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GNU GENERAL PUBLIC LICENSE
|
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Version 3, 29 June 2007
|
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|
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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Preamble
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The GNU General Public License is a free, copyleft license for
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|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
<program> Copyright (C) <year> <name of author>
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<https://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your program
|
||||
into proprietary programs. If your program is a subroutine library, you
|
||||
may consider it more useful to permit linking proprietary applications with
|
||||
the library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License. But first, please read
|
||||
<https://www.gnu.org/licenses/why-not-lgpl.html>.
|
58
freecad_to_gazebo/README.md
Normal file
58
freecad_to_gazebo/README.md
Normal file
|
@ -0,0 +1,58 @@
|
|||
# Freecad to Gazebo exporter
|
||||
|
||||
## Introduction
|
||||
Freecad to gazebo exporter is a tool for exporting freecad assembly project to gazebo/ros model.
|
||||
|
||||
## Design Rules
|
||||
This project is in its early stage therefore specific design rules must be followed to work with it.
|
||||
* The assmbly file must be created with `A2Plus` (freecad's prefered assembly workspace).
|
||||
* Parts of the assembly must be in separate files.
|
||||
* Imovable parts of the main assembly must be made in separate subasssemblies.
|
||||
* Joints should be represented by AxisConsident constraints with lock rotation turned off.
|
||||
* For URDF files to work properly, tree structure must be maintained (ie. parent and childs of constraints must follow tree structure).
|
||||
|
||||
## Requirements
|
||||
* [Freecad][freecad] with [A2Plus][a2plus] workspace installed
|
||||
|
||||
## Usage
|
||||
|
||||
#### To generate SDF and URDF model from freecad assembly use python call:
|
||||
```python
|
||||
freecad_exporter.export_gazebo_model(freecad_assembly_file, model_destination_folder, config)
|
||||
```
|
||||
Note: Only links and joints are generated in the SDF model. To use the model with ros, use the URDF model.
|
||||
|
||||
## Config specification
|
||||
```json
|
||||
{
|
||||
"name": "robot_name",
|
||||
"joints_limits": {"upper": 90, "lower": -90, "effort": 10, "velocity": 5},
|
||||
"transmission": {
|
||||
"type": "transmission_interface/SimpleTransmission",
|
||||
"hardware_interface": "hardware_interface/PositionJointInterface"
|
||||
},
|
||||
"joints_config": {
|
||||
"type": "position_controllers/JointGroupPositionController",
|
||||
"grouped": true
|
||||
},
|
||||
"joints_pid": {"p": 20.0, "i": 10.0, "d": 0.0, "i_clamp": 0.0},
|
||||
"root_link": "base_link",
|
||||
"ros_package": "humanoid_17dof_description",
|
||||
"sdf_only": false,
|
||||
"export": true
|
||||
}
|
||||
```
|
||||
|
||||
**sdf_only**: Export only SDF.
|
||||
|
||||
**export**: Export mesh files.
|
||||
|
||||
|
||||
## Future plans
|
||||
* Extend collada exporter to export materials from assemblies.
|
||||
* Create a FreeCAD workbench to interactively assign joints and export to gazebo.
|
||||
* Reduce set of design rules by making it more robust and general purpose.
|
||||
* Support any valid structures of assemblies.
