def updatePlanFrames(self):
if self.getViewMode() != "frames":
return
numberOfSamples = self.getNumberOfSamples()
meshes = self.planPlayback.getPlanPoseMeshes(
self.plan,
self.playbackJointController,
self.playbackRobotModel,
numberOfSamples,
)
d = DebugData()
startColor = [0.8, 0.8, 0.8]
endColor = [85 / 255.0, 255 / 255.0, 255 / 255.0]
colorFunc = scipy.interpolate.interp1d(
[0, numberOfSamples - 1], [startColor, endColor], axis=0, kind="slinear"
)
for i, mesh in reversed(list(enumerate(meshes))):
d.addPolyData(mesh, color=colorFunc(i))
pd = d.getPolyData()
clean = vtk.vtkCleanPolyData()
clean.SetInput(pd)
clean.Update()
pd = clean.GetOutput()
self.planFramesObj = vis.updatePolyData(
d.getPolyData(),
"robot plan",
alpha=1.0,
visible=False,
colorByName="RGB255",
parent="planning",
)
self.showPlanFrames()
def getMergedConvexHullsMesh(chulls):
d = DebugData()
for i, chull in enumerate(chulls):
d.addPolyData(chull.convexHull, color=segmentation.getRandomColor())
return d.getPolyData()
