter.urdf_parser.urdf.verbose = True

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Pose(xyz=None, rpy=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

check_valid()

property rotation

property position

rofunc.utils.robolab.formatter.urdf_parser.urdf.name_attribute = None

rofunc.utils.robolab.formatter.urdf_parser.urdf.origin_element = None

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Color(*args)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.JointDynamics(damping=None, friction=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Box(size=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Cylinder(radius=0.0, length=0.0)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Sphere(radius=0.0)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Mesh(filename=None, scale=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.GeometricType

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.ValueType

from_xml(node, path)

write_xml(node, obj)

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Collision(geometry=None, origin=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Texture(filename=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Material(name=None, color=None, texture=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

check_valid()

class rofunc.utils.robolab.formatter.urdf_parser.urdf.LinkMaterial(name=None, color=None, texture=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.urdf.Material

check_valid()

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Visual(geometry=None, material=None, origin=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Inertia(ixx=0.0, ixy=0.0, ixz=0.0, iyy=0.0, iyz=0.0, izz=0.0)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

KEYS = ['ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz']

to_matrix()

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Inertial(mass=0.0, inertia=None, origin=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.JointCalibration(rising=None, falling=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.JointLimit(effort=None, velocity=None, lower=None, upper=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.JointMimic(joint_name=None, multiplier=None, offset=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.SafetyController(velocity=None, position=None, lower=None, upper=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Joint(name=None, parent=None, child=None, joint_type=None, axis=None, origin=None, limit=None, dynamics=None, safety_controller=None, calibration=None, mimic=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

TYPES = ['unknown', 'revolute', 'continuous', 'prismatic', 'floating', 'planar', 'fixed']

check_valid()

property joint_type

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Link(name=None, visual=None, inertial=None, collision=None, origin=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

visual = None

collision = None

class rofunc.utils.robolab.formatter.urdf_parser.urdf.PR2Transmission(name=None, joint=None, actuator=None, type=None, mechanicalReduction=1)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Actuator(name=None, mechanicalReduction=1)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

class rofunc.utils.robolab.formatter.urdf_parser.urdf.TransmissionJoint(name=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

check_valid()

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Transmission(name=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

New format: http://wiki.ros.org/urdf/XML/Transmission

Initialization

check_valid()

class rofunc.utils.robolab.formatter.urdf_parser.urdf.Robot(name=None)

Bases: rofunc.utils.robolab.formatter.urdf_parser.xml_reflection.Object

add_aggregate(typeName, elem)

add_link(link)

add_joint(joint)

get_chain(root, tip, joints=True, links=True, fixed=True)

get_root()

classmethod from_parameter_server(key='robot_description')

Retrieve the robot model on the parameter server and parse it to create a URDF robot structure.

Warning: this requires roscore to be running.

rofunc.utils.robolab.formatter.urdf_parser.urdf.URDF = None