def createPolyDataFromPrimitive(geom):
if geom.type == lcmdrake.lcmt_viewer_geometry_data.BOX:
d = DebugData()
d.addCube(dimensions=geom.float_data[0:3], center=[0,0,0])
return d.getPolyData()
elif geom.type == lcmdrake.lcmt_viewer_geometry_data.SPHERE:
d = DebugData()
d.addSphere(center=(0,0,0), radius=geom.float_data[0])
return d.getPolyData()
elif geom.type == lcmdrake.lcmt_viewer_geometry_data.CYLINDER:
d = DebugData()
d.addCylinder(center=(0,0,0), axis=(0,0,1), radius=geom.float_data[0], length=geom.float_data[1])
return d.getPolyData()
elif geom.type == lcmdrake.lcmt_viewer_geometry_data.CAPSULE:
d = DebugData()
radius = geom.float_data[0]
length = geom.float_data[1]
d.addCylinder(center=(0,0,0), axis=(0,0,1), radius=radius, length=length)
d.addSphere(center=(0,0,length/2.0), radius=radius)
d.addSphere(center=(0,0,-length/2.0), radius=radius)
return d.getPolyData()
raise Exception('Unsupported geometry type: %s' % geom.type)
def setupStrings():
d = DebugData()
poles = [[-0.36, 0.5, 1.5], [-0.36, -0.5, 1.5], [0, 0.5, 1.5], [0, -0.5, 1.5], [0.36, 0.5, 1.5], [0.36, -0.5, 1.5]]
for pole in poles:
d.addCylinder(pole, [0, 0, 1], 3, radius=0.021)
vis.updatePolyData(d.getPolyData(), "poles")
d = DebugData()
strings = [
[-0.36, 0.5, 0.09, 0, -0.5, 1.77],
[-0.36, 0.5, 0.74, -0.36, -0.5, 0.95],
[-0.36, 0.5, 1.12, -0.36, -0.5, 1.68],
[-0.36, 0.5, 1.33, 0.36, -0.5, 2.29],
[-0.36, 0.5, 1.6, 0.36, -0.5, 1.62],
[-0.36, 0.5, 1.74, 0.36, -0.5, 1.93],
[-0.36, 0.5, 2.15, -0.36, -0.5, 1.46],
[0, 0.5, 0.765, 0, -0.5, 0.795],
[0, 0.5, 1.15, 0.36, -0.5, 1.15],
[0, 0.5, 1.28, -0.36, -0.5, 0.11],
[0, 0.5, 1.42, 0, -0.5, 1.42],
[0, 0.5, 1.78, 0.36, -0.5, 0.12],
[0, 0.5, 2.05, -0.36, -0.5, 1.835],
[0.36, 0.5, 0.8, -0.36, -0.5, 1.11],
[0.36, 0.5, 1.16, -0.36, -0.5, 1.47],
[0.36, 0.5, 1.61, 0.36, -0.5, 1.19],
[0.36, 0.5, 2.0, 0.36, -0.5, 2.1],
[-0.36, 0.3, 0, -0.36, 0.3, 2.01],
[0, -0.34, 0, 0, -0.34, 1.42],
[0.36, 0, 0, 0.36, 0, 2.05],
]
for string in strings:
p1 = string[:3]
p2 = string[3:]
d.addLine(p1, p2, radius=0.001, color=[255, 0, 0])
vis.updatePolyData(d.getPolyData(), "strings")
def setupStrings():
d = DebugData()
poles = [[-.36,.5,1.5],[-.36,-.5,1.5],[0,.5,1.5],[0,-.5,1.5],[.36,.5,1.5],[.36,-.5,1.5]]
for pole in poles:
d.addCylinder(pole, [0,0,1], 3, radius=0.021)
vis.updatePolyData(d.getPolyData(), 'poles')
d = DebugData()
strings = [
[-.36, .5, .09, 0, -.5, 1.77],
[-.36, .5, .74, -.36, -.5, .95],
[-.36, .5, 1.12, -.36, -.5, 1.68],
[-.36, .5, 1.33, .36, -.5, 2.29],
[-.36, .5, 1.6, .36, -.5, 1.62],
[-.36, .5, 1.74, .36, -.5, 1.93],
[-.36, .5, 2.15, -.36, -.5, 1.46],
[0, .5, .765, 0, -.5, .795],
[0, .5, 1.15, .36, -.5, 1.15],
[0, .5, 1.28, -.36, -.5, .11],
[0, .5, 1.42, 0, -.5, 1.42],
[0, .5, 1.78, .36, -.5, .12],
[0, .5, 2.05, -.36, -.5, 1.835],
[.36, .5, .8, -.36, -.5, 1.11],
[.36, .5, 1.16, -.36, -.5, 1.47],
[.36, .5, 1.61, .36, -.5, 1.19],
[.36, .5, 2.0, .36, -.5, 2.1],
[-.36, .3, 0, -.36, .3, 2.01],
[0, -.34, 0, 0, -.34, 1.42],
[.36, 0, 0, .36, 0, 2.05],
]
for string in strings:
p1 = string[:3]
p2 = string[3:]
d.addLine(p1,p2,radius=.001,color=[255,0,0])
vis.updatePolyData(d.getPolyData(), 'strings')
def updateGeometryFromProperties(self):
d = DebugData()
length = self.getProperty('Length')
d.addCylinder(center=(0, 0, 0),
axis=(0, 0, 1),
length=self.getProperty('Length'),
radius=self.getProperty('Radius'))
self.setPolyData(d.getPolyData())
def updateGeometryFromProperties(self):
d = DebugData()
length = self.getProperty('Length')
d.addCylinder(center=(0,0,0), axis=(0,0,1), length=self.getProperty('Length'), radius=self.getProperty('Radius'))
self.setPolyData(d.getPolyData())