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Added friction and damping support

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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
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5
src/freecad_to_gazebo/freecad_exporter.py
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@ -38,6 +38,7 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
model.sdf_version = '1.5' model.sdf_version = '1.5'
joint_limits = configs.get('joints_limits', {}) joint_limits = configs.get('joints_limits', {})
joint_dynamics = configs.get('joints_dynamics', {})
constraints = [] constraints = []
for obj in doc.Objects: for obj in doc.Objects:
@ -112,7 +113,9 @@ def export_gazebo_model(assembly_file, model_dir, configs={}):
lower_limit=joint_limits.get('lower', -90), lower_limit=joint_limits.get('lower', -90),
upper_limit=joint_limits.get('upper', 90), upper_limit=joint_limits.get('upper', 90),
effort_limit=joint_limits.get('effort', 10), effort_limit=joint_limits.get('effort', 10),
velocity_limit=joint_limits.get('velocity', 10)) velocity_limit=joint_limits.get('velocity', 10),
friction=joint_dynamics.get('friction', 0),
damping=joint_dynamics.get('damping', 0))
joint = Joint(name=parent.Label+'_'+child.Label, joint = Joint(name=parent.Label+'_'+child.Label,
pose=joint_pose, pose=joint_pose,

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