uaibot.graphics.model3d module

class uaibot.graphics.model3d.Model3D(url=’’, scale=1, htm=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), mesh_material=None)

Bases: object

A class that represents a 3d model of an object.

Parameters

url

The url that contains the 3d object. It must have one of the following formats: ‘obj’, ‘stl’, ‘dae’.

scale

The scaling parameter of the object. (default: 1).

htm

The htm of the 3d models. This is used to tune the ‘default’ htm for the object in the uaibot simulator. This is necessary because the 3d model can have a different ‘default’ pose than the desired one. (default: np.identity(4)).

mesh_material

The mesh_material to be applied into the 3d model. (default: None).

gen_code(name)

Generate code for injection.

property htm

Object pose. A 4x4 homogeneous transformation matrix written is scenario coordinates.

property mesh_material

The model mesh material.

property scale

The object scale.

property url

The 3d model url.