intermediateTypes

intermediateTypes#

Contains intermediate representations of bodies and joints to support conversion between FreeCAD and kdFlex formats.

Classes#

`SimpleQuaternion`	Minimal unit quaternion class using x,y,z,w representation.
`SimpleHomTran`	Simple Homogeneous Transformation object corresponding to a passive rotation + offset.
`MeshData`	Basic representation of a triangle mesh.
`BasicBody`	Basic representation of a Body object.
`BasicJoint`	Basic representation of a joint object. Holds the joint frame relative to each body, plus body names to lookup elsewhere.
`BasicModelData`	Basic intermediate representation of a multibody model.

Module Contents#

class intermediateTypes.SimpleQuaternion(xyzw: numpy.ndarray | list | tuple)#

Minimal unit quaternion class using x,y,z,w representation.

__slots__ = ('_q',)#

classmethod identity() → SimpleQuaternion#: Compute a quaternion corresponding to the identity operation.

conjugate() → SimpleQuaternion#: Get conjugate representation (same as inverse since we’re a unit quaternion).

__mul__(other: SimpleQuaternion) → SimpleQuaternion#
__mul__(other: numpy.ndarray) → numpy.ndarray: Multiply this quaternion A by either another quaternion B (e.g., A * B) or by a vector v (e.g., A * v).

__eq__(other) → bool#: Equality test.

__repr__()#: Dump quaternion into a string representation.

class intermediateTypes.SimpleHomTran(/, **data: Any)#

Bases: pydantic.BaseModel

Simple Homogeneous Transformation object corresponding to a passive rotation + offset.

translation: numpy.ndarray = None#

rotation: SimpleQuaternion = None#

__repr__()#: Dump HomTran into a string representation.

classmethod identity() → SimpleHomTran#: Construct a SimpleHomTran corresponding to identity.

__eq__(other)#: Check equality.

__mul__(other: SimpleHomTran) → SimpleHomTran#
__mul__(other: numpy.ndarray) → numpy.ndarray: Premultiply this by either another SimpleHomTran or a numpy array of 3-vectors.

inverse() → SimpleHomTran#: Get inverse transformation.

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class intermediateTypes.MeshData(/, **data: Any)#

Bases: pydantic.BaseModel

Basic representation of a triangle mesh.

vertices: numpy.ndarray#

faces: numpy.ndarray#

__repr__()#: Display mesh concisely as a string.

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class intermediateTypes.BasicBody(/, **data: Any)#

Bases: pydantic.BaseModel

Basic representation of a Body object.

name: str#

label: str#

source_object_name: str | None#

body_frame: SimpleHomTran#: Body frame relative to global origin

density: float#

visible: bool#

mesh: MeshData | None#

mass: float#

cm_in_body: numpy.ndarray#: Vector from body frame to center-of-mass

inertia_matrix_in_body: numpy.ndarray#: Inertia matrix in the body frame (not the CM frame)

rgba: numpy.ndarray | None = None#: Color for the body in RGBA (or None)

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class intermediateTypes.BasicJoint(/, **data: Any)#

Bases: pydantic.BaseModel

Basic representation of a joint object. Holds the joint frame relative to each body, plus body names to lookup elsewhere.

name: str#

joint_type: str#

body_1_name: str#

body_2_name: str#

body_1_to_joint: SimpleHomTran#

body_2_to_joint: SimpleHomTran#

model_config#: Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class intermediateTypes.BasicModelData(/, **data: Any)#

Bases: pydantic.BaseModel

Basic intermediate representation of a multibody model.

bodies: dict[str, BasicBody]#

joints: dict[str, BasicJoint]#

grounded_bodies: list[str]#

extra_info: dict[str, Any]#

to_yaml(path: str | pathlib.Path | None = None) → str#

Write this data structure to a yaml file.

Parameters:: path (str | Path | None) – If given, automatically writes all yaml data to a file.
Returns:: Serialized yaml representation of this data structure.
Return type:: str

classmethod from_yaml(yaml_input: str | pathlib.Path) → BasicModelData#: Load a yaml input file into an intermediate representation.