Python URDF.from_xml_file方法代码示例

# 需要导入模块: from urdf_parser_py.urdf import URDF [as 别名]
# 或者: from urdf_parser_py.urdf.URDF import from_xml_file [as 别名]
def runDiff(original_file, new_file, output_file):
    original_robot = URDF.from_xml_file(original_file)
    new_robot = URDF.from_xml_file(new_file)
    # only joint and link are considered
    diffs = dict()
    for j in original_robot.joints:
        new_j = findJointByName(new_robot, j.name)
        # check origin difference
        if new_j:
            diff = jointDiff(j, new_j)
            if diff:
                diffs[j.name] = diff
    with open(output_file, "w") as f:
        f.write(yaml.dump(diffs))
        print yaml.dump(diffs)

# 需要导入模块: from urdf_parser_py.urdf import URDF [as 别名]
# 或者: from urdf_parser_py.urdf.URDF import from_xml_file [as 别名]
    def __init__(self, urdf_path, sem_path, name_suffix=None):
        self.nsmap = {
            "xsd": "http://www.w3.org/2001/XMLSchema#",
            "owl": "http://www.w3.org/2002/07/owl#",
            "xsd": "http://www.w3.org/2001/XMLSchema#",
            "srdl2": "http://knowrob.org/kb/srdl2.owl#",
            "owl2xml": "http://www.w3.org/2006/12/owl2-xml#",
            "knowrob": "http://knowrob.org/kb/knowrob.owl#",
            "rdfs": "http://www.w3.org/2000/01/rdf-schema#",
            "rdf": "http://www.w3.org/1999/02/22-rdf-syntax-ns#",
            "srdl2-comp": "http://knowrob.org/kb/srdl2-comp.owl#",
            "srdl2-cap": "http://knowrob.org/kb/srdl2-cap.owl#",
            "qudt-unit": "http://qudt.org/vocab/unit#",
        }
        self.imports = [
            "package://knowrob_srdl/owl/srdl2-comp.owl",
            "package://knowrob_common/owl/knowrob.owl",
        ]
        self.id_gen = UniqueStringGenerator()
        self.urdf = URDF.from_xml_file(urdf_path)
        self.urdf.check_valid()

        basename = os.path.basename(sem_path)
        namespace, _ = os.path.splitext(basename)
        self.map_ns = namespace
        if name_suffix is None:
            self.map_name = self.urdf.name + "_" + self.id_gen.gen()
        else:
            self.map_name = self.urdf.name + "_" + name_suffix
        self.map_uri_base = "http://knowrob.org/kb/%s" % basename
        self.map_uri = self.map_uri_base + "#"
        self.nsmap[self.map_ns] = self.map_uri
        self.transformations = {}

# 需要导入模块: from urdf_parser_py.urdf import URDF [as 别名]
# 或者: from urdf_parser_py.urdf.URDF import from_xml_file [as 别名]
def runPatch(input_file, patch_yaml, output_file):
    input_robot = URDF.from_xml_file(input_file)
    patch_param = yaml.load(open(patch_yaml))
    for joint_name in patch_param.keys():
        diff = patch_param[joint_name]
        if diff.has_key("xyz"):
            j = input_robot.joint_map[joint_name]
            j.origin.xyz = diff["xyz"]
        if diff.has_key("rpy"):
            j = input_robot.joint_map[joint_name]
            j.origin.rpy = diff["rpy"]
    if output_file:
        with open(output_file, "w") as f:
            f.write(input_robot.to_xml_string())
    else:
        print input_robot.to_xml_string()

# 需要导入模块: from urdf_parser_py.urdf import URDF [as 别名]
# 或者: from urdf_parser_py.urdf.URDF import from_xml_file [as 别名]
import rospy
import rospkg
from urdf_parser_py.urdf import URDF
from tf_cache import LocalTfCache
import std_redirect

#ROS Global Config stuff

#get configuration constants from the param server
#this class recursively parses configuration attributes into properties, letting us use the easy . syntax
class _ParamNode:
    def __init__(self, **entries): 
        self.__dict__.update(entries)
        for key in self.__dict__:
        	if type(self.__dict__[key]) is dict:
        		self.__dict__[key] = _ParamNode(**self.__dict__[key])

def config(prefix = ""):
	return _ParamNode(**rospy.get_param(prefix))

import geometry

with std_redirect.SysRedirect(stderr=std_redirect.devnull): #squelch annoying URDF warnings
	try:
		urdf = URDF.from_parameter_server()
	except KeyError:
		urdf = URDF.from_xml_file(rospkg.RosPack().get_path('spacejockey') + '/resources/spacejockey.urdf')

import kinematics