37 lines
804 B
Python
37 lines
804 B
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Created on Fri Apr 7 15:38:46 2023
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@author: Pierre Lecomte
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"""
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import numpy as np
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from kinematics_from_description.kfd import KinematicsFromDescriptionTool as KFD
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tool = KFD(
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{
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"body_frame": "sma_link",
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"space_frame": "base_link",
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"namespace": "wx250s_custom",
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}
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)
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tool.load_desc_from_file('out.urdf')
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tool.run()
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print("Slist:")
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print(tool.Slist.T)
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print("M:")
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print(tool.M)
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x = f"""class wx250s_custom(ModernRoboticsDescription):
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Slist = np.array(
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{np.array2string(tool.Slist.T, separator=',')}
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).T
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M = np.array({np.array2string(tool.M, separator=',')})
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"""
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with open("mr_descriptions.py","a") as f:
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f.writelines(x) |