simulation.utils.urdf package¶

Submodules¶

simulation.utils.urdf.camera module¶

Class definitions of tags used to define cameras.

Classes:

`CameraProperties`(horizontal_fov, …)
`DepthCameraProperties`(horizontal_fov, …)
`CameraPlugin`(name, filename, alwaysOn, …)
`MonoCameraPlugin`(name, filename, alwaysOn, …)
`DepthCameraPlugin`(name, filename, alwaysOn, …)
`CameraImage`(width, height, format)
`CameraClip`(near, far)
`CameraDefinition`(horizontal_fov, image, clip)
`CameraSensor`(name, type, plugin, …)
`_Camera`(name, origin, size, mass, chassis_link)
`MonoCamera`(name, origin, size, mass, …)
`DepthCamera`(name, origin, size, mass, …)

class CameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None)[source]¶

Bases: object

Attributes:

`optical_center_x`
`optical_center_y`

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶

optical_center_x: float = None¶

optical_center_y: float = None¶

class DepthCameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None, point_cloud_cutoff: float = None, point_cloud_topic_name: str = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraProperties

Attributes:

`point_cloud_cutoff`
`point_cloud_topic_name`

point_cloud_cutoff: float = None¶

point_cloud_topic_name: str = None¶

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶

class CameraPlugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute, alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None)[source]¶

Bases: simulation.utils.urdf.gazebo.Plugin

Attributes:

`alwaysOn`
`updateRate`
`frameName`
`cameraName`
`CxPrime`
`Cx`
`Cy`

alwaysOn: float = 1¶

updateRate: float = 0¶

frameName: str = None¶

cameraName: str = None¶

CxPrime: float = None¶

Cx: float = None¶

Cy: float = None¶

name: simulation.utils.urdf.core.Attribute¶

filename: simulation.utils.urdf.core.Attribute¶

class MonoCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_camera.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, imageTopicName: str = None, cameraInfoTopicName: str = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraPlugin

Attributes:

`name`
`filename`
`imageTopicName`
`cameraInfoTopicName`

name: simulation.utils.urdf.core.Attribute = 'camera_plugin'¶

filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_camera.so'¶

imageTopicName: str = None¶

cameraInfoTopicName: str = None¶

class DepthCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, depthImageTopicName: str = None, depthImageCameraInfoTopicName: str = None, pointCloudTopicName: str = None, pointCloudCutoff: float = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraPlugin

Attributes:

`name`
`filename`
`depthImageTopicName`
`depthImageCameraInfoTopicName`
`pointCloudTopicName`
`pointCloudCutoff`

name: simulation.utils.urdf.core.Attribute = 'camera_plugin'¶

filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so'¶

depthImageTopicName: str = None¶

depthImageCameraInfoTopicName: str = None¶

pointCloudTopicName: str = None¶

pointCloudCutoff: float = None¶

class CameraImage(width: int, height: int, format: str)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'image'¶

width: int¶

height: int¶

format: str¶

class CameraClip(near: float, far: float)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'clip'¶

near: float¶

far: float¶

class CameraDefinition(horizontal_fov: float, image: simulation.utils.urdf.camera.CameraImage, clip: simulation.utils.urdf.camera.CameraClip = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`clip`

TAG = 'camera'¶

horizontal_fov: float¶

image: simulation.utils.urdf.camera.CameraImage¶

clip: simulation.utils.urdf.camera.CameraClip = None¶

class CameraSensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute, plugin: simulation.utils.urdf.camera.CameraPlugin, update_rate: float, camera: simulation.utils.urdf.camera.CameraDefinition)[source]¶

Bases: simulation.utils.urdf.gazebo.Sensor

Attributes:

name: simulation.utils.urdf.core.Attribute¶

type: simulation.utils.urdf.core.Attribute¶

plugin: simulation.utils.urdf.camera.CameraPlugin¶

update_rate: float¶

camera: simulation.utils.urdf.camera.CameraDefinition¶

class _Camera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, chassis_link: simulation.utils.urdf.link.Link)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

plugin: simulation.utils.urdf.gazebo.Gazebo¶

sensor: simulation.utils.urdf.camera.CameraSensor¶

link: simulation.utils.urdf.link.Link¶

joint: simulation.utils.urdf.joint.Joint¶

class MonoCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.CameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]¶