|
||||
|
||||
[freecad]:https://freecadweb.org
|
||||
[a2plus]:https://github.com/kbwbe/A2plus
|
28
freecad_to_gazebo/__init__.py
Normal file
28
freecad_to_gazebo/__init__.py
Normal file
|
@ -0,0 +1,28 @@
|
|||
import os, platform
|
||||
import distro
|
||||
|
||||
FREECAD_PATH = ''
|
||||
|
||||
# check os types to search for freecad libraries
|
||||
if 'linux' in platform.system().lower():
|
||||
dist = distro.linux_distribution(full_distribution_name=False)[0].lower()
|
||||
# TODO: check freecad libs on different distros
|
||||
if dist in ['ubuntu', 'debian', 'fedora', 'arch']:
|
||||
FREECAD_PATH = '/usr/lib/freecad'
|
||||
else:
|
||||
# fallback to default path
|
||||
FREECAD_PATH = '/usr/lib/freecad'
|
||||
print(dist, FREECAD_PATH)
|
||||
elif 'nt' in platform.dist().lower():
|
||||
pass
|
||||
# TODO: Find freecad libs on windows
|
||||
else:
|
||||
raise Exception("Platform not supported")
|
||||
|
||||
# Extend sys.path to include freecad python libraries (including workbenches)
|
||||
os.sys.path.extend(os.path.join(FREECAD_PATH, d) for d in os.listdir(FREECAD_PATH))
|
||||
|
||||
from freecad_to_gazebo.mesh_exporter import export
|
||||
from freecad_to_gazebo.model import *
|
||||
from freecad_to_gazebo.freecad_exporter import *
|
||||
|
11
freecad_to_gazebo/conversions.py
Normal file
11
freecad_to_gazebo/conversions.py
Normal file
|
@ -0,0 +1,11 @@
|
|||
from math import radians as _radians
|
||||
|
||||
|
||||
def deg2rad(d):
|
||||
'''Converts degrees to radians'''
|
||||
return _radians(d)
|
||||
|
||||
def flt2str(f):
|
||||
'''Converts floats to formatted string'''
|
||||
return '{:.6f}'.format(f)
|
||||
|
200
freecad_to_gazebo/freecad_exporter.py
Normal file
200
freecad_to_gazebo/freecad_exporter.py
Normal file
|
@ -0,0 +1,200 @@
|
|||
import FreeCAD
|
||||
from xml.etree import ElementTree as ET
|
||||
from xml.dom.minidom import parseString
|
||||
import yaml
|
||||
from freecad_to_gazebo.model import *
|
||||
from freecad_to_gazebo.mesh_exporter import *
|
||||
import a2plib
|
||||
import argparse
|
||||
|
||||
|
||||
def export_gazebo_model(assembly_file, model_dir, configs={}):
|
||||
doc = FreeCAD.open(assembly_file)
|
||||
|
||||
robot_name = configs.get('name', doc.Label)
|
||||
scale = configs.get('scale', 0.001)
|
||||
scale_vec = FreeCAD.Vector([scale]*3)
|
||||
density = configs.get('density', 1000)
|
||||
|
||||
export_mesh = configs.get('export', True)
|
||||
|
||||
assembly_dir = os.path.split(doc.FileName)[0]
|
||||
|
||||
bounding_box = FreeCAD.BoundBox()
|
||||
for obj in doc.findObjects('Part::Feature'):
|
||||
bounding_box.add(obj.Shape.BoundBox)
|
||||
|
||||
bounding_box.scale(*scale_vec)
|
||||
|
||||
global_pose_base = FreeCAD.Vector(bounding_box.XLength/2,
|
||||
bounding_box.YLength/2,
|
||||
bounding_box.ZLength/2)
|
||||
global_pose_base -= bounding_box.Center
|
||||
global_pose = FreeCAD.Placement()
|
||||
global_pose.Base = global_pose_base
|
||||
|
||||
model = Model(name=robot_name, pose=global_pose)
|
||||
model.self_collide = configs.get('self_collide', False)
|
||||
model.sdf_version = '1.5'
|
||||
|
||||
joint_limits = configs.get('joints_limits', {})
|
||||
joint_dynamics = configs.get('joints_dynamics', {})
|
||||
|
||||
constraints = []
|
||||
for obj in doc.Objects:
|
||||
if a2plib.isA2pPart(obj):
|
||||
name = obj.Label
|
||||
shape = obj.Shape
|
||||
mass = shape.Mass * scale**3 * density
|
||||
com = shape.CenterOfMass * scale
|
||||
inr = shape.MatrixOfInertia
|
||||
inr.scale(*scale_vec*(scale**4) * density)
|
||||
placement = shape.Placement
|
||||
placement.Base.scale(*scale_vec)
|
||||
|
||||
part_file = os.path.join(assembly_dir, obj.sourceFile)
|
||||
part_file = os.path.normpath(part_file)
