bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
88 lines
2.2 KiB
Python
88 lines
2.2 KiB
Python
import numpy as np
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class Geometry:
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def __init__(
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self,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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self.color: np.ndarray = color
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self.visual: bool = visual
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self.collision: bool = collision
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self.visual_properties: dict = {}
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self.collision_properties: dict = {}
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def is_type(self, what: str):
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if what == "visual":
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return self.visual
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elif what == "collision":
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return self.collision
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return False
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class Mesh(Geometry):
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def __init__(
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self,
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filename: str,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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super().__init__(color, visual, collision)
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self.filename: str = filename
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class Shape(Geometry):
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def __init__(
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self,
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T_part_shape: np.ndarray,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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super().__init__(color, visual, collision)
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self.T_part_shape: np.ndarray = T_part_shape
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class Box(Shape):
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def __init__(
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self,
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T_part_shape: np.ndarray,
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size: np.ndarray,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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super().__init__(T_part_shape, color, visual, collision)
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self.size: np.ndarray = size
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class Cylinder(Shape):
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def __init__(
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self,
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T_part_shape: np.ndarray,
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length: float,
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radius: float,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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super().__init__(T_part_shape, color, visual, collision)
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self.length: float = length
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self.radius: float = radius
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class Sphere(Shape):
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def __init__(
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self,
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T_part_shape: np.ndarray,
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radius: float,
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color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
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visual: bool = True,
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collision: bool = True,
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):
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super().__init__(T_part_shape, color, visual, collision)
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self.radius: float = radius
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