From 9c9e28e9f1de29228def48a4d49315b2f4fbf2d2 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Sep 2014 20:55:48 +0900 Subject: [PATCH 1/5] set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional --- urdf_parser_py/src/urdf_parser_py/urdf.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index b0fceb02..2cab62a8 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -237,8 +237,8 @@ def __init__(self, effort=None, velocity=None, lower=None, upper=None): xmlr.reflect(JointLimit, params = [ xmlr.Attribute('effort', float), - xmlr.Attribute('lower', float), - xmlr.Attribute('upper', float), + xmlr.Attribute('lower', float, False, 0), + xmlr.Attribute('upper', float, False, 0), xmlr.Attribute('velocity', float) ]) @@ -264,9 +264,9 @@ def __init__(self, velocity=None, position=None, lower=None, upper=None): xmlr.reflect(SafetyController, params = [ xmlr.Attribute('k_velocity', float), - xmlr.Attribute('k_position', float), - xmlr.Attribute('soft_lower_limit', float), - xmlr.Attribute('soft_upper_limit', float) + xmlr.Attribute('k_position', float, False, 0), + xmlr.Attribute('soft_lower_limit', float, False, 0), + xmlr.Attribute('soft_upper_limit', float, False, 0) ]) class Joint(xmlr.Object): @@ -433,4 +433,4 @@ def from_parameter_server(cls, key = 'robot_description'): # Make an alias URDF = Robot -xmlr.end_namespace() \ No newline at end of file +xmlr.end_namespace() From 6fd15c2c58b3b0a596509779b4ef67ce8fd3e200 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 23 Sep 2014 11:18:52 +0900 Subject: [PATCH 2/5] falling and raising in joint/calibration is optional, see http://wiki.ros.org/urdf/XML/joint --- urdf_parser_py/src/urdf_parser_py/urdf.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index 2cab62a8..9492d8a5 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -224,8 +224,8 @@ def __init__(self, rising=None, falling=None): self.falling = falling xmlr.reflect(JointCalibration, params = [ - xmlr.Attribute('rising', float), - xmlr.Attribute('falling', float) + xmlr.Attribute('rising', float, False), + xmlr.Attribute('falling', float, False) ]) class JointLimit(xmlr.Object): From e663dc793691c0b852cc968d87f54948a080ae6c Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 23 Sep 2014 13:06:47 +0900 Subject: [PATCH 3/5] set optional for pr2 transmission, see http://wiki.ros.org/urdf/XML/joint --- urdf_parser_py/src/urdf_parser_py/urdf.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index 9492d8a5..0c4eb8bb 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -339,10 +339,10 @@ def __init__(self, name = None, joint = None, actuator = None, type = None, mech xmlr.reflect(Transmission, tag = 'transmission', params = [ name_attribute, - xmlr.Attribute('type', str), - xmlr.Element('joint', 'element_name'), - xmlr.Element('actuator', 'element_name'), - xmlr.Element('mechanicalReduction', float) + xmlr.Attribute('type', str, False), + xmlr.Element('joint', 'element_name', False), + xmlr.Element('actuator', 'element_name', False), + xmlr.Element('mechanicalReduction', float, False) ]) class Robot(xmlr.Object): From eca4ed7bd8679144df92131e36eddec215283b1e Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Sat, 25 Oct 2014 00:09:10 +0900 Subject: [PATCH 4/5] support DockTypedFactory, copied from 0915e8d --- .../src/urdf_parser_py/xml_reflection/core.py | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/urdf_parser_py/src/urdf_parser_py/xml_reflection/core.py b/urdf_parser_py/src/urdf_parser_py/xml_reflection/core.py index d463a1a8..99545d37 100644 --- a/urdf_parser_py/src/urdf_parser_py/xml_reflection/core.py +++ b/urdf_parser_py/src/urdf_parser_py/xml_reflection/core.py @@ -194,6 +194,28 @@ def write_xml(self, node, obj): obj.write_xml(node) +class DuckTypedFactory(ValueType): + def __init__(self, name, typeOrder): + self.name = name + assert len(typeOrder) > 0 + self.type_order = typeOrder + + def from_xml(self, node): + error_set = [] + for value_type in self.type_order: + try: + return value_type.from_xml(node) + except Exception as e: + error_set.append((value_type, e)) + # Should have returned, we encountered errors + out = "Could not perform duck-typed parsing." + for (value_type, e) in error_set: + out += "\nValue Type: {}\nException: {}\n".format(value_type, e) + raise Exception(out) + + def write_xml(self, node, obj): + obj.write_xml(node) + class Param(object): """ Mirroring Gazebo's SDF api From c42c193bb995833e04957fa11e3243bdaf8c64e9 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Sat, 25 Oct 2014 00:11:28 +0900 Subject: [PATCH 5/5] add PR2 transmission, this is similar to 484a34d, but confirmed on real robot.xml from pr2 robot --- urdf_parser_py/src/urdf_parser_py/urdf.py | 158 ++++++++++++++++++++-- 1 file changed, 150 insertions(+), 8 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index 0c4eb8bb..615aa197 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -329,22 +329,164 @@ def __init__(self, name=None, visual=None, inertial=None, collision=None, origin ]) +class Actuator(xmlr.Object): + def __init__(self, name = None, hardwareInterface = None, mechanicalReduction = 1): + self.name = name + self.hardwareInterface = None + self.mechanicalReduction = None + +xmlr.reflect(Actuator, tag = 'actuator', params = [ + name_attribute, + xmlr.Element('hardwareInterface', str), + xmlr.Element('mechanicalReduction', float, required = False) + ]) + class Transmission(xmlr.Object): - def __init__(self, name = None, joint = None, actuator = None, type = None, mechanicalReduction = 1): + def __init__(self, name = None, joint = None, actuator = None, mechanicalReduction = None): + self.name = name + self.joint = joint + self.actuator = actuator + +xmlr.reflect(Transmission, tag = 'new_transmission', params = [ + name_attribute, + xmlr.Attribute('type', str), + xmlr.Element('joint', 'element_name'), + xmlr.Element('actuator', Actuator), + ]) + +class PR2Compensator(xmlr.Object): + def __init__(self, k_belt=4000.0, kd_motor=10.0, lambda_combined=0.0, lambda_joint=60.0, lambda_motor=60.0, mass_motor=0.05): + self.k_belt = k_belt + self.kd_motor = kd_motor + self.lambda_combined = lambda_combined + self.lambda_joint = lambda_joint + self.lambda_motor = lambda_motor + self.mass_motor = mass_motor + +xmlr.reflect(PR2Compensator, tag = 'compensator', params = [ + xmlr.Attribute('k_belt', float), + xmlr.Attribute('kd_motor', float), + xmlr.Attribute('lambda_combined', float), + xmlr.Attribute('lambda_joint', float), + xmlr.Attribute('lambda_motor', float), + xmlr.Attribute('mass_motor', float) + ]) + +class PR2SimulatedActuatedJoint(xmlr.Object): + def __init__(self, name = None, simulated_reduction = 3000, passive_actuated_joint = None): + self.name = name + self.simulated_reduction = simulated_reduction + self.passive_actuated_joint = passive_actuated_joint + +xmlr.reflect(PR2SimulatedActuatedJoint, tag = 'simulated_actuated_joint', params = [ + name_attribute, + xmlr.Attribute('simulated_reduction', float), + xmlr.Attribute('passive_actuated_joint', str, False) + ]) + +class PR2Transmission(xmlr.Object): + def __init__(self, name = None, joint = None, actuator = None, mechanicalReduction = None, compensator = None, simulated_actuated_joint = None): self.name = name - self.type = type self.joint = joint self.actuator = actuator self.mechanicalReduction = mechanicalReduction + self.compensator = compensator + self.simulated_actuated_joint = simulated_actuated_joint -xmlr.reflect(Transmission, tag = 'transmission', params = [ +xmlr.reflect(PR2Transmission, tag = 'pr2_transmission', params = [ name_attribute, - xmlr.Attribute('type', str, False), - xmlr.Element('joint', 'element_name', False), - xmlr.Element('actuator', 