|
||||
mesh_file = os.path.join(model_dir,
|
||||
'meshes',
|
||||
os.path.relpath(part_file, assembly_dir))
|
||||
mesh_file = os.path.splitext(mesh_file)[0] + '.dae'
|
||||
mesh_dir = os.path.split(mesh_file)[0]
|
||||
|
||||
if export_mesh:
|
||||
os.makedirs(mesh_dir, exist_ok=True)
|
||||
export(doc, [obj], mesh_file, scale=scale, offset=com*-1)
|
||||
|
||||
pose = placement.copy()
|
||||
pose.Base = com
|
||||
|
||||
pose_rpy = pose.copy()
|
||||
pose_rpy.Base=(np.zeros(3))
|
||||
|
||||
|
||||
inertia = Inertia(inertia=np.array(inr.A)[[0,1,2,5,6,10]])
|
||||
inertial = Inertial(pose=pose_rpy,
|
||||
mass=mass,
|
||||
inertia=inertia)
|
||||
|
||||
package = configs.get('ros_package', robot_name)
|
||||
mesh_uri = os.path.join(package,
|
||||
os.path.relpath(mesh_file, model_dir))
|
||||
mesh_uri = os.path.normpath(mesh_uri)
|
||||
|
||||
visual = Visual(name=name+'_visual',
|
||||
mesh=mesh_uri)
|
||||
collision = Collision(name=name+'_collision',
|
||||
mesh=mesh_uri)
|
||||
|
||||
link = Link(name=name,
|
||||
pose=pose,
|
||||
inertial=inertial,
|
||||
visual=visual,
|
||||
collision=collision)
|
||||
model.links.append(link)
|
||||
|
||||
elif a2plib.isA2pConstraint(obj):
|
||||
parent = doc.getObject(obj.Object1)
|
||||
child = doc.getObject(obj.Object2)
|
||||
|
||||
if sorted([parent.Label, child.Label]) in constraints:
|
||||
continue
|
||||
|
||||
if obj.Type == 'axial' and not obj.lockRotation:
|
||||
pose = a2plib.getPos(parent, obj.SubElement1)
|
||||
pose = pose - child.Shape.CenterOfMass
|
||||
pose.scale(*scale_vec)
|
||||
|
||||
joint_pose = FreeCAD.Placement()
|
||||
joint_pose.Base = pose
|
||||
axis_pose = a2plib.getAxis(parent, obj.SubElement1)
|
||||
|
||||
axis = Axis(pose=axis_pose,
|
||||
lower_limit=joint_limits.get('lower', -90),
|
||||
upper_limit=joint_limits.get('upper', 90),
|
||||
effort_limit=joint_limits.get('effort', 10),
|
||||
velocity_limit=joint_limits.get('velocity', 10),
|
||||
friction=joint_dynamics.get('friction', 0),
|
||||
damping=joint_dynamics.get('damping', 0))
|
||||
|
||||
joint = Joint(name=parent.Label+'_'+child.Label,
|
||||
pose=joint_pose,
|
||||
parent=parent.Label,
|
||||
child=child.Label,
|
||||
type='revolute',
|
||||
axis=axis)
|
||||
|
||||
model.joints.append(joint)
|
||||
|
||||
constraints.append(sorted([parent.Label, child.Label]))
|
||||
|
||||
os.makedirs(os.path.join(model_dir, 'models'), exist_ok=True)
|
||||
|
||||
with open(os.path.join(model_dir, 'models', robot_name+'.sdf'), 'w') as sdf_file:
|
||||
sdf_file.write(model.to_xml_string('sdf'))
|
||||
|
||||
if not configs.get('sdf_only', None):
|
||||
with open(os.path.join(model_dir, 'models', robot_name+'.urdf'), 'w') as urdf_file:
|
||||
urdf_file.write(model.to_xml_string('urdf'))
|
||||
|
||||
actuators = ET.Element('robot', name=robot_name)
|
||||
gazebo = ET.SubElement(actuators, 'gazebo')
|
||||
plugin = ET.SubElement(gazebo, 'plugin')
|
||||
plugin.set('filename', 'libgazebo_ros_control.so')
|
||||
plugin.set('name', 'gazebo_ros_control')
|
||||
namespace = ET.SubElement(plugin, 'robotNamespace')
|
||||
namespace.text = '/'+robot_name
|
||||
simtype = ET.SubElement(plugin, 'robotSimType')
|
||||
simtype.text = 'gazebo_ros_control/DefaultRobotHWSim'
|
||||
|
||||
tr_configs = configs.get('transmission', {})
|
||||
jt_configs = configs.get('joints_config')
|
||||
pid = configs.get('joints_pid')
|
||||
|
||||
joint_names = [joint.name for joint in model.joints]
|
||||
|
||||
for joint in joint_names:
|
||||
transmission = ET.SubElement(actuators, 'transmission', name=joint)
|
||||
tr_type = ET.SubElement(transmission, 'type')
|
||||
tr_type.text = tr_configs.get('type', 'transmission_interface/SimpleTransmission')
|
