simtrans.model¶

Common data structure for model converter

class simtrans.model.AxisData[source]¶

Bases: object

Joint axis data

axis = None¶

Joint axis (relative to parent link)

damping = None¶

Damping factor

friction = None¶

Friction factor

isvalid()[source]¶

limit = [inf, -inf]¶

velocitylimit = [inf, -inf]¶

Joint limits (upper and lower limits in 2-dim array)

class simtrans.model.BodyModel[source]¶

Bases: simtrans.model.TransformationModel

Body model

isvalid()[source]¶

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[source]¶

Bases: object

Box shape data

getbbox()[source]¶

material = None¶

Name of material

x = None¶

Width

y = None¶

Height

z = None¶

Depth

class simtrans.model.CameraData[source]¶

Bases: 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[source]¶

Bases: object

Cylinder shape data

getbbox()[source]¶

height = None¶

Height

material = None¶

Name of material

radius = None¶

Radius

class simtrans.model.JointModel[source]¶

Bases: 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()[source]¶

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[source]¶

Bases: simtrans.model.TransformationModel

Link model

centerofmass = None¶

Center of mass (3-dim array)

collisions = []¶

List of shape information used for collision detection

crossmat(c)[source]¶

estimateinertia(bbox=None)[source]¶

estimatemass(bbox=None, spgr=1)[source]¶

getbbox()[source]¶

inertia = None¶

Inertia (3x3 numpy matrix)

isvalid()[source]¶

mass = 0¶

Mass of the link

name = None¶

Name of the link

translate(mat)[source]¶

visuals = []¶

List of shape information used for rendering

class simtrans.model.MaterialModel[source]¶

Bases: 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[source]¶

Bases: 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()[source]¶

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[source]¶

Bases: simtrans.model.TransformationModel

Mesh transform data

Intended to store scenegraph structure inside collada or vrml

children = []¶

Children (store MeshData or MeshTransformData)

getbbox()[source]¶

getcenter()[source]¶

maxv(trans=None)[source]¶

minv(trans=None)[source]¶

pretranslate(trans=None)[source]¶

Apply translation to vertex and normals to make translation matrix diagonal

class simtrans.model.ProjectModel[source]¶

Bases: object

Project model

bodies = []¶

List of body models

name = None¶

Name of the simulation

class simtrans.model.RayData[source]¶

Bases: object

Ray sensor data

max_angle = 0¶

max_range = 0¶

min_angle = 0¶

min_range = 0¶

class simtrans.model.SensorModel[source]¶

Bases: 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[source]¶

Bases: 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()[source]¶

isvalid()[source]¶

name = None¶

Shape name

shapeType = None¶

Shape type

class simtrans.model.SphereData[source]¶

Bases: object

Sphere shape data

getbbox()[source]¶

material = None¶

Name of material

radius = None¶

Radius

class simtrans.model.TransformationModel[source]¶

Bases: 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()[source]¶

getmatrix()[source]¶

getrotation()[source]¶

getrpy()[source]¶

getscale()[source]¶

gettranslation()[source]¶

isvalid()[source]¶

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)[source]¶

trans = None¶

Translation vector (3-dim numpy array)

simtrans.cli¶

simtrans command line interface

simtrans.cli.checker()[source]¶

simtrans.cli.copyhandler(f)[source]¶

simtrans.cli.jpegconverthandler(f)[source]¶

simtrans.cli.main()[source]¶

simtrans.cli.nullhandler(f)[source]¶

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

simtrans.catxml¶

Utility command to concatinate two or more xml files to one

simtrans.catxml.main()[source]¶

simtrans.gzfetch¶

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

simtrans.gzfetch.main()[source]¶

simtrans.gzfetch.renderworld(models)[source]¶

simtrans.collada¶

Reader and writer for collada format

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

simtrans.graphviz¶

Writer for 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')

simtrans.sdf¶

Reader and writer for SDF format

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

>>> 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

simtrans.stl¶

Reader and writer for stl format

simtrans.urdf¶

Reader and writer for URDF format

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

>>> 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

simtrans.vrml¶

Reader and writer for VRML format

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

>>> 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')

simtrans.utils¶

Miscellaneous utility functions

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

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)[source]¶

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)[source]¶

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)[source]¶

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)[source]¶

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