Architecture¶

Software architecture of simtrans is shown below. Reader and writer for each formats will read and write the common data structure.

digraph comp {
rankdir=LR;
"SDLReader" -> "Model"
"URDFReader" -> "Model"
"VRMLReader" -> "Model"
"STLReader" -> "Model"
"ColladaReader" -> "Model"
"Model" -> "SDLWriter";
"Model" -> "URDFWriter";
"Model" -> "VRMLWriter";
"Model" -> "STLWriter";
"Model" -> "ColladaWriter";
}

Common data structure¶

simtrans.model¶

Common data structure for model converter

class simtrans.model.AxisData[ソース]¶

ベースクラス: object

Joint axis data

axis = None¶: Joint axis (relative to parent link)

damping = None¶: Damping factor

friction = None¶: Friction factor

isvalid()[ソース]¶

limit = [inf, -inf]¶

velocitylimit = [inf, -inf]¶: Joint limits (upper and lower limits in 2-dim array)

class simtrans.model.BodyModel[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Body model

isvalid()[ソース]¶

joints = []¶: List of joints

links = []¶: List of links

materials = []¶: List of materials

name = None¶: Name of the body

sensors = []¶: List of sensors

class simtrans.model.BoxData[ソース]¶

ベースクラス: object

Box shape data

getbbox()[ソース]¶

material = None¶: Name of material

x = None¶: Width

y = None¶: Height

z = None¶: Depth

class simtrans.model.CameraData[ソース]¶

ベースクラス: object

Camera sensor data

CS_COLOR = 'color'¶

CS_DEPTH = 'depth'¶

CS_MONO = 'mono'¶

CS_RGBD = 'rgbd'¶

cameraType = None¶: Camera type

far = 50.0¶: Far clip distance

fov = 1.5708¶: Field of view (horizontal)

height = 480¶: Height

near = 0.01¶: Near clip distance

width = 640¶: Width

class simtrans.model.CylinderData[ソース]¶

ベースクラス: object

Cylinder shape data

getbbox()[ソース]¶

height = None¶: Height

material = None¶: Name of material

radius = None¶: Radius

class simtrans.model.JointModel[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Joint model

J_CONTINUOUS = 'continuous'¶: Continuous type

J_CRAWLER = 'crawler'¶: Crawler type

J_FIXED = 'fixed'¶: Fixed type

J_PRISMATIC = 'prismatic'¶: Prismatic type

J_REVOLUTE = 'revolute'¶: Revolute type

J_REVOLUTE2 = 'revolute2'¶: Revolute (2-axis) type

J_SCREW = 'screw'¶: Screw type

axis = None¶: Joint axis (relative to parent link)

axis2 = None¶: Joint axis (used the joint type is revolute2)

child = None¶: Name of child link

isvalid()[ソース]¶

jointId = -1¶: Numeric ID of the joint (used in VRML model)

jointType = None¶: Joint type

name = None¶: Joint name

offsetPosition = False¶: Whether offset joint position or not

parent = None¶: Name of parent link

class simtrans.model.LinkModel[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Link model

centerofmass = None¶: Center of mass (3-dim array)

collisions = []¶: List of shape information used for collision detection

crossmat(c)[ソース]¶

estimateinertia(bbox=None)[ソース]¶

estimatemass(bbox=None, spgr=1)[ソース]¶

getbbox()[ソース]¶

inertia = None¶: Inertia (3x3 numpy matrix)

isvalid()[ソース]¶

mass = 0¶: Mass of the link

name = None¶: Name of the link

translate(mat)[ソース]¶

visuals = []¶: List of shape information used for rendering

class simtrans.model.MaterialModel[ソース]¶

ベースクラス: object

Material model

ambient = None¶: [r,g,b,a] array

diffuse = None¶: [r,g,b,a] array

emission = None¶: [r,g,b,a] array

name = None¶: Name of the material

shininess = None¶: float value or path string of texture image

specular = None¶: [r,g,b,a] array

texture = None¶: path string of texture image

transparency = None¶: float value or path string of texture image

class simtrans.model.MeshData[ソース]¶

ベースクラス: object

Mesh data

color = None¶: Color ([R,G,B,A] * N numpy matrix)

