def adjustMeshPath(path_mesh_pkg,link):
"""
Find the path of a mesh according to the link definition.
Set the visual and collision element of the given link
:param : path_mesh_pkg, absolute path of the package where the meshes should be located
:param : link, dictionary key of the link we want to set visual and collision parameters
:return : tempVisu, Visual element with the NAO visual geometrical shape for people who don't have the meshes
:return : tempCol, Collision element with the NAO collision geometrical shape for people who don't have the meshes
"""
global robot, SCALE, MESHPKG, MESH_VERSION
tempVisu = None
tempVisuMesh = None
tempCol = None
tempColMesh = None
if robot.links[link].visual != None:
try:
meshname = str(LINKS_DICO.keys()[list(LINKS_DICO.values()).index(link)])
if meshname.endswith('_link'):
meshfile = meshname[0:-5]
else:
meshfile = meshname
except:
meshname = link
meshfile = link
pass
if meshfile.endswith('_link'):
meshfile = meshfile[0:-5]
tempVisuMesh = ur.Visual(ur.Mesh('',(SCALE,SCALE,SCALE)))
tempColMesh = ur.Collision(ur.Mesh('',(SCALE,SCALE,SCALE)))
tempVisuMesh.origin = robot.links[link].visual.origin
tempColMesh.origin = robot.links[link].visual.origin
if os.path.isfile(os.path.join(path_mesh_pkg, 'meshes',MESH_VERSION, robot.links[link].visual.geometry.filename[robot.links[link].visual.geometry.filename.rfind("/")+1:])):
tempVisuMesh.geometry.filename = os.path.join('package://', NAME + MESHPKG , 'meshes' , MESH_VERSION, robot.links[link].visual.geometry.filename[robot.links[link].visual.geometry.filename.rfind("/")+1:])
tempColMesh.geometry.filename = tempVisuMesh.geometry.filename[0:-4] + COLLISION_SUFFIX
else:
tempVisuMesh.geometry.filename = os.path.join('package://', NAME + MESHPKG , 'meshes' ,MESH_VERSION, meshfile + '.dae')
tempColMesh.geometry.filename = tempVisuMesh.geometry.filename[0:-4] + COLLISION_SUFFIX
if NAME=='nao':
try:
tempVisu = ur.Visual(VISU_DICO[meshname], ur.Material('LightGrey'), dico.Nao_orig[meshname])
tempCol = ur.Collision(VISU_DICO[meshname], dico.Nao_orig[meshname])
except KeyError:
tempVisu = None
tempCol = None
robot.links[link].visual = tempVisuMesh
robot.links[link].collision = tempColMesh
return (tempVisu,tempCol)
def add_dummy_collision(list):
"""Add a Box collision tag to every links containing keyword in list."""
global robot
for string in list:
for link in robot.links:
if robot.links[link].name.find(string) != -1:
robot.links[link].collision = ur.Collision(
ur.Box([0.01, 0.01, 0.005]),
ur.Pose((0, 0, 0), (0, 0, 0)))