'element_name', False), - xmlr.Element('mechanicalReduction', float, False) + xmlr.Attribute('type', str), + xmlr.Element('joint', 'element_name'), + xmlr.Element('actuator', 'element_name'), + xmlr.Element('mechanicalReduction', float), + xmlr.Element('compensator', PR2Compensator, False), + xmlr.Element('simulated_actuated_joint', PR2SimulatedActuatedJoint, False) ]) +class PR2Actuator(xmlr.Object): + def __init__(self, name = None, mechanicalReduction = 1): + self.name = name + self.mechanicalReduction = mechanicalReduction + +xmlr.reflect(PR2Actuator, tag = 'pr2_actuator', params = [ + name_attribute, + xmlr.Attribute('mechanicalReduction', float) + ]) + +class PR2WristTransmission(xmlr.Object): + def __init__(self, name = None, type = None, rightActuator = None, leftActuator = None, flexJoint = None, rollJoint = None): + self.name = name + self.type = type + self.rightActuator = rightActuator + self.leftActuator = leftActuator + self.flexJoint = flexJoint + self.rollJoint = rollJoint + +xmlr.reflect(PR2WristTransmission, tag = 'pr2_wrist_transmission', params = [ + name_attribute, + xmlr.Attribute('type', str), + xmlr.Element('rightActuator', PR2Actuator), + xmlr.Element('leftActuator', PR2Actuator), + xmlr.Element('flexJoint', PR2Actuator), + xmlr.Element('rollJoint', PR2Actuator) + ]) + + +class PR2GapJoint(xmlr.Object): + def __init__(self, L0=0.0, a=0.0, b=0.0, gear_ratio=40.0, h=0.0, mechanical_reduction=1.0, name=None, phi0=0.5, r=0.0, screw_reduction=0.0, t0=0.0, theta0=0.0): + self.L0 = L0 + self.a = a + self.b = b + self.gear_ratio = gear_ratio + self.h = h + self.mechanical_reduction = mechanical_reduction + self.name = name + self.phi0 = phi0 + self.r = r + self.screw_reduction = screw_reduction + self.t0 = t0 + self.theta0 = theta0 + +xmlr.reflect(PR2GapJoint, tag = 'pr2_gap_joint', params = [ + xmlr.Attribute('L0', float), + xmlr.Attribute('a', float), + xmlr.Attribute('b', float), + xmlr.Attribute('gear_ratio', float), + xmlr.Attribute('h', float), + xmlr.Attribute('mechanical_reduction', float), + xmlr.Attribute('name', str), + xmlr.Attribute('phi0', float), + xmlr.Attribute('r', float), + xmlr.Attribute('screw_reduction', float), + xmlr.Attribute('t0', float), + xmlr.Attribute('theta0', float) + ]) + +class PR2GripperTransmission(xmlr.Object): + def __init__(self, name = None, type = None, actuator = None, gap_joint = None, use_simulated_gripper_joint = None, passive_joint = [], simulated_actuated_joint = None): + self.aggregate_init() + self.name = name + self.type = type + self.actuator = actuator + self.gap_joint = gap_joint + self.use_simulated_gripper_joint = use_simulated_gripper_joint + self.passive_joint = passive_joint + self.simulated_actuated_joint = simulated_actuated_joint + +xmlr.reflect(PR2GripperTransmission, tag = 'pr2_gripper_transmission', params = [ + name_attribute, + xmlr.Attribute('type', str), + xmlr.Element('actuator', 'element_name'), + xmlr.Element('gap_joint', PR2GapJoint), + xmlr.Element('use_simulated_gripper_joint', 'element_name'), + xmlr.AggregateElement('passive_joint', 'element_name', 'passive_joint'), + xmlr.Element('simulated_actuated_joint', PR2SimulatedActuatedJoint), + ]) + +#xmlr.add_type('transmission', xmlr.DuckTypedFactory('transmission', [Transmission, PR2WristTransmission, PR2GripperTransmission])) +xmlr.add_type('transmission', xmlr.DuckTypedFactory('transmission', [Transmission, PR2Transmission, PR2WristTransmission, PR2GripperTransmission])) + + class Robot(xmlr.Object): def __init__(self, name = None): self.aggregate_init() @@ -426,7 +568,7 @@ def from_parameter_server(cls, key = 'robot_description'): xmlr.AggregateElement('link', Link), xmlr.AggregateElement('joint', Joint), xmlr.AggregateElement('gazebo', xmlr.RawType()), - xmlr.AggregateElement('transmission', Transmission), + xmlr.AggregateElement('transmission', 'transmission'), xmlr.AggregateElement('material', Material) ])