def draw_arrow(origin, end, color='r', linewidth=0.02): """ Draw an arrow between two points. Parameters ---------- origin : array, shape=(3,) World coordinates of the origin of the arrow. end : array, shape=(3,) World coordinates of the end of the arrow. color : char or triplet, optional Color letter or RGB values, default is 'g' for green. linewidth : scalar, optional Thickness of arrow. Returns ------- handle : openravepy.GraphHandle OpenRAVE graphical handle. Must be stored in some variable, otherwise the drawn object will vanish instantly. """ if type(color) is str: color = matplotlib_to_rgb(color) env = get_openrave_env() return env.drawarrow(origin, end, linewidth=linewidth, color=color)
def draw_line(start_point, end_point, color='g', linewidth=1.): """ Draw a line between two points. Parameters ---------- start_point : array, shape=(3,) One end of the line, in world frame coordinates. end_point : array, shape=(3,) Other end of the line, in world frame coordinates. color : char or triplet, optional Color letter or RGB values, default is 'g' for green. linewidth : scalar Thickness of drawn line. Returns ------- handle : openravepy.GraphHandle OpenRAVE graphical handle. Must be stored in some variable, otherwise the drawn object will vanish instantly. """ if type(color) is str: color = matplotlib_to_rgb(color) return get_openrave_env().drawlinelist( array([start_point, end_point]), linewidth=linewidth, colors=color)
def __init__(self, contact_set=None, z=0., color=None): if color is None: color = (0., 0.5, 0., 0.5) if type(color) is str: color = matplotlib_to_rgb(color) + [0.5] super(SupportAreaDrawer, self).__init__() self.color = color self.contact_poses = {} self.contact_set = contact_set self.handle = None self.z = z if contact_set is not None: self.update_contact_poses() self.update_polygon()
def set_color(self, color): """ Set the color of the robot. Parameters ---------- color : tuple or string RGB tuple, or color code in `matplotlib convention <http://matplotlib.org/api/colors_api.html>`_. """ if type(color) is str: color = matplotlib_to_rgb(color) for link in self.rave.GetLinks(): for geom in link.GetGeometries(): geom.SetAmbientColor(color) geom.SetDiffuseColor(color)