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, ...])

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:

horizontal_fov

update_rate

image_width

image_height

image_format

clip_near

clip_far

image_topic

info_topic

frame_name

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: 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: 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: Attribute
filename: 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: CameraPlugin

Attributes:

name

filename

imageTopicName

cameraInfoTopicName

name: Attribute = 'camera_plugin'
filename: 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: CameraPlugin

Attributes:

name

filename

depthImageTopicName

depthImageCameraInfoTopicName

pointCloudTopicName

pointCloudCutoff

name: Attribute = 'camera_plugin'
filename: 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: XmlObject

Attributes:

TAG

width

height

format

TAG = 'image'
width: int
height: int
format: str
class CameraClip(near: float, far: float)[source]

Bases: XmlObject

Attributes:

TAG

near

far

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: XmlObject

Attributes:

TAG

horizontal_fov

image

clip

TAG = 'camera'
horizontal_fov: float
image: CameraImage
clip: 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: Sensor

Attributes:

name

type

plugin

update_rate

camera

name: Attribute
type: Attribute
plugin: CameraPlugin
update_rate: float
camera: CameraDefinition
class _Camera(name: str, origin: simulation.utils.urdf.core.Origin, size: kitcar_utils.geometry.vector.Vector, mass: float, chassis_link: simulation.utils.urdf.link.Link)[source]

Bases: XmlObject

Attributes:

plugin

sensor

link

joint

plugin: Gazebo
sensor: CameraSensor
joint: Joint
class MonoCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: kitcar_utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.CameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]

Bases: _Camera

Attributes:

sensor

link

joint

plugin

sensor: CameraSensor
joint: Joint
plugin: Gazebo
class DepthCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: kitcar_utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.DepthCameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]

Bases: _Camera

Attributes:

link

joint

plugin

sensor

joint: Joint
plugin: Gazebo
sensor: 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: str | None = 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: Element | None = None) → 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: XmlObject

Attributes:

TAG

xyz

rpy

Methods:

from_vector(vector)

from_list(lst)

TAG = 'origin'
xyz: Attribute
rpy: Attribute
classmethod from_vector(vector: Vector)[source]
classmethod from_list(lst: List[float])[source]
class Axis(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]

Bases: XmlObject

Attributes:

TAG

xyz

TAG = 'axis'
xyz: Attribute

simulation.utils.urdf.gazebo module

Class definitions of tags used only for gazebo.

Classes:

Plugin(name, filename)

Gazebo(inner[, material, reference])

Sensor(name, type)

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

Bases: XmlObject

Attributes:

TAG

name

filename

TAG = 'plugin'
name: Attribute
filename: Attribute
class Gazebo(inner: simulation.utils.urdf.core.XmlObject, material: str = None, reference: simulation.utils.urdf.core.Attribute = None)[source]

Bases: XmlObject

Attributes:

TAG

inner

material

reference

TAG = 'gazebo'
inner: XmlObject
material: str = None
reference: Attribute = None
class Sensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

name

type

TAG = 'sensor'
name: Attribute
type: 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: XmlObject

Attributes:

TAG

damping

friction

TAG = 'dynamics'
damping: Attribute = None
friction: 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: XmlObject

Attributes:

TAG

effort

lower

upper

velocity

TAG = 'limit'
effort: Attribute = None
lower: Attribute = None
upper: Attribute = None
velocity: Attribute = None
class Parent(link: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

link

TAG = 'parent'
class Child(link: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

link

TAG = 'child'
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: kitcar_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: XmlObject

Attributes:

TAG

FIXED

REVOLUTE

CONTINUOUS

name

parent

child

type

axis

limit

dynamics

origin

TAG = 'joint'
FIXED = 'fixed'
REVOLUTE = 'revolute'
CONTINUOUS = 'continuous'
name: Attribute
parent: Parent
child: Child
type: Attribute = 'fixed'
axis: Vector = None
limit: JointLimit = None
dynamics: JointDynamics = None
origin: Origin = None

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.ElementTree.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])

Visual([origin, geometry])

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[, material, 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, ...])

CameraSensor(name, type, plugin, ...)

CameraProperties(horizontal_fov, ...[, ...])

DepthCameraProperties(horizontal_fov, ...[, ...])

class Attribute(val: str, name: str | None = 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: Element | None = None) → 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: XmlObject

Attributes:

TAG

xyz

rpy

Methods:

from_vector(vector)

from_list(lst)

TAG = 'origin'
xyz: Attribute
rpy: Attribute
classmethod from_vector(vector: Vector)[source]
classmethod from_list(lst: List[float])[source]
class Axis(xyz: simulation.utils.urdf.core.Attribute = <factory>)[source]

Bases: XmlObject

Attributes:

TAG

xyz

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

Bases: XmlObject

Attributes:

TAG

xyz

TAG = 'color'
xyz: 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: XmlObject

Attributes:

TAG

ixx

ixy

ixz

iyx

iyy

iyz

izx

izy

izz

TAG = 'inertia'
ixx: Attribute = 0
ixy: Attribute = 0
ixz: Attribute = 0
iyx: Attribute = 0
iyy: Attribute = 0
iyz: Attribute = 0
izx: Attribute = 0
izy: Attribute = 0
izz: Attribute = 0
class Inertial(mass: float, inertia: simulation.utils.urdf.link.Inertia, origin: simulation.utils.urdf.core.Origin = None)[source]

Bases: XmlObject

Attributes:

TAG

mass

inertia

origin

Methods:

create_xml([root_el])

