def convert_urdf_link(self, urdfLink, link_parent_index):
print("converting link:", urdfLink.link_name)
urdf_link = dp.TinyUrdfLink()
urdf_link.parent_index = link_parent_index
urdf_link.link_name = urdfLink.link_name
#convert inertia
urdf_inertial = dp.TinyUrdfInertial()
urdf_inertial.mass = urdfLink.urdf_inertial.mass
urdf_inertial.inertia_xxyyzz = self.convert_vec(
urdfLink.urdf_inertial.inertia_xxyyzz)
urdf_inertial.origin_rpy = self.convert_vec(
urdfLink.urdf_inertial.origin_rpy)
urdf_inertial.origin_xyz = self.convert_vec(
urdfLink.urdf_inertial.origin_xyz)
urdf_link.urdf_inertial = urdf_inertial
urdf_link.urdf_inertial = urdf_inertial
#convert visual shapes
urdf_visual_shapes = []
for v in urdfLink.urdf_visual_shapes:
visual = self.convert_visual(v)
urdf_visual_shapes.append(visual)
urdf_link.urdf_visual_shapes = urdf_visual_shapes
#convert collision shapes
urdf_collision_shapes = []
for c in urdfLink.urdf_collision_shapes:
col = self.convert_collision(c)
urdf_collision_shapes.append(col)
urdf_link.urdf_collision_shapes = urdf_collision_shapes
self.urdf_links.append(urdf_link)
def create_multi_body(mass, collision_shapes, is_floating, world):
urdf = pd.TinyUrdfStructures()
base_link = pd.TinyUrdfLink()
base_link.link_name = "plane_link"
inertial = pd.TinyUrdfInertial()
inertial.mass = mass
inertial.inertia_xxyyzz = pd.TinyVector3(mass, mass, mass)
base_link.urdf_inertial = inertial
base_link.urdf_collision_shapes = collision_shapes
urdf.base_links = [base_link]
mb = pd.TinyMultiBody(is_floating)
urdf2mb = pd.UrdfToMultiBody2()
res = urdf2mb.convert2(urdf, world, mb)
return mb
def create_multi_body(link_name, mass, collision_shapes, visual_shapes, is_floating, mc, world): urdf = pd.TinyUrdfStructures() base_link = pd.TinyUrdfLink() base_link.link_name = link_name inertial = pd.TinyUrdfInertial() inertial.mass = mass inertial.inertia_xxyyzz = pd.TinyVector3(mass,mass,mass) base_link.urdf_inertial = inertial base_link.urdf_collision_shapes = collision_shapes base_link.urdf_visual_shapes = visual_shapes urdf.base_links = [base_link] mb = pd.TinyMultiBody(is_floating) urdf2mb = pd.UrdfToMultiBody2() res = urdf2mb.convert2(urdf, world, mb) b2vis = meshcat_utils_dp.convert_visuals(urdf, None, vis) return mb, b2vis