def deriveJoint(obj, logging=False, adjust=False, errors=None):
"""Derives a joint from a blender object and creates its initial phobos data structure.
Args:
obj(bpy.types.Object): object to derive the joint from
adjust(bool, optional): TODO (Default value = False)
logging: (Default value = False)
errors: (Default value = None)
Returns:
: dict
"""
joint_type, crot = jointmodel.deriveJointType(obj,
adjust=adjust,
logging=logging)
props = initObjectProperties(obj,
phobostype='joint',
ignoretypes=linkobjignoretypes - {'joint'})
parent = sUtils.getEffectiveParent(obj)
props['parent'] = nUtils.getObjectName(parent)
props['child'] = nUtils.getObjectName(obj)
axis, minmax = jointmodel.getJointConstraints(obj)
if axis:
props['axis'] = list(axis)
limits = {}
if minmax is not None:
# prismatic or revolute joint, TODO: planar etc.
if len(minmax) == 2:
limits['lower'] = minmax[0]
limits['upper'] = minmax[1]
if 'maxvelocity' in props:
limits['velocity'] = props['maxvelocity']
del props['maxvelocity']
if 'maxeffort' in props:
limits['effort'] = props['maxeffort']
del props['maxeffort']
if limits != {}:
props['limits'] = limits
props['pose'] = deriveObjectPose(obj)
# TODO: what about these?
# - calibration
# - dynamics
# - mimic
# - safety_controller
return props
def deriveJoint(obj, adjust=True):
"""This function derives a joint from a blender object and creates its initial phobos data structure.
Args:
obj: The blender object to derive the joint from.
adjust: (Default value = True)
Returns:
dict
"""
if 'joint/type' not in obj.keys():
jt, crot = jointmodel.deriveJointType(obj, adjust=adjust)
props = initObjectProperties(obj,
phobostype='joint',
ignoretypes=linkobjignoretypes - {'joint'})
parent = sUtils.getEffectiveParent(obj)
props['parent'] = nUtils.getObjectName(parent)
props['child'] = nUtils.getObjectName(obj)
axis, minmax = jointmodel.getJointConstraints(obj)
if axis:
props['axis'] = list(axis)
limits = {}
if minmax is not None:
# prismatic or revolute joint, TODO: planar etc.
if len(minmax) == 2:
limits['lower'] = minmax[0]
limits['upper'] = minmax[1]
if 'maxvelocity' in props:
limits['velocity'] = props['maxvelocity']
del props['maxvelocity']
if 'maxeffort' in props:
limits['effort'] = props['maxeffort']
del props['maxeffort']
if limits != {}:
props['limits'] = limits
# TODO: what about these?
# - calibration
# - dynamics
# - mimic
# - safety_controller
return props