def load_model(self, xdraw_function=None):
"""Load the geometry (meshes) of the robot.
Args:
xdraw_function (function, ): The function to draw the
meshes in the respective CAD environment. Defaults to None.
"""
path = self.get_model_path()
# the links loaded as meshes
m0 = Mesh.from_obj(os.path.join(path, 'base_and_shoulder.obj'))
m1 = Mesh.from_obj(os.path.join(path, 'upperarm.obj'))
m2 = Mesh.from_obj(os.path.join(path, 'forearm.obj'))
m3 = Mesh.from_obj(os.path.join(path, 'wrist1.obj'))
m4 = Mesh.from_obj(os.path.join(path, 'wrist2.obj'))
m5 = Mesh.from_obj(os.path.join(path, 'wrist3.obj'))
# draw the geometry in the respective CAD environment
if xdraw_function:
m0 = xdraw_function(m0)
m1 = xdraw_function(m1)
m2 = xdraw_function(m2)
m3 = xdraw_function(m3)
m4 = xdraw_function(m4)
m5 = xdraw_function(m5)
self.model = [m0, m1, m2, m3, m4, m5]
def load_model(self):
"""Load the geometry (meshes) of the robot.
"""
path = self.get_model_path()
# the joints loaded as meshes
self.m0 = Mesh.from_obj(os.path.join(path, 'base_and_shoulder.obj'))
self.m1 = Mesh.from_obj(os.path.join(path, 'upperarm.obj'))
self.m2 = Mesh.from_obj(os.path.join(path, 'forearm.obj'))
self.m3 = Mesh.from_obj(os.path.join(path, 'wrist1.obj'))
self.m4 = Mesh.from_obj(os.path.join(path, 'wrist2.obj'))
self.m5 = Mesh.from_obj(os.path.join(path, 'wrist3.obj'))
# have a copy of the mesh vertices for later transformation
self.m0_xyz = self.m0.xyz
self.m1_xyz = self.m1.xyz
self.m2_xyz = self.m2.xyz
self.m3_xyz = self.m3.xyz
self.m4_xyz = self.m4.xyz
self.m5_xyz = self.m5.xyz
# Debugging
# ==============================================================================
if __name__ == "__main__":
import compas
from compas.datastructures.mesh import Mesh
from compas.visualization.viewers.viewer import Viewer
from compas.visualization.viewers.core.drawing import draw_points
from compas.visualization.viewers.core.drawing import draw_lines
from compas.visualization.viewers.core.drawing import draw_circle
mesh = Mesh.from_obj(compas.get_data('hypar.obj'))
for key, attr in mesh.vertices(True):
attr['is_fixed'] = mesh.vertex_degree(key) == 2
planarize_mesh_shapeop(mesh,
fixed=mesh.vertices_where({'is_fixed': True}),
kmax=100)
# deviations = []
# for fkey, attr in mesh.faces(True):
# points = mesh.face_coordinates(fkey)
# base, normal = bestfit_plane_from_points(points)
# angles = []
A mesh object.
Notes
-----
This function does not care about the directions being unified or not. It
just reverses whatever direction it finds.
"""
mesh.halfedge = {key: {} for key in mesh.vertices()}
for fkey in mesh.faces():
mesh.face[fkey][:] = mesh.face[fkey][::-1]
for u, v in mesh.face_halfedges(fkey):
mesh.halfedge[u][v] = fkey
if u not in mesh.halfedge[v]:
mesh.halfedge[v][u] = None
# ==============================================================================
# Main
# ==============================================================================
if __name__ == "__main__":
import compas
from compas.datastructures.mesh import Mesh
mesh = Mesh.from_obj(compas.get_data('faces_big.obj'))
mesh_unify_cycles(mesh)
return [
vkey for vkey in self.vertices_on_boundary()
if self.is_boundary_vertex_kink(vkey, threshold_angle)
]
def vertex_centroid(self):
"""Calculate the centroid of the mesh vertices.
Parameters
----------
Returns
-------
list
The coordinates of the centroid of the mesh vertices.
"""
return centroid_points(
[self.vertex_coordinates(vkey) for vkey in self.vertices()])
# ==============================================================================
# Main
# ==============================================================================
if __name__ == '__main__':
import compas
mesh = Mesh.from_obj(compas.get('faces.obj'))
def load_model(self):
self.model_loaded = True
datapath = get_data("robots/ur/tools/measurement_tool.obj")
self.model = Mesh.from_obj(datapath)
self.model_xyz = self.model.xyz