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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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How to Apply These Terms to Your New Programs
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Also add information on how to contact you by electronic and paper mail.
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The hypothetical commands `show w' and `show c' should show the appropriate
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The GNU General Public License does not permit incorporating your program
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Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

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# 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

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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 *

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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)

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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)

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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)

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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