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adding center mass URDF

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IDONTSUDO 2023-07-12 17:40:24 +03:00
parent 70e268c455
commit 502e7a8d76
4 changed files with 60 additions and 24 deletions
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21
cad_generation/model/sdf_geometry_model.py
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@ -26,7 +26,7 @@ def to_class(c, x):
class SdfGeometryModel:
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction):
def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction, centerMassX, centerMassY, centerMassZ,):
self.name = name
self.ixx = ixx
self.ixy = ixy
@ -43,6 +43,9 @@ class SdfGeometryModel:
self.iyz = iyz
self.stl = stl
self.friction = friction
self.centerMassX = centerMassX
self.centerMassY = centerMassY
self.centerMassZ = centerMassZ
@staticmethod
def from_dict(obj):
@ -61,9 +64,12 @@ class SdfGeometryModel:
eulerY = from_union([from_str, from_none], obj.get("eulerY"))
eulerZ = from_union([from_str, from_none], obj.get("eulerZ"))
iyz = from_union([from_str, from_none], obj.get("iyz"))
stl = from_union([from_str, from_none], obj.get("stl") )
stl = from_union([from_str, from_none], obj.get("stl"))
friction = from_union([from_str, from_none], obj.get("friction"))
return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz,stl,friction)
centerMassX = from_union([from_str, from_none], obj.get("centerMassX"))
centerMassY = from_union([from_str, from_none], obj.get("centerMassY"))
centerMassZ = from_union([from_str, from_none], obj.get("centerMassZ"))
return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction, centerMassX, centerMassY, centerMassZ)
def to_dict(self):
result = {}
@ -99,9 +105,14 @@ class SdfGeometryModel:
result["stl"] = from_union([from_str, from_none], self.stl)
if self.friction is not None:
result["friction"] = from_union([from_str, from_none], self.eulerZ)
if self.centerMassX is not None:
result['centerMassX'] = from_union([from_str, from_none], self.centerMassX)
if self.centerMassY is not None:
result['centerMassY'] = from_union([from_str, from_none], self.centerMassY)
if self.centerMassZ is not None:
result['centerMassZ'] = from_union([from_str, from_none], self.centerMassZ)
return result
def toJSON(self) -> str:
return str(self.to_dict()).replace('\'', '"')