def traverse_scene_object(scene_data, parent=None):
"""
Recursivesly populate a scene object with tree of children
:param scene_data:
:param parent:
:return:
"""
if parent is None:
# At the tree root
new_parent = Object3D(name=scene_data.name)
parent = new_parent
for sub_object in scene_data.contents:
if type(sub_object) == list:
for iobj in sub_object:
traverse_scene_object(iobj, parent)
continue
elif hasattr(sub_object, "type"):
parent.add(convert_object_to_pythreejs(sub_object))
else:
new_parent = Object3D(name=sub_object.name)
parent.add(new_parent)
traverse_scene_object(sub_object, parent)
return parent
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'base.dae')
mesh.rotateZ(np.pi)
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(_DAE_PATH + "wrist3.dae")
self.mesh = mesh
self.add(mesh)
axes = AxesHelper(size=0.1)
self.add(axes)
def _traverse_scene_object(scene_data, parent=None):
"""
Recursivesly populate a nested Object3D object from pythreejs
using the same tree structure from crystaltoolkit
:param scene_data: The content of the current branch of the Scene object
:param parent: Reference to the parent in the pythreejs tree
(default: {None} means you are at the root)
:return: Object3D of the current pythreejs object with all the children fully populated
"""
if parent is None:
# At the tree root
new_parent = Object3D(name=scene_data.name)
parent = new_parent
for sub_object in scene_data.contents:
if isinstance(sub_object, list):
for iobj in sub_object:
_traverse_scene_object(iobj, parent)
continue
elif hasattr(sub_object, "type"):
parent.add(_convert_object_to_pythreejs(sub_object))
else:
new_parent = Object3D(name=sub_object.name)
parent.add(new_parent)
_traverse_scene_object(sub_object, parent)
return parent
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'wrist1.dae')
mesh.position = (0.0, -0.10915 + (-0.1197 + 0.13585), 0)
self.mesh = mesh
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'wrist3.dae')
mesh.position = (0.0, 0.0, -0.0823)
mesh.rotateX(np.pi / 2)
self.mesh = mesh
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'shoulder.dae')
mesh.rotateX(-np.pi / 2)
mesh.rotateZ(np.pi)
self.mesh = mesh
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'forearm.dae')
self.mesh = mesh
mesh.rotateX(np.pi / 2)
mesh.position = (0.39225, 0., -0.1197 + 0.13585)
mesh.rotateY(-np.pi / 2)
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'upperarm.dae')
mesh.rotateX(np.pi / 2)
mesh.rotateY(-np.pi / 2)
mesh.position = (0.425, 0, 0.13585)
self.mesh = mesh
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def traverse_scene_object(scene_data, parent=None):
"""
Recursivesly populate a scene object with tree of children
:param scene_data:
:param parent:
:return:
"""
for sub_object in scene_data["contents"]:
if "type" in sub_object.keys():
parent.add(convert_object_to_pythreejs(sub_object))
else:
new_parent = Object3D(name=sub_object["name"])
if parent is None:
parent = new_parent
else:
parent.add(new_parent)
traverse_scene_object(sub_object, parent)
return parent
def __init__(self):
Object3D.__init__(self)
def __init__(self):
self._viewer = Viewer()
self._grid = Grid()
self._viewer.add(self._grid)
base_link = kr6.BaseLink()
link1 = kr6.Link1()
link2 = kr6.Link2()
link3 = kr6.Link3()
link4 = kr6.Link4()
link5 = kr6.Link5()
link6 = kr6.Link6()
ee_link = Axes(0.1)
joint1 = Object3D()
joint1.position = (0.0, 0.0, 0.4)
joint2 = Object3D()
joint2.position = (0.025, 0.0, 0.0)
joint3 = Object3D()
joint3.position = (0.455, 0.0, 0.0)
joint4 = Object3D()
joint4.position = (0.0, 0.0, 0.035)
joint5 = Object3D()
joint5.position = (0.42, 0.0, 0.0)
joint6 = Object3D()
joint6.position = (0.08, 0.0, 0.0)
ee_joint = Object3D()
base_link.add(joint1)
joint1.add(link1)
link1.add(joint2)
joint2.add(link2)
link2.add(joint3)
joint3.add(link3)
link3.add(joint4)
joint4.add(link4)
link4.add(joint5)
joint5.add(link5)
link5.add(joint6)
joint6.add(link6)
link6.add(ee_joint)
ee_joint.add(ee_link)
self._joints = [joint1, joint2, joint3, joint4, joint5, joint6]
self._offsets = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
self._axes = np.array(
[
[0.0, 0.0, -1.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[-1.0, 0.0, 0.0],
[0.0, 1.0, 0.0],
[-1.0, 0.0, 0.0],
]
)
self.theta = np.zeros(6)
self._robot = base_link
self._viewer.add(self._robot)
def __init__(self):
self._viewer = Viewer()
self._grid = Grid()
self._viewer.add(self._grid)
base_link = ur5.BaseLink()
link1 = ur5.Link1()
link2 = ur5.Link2()
link3 = ur5.Link3()
link4 = ur5.Link4()
link5 = ur5.Link5()
link6 = ur5.Link6()
ee_link = Axes(0.1)
joint1 = Object3D()
joint1.position = (0.0, 0.0, 0.089159)
joint2 = Object3D()
joint2.position = (0.0, 0.13585, 0.0)
joint3 = Object3D()
joint3.position = (0.0, -0.1197, 0.425)
joint4 = Object3D()
joint4.position = (0.0, 0.0, 0.39225)
joint5 = Object3D()
joint5.position = (0.0, 0.093, 0.0)
joint6 = Object3D()
joint6.position = (0.0, 0.0, 0.09465)
ee_joint = Object3D()
ee_joint.position = (0.0, 0.0823, 0.0)
ee_joint.rotateX(-np.pi / 2)
base_link.add(joint1)
joint1.add(link1)
link1.add(joint2)
joint2.add(link2)
link2.add(joint3)
joint3.add(link3)
link3.add(joint4)
joint4.add(link4)
link4.add(joint5)
joint5.add(link5)
link5.add(joint6)
joint6.add(link6)
link6.add(ee_joint)
ee_joint.add(ee_link)
self._joints = [joint1, joint2, joint3, joint4, joint5, joint6]
self._offsets = np.array([0.0, np.pi / 2, 0.0, np.pi / 2, 0.0, 0.0])
self._axes = np.array(
[
[0.0, 0.0, 1.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 1.0, 0.0],
[0.0, 0.0, 1.0],
[0.0, 1.0, 0.0],
]
)
self.theta = np.zeros(6)
self._robot = base_link
self._viewer.add(self._robot)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + 'base_link.dae', scale=0.001)
self.add(mesh)
axes = AxesHelper(size=0.5)
self.add(axes)
def __init__(self):
Object3D.__init__(self)
mesh = ColladaMesh(dae_path + "base_link.dae", scale=0.001)
self.add(mesh)