lxf2urdf Namespace Reference

Functions
def	create_brick_tree
def	create_rigid_tree
def	handleLXF
def	homogeneous_matrix
def	main
def	parseFloats
def	parseInts
def	parseLXFML
def	usage
Variables
list	brick_tree = []
string	generic_sensor_link
string	joint_template
string	link_template
string	motor_template
list	rigid_tree = []
string	ultrasonic_link

---

Function Documentation

def lxf2urdf::create_brick_tree	(		rigids,
			bricks,
			bones
	)

Definition at line 328 of file lxf2urdf.py.

def lxf2urdf::create_rigid_tree	(		refID,
			joints,
			rigids
	)

Definition at line 314 of file lxf2urdf.py.

def lxf2urdf::handleLXF	(		lxffile,
			ldrfile
	)

Definition at line 346 of file lxf2urdf.py.

def lxf2urdf::homogeneous_matrix

(

transform

)

Definition at line 337 of file lxf2urdf.py.

def lxf2urdf::main	(		argv,
			stdout,
			environ
	)

Definition at line 356 of file lxf2urdf.py.

def lxf2urdf::parseFloats

(

s

)

Definition at line 23 of file lxf2urdf.py.

def lxf2urdf::parseInts

(

s

)

Definition at line 17 of file lxf2urdf.py.

def lxf2urdf::parseLXFML	(		handle,
			lxffile,
			ldrfile
	)

Definition at line 172 of file lxf2urdf.py.

def lxf2urdf::usage

(

progname

)

Definition at line 353 of file lxf2urdf.py.

---

Variable Documentation

list lxf2urdf::brick_tree = []

Definition at line 15 of file lxf2urdf.py.

string lxf2urdf::generic_sensor_link

Initial value:

"""
  <!--THIS IS THE SENSOR LINK RENAME ME-->
  <link name="ref_%(refID)s_link">
    <inertial>
      <mass value="0.023900" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" />
      <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz=" -0.013 0 -0.018" rpy="0 0 1.57079633" />
      <geometry>
        <mesh filename="%(mesh)s" scale="%(m_scale)s %(m_scale)s %(m_scale)s"/>
      </geometry>
    </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="%(bound_x)s %(bound_y)s %(bound_z)s" rpy="%(bound_roll)s %(bound_pitch)s %(bound_yaw)s" />
        <geometry>
          <box size="%(dim_x)s %(dim_y)s %(dim_z)s"/>
        </geometry>
      </collision>
  </link>
"""

Definition at line 146 of file lxf2urdf.py.

string lxf2urdf::joint_template

Initial value:

"""
    <joint name="ref_%(refID)s_joint" type="%(joint_type)s">
      <parent link="%(parent_link)s"/>
      <child link="%(child_link)s"/>
      <origin xyz="%(origin_x)s %(origin_y)s %(origin_z)s" rpy="%(origin_roll)s %(origin_pitch)s %(origin_yaw)s" />
      <axis xyz="%(axis_x)s %(axis_y)s %(axis_z)s" />
    </joint>
"""

Definition at line 111 of file lxf2urdf.py.

string lxf2urdf::link_template

Initial value:

"""
    <link name="ref_%(refID)s_link">
      <inertial>
        <mass value="0.010000" />
        <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
        <origin xyz="0.0 0.0 0" />
        <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
      </inertial>
      <visual>
        <!-- visual origin is defined w.r.t. link local coordinate system -->
        <origin xyz="0 0 0" rpy="%(rot_x)s %(rot_y)s %(rot_z)s" />
        <geometry>
          <mesh filename="%(mesh)s" scale="%(m_scale)s %(m_scale)s %(m_scale)s"/>
        </geometry>
      </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="%(bound_x)s %(bound_y)s %(bound_z)s" rpy="%(bound_roll)s %(bound_pitch)s %(bound_yaw)s" />
        <geometry>
          <box size="%(dim_x)s %(dim_y)s %(dim_z)s"/>
        </geometry>
      </collision>
    </link>
"""

Definition at line 86 of file lxf2urdf.py.

string lxf2urdf::motor_template

Definition at line 29 of file lxf2urdf.py.

list lxf2urdf::rigid_tree = []

Definition at line 14 of file lxf2urdf.py.

string lxf2urdf::ultrasonic_link

Initial value:

"""
  <!--THIS IS THE ULTRASONIC LINK RENAME ME-->
  <link name="ref_%(refID)s_link">
    <inertial>
      <mass value="0.023900" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" />
      <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz=" -0.026 0 -0.018" rpy="0 0 1.57079633" />
      <geometry>
        <mesh filename="%(mesh)s" scale="%(m_scale)s %(m_scale)s %(m_scale)s"/>
      </geometry>
    </visual>
      <collision>
        <!-- collision origin is defined w.r.t. link local coordinate system -->
        <origin xyz="%(bound_x)s %(bound_y)s %(bound_z)s" rpy="%(bound_roll)s %(bound_pitch)s %(bound_yaw)s" />
        <geometry>
          <box size="%(dim_x)s %(dim_y)s %(dim_z)s"/>
        </geometry>
      </collision>
  </link>
"""

Definition at line 120 of file lxf2urdf.py.