IO
HDF5
HDF5 operations
- farms_core.io.hdf5.dict_to_hdf5(filename, data, mode='w', **kwargs)
Dictionary to HDF5
- farms_core.io.hdf5.hdf5_get(filename, key, **kwargs)
HDF5 to dictionary
- farms_core.io.hdf5.hdf5_keys(filename, **kwargs)
HDF5 to dictionary
- farms_core.io.hdf5.hdf5_open(filename, mode='w', max_attempts=10, attempt_delay=0.1)
Open HDF5 file with delayed attempts
- farms_core.io.hdf5.hdf5_to_dict(filename, **kwargs)
HDF5 to dictionary
YAML
Input output operations for YAML files
- farms_core.io.yaml.pyobject2yaml(filename, pyobject, mode='w+')
Pyobject to yaml
- Parameters
filename (
str) –pyobject (
Any) –
- farms_core.io.yaml.read_yaml(file_path)
Read the yaml data from file.
- Parameters
- file_path
Location of the .yaml/yml containing the bone table.
- :param file_path:
- :type file_path:py:class:str
- :rtype:py:data:~typing.Any
- farms_core.io.yaml.write_yaml(data, file_path)
Method that dumps the data to yaml file.
- Parameters
- data
Dictionary containing the data to dump
- file_path
File path to dump the data
- :param data:
- :type data:py:class:~typing.Dict
- :param file_path:
- :type file_path:py:class:str
- farms_core.io.yaml.yaml2pyobject(filename)
Pyobject to yaml
- Parameters
filename (
str) –- Return type
Any
SDF
Farms SDF
- class farms_core.io.sdf.Axis(**kwargs)
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate axis object from xml data
- Parameters
- cls<cls>
Class
- data<ET.ElemenTree>
Axis data from the sdf
- Returns
- out<Axis>
Axis object from xml
- xml(joint)
- class farms_core.io.sdf.Box(size, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Box shape from xml data.
- Parameters
- cls<Box>
Box class data
- data<ET.ElementTree>
Box object data
- Returns
- out<Box>
Box model
- xml(parent)
- class farms_core.io.sdf.Capsule(radius, length, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Capsule shape from xml data.
- Parameters
- cls<Capsule>
Capsule class data
- data<ET.ElementTree>
Capsule object data
- Returns
- out<Capsule>
Capsule model
- xml(parent)
- class farms_core.io.sdf.Collision(name, **kwargs)
Bases:
farms_core.io.sdf.Shape- classmethod from_xml(data)
Generate collision shape model from xml.
- Parameters
- cls<Shape>
Shape class data
- data<ET.ElementTree>
Visual/Collision object data
- Returns
- out<Shape>
Shape model
- class farms_core.io.sdf.Cylinder(radius, length, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Cylinder shape from xml data.
- Parameters
- cls<Cylinder>
Cylinder class data
- data<ET.ElementTree>
Cylinder object data
- Returns
- out<Cylinder>
Cylinder model
- xml(parent)
- class farms_core.io.sdf.Heightmap(uri, size, pos, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Heightmap shape from xml data.
- Parameters
- cls<Heightmap>
Heightmap class data
- data<ET.ElementTree>
Heightmap object data
- Returns
- out<Heightmap>
Heightmap model
- xml(parent)
- class farms_core.io.sdf.Inertial(pose, mass, inertias, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod box(size, pose, **kwargs)
Box
- classmethod capsule(length, radius, pose, **kwargs)
Capsule
- classmethod cylinder(length, radius, pose, **kwargs)
Cylinder
- classmethod empty(units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Empty
- classmethod from_mesh(path, pose, scale=1, **kwargs)
From mesh
- classmethod from_xml(data)
Create Inertial object from xml data.
- Parameters
- cls<cls>
Class
- data<ET.ElemenTree>
Inertial data from the sdf
- Returns
- out<Inertial>
Inertial object from xml
- classmethod sphere(radius, pose, **kwargs)
Sphere
- static valid_inertia(inertia)
Check if inertia matrix is positive, bounded and non zero.