Bases: simulation.utils.urdf.camera._Camera

Attributes:

sensor: simulation.utils.urdf.camera.CameraSensor¶

link: simulation.utils.urdf.link.Link¶

joint: simulation.utils.urdf.joint.Joint¶

plugin: simulation.utils.urdf.gazebo.Gazebo¶

class DepthCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.DepthCameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]¶

Bases: simulation.utils.urdf.camera._Camera

Attributes:

link: simulation.utils.urdf.link.Link¶

joint: simulation.utils.urdf.joint.Joint¶

plugin: simulation.utils.urdf.gazebo.Gazebo¶

sensor: simulation.utils.urdf.camera.CameraSensor¶

simulation.utils.urdf.core module¶

Class definitions of core building blocks of the package.

Classes:

`Attribute`(val, name)	Basic class that will be converted into a xml attribute.
`XmlObject`()	Base class for all urdf xml objects.
`Origin`(xyz, rpy)
`Axis`(xyz)

Functions:

_origin_default_list()

class Attribute(val: str, name: Optional[str] = None)[source]¶

Bases: str

Basic class that will be converted into a xml attribute.

Important: Within a subclass of XmlObject an attribute can be defined by simply annotating a class variable with py:class:Attribute!

Example

>>> from dataclasses import dataclass
>>> from simulation.utils.urdf.core import XmlObject, Attribute
>>> @dataclass
... class Example(XmlObject):
...     TAG = "example"
...     name: Attribute
...     value1: str
...     value2: float = None
>>> ex = Example("example_name",value1="I'm an example.")

The code block defines a simple example class that results in the xml string:

<example name="example_name">
  <value1>I'm an example.</value1>
</example>

Parameters

val – Attribute value.
name – Optionally the name of the can be provided. By default the name of the Attribute instance defines the name of the resulting xml attribute.

class XmlObject[source]¶

Bases: object

Base class for all urdf xml objects.

Attributes:

TAG

Methods:

`_get_val`(val)	Convert a value to a string that is included into the xml.
`create_xml`([root_el])	Convert this instance into a xml element.
`save`(file_path)	Save this instance as a xml string to a file.

TAG = None¶

_get_val(val: Any) → str[source]¶: Convert a value to a string that is included into the xml.

create_xml(root_el: Optional[xml.etree.ElementTree.Element] = None) → xml.etree.ElementTree.Element[source]¶

Convert this instance into a xml element.

If the class of this instance does not define a tag, new xml elements from this instance are appended to the root_el. Otherwise, a sub element is created and returned.
Additionally to all instance attributes, a dictionary parameters can be used to define sub elements.
A Attribute type annotation for any of the object`s attributes, will result in a xml attribute.

Parameters: root_el – Optional element that is used a parent xml element when provided.

save(file_path: str)[source]¶

Save this instance as a xml string to a file.

Parameters: file_path – Location to store the xml.

_origin_default_list()[source]¶

class Origin(xyz: simulation.utils.urdf.core.Attribute = <factory>, rpy: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

`from_vector`(vector)
`from_list`(lst)

TAG = 'origin'¶

xyz: simulation.utils.urdf.core.Attribute¶

rpy: simulation.utils.urdf.core.Attribute¶

classmethod from_vector(vector: simulation.utils.geometry.vector.Vector)[source]¶

classmethod from_list(lst: List[float])[source]¶

class Axis(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'axis'¶

xyz: simulation.utils.urdf.core.Attribute¶

simulation.utils.urdf.gazebo module¶

Class definitions of tags used only for gazebo.

Classes:

`Plugin`(name, filename)
`Gazebo`(inner, reference)
`Sensor`(name, type)

class Plugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'plugin'¶

name: simulation.utils.urdf.core.Attribute¶

filename: simulation.utils.urdf.core.Attribute¶

class Gazebo(inner: simulation.utils.urdf.core.XmlObject, reference: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`reference`

TAG = 'gazebo'¶

inner: simulation.utils.urdf.core.XmlObject¶

reference: simulation.utils.urdf.core.Attribute = None¶

class Sensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'sensor'¶

name: simulation.utils.urdf.core.Attribute¶

type: simulation.utils.urdf.core.Attribute¶

simulation.utils.urdf.joint module¶

Class definitions making up the <joint>.

