def test_binary_read_write_fidelity():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
fp = compas.get('cube_binary_2.stl')
mesh.to_stl(fp, binary=True)
mesh_2 = Mesh.from_stl(fp)
assert mesh.adjacency == mesh_2.adjacency
assert mesh.vertex == mesh_2.vertex
def test_from_stl():
mesh = Mesh.from_stl(compas.get('cube_ascii.stl'))
assert mesh.number_of_faces() == 8016
assert mesh.number_of_vertices() == 4020
assert mesh.number_of_edges() == 11368
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
assert mesh.number_of_faces() == 12
assert mesh.number_of_vertices() == 8
assert mesh.number_of_edges() == 18
def read_mesh_from_filename(self, filename, meshcls):
if not os.path.isfile(filename):
raise FileNotFoundError("No such file: '%s'" % filename)
extension = filename[(filename.rfind(".") + 1):]
if extension == "dae": # no dae support yet
#mesh = Mesh.from_dae(filename)
obj_filename = filename.replace(".dae", ".obj")
if os.path.isfile(obj_filename):
mesh = Mesh.from_obj(obj_filename)
# former DAE files have yaxis and zaxis swapped
# TODO: already fix in conversion to obj
frame = Frame([0,0,0], [1,0,0], [0,0,1])
T = Transformation.from_frame(frame)
mesh_transform(mesh, T)
else:
raise FileNotFoundError("Please convert '%s' into an OBJ file, \
since DAE is currently not supported \
yet." % filename)
elif extension == "obj":
mesh = Mesh.from_obj(filename)
elif extension == "stl":
mesh = Mesh.from_stl(filename)
else:
raise ValueError("%s file types not yet supported" %
extension.upper())
return meshcls(mesh)
def test_insert_vertex():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
v = mesh.number_of_vertices()
f = mesh.number_of_faces()
e = mesh.number_of_edges()
mesh.insert_vertex(0)
assert mesh.number_of_vertices() == v + 1
assert mesh.number_of_faces() == f + 2
assert mesh.number_of_edges() == e + 3
def test_area():
mesh = Mesh.from_obj(compas.get('faces.obj'))
assert mesh.area() == 100
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
assert mesh.area() == 6
mesh = Mesh.from_obj(compas.get('quadmesh.obj'))
assert mesh.area() == 22.802429316496635
def test_normal():
mesh = Mesh.from_obj(compas.get('faces.obj'))
assert mesh.normal() == [0.0, 0.0, 1.0]
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
assert mesh.normal() == [0.0, 0.0, 0.0]
mesh = Mesh.from_obj(compas.get('quadmesh.obj'))
assert mesh.normal() == [-2.380849234996509e-06, 4.1056122145028854e-05, 0.8077953732329284]
def test_centroid():
mesh = Mesh.from_obj(compas.get('faces.obj'))
assert mesh.centroid() == [5.0, 5.0, 0.0]
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
assert mesh.centroid() == [0.0, 0.0, 0.5]
mesh = Mesh.from_obj(compas.get('quadmesh.obj'))
assert mesh.centroid() == [2.508081952064351, 2.554046390557884, 1.2687133268242006]
def test_delete_vertex():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
n = mesh.number_of_vertices()
fn = mesh.number_of_faces()
en = mesh.number_of_edges()
mesh.delete_vertex(0)
assert mesh.number_of_vertices() == n - 1
assert mesh.number_of_faces() == fn - 4
assert mesh.number_of_edges() == en - 4
def test_insert_vertex():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
n = mesh.number_of_vertices()
fn = mesh.number_of_faces()
en = mesh.number_of_edges()
mesh.insert_vertex(0)
assert mesh.number_of_vertices() == n + 1
assert mesh.number_of_faces() == fn + 2
assert mesh.number_of_edges() == en + 3
def test_is_valid():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
assert mesh.is_valid()
mesh_test = mesh.copy()
del mesh_test.face[0]
assert not mesh_test.is_valid()
mesh_test = mesh.copy()
del mesh_test.vertex[0]
assert not mesh_test.is_valid()
def parse_collision_mesh_from_path(dir_path, filename, scale=1e-3):
file_path = os.path.join(dir_path, filename)
obj_name = filename.split('.')[0]
if filename.endswith('.obj'):
mesh = Mesh.from_obj(file_path)
elif filename.endswith('.stl'):
mesh = Mesh.from_stl(file_path)
else:
return None
cm = CollisionMesh(mesh, obj_name)
cm.scale(scale)
return cm
def _mesh_import(name, file):
"""Internal function to load meshes using the correct loader.