Convert this instance into a xml element.
TAG = 'inertial'
mass: float
inertia: Inertia
origin: 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: XmlObject

Attributes:

TAG

size

Methods:

calculate_inertia(mass)

TAG = 'box'
size: Attribute
calculate_inertia(mass) → Inertia[source]
class Sphere(radius: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

radius

Methods:

calculate_inertia(mass)

TAG = 'sphere'
radius: Attribute
calculate_inertia(mass) → Inertia[source]
class Cylinder(radius: simulation.utils.urdf.core.Attribute, length: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

radius

length

Methods:

calculate_inertia(mass)

TAG = 'cylinder'
radius: Attribute
length: Attribute
calculate_inertia(mass) → Inertia[source]
class Geometry(value: simulation.utils.urdf.core.XmlObject)[source]

Bases: XmlObject

Attributes:

TAG

value

TAG = 'geometry'
value: XmlObject
class Mesh(filename: simulation.utils.urdf.core.Attribute, scale: kitcar_utils.geometry.vector.Vector = None)[source]

Bases: XmlObject

Attributes:

TAG

filename

scale

TAG = 'mesh'
filename: Attribute
scale: Vector = None
class Visual(origin: Tuple = None, geometry: simulation.utils.urdf.link.Geometry = None)[source]

Bases: XmlObject

Attributes:

TAG

origin

geometry

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

Bases: XmlObject

Attributes:

TAG

origin

geometry

TAG = 'collision'
origin: Origin = None
geometry: Geometry = None

Bases: XmlObject

Attributes:

TAG

name

collision

visual

inertial

Methods:

use_inertial_from_collision(mass)

TAG = 'link'
name: Attribute
collision: Collision = None
visual: Collision = None
inertial: 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: XmlObject

Attributes:

TAG

damping

friction

TAG = 'dynamics'
damping: Attribute = None
friction: 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: XmlObject

Attributes:

TAG

effort

lower

upper

velocity

TAG = 'limit'
effort: Attribute = None
lower: Attribute = None
upper: Attribute = None
velocity: Attribute = None
class Parent(link: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

link

TAG = 'parent'
class Child(link: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

link

TAG = 'child'
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: kitcar_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: XmlObject

Attributes:

TAG

FIXED

REVOLUTE

CONTINUOUS

name

parent

child

type

axis

limit

dynamics

origin

TAG = 'joint'
FIXED = 'fixed'
REVOLUTE = 'revolute'
CONTINUOUS = 'continuous'
name: Attribute
parent: Parent
child: Child
type: Attribute = 'fixed'
axis: Vector = None
limit: JointLimit = None
dynamics: JointDynamics = None
origin: Origin = None
class Plugin(name: simulation.utils.urdf.core.Attribute, filename: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

name

filename

TAG = 'plugin'
name: Attribute
filename: Attribute
class Gazebo(inner: simulation.utils.urdf.core.XmlObject, material: str = None, reference: simulation.utils.urdf.core.Attribute = None)[source]

Bases: XmlObject

Attributes:

TAG

inner

material

reference

TAG = 'gazebo'
inner: XmlObject
material: str = None
reference: Attribute = None
class Sensor(name: simulation.utils.urdf.core.Attribute, type: simulation.utils.urdf.core.Attribute)[source]

Bases: XmlObject

Attributes:

TAG

name

type

TAG = 'sensor'
name: Attribute
type: Attribute
class MonoCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: kitcar_utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.CameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]

Bases: _Camera

Attributes:

sensor

link

joint

plugin

sensor: CameraSensor
joint: Joint
plugin: Gazebo
class DepthCamera(name: str, origin: simulation.utils.urdf.core.Origin, size: kitcar_utils.geometry.vector.Vector, mass: float, properties: simulation.utils.urdf.camera.DepthCameraProperties, chassis_link: simulation.utils.urdf.link.Link)[source]

Bases: _Camera

Attributes:

link

joint

plugin

sensor

joint: Joint
plugin: Gazebo
sensor: CameraSensor
class CameraClip(near: float, far: float)[source]

Bases: XmlObject

Attributes:

TAG

near

far

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: XmlObject

Attributes:

TAG

horizontal_fov

image

clip

TAG = 'camera'
horizontal_fov: float
image: CameraImage
clip: CameraClip = None
class CameraImage(width: int, height: int, format: str)[source]

Bases: XmlObject

Attributes:

TAG

width

height

format

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: Plugin

Attributes:

alwaysOn

updateRate

frameName

cameraName

CxPrime

Cx

Cy

name

filename

alwaysOn: float = 1
updateRate: float = 0
frameName: str = None
cameraName: str = None
CxPrime: float = None
Cx: float = None
Cy: float = None
name: Attribute
filename: 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: CameraPlugin

Attributes:

name

filename

depthImageTopicName

depthImageCameraInfoTopicName

pointCloudTopicName

pointCloudCutoff

name: Attribute = 'camera_plugin'
filename: 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: Sensor

Attributes:

name

type

plugin

update_rate

camera

name: Attribute
type: Attribute
plugin: CameraPlugin
update_rate: float
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:

horizontal_fov

update_rate

image_width

image_height

image_format

clip_near

clip_far

image_topic

info_topic

frame_name

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: CameraProperties

Attributes:

point_cloud_cutoff

point_cloud_topic_name

horizontal_fov

update_rate

image_width

image_height

image_format

clip_near

clip_far

image_topic

info_topic

frame_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