Example

A simple joint connecting link2 to link1 with a revolute joint that can rotate along the z-axis:

>>> from simulation.utils.urdf import (
...     Origin, Link, Joint, Parent, Child, Axis, JointLimit, JointDynamics
... )
>>> link1 = Link("link_1")
>>> link2 = Link("link_2")
>>> simple_joint = Joint(
...     name="simple_joint",
...     parent=Parent(link1.name),
...     child=Child(link2.name),
...     type=Joint.REVOLUTE,
...     origin=Origin([1,3,2]),
...     axis=Axis([0, 0, 1]),
...     limit=JointLimit(effort=1000, lower=-10, upper=10),
...     dynamics=JointDynamics(damping=1, friction=1),
... )

Classes:

`JointDynamics`(damping, friction)
`JointLimit`(effort, lower, upper, velocity)
`Parent`(link)
`Child`(link)
`Joint`(name, parent, child, type, axis, …)

class JointDynamics(damping: simulation.utils.urdf.core.Attribute = None, friction: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`damping`
`friction`

TAG = 'dynamics'¶

damping: simulation.utils.urdf.core.Attribute = None¶

friction: simulation.utils.urdf.core.Attribute = None¶

class JointLimit(effort: simulation.utils.urdf.core.Attribute = None, lower: simulation.utils.urdf.core.Attribute = None, upper: simulation.utils.urdf.core.Attribute = None, velocity: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`effort`
`lower`
`upper`
`velocity`

TAG = 'limit'¶

effort: simulation.utils.urdf.core.Attribute = None¶

lower: simulation.utils.urdf.core.Attribute = None¶

upper: simulation.utils.urdf.core.Attribute = None¶

velocity: simulation.utils.urdf.core.Attribute = None¶

class Parent(link: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'parent'¶

link: simulation.utils.urdf.core.Attribute¶

class Child(link: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'child'¶

link: simulation.utils.urdf.core.Attribute¶

class Joint(name: simulation.utils.urdf.core.Attribute, parent: simulation.utils.urdf.joint.Parent, child: simulation.utils.urdf.joint.Child, type: simulation.utils.urdf.core.Attribute = 'fixed', axis: simulation.utils.geometry.vector.Vector = None, limit: simulation.utils.urdf.joint.JointLimit = None, dynamics: simulation.utils.urdf.joint.JointDynamics = None, origin: simulation.utils.urdf.core.Origin = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`FIXED`
`REVOLUTE`
`CONTINUOUS`
`type`
`axis`
`limit`
`dynamics`
`origin`

TAG = 'joint'¶

FIXED = 'fixed'¶

REVOLUTE = 'revolute'¶

CONTINUOUS = 'continuous'¶

name: simulation.utils.urdf.core.Attribute¶

parent: simulation.utils.urdf.joint.Parent¶

child: simulation.utils.urdf.joint.Child¶

type: simulation.utils.urdf.core.Attribute = 'fixed'¶

axis: simulation.utils.geometry.vector.Vector = None¶

limit: simulation.utils.urdf.joint.JointLimit = None¶

dynamics: simulation.utils.urdf.joint.JointDynamics = None¶

origin: simulation.utils.urdf.core.Origin = None¶

simulation.utils.urdf.link module¶

Class definitions making up the <link>.

Example

A simple link with the shape of a rectangular box can be defined as follows:

>>> from simulation.utils.geometry import Vector
>>> from simulation.utils.urdf import Geometry, Box, Material, Link, Collision, Visual
>>> box = Geometry(Box(Vector(2, 2, 2)))
>>> material = Material("mat", color=Vector(1, 1, 1))
>>> link = Link(
...     "link",
...     collision=Collision(geometry=box),
...     visual=Visual(geometry=box, material=material),
... )
>>> link.use_inertial_from_collision(mass=1.0)
...  # Calculate inertial tensor from simulation.utils.geometry and mass

Functions:

_origin_default_list()

Classes:

`Color`(xyz)
`Inertia`(ixx, ixy, ixz, iyx, iyy, iyz, izx, …)
`Inertial`(mass, inertia, origin)
`Geometry`(value)
`Box`(size)
`Sphere`(radius)
`Cylinder`(radius, length)
`Mesh`(filename, scale)
`Collision`(origin, geometry)
`Material`(name, color, texture)
`Visual`(origin, geometry, material)
`Link`(name, collision, visual, inertial)

