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Fixed typos and added moving the origin to center of mass on the meshes

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This commit is contained in:
Dawit Abate 2019-07-04 18:03:09 +03:00
parent e7c7796b6b
commit d601655fca
1 changed files with 11 additions and 11 deletions
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22
src/freecad_to_gazebo/freecad_exporter.py
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@ -61,7 +61,7 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
if export_mesh:
os.makedirs(mesh_dir, exist_ok=True)
export(doc, [obj], mesh_file, scale=scale)
export(doc, [obj], mesh_file, scale=scale, offset=com*-1)
pose = placement.copy()
pose.Base = com
@ -111,8 +111,8 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
axis = Axis(pose=axis_pose,
lower_limit=joint_limits.get('lower', -90),
upper_limit=joint_limits.get('upper', 90),
effort_limit=joint_limits.get('effort', -10),
velocity_limit=joint_limits.get('velocity', -10))
effort_limit=joint_limits.get('effort', 10),
velocity_limit=joint_limits.get('velocity', 10))
joint = Joint(name=parent.Label+'_'+child.Label,
pose=joint_pose,
@ -151,20 +151,20 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
joint_names = [joint.name for joint in model.joints]
for joint in joint_names:
transmission = ET.SubElement(actuators, 'transmission', name=robot_name)
transmission = ET.SubElement(actuators, 'transmission', name=joint)
tr_type = ET.SubElement(transmission, 'type')
tr_type.text = tr_configs.get('type', 'transmission_interface/SimpleTransmission')
actuator = ET.SubElement(transmission, 'actuator')
hw_interface = ET.SubElement(actuator, 'HardwareInterface')
actuator = ET.SubElement(transmission, 'actuator', name=joint)
hw_interface = ET.SubElement(actuator, 'hardwareInterface')
hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
reduction = ET.SubElement(actuator, 'mechanicalReduction')
reduction.text = '1'
tr_joint = ET.SubElement(transmission, 'joint', name=joint)
hw_interface = ET.SubElement(tr_joint, 'HardwareInterface')
hw_interface.text = tr_configs.get('type', 'hardware_interface/PositionJointInterface')
hw_interface = ET.SubElement(tr_joint, 'hardwareInterface')
hw_interface.text = tr_configs.get('hardware_interface', 'hardware_interface/PositionJointInterface')
with open(os.path.join(model_dir, 'models', 'actuators.urdf'), 'w') as actuators_file:
with open(os.path.join(model_dir, 'models', robot_name+'_actuators.urdf'), 'w') as actuators_file:
actuators_file.write(parseString(ET.tostring(actuators)).toprettyxml(indent=' '*2))
control_configs={}
@ -189,9 +189,9 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
'joints': joint_names
}
pid_gains = {}
control_configs[robot_name]['gazebo_ros_control/pid_gains'] = {}
control_configs['gazebo_ros_control/pid_gains'] = {}
for joint in joint_names:
control_configs[robot_name]['gazebo_ros_control/pid_gains'][joint] = pid.copy()
control_configs['gazebo_ros_control/pid_gains'][joint] = pid.copy()
os.makedirs(os.path.join(model_dir, 'config'), exist_ok=True)
with open(os.path.join(model_dir, 'config', robot_name+'_controll.yaml'), 'w') as control_configs_file:
yaml.dump(control_configs, control_configs_file)