naoqi_tools.urdf.URDF Class Reference

List of all members.

Public Member Functions
def	__init__
def	__str__
def	add_gazebo
def	add_joint
def	add_link
def	add_material
def	apply_default_limits
def	copy_chain_with_rottrans
def	copy_joint
def	fix_mesh_case
def	get_chain
def	get_root
def	make_openrave_kinbody
def	move_chain_with_rottrans
def	rename_joint
def	rename_link
def	to_openrave_xml
def	to_xml
def	update_mesh_paths
def	walk_chain
def	write_openrave_files
def	write_reformatted
def	write_xml
Static Public Member Functions
def	load_from_parameter_server
def	load_xml_file
def	parse_xml_string
Public Attributes
	child_map
	elements
	gazebos
	joints
	links
	materials
	name
	parent_map
Static Public Attributes
float	ZERO_THRESHOLD = 0.000000001

---

Detailed Description

URDF node stores every information about a robot's model

Definition at line 864 of file urdf.py.

---

Constructor & Destructor Documentation

def naoqi_tools.urdf.URDF.__init__	(		self,
			name = ""
	)

Definition at line 867 of file urdf.py.

---

Member Function Documentation

def naoqi_tools.urdf.URDF.__str__

(

self

)

Definition at line 1079 of file urdf.py.

def naoqi_tools.urdf.URDF.add_gazebo	(		self,
			gazebo
	)

Add gazebo data to the URDF.elements list

Definition at line 941 of file urdf.py.

def naoqi_tools.urdf.URDF.add_joint	(		self,
			joint
	)

Definition at line 924 of file urdf.py.

def naoqi_tools.urdf.URDF.add_link	(		self,
			link
	)

Definition at line 920 of file urdf.py.

def naoqi_tools.urdf.URDF.add_material	(		self,
			material
	)

Add a material to the URDF.elements list

Definition at line 934 of file urdf.py.

def naoqi_tools.urdf.URDF.apply_default_limits	(		self,
			effort,
			vel,
			lower,
			upper,
			mask = None
	)

Apply default limits to all joints and convert continous joints to revolute. Ignores fixed and other joint types.

Definition at line 1290 of file urdf.py.

def naoqi_tools.urdf.URDF.copy_chain_with_rottrans	(		self,
			root,
			tip,
			rpy,
			xyz,
			f,
			r,
			mir_ax = None
	)

Copy a kinematic chain, renaming joints and links according to a regular expression.

Note that this is designed to work with the Hubo joint / body
convention, which has an easy pattern for joint and body names. If your
model has joints and links that are not systematically named, this
function won't be much use.

Definition at line 1211 of file urdf.py.

def naoqi_tools.urdf.URDF.copy_joint	(		self,
			joint,
			f,
			r
	)

Copy and rename a joint and it's parent/child by the f / r strings. Assumes links exist.
Note that it renames the parent and child, so use this with copy_link

Definition at line 1179 of file urdf.py.

def naoqi_tools.urdf.URDF.fix_mesh_case

(

self

)

Definition at line 1272 of file urdf.py.

def naoqi_tools.urdf.URDF.get_chain	(		self,
			root,
			tip,
			joints = True,
			links = True,
			fixed = True
	)

Based on given link names root and tip, return either a joint or link chain as a list of names.

Definition at line 949 of file urdf.py.

def naoqi_tools.urdf.URDF.get_root

(

self

)

Definition at line 966 of file urdf.py.

def naoqi_tools.urdf.URDF.load_from_parameter_server	(		key = 'robot_description',
			verbose = True
	)		[static]

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

Warning: this requires roscore to be running.

Definition at line 910 of file urdf.py.

def naoqi_tools.urdf.URDF.load_xml_file	(		filename,
			verbose = True
	)		[static]

Parse a file to create a URDF robot structure.

Definition at line 904 of file urdf.py.

def naoqi_tools.urdf.URDF.make_openrave_kinbody	(		self,
			doc
	)

Definition at line 999 of file urdf.py.

def naoqi_tools.urdf.URDF.move_chain_with_rottrans	(		self,
			root,
			tip,
			rpy,
			xyz,
			f,
			r
	)

Find and rename a kinematic chain based on the given root and top
names. Renames all links and joints according to find and replace
terms.

Definition at line 1190 of file urdf.py.

def naoqi_tools.urdf.URDF.parse_xml_string	(		xml_string,
			verbose = True
	)		[static]

Parse a string to create a URDF robot structure.

Definition at line 878 of file urdf.py.

def naoqi_tools.urdf.URDF.rename_joint	(		self,
			joint,
			newjoint
	)

Find a joint and rename it to newjoint, updating all internal
structures and mimic joints with the new name. Removes the old joint
reference from the joints list.

Definition at line 1155 of file urdf.py.

def naoqi_tools.urdf.URDF.rename_link	(		self,
			link,
			newlink
	)

Rename a link, updating all internal references to the name, and
removing the old name from the links dict.

Definition at line 1118 of file urdf.py.

def naoqi_tools.urdf.URDF.to_openrave_xml

(

self

)

Definition at line 1039 of file urdf.py.

def naoqi_tools.urdf.URDF.to_xml	(		self,
			orderbytree = False,
			orderbytype = False
	)

Definition at line 975 of file urdf.py.

def naoqi_tools.urdf.URDF.update_mesh_paths	(		self,
			package_name
	)

Search and replace package paths in urdf with chosen package name

Definition at line 1278 of file urdf.py.

def naoqi_tools.urdf.URDF.walk_chain	(		self,
			link,
			branchorder = None
	)

Walk along the first branch of urdf tree to find last link. Optionally specify which fork to take globally).

Definition at line 1105 of file urdf.py.

def naoqi_tools.urdf.URDF.write_openrave_files	(		self,
			outname = None,
			writerobot = False
	)

Definition at line 1055 of file urdf.py.

def naoqi_tools.urdf.URDF.write_reformatted	(		self,
			data,
			name
	)

Definition at line 1048 of file urdf.py.

def naoqi_tools.urdf.URDF.write_xml	(		self,
			outfile = None
	)

Definition at line 993 of file urdf.py.

---

Member Data Documentation

naoqi_tools::urdf.URDF::child_map

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::elements

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::gazebos

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::joints

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::links

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::materials

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::name

Definition at line 867 of file urdf.py.

naoqi_tools::urdf.URDF::parent_map

Definition at line 867 of file urdf.py.

float naoqi_tools::urdf.URDF::ZERO_THRESHOLD = 0.000000001 [static]

Definition at line 866 of file urdf.py.

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The documentation for this class was generated from the following file:

• urdf.py