def draw_action(node_points, printed, element):
if not has_gui():
return []
with LockRenderer():
remove_all_debug()
handles = [draw_element(node_points, element, color=(1, 0, 0))]
handles.extend(
draw_element(node_points, e, color=(0, 1, 0)) for e in printed)
wait_for_user()
return handles
def display_failure(node_points, extruded_elements, element):
client = connect(use_gui=True)
with ClientSaver(client):
obstacles, robot = load_world()
handles = []
for e in extruded_elements:
handles.append(draw_element(node_points, e, color=(0, 1, 0)))
handles.append(draw_element(node_points, element, color=(1, 0, 0)))
print('Failure!')
wait_for_user()
reset_simulation()
disconnect()
def debug_elements(robot, node_points, node_order, elements):
#test_grasps(robot, node_points, elements)
#test_print(robot, node_points, elements)
#return
for element in elements:
color = (0, 0, 1) if doubly_printable(element, node_points) else (1, 0,
0)
draw_element(node_points, element, color=color)
wait_for_user('Continue?')
# TODO: topological sort
node = node_order[40]
node_neighbors = get_node_neighbors(elements)
for element in node_neighbors[node]:
color = (0, 1,
0) if element_supports(element, node, node_points) else (1, 0,
0)
draw_element(node_points, element, color)
element = elements[-1]
draw_element(node_points, element, (0, 1, 0))
incoming_edges, _ = neighbors_from_orders(
get_supported_orders(elements, node_points))
supporters = []
retrace_supporters(element, incoming_edges, supporters)
for e in supporters:
draw_element(node_points, e, (1, 0, 0))
wait_for_user('Continue?')
def check_plan(extrusion_path, planned_elements, verbose=False):
element_from_id, node_points, ground_nodes = load_extrusion(extrusion_path)
#checker = create_stiffness_checker(extrusion_name)
connected_nodes = set(ground_nodes)
handles = []
all_connected = True
all_stiff = True
extruded_elements = set()
for element in planned_elements:
extruded_elements.add(element)
n1, n2 = element
#is_connected &= any(n in connected_nodes for n in element)
is_connected = (n1 in connected_nodes)
connected_nodes.update(element)
#is_connected = check_connected(ground_nodes, extruded_elements)
#all_connected &= is_connected
is_stiff = test_stiffness(extrusion_path,
element_from_id,
extruded_elements,
verbose=verbose)
all_stiff &= is_stiff
if verbose:
structures = get_connected_structures(extruded_elements)
print('Elements: {} | Structures: {} | Connected: {} | Stiff: {}'.
format(len(extruded_elements), len(structures), is_connected,
is_stiff))
if has_gui():
is_stable = is_connected and is_stiff
color = BLACK if is_stable else RED
handles.append(draw_element(node_points, element, color))
wait_for_duration(0.1)
if not is_stable:
wait_for_user()
# Make these counts instead
print('Connected: {} | Stiff: {}'.format(all_connected, all_stiff))
return all_connected and all_stiff