def _generate_sdf(self, path_to_sdfgen, dim, padding):
""" Converts mesh to an sdf object """
# write the mesh to file
of = obj_file.ObjFile(self.obj_filename)
of.write(self.mesh_)
# if SDF already exists don't recompute it
if os.path.exists(self.sdf_filename):
sf = sdf_file.SdfFile(self.sdf_filename)
self.sdf_ = sf.read()
return self.sdf_
# create the SDF using binary tools
sdfgen_cmd = '%s \"%s\" %d %d' %(path_to_sdfgen, self.obj_filename, dim, padding)
os.system(sdfgen_cmd)
logging.info('SDF Command: %s' %(sdfgen_cmd))
if not os.path.exists(self.sdf_filename):
raise ValueError('SDF computation failed for %s' %(self.sdf_filename))
os.system('chmod a+rwx \"%s\"' %(self.sdf_filename) )
# read the generated sdf
sf = sdf_file.SdfFile(self.sdf_filename)
self.sdf_ = sf.read()
return self.sdf_
def load(gripper_name, gripper_dir='data/grippers'):
""" Load the gripper specified by gripper_name.
Parameters
----------
gripper_name : :obj:`str`
name of the gripper to load
gripper_dir : :obj:`str`
directory where the gripper files are stored
Returns
-------
:obj:`RobotGripper`
loaded gripper objects
"""
mesh_filename = os.path.join(gripper_dir, gripper_name,
GRIPPER_MESH_FILENAME)
mesh = obj_file.ObjFile(mesh_filename).read()
f = open(
os.path.join(
os.path.join(gripper_dir, gripper_name,
GRIPPER_PARAMS_FILENAME)), 'r')
params = json.load(f)
T_mesh_gripper = RigidTransform.load(
os.path.join(gripper_dir, gripper_name, T_MESH_GRIPPER_FILENAME))
T_grasp_gripper = RigidTransform.load(
os.path.join(gripper_dir, gripper_name, T_GRASP_GRIPPER_FILENAME))
return RobotGripper(gripper_name, mesh, mesh_filename, params,
T_mesh_gripper, T_grasp_gripper)
def _load_mesh(self, script_to_apply=None):
""" Loads the mesh from the file by first converting to an obj and then loading """
# convert to an obj file using meshlab
if script_to_apply is None:
meshlabserver_cmd = 'meshlabserver -i \"%s\" -o \"%s\"' %(self.filename, self.obj_filename)
else:
meshlabserver_cmd = 'meshlabserver -i \"%s\" -o \"%s\" -s \"%s\"' %(self.filename, self.obj_filename, script_to_apply)
os.system(meshlabserver_cmd)
logging.info('MeshlabServer Command: %s' %(meshlabserver_cmd))
if not os.path.exists(self.obj_filename):
raise ValueError('Meshlab conversion failed for %s' %(self.obj_filename))
# read mesh from obj file
of = obj_file.ObjFile(self.obj_filename)
self.mesh_ = of.read()
return self.mesh_