def load_geometry(self, *resource_loaders, **kwargs):
"""Load external geometry resources, such as meshes.
Args:
resource_loaders: List of objects that implement the
resource loading interface (:class:`compas.robots.AbstractMeshLoader`)
and can retrieve external geometry.
force: True if it should force reloading even if the geometry
has been loaded already, otherwise False.
"""
force = kwargs.get('force', False)
loaders = list(resource_loaders)
loaders.insert(0, DefaultMeshLoader())
for link in self.links:
for element in itertools.chain(link.collision, link.visual):
shape = element.geometry.shape
needs_reload = force or not shape.geometry
if 'filename' in dir(shape) and needs_reload:
for loader in loaders:
if loader.can_load_mesh(shape.filename):
shape.geometry = loader.load_mesh(shape.filename)
break
if not shape.geometry:
raise Exception(
'Unable to load geometry for {}'.format(
shape.filename))
def load_geometry(self, *resource_loaders, **kwargs):
"""Load external geometry resources, such as meshes.
Parameters
----------
resource_loaders : :class:`compas.robots.AbstractMeshLoader`
List of objects that implement the
resource loading interface (:class:`compas.robots.AbstractMeshLoader`)
and can retrieve external geometry.
force : bool
True if it should force reloading even if the geometry
has been loaded already, otherwise False.
Examples
--------
>>> robot = RobotModel.ur5()
>>> robot.load_geometry(LocalPackageMeshLoader(compas.DATA, 'ur_description'))
>>> print(robot)
Robot name=ur5, Links=11, Joints=10 (6 configurable)
"""
force = kwargs.get('force', False)
loaders = list(resource_loaders)
loaders.insert(0, DefaultMeshLoader())
for link in self.links:
for element in itertools.chain(link.collision, link.visual):
shape = element.geometry.shape
needs_reload = force or not shape.meshes
if 'filename' in dir(shape) and needs_reload:
for loader in loaders:
if loader.can_load_mesh(shape.filename):
# NOTE: this part is annoying, but we keep it for backwards compatibility's sake.
# Externally defined loaders (eg. COMPAS_FAB File Server loader)
# might not be updated yet on the user's system, so we fallback
# to the deprecated load_mesh method in that case.
# However, to add to the confusion, some loaders were actually returning
# meshes regardless of the misnaming. We handle that in _get_item_meshes
# so, we don't force load_mesh into a list, otherwise it will turn into a
# list of lists in those cases.
# All of this ugly fallback should be removed in 2.0
if hasattr(loader, 'load_meshes'):
shape.meshes = loader.load_meshes(
shape.filename)
else:
shape.meshes = loader.load_mesh(shape.filename)
break
if not shape.meshes:
raise Exception('Unable to load meshes for {}'.format(
shape.filename))
def load_geometry(self, *resource_loaders, **kwargs):
"""Load external geometry resources, such as meshes.
Parameters
----------
resource_loaders: :class:`compas.robots.AbstractMeshLoader`
List of objects that implement the
resource loading interface (:class:`compas.robots.AbstractMeshLoader`)
and can retrieve external geometry.
force: boolean
True if it should force reloading even if the geometry
has been loaded already, otherwise False.
Examples
--------
>>> loader = GithubPackageMeshLoader('ros-industrial/abb', 'abb_irb6600_support', 'kinetic-devel')
>>> urdf = loader.load_urdf('irb6640.urdf')
>>> model = RobotModel.from_urdf_file(urdf)
>>> model.load_geometry(loader)
"""
force = kwargs.get('force', False)
loaders = list(resource_loaders)
loaders.insert(0, DefaultMeshLoader())
for link in self.links:
for element in itertools.chain(link.collision, link.visual):
shape = element.geometry.shape
needs_reload = force or not shape.geometry
if 'filename' in dir(shape) and needs_reload:
for loader in loaders:
if loader.can_load_mesh(shape.filename):
shape.geometry = loader.load_mesh(shape.filename)
break
if not shape.geometry:
raise Exception(
'Unable to load geometry for {}'.format(
shape.filename))