def buildRobot(): d = DebugData() d.addCone((0, 0, 0), (1, 0, 0), height=0.2, radius=0.1) obj = vis.showPolyData(d.getPolyData(), 'robot') frame = vis.addChildFrame(obj) return obj
def buildRobot(x=0,y=0): d = DebugData() d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1) obj = vis.showPolyData(d.getPolyData(), 'robot') frame = vis.addChildFrame(obj) return obj
def createPolyLine(params): d = DebugData() points = [np.asarray(p) for p in params["points"]] color = params.get("color", DEFAULT_COLOR)[:3] radius = params.get("radius", 0.01) startHead = params.get("start_head", False) endHead = params.get("end_head", False) headRadius = params.get("head_radius", 0.05) headLength = params.get("head_length", headRadius) isClosed = params.get("closed", False) if startHead: normal = points[0] - points[1] normal = normal / np.linalg.norm(normal) points[0] = points[0] - 0.5 * headLength * normal d.addCone(origin=points[0], normal=normal, radius=headRadius, height=headLength, color=color, fill=True) if endHead: normal = points[-1] - points[-2] normal = normal / np.linalg.norm(normal) points[-1] = points[-1] - 0.5 * headLength * normal d.addCone(origin=points[-1], normal=normal, radius=headRadius, height=headLength, color=color, fill=True) d.addPolyLine(points, isClosed, radius=radius, color=color) return [d.getPolyData()]
d.addArrow((0, 0, 0), (0, 1, 0)) show(d, (2, 2, 0)) d = DebugData() d.addEllipsoid((0, 0, 0), radii=(0.5, 0.35, 0.2)) show(d, (4, 2, 0)) d = DebugData() d.addTorus(radius=0.5, thickness=0.2) show(d, (6, 2, 0)) d = DebugData() d.addCone(origin=(0,0,0), normal=(0,1,0), radius=0.3, height=0.8, color=[1, 1, 0]) show(d, (0, 4, 0)) d = DebugData() d.addCube(dimensions=[0.8, 0.5, 0.3], center=[0, 0, 0], color=[0, 1, 1]) show(d, (2, 4, 0)) d = DebugData() d.addPlane(origin=[0, 0, 0], normal=[0, 0, 1], width=0.8, height=0.7, resolution=10, color=[0, 1, 0]) show(d, (4, 4, 0)).setProperty('Surface Mode', 'Surface with edges') d = DebugData() d.addCapsule(center=[0, 0, 0], axis=[1, 0, 0], length=1.0, radius=0.1, color=[0.5, 0.5, 1]) show(d, (6, 4, 0))
def makeRobotPolyData(): d = DebugData() d.addCone(origin=(0,0,0), normal=(1,0,0), radius=0.2, height=0.3) return d.getPolyData()