utils

class utils.Config(config_path)[source]

Bases: object

Class to parse and keep the config loaded from yaml file

Parameters:

config_path (str) – path to the config file

set_attribute(attr, value, reference)[source]

Function to recursively fill the instance variables from dictionary. When value is non-dict, it is directly assigned to a variable. Else, the dict is recursively parsed.

Parameters:

• attr (str) – name of the attribute

• value (str, float, int, dict, list, ... - and other that can be loaded from yaml) – value of the attribute

• reference (pointer or whatever it is called in Python) – reference to the parent class. “self” for the upper attributes, pointer to namedtuple for inner attributes

Returns:

0

Return type:

int

class utils.CustomFormatter(fmt=None, datefmt=None, style='%', validate=True, *, defaults=None)[source]

Bases: Formatter

Custom formatter that assigns colors to logs From https://stackoverflow.com/a/56944256

Initialize the formatter with specified format strings.

Initialize the formatter either with the specified format string, or a default as described above. Allow for specialized date formatting with the optional datefmt argument. If datefmt is omitted, you get an ISO8601-like (or RFC 3339-like) format.

Use a style parameter of ‘%’, ‘{’ or ‘$’ to specify that you want to use one of %-formatting, str.format() ({}) formatting or string.Template formatting in your format string.

Changed in version 3.2: Added the style parameter.

FORMATS = {10: '\x1b[38;20m%(module)s %(levelname)s: %(message)s\x1b[0m', 20: '\x1b[38;20m%(module)s %(levelname)s: %(message)s\x1b[0m', 30: '\x1b[33;20m%(module)s %(levelname)s: %(message)s\x1b[0m', 40: '\x1b[31;20m%(module)s %(levelname)s: %(message)s\x1b[0m', 50: '\x1b[31;1m%(module)s %(levelname)s: %(message)s\x1b[0m'}

bold_red = '\x1b[31;1m'

format(record)[source]

Format the specified record as text.

The record’s attribute dictionary is used as the operand to a string formatting operation which yields the returned string. Before formatting the dictionary, a couple of preparatory steps are carried out. The message attribute of the record is computed using LogRecord.getMessage(). If the formatting string uses the time (as determined by a call to usesTime(), formatTime() is called to format the event time. If there is exception information, it is formatted using formatException() and appended to the message.

grey = '\x1b[38;20m'

red = '\x1b[31;20m'

reset = '\x1b[0m'

yellow = '\x1b[33;20m'

class utils.Pose(pos, ori)[source]

Bases: object

Mini help class for Pose representation

Init function that takes position and orientation and saves them as attributes

Parameters:

• pos (list) – x,y,z position

• ori (list) – rpy orientation

class utils.URDF(path)[source]

Bases: object

Class to parse URDF file

Parameters:

path (str) – path to the URDF file

ROOT_TAGS = []

dereference()[source]

Make parent/child again as names to allow urdf write

find_root_tags()[source]

Finds tags that are ‘root’, i.e., they have child ‘inside’

fix_urdf()[source]

Fix the URDF file by converting non-mesh geometries to mesh and saving them as .obj files. If changes were made, write the new URDF to a file.

make_references()[source]

Make parent/child in joint list as references to the given link

read(el, parent)[source]

Recursive function to read the URDF file. When there are no children, it reads the attributes and saves them.

Parameters:

• el (xml.etree.ElementTree.Element) – The current element in the XML tree.

• parent (xml.etree.ElementTree.Element) – The parent element in the XML tree.

write_attr(attr_name, attr, level=1, skip_header=False)[source]

Write an attribute to the new URDF string.

Parameters:

• attr_name (str) – The name of the attribute.

• attr (any) – The attribute value.

• level (int, optional, default=1) – The indentation level for the attribute.

• skip_header (bool, optional, default=False) – Whether to skip writing the attribute header.

write_urdf()[source]

Write the URDF object to a string.