hpp-manipulation-urdf Documentation

Basic use

The library contains parser for SRDF describing robot grippers, object handles, object and environment contact surfaces.

In order to load HRP2 from a pair of URDF and SRDF files, one can do:

#include <hpp/manipulation/device.hh>
#include <hpp/manipulation/srdf/util.hh>
#include <hpp/pinocchio/urdf/util.hh>
 
int main (int argc, char** argv) {
  using hpp::manipulation::DevicePtr_t;
  using hpp::manipulation::Device;
  using hpp::manipulation::srdf::loadRobotModel;
  DevicePtr_t robot = Device::create ("hrp2");
  pinocchio::urdf::loadUrdfModel (robot, "freeflyer", "hrp2",
    "hrp2_14_description", "hrp2_14", "", "");
  loadModelFromFile (robot, "hrp2",
    "hrp2_14_description", "hrp2_14", "");
}

SRDF syntax

Handle

<handle name="name" clearance="value">
  <!-- Exactly 1 -->
    <!-- One of the following position tag. Attributes are optional and read only if the tag has no text. -->
    <position>0 0 0 1 0 0 0</position>
    <position xyz="0 0 0" rpy="0 0 0"/>
    <position xyz="0 0 0" wxyz="1 0 0 0"/>
    <position xyz="0 0 0" xyzw="0 0 0 1"/>
    <!-- the position represents the position of the handle relatively to the following link -->
    <link name="link_name" />
    ��N4�
�{␚\␅
�{␚\␅
         -->
    <mask>1 1 1 0 0 0</mask>
</handle>

Gripper

<gripper name="name" clearance="value">
  <!-- Exactly 1 -->
    <!-- A position tag. See handle tag for more details. -->
    <position xyz="0 0 0" rpy="0 0 0"/>
    <!-- the position represents the position of the gripper relatively to the following link -->
    <link name="link_name" />
</gripper>

Contact

<contact name="name">
  <!-- Exactly 1 of -->
  ��N4�
�{␚\␅
�3���U
 
�{␚\␅
�{␚\␅
�{␚\␅
5}␚\␅
       -->
    <link name="link_name" />
    <link name="link_name" index="index_collision_object" />
 
  <!-- Exactly 1 -->
    <!-- Sequence of 3D points expressed in the frame defined above -->
    <point>-0.025 -0.025 -0.025   -0.025 0.025 -0.025   -0.025 -0.025 0.025   -0.025 0.025 0.025 </point>
 
    ␄����U
�{␚\␅
�{␚\␅
␄����U
 
={���U
         firstSegment ^ secondSegment must points outside the object -->
    <shape> 3 0 2 1 3 2 1 3</shape>
 
    <!-- DEPRECATED -->
    �.���U
={���U
         01 ^ 02 points outside the object -->
    <triangle> 0 2 1 2 1 3</triangle>
</contact>

Extend the parser

To extend the parser, you must write a class that inherits from parser::ObjectFactory. Some factories such as parser::SequenceFactory might be useful. You also have to declare the new factory to the parser:

 #include <hpp/manipulation/parser/parser.hh>
 
 // See ObjectFactory documentation for more details.
 // This factory parses something like:
 // <tagname>
 //   <position>0 0 0 1 0 0 0</position>
 //   <link name="linkname"/>
 // </tagname>
 class YourFactory : public hpp::manipulation::parser::ObjectFactory {
 public:
   YourFactory (ObjectFactory* parent, const XMLElement* element) :
         ObjectFactory (parent, element)
   {}
 
   void YourFactory::finishTags ()
   {
     ObjectFactory* o (NULL);
     if (!getChildOfType ("position", o)) {
       // There is more than one tag <position>
       // o is a pointer to the first one.
     }
     PositionFactory* pf = o->as <PositionFactory> ();
     Transform3s position = pf->position ();
 
     if (!getChildOfType ("link", o)) {
       // There is more than one tag <link>
       // o is a pointer to the first one.
     }
     std::string linkName = root ()->prependPrefix (o->name ());
 
     if (!root ()->device ()) {
       hppDout (error, "Device not found");
       return;
     }
     root ()->device ()->yourfunction (linkName, position);
   }
 
 };
 
 int main (int argc, char** argv) {
   // Parameter false tells the constructor not to include default factories.
   hpp::manipulation::parser::Parser p (false);
   p.addObjectFactory ("tagname", hpp::manipulation::parser::create
<YourFactory>);
 }

See also

parser::ObjectFactory