_origin_default_list()[source]¶

class Color(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'color'¶

xyz: simulation.utils.urdf.core.Attribute¶

class Inertia(ixx: simulation.utils.urdf.core.Attribute = 0, ixy: simulation.utils.urdf.core.Attribute = 0, ixz: simulation.utils.urdf.core.Attribute = 0, iyx: simulation.utils.urdf.core.Attribute = 0, iyy: simulation.utils.urdf.core.Attribute = 0, iyz: simulation.utils.urdf.core.Attribute = 0, izx: simulation.utils.urdf.core.Attribute = 0, izy: simulation.utils.urdf.core.Attribute = 0, izz: simulation.utils.urdf.core.Attribute = 0)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`ixx`
`ixy`
`ixz`
`iyx`
`iyy`
`iyz`
`izx`
`izy`
`izz`

TAG = 'inertia'¶

ixx: simulation.utils.urdf.core.Attribute = 0¶

ixy: simulation.utils.urdf.core.Attribute = 0¶

ixz: simulation.utils.urdf.core.Attribute = 0¶

iyx: simulation.utils.urdf.core.Attribute = 0¶

iyy: simulation.utils.urdf.core.Attribute = 0¶

iyz: simulation.utils.urdf.core.Attribute = 0¶

izx: simulation.utils.urdf.core.Attribute = 0¶

izy: simulation.utils.urdf.core.Attribute = 0¶

izz: simulation.utils.urdf.core.Attribute = 0¶

class Inertial(mass: float, inertia: simulation.utils.urdf.link.Inertia, origin: simulation.utils.urdf.core.Origin = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`

Methods:

create_xml([root_el])

Convert this instance into a xml element.

TAG = 'inertial'¶

mass: float¶

inertia: simulation.utils.urdf.link.Inertia¶

origin: simulation.utils.urdf.core.Origin = None¶

create_xml(root_el=None)[source]¶

Convert this instance into a xml element.

If the class of this instance does not define a tag, new xml elements from this instance are appended to the root_el. Otherwise, a sub element is created and returned.
Additionally to all instance attributes, a dictionary parameters can be used to define sub elements.
A Attribute type annotation for any of the object`s attributes, will result in a xml attribute.

Parameters: root_el – Optional element that is used a parent xml element when provided.

class Geometry(value: simulation.utils.urdf.core.XmlObject)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'geometry'¶

value: simulation.utils.urdf.core.XmlObject¶

class Box(size: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'box'¶

size: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Sphere(radius: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'sphere'¶

radius: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Cylinder(radius: simulation.utils.urdf.core.Attribute, length: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'cylinder'¶

radius: simulation.utils.urdf.core.Attribute¶

length: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Mesh(filename: simulation.utils.urdf.core.Attribute, scale: simulation.utils.geometry.vector.Vector = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`scale`

TAG = 'mesh'¶

filename: simulation.utils.urdf.core.Attribute¶

scale: simulation.utils.geometry.vector.Vector = None¶

class Collision(origin: simulation.utils.urdf.core.Origin = None, geometry: simulation.utils.urdf.link.Geometry = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`
`geometry`

TAG = 'collision'¶

origin: simulation.utils.urdf.core.Origin = None¶

geometry: simulation.utils.urdf.link.Geometry = None¶

class Material(name: simulation.utils.urdf.core.Attribute = None, color: simulation.utils.geometry.vector.Vector = None, texture: str = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`name`
`color`
`texture`

TAG = 'material'¶

name: simulation.utils.urdf.core.Attribute = None¶

color: simulation.utils.geometry.vector.Vector = None¶

texture: str = None¶

class Visual(origin: Tuple = None, geometry: simulation.utils.urdf.link.Geometry = None, material: simulation.utils.urdf.link.Material = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`
`geometry`
`material`

TAG = 'visual'¶

origin: Tuple = None¶

geometry: simulation.utils.urdf.link.Geometry = None¶

material: simulation.utils.urdf.link.Material = None¶

class Link(name: simulation.utils.urdf.core.Attribute, collision: simulation.utils.urdf.link.Collision = None, visual: simulation.utils.urdf.link.Collision = None, inertial: simulation.utils.urdf.link.Inertial = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`collision`
`visual`
`inertial`

Methods:

use_inertial_from_collision(mass)

TAG = 'link'¶

name: simulation.utils.urdf.core.Attribute¶

collision: simulation.utils.urdf.link.Collision = None¶

visual: simulation.utils.urdf.link.Collision = None¶

inertial: simulation.utils.urdf.link.Inertial = None¶

use_inertial_from_collision(mass: float)[source]¶

Module contents¶

Module package to create .urdf model definitions.