Name and file might be the same but not always, e.g. temp files."""
file_extension = _get_file_format(name)
if file_extension not in SUPPORTED_FORMATS:
raise NotImplementedError(
'Mesh type not supported: {}'.format(file_extension))
if file_extension == 'obj':
return Mesh.from_obj(file)
elif file_extension == 'stl':
return Mesh.from_stl(file)
elif file_extension == 'ply':
return Mesh.from_ply(file)
raise Exception
def test_slicer():
FILE = os.path.join(HERE, '../..', 'data', '3DBenchy.stl')
# ==============================================================================
# Get benchy and construct a mesh
# ==============================================================================
benchy = Mesh.from_stl(FILE)
# ==============================================================================
# Create planes
# ==============================================================================
# replace by planes along a curve
bbox = benchy.bounding_box()
x, y, z = zip(*bbox)
zmin, zmax = min(z), max(z)
normal = Vector(0, 0, 1)
planes = []
for i in np.linspace(zmin, zmax, 50):
plane = Plane(Point(0, 0, i), normal)
planes.append(plane)
# ==============================================================================
# Slice
# ==============================================================================
M = benchy.to_vertices_and_faces()
pointsets = slice_mesh(M, planes)
# ==============================================================================
# Process output
# ==============================================================================
polylines = []
for points in pointsets:
points = [Point(*point) for point in points]
polyline = Polyline(points)
polylines.append(polyline)
def main():
#####################################
### NOTE: Run this file in Rhino. ###
#####################################
### --- Load stl
mesh = Mesh.from_stl(FILE)
### --- Get color list
color_list = get_mesh_face_color_overhang(mesh,
max_angle=85,
mode="adaptive",
infill=False)
### --- Create Rhino artist
artist = MeshArtist(mesh, layer='COMPAS::MeshArtist')
artist.clear_layer()
artist.draw_faces(
color={key: color_list[i]
for i, key in enumerate(mesh.faces())})
artist.redraw()
def _mesh_import(url, filename):
"""Internal function to load meshes using the correct loader.
Name and file might be the same but not always, e.g. temp files."""
file_extension = _get_file_format(url)
if file_extension not in SUPPORTED_FORMATS:
raise NotImplementedError(
'Mesh type not supported: {}'.format(file_extension))
print(filename)
if file_extension == "dae": # no dae support yet
#mesh = Mesh.from_dae(filename)
obj_filename = filename.replace(".dae", ".obj")
if os.path.isfile(obj_filename):
mesh = Mesh.from_obj(obj_filename)
# former DAE files have yaxis and zaxis swapped
# TODO: already fix in conversion to obj
frame = Frame([0,0,0], [1,0,0], [0,0,1])
T = Transformation.from_frame(frame)
mesh_transform(mesh, T)
return mesh
else:
raise FileNotFoundError("Please convert '%s' into an OBJ file, \
since DAE is currently not supported \
yet." % filename)
if file_extension == 'obj':
return Mesh.from_obj(filename)
elif file_extension == 'stl':
return Mesh.from_stl(filename)
elif file_extension == 'ply':
return Mesh.from_ply(filename)
raise Exception
import time
from compas.datastructures import Mesh
import compas_fab
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl'))
cm = CollisionMesh(mesh, 'floor')
scene.add_collision_mesh(cm)
# sleep a bit before terminating the client
#time.sleep(1)
#scene.remove_collision_mesh('floor')
# Main
# ==============================================================================
if __name__ == '__main__':
import os
import compas
from compas.datastructures import Mesh
from compas.files.gltf.gltf import GLTF
source = 'https://raw.githubusercontent.com/ros-industrial/abb/kinetic-devel/abb_irb6600_support/meshes/irb6640/visual/link_1.stl'
stl_filepath = os.path.join(compas.APPDATA, 'data', 'meshes', 'ros', 'link_1.stl')
download_file_from_remote(source, stl_filepath, overwrite=False)
gltf_filepath = os.path.join(compas.APPDATA, 'data', 'gltfs', 'double_link_1.gltf')
mesh = Mesh.from_stl(stl_filepath)
cnt = GLTFContent()
scene = cnt.add_scene()
node_1 = scene.add_child(node_name='Node1')
mesh_data = node_1.add_mesh(mesh)
node_2 = node_1.add_child(child_name='Node2')
node_2.translation = [0, 0, 5]
node_2.add_mesh(mesh_data.key)
gltf = GLTF(gltf_filepath)
gltf.content = cnt
gltf.export(embed_data=True)
def from_stl(self):
filename, _ = get_stl_file()
if filename:
self.mesh = Mesh.from_stl(filename)
self.view.make_buffers()
self.view.updateGL()
def mesh():
return Mesh.from_stl(compas.get('cone.stl'))
#group = "axis_abb" # Try with this as well...
