def draw(self):
d = DebugData()
points = list(self.points)
if self.hoverPos is not None:
points.append(self.hoverPos)
# draw points
radius = 5
scale = (2 * self.view.camera().GetParallelScale()) / (
self.view.renderer().GetSize()[1])
for p in points:
d.addSphere(p, radius=radius * scale)
if self.drawLines and len(points) > 1:
for a, b in zip(points, points[1:]):
d.addLine(a, b)
# connect end points
# d.addLine(points[0], points[-1])
if self.annotationObj:
self.annotationObj.setPolyData(d.getPolyData())
else:
self.annotationObj = vis.updatePolyData(
d.getPolyData(),
"annotation",
parent="segmentation",
color=[1, 0, 0],
view=self.view,
)
self.annotationObj.addToView(self.view)
self.annotationObj.actor.SetPickable(False)
self.annotationObj.actor.GetProperty().SetLineWidth(2)
def draw(self):
d = DebugData()
points = [p if p is not None else self.hoverPos for p in self.points]
# draw points
for p in points:
if p is not None:
d.addSphere(p, radius=0.008)
if self.drawLines:
# draw lines
for a, b in zip(points, points[1:]):
if b is not None:
d.addLine(a, b)
# connect end points
if points[-1] is not None and self.drawClosedLoop:
d.addLine(points[0], points[-1])
self.annotationObj = vis.updatePolyData(
d.getPolyData(),
self.annotationName,
parent=self.annotationFolder,
view=self.view,
)
self.annotationObj.setProperty("Color", [1, 0, 0])
self.annotationObj.actor.SetPickable(False)
def drawCenterOfMass(model):
stanceFrame = robotSystem.footstepsDriver.getFeetMidPoint(model)
com = list(model.model.getCenterOfMass())
com[2] = stanceFrame.GetPosition()[2]
d = DebugData()
d.addSphere(com, radius=0.015)
obj = vis.updatePolyData(
d.getPolyData(),
"COM %s" % model.getProperty("Name"),
color=[1, 0, 0],
visible=False,
parent=model,
)
def update(self):
t = self.frameProvider.getFrame("MULTISENSE_SCAN")
p1 = [0.0, 0.0, 0.0]
p2 = [2.0, 0.0, 0.0]
p1 = t.TransformPoint(p1)
p2 = t.TransformPoint(p2)
d = DebugData()
d.addSphere(p1, radius=0.01, color=[0, 1, 0])
d.addLine(p1, p2, color=[0, 1, 0])
self.setPolyData(d.getPolyData())
def makeSphere(self, position, radius=0.0075):
d = DebugData()
d.addSphere(position, radius=radius)
return d.getPolyData()
def updateGeometryFromProperties(self):
d = DebugData()
d.addSphere((0, 0, 0), self.getProperty("Radius"))
self.setPolyData(d.getPolyData())
def newWalkingGoal(self, displayPoint, view):
# put walking goal at robot's base
mainLink = drcargs.getRobotConfig(self.robotName)["pelvisLink"]
footFrame = self.robotModel.getLinkFrame(mainLink)
if not footFrame:
print(
"ERROR: The link '{}' provided for the key 'pelvisLink' in the configuration file does not exist in "
"the robot's URDF. Cannot place walking goal.".format(mainLink)
)
return
worldPt1, worldPt2 = vis.getRayFromDisplayPoint(view, displayPoint)
groundOrigin = footFrame.GetPosition()
groundNormal = [0.0, 0.0, 1.0]
selectedGroundPoint = [0.0, 0.0, 0.0]
t = vtk.mutable(0.0)
vtk.vtkPlane.IntersectWithLine(
worldPt1, worldPt2, groundNormal, groundOrigin, t, selectedGroundPoint
)
walkingTarget = transformUtils.frameFromPositionAndRPY(
selectedGroundPoint, np.array(footFrame.GetOrientation())
)
frameObj = vis.updateFrame(
walkingTarget,
self.robotName + " walking goal",
parent="planning",
scale=0.25,
)
frameObj.setProperty("Edit", True)
rep = frameObj.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
frameObj.widget.HandleRotationEnabledOff()
terrain = om.findObjectByName("HEIGHT_MAP_SCENE")
if terrain:
pos = np.array(frameObj.transform.GetPosition())
polyData = filterUtils.removeNonFinitePoints(terrain.polyData)
if polyData.GetNumberOfPoints():
polyData = segmentation.labelDistanceToLine(
polyData, pos, pos + [0, 0, 1]
)
polyData = segmentation.thresholdPoints(
polyData, "distance_to_line", [0.0, 0.1]
)
if polyData.GetNumberOfPoints():
pos[2] = np.nanmax(vnp.getNumpyFromVtk(polyData, "Points")[:, 2])
frameObj.transform.Translate(
pos - np.array(frameObj.transform.GetPosition())
)
d = DebugData()
d.addSphere((0, 0, 0), radius=0.03)
handle = vis.showPolyData(
d.getPolyData(),
"walking goal terrain handle " + self.robotName,
parent=frameObj,
visible=True,
color=[1, 1, 0],
)
handle.actor.SetUserTransform(frameObj.transform)
placer = PlacerWidget(app.getCurrentRenderView(), handle, terrain)
def onFramePropertyModified(propertySet, propertyName):
if propertyName == "Edit":
if propertySet.getProperty(propertyName):
placer.start()
else:
placer.stop()
frameObj.properties.connectPropertyChanged(onFramePropertyModified)
onFramePropertyModified(frameObj, "Edit")
frameObj.connectFrameModified(self.onWalkingGoalModified)