||||
actuator = ET.SubElement(transmission, 'actuator', name=joint)
|
||||
hw_interface = ET.SubElement(actuator, 'hardwareInterface')
|
||||
hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
|
||||
reduction = ET.SubElement(actuator, 'mechanicalReduction')
|
||||
reduction.text = '1'
|
||||
|
||||
tr_joint = ET.SubElement(transmission, 'joint', name=joint)
|
||||
hw_interface = ET.SubElement(tr_joint, 'hardwareInterface')
|
||||
hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
|
||||
|
||||
with open(os.path.join(model_dir, 'models', robot_name+'_actuators.urdf'), 'w') as actuators_file:
|
||||
actuators_file.write(parseString(ET.tostring(actuators)).toprettyxml(indent=' '*2))
|
||||
|
||||
control_configs={}
|
||||
control_configs[robot_name] = {
|
||||
'joint_state_controller':{
|
||||
'type': 'joint_state_controller/JointStateController',
|
||||
'publish_rate': 50,
|
||||
}
|
||||
}
|
||||
|
||||
if jt_configs.get('groupped', False):
|
||||
for joint in joint_names:
|
||||
control_configs[robot_name][joint+'_controller'] = {
|
||||
'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'),
|
||||
'joint': joint,
|
||||
'pid': pid.copy()
|
||||
}
|
||||
else:
|
||||
control_configs[robot_name]['joints_controller'] = {
|
||||
'type': jt_configs.get('type', 'position_controllers/JointGroupPositionController'),
|
||||
'publish_rate': 50,
|
||||
'joints': joint_names
|
||||
}
|
||||
control_configs[robot_name]['gazebo_ros_control/pid_gains'] = {}
|
||||
for joint in joint_names:
|
||||
control_configs[robot_name]['gazebo_ros_control/pid_gains'][joint] = pid.copy()
|
||||
os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True)
|
||||
with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file:
|
||||
yaml.dump_all([control_configs], control_configs_file, sort_keys=False)
|
||||
|
90
freecad_to_gazebo/mesh_exporter.py
Normal file
90
freecad_to_gazebo/mesh_exporter.py
Normal file
|
@ -0,0 +1,90 @@
|
|||
import FreeCAD, Mesh, os, numpy as np
|
||||
import collada
|
||||
|
||||
|
||||
def export(doc, exportList, filename, scale=1, quality=1, offset=np.zeros(3)):
|
||||
'''FreeCAD collada exporter
|
||||
scale - scaling factor for the mesh
|
||||
quality - mesh tessellation quality
|
||||
offset - offset of the origin of the resulting mesh'''
|
||||
|
||||
colmesh = collada.Collada()
|
||||
colmesh.assetInfo.upaxis = collada.asset.UP_AXIS.Z_UP
|
||||
objind = 0
|
||||
scenenodes = []
|
||||
|
||||
for obj in exportList:
|
||||
bHandled = False
|
||||
if obj.isDerivedFrom("Part::Feature"):
|
||||
bHandled = True
|
||||
m = obj.Shape.tessellate(quality)
|
||||
vindex = []
|
||||
nindex = []
|
||||
findex = []
|
||||
# vertex indices
|
||||
for v in m[0]:
|
||||
vindex.extend([a*scale+b for a, b in zip(v, offset)])
|
||||
# normals
|
||||
for f in obj.Shape.Faces:
|
||||
n = f.normalAt(0,0)
|
||||
for i in range(len(f.tessellate(quality)[1])):
|
||||
nindex.extend([n.x,n.y,n.z])
|
||||
# face indices
|
||||
for i in range(len(m[1])):
|
||||
f = m[1][i]
|
||||
findex.extend([f[0],i,f[1],i,f[2],i])
|
||||
elif obj.isDerivedFrom("Mesh::Feature"):
|
||||
bHandled = True
|
||||
print("exporting mesh ",obj.Name, obj.Mesh)
|
||||
m = obj.Mesh
|
||||
vindex = []
|
||||
nindex = []
|
||||
findex = []
|
||||
# vertex indices
|
||||
for v in m.Topology[0]:
|
||||
vindex.extend([a*scale+b for a, b in zip(v, offset)])
|
||||
# normals
|
||||
for f in m.Facets:
|
||||
n = f.Normal
|
||||
nindex.extend([n.x,n.y,n.z])
|
||||
# face indices
|
||||
for i in range(len(m.Topology[1])):
|
||||
f = m.Topology[1][i]
|
||||
findex.extend([f[0],i,f[1],i,f[2],i])
|
||||
|
||||
if bHandled:
|
||||
vert_src = collada.source.FloatSource("cubeverts-array"+str(objind),
|
||||
