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 setRegion(self, safe_region):
debug = DebugData()
pos = safe_region.point
try:
xy_verts = safe_region.xy_polytope()
if xy_verts.shape[1] == 0:
raise QhullError("No points returned")
xyz_verts = np.vstack((xy_verts, pos[2] + 0.02 + np.zeros(
(1, xy_verts.shape[1]))))
xyz_verts = np.hstack((xyz_verts,
np.vstack(
(xy_verts, pos[2] + 0.015 + np.zeros(
(1, xy_verts.shape[1]))))))
# print xyz_verts.shape
polyData = vnp.getVtkPolyDataFromNumpyPoints(xyz_verts.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
for j in range(xy_verts.shape[1]):
z = pos[2] + 0.005
p1 = np.hstack((xy_verts[:, j], z))
if j < xy_verts.shape[1] - 1:
p2 = np.hstack((xy_verts[:, j + 1], z))
else:
p2 = np.hstack((xy_verts[:, 0], z))
debug.addLine(p1, p2, color=[.7, .7, .7], radius=0.003)
debug.addPolyData(vol_mesh)
# self.setPolyData(vol_mesh)
self.setPolyData(debug.getPolyData())
self.safe_region = safe_region
except QhullError:
print "Could not generate convex hull (polytope is likely unbounded)."
def loadFeet():
meshDir = os.path.join(app.getDRCBase(), 'software/models/atlas_v3/meshes')
meshes = []
for foot in ['l', 'r']:
d = DebugData()
d.addPolyData(
io.readPolyData(os.path.join(meshDir, '%s_talus.stl' % foot)))
d.addPolyData(
io.readPolyData(os.path.join(meshDir, '%s_foot.stl' % foot)))
meshes.append(d.getPolyData())
return meshes
def loadFootMeshes():
meshes = []
for i in range(0,2):
d = DebugData()
for footMeshFile in _footMeshFiles[i]:
d.addPolyData(ioUtils.readPolyData( footMeshFile , computeNormals=True))
t = vtk.vtkTransform()
t.Scale(0.98, 0.98, 0.98)
pd = filterUtils.transformPolyData(d.getPolyData(), t)
meshes.append(pd)
return meshes
def drawPolytope(msg):
_id = msg.id;
if msg.remove:
om.removeFromObjectModel(om.findObjectByName('IRIS polytopes'))
return
if msg.highlighted:
color = [.8,.2,.2]
else:
color = [.8,.8,.8]
name = 'polytope {:d}'.format(_id)
obj = om.findObjectByName(name)
if obj:
om.removeFromObjectModel(obj)
V = np.array(msg.V)
polyData = vnp.numpyToPolyData(V.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
debug = DebugData()
debug.addPolyData(vol_mesh)
vis.showPolyData(debug.getPolyData(), name, color=color, alpha=0.4, parent='IRIS polytopes')
