From 647cdba1901fa359c2eea9c24a541b954bba8a8d Mon Sep 17 00:00:00 2001 From: Siddharth Ancha Date: Wed, 26 Jun 2024 17:07:17 -0400 Subject: [PATCH] Add mass, inertia and contact predicates for `qrgeom` (#31) --- lisdf/parsing/qddl-builtins-v2.0.pddl | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/lisdf/parsing/qddl-builtins-v2.0.pddl b/lisdf/parsing/qddl-builtins-v2.0.pddl index 409a6de..cbfe04a 100644 --- a/lisdf/parsing/qddl-builtins-v2.0.pddl +++ b/lisdf/parsing/qddl-builtins-v2.0.pddl @@ -13,6 +13,7 @@ qr::joint-conf - qr::value qr::chain-conf - qr::value qr::color - qr::value ; (r, g, b, a) + qr::inertia - qr::value ; (ixx, iyy, izz) qr::pose - qr::value ; (x, y, z, roll, pitch, yaw) qr::pose2d - qr::value ; (x, y) @@ -73,6 +74,18 @@ ; ?color: the color of the box, as a tuple of (r, g, b, a) (qrgeom::box-color ?x - qr::body ?color - qr::color) + ; ?x: the name of the body + ; ?mass: the mass of the body (in kilograms) as a float + (qrgeom::box-mass ?x - qr::body ?mass - qr::value) + + ; ?x: the name of the body + ; ?inertia: the diagonal inertia (ixx, iyy, izz) of the body + (qrgeom::box-inertia ?x - qr::body ?inertia - qr::inertia) + + ; ?x: the name of the body + ; ?contact: contact model of the body, either "point" or "hydroelastic" + (qrgeom::box-contact-model ?x - qr::body ?contact_model - qr::string) + (urdf::prop ?x - qr::body ?name - qr::string ?value - qr::value) (urdf::load-arg ?x - qr::body ?name - qr::string ?value - qr::value)