def geometryFromAffordance(aff):
if isinstance(aff, affordanceitems.SphereAffordanceItem):
radius = aff.getProperty('Radius')
return urdf.Sphere(radius=radius)
if isinstance(aff, affordanceitems.BoxAffordanceItem):
dimensions = aff.getProperty('Dimensions')
return urdf.Box(size=dimensions)
if isinstance(aff, affordanceitems.CylinderAffordanceItem):
return urdf.Cylinder(length=aff.getProperty('Length'),
radius=aff.getProperty('Radius'))
if isinstance(aff, affordanceitems.CapsuleAffordanceItem):
return urdf.Cylinder(length=aff.getProperty('Length'),
radius=aff.getProperty('Radius'))
if isinstance(aff, affordanceitems.CapsuleRingAffordanceItem):
raise Exception('not supported yet')
if isinstance(aff, affordanceitems.MeshAffordanceItem):
filename = aff.getProperty('Filename')
filename = affordanceitems.MeshAffordanceItem.getMeshManager(
).getFilesystemFilename(filename)
return urdf.Mesh(filename=filename, scale=[1.0, 1.0, 1.0])
def default_collision(geometry=None, origin=None):
""" Return default collision """
if geometry is None:
geometry = urdf.Box([0.05, 0.05, 0.05])
if origin is None:
origin = urdf.Pose([-1, 0, 0.5], [0, 0, 0])
return urdf.Collision(geometry=geometry, origin=origin)
def from_world_body(cls, world_body, *args, **kwargs):
"""
:type world_body: giskard_msgs.msg._WorldBody.WorldBody
:rtype: URDFObject
"""
links = []
joints = []
if world_body.type == world_body.PRIMITIVE_BODY or world_body.type == world_body.MESH_BODY:
if world_body.shape.type == world_body.shape.BOX:
geometry = up.Box(world_body.shape.dimensions)
elif world_body.shape.type == world_body.shape.SPHERE:
geometry = up.Sphere(world_body.shape.dimensions[0])
elif world_body.shape.type == world_body.shape.CYLINDER:
geometry = up.Cylinder(
world_body.shape.dimensions[
world_body.shape.CYLINDER_RADIUS],
world_body.shape.dimensions[
world_body.shape.CYLINDER_HEIGHT])
elif world_body.shape.type == world_body.shape.CONE:
raise TypeError(u'primitive shape cone not supported')
elif world_body.type == world_body.MESH_BODY:
geometry = up.Mesh(world_body.mesh)
else:
raise CorruptShapeException(
u'primitive shape \'{}\' not supported'.format(
world_body.shape.type))
# FIXME test if this works on 16.04
try:
link = up.Link(world_body.name)
link.add_aggregate(
u'visual',
up.Visual(geometry,
material=up.Material(u'green',
color=up.Color(0, 1, 0,
1))))
link.add_aggregate(u'collision', up.Collision(geometry))
except AssertionError:
link = up.Link(world_body.name,
visual=up.Visual(geometry,
material=up.Material(
u'green',
color=up.Color(0, 1, 0,
1))),
collision=up.Collision(geometry))
links.append(link)
elif world_body.type == world_body.URDF_BODY:
o = cls(world_body.urdf, *args, **kwargs)
o.set_name(world_body.name)
return o
else:
raise CorruptShapeException(
u'world body type \'{}\' not supported'.format(
world_body.type))
return cls.from_parts(world_body.name, links, joints, *args, **kwargs)
def from_object_state(cls, object_state, *args, **kwargs):
"""
:type world_body: knowrob_objects.msg._ObjectState.ObjectState
:rtype: URDFObject
"""
links = []
joints = []
shape = [object_state.size.y,
object_state.size.x,
object_state.size.z]
if object_state.has_visual and object_state.mesh_path == u'':
geometry = up.Box(shape)
elif object_state.has_visual:
geometry = up.Mesh(object_state.mesh_path)
else:
raise CorruptShapeException(u'object state has no visual')
link = up.Link(object_state.object_id,
visual=up.Visual(geometry, material=up.Material(u'green', color=up.Color(0, 1, 0, 1))),
collision=up.Collision(geometry))
links.append(link)
return cls.from_parts(object_state.object_id, links, joints, *args, **kwargs)
def default_visual():
return urdf.Visual(geometry=urdf.Box([0.05, 0.05, 0.05]),
material=urdf.Material(name="red"),
origin=urdf.Pose([-1, 0, 0.5], [0, 0, 0]))