OpenRAVE Documentation

Source code for openravepy.examples.checkconvexdecomposition

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright (C) 2009-2011 Rosen Diankov (rosen.diankov@gmail.com)
# 
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# 
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Builds the convex decomposition of the robot and plots all points inside its volume.

.. examplepre-block:: checkconvexdecomposition
  :image-width: 400

Description
-----------

Uses :meth:`.ConvexDecompositionModel.testPointsInside` from :mod:`.convexdecomposition`.

.. examplepost-block:: checkconvexdecomposition

"""
from __future__ import with_statement # for python 2.5
__author__ = 'Rosen Diankov'

import openravepy
from openravepy import databases
import numpy

[docs]def main(env,options): "Main example code." samplingdelta = options.samplingdelta env.Load(options.target) body = env.GetBodies()[0] cdmodel = databases.convexdecomposition.ConvexDecompositionModel(body) if not cdmodel.load(): cdmodel.autogenerate() ab = body.ComputeAABB() if samplingdelta is None: samplingdelta = numpy.linalg.norm(ab.extents())/30.0 boxmin = ab.pos()-ab.extents() boxmax = ab.pos()+ab.extents() X,Y,Z = numpy.mgrid[boxmin[0]:boxmax[0]:samplingdelta,boxmin[1]:boxmax[1]:samplingdelta,boxmin[2]:boxmax[2]:samplingdelta] points = numpy.c_[X.flat,Y.flat,Z.flat] print 'computing %d points...'%len(points) inside = cdmodel.testPointsInside(points) plottedpoints = points[numpy.flatnonzero(inside),:] plottedpoints[:,1] += ab.extents()[1]*2 print '%d points are inside'%len(plottedpoints) h = env.plot3(plottedpoints,2) if not options.testmode: raw_input('press any key to exit')
from optparse import OptionParser from openravepy.misc import OpenRAVEGlobalArguments @openravepy.with_destroy
[docs]def run(args=None): """Command-line execution of the example. :param args: arguments for script to parse, if not specified will use sys.argv """ parser = OptionParser(description='Builds the convex decomposition of the robot and plots all the points that are tested inside of it.') OpenRAVEGlobalArguments.addOptions(parser) parser.add_option('--target', action="store",type='string',dest='target',default='robots/barrettwam.robot.xml', help='Target body to load (default=%default)') parser.add_option('--samplingdelta', action="store",type='float',dest='samplingdelta',default=None, help='The sampling rate for the robot (default=%default)') (options, leftargs) = parser.parse_args(args=args) env = OpenRAVEGlobalArguments.parseAndCreate(options,defaultviewer=True) main(env,options)
if __name__ == "__main__": run()

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