np.array(vindex),
|
||||
('X', 'Y', 'Z'))
|
||||
normal_src = collada.source.FloatSource("cubenormals-array"+str(objind),
|
||||
np.array(nindex),
|
||||
('X', 'Y', 'Z'))
|
||||
geom = collada.geometry.Geometry(colmesh,
|
||||
"geometry"+str(objind),
|
||||
obj.Label,
|
||||
[vert_src, normal_src])
|
||||
|
||||
input_list = collada.source.InputList()
|
||||
input_list.addInput(0, 'VERTEX', "#cubeverts-array"+str(objind))
|
||||
input_list.addInput(1, 'NORMAL', "#cubenormals-array"+str(objind))
|
||||
triset = geom.createTriangleSet(np.array(findex),
|
||||
input_list,
|
||||
"materialref")
|
||||
geom.primitives.append(triset)
|
||||
colmesh.geometries.append(geom)
|
||||
|
||||
geomnode = collada.scene.GeometryNode(geom)
|
||||
node = collada.scene.Node("node"+str(objind), children=[geomnode])
|
||||
|
||||
#TODO: Add materials handling
|
||||
scenenodes.append(node)
|
||||
|
||||
objind += 1
|
||||
|
||||
scene = collada.scene.Scene("scene", scenenodes)
|
||||
colmesh.scenes.append(scene)
|
||||
colmesh.scene = scene
|
||||
|
||||
colmesh.write(filename)
|
||||
print("file %s successfully created\n" % filename)
|
||||
|
377
freecad_to_gazebo/model.py
Normal file
377
freecad_to_gazebo/model.py
Normal file
|
@ -0,0 +1,377 @@
|
|||
from freecad_to_gazebo.conversions import *
|
||||
import FreeCAD
|
||||
from xml.etree import ElementTree as ET
|
||||
from xml.dom.minidom import parseString
|
||||
|
||||
|
||||
def add_poses(p1, p2):
|
||||
return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix())
|
||||
|
||||
def subtract_poses(p1, p2):
|
||||
return FreeCAD.Placement(p1.toMatrix() + p2.toMatrix().inverse())
|
||||
|
||||
def pose_to_xml(pose, fmt='sdf'):
|
||||
'''Converts a pose/freecad placement/ to xml element
|
||||
with tag "pose" for sdf and "origin" for urdf'''
|
||||
xyz = pose.Base
|
||||
rpy = pose.Rotation.toEuler()
|
||||
|
||||
if fmt == 'urdf':
|
||||
args = {'xyz': ' '.join([flt2str(i) for i in xyz]),
|
||||
'rpy': ' '.join([flt2str(deg2rad(j)) for j in rpy])}
|
||||
return ET.Element('origin', args)
|
||||
|
||||
pose_elem = ET.Element('pose')
|
||||
pose_elem.text = ' '.join([flt2str(i) for i in xyz]
|
||||
+ [flt2str(deg2rad(j)) for j in rpy])
|
||||
|
||||
return pose_elem
|
||||
|
||||
def pose_xyz(pose):
|
||||
'''Returns the xyz/Base portion of a pose as string'''
|
||||
xyz = pose.Base if hasattr(pose, 'Base') else pose
|
||||
return ' '.join([flt2str(i) for i in xyz])
|
||||
|
||||
|
||||
class SpatialEntity(object):
|
||||
'''A base class for sdf/urdf elements containing name, pose and urdf_pose'''
|
||||
def __init__(self, **kwargs):
|
||||
self.name = kwargs.get('name', '')
|
||||
self.pose = kwargs.get('pose', FreeCAD.Placement())
|
||||
self.global_pose = kwargs.get('global_pose', FreeCAD.Placement())
|
||||
self.urdf_pose = kwargs.get('urdf_pose', FreeCAD.Placement())
|
||||
|
||||
self.formats = ['sdf', 'urdf']
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''Call this to check if a format is supported or not'''
|
||||
if not fmt in self.formats:
|
||||
raise Exception('Invalid export format')
|
||||
|
||||
|
||||
class Model(SpatialEntity):
|
||||
'''A class representing a model/robot'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Model, self).__init__(**kwargs)
|
||||
self.static = kwargs.get('static', False)
|
||||
self.self_collide = kwargs.get('self_collide', False)
|
||||
self.sdf_version = kwargs.get('sdf_version', 1.5)
|
||||
|
||||
self.links = []
|
||||
self.joints = []
|
||||
|
||||
if 'link' in kwargs:
|
||||
self.links.append(kwargs.get('link', Link()))
|
||||
self.links.extend(kwargs.get('links', []))
|
||||
|
||||
if 'joint' in kwargs:
|
||||
self.joints.append(kwargs.get('joint', Joint()))
|
||||
