from klampt.robotsim import Geometry3D,WorldModel from klampt.math import se3,so3,vectorops from klampt.vis import colorize import sys import time if len(sys.argv) > 1: a = Geometry3D() if not a.loadFile(sys.argv[1]): print("Error loading",sys.argv[1]) exit() else: a = sphere(0.4,center=(0,0,0),type='TriangleMesh') a = Geometry3D(a) w = WorldModel() w.makeRigidObject("a") w.rigidObject(0).geometry().set(a) #a_pc = a.convert("PointCloud",0.05) bb = a.getBBTight() a_pc = a.convert("PointCloud") a_pc.setCurrentTransform(so3.identity(),[1.25*(bb[1][0]-bb[0][0]),0,0]) value = None cmap = None feature = None lighting = None vis.add("A",a) vis.add("B",a_pc)