def debugDrawFootPoints(model): pts_left, pts_right = FootstepsDriver.getContactPts() d = DebugData() for linkName in [_leftFootLink, _rightFootLink]: t = model.getLinkFrame(linkName) d.addFrame(t, scale=0.2) if (linkName is _leftFootLink): pts = pts_left else: pts = pts_right footMidPoint = np.mean(pts, axis=0) for p in pts.tolist() + [footMidPoint.tolist()]: t.TransformPoint(p, p) d.addSphere(p, radius=0.015) midpt = FootstepsDriver.getFeetMidPoint(model) d.addFrame(midpt, scale=0.2) vis.showPolyData(d.getPolyData(), 'foot points debug', parent='debug', colorByName='RGB255')
def updateGeometryFromProperties(self): filename = self.getProperty('Filename') if not filename: polyData = vtk.vtkPolyData() else: polyData = self.getMeshManager().get(filename) if not polyData: if not os.path.isabs(filename): filename = os.path.join(ddapp.getDRCBaseDir(), filename) if os.path.isfile(filename): polyData = ioUtils.readPolyData(filename) else: # use axes as a placeholder mesh d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005) polyData = d.getPolyData() self.setPolyData(polyData)