8000 Importing STL objects by micah-huth · Pull Request #43 · petercorke/robotics-toolbox-python · GitHub
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Merged
merged 3 commits into from
Jun 24, 2020
Merged

Importing STL objects #43

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11a4188
Changed to variables for indexing the grid_object.
micah-huth Jun 23, 2020
3a30ba8
Fixed bug of parameter creation timing.
micah-huth Jun 23, 2020
d1b765c
Added new function to load STL models using NumPy-STL. Now accepts bo…
micah-huth Jun 24, 2020
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39 changes: 26 additions & 13 deletions graphics/graphics_grid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,13 +9,23 @@ def __init__(self):
# Save the current camera settings
self.camera_pos = scene.camera.pos
self.camera_axes = scene.camera.axis

# Private parameters for indexing in grid_object
self.__xy_plane_idx = 0
self.__xz_plane_idx = 1
self.__yz_plane_idx = 2
self.__planes_idx = 0
self.__labels_idx = 1

# Initialise a grid object
# grid_object[0] will always be the 3 plane graphics. [XY, XZ, YZ] (alphabetical in order and connection)
# grid_object[1] will always be the labels. There is always a certain number of indices.
# Order is [x-plane numbers, "X", y-plane numbers, "Y", z-plane numbers, "Z"]
self.grid_object = [[], []]
self.__init_grid()



def __init_grid(self):
"""
Initialise the grid along the x, y, z axes.
Expand All @@ -25,10 +35,10 @@ def __init_grid(self):
relative_cam = True # Whether the grid follows the camera rotation and movement

the_grid = self.__create_grid_objects(relative_cam, num_squares)
self.grid_object[0] = the_grid
self.grid_object[self.__planes_idx] = the_grid

# Update the labels instead of recreating them
update_grid_numbers(self.grid_object[1], relative_cam, num_squares)
update_grid_numbers(self.grid_object[self.__labels_idx], relative_cam, num_squares)

def __create_grid_objects(self, bool_camera_relative, num_squares):
"""
Expand Down Expand Up @@ -124,7 +134,10 @@ def __create_grid_objects(self, bool_camera_relative, num_squares):
yz_plane = compound(yz_lines)

# Combine all into one list
grid = [xy_plane, xz_plane, yz_plane]
grid = [None, None, None]
grid[self.__xy_plane_idx] = xy_plane
grid[self.__xz_plane_idx] = xz_plane
grid[self.__yz_plane_idx] = yz_plane

return grid

Expand Down Expand Up @@ -174,21 +187,21 @@ def __move_grid_objects(self, bool_camera_relative, num_squares):

# XY Plane
if camera_axes.z < 0:
self.grid_object[0][0].pos = vector(x_middle, y_middle, min_z_coord)
self.grid_object[self.__planes_idx][self.__xy_plane_idx].pos = vector(x_middle, y_middle, min_z_coord)
else:
self.grid_object[0][0].pos = vector(x_middle, y_middle, max_z_coord)
self.grid_object[self.__planes_idx][self.__xy_plane_idx].pos = vector(x_middle, y_middle, max_z_coord)

# XZ Plane
if camera_axes.y < 0:
self.grid_object[0][1].pos = vector(x_middle, min_y_coord, z_middle)
self.grid_object[self.__planes_idx][self.__xz_plane_idx].pos = vector(x_middle, min_y_coord, z_middle)
else:
self.grid_object[0][1].pos = vector(x_middle, max_y_coord, z_middle)
self.grid_object[self.__planes_idx][self.__xz_plane_idx].pos = vector(x_middle, max_y_coord, z_middle)

# YZ Plane
if camera_axes.x < 0:
self.grid_object[0][2].pos = vector(min_x_coord, y_middle, z_middle)
self.grid_object[self.__planes_idx][self.__yz_plane_idx].pos = vector(min_x_coord, y_middle, z_middle)
else:
self.grid_object[0][2].pos = vector(max_x_coord, y_middle, z_middle)
self.grid_object[self.__planes_idx][self.__yz_plane_idx].pos = vector(max_x_coord, y_middle, z_middle)

def update_grid(self):
"""
Expand All @@ -212,7 +225,7 @@ def update_grid(self):
num_squares = 10 # Length of the grid in each direction (in units)
relative_cam = True # Whether the grid follows the camera rotation and movement
self.__move_grid_objects(relative_cam, num_squares)
update_grid_numbers(self.grid_object[1], relative_cam, num_squares)
update_grid_numbers(self.grid_object[self.__labels_idx], relative_cam, num_squares)

# Else save current grid
else:
Expand All @@ -226,9 +239,9 @@ def set_visibility(self, is_visible):
:param is_visible: Boolean of whether to display the grid
:type is_visible: bool
"""
for plane in self.grid_object[0]:
for plane in self.grid_object[self.__planes_idx]:
plane.visible = is_visible
for number in self.grid_object[1]:
for number in self.grid_object[self.__labels_idx]:
number.visible = is_visible

def clear_scene(self):
Expand All @@ -246,7 +259,7 @@ def clear_scene(self):
and have the user assume they are all deleted. However, all objects can be redisplayed by setting the visibility
"""
# Save current grid visibility
grid_visibility = self.grid_object[0][0].visible
grid_visibility = self.grid_object[self.__planes_idx][self.__xy_plane_idx].visible

