def to_sdf(self, tree_depth='', parent_link=None, child_link=None):
assert (parent_link is not None)
assert (child_link is not None)
name_frame = 'component_{}_{}__frame'.format(tree_depth, self.TYPE)
name_joint = 'component_{}_{}__joint'.format(tree_depth, self.TYPE)
name_servo = 'component_{}_{}__servo'.format(tree_depth, self.TYPE)
name_servo2 = 'component_{}_{}__servo2'.format(tree_depth, self.TYPE)
visual_frame = SDF.Visual(name_frame, self.rgb)
geometry = SDF.MeshGeometry(self.VISUAL_MESH_FRAME)
visual_frame.append(geometry)
collision_frame = SDF.Collision(name_frame, self.MASS_FRAME)
geometry = SDF.BoxGeometry(self.COLLISION_BOX_FRAME)
collision_frame.append(geometry)
visual_servo = SDF.Visual(name_servo, self.rgb)
geometry = SDF.MeshGeometry(self.VISUAL_MESH_SERVO)
visual_servo.append(geometry)
collision_servo = SDF.Collision(name_servo, self.MASS_SERVO)
collision_servo.translate(SDF.math.Vector3(0.002375, 0, 0))
geometry = SDF.BoxGeometry(self.COLLISION_BOX_SERVO)
collision_servo.append(geometry)
collision_servo_2 = SDF.Collision(name_servo2, 0)
collision_servo_2.translate(SDF.math.Vector3(0.01175, 0.001, 0))
geometry = SDF.BoxGeometry(self.COLLISION_BOX_SERVO_2)
collision_servo_2.append(geometry)
joint = SDF.Joint(self.id,
name_joint,
parent_link,
child_link,
axis=SDF.math.Vector3(0, 1, 0),
coordinates=self.substrate_coordinates,
motorized=True)
joint.set_position(SDF.math.Vector3(-0.0085, 0, 0))
return visual_frame, \
[collision_frame], \
visual_servo, \
[collision_servo, collision_servo_2], \
joint
def to_sdf(self, tree_depth='', parent_link=None, child_link=None):
assert (parent_link is not None)
name = 'component_{}_{}'.format(tree_depth, self.TYPE)
name_sensor = 'sensor_{}_{}'.format(tree_depth, self.TYPE)
visual = SDF.Visual(name, self.rgb)
geometry = SDF.MeshGeometry(self.VISUAL_MESH)
visual.append(geometry)
collision = SDF.Collision(name, self.MASS)
geometry = SDF.BoxGeometry(self.COLLISION_BOX)
# collision.translate(SDF.math.Vector3(0.01175, 0.001, 0))
collision.append(geometry)
sensor = SDF.TouchSensor(name_sensor, collision, parent_link, self)
parent_link.append(sensor)
return visual, collision, sensor
def to_sdf(self, tree_depth='', parent_link=None, child_link=None):
"""
Transform the module in sdf elements.
IMPORTANT: It does not append VISUAL and COLLISION elements to the parent link
automatically. It does append automatically the SENSOR element.
TODO: make the append automatic for VISUAL AND COLLISION AS WELL.
:param tree_depth: current tree depth as string (for naming)
:param parent_link: link of the parent (may be needed for certain modules)
:param child_link: link of the child (may be needed for certain modules, like hinges)
:return: visual SDF element, collision SDF element, sensor SDF element.
Sensor SDF element may be None.
"""
name = 'component_{}_{}__box'.format(tree_depth, self.TYPE)
visual = SDF.Visual(name, self.rgb)
geometry = SDF.MeshGeometry(self.VISUAL_MESH)
visual.append(geometry)
collision = SDF.Collision(name, self.MASS)
geometry = SDF.BoxGeometry(self.COLLISION_BOX)
collision.append(geometry)
return visual, collision, None