def testAffordanceToUrdf():
affs = [func() for func in newSphere, newBox, newCylinder, newCapsule, newMesh]
print affordanceurdf.urdfStringFromAffordances(affs)
for aff in affs:
om.removeFromObjectModel(aff)
def testAffordanceToUrdf():
affs = [func() for func in newSphere, newBox, newCylinder, newCapsule, newMesh]
print affordanceurdf.urdfStringFromAffordances(affs)
for aff in affs:
om.removeFromObjectModel(aff)
def requestRaycast(self, affordances, lb=[-2, -2], ub=[2, 2], step=0.02):
urdfStr = affordanceurdf.urdfStringFromAffordances(affordances)
msg = lcmdrc.terrain_raycast_request_t()
msg.urdf = lcmdrc.robot_urdf_t()
msg.urdf.robot_name = "collision_environment"
msg.urdf.urdf_xml_string = urdfStr
msg.x_min = lb[0]
msg.x_step = step
msg.x_max = ub[0]
msg.y_min = lb[1]
msg.y_step = step
msg.y_max = ub[1]
max_height = None
for aff in affordances:
bounds = aff.actor.GetBounds()
zmax = bounds[-1]
max_height = max(max_height, zmax)
if max_height is not None:
msg.scanner_height = 10 + max_height
else:
msg.scanner_height = 10
lcmUtils.publish(self.request_channel, msg)
def requestRaycast(self, affordances, lb=[-2, -2], ub=[2, 2], step=0.02):
urdfStr = affordanceurdf.urdfStringFromAffordances(affordances)
msg = lcmdrc.terrain_raycast_request_t()
msg.urdf = lcmdrc.robot_urdf_t()
msg.urdf.robot_name = "collision_environment"
msg.urdf.urdf_xml_string = urdfStr
msg.x_min = lb[0]
msg.x_step = step
msg.x_max = ub[0]
msg.y_min = lb[1]
msg.y_step = step
msg.y_max = ub[1]
max_height = None
for aff in affordances:
bounds = aff.actor.GetBounds()
zmax = bounds[-1]
max_height = max(max_height, zmax)
if max_height is not None:
msg.scanner_height = 10 + max_height
else:
msg.scanner_height = 10
lcmUtils.publish(self.request_channel, msg)