The package contains a number of classes that enable to define urdf robots through python.

For what? The urdf is very repetetive to write and requires prior knowledge on available tags and how they can be combined to a fully specified robot. Additionally, the commonly used xacro is less powerful than python and, again, another tool.

The basic idea used throughout the package is the inheritance from XmlObject. XmlObject.create_xml() creates a xml.etree.cElementTree.Element from the class instance. It does so by converting all instance attributes into xml attributes and sub elements. If a class attribute is an instance of a subclass of XmlObject, the objects XmlObject.create_xml() is called recursively.

The XmlObject in combination with dataclasses allows to create lightweight classes that define urdf components when converted to xml.

Classes:

`Attribute`(val, name)	Basic class that will be converted into a xml attribute.
`XmlObject`()	Base class for all urdf xml objects.
`Origin`(xyz, rpy)
`Axis`(xyz)
`Color`(xyz)
`Inertia`(ixx, ixy, ixz, iyx, iyy, iyz, izx, …)
`Inertial`(mass, inertia, origin)
`Box`(size)
`Sphere`(radius)
`Cylinder`(radius, length)
`Geometry`(value)
`Mesh`(filename, scale)
`Material`(name, color, texture)
`Visual`(origin, geometry, material)
`Collision`(origin, geometry)
`Link`(name, collision, visual, inertial)
`JointDynamics`(damping, friction)
`JointLimit`(effort, lower, upper, velocity)
`Parent`(link)
`Child`(link)
`Joint`(name, parent, child, type, axis, …)
`Plugin`(name, filename)
`Gazebo`(inner, reference)
`Sensor`(name, type)
`MonoCamera`(name, origin, size, mass, …)
`DepthCamera`(name, origin, size, mass, …)
`CameraClip`(near, far)
`CameraDefinition`(horizontal_fov, image, clip)
`CameraImage`(width, height, format)
`CameraPlugin`(name, filename, alwaysOn, …)
`DepthCameraPlugin`(name, filename, alwaysOn, …)
`CameraSensor`(name, type, plugin, …)
`CameraProperties`(horizontal_fov, …)
`DepthCameraProperties`(horizontal_fov, …)

class Attribute(val: str, name: Optional[str] = None)[source]¶

Bases: str

Basic class that will be converted into a xml attribute.

Important: Within a subclass of XmlObject an attribute can be defined by simply annotating a class variable with py:class:Attribute!

Example

>>> from dataclasses import dataclass
>>> from simulation.utils.urdf.core import XmlObject, Attribute
>>> @dataclass
... class Example(XmlObject):
...     TAG = "example"
...     name: Attribute
...     value1: str
...     value2: float = None
>>> ex = Example("example_name",value1="I'm an example.")

The code block defines a simple example class that results in the xml string:

<example name="example_name">
  <value1>I'm an example.</value1>
</example>

Parameters

val – Attribute value.
name – Optionally the name of the can be provided. By default the name of the Attribute instance defines the name of the resulting xml attribute.

class XmlObject[source]¶

Bases: object

Base class for all urdf xml objects.

Attributes:

TAG

Methods:

`_get_val`(val)	Convert a value to a string that is included into the xml.
`create_xml`([root_el])	Convert this instance into a xml element.
`save`(file_path)	Save this instance as a xml string to a file.

TAG = None¶

_get_val(val: Any) → str[source]¶: Convert a value to a string that is included into the xml.

create_xml(root_el: Optional[xml.etree.ElementTree.Element] = None) → xml.etree.ElementTree.Element[source]¶

Convert this instance into a xml element.

If the class of this instance does not define a tag, new xml elements from this instance are appended to the root_el. Otherwise, a sub element is created and returned.
Additionally to all instance attributes, a dictionary parameters can be used to define sub elements.
A Attribute type annotation for any of the object`s attributes, will result in a xml attribute.

