naoqi_tools.urdf.URDF Class Reference

Inheritance diagram for naoqi_tools.urdf.URDF:

Public Member Functions
def	__init__ (self, name="")
def	__str__ (self)
def	add_gazebo (self, gazebo)
def	add_joint (self, joint)
def	add_link (self, link)
def	add_material (self, material)
def	apply_default_limits (self, effort, vel, lower, upper, mask=None)
def	copy_chain_with_rottrans (self, root, tip, rpy, xyz, f, r, mir_ax=None)
def	copy_joint (self, joint, f, r)
def	fix_mesh_case (self)
def	get_chain (self, root, tip, joints=True, links=True, fixed=True)
def	get_root (self)
def	make_openrave_kinbody (self, doc)
def	move_chain_with_rottrans (self, root, tip, rpy, xyz, f, r)
def	rename_joint (self, joint, newjoint)
def	rename_link (self, link, newlink)
def	to_openrave_xml (self)
def	to_xml (self, orderbytree=False, orderbytype=False)
def	update_mesh_paths (self, package_name)
def	walk_chain (self, link, branchorder=None)
def	write_openrave_files (self, outname=None, writerobot=False)
def	write_reformatted (self, data, name)
def	write_xml (self, outfile=None)

Static Public Member Functions
def	load_from_parameter_server (key='robot_description', verbose=True)
def	load_xml_file (filename, verbose=True)
def	parse_xml_string (xml_string, verbose=True)

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 873 of file urdf.py.

Constructor & Destructor Documentation

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

Definition at line 877 of file urdf.py.

Member Function Documentation

def naoqi_tools.urdf.URDF.__str__

(

self

)

Definition at line 1088 of file urdf.py.

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

Add gazebo data to the URDF.elements list

Definition at line 951 of file urdf.py.

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

Definition at line 934 of file urdf.py.

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

Definition at line 930 of file urdf.py.

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

Add a material to the URDF.elements list

Definition at line 944 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 1299 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 1220 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 1188 of file urdf.py.

def naoqi_tools.urdf.URDF.fix_mesh_case

(

self

)

Definition at line 1281 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 959 of file urdf.py.

def naoqi_tools.urdf.URDF.get_root

(

self

)

Definition at line 976 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 920 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 914 of file urdf.py.

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

Definition at line 1009 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 1199 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 888 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 1164 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 1127 of file urdf.py.

def naoqi_tools.urdf.URDF.to_openrave_xml

(

self

)

Definition at line 1049 of file urdf.py.

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

Definition at line 985 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 1287 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 1114 of file urdf.py.

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

Definition at line 1065 of file urdf.py.

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

Definition at line 1058 of file urdf.py.

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

Definition at line 1003 of file urdf.py.

Member Data Documentation

naoqi_tools.urdf.URDF.child_map

Definition at line 885 of file urdf.py.

naoqi_tools.urdf.URDF.elements

Definition at line 879 of file urdf.py.

naoqi_tools.urdf.URDF.gazebos

Definition at line 880 of file urdf.py.

naoqi_tools.urdf.URDF.joints

Definition at line 882 of file urdf.py.

naoqi_tools.urdf.URDF.links

Definition at line 881 of file urdf.py.

naoqi_tools.urdf.URDF.materials

Definition at line 883 of file urdf.py.

naoqi_tools.urdf.URDF.name

Definition at line 878 of file urdf.py.

naoqi_tools.urdf.URDF.parent_map

Definition at line 884 of file urdf.py.

float naoqi_tools.urdf.URDF.ZERO_THRESHOLD = 0.000000001

static

Definition at line 875 of file urdf.py.

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

• urdf.py