# objpath = "../objects/025mug3000.stl" # objpath = "../objects/025mug3000_tsdf.stl" # objpath = "../objects/035drill3000_tsdf.stl" # objpath = "../objects/072toyplanedrill3000_tsdf.stl" # objpath = "../objects/housing.stl" # objpath = "../objects/ttube.stl" # objpath = "./objects/bunny12356.stl" # objstpath = "./objects/bunny17432.stl" pathname = "./objects/" objname = ["housing", "planewheel", "tool2", "ttube", "sandpart", "planelowerbody", "planerearstay", "bunnysim"] type = ["160over", "160noover"] for objn in objname: objpath = pathname+objn+".stl" objcm = cm.CollisionModel(objinit = objpath) hndfa = hnd.Robotiq85Factory() for i in range(2): hand= hndfa.genHand() if i == 0: freegriptst = fg.Freegrip(objpath, hand, faceangle = .9, segangle = .9, refine1min=5, fpairparallel=-0.9, togglebcdcdebug=True, useoverlap=True) if i == 1: freegriptst = fg.Freegrip(objpath, hand, faceangle = .9, segangle = .9, refine1min=5, fpairparallel=-0.9, togglebcdcdebug=True, useoverlap=False) # facetsizes = [] # for j, faces in enumerate(freegriptst.facets): # rgba = [np.random.random(), np.random.random(), np.random.random(), 1] # # compute facet normal # facetnormal = np.sum(freegriptst.objtrimesh.face_normals[faces], axis=0) # facetnormal = facetnormal / np.linalg.norm(facetnormal) # geom = pandageom.packpandageom_fn(freegriptst.objtrimesh.vertices +
obscm.showcn() objcm = env.loadobj("bunnysim.stl") objcm.setColor(.2, .5, 0, 1) objcm.setPos(400, -200, 1200) objcm.reparentTo(base.render) objcm.showcn() objpos = np.array([400, -300, 1200]) objrot = rm.rodrigues([0, 1, 0], 45) objcm2 = env.loadobj("housing.stl") objcm2.setColor(1, .5, 0, 1) env.addchangableobs(base.render, objcm2, objpos, objrot) objcm3 = cm.CollisionModel( trimesh.primitives.Box(box_center=[500, 100, 1500], box_extents=[200, 50, 100])) objcm3.setColor(1, 0, 0, 1) objcm3.reparentTo(base.render) objcm3.showcn() hndfa = rtq85.Robotiq85Factory() rgthnd = hndfa.genHand() lfthnd = hndfa.genHand() rbt = robot.Ur3DualRobot(rgthnd=rgthnd, lfthnd=lfthnd) rbtmg = robotmesh.Ur3DualMesh() rbtmnp = rbtmg.genmnp(rbt, toggleendcoord=True) rbtmnp.reparentTo(base.render) base.run()