Parameters: root_el – Optional element that is used a parent xml element when provided.

save(file_path: str)[source]¶

Save this instance as a xml string to a file.

Parameters: file_path – Location to store the xml.

class Origin(xyz: simulation.utils.urdf.core.Attribute = <factory>, rpy: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

`from_vector`(vector)
`from_list`(lst)

TAG = 'origin'¶

xyz: simulation.utils.urdf.core.Attribute¶

rpy: simulation.utils.urdf.core.Attribute¶

classmethod from_vector(vector: simulation.utils.geometry.vector.Vector)[source]¶

classmethod from_list(lst: List[float])[source]¶

class Axis(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'axis'¶

xyz: simulation.utils.urdf.core.Attribute¶

class Color(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'color'¶

xyz: simulation.utils.urdf.core.Attribute¶

class Inertia(ixx: simulation.utils.urdf.core.Attribute = 0, ixy: simulation.utils.urdf.core.Attribute = 0, ixz: simulation.utils.urdf.core.Attribute = 0, iyx: simulation.utils.urdf.core.Attribute = 0, iyy: simulation.utils.urdf.core.Attribute = 0, iyz: simulation.utils.urdf.core.Attribute = 0, izx: simulation.utils.urdf.core.Attribute = 0, izy: simulation.utils.urdf.core.Attribute = 0, izz: simulation.utils.urdf.core.Attribute = 0)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`ixx`
`ixy`
`ixz`
`iyx`
`iyy`
`iyz`
`izx`
`izy`
`izz`

TAG = 'inertia'¶

ixx: simulation.utils.urdf.core.Attribute = 0¶

ixy: simulation.utils.urdf.core.Attribute = 0¶

ixz: simulation.utils.urdf.core.Attribute = 0¶

iyx: simulation.utils.urdf.core.Attribute = 0¶

iyy: simulation.utils.urdf.core.Attribute = 0¶

iyz: simulation.utils.urdf.core.Attribute = 0¶

izx: simulation.utils.urdf.core.Attribute = 0¶

izy: simulation.utils.urdf.core.Attribute = 0¶

izz: simulation.utils.urdf.core.Attribute = 0¶

class Inertial(mass: float, inertia: simulation.utils.urdf.link.Inertia, origin: simulation.utils.urdf.core.Origin = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`

Methods:

create_xml([root_el])

Convert this instance into a xml element.

TAG = 'inertial'¶

mass: float¶

inertia: simulation.utils.urdf.link.Inertia¶

origin: simulation.utils.urdf.core.Origin = None¶

create_xml(root_el=None)[source]¶

Convert this instance into a xml element.

If the class of this instance does not define a tag, new xml elements from this instance are appended to the root_el. Otherwise, a sub element is created and returned.
Additionally to all instance attributes, a dictionary parameters can be used to define sub elements.
A Attribute type annotation for any of the object`s attributes, will result in a xml attribute.

Parameters: root_el – Optional element that is used a parent xml element when provided.

class Box(size: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'box'¶

size: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Sphere(radius: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'sphere'¶

radius: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Cylinder(radius: simulation.utils.urdf.core.Attribute, length: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

Methods:

calculate_inertia(mass)

TAG = 'cylinder'¶

radius: simulation.utils.urdf.core.Attribute¶

length: simulation.utils.urdf.core.Attribute¶

calculate_inertia(mass) → simulation.utils.urdf.link.Inertia [source]¶

class Geometry(value: simulation.utils.urdf.core.XmlObject)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'geometry'¶

value: simulation.utils.urdf.core.XmlObject¶

class Mesh(filename: simulation.utils.urdf.core.Attribute, scale: simulation.utils.geometry.vector.Vector = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`scale`

TAG = 'mesh'¶

filename: simulation.utils.urdf.core.Attribute¶

scale: simulation.utils.geometry.vector.Vector = None¶

class Material(name: simulation.utils.urdf.core.Attribute = None, color: simulation.utils.geometry.vector.Vector = None, texture: str = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`name`
`color`
`texture`

TAG = 'material'¶

name: simulation.utils.urdf.core.Attribute = None¶

color: simulation.utils.geometry.vector.Vector = None¶

texture: str = None¶

class Visual(origin: Tuple = None, geometry: simulation.utils.urdf.link.Geometry = None, material: simulation.utils.urdf.link.Material = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`
`geometry`
`material`

