Robots

Robots

# Import the element creator
from pcg_gazebo.parsers.urdf import create_urdf_element

robot = create_urdf_element('robot')
print(robot)

<robot name="robot"/>

robot.reset(with_optional_elements=True)
print(robot)

<robot name="robot">
  <link name="link">
    <visual name="visual">
      <material name="">
        <color rgba="0 0 0 1"/>
        <gazebo/>
      </material>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <gazebo/>
    </visual>
    <collision name="collision">
      <geometry>
        <box size="0 0 0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <gazebo/>
    </collision>
    <inertial>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0"/>
    </inertial>
    <gazebo>
      <maxVel>0.01</maxVel>
      <kd>1</kd>
      <maxContacts>20</maxContacts>
      <mu2>0</mu2>
      <selfCollide>0</selfCollide>
      <mu1>0</mu1>
      <minDepth>0</minDepth>
      <kp>1000000000000.0</kp>
    </gazebo>
  </link>
  <joint name="joint" type="revolute">
    <axis xyz="1 0 0"/>
    <parent link="link"/>
    <gazebo>
      <stopErp>0.2</stopErp>
      <stopCfm>0.0</stopCfm>
    </gazebo>
    <limit effort="0" lower="0" upper="0" velocity="0">
      <gazebo/>
    </limit>
    <mimic multiplier="1" offset="0"/>
    <safety_controller k_position="0" k_velocity="0" soft_lower_limit="0" soft_upper_limit="0"/>
    <child link="link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <dynamics damping="0" friction="0">
      <gazebo/>
    </dynamics>
  </joint>
  <transmission name="transmission">
    <actuator name="actuator">
      <mechanicalReduction>1</mechanicalReduction>
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </actuator>
    <joint name="joint">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <type>transmission_interface/SimpleTransmission</type>
  </transmission>
  <gazebo/>
</robot>