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Add PDDL, 3D-assets & SDF-URDF generator from Blender Scene Config

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IDONTSUDO 2023-12-17 13:58:43 +00:00 • committed by Igor Brylyov
parent b77687ea14
commit e305d486f2
41 changed files with 2793 additions and 664 deletions
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54
cad_generation/model/sdf_geometry_model.py
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@ -26,7 +26,28 @@ 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, centerMassX, centerMassY, centerMassZ,):
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
@ -69,7 +90,27 @@ class SdfGeometryModel:
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)
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 = {}
@ -105,14 +146,13 @@ 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)
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)
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)
result["centerMassZ"] = from_union([from_str, from_none], self.centerMassZ)
return result
def toJSON(self) -> str:
return str(self.to_dict()).replace('\'', '"')
return str(self.to_dict()).replace("'", '"')