robossembler/framework
7
0
Fork 0
Code Issues 21 Pull requests Projects Releases Packages Wiki Activity Actions

Added friction and damping support

Browse source
This commit is contained in:
Dawit Abate 2019-07-05 16:38:45 +03:00
parent c407cd82b9
commit e28ff36674
2 changed files with 16 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

13
src/freecad_to_gazebo/model.py
View file

@ -290,6 +290,8 @@ class Axis(SpatialEntity):
self.upper_limit = kwargs.get('upper_limit', 0)
self.effort_limit = kwargs.get('effort_limit', 0)
self.velocity_limit = kwargs.get('velocity_limit', 0)
self.friction = kwargs.get('friction', 0)
self.damping = kwargs.get('damping', 0)
self.use_parent_frame = kwargs.get('use_parent_frame', False)
def to_xml(self, fmt='sdf'):
@ -310,6 +312,11 @@ class Axis(SpatialEntity):
effort.text = flt2str(self.effort_limit)
velocity = ET.SubElement(limit, 'velocity')
velocity.text = flt2str(self.velocity_limit)
dynamics = ET.SubElement(axis, 'dynamics')
friction = ET.SubElement(dynamics, 'friction')
friction.text = flt2str(self.friction)
damping = ET.SubElement(dynamics, 'damping')
damping.text = flt2str(self.damping)
use_parent_frame = ET.SubElement(axis, 'use_parent_model_frame')
use_parent_frame.text = str(self.use_parent_frame).lower()
else:
@ -321,7 +328,11 @@ class Axis(SpatialEntity):
limit.set('effort', flt2str(self.effort_limit))
limit.set('velocity', flt2str(self.velocity_limit))
return [axis, limit]
dynamics = ET.Element('dynamics')
dynamics.set('friction', flt2str(self.friction))
dynamics.set('damping', flt2str(self.damping))
return [axis, limit, dynamics]
return axis