shapes¶

Submodules¶

Classes¶

class brom_drake.file_manipulation.urdf.shapes.box.BoxDefinition(size: float | list | tuple | ndarray)[source]¶

Description

Defines a box shape as per URDF specifications.

Attributes

size: Union[float, list, tuple, np.ndarray]: The size of the box along the x, y, and z axes. If this is a float, it is assumed to be a cube with equal sides.

add_geometry_to_element(target_element: Element) → Element[source]¶

Description

Adds the box geometry as a sub-element to the given target element.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Parameters

target_element: xml.etree.ElementTree.Element: The target XML element to which the box geometry will be added.

Returns

xml.etree.ElementTree.Element: The element target_element with the box geometry added as a sub-element.

property type: ShapeEnum¶

Description

Always returns ShapeEnum.kBox to indicate this is a box shape.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Returns

ShapeEnum: The shape type, which is always ShapeEnum.kBox for this class.

class brom_drake.file_manipulation.urdf.shapes.cylinder.CylinderDefinition(radius: float, length: float)[source]¶

Description

Defines a cylinder shape as per URDF specifications.

Attributes

radius: float: The radius of the cylinder.
length: float: The length of the cylinder along its central axis.

add_geometry_to_element(target_element: Element) → Element[source]¶

Description

Adds the cylinder geometry as a sub-element to the given target element.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Parameters

target_element: xml.etree.ElementTree.Element: The target XML element to which the cylinder geometry will be added.

Returns

xml.etree.ElementTree.Element: The element target_element with the cylinder geometry added as a sub-element.

property type: ShapeEnum¶

Description

Returns the ShapeEnum type corresponding to a cylinder.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Returns

ShapeEnum: The ShapeEnum type for a cylinder.

class brom_drake.file_manipulation.urdf.shapes.shape_definition.ShapeDefinition[source]¶

Description

Base class for defining a shape as per URDF specifications.

add_geometry_to_element(target_element: Element) → Element[source]¶

Description

Adds the shape geometry as a sub-element to the given target element.

This method must be implemented in subclasses.

Parameters

target_element: xml.etree.ElementTree.Element: The target XML element to which the shape geometry will be added.

Returns

xml.etree.ElementTree.Element: The element target_element with the shape geometry added as a sub-element.

property type: ShapeEnum¶

Description

Returns the ShapeEnum type corresponding to the shape.

This method must be implemented in subclasses.

Returns

ShapeEnum: The ShapeEnum type for the shape.

class brom_drake.file_manipulation.urdf.shapes.shape_definition.ShapeEnum(*values)[source]¶

Description

The different simple shapes that can be created.

class brom_drake.file_manipulation.urdf.shapes.sphere.SphereDefinition(radius: float)[source]¶

Description

Defines a sphere shape as per URDF specifications.

Attributes

radius: float: The radius of the sphere.

add_geometry_to_element(target_element: Element) → Element[source]¶

Description

Adds the sphere geometry as a sub-element to the given target element.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Parameters

target_element: xml.etree.ElementTree.Element: The target XML element to which the sphere geometry will be added.

Returns

xml.etree.ElementTree.Element: The element target_element with the sphere geometry added as a sub-element.

property type: ShapeEnum¶

Description

Returns the ShapeEnum type corresponding to a sphere.

This method is an implementation of the abstract method defined in the ShapeDefinition base class.

Returns

ShapeEnum: The ShapeEnum type for a sphere.

Functions¶

(None found)

Variables¶

(None found)