color_index = None¶: Color index ([p1,p2,p3] * N numpy matrix)

getbbox()[ソース]¶

material = None¶: Name of material

normal = None¶: Normal direction ([x,y,z] * N numpy matrix)

normal_index = None¶: Normal index ([p1,p2,p3] * N numpy matrix)

uvmap = None¶: UV mapping ([u,v] * N numpy matrix)

uvmap_index = None¶: Vertex index ([p1,p2,p3] * N numpy matrix)

vertex = []¶: Vertex position ([x,y,z] * N numpy matrix)

vertex_index = []¶: Vertex index ([p1,p2,p3] * N numpy matrix)

class simtrans.model.MeshTransformData[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Mesh transform data

Intended to store scenegraph structure inside collada or vrml

children = []¶: Children (store MeshData or MeshTransformData)

getbbox()[ソース]¶

getcenter()[ソース]¶

maxv(trans=None)[ソース]¶

minv(trans=None)[ソース]¶

pretranslate(trans=None)[ソース]¶: Apply translation to vertex and normals to make translation matrix diagonal

class simtrans.model.ProjectModel[ソース]¶

ベースクラス: object

Project model

bodies = []¶: List of body models

name = None¶: Name of the simulation

class simtrans.model.RayData[ソース]¶

ベースクラス: object

Ray sensor data

max_angle = 0¶

max_range = 0¶

min_angle = 0¶

min_range = 0¶

class simtrans.model.SensorModel[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Sensor model

SS_CAMERA = 'camera'¶: Camera (color, mono, depth)

SS_IMU = 'imu'¶: IMU sensor

SS_RAY = 'ray'¶: Laser range finder

data = None¶

name = None¶: Name

parent = None¶: Name of parent link

rate = 20¶: Update rate of sensor

sensorType = None¶: Type of sensor

class simtrans.model.ShapeModel[ソース]¶

ベースクラス: simtrans.model.TransformationModel

Shape model

SP_BOX = 'box'¶: Box shape

SP_CYLINDER = 'cylinder'¶: Cylinder shape

SP_MESH = 'mesh'¶: Mesh shape

SP_SPHERE = 'sphere'¶: Sphere shape

data = None¶: Store properties for each specific type of shape

getbbox()[ソース]¶

isvalid()[ソース]¶

name = None¶: Shape name

shapeType = None¶: Shape type

class simtrans.model.SphereData[ソース]¶

ベースクラス: object

Sphere shape data

getbbox()[ソース]¶

material = None¶: Name of material

radius = None¶: Radius

class simtrans.model.TransformationModel[ソース]¶

ベースクラス: object

Transformation model with utility methods

Used as a base class for each models

>>> m = TransformationModel()
>>> numpy.allclose(m.gettranslation(), [0, 0, 0])
True
>>> numpy.allclose(m.getscale(), [1, 1, 1])
True
>>> numpy.allclose(m.getrpy(), [0, 0, 0])
True
>>> numpy.allclose(m.getangle()[0], [0, 1, 0])
True
>>> numpy.allclose(m.getangle()[1], 0)
True

getangle()[ソース]¶

getmatrix()[ソース]¶

getrotation()[ソース]¶

getrpy()[ソース]¶

getscale()[ソース]¶

gettranslation()[ソース]¶

isvalid()[ソース]¶

matrix = None¶: Transformation matrix (4x4 numpy matrix)

rot = None¶: Rotation (4-dim numpy array in quaternion representation)

scale = None¶: Scale vector (3-dim numpy array)

setmatrix(m)[ソース]¶

trans = None¶: Translation vector (3-dim numpy array)

