def draw_oobb(env, oobb, color=(1, 0, 0, .5)):
points = trans_transform_points(oobb.trans, np.array([oobb.aabb.pos() + np.multiply(oobb.aabb.extents(), np.array(signs)) # TODO - use points_from_aabb
for signs in product([-1, 1], repeat=len(oobb.aabb.pos()))]).T)
return draw_mesh(env, convex_mesh(points), color=color)
def draw_oobb(env, oobb, color=(1, 0, 0, .5)):
points = trans_transform_points(oobb.trans, np.array([oobb.aabb.pos() + np.multiply(oobb.aabb.extents(), np.array(signs)) # TODO - use points_from_aabb
for signs in product([-1, 1], repeat=len(oobb.aabb.pos()))]).T)
return draw_mesh(env, convex_mesh(points), color=color)
def draw_aabb(env, aabb, color=(1, 0, 0, .5)):
#return env.drawbox(aabb.pos(), aabb.extents(), color=color) # NOTE - Not currently implemented in OpenRAVE
points = np.array([aabb.pos() + np.multiply(aabb.extents(), np.array(signs)) # TODO - use points_from_aabb
for signs in product([-1, 1], repeat=len(aabb.pos()))]).T
return draw_mesh(env, convex_mesh(points), color=color)
def draw_aabb(env, aabb, color=(1, 0, 0, .5)):
#return env.drawbox(aabb.pos(), aabb.extents(), color=color) # NOTE - Not currently implemented in OpenRAVE
points = np.array([aabb.pos() + np.multiply(aabb.extents(), np.array(signs)) # TODO - use points_from_aabb
for signs in product([-1, 1], repeat=len(aabb.pos()))]).T
return draw_mesh(env, convex_mesh(points), color=color)