self.joints.extend(kwargs.get('joints', []))
|
||||
|
||||
def get_link(self, link_name):
|
||||
for link in self.links:
|
||||
if link_name == link.name:
|
||||
return link
|
||||
|
||||
def get_joint(self, joint_name):
|
||||
pass
|
||||
|
||||
def get_root_link(self):
|
||||
root_link = None
|
||||
for link in self.links:
|
||||
if not link.parent_joint:
|
||||
root_link = link
|
||||
return root_link
|
||||
|
||||
def build_tree(self):
|
||||
for joint in self.joints:
|
||||
joint.parent_link = self.get_link(joint.parent)
|
||||
if not joint.parent_link:
|
||||
raise Exception('Parent not found for joint %s' % joint.name)
|
||||
joint.parent_link.child_joints.append(joint)
|
||||
|
||||
joint.child_link = self.get_link(joint.child)
|
||||
if not joint.child_link:
|
||||
raise Exception('Child not found for joint %s' % joint.name)
|
||||
joint.child_link.parent_joint = joint
|
||||
|
||||
def calculate_global_poses(self):
|
||||
for link in self.links:
|
||||
link.global_pose = add_poses(self.pose, link.pose)
|
||||
for joint in self.joints:
|
||||
joint.global_pose = add_poses(joint.child_link.global_pose, joint.pose)
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns xml element of a model/robot'''
|
||||
super(Model, self).to_xml(fmt)
|
||||
|
||||
self.build_tree()
|
||||
self.calculate_global_poses()
|
||||
|
||||
tag = 'robot' if fmt=='urdf' else 'model'
|
||||
model = ET.Element(tag, name=self.name)
|
||||
|
||||
if fmt == 'sdf':
|
||||
model.append(pose_to_xml(self.pose))
|
||||
static = ET.SubElement(model, 'static')
|
||||
static.text = str(self.static).lower()
|
||||
self_collide = ET.SubElement(model, 'self_collide')
|
||||
self_collide.text = str(self.self_collide).lower()
|
||||
else:
|
||||
model.set('static', str(self.static).lower())
|
||||
|
||||
root_link = self.get_root_link()
|
||||
if not root_link:
|
||||
raise Exception("Couldn't find root link")
|
||||
model.append(ET.Element('link', name=root_link.name+'_root'))
|
||||
for link in self.links:
|
||||
model.append(link.to_xml(fmt))
|
||||
|
||||
if fmt=='urdf':
|
||||
root_joint = ET.Element('joint',
|
||||
{"name": root_link.name+'_root',
|
||||
"type": "fixed"})
|
||||
root_joint.append(pose_to_xml(root_link.global_pose, fmt))
|
||||
ET.SubElement(root_joint, 'parent', link= root_link.name+'_root')
|
||||
ET.SubElement(root_joint, 'child', link= root_link.name)
|
||||
model.append(root_joint)
|
||||
|
||||
for joint in self.joints:
|
||||
model.append(joint.to_xml(fmt))
|
||||
|
||||
if fmt == 'sdf':
|
||||
sdf = ET.Element('sdf', version=str(self.sdf_version))
|
||||
sdf.append(model)
|
||||
return sdf
|
||||
|
||||
return model
|
||||
|
||||
def to_xml_string(self, fmt='sdf', header=True):
|
||||
dom = parseString(ET.tostring(self.to_xml(fmt)))
|
||||
return dom.toprettyxml(indent=' '*2)
|
||||
|
||||
|
||||
class Inertia(object):
|
||||
'''A clss representing an inertia element'''
|
||||
def __init__(self, **kwargs):
|
||||
self.ixx = kwargs.get('ixx', 0)
|
||||
self.ixy = kwargs.get('ixy', 0)
|
||||
self.ixz = kwargs.get('ixz', 0)
|
||||
self.iyy = kwargs.get('iyy', 0)
|
||||
self.iyz = kwargs.get('iyz', 0)
|
||||
self.izz = kwargs.get('izz', 0)
|
||||
if 'inertia' in kwargs:
|
||||
self.ixx, self.ixy, self.ixz = kwargs.get('inertia', [0]*6)[:3]
|
||||
self.iyy, self.iyz, self.izz = kwargs.get('inertia', [0]*6)[3:]
|
||||
self.coords = 'ixx', 'ixy', 'ixz', 'iyy', 'iyz', 'izz'
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns inetria xml element'''
|
||||
inertia = ET.Element('inertia')
|
||||
for coord in self.coords:
|
||||
if fmt == 'sdf':
|
||||
elem = ET.SubElement(inertia, coord)
|
||||
elem.text = flt2str(getattr(self, coord, 0))
|
||||
else:
|
||||
