OSC_ROS2/test/load_robot.py
Alexander Schaefer 33f21d3096 remove gitignore
2025-04-22 17:10:24 +02:00

47 lines
2.0 KiB
Python

import xml.etree.ElementTree as ET
import roboticstoolbox as rtb
def main():
"""Main function to get joint names and start the ROS 2 & OSC system."""
robot_urdf = input("Enter the path to the URDF file: ")
tree = ET.parse(robot_urdf)
root = tree.getroot()
joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
robot = rtb.ERobot.URDF(robot_urdf)
joint_velocity_limits = {}
# Iterate over all joints in the URDF
for joint in root.findall('.//joint'):
joint_name = joint.get('name') # Get the name of the joint
# Look for the <limit> tag under each joint
limit = joint.find('limit')
if limit is not None:
# Extract the velocity limit (if it exists)
velocity_limit = limit.get('velocity')
if velocity_limit is not None:
joint_velocity_limits[joint_name] = float(velocity_limit)
while True:
try:
print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].")
print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.")
cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
break
else:
print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
except ValueError:
print("Invalid input. Please enter integers only.")
print(f"Cost mask: {cost_mask}")
print(f'robot: {robot}')
print(f'joint names: {joint_names}')
print(f'joint velocity limits: {joint_velocity_limits}')
if __name__ == '__main__':
main()