- static valid_mass(mass)
Check if mass is positive, bounded and non zero.
- xml(link)
- class farms_core.io.sdf.Joint(name, joint_type, parent, child, **kwargs)
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate joint object from xml data
- Parameters
- cls<cls>
Class
- data<ET.ElemenTree>
Joint data from the sdf
- Returns
- out<Joint>
Joint object from xml
- xml(model)
- class farms_core.io.sdf.Link(name, pose, **kwargs)
Bases:
farms_core.options.Options- classmethod box(name, pose, **kwargs)
Box
- classmethod capsule(name, pose, **kwargs)
Capsule
- classmethod cylinder(name, pose, **kwargs)
Cylinder
- classmethod empty(name, pose, **kwargs)
Empty
- classmethod from_mesh(name, mesh, pose, **kwargs)
From mesh
- classmethod from_xml(data)
Create link object from parsed xml data.
- classmethod heightmap(name, uri, pose, **kwargs)
Heightmap
- classmethod plane(name, pose, **kwargs)
Plane
- classmethod sphere(name, pose, **kwargs)
Sphere
- xml(model)
- class farms_core.io.sdf.Mesh(uri, scale, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Mesh shape from xml data.
- Parameters
- cls<Mesh>
Mesh class data
- data<ET.ElementTree>
Mesh object data
- Returns
- out<Mesh>
Mesh model
- xml(parent)
- class farms_core.io.sdf.ModelSDF(name, pose, **kwargs)
Bases:
farms_core.options.OptionsFarms SDF
- change_units(units)
Change the units of all elements in the model.
- classmethod create_model(data, directory='')
Create ModelSDF from parsed sdf model data.
- classmethod from_urdf(filename)
Read from URDF file
- get_base_link()
Find the base link in the model
- Parameters
- model: <ModelSDF>
SDF model object
- Returns
- base_link: <str>
Name of the base link in the model
- get_base_links()
Find the base link in the model
- Parameters
- model: <ModelSDF>
SDF model object
- Returns
- base_links: <list>
List of names of base links in the model
- get_children(link)
Get children
- get_joint(joint_name)
Get joint object in the model
- Parameters
- joint_name: <str>
Name of the joint to find in the model.
- Returns
- joint: <Link>
Link object with name = joint_name None if no object with joint_name found
- get_joint_index(joint_name)
Get joint index in the model
- Parameters
- joint_name: <str>
Name of the joint to find in the model.
- Returns
- index: <int>
Joint index with name = joint_name None if no object with joint_name found
- param joint_name
- :type joint_name:py:class:str
- get_link(link_name)
Get link object in the model
- Parameters
- link_name: <str>
Name of the link to find in the model.
- Returns
- link: <Link>
Link object with name = link_name None if no object with link_name found
- param link_name
- :type link_name:py:class:str
- get_link_index(link_name)
Get link index in the model
- Parameters
- link_name: <str>
Name of the link to find in the model.
- Returns
- index: <int>
Link index with name = link_name None if no object with link_name found
- param link_name
- :type link_name:py:class:str
- get_parent(link)
Get parent
- get_parent_joint(link)
Get parent
- classmethod read(filename)
Read from an SDF FILE.
- validate()
Validate model
- write(filename='animat.sdf')
Write SDF to file
- xml(use_world=True)
- xml_str()
xml string
- class farms_core.io.sdf.Plane(normal, size, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Plane shape from xml data.
- Parameters
- cls<Plane>
Plane class data
- data<ET.ElementTree>
Plane object data
- Returns
- out<Plane>
Plane model
- xml(parent)
- class farms_core.io.sdf.Shape(name, geometry, suffix, **kwargs)
Bases:
farms_core.options.Options- classmethod bounding_from_mesh(name, mesh, scale, **kwargs)
Create bounding shape from mesh.
