loadIntermediate

loadIntermediate#

Loads an intermediate file into a kdFlex format.

Attributes#

RTOL

ATOL

Classes#

FreeCadExtraInfo

Container for extra information pulled from FreeCAD assemblies.

Functions#

freecadToBasicPrefabDS(...)

Convert a .freecad.yaml file into a Karana BasicPrefabDS.

Module Contents#

class loadIntermediate.FreeCadExtraInfo(/, **data: Any)#

Bases: Karana.KUtils.DataStruct.DataStruct

Container for extra information pulled from FreeCAD assemblies.

Only used for debugging and validation.

total_mass: float#

Total mass of assembly (defaults to units of kg).

total_com_global: Karana.Math.Ktyping.Vec3#

Center of mass in global frame of whole assembly (defaults to units of m).

cms_global: dict[str, Karana.Math.Ktyping.Vec3]#

Mapping of body names to their centers of mass in global frame.

loadIntermediate.freecadToBasicPrefabDS(in_file: str | pathlib.Path, verbose: bool = False) → Karana.KUtils.BasicPrefab.BasicPrefabDS[FreeCadExtraInfo]#

Convert a .freecad.yaml file into a Karana BasicPrefabDS.

Parameters:

  • in_file (str) – input yaml file containing intermediate representation of FreeCAD system.

  • verbose (bool) – Controls verbosity of conversion; defaults to False.

Returns:

A BasicPrefab DataStruct containing all bodies, joints, and geometries extracted from the intermediate file. Also contains extra info used for validation in the from of FreeCadParams.

Return type:

BasicPrefabDS

loadIntermediate.RTOL = 1e-08#
loadIntermediate.ATOL = 1e-08#
Contents