Command-line interface¶

simtrans.cli¶

simtrans command line interface

simtrans.cli.checker()[ソース]¶

simtrans.cli.copyhandler(f)[ソース]¶

simtrans.cli.jpegconverthandler(f)[ソース]¶

simtrans.cli.main()[ソース]¶

simtrans.cli.nullhandler(f)[ソース]¶

simtrans.cli.read(fromfile, handler, options)[ソース]¶

simtrans.catxml¶

Utility command to concatinate two or more xml files to one

simtrans.catxml.main()[ソース]¶

simtrans.gzfetch¶

Utility command to fetch simulation model from gazebo’s model database

simtrans.gzfetch.main()[ソース]¶

simtrans.gzfetch.renderworld(models)[ソース]¶

Reader and writer¶

simtrans.collada¶

Reader and writer for collada format

Organization:	AIST

Requirements¶

numpy
lxml xml parser
pycollada

Examples¶

Read collada model data given the file path

>>> r = ColladaReader()
>>> m = r.read('package://atlas_description/meshes/head.dae')

class simtrans.collada.ColladaReader[ソース]¶

ベースクラス: object

Collada reader class

convertchild(d)[ソース]¶

filterchild(d, name)[ソース]¶

findchild(d, name, trans)[ソース]¶

read(f, assethandler=None, submesh=None, options=None)[ソース]¶: Read collada model data given the file path

class simtrans.collada.ColladaWriter[ソース]¶

ベースクラス: object

Collada writer class

convertchild(m)[ソース]¶

write(m, f, options=None)[ソース]¶: Write simulation model in collada format

simtrans.graphviz¶

Writer for graphviz dot format

Organization:	MID

Examples¶

Write simulation model in graphviz dot format

>>> from . import urdf
>>> r = urdf.URDFReader()
>>> m = r.read('package://atlas_description/urdf/atlas_v3.urdf')
>>> w = GraphvizWriter()
>>> w.write(m, '/tmp/atlas.dot')

>>> from . import sdf
>>> r = sdf.SDFReader()
>>> m = r.read('model://pr2/model.sdf')
>>> w = GraphvizWriter()
>>> w.write(m, '/tmp/pr2.dot')

>>> import os
>>> from . import vrml
>>> r = vrml.VRMLReader()
>>> m = r.read(os.path.expandvars('$OPENHRP_MODEL_PATH/PA10/pa10.main.wrl'))
>>> w = GraphvizWriter()
>>> w.write(m, '/tmp/pa10.dot')

class simtrans.graphviz.GraphvizWriter[ソース]¶

ベースクラス: object

Graphviz writer class

write(mdata, fname, options=None)[ソース]¶: Write simulation model in graphviz dot format

simtrans.sdf¶

Reader and writer for SDF format

Organization:	AIST

Requirements¶

numpy
lxml xml parser
jinja2 template engine

Examples¶

Read SDF model data given the model file

>>> r = SDFReader()
>>> m = r.read('model://pr2/model.sdf')

Write simulation model in SDF format

>>> from . import vrml
>>> r = vrml.VRMLReader()
>>> m = r.read(os.path.expandvars('$OPENHRP_MODEL_PATH/closed-link-sample.wrl'))
>>> w = SDFWriter()
>>> w.write(m, '/tmp/closed-link-sample.sdf')
>>> import subprocess
>>> subprocess.check_call('gz sdf -k /tmp/closed-link-sample.sdf'.split(' '))
0

class simtrans.sdf.SDFReader[ソース]¶

ベースクラス: object

SDF reader class

read(fname, assethandler=None, options=None)[ソース]¶: Read SDF model data given the model file

readAxis(jm, axis)[ソース]¶

readInertia(d)[ソース]¶

readJointType(d)[ソース]¶

readPose(m, doc)[ソース]¶

readShape(d)[ソース]¶

class simtrans.sdf.SDFWriter[ソース]¶

ベースクラス: object

SDF writer class

write(m, f, options=None)[ソース]¶: Write simulation model in SDF format

simtrans.stl¶

Reader and writer for stl format

Organization:	AIST

Requirements¶

numpy
numpy-stl
meshlab

class simtrans.stl.STLReader[ソース]¶

ベースクラス: object

STL reader class

read(f, assethandler=None, options=None)[ソース]¶: Read mesh model in STL format

class simtrans.stl.STLWriter[ソース]¶

ベースクラス: object

STL writer class

write(m, f, options=None)[ソース]¶: Write mesh model in STL format This method first generates collada and use meshlab to output stl