TAG = 'visual'¶

origin: Tuple = None¶

geometry: simulation.utils.urdf.link.Geometry = None¶

material: simulation.utils.urdf.link.Material = None¶

class Collision(origin: simulation.utils.urdf.core.Origin = None, geometry: simulation.utils.urdf.link.Geometry = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`origin`
`geometry`

TAG = 'collision'¶

origin: simulation.utils.urdf.core.Origin = None¶

geometry: simulation.utils.urdf.link.Geometry = None¶

class Link(name: simulation.utils.urdf.core.Attribute, collision: simulation.utils.urdf.link.Collision = None, visual: simulation.utils.urdf.link.Collision = None, inertial: simulation.utils.urdf.link.Inertial = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`collision`
`visual`
`inertial`

Methods:

use_inertial_from_collision(mass)

TAG = 'link'¶

name: simulation.utils.urdf.core.Attribute¶

collision: simulation.utils.urdf.link.Collision = None¶

visual: simulation.utils.urdf.link.Collision = None¶

inertial: simulation.utils.urdf.link.Inertial = None¶

use_inertial_from_collision(mass: float)[source]¶

class JointDynamics(damping: simulation.utils.urdf.core.Attribute = None, friction: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`damping`
`friction`

TAG = 'dynamics'¶

damping: simulation.utils.urdf.core.Attribute = None¶

friction: simulation.utils.urdf.core.Attribute = None¶

class JointLimit(effort: simulation.utils.urdf.core.Attribute = None, lower: simulation.utils.urdf.core.Attribute = None, upper: simulation.utils.urdf.core.Attribute = None, velocity: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`effort`
`lower`
`upper`
`velocity`

TAG = 'limit'¶

effort: simulation.utils.urdf.core.Attribute = None¶

lower: simulation.utils.urdf.core.Attribute = None¶

upper: simulation.utils.urdf.core.Attribute = None¶

velocity: simulation.utils.urdf.core.Attribute = None¶

class Parent(link: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'parent'¶

link: simulation.utils.urdf.core.Attribute¶

class Child(link: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'child'¶

link: simulation.utils.urdf.core.Attribute¶

class Joint(name: simulation.utils.urdf.core.Attribute, parent: simulation.utils.urdf.joint.Parent, child: simulation.utils.urdf.joint.Child, type: simulation.utils.urdf.core.Attribute = 'fixed', axis: simulation.utils.geometry.vector.Vector = None, limit: simulation.utils.urdf.joint.JointLimit = None, dynamics: simulation.utils.urdf.joint.JointDynamics = None, origin: simulation.utils.urdf.core.Origin = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`FIXED`
`REVOLUTE`
`CONTINUOUS`
`type`
`axis`
`limit`
`dynamics`
`origin`

TAG = 'joint'¶

FIXED = 'fixed'¶

REVOLUTE = 'revolute'¶

CONTINUOUS = 'continuous'¶

name: simulation.utils.urdf.core.Attribute¶

parent: simulation.utils.urdf.joint.Parent¶

child: simulation.utils.urdf.joint.Child¶

type: simulation.utils.urdf.core.Attribute = 'fixed'¶

axis: simulation.utils.geometry.vector.Vector = None¶

limit: simulation.utils.urdf.joint.JointLimit = None¶

dynamics: simulation.utils.urdf.joint.JointDynamics = None¶

origin: simulation.utils.urdf.core.Origin = None¶

class Plugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'plugin'¶

name: simulation.utils.urdf.core.Attribute¶

filename: simulation.utils.urdf.core.Attribute¶

class Gazebo(inner: simulation.utils.urdf.core.XmlObject, reference: simulation.utils.urdf.core.Attribute = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`reference`

TAG = 'gazebo'¶

inner: simulation.utils.urdf.core.XmlObject¶

reference: simulation.utils.urdf.core.Attribute = None¶

class Sensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'sensor'¶

name: simulation.utils.urdf.core.Attribute¶

type: simulation.utils.urdf.core.Attribute¶

class MonoCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.CameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]¶

