ggc_dae_to_urdf Namespace Reference

Functions
def	add_gazebo_nodes (robot, link_dict)
def	calc_inertia (collision, density=100.0)
def	get_bouding_box (geometries)
def	get_volume (geometries, density)
def	retrive_node (nodes, joints_dict, links_dict, parent=None)
def	write_control_file (joints_dict)
def	write_urdf_file (name, robot)

Variables
	action
float	all_weight_ = 0.0
dictionary	ankle_p_mimic_pid = {'p': 500000.0, 'i': 500.0, 'd': 50000.0}
dictionary	ankle_pid = {'p': 100000000.0, 'i': 5000.0, 'd': 500000.0}
dictionary	ankle_r_mimic_pid = {'p': 100000000.0, 'i': 1000000.0, 'd': 50000.0}
	args = parser.parse_args()
	choices
dictionary	cover_pid = {'p': 50000.0, 'i': 500.0, 'd': 5000.0}
dictionary	crotch_p_pid = {'p': 400000000.0, 'i': 4000000.0, 'd': 500000.0}
dictionary	crotch_r_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 500000.0}
dictionary	crotch_y_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 500000.0}
	default
dictionary	default_pid = {'p': 10000000.0, 'i': 500.0, 'd': 200000.0}
float	density = 1.22e2
int	depth_ = 0
dictionary	elbow_p_pid = {'p': 20000000.0, 'i': 1000.0, 'd': 40000.0}
dictionary	finger_pid = {'p': 100000.000000, 'i': 100.000000, 'd': 100.000000}
dictionary	gripper_pid = {'p': 100000.0, 'i': 100.0, 'd': 100.0}
dictionary	head_pid = {'p': 1000000.0, 'i': 500.0, 'd': 200000.0}
	help
list	joints_
	joints_dict = dict(joints_)
dictionary	knee_p_mimic_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 100000.0}
dictionary	knee_p_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 100000.0}
	link_dict = dict()
	mesh_ = Collada(args.input_file)
	name_ = os.path.splitext(os.path.basename(mesh_.filename))[0]
	parser = argparse.ArgumentParser()
	robot_ = Robot(name=name_)
	root_offset = numpy.array([[0, 0, 1, 0], [1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 0, 1]], dtype=numpy.float32)
float	scale_ = 0.1
dictionary	thrust_pid = {'p': 10000000.0, 'i': 500.0, 'd': 20000.0}
dictionary	torso_pid = {'p': 20000000.0, 'i': 10000.0, 'd': 1000000.0}
dictionary	wrist_pid = {'p': 100000.0, 'i': 50.0, 'd': 20000.0}
dictionary	zero_pid = {'p': 0.0, 'i': 0.0, 'd': 0.0}

Function Documentation

def ggc_dae_to_urdf.add_gazebo_nodes	(		robot,
			link_dict
	)

Definition at line 427 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.calc_inertia	(		collision,
			density = 100.0
	)

Definition at line 222 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.get_bouding_box

(

geometries

)

Definition at line 203 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.get_volume	(		geometries,
			density
	)

Definition at line 240 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.retrive_node	(		nodes,
			joints_dict,
			links_dict,
			parent = None
	)

Definition at line 277 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.write_control_file

(

joints_dict

)

Definition at line 524 of file ggc_dae_to_urdf.py.

def ggc_dae_to_urdf.write_urdf_file	(		name,
			robot
	)

Definition at line 509 of file ggc_dae_to_urdf.py.

Variable Documentation

ggc_dae_to_urdf.action

Definition at line 614 of file ggc_dae_to_urdf.py.

float ggc_dae_to_urdf.all_weight_ = 0.0

Definition at line 49 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.ankle_p_mimic_pid = {'p': 500000.0, 'i': 500.0, 'd': 50000.0}

Definition at line 67 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.ankle_pid = {'p': 100000000.0, 'i': 5000.0, 'd': 500000.0}

Definition at line 65 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.ankle_r_mimic_pid = {'p': 100000000.0, 'i': 1000000.0, 'd': 50000.0}

Definition at line 66 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.args = parser.parse_args()

Definition at line 619 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.choices

Definition at line 611 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.cover_pid = {'p': 50000.0, 'i': 500.0, 'd': 5000.0}

Definition at line 68 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.crotch_p_pid = {'p': 400000000.0, 'i': 4000000.0, 'd': 500000.0}

Definition at line 60 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.crotch_r_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 500000.0}

Definition at line 61 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.crotch_y_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 500000.0}

Definition at line 62 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.default

Definition at line 612 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.default_pid = {'p': 10000000.0, 'i': 500.0, 'd': 200000.0}

Definition at line 53 of file ggc_dae_to_urdf.py.

float ggc_dae_to_urdf.density = 1.22e2

Definition at line 48 of file ggc_dae_to_urdf.py.

int ggc_dae_to_urdf.depth_ = 0

Definition at line 46 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.elbow_p_pid = {'p': 20000000.0, 'i': 1000.0, 'd': 40000.0}

Definition at line 56 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.finger_pid = {'p': 100000.000000, 'i': 100.000000, 'd': 100.000000}

Definition at line 59 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.gripper_pid = {'p': 100000.0, 'i': 100.0, 'd': 100.0}

Definition at line 58 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.head_pid = {'p': 1000000.0, 'i': 500.0, 'd': 200000.0}

Definition at line 54 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.help

Definition at line 610 of file ggc_dae_to_urdf.py.

list ggc_dae_to_urdf.joints_

Definition at line 71 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.joints_dict = dict(joints_)

Definition at line 635 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.knee_p_mimic_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 100000.0}

Definition at line 64 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.knee_p_pid = {'p': 200000000.0, 'i': 1000000.0, 'd': 100000.0}

Definition at line 63 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.link_dict = dict()

Definition at line 652 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.mesh_ = Collada(args.input_file)

Definition at line 622 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.name_ = os.path.splitext(os.path.basename(mesh_.filename))[0]

Definition at line 641 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.parser = argparse.ArgumentParser()

Definition at line 609 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.robot_ = Robot(name=name_)

Definition at line 644 of file ggc_dae_to_urdf.py.

ggc_dae_to_urdf.root_offset = numpy.array([[0, 0, 1, 0], [1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 0, 1]], dtype=numpy.float32)

Definition at line 50 of file ggc_dae_to_urdf.py.

float ggc_dae_to_urdf.scale_ = 0.1

Definition at line 47 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.thrust_pid = {'p': 10000000.0, 'i': 500.0, 'd': 20000.0}

Definition at line 69 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.torso_pid = {'p': 20000000.0, 'i': 10000.0, 'd': 1000000.0}

Definition at line 55 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.wrist_pid = {'p': 100000.0, 'i': 50.0, 'd': 20000.0}

Definition at line 57 of file ggc_dae_to_urdf.py.

dictionary ggc_dae_to_urdf.zero_pid = {'p': 0.0, 'i': 0.0, 'd': 0.0}

Definition at line 52 of file ggc_dae_to_urdf.py.