def _loadAffordanceFromDescription(self, desc): className = desc['classname'] cls = getattr(affordanceitems, className) aff = cls(desc['Name'], self.view) om.addToObjectModel(aff, parentObj=om.getOrCreateContainer('affordances')) vis.addChildFrame(aff) aff.loadDescription(desc, copyMode=aff.COPY_MODE_ALL) self.registerAffordance(aff, notify=False)
def buildRobot(): d = DebugData() d.addCone((0,0,0), (1,0,0), height=0.2, radius=0.1) obj = vis.showPolyData(d.getPolyData(), 'robot') frame = vis.addChildFrame(obj) return obj
def promotePolyDataItem(cls, obj): parent = obj.parent() view = obj.views[0] name = obj.getProperty('Name') polyData = obj.polyData props = obj.properties._properties childFrame = obj.getChildFrame() if childFrame: t = transformUtils.copyFrame(childFrame.transform) else: t = vtk.vtkTransform() t.PostMultiply() t.Translate(filterUtils.computeCentroid(polyData)) polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse()) children = [c for c in obj.children() if c is not childFrame] meshId = cls.getMeshManager().add(polyData) om.removeFromObjectModel(obj) obj = MeshAffordanceItem(name, view) obj.setProperty('Filename', meshId) om.addToObjectModel(obj, parentObj=parent) frame = vis.addChildFrame(obj) frame.copyFrame(t) for child in children: om.addToObjectModel(child, parentObj=obj) obj.syncProperties(props) return obj
def buildRobot(x=0, y=0): #print "building robot" polyData = ioUtils.readPolyData('celica.obj') scale = 0.04 t = vtk.vtkTransform() t.RotateZ(90) t.Scale(scale, scale, scale) polyData = filterUtils.transformPolyData(polyData, t) #d = DebugData() #d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1) #polyData = d.getPolyData() obj = vis.showPolyData(polyData, 'robot') robotFrame = vis.addChildFrame(obj) # this makes sure we can only rotate it in two dimensions robotFrame.setProperty('Scale', 3) robotFrame.setProperty('Edit', True) robotFrame.widget.HandleRotationEnabledOff() rep = robotFrame.widget.GetRepresentation() rep.SetTranslateAxisEnabled(2, False) rep.SetRotateAxisEnabled(0, False) rep.SetRotateAxisEnabled(1, False) return obj, robotFrame
def buildRobot(x=0,y=0): #print "building robot" polyData = ioUtils.readPolyData('celica.obj') scale = 0.04 t = vtk.vtkTransform() t.RotateZ(90) t.Scale(scale, scale, scale) polyData = filterUtils.transformPolyData(polyData, t) #d = DebugData() #d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1) #polyData = d.getPolyData() obj = vis.showPolyData(polyData, 'robot') robotFrame = vis.addChildFrame(obj) return obj, robotFrame
def buildRobot(x=0, y=0): #print "building robot" polyData = ioUtils.readPolyData('crazyflie.obj') scale = 0.01 t = vtk.vtkTransform() t.RotateX(90) t.Scale(scale, scale, scale) polyData = filterUtils.transformPolyData(polyData, t) #d = DebugData() #d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1) #polyData = d.getPolyData() obj = vis.showPolyData(polyData, 'robot') robotFrame = vis.addChildFrame(obj) return obj, robotFrame