Closed diegoferigo closed 1 year ago
Initial support of creating elements of primitive shapes.
Quick example:
import numpy as np import rod from rod.builder import primitives link_H_com = np.eye(4) link_H_com[0:3, 3] = np.array([0, 0, 1.0]) model = ( primitives.SphereBuilder(name="sphere", mass=1.0, radius=0.1) .build_model() .add_link() .add_inertial(pose=rod.Pose.from_transform(transform=link_H_com)) .add_visual() .build() ) sdf = rod.Sdf(version="1.9", model=model) print(sdf.serialize(pretty=True)) sdf_string = sdf.serialize(pretty=True)
Initial support of creating elements of primitive shapes.
Quick example: