def _add_rendering(self, mode='osg'):
# Set renderer
self.app.setAutoStepping(True)
self.app.setEnableDebugRenderer(False)
self.app.setEnableOSGRenderer(True)
file_directory = os.path.dirname(os.path.abspath(__file__))
package_directory = os.path.split(file_directory)[0]
gripper_texture = os.path.join(package_directory, TEXTURE_GRIPPER_FILE)
# Create scene graph for rendering
root = self.app.getSceneRoot()
rbs = self.sim.getRigidBodies()
for rb in rbs:
node = agxOSG.createVisual(rb, root)
if rb.getName() == "hollow_cylinder":
agxOSG.setDiffuseColor(node, agxRender.Color_SteelBlue())
agxOSG.setShininess(node, 15)
elif rb.getName() == "gripper_body":
agxOSG.setDiffuseColor(node,
agxRender.Color(1.0, 1.0, 1.0, 1.0))
agxOSG.setTexture(node, gripper_texture, False,
agxOSG.DIFFUSE_TEXTURE)
agxOSG.setShininess(node, 2)
elif "dlo" in rb.getName(): # Cable segments
agxOSG.setDiffuseColor(node,
agxRender.Color(0.0, 1.0, 0.0, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.0)
# Set rendering options
scene_decorator = self.app.getSceneDecorator()
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0, 1.0, 1.0))
def _add_rendering(self, mode='osg'):
# Set renderer
self.app.setAutoStepping(True)
self.app.setEnableDebugRenderer(False)
self.app.setEnableOSGRenderer(True)
# Create scene graph for rendering
root = self.app.getSceneRoot()
rbs = self.sim.getRigidBodies()
for rb in rbs:
node = agxOSG.createVisual(rb, root)
if rb.getName() == "ground":
agxOSG.setDiffuseColor(node, agxRender.Color.SlateGray())
elif rb.getName() == "cylinder_top_0" or rb.getName(
) == "cylinder_top_1" or rb.getName() == "cylinder_top_2":
agxOSG.setDiffuseColor(node, agxRender.Color.DarkGray())
elif rb.getName() == "cylinder_inner_0" or rb.getName(
) == "cylinder_inner_1" or rb.getName() == "cylinder_inner_2":
agxOSG.setDiffuseColor(node, agxRender.Color.LightSteelBlue())
elif rb.getName() == "cylinder_low_0" or rb.getName(
) == "cylinder_low_1" or rb.getName() == "cylinder_low_2":
agxOSG.setDiffuseColor(node, agxRender.Color.DarkGray())
elif rb.getName() == "gripper":
agxOSG.setDiffuseColor(node, agxRender.Color.DarkBlue())
elif "dlo" in rb.getName(): # Cable segments
agxOSG.setDiffuseColor(node,
agxRender.Color(0.8, 0.2, 0.2, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.0)
# Set rendering options
scene_decorator = self.app.getSceneDecorator()
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0, 1.0, 1.0))
def setTriggered(self, trigger_status):
self.triggered = trigger_status
if self.triggered:
agxColor = agxRender.Color(0, 1, 0)
else:
agxColor = agxRender.Color(1, 0, 0)
agxOSG.setDiffuseColor(self.laser_vis, agxColor)
agxOSG.setAlpha(self.laser_vis, 0.5)
def create_water_visual(geo, root):
node = agxOSG.createVisual(geo, root)
diffuse_color = agxRender.Color(0.0, 0.75, 1.0, 1)
ambient_color = agxRender.Color(1, 1, 1, 1)
specular_color = agxRender.Color(1, 1, 1, 1)
agxOSG.setDiffuseColor(node, diffuse_color)
agxOSG.setAmbientColor(node, ambient_color)
agxOSG.setSpecularColor(node, specular_color)
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.5)
return node
def _add_rendering(self):
self.app.setAutoStepping(False)
if not self.root:
self.root = self.app.getRoot()
rbs = self.sim.getRigidBodies()
for rb in rbs:
name = rb.getName()
node = agxOSG.createVisual(rb, self.root)
if name == "ground":
agxOSG.setDiffuseColor(node, agxRender.Color.SlateGray())
elif "gripper_left" in name and "base" not in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Red())
elif "gripper_right" in name and "base" not in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Blue())
elif "pusher" in name and "base" not in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Yellow())
elif "dlo" in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Green())
elif "obstacle" in name or "cylinder" in name:
agxOSG.setDiffuseColor(node, agxRender.Color.SteelBlue())
elif "bounding_box" in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Burlywood())
else:
agxOSG.setAlpha(node, 0)
logger.info("No color set for {}.".format(name))
if "goal" in name and "base" not in name:
agxOSG.setAlpha(node, 0.2)
scene_decorator = self.app.getSceneDecorator()
light_source_0 = scene_decorator.getLightSource(agxOSG.SceneDecorator.LIGHT0)
light_source_0.setPosition(self.light_pose['light_position'])
light_source_0.setDirection(self.light_pose['light_direction'])
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0, 1.0, 1.0))
def add_rendering(sim):
camera_distance = 0.5
light_pos = agx.Vec4(LENGTH / 2, - camera_distance, camera_distance, 1.)
light_dir = agx.Vec3(0., 0., -1.)
app = agxOSG.ExampleApplication(sim)
app.setAutoStepping(True)
app.setEnableDebugRenderer(False)
app.setEnableOSGRenderer(True)
scene_decorator = app.getSceneDecorator()
light_source_0 = scene_decorator.getLightSource(agxOSG.SceneDecorator.LIGHT0)
light_source_0.setPosition(light_pos)
light_source_0.setDirection(light_dir)
root = app.getRoot()
rbs = sim.getRigidBodies()
for rb in rbs:
name = rb.getName()
node = agxOSG.createVisual(rb, root)
if name == "ground":
agxOSG.setDiffuseColor(node, agxRender.Color.Gray())
elif name == "pusher":
agxOSG.setDiffuseColor(node, agxRender.Color(0.0, 0.0, 1.0, 1.0))
elif "obstacle" in name:
agxOSG.setDiffuseColor(node, agxRender.Color(1.0, 0.0, 0.0, 1.0))
elif "dlo" in name:
agxOSG.setDiffuseColor(node, agxRender.Color(0.0, 1.0, 0.0, 1.0))
elif "bounding_box" in name:
agxOSG.setDiffuseColor(node, agxRender.Color.Burlywood())
else: # Base segments
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.2)
if "goal" in name:
agxOSG.setAlpha(node, 0.2)
scene_decorator = app.getSceneDecorator()
light_source_0 = scene_decorator.getLightSource(agxOSG.SceneDecorator.LIGHT0)
light_source_0.setPosition(light_pos)
light_source_0.setDirection(light_dir)
scene_decorator.setEnableLogo(False)
return app
def add_rendering(sim):
camera_distance = 0.5
light_pos = agx.Vec4(CYLINDER_LENGTH / 2, -camera_distance,
camera_distance, 1.)
light_dir = agx.Vec3(0., 0., -1.)
app = agxOSG.ExampleApplication(sim)
app.setAutoStepping(False)
root = app.getRoot()
rbs = sim.getRigidBodies()
for rb in rbs:
name = rb.getName()
node = agxOSG.createVisual(rb, root, 2.0)
if "ring" in name:
agxOSG.setDiffuseColor(node, COLOR_RING)
elif "ground" in name:
agxOSG.setDiffuseColor(node, COLOR_GROUND)
elif "cylinder" in name:
agxOSG.setDiffuseColor(node, COLOR_CYLINDER)
elif "gripper_right" == name:
agxOSG.setDiffuseColor(node, agxRender.Color(0.0, 0.0, 1.0, 1.0))
elif "gripper_left" == name:
agxOSG.setDiffuseColor(node, agxRender.Color(1.0, 0.0, 0.0, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.2)
app.setEnableDebugRenderer(False)
app.setEnableOSGRenderer(True)
scene_decorator = app.getSceneDecorator()
light_source_0 = scene_decorator.getLightSource(
agxOSG.SceneDecorator.LIGHT0)
light_source_0.setPosition(light_pos)
light_source_0.setDirection(light_dir)
scene_decorator.setEnableLogo(False)
return app
def add_cylinderShape(MiroSystem, radius, height, density, pos, texture='test.jpg', scale=[1,1], Collide=True, Fixed=True, rotX=0, rotY=0, rotZ=0, rotOrder=['x','y','z'], rotAngle=0, rotAxis=[1,0,0], rotDegrees=True, color=[0.5, 0.5, 0.5]):
'''system, size_x, size_y, size_z, pos, texture, scale = [5,5], hitbox = True/False'''
# Convert position to chrono vector, supports using chvector as input as well
agxSim = agxPython.getContext().environment.getSimulation()
agxApp = agxPython.getContext().environment.getApplication()
agxRoot = agxPython.getContext().environment.getSceneRoot()
agxPos = agxVecify(pos)
agxRotAxis = agxVecify(rotAxis)
scale = scaleLimit(scale)
# Create a cylinder
body_geo = agxCollide.Geometry(agxCollide.Cylinder(radius, height))
body_geo.setName("body")
body_geo.setEnableCollisions(Collide)
body_cylinder = agx.RigidBody(body_geo)
body_cylinder.getMassProperties().setMass(body_geo.calculateVolume()*density)
if Fixed:
body_cylinder.setMotionControl(1)
body_cylinder.setPosition(agxPos)
rotateBody(body_cylinder, rotX=-90)
rotateBody(body_cylinder, rotX, rotY, rotZ, rotOrder, rotAngle, rotAxis, rotDegrees)
# Collision shape
# if(Collide):
# Visualization shape
body_shape = agxOSG.createVisual(body_cylinder, agxRoot)
# Body texture
if texture:
# Filter 'textures/' out of the texture name, it's added later
if len(texture) > len('textures/'):
if texture[0:len('textures/')] == 'textures/':
texture = texture[len('textures/'):]
if TEXTURES_ON:
if texture not in LOADED_TEXTURES.keys():
agxTex = agxOSG.createTexture(TEXTURE_PATH+texture)
LOADED_TEXTURES.update({texture: agxTex})
agxOSG.setTexture(body_shape, LOADED_TEXTURES[texture], True, agxOSG.DIFFUSE_TEXTURE, -scale[0], scale[1])
else:
color = backupColor(texture, color)
texture = False
if not texture:
agxColor = agxRender.Color(color[0], color[1], color[2])
agxOSG.setDiffuseColor(body_shape, agxColor)
if len(color) > 3:
agxOSG.setAlpha(body_shape, color[3])
agxSim.add(body_cylinder)
return body_cylinder
def add_rendering(sim):
app = agxOSG.ExampleApplication(sim)
# Set renderer
app.setAutoStepping(True)
app.setEnableDebugRenderer(False)
app.setEnableOSGRenderer(True)
# Create scene graph for rendering
root = app.getSceneRoot()
rbs = sim.getRigidBodies()
for rb in rbs:
node = agxOSG.createVisual(rb, root)
if rb.getName() == "ground":
agxOSG.setDiffuseColor(node, agxRender.Color(0.8, 0.8, 0.8, 1.0))
elif rb.getName() == "walls":
agxOSG.setDiffuseColor(node, agxRender.Color.Burlywood())
elif rb.getName() == "cylinder":
agxOSG.setDiffuseColor(node, agxRender.Color.DarkGray())
elif rb.getName() == "cylinder_inner":
agxOSG.setDiffuseColor(node, agxRender.Color.LightSteelBlue())
elif rb.getName() == "gripper_0" or rb.getName() == "gripper_1":
agxOSG.setDiffuseColor(node, agxRender.Color(0.1, 0.1, 0.1, 1.0))
elif "dlo" in rb.getName(): # Cable segments
agxOSG.setDiffuseColor(node, agxRender.Color(0.1, 0.5, 0.0, 1.0))
agxOSG.setAmbientColor(node, agxRender.Color(0.2, 0.5, 0.0, 1.0))
elif rb.getName() == "obstacle":
agxOSG.setDiffuseColor(node, agxRender.Color(0.5, 0.5, 0.5, 1.0))
elif rb.getName() == "obstacle_goal":
agxOSG.setDiffuseColor(node, agxRender.Color(0.0, 0.0, 1.0, 1.0))
else:
agxOSG.setDiffuseColor(node, agxRender.Color.Beige())
agxOSG.setAlpha(node, 0.0)
# Set rendering options
scene_decorator = app.getSceneDecorator()
scene_decorator.setEnableLogo(False)
scene_decorator.setBackgroundColor(agxRender.Color(1.0, 1.0,1.0, 1.0))
return app
def add_boxShape(MiroSystem, size_x, size_y, size_z, pos, texture=False, scale=[4,3], Collide=True, Fixed=True, rotX=0, rotY=0, rotZ=0, rotOrder=['x','y','z'], rotAngle=0, rotAxis=[1,0,0], rotDegrees=True, mass=False, density=1000, dynamic=False, color=[0.5, 0.5, 0.5], friction=False):
'''system, size_x, size_y, size_z, pos, texture, scale = [5,5], hitbox = True/False'''
# Convert position to chrono vector, supports using chvector as input as well
agxSim = agxPython.getContext().environment.getSimulation()
agxApp = agxPython.getContext().environment.getApplication()
agxRoot = agxPython.getContext().environment.getSceneRoot()
agxPos = agxVecify(pos)
agxRotAxis = agxVecify(rotAxis)
[size_x, size_y, size_z] = xyzTransform([size_x, size_y, size_z], True)
scale = [scale[0]/4, scale[1]/3]
# Create a box
body_geo = agxCollide.Geometry( agxCollide.Box(size_x/2, size_y/2, size_z/2))
body_geo.setName("body")
if friction:
high_friction_tires = agx.Material('Tires', 0.05, friction)
body_geo.setMaterial(high_friction_tires)
body_geo.setEnableCollisions(Collide)
body_box = agx.RigidBody(body_geo)
if mass:
body_box.getMassProperties().setMass(mass)
else:
body_box.getMassProperties().setMass(body_geo.calculateVolume()*density)
if Fixed:
body_box.setMotionControl(1)
body_box.setPosition(agxPos)
rotateBody(body_box, rotX, rotY, rotZ, rotOrder, rotAngle, rotAxis, rotDegrees)
# Collision shape
# if(Collide):
# Visualization shape
body_shape = agxOSG.createVisual(body_box, agxRoot)
# Body texture
if texture:
# Filter 'textures/' out of the texture name, it's added later
if len(texture) > len('textures/'):
if texture[0:len('textures/')] == 'textures/':
texture = texture[len('textures/'):]
if TEXTURES_ON or texture in important_textures:
if texture not in LOADED_TEXTURES.keys():
agxTex = agxOSG.createTexture(TEXTURE_PATH+texture)
LOADED_TEXTURES.update({texture: agxTex})
if TEXTURE_PATH == 'textures_lowres/' and texture=='yellow_brick.jpg':
scale[0] = 11*scale[0]
scale[1] = 8*scale[1]
agxOSG.setTexture(body_shape, TEXTURE_PATH+texture, True, agxOSG.DIFFUSE_TEXTURE, scale[0], scale[1])
else:
color = backupColor(texture, color)
texture = False
if not texture:
agxColor = agxRender.Color(color[0], color[1], color[2])
agxOSG.setDiffuseColor(body_shape, agxColor)
if len(color) > 3:
agxOSG.setAlpha(body_shape, color[3])
agxSim.add(body_box)
return body_box