def data(self):
return {
'name':
self.name,
'type':
self.SUPPORTED_TYPES[self.type],
'parent':
self.parent.data,
'child':
self.child.data,
'origin':
self.origin.data if self.origin else None,
'axis':
self.axis.data if self.axis else None,
'calibration':
self.calibration.data if self.calibration else None,
'dynamics':
self.dynamics.data if self.dynamics else None,
'limit':
self.limit.data if self.limit else None,
'safety_controller':
self.safety_controller.data if self.safety_controller else None,
'mimic':
self.mimic.data if self.mimic else None,
'attr':
_attr_to_data(self.attr),
'position':
self.position,
}
def data(self):
return {
'x': self.x,
'y': self.y,
'z': self.z,
'attr': _attr_to_data(self.attr),
}
def _get_data(self):
return {
'name': self.name,
'joints': [joint.data for joint in self.joints],
'links': [link.data for link in self.links],
'materials': [material.data for material in self.materials],
'attr': _attr_to_data(self.attr),
'_scale_factor': self._scale_factor,
}
def data(self):
return {
'name': self.name,
'type': self.type,
'visual': [visual.data for visual in self.visual],
'collision': [collision.data for collision in self.collision],
'inertial': self.inertial.data if self.inertial else None,
'attr': _attr_to_data(self.attr),
'joints': [joint.data for joint in self.joints],
}
def data(self):
"""Returns the data dictionary that represents the :class:`RobotModel`.
Returns
-------
dict
The RobotModel's data.
"""
return {
'name': self.name,
'joints': [joint.data for joint in self.joints],
'links': [link.data for link in self.links],
'materials': [material.data for material in self.materials],
'attr': _attr_to_data(self.attr),
'_scale_factor': self._scale_factor,
}
def data(self):
return {
'geometry':
self.geometry.data,
'origin':
self.origin.data if self.origin else None,
'name':
self.name,
'attr':
_attr_to_data(self.attr),
'init_transformation':
self.init_transformation.data
if self.init_transformation else None,
'current_transformation':
self.current_transformation.data
if self.current_transformation else None,
}
def data(self):
return {
'damping': self.damping,
'friction': self.friction,
'attr': _attr_to_data(self.attr),
}