inertia.set(coord, flt2str(getattr(self, coord, 0)))
|
||||
return inertia
|
||||
|
||||
|
||||
class Inertial(SpatialEntity):
|
||||
'''A class representing an inertial element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Inertial, self).__init__(**kwargs)
|
||||
self.mass = kwargs.get('mass', 0)
|
||||
self.inertia = kwargs.get('inertia', Inertia())
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns inertial xml element'''
|
||||
super(Inertial, self).to_xml(fmt)
|
||||
inertial = ET.Element('inertial')
|
||||
pose = self.pose if fmt=='sdf' else self.urdf_pose
|
||||
inertial.append(pose_to_xml(pose, fmt=fmt))
|
||||
mass = ET.SubElement(inertial, 'mass')
|
||||
if fmt == 'sdf':
|
||||
mass.text = flt2str(self.mass)
|
||||
else:
|
||||
mass.set('value', flt2str(self.mass))
|
||||
inertial.append(self.inertia.to_xml(fmt=fmt))
|
||||
|
||||
return inertial
|
||||
|
||||
|
||||
class Geom(SpatialEntity):
|
||||
'''A base class for collision and visual classes'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Geom, self).__init__(**kwargs)
|
||||
self.mesh = kwargs.get('mesh', '')
|
||||
self.type = kwargs.get('type', 'visual')
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns visual or collision xml element'''
|
||||
super(Geom, self).to_xml(fmt)
|
||||
elem = ET.Element(self.type, name=self.name)
|
||||
pose = self.pose if fmt=='sdf' else self.urdf_pose
|
||||
elem.append(pose_to_xml(pose, fmt=fmt))
|
||||
geom = ET.SubElement(elem, 'geometry')
|
||||
mesh = ET.SubElement(geom, 'mesh')
|
||||
if fmt=='urdf':
|
||||
mesh.set('filename', 'package://' + self.mesh)
|
||||
else:
|
||||
uri = ET.SubElement(mesh, 'uri')
|
||||
uri.text = 'model://' + self.mesh
|
||||
|
||||
return elem
|
||||
|
||||
|
||||
class Visual(Geom):
|
||||
'''A class representing a visual element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Visual, self).__init__(type='visual', **kwargs)
|
||||
|
||||
|
||||
class Collision(Geom):
|
||||
'''A class representing a collision element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Collision, self).__init__(type='collision', **kwargs)
|
||||
|
||||
|
||||
class Link(SpatialEntity):
|
||||
'''A class representing a link element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Link, self).__init__(**kwargs)
|
||||
self.inertial = kwargs.get('inertial', Inertial())
|
||||
self.visuals = []
|
||||
self.collisions = []
|
||||
|
||||
self.parent_joint = None
|
||||
self.child_joints = []
|
||||
|
||||
if 'visual' in kwargs:
|
||||
self.visuals.append(kwargs.get('visual', Visual()))
|
||||
self.visuals.extend(kwargs.get('visuals', []))
|
||||
|
||||
if 'collision' in kwargs:
|
||||
self.visuals.append(kwargs.get('collision', Collision()))
|
||||
self.collisions.extend(kwargs.get('collisions', []))
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns link xml element'''
|
||||
super(Link, self).to_xml(fmt)
|
||||
link = ET.Element('link', name=self.name)
|
||||
|
||||
if self.parent_joint:
|
||||
self.urdf_pose = subtract_poses(self.global_pose,
|
||||
self.parent_joint.global_pose)
|
||||
else:
|
||||
self.urdf_pose = FreeCAD.Placement()
|
||||
|
||||
if fmt == 'sdf':
|
||||
link.append(pose_to_xml(self.pose, fmt=fmt))
|
||||
|
||||
self.inertial.urdf_pose = add_poses(self.inertial.pose, self.urdf_pose)
|
||||
link.append(self.inertial.to_xml(fmt=fmt))
|
||||
|
||||
for visual in self.visuals:
|
||||
visual.urdf_pose = self.urdf_pose.copy()
|
||||
link.append(visual.to_xml(fmt=fmt))
|
||||
for collision in self.collisions:
|
||||
collision.urdf_pose = self.urdf_pose.copy()
|
||||
link.append(collision.to_xml(fmt=fmt))
|
||||
|
||||
return link
|
||||
|
||||
|
||||
class Axis(SpatialEntity):
|
||||
