Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot
Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc
Upstream-Branch: master

onshape_to_robot/geometry.py

@@ -0,0 +1,87 @@
+import numpy as np
+
+
+class Geometry:
+    def __init__(
+        self,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        self.color: np.ndarray = color
+        self.visual: bool = visual
+        self.collision: bool = collision
+        self.visual_properties: dict = {}
+        self.collision_properties: dict = {}
+
+    def is_type(self, what: str):
+        if what == "visual":
+            return self.visual
+        elif what == "collision":
+            return self.collision
+        return False
+
+
+class Mesh(Geometry):
+    def __init__(
+        self,
+        filename: str,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        super().__init__(color, visual, collision)
+        self.filename: str = filename
+
+
+class Shape(Geometry):
+    def __init__(
+        self,
+        T_part_shape: np.ndarray,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        super().__init__(color, visual, collision)
+        self.T_part_shape: np.ndarray = T_part_shape
+
+
+class Box(Shape):
+    def __init__(
+        self,
+        T_part_shape: np.ndarray,
+        size: np.ndarray,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        super().__init__(T_part_shape, color, visual, collision)
+        self.size: np.ndarray = size
+
+
+class Cylinder(Shape):
+    def __init__(
+        self,
+        T_part_shape: np.ndarray,
+        length: float,
+        radius: float,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        super().__init__(T_part_shape, color, visual, collision)
+        self.length: float = length
+        self.radius: float = radius
+
+
+class Sphere(Shape):
+    def __init__(
+        self,
+        T_part_shape: np.ndarray,
+        radius: float,
+        color: np.ndarray = np.array([0.5, 0.5, 0.5, 1.0]),
+        visual: bool = True,
+        collision: bool = True,
+    ):
+        super().__init__(T_part_shape, color, visual, collision)
+        self.radius: float = radius