picking_frame = Frame([1.926, 1.5, 1], [0, 1, 0], [1, 0, 0])
picking_configuration = Configuration.from_prismatic_and_revolute_values([-1.800], [0.569, 0.849, -0.235, 6.283, 0.957, 2.140])
save_vector = Vector(0, 0, 0.1)
saveframe_pick = Frame(picking_frame.point + save_vector, picking_frame.xaxis, picking_frame.yaxis)
# Load assembly
assembly = Assembly.from_json(PATH_FROM)
# COLLISION SETTINGS ===========================================================
# Add platform as collision mesh
package = "abb_linear_axis"
mesh = Mesh.from_stl(os.path.join(DATA, 'robot_description', package, 'meshes', 'collision', 'platform.stl'))
robot.add_collision_mesh_to_planning_scene('platform', mesh)
# Remove brick_wall from planning scene
robot.remove_collision_mesh_from_planning_scene("brick_wall")
# Create attached collision object
brick = Mesh.from_obj(os.path.join(DATA, "brick.obj"))
aco = robot.create_collision_mesh_attached_to_end_effector('brick', brick, group)
# tolerance vector for placing the brick at placing_frame, otherwise collision
tolerance_vector = Vector(0, 0, 0.003)
# PICKING PATH =================================================================
# Calculate cartesian path between picking frame and saveframe_pick
def test_add_vertex():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
n = mesh.number_of_vertices()
key = mesh.add_vertex(x=0, y=1, z=2)
assert mesh.vertex[key] == {'x': 0, 'y': 1, 'z': 2}
assert mesh.number_of_vertices() == n + 1
def test_add_vertex():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
v = mesh.number_of_vertices()
key = mesh.add_vertex(x=0, y=1, z=2)
assert mesh.vertex_attributes(key, 'xyz') == [0, 1, 2]
assert mesh.number_of_vertices() == v + 1
def test_add_face():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
v = mesh.number_of_faces()
key = mesh.add_face([0, 1, 2])
assert mesh.face_vertices(key) == [0, 1, 2]
assert mesh.number_of_faces() == v + 1
from ex23_load_robot import robot
import os
import time
from compas.datastructures import Mesh
from compas_fab.backends import RosClient
HERE = os.path.dirname(__file__)
DATA = os.path.join(HERE, '../data')
PATH = os.path.join(DATA, 'floor.stl')
robot.client = RosClient()
robot.client.run()
floor = Mesh.from_stl(PATH)
robot.add_collision_mesh_to_planning_scene("floor", floor)
time.sleep(2)
robot.remove_collision_mesh_from_planning_scene("floor")
time.sleep(2)
def test_cull_vertices():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
mesh.add_vertex()
n = mesh.number_of_vertices()
mesh.cull_vertices()
assert mesh.number_of_vertices() == n - 1
def test_delete_face():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
fn = mesh.number_of_faces()
mesh.delete_face(0)
assert mesh.number_of_faces() == fn - 1
from compas.geometry import Plane from compas.geometry import Polyline from compas.datastructures import Mesh from compas_view2.app import App from compas_cgal.slicer import slice_mesh HERE = os.path.dirname(__file__) FILE = os.path.join(HERE, '../..', 'data', '3DBenchy.stl') # ============================================================================== # Get benchy and construct a mesh # ============================================================================== benchy = Mesh.from_stl(FILE) # ============================================================================== # Create planes # ============================================================================== # replace by planes along a curve bbox = benchy.bounding_box() x, y, z = zip(*bbox) zmin, zmax = min(z), max(z) normal = Vector(0, 0, 1) planes = [] for i in np.linspace(zmin, zmax, 50):
import time
from compas.datastructures import Mesh
import compas_fab
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient() as client:
robot = client.load_robot()
scene = PlanningScene(robot)
assert robot.name == 'ur5'
# create collision object
mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
cm = CollisionMesh(mesh, 'tip')
# attach it to the end-effector
group = robot.main_group_name
scene.attach_collision_mesh_to_robot_end_effector(cm, group=group)
# sleep a bit before removing the tip
time.sleep(1)
scene.reset()
import os
import time
from compas_fab.backends import RosClient
from compas_fab.robots import PlanningScene
from compas_fab.robots import Tool
from compas.datastructures import Mesh
from compas.geometry import Frame
HERE = os.path.dirname(__file__)
DATA = os.path.abspath(os.path.join(HERE, "..", "data"))
# create tool from mesh and frame
mesh = Mesh.from_stl(os.path.join(DATA, "vacuum_gripper.stl"))
frame = Frame([0.07, 0, 0], [0, 0, 1], [0, 1, 0])
tool = Tool(mesh, frame)
tool.to_json(os.path.join(DATA, "vacuum_gripper.json"))
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
robot.attach_tool(tool)
# add attached tool to planning scene
scene.add_attached_tool()
# now we can convert frames at robot's tool tip and flange
frames_tcf = [
Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256),
(0.879, -0.136, 0.456))
def test_add_face():
mesh = Mesh.from_stl(compas.get('cube_binary.stl'))
n = mesh.number_of_faces()
key = mesh.add_face([0, 1, 2])
assert mesh.face[key] == [0, 1, 2]
assert mesh.number_of_faces() == n + 1