simtrans.urdf¶

Reader and writer for URDF format

Organization:	AIST

Requirements¶

numpy
lxml xml parser
jinja2 template engine

Examples¶

Read URDF model data given the model file

>>> r = URDFReader()
>>> m = r.read('package://atlas_description/urdf/atlas_v3.urdf')

Write simulation model in URDF format

>>> from . import vrml
>>> r = vrml.VRMLReader()
>>> m = r.read(os.path.expandvars('$OPENHRP_MODEL_PATH/closed-link-sample.wrl'))
>>> w = URDFWriter()
>>> w.write(m, '/tmp/closed-link-sample.urdf')
>>> import subprocess
>>> subprocess.check_call('check_urdf /tmp/closed-link-sample.urdf'.split(' '))
0

class simtrans.urdf.URDFReader[ソース]¶

ベースクラス: object

URDF reader class

convertChild(bm, l)[ソース]¶

read(fname, assethandler=None, options=None)[ソース]¶: Read simulation model in urdf format (internally convert to sdf using gz sdf utility)

read2(fname, assethandler=None, options=None)[ソース]¶

Read URDF model data given the model file

** [Deprecated] This function is currently broken but kept for historical reason ** ** (might be fixed if “gz sdf” command not work in some situation) **

パラメタ:	fname – path of the file to read assethandler – asset handler (optional)
戻り値:	model data
戻り値の型:	model.Model

readInertia(d)[ソース]¶

readJointType(d)[ソース]¶

readOrigin(m, doc)[ソース]¶

readShape(d)[ソース]¶

class simtrans.urdf.URDFWriter[ソース]¶

ベースクラス: object

URDF writer class

convertJointType(d)[ソース]¶

convertchildren(mdata, pjoint)[ソース]¶

renderchildren(mdata, root, jointtype, fname, template, options)[ソース]¶

write(m, f, options=None)[ソース]¶

Write simulation model in URDF format

パラメタ:	m – model data f – path of the file to save
戻り値:	None
戻り値の型:	None

simtrans.vrml¶

Reader and writer for VRML format

Organization:	AIST

Requirements¶

numpy
omniorb-python
jinja2 template engine

Examples¶

Read vrml model data given the file path

>>> r = VRMLReader()
>>> m = r.read(os.path.expandvars('$OPENHRP_MODEL_PATH/closed-link-sample.wrl'))

Write simulation model in VRML format

>>> from . import urdf
>>> r = urdf.URDFReader()
>>> m = r.read('package://atlas_description/urdf/atlas_v3.urdf')
>>> w = VRMLWriter()
>>> w.write(m, '/tmp/atlas.wrl')

>>> from . import sdf
>>> r = sdf.SDFReader()
>>> m = r.read('model://pr2/model.sdf')
>>> w = VRMLWriter()
>>> w.write(m, '/tmp/pr2.wrl')

class simtrans.vrml.VRMLMeshWriter[ソース]¶

ベースクラス: object

VRML mesh writer class

write(m, fname, options=None)[ソース]¶: Write mesh in VRML format

class simtrans.vrml.VRMLReader[ソース]¶

ベースクラス: object

VRML reader class

read(f, assethandler=None, options=None)[ソース]¶: Read vrml model data given the file path