Bases: simulation.utils.urdf.camera._Camera

Attributes:

sensor: simulation.utils.urdf.camera.CameraSensor¶

link: simulation.utils.urdf.link.Link¶

joint: simulation.utils.urdf.joint.Joint¶

plugin: simulation.utils.urdf.gazebo.Gazebo¶

class DepthCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: simulation.utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.DepthCameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]¶

Bases: simulation.utils.urdf.camera._Camera

Attributes:

link: simulation.utils.urdf.link.Link¶

joint: simulation.utils.urdf.joint.Joint¶

plugin: simulation.utils.urdf.gazebo.Gazebo¶

sensor: simulation.utils.urdf.camera.CameraSensor¶

class CameraClip(near: float, far: float)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'clip'¶

near: float¶

far: float¶

class CameraDefinition(horizontal_fov: float, image: simulation.utils.urdf.camera.CameraImage, clip: simulation.utils.urdf.camera.CameraClip = None)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

`TAG`
`clip`

TAG = 'camera'¶

horizontal_fov: float¶

image: simulation.utils.urdf.camera.CameraImage¶

clip: simulation.utils.urdf.camera.CameraClip = None¶

class CameraImage(width: int, height: int, format: str)[source]¶

Bases: simulation.utils.urdf.core.XmlObject

Attributes:

TAG

TAG = 'image'¶

width: int¶

height: int¶

format: str¶

class CameraPlugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute, alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None)[source]¶

Bases: simulation.utils.urdf.gazebo.Plugin

Attributes:

`alwaysOn`
`updateRate`
`frameName`
`cameraName`
`CxPrime`
`Cx`
`Cy`

alwaysOn: float = 1¶

updateRate: float = 0¶

frameName: str = None¶

cameraName: str = None¶

CxPrime: float = None¶

Cx: float = None¶

Cy: float = None¶

name: simulation.utils.urdf.core.Attribute¶

filename: simulation.utils.urdf.core.Attribute¶

class DepthCameraPlugin(name: simulation.utils.urdf.core.Attribute = 'camera_plugin', filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so', alwaysOn: float = 1, updateRate: float = 0, frameName: str = None, cameraName: str = None, CxPrime: float = None, Cx: float = None, Cy: float = None, depthImageTopicName: str = None, depthImageCameraInfoTopicName: str = None, pointCloudTopicName: str = None, pointCloudCutoff: float = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraPlugin

Attributes:

`name`
`filename`
`depthImageTopicName`
`depthImageCameraInfoTopicName`
`pointCloudTopicName`
`pointCloudCutoff`

name: simulation.utils.urdf.core.Attribute = 'camera_plugin'¶

filename: simulation.utils.urdf.core.Attribute = 'libgazebo_ros_openni_kinect.so'¶

depthImageTopicName: str = None¶

depthImageCameraInfoTopicName: str = None¶

pointCloudTopicName: str = None¶

pointCloudCutoff: float = None¶

class CameraSensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute, plugin: simulation.utils.urdf.camera.CameraPlugin, update_rate: float, camera: simulation.utils.urdf.camera.CameraDefinition)[source]¶

Bases: simulation.utils.urdf.gazebo.Sensor

Attributes:

name: simulation.utils.urdf.core.Attribute¶

type: simulation.utils.urdf.core.Attribute¶

plugin: simulation.utils.urdf.camera.CameraPlugin¶

update_rate: float¶

camera: simulation.utils.urdf.camera.CameraDefinition¶

class CameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None)[source]¶

Bases: object

Attributes:

`optical_center_x`
`optical_center_y`

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶

optical_center_x: float = None¶

optical_center_y: float = None¶

class DepthCameraProperties(horizontal_fov: float, update_rate: float, image_width: float, image_height: float, image_format: float, clip_near: float, clip_far: float, image_topic: str, info_topic: str, frame_name: str, optical_center_x: float = None, optical_center_y: float = None, point_cloud_cutoff: float = None, point_cloud_topic_name: str = None)[source]¶

Bases: simulation.utils.urdf.camera.CameraProperties

Attributes:

`point_cloud_cutoff`
`point_cloud_topic_name`

point_cloud_cutoff: float = None¶

point_cloud_topic_name: str = None¶

horizontal_fov: float¶

update_rate: float¶

image_width: float¶

image_height: float¶

image_format: float¶

clip_near: float¶

clip_far: float¶

image_topic: str¶

info_topic: str¶

frame_name: str¶