robopal.commons.xml_splice module

class robopal.commons.xml_splice.RobotGenerator(scene: str = 'default', mount: str | List[str] = None, manipulator: str | List[str] = None, gripper: str | List[str] = None, **kwargs)

基类：object

XML Splicer class for splicing the robot with the given scene, mount, manipulator and gripper.

参数:

• name -- robot name

• scene -- scene name

• mount -- mount name

• manipulator -- manipulator name

• gripper -- gripper name

• kwargs -- other arguments

add_all_component_from_xml(xml: str, goal_body: tuple, is_rename_tag=True) → None

For each input xml file, we extract the component we need, and append it into global tree.

参数:

• xml -- xml file path

• goal_body -- goal body, a tuple consist of id and name

add_body(node: str, **kwargs)

add_geom(node: str, **kwargs)

add_joint(node: str, **kwargs)

add_material(name: str, texture: str, texrepeat: str, texuniform: str)

add_mesh(name: str, file: str, **kwargs)

add_node_from_str(father_node: str, xml_text: str)

add_node_from_xml(xml_path: str = None, parent_body_name: str = None)

Add node from xml file. The attached node is the parent node of the new node. :param xml_path: the path of the xml file. :param node: the name of the linked body. if set None, will add to the worldbody.

add_texture(name: str, type: str, file: str)

get_xml_path()

Load xml file

save_xml(xml_name='robot')

Save xml file with identity path

set_node_attrib(node: str, name: str, attrib: dict)

Set node attribute. e.g. >>> self.set_node_attrib('body', 'green_block', {'pos': '0.5 0.0 0.46'}) :param node: node name :param attrib: attribute dict