- classmethod box(name, size, **kwargs)
Box
- classmethod capsule(name, radius, length, **kwargs)
Box
- classmethod cylinder(name, radius, length, **kwargs)
Cylinder
- classmethod from_mesh(name, mesh, scale, **kwargs)
From mesh
- classmethod heightmap(name, uri, size, pos, **kwargs)
Heightmap
- classmethod plane(name, normal, size, **kwargs)
Plane
- classmethod sphere(name, radius, **kwargs)
Box
- xml(link)
- class farms_core.io.sdf.Sphere(radius, units={'kilograms': 1, 'meters': 1, 'seconds': 1})
Bases:
farms_core.options.Options- classmethod from_xml(data)
Generate Sphere shape from xml data.
- Parameters
- cls<Sphere>
Sphere class data
- data<ET.ElementTree>
Sphere object data
- Returns
- out<Sphere>
Sphere model
- xml(parent)
- class farms_core.io.sdf.Visual(name, **kwargs)
Bases:
farms_core.io.sdf.Shape- classmethod from_xml(data)
Generate visual shape model from xml.
- Parameters
- cls<Shape>
Shape class data
- data<ET.ElementTree>
Visual/Collision object data
- Returns
- out<Shape>
Shape model
- xml(link)
- farms_core.io.sdf.compute_child_inertial_in_parent(parent_link, child_link)
Compute the combined inertial representation of links in parent frame using Steiner’s formula
- farms_core.io.sdf.convert_poses_urdf2sdf_recursive(tree, pose, links, joint_parenting)
Convert poses urdf2sdf recursive
- farms_core.io.sdf.convert_urdf2sdf(robot)
Convert URDF2SDF
- farms_core.io.sdf.create_parent_tree(model)
Parenting tree
- farms_core.io.sdf.create_tree(robot)
Create tree
- farms_core.io.sdf.create_tree_recursive(tree, parenting)
Tree recursive
- farms_core.io.sdf.get_floats_from_text(text, split=' ')
Get floats from text
- farms_core.io.sdf.get_inertia_tensor_from_vector(inertia_vector)
Get the inertia tensor from the inertia vector of six elements
- Parameters
inertia_vector (
list) –- Return type
ndarray
- farms_core.io.sdf.get_inertia_vector_from_tensor(inertia_tensor)
Get the inertia vector of six elements from the inertia tensor
- Parameters
inertia_tensor (
ndarray) –- Return type
list
- farms_core.io.sdf.get_parenting(links, joints)
Get parenting
- farms_core.io.sdf.get_pose_from_xml(data)
Get pose
- farms_core.io.sdf.merge_fixed_joints(model)
Method to merge fixed links in the model.
- Parameters
- model: <ModelSDF>
SDF model
- Returns
- return: <None>
The method operates directly on the given model
- farms_core.io.sdf.merge_fixed_joints_recursive(model, link_child_links, link_child_joints, link)
Merge fixed joints in the model
- Parameters
- model: <ModelSDF>
SDF model
- link_child_links: <dict>
Link and associated child links
- link_child_joints: <dict>
Link and associated child joints
- link: <Link>
Link to start the recursion from
- farms_core.io.sdf.remove_joint(model, joint_name)
Remove joint in the model
- Parameters
- model: <ModelSDF>
Model SDF
- joint_name: <str>
Name of the joint to remove from the model.
- farms_core.io.sdf.remove_link(model, link_name)
Remove link in the model
- Parameters
- model: <ModelSDF>
Model SDF
- link_name: <str>
Name of the link to remove from the model.
- farms_core.io.sdf.replace_file_name_in_path(file_path, new_name)
Replace a file name in a given path. File extension is retained
- Parameters
- file_path<str>
Path to the file object
- new_name<str>
Name to replace the original file name
- Returns
- out<str>
New path with the replaced file name