readChild(parent, child)[ソース]¶

readLink(m)[ソース]¶

readMesh(sdata)[ソース]¶

resolveModelLoader()[ソース]¶

class simtrans.vrml.VRMLWriter[ソース]¶

ベースクラス: object

VRML writer class

convertchildren(mdata, pjoint, joints, links)[ソース]¶

convertjointtype(t)[ソース]¶

renderchildren(mdata, root, jointtype, fname, shapefilemap, template)[ソース]¶

write(mdata, fname, options=None)[ソース]¶: Write simulation model in VRML format

simtrans.vrml.terminator()[ソース]¶

Utility functions¶

simtrans.utils¶

Miscellaneous utility functions

simtrans.utils.findchildren(mdata, linkname)[ソース]¶

Find child joints connected to specified link

>>> import subprocess
>>> from . import urdf
>>> subprocess.call('rosrun xacro xacro.py `rospack find atlas_description`/robots/atlas_v3.urdf.xacro > /tmp/atlas.urdf', shell=True)
0
>>> r = urdf.URDFReader()
>>> m = r.read('/tmp/atlas.urdf')
>>> [c.child for c in findchildren(m, 'pelvis')]
['ltorso', 'l_uglut', 'r_uglut']

simtrans.utils.findparent(mdata, linkname)[ソース]¶

Find parent joints connected to specified link

>>> import subprocess
>>> from . import urdf
>>> subprocess.call('rosrun xacro xacro.py `rospack find atlas_description`/robots/atlas_v3.urdf.xacro > /tmp/atlas.urdf', shell=True)
0
>>> r = urdf.URDFReader()
>>> m = r.read('/tmp/atlas.urdf')
>>> [p.parent for p in findparent(m, 'ltorso')]
['pelvis']

simtrans.utils.findroot(mdata)[ソース]¶

Find root link from parent to child relationships. Currently based on following simple principle: - Link with no parent will be the root. - Link should have at least one open connection with the other link

>>> import subprocess
>>> from . import urdf
>>> subprocess.call('rosrun xacro xacro.py `rospack find atlas_description`/robots/atlas_v3.urdf.xacro > /tmp/atlas.urdf', shell=True)
0
>>> r = urdf.URDFReader()
>>> m = r.read('/tmp/atlas.urdf')
>>> findroot(m)
['pelvis']

>>> from . import urdf
>>> r = urdf.URDFReader()
>>> m = r.read('package://ur_description/urdf/ur5_robot.urdf')
>>> findroot(m)
['world']

>>> import subprocess
>>> from . import urdf
>>> subprocess.call('rosrun xacro xacro.py `rospack find pr2_description`/robots/pr2.urdf.xacro > /tmp/pr2.urdf', shell=True)
0
>>> r = urdf.URDFReader()
>>> m = r.read('/tmp/pr2.urdf')
>>> findroot(m)
['base_footprint']

>>> from . import sdf
>>> r = sdf.SDFReader()
>>> m = r.read('model://pr2/model.sdf')
>>> findroot(m)
['base_footprint']

simtrans.utils.hasopenlink(mdata, linkname)[ソース]¶

Check if the link has open connection with neighboring links

>>> from . import sdf
>>> r = sdf.SDFReader()
>>> m = r.read('model://pr2/model.sdf')
>>> hasopenlink(m, 'base_footprint')
True
>>> hasopenlink(m, 'l_gripper_l_parallel_link')
False

simtrans.utils.resolveFile(f)[ソース]¶

Resolve file by replacing file path heading “package://” or “model://”

>>> resolveFile('package://atlas_description/package.xml') == os.path.expandvars('/opt/ros/$ROS_DISTRO/share/atlas_description/package.xml')
True
>>> resolveFile('package://atlas_description/urdf/atlas.urdf') == os.path.expandvars('/opt/ros/$ROS_DISTRO/share/atlas_description/urdf/atlas.urdf')
True
>>> resolveFile('model://pr2/model.sdf') == os.path.expanduser('~/.gazebo/models/pr2/model.sdf')
True
>>> resolveFile('model://PA10/pa10.main.wrl') == os.path.expandvars('$OPENHRP_MODEL_PATH/PA10/pa10.main.wrl')
True

Thirdparty library¶

simtrans.thirdparty package
- simtrans.thirdparty.hrputil
- simtrans.thirdparty.transformations