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  • Committer: Ugo Cupcic
  • Date: 2012-08-08 10:17:21 UTC
  • mfrom: (1.1.552 shadow_robot_ethercat)
  • Revision ID: ugo@shadowrobot.com-20120808101721-lutmwmwmt06srqya
1.0.0 stable release for the etherCAT hardware

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sr_control_gui/src/sr_control_gui/grasps_parser.py
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import xml.etree.ElementTree as ET
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from Grasp import Grasp
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DEBUG = 0
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class GraspParser():
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    """
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    Parses a XML file describing a grasp.
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    """
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    def __init__(self):
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        #initialize stuff
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        self.xml_tree = ""
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        self.grasps = {}
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    def parse_tree(self, xml_filename="grasps.xml"):
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        """
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        parses a given tree, returns a Grasp
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        Keyword arguments:
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        xml_filename -- the filename where the grasp is defined
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                        if no filename is provided, then the default
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                        value is "grasps.xml"
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        """    
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        #parse the xml tree
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        try:
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            self.xml_tree = ET.parse(xml_filename)
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        except Exception, inst:
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            print "Unexpected error opening %s: %s" % (xml_filename, inst)
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            return
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        tree_root = self.xml_tree.getroot()
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        tree_grasp = tree_root.findall("grasp")
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        for grasp in tree_grasp:
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            grasp_tmp = Grasp()
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            grasp_tmp.grasp_name = grasp.attrib.get("name")
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            if DEBUG >= 2:
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                print "Grasp "+ grasp_tmp.grasp_name
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            joints = grasp.findall("joint")
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            for j in joints:
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                joint_name = j.attrib.get("name")
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                joint_position = float(j.text)
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                if DEBUG >= 2:
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                    print "  "+ joint_name + ": "+ str(joint_position)
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                grasp_tmp.joints_and_positions.update({joint_name:joint_position})                
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            self.grasps.update({grasp_tmp.grasp_name: grasp_tmp})
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############################
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#    MAIN - simple test    #
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############################
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def main():
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    parser = GraspParser()
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    parser.parse_tree()
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    return 0
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# start the script
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if __name__ == "__main__":
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    main()