# Set all objects invisible
for scene_object in scene.objects:
Expand Down
66 changes: 62 additions & 4 deletions graphics/graphics_stl.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
from vpython import *
from graphics.common_functions import *
from stl import mesh


# TODO maybe change input to include extension? Or have entire path as input?
def import_object_from_stl(filename):
"""
Import an stl object and convert it into a usable vpython object.
Expand All @@ -14,10 +14,11 @@ def import_object_from_stl(filename):
:type filename: str
:return: Compound object of a collection of triangles formed from an stl file.
:rtype: class:`vpython.compound`
"""
# TODO: put error handling in case binary stl file used instead of ascii

# TODO: put error handling in case of bad file
.. deprecated::
A new function using numpy import is available. It accepts both ASCII and BINARY formats.
"""
raise DeprecationWarning("This function is outdated. Use import_object_from_numpy_stl")

# Open the file
filepath = './graphics/models/' + filename + '.stl'
Expand Down Expand Up @@ -63,6 +64,63 @@ def import_object_from_stl(filename):
return compound(triangles)


def import_object_from_numpy_stl(filename):
"""
Import either an ASCII or BINARY file format of an STL file.
The triangles will be combined into a single compound entity.

:param filename: Path of the stl file to import.
:type filename: str
:return: Compound object of a collection of triangles formed from an stl file.
:rtype: class:`vpython.compound`
"""
# Load the mesh using NumPy-STL
the_mesh = mesh.Mesh.from_file(filename)

num_faces = len(the_mesh.vectors)
triangles = []

# For every face in the model
for face in range(0, num_faces):
# Get the (3) 3D points
point0 = the_mesh.vectors[face][0]
point1 = the_mesh.vectors[face][1]
point2 = the_mesh.vectors[face][2]

# Get the normal direction for the face
normal0 = the_mesh.normals[face][0]
normal1 = the_mesh.normals[face][1]
normal2 = the_mesh.normals[face][2]
normal = vec(normal0, normal1, normal2)

# Create the VPython 3D points
vertex0 = vertex(
pos=vec(point0[0], point0[1], point0[2]),
normal=normal,
color=color.white
)
vertex1 = vertex(
pos=vec(point1[0], point1[1], point1[2]),
normal=normal,
color=color.white
)
vertex2 = vertex(
pos=vec(point2[0], point2[1], point2[2]),
normal=normal,
color=color.white
)

# Combine them in a list
vertices = [vertex0, vertex1, vertex2]

# Create a triangle using the points, and add it to the list
triangles.append(triangle(vs=vertices))

# Return a compound of the triangles
visual_mesh = compound(triangles)
return visual_mesh


def set_stl_origin(stl_obj, current_obj_origin, required_obj_origin):
"""
Move the object so the required origin is at (0, 0, 0). Then set the origin for the generated stl object.
Expand Down
14 changes: 7 additions & 7 deletions graphics/model_puma560.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ def create_link_0():
:rtype: class:`graphics.graphics_robot.RotationalJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl(filename='link0')
stl_obj = import_object_from_numpy_stl('./graphics/models/link0.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj_z_origin = stl_obj.pos.z - stl_obj.width / 2
Expand Down Expand Up @@ -60,7 +60,7 @@ def create_link_1():
:rtype: class:`graphics.graphics_robot.StaticJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl(filename='link1')
stl_obj = import_object_from_numpy_stl('./graphics/models/link1.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))
Expand Down Expand Up @@ -92,7 +92,7 @@ def create_link_2():
:rtype: class:`graphics.graphics_robot.RotationalJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl('link2')
stl_obj = import_object_from_numpy_stl('./graphics/models/link2.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(-90), axis=x_axis_vector, origin=vector(0, 0, 0))
Expand Down Expand Up @@ -124,7 +124,7 @@ def create_link_3():
:rtype: class:`graphics.graphics_robot.RotationalJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl('link3')
stl_obj = import_object_from_numpy_stl('./graphics/models/link3.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))
Expand Down Expand Up @@ -156,7 +156,7 @@ def create_link_4():
:rtype: class:`graphics.graphics_robot.RotationalJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl('link4')
stl_obj = import_object_from_numpy_stl('./graphics/models/link4.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(-90), axis=z_axis_vector, origin=vector(0, 0, 0))
Expand Down Expand Up @@ -187,7 +187,7 @@ def create_link_5():
:rtype: class:`graphics.graphics_robot.RotationalJoint
"""
# Load the STL file into an object
stl_obj = import_object_from_stl('link5')
stl_obj = import_object_from_numpy_stl('./graphics/models/link5.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(90), axis=x_axis_vector, origin=vector(0, 0, 0))
Expand Down Expand Up @@ -218,7 +218,7 @@ def create_link_6():
:rtype: class:`graphics.graphics_robot.Gripper
"""
# Load the STL file into an object
stl_obj = import_object_from_stl('link6')
stl_obj = import_object_from_numpy_stl('./graphics/models/link6.stl')
# Orient the object so that it's origin and toolpoint in known locations
# This way, rotations are relative to the correct 3D position of the object
stl_obj.rotate(angle=radians(90), axis=y_axis_vector, origin=vector(0, 0, 0))
Expand Down
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