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fix for pr2 transmission #54

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fix for pr2 transmission #54

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9c9e28e
set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_p…
k-okada Sep 3, 2014
6fd15c2
falling and raising in joint/calibration is optional, see http://wiki…
k-okada Sep 23, 2014
e663dc7
set optional for pr2 transmission, see http://wiki.ros.org/urdf/XML/j…
k-okada Sep 23, 2014
c7c3745
Merge pull request #53 from k-okada/hydro_devel_merge_47
isucan Oct 20, 2014
eca4ed7
support DockTypedFactory, copied from 0915e8d
k-okada Oct 24, 2014
c42c193
add PR2 transmission, this is similar to 484a34d, but confirmed on re…
k-okada Oct 24, 2014
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168 changes: 155 additions & 13 deletions urdf_parser_py/src/urdf_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
Expand All @@ -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)
])

Expand All @@ -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):
Expand Down Expand Up @@ -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),
xmlr.Element('joint', 'element_name'),
xmlr.Element('actuator', 'element_name'),
xmlr.Element('mechanicalReduction', float)
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()
Expand Down Expand Up @@ -426,11 +568,11 @@ 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)
])

# Make an alias
URDF = Robot

xmlr.end_namespace()
xmlr.end_namespace()
22 changes: 22 additions & 0 deletions urdf_parser_py/src/urdf_parser_py/xml_reflection/core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down