'''A class representing an axis element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Axis, self).__init__(**kwargs)
|
||||
self.lower_limit = kwargs.get('lower_limit', 0)
|
||||
self.upper_limit = kwargs.get('upper_limit', 0)
|
||||
self.effort_limit = kwargs.get('effort_limit', 0)
|
||||
self.velocity_limit = kwargs.get('velocity_limit', 0)
|
||||
self.friction = kwargs.get('friction', 0)
|
||||
self.damping = kwargs.get('damping', 0)
|
||||
self.use_parent_frame = kwargs.get('use_parent_frame', False)
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns an axis xml element for sdf
|
||||
or an array of axis and limit xml elements for urdf'''
|
||||
super(Axis, self).to_xml(fmt)
|
||||
|
||||
axis = ET.Element('axis')
|
||||
if fmt=='sdf':
|
||||
xyz = ET.SubElement(axis, 'xyz')
|
||||
xyz.text = pose_xyz(self.pose)
|
||||
limit = ET.SubElement(axis, 'limit')
|
||||
lower = ET.SubElement(limit, 'lower')
|
||||
lower.text = flt2str(deg2rad(self.lower_limit))
|
||||
upper = ET.SubElement(limit, 'upper')
|
||||
upper.text = flt2str(deg2rad(self.upper_limit))
|
||||
effort = ET.SubElement(limit, 'effort')
|
||||
effort.text = flt2str(self.effort_limit)
|
||||
velocity = ET.SubElement(limit, 'velocity')
|
||||
velocity.text = flt2str(self.velocity_limit)
|
||||
dynamics = ET.SubElement(axis, 'dynamics')
|
||||
friction = ET.SubElement(dynamics, 'friction')
|
||||
friction.text = flt2str(self.friction)
|
||||
damping = ET.SubElement(dynamics, 'damping')
|
||||
damping.text = flt2str(self.damping)
|
||||
use_parent_frame = ET.SubElement(axis, 'use_parent_model_frame')
|
||||
use_parent_frame.text = str(self.use_parent_frame).lower()
|
||||
else:
|
||||
axis.set('xyz', pose_xyz(self.pose))
|
||||
axis.set('use_parent_model_frame', str(self.use_parent_frame).lower())
|
||||
limit = ET.Element('limit')
|
||||
limit.set('lower', flt2str(deg2rad(self.lower_limit)))
|
||||
limit.set('upper', flt2str(deg2rad(self.upper_limit)))
|
||||
limit.set('effort', flt2str(self.effort_limit))
|
||||
limit.set('velocity', flt2str(self.velocity_limit))
|
||||
|
||||
dynamics = ET.Element('dynamics')
|
||||
dynamics.set('friction', flt2str(self.friction))
|
||||
dynamics.set('damping', flt2str(self.damping))
|
||||
|
||||
return [axis, limit, dynamics]
|
||||
return axis
|
||||
|
||||
|
||||
class Joint(SpatialEntity):
|
||||
'''A class representing a joint element'''
|
||||
def __init__(self, **kwargs):
|
||||
super(Joint, self).__init__(**kwargs)
|
||||
self.parent = kwargs.get('parent', '')
|
||||
self.child = kwargs.get('child', '')
|
||||
self.type = kwargs.get('type', '')
|
||||
self.axis = kwargs.get('axis', Axis())
|
||||
|
||||
self.parent_link = None
|
||||
self.child_link = None
|
||||
|
||||
def to_xml(self, fmt='sdf'):
|
||||
'''returns a joint xml element'''
|
||||
super(Joint, self).to_xml(fmt)
|
||||
|
||||
if self.parent_link.parent_joint:
|
||||
self.urdf_pose = subtract_poses(self.global_pose,
|
||||
self.parent_link.parent_joint.global_pose)
|
||||
else:
|
||||
self.urdf_pose = subtract_poses(self.global_pose, self.parent_link.global_pose)
|
||||
|
||||
joint = ET.Element('joint', {'name': self.name, 'type': self.type})
|
||||
pose = self.pose if fmt=='sdf' else self.urdf_pose
|
||||
joint.append(pose_to_xml(pose, fmt=fmt))
|
||||
|
||||
parent = ET.SubElement(joint, 'parent')
|
||||
child = ET.SubElement(joint, 'child')
|
||||
if fmt == 'sdf':
|
||||
parent.text = self.parent
|
||||
child.text = self.child
|
||||
joint.append(self.axis.to_xml(fmt=fmt))
|
||||
else:
|
||||
parent.set('link', self.parent)
|
||||
child.set('link', self.child)
|
||||
joint.extend(self.axis.to_xml(fmt=fmt))
|
||||
|
||||
return joint
|
||||
|
Loading…
Add table
Add a link
Reference in a new issue