hbp_nrp_commons.sim_config.ConfigEditor module

This module provides support methods to manipulate exc and bibi files.

class ConfigEditor(sim_config)

Bases: object

‘Friend’ class for SimConfig to manipulate (in-memory and storage) exc and bibi

add_bodymodel(robot_id, model_path, robot_model)

Adds a <bodyModel> tag in the bibi

Parameters

• robot_id – attribute robotId in the tag

• model_path – value() fo the tag

• robot_model_name – the name of the model is based the robot

Returns

add_robotpose(robot_id, pose=None)

Adds a <robotPose> tag in the exc

Parameters

• robot_id – robotId attribute for the tag

• pose – A cle_ros_msgs.msgs.Pose object (defines an object’s Euler pos and orientation)

Returns

delete_bodymodel(robot_id)

Deletes a <bodyModel> tag from the bibi

Parameters

robot_id – attribute robotId in the tag

Returns

delete_robotpose(robot_id)

Deletes <robotPose> tag in the exc where robotId is robot_id

Parameters

robot_id – robotId attribute for the tag

Returns

update_robotpose(robot_id, pose)

Edit <robotPose> tag in the exc where robotId is robot_id

Parameters

• robot_id – robotId attribute for the tag

• pose – A cle_ros_msgs.msgs.Pose object (defines an object’s Euler pos and orientation)

Returns

Tuple (True, SDF relative path) or (False, error message) to update config files