Functions | |
| def | find_prefix (robot) |
| def | generate_fake_controllers (robot, output_path=None, ns_=None) |
| def | generate_joint_limits (robot, template_path="joint_limits_template.yaml", output_path=None, ns_=None) |
| def | generate_kinematics (robot, template_path="kinematics_template.yaml", output_path=None, ns_=None) |
| def | generate_ompl_planning (robot, template_path="ompl_planning_template.yaml", output_path=None, ns_=None) |
| def | generate_real_controllers (robot, output_path=None, ns_=None) |
| def | upload_output_params (upload_str, output_path=None, upload=True, ns_=None) |
| def | yaml_reindent (in_str, numspaces) |
Variables | |
| ARGS = PARSER.parse_args() | |
| default | |
| help | |
| nargs | |
| output_path | |
| PARSER = argparse.ArgumentParser(usage='Load an SRDF file') | |
| ROBOT = SRDF.from_xml_string(ARGS.file.read()) | |
| type | |
| def sr_moveit_hand_config.generate_moveit_config.find_prefix | ( | robot | ) |
Find the prefix using the always available shadow_hand group name
@param robot: parsed SRDF
@type robot: SRDF object
@return prefix: prefix in a string
Definition at line 68 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.generate_fake_controllers | ( | robot, | |
output_path = None, |
|||
ns_ = None |
|||
| ) |
Generate fake_controller yaml and direct it to file
or load it to parameter server.
@param robot: Parsed SRDF
@type robot: SRDF object
@param output_path: file_path to save the generated data in,
will load on parameter server if empty
@type output_path: str
@param ns_: namespace
@type ns_: str
Definition at line 104 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.generate_joint_limits | ( | robot, | |
template_path = "joint_limits_template.yaml", |
|||
output_path = None, |
|||
ns_ = None |
|||
| ) |
Generate joint_limits yaml and direct it to file
or load it to parameter server.
@param robot: Parsed SRDF
@type robot: SRDF object
@param template_path: file_path to the required yaml template file
@type template_path: str
@param output_path: file_path to save the generated data in,
will load on parameter server if empty
@type output_path: str
@param ns_: namespace
@type ns_: str
Definition at line 342 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.generate_kinematics | ( | robot, | |
template_path = "kinematics_template.yaml", |
|||
output_path = None, |
|||
ns_ = None |
|||
| ) |
Generate kinematics yaml and direct it to file
or load it to parameter server.
@param srdf: Parsed SRDF
@type srdf: XML object
@param template_path: file_path to the req. yaml template
(biotac version will be loaded automatically)
@type template_path: str
@param output_path: file_path to save the generated data in,
will load on parameter server if empty
@type output_path: str
@param ns_: namespace
@type ns_: str
Definition at line 238 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.generate_ompl_planning | ( | robot, | |
template_path = "ompl_planning_template.yaml", |
|||
output_path = None, |
|||
ns_ = None |
|||
| ) |
Generate ompl_planning yaml and direct it to file
or load it to parameter server.
@param robot: Parsed SRDF
@type robot: SRDF object
@param template_path: file_path to the req. yaml template
@type template_path: str
@param output_path: file_path to save the generated data in,
will load on parameter server if empty
@type output_path: str
@param ns_: namespace
@type ns_: str
Definition at line 174 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.generate_real_controllers | ( | robot, | |
output_path = None, |
|||
ns_ = None |
|||
| ) |
Generate controller yaml and direct it to file
or load it to parameter server.
@param robot: Parsed SRDF
@type robot: SRDF object
@param output_path: file_path to save the generated data in,
will load on parameter server if empty
@type output_path: str
@param ns_: namespace
@type ns_: str
Definition at line 132 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.upload_output_params | ( | upload_str, | |
output_path = None, |
|||
upload = True, |
|||
ns_ = None |
|||
| ) |
Upload or output the input string on the correct param ns or file
@param upload_str: string to be uploaded or written
@type upload_str: str
@param output_path: output path of file to be written.
Upload if None
@type output_path: str
@param ns_: namespace to use when uploading to param server
@type ns_: str
Definition at line 82 of file generate_moveit_config.py.
| def sr_moveit_hand_config.generate_moveit_config.yaml_reindent | ( | in_str, | |
| numspaces | |||
| ) |
Add numspaces space in fron of each line of the input string
@param in_str: input string
@type in_str: str
@param numspaces: number of spaces to indent the string with
@type numspaces: int
@return s_intend: indented string
Definition at line 55 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.ARGS = PARSER.parse_args() |
Definition at line 390 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.default |
Definition at line 388 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.help |
Definition at line 389 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.nargs |
Definition at line 387 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.output_path |
Definition at line 396 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.PARSER = argparse.ArgumentParser(usage='Load an SRDF file') |
Definition at line 386 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.ROBOT = SRDF.from_xml_string(ARGS.file.read()) |
Definition at line 394 of file generate_moveit_config.py.
| sr_moveit_hand_config.generate_moveit_config.type |
Definition at line 387 of file generate_moveit_config.py.