robowflex_visualization.scene.Scene Class Reference

Container for MoveIt planning scenes in Blender. More...

Public Member Functions
def	__init__ (self, name, scene_file)
	Constructor. More...
def	load_scene (self, scene_file)
	Loads a YAML moveit_msgs::PlanningScene into Blender. More...
def	add_collision_object (self, co)
	Adds a collision object (moveit_msgs::CollisionObject) to the scene. More...
def	add_shape (self, name, shape, pose)
	Adds a shape (either shape_msgs::SolidPrimitive or shape_msgs::Mesh) to the scene. More...
def	get_object (self, name)
	Retrieve a named object in the scene. More...

Public Attributes
	name
	shapes
	collection
	filepath
	yaml

Detailed Description

Container for MoveIt planning scenes in Blender.

This class loads mesh and primitive resources described in a planning scene and stores them in a Blender collection.

Definition at line 11 of file scene.py.

Constructor & Destructor Documentation

__init__()

def robowflex_visualization.scene.Scene.__init__	(		self,
			name,
			scene_file
	)

Constructor.

Loads scene and creates a collection.

Parameters

name	Name of Blender collection to put scene geometry in.
scene_file	Scene file YAML package resource URI to load.

Definition at line 18 of file scene.py.

    def __init__(self, name, scene_file):
        self.name = name
        self.shapes = {}
 
        self.collection = rv.utils.get_collection(name)
 
        if not self.collection:
            # Create scene
            self.collection = rv.utils.make_collection(name)
            self.load_scene(scene_file)
 
        else:
            # Populate based on existing scene
            for item in self.collection.objects:
                self.shapes[item.name] = item
 

Member Function Documentation

add_collision_object()

def robowflex_visualization.scene.Scene.add_collision_object	(		self,
			co
	)

Adds a collision object (moveit_msgs::CollisionObject) to the scene.

Parameters

co	Collision object.

Definition at line 55 of file scene.py.

    def add_collision_object(self, co):
        if 'primitives' in co:
            shapes = co['primitives']
            poses = co['primitive_poses']
        elif 'meshes' in co:
            shapes = co['meshes']
            poses = co['mesh_poses']
 
        for shape, pose in zip(shapes, poses):
            self.add_shape(co["id"], shape, pose)
 

add_shape()

def robowflex_visualization.scene.Scene.add_shape	(		self,
			name,
			shape,
			pose
	)

Adds a shape (either shape_msgs::SolidPrimitive or shape_msgs::Mesh) to the scene.

Parameters

name	Name of the object.
shape	Shape to add.
pose	Pose relative to world of the object.

Definition at line 72 of file scene.py.

    def add_shape(self, name, shape, pose):
        if not 'color' in shape:
            shape['color'] = (0.0, 0.9, 0.2)    # MoveIt Green.
 
        obj = rv.primitives.add_shape(shape)
        obj.name = name
 
        self.shapes[name] = obj
 
        rv.utils.deselect_all()
        rv.utils.set_pose(obj, pose)
        rv.utils.select_all_children(obj)
        rv.utils.move_selected_to_collection(self.name)
        rv.utils.deselect_all()
 

get_object()

def robowflex_visualization.scene.Scene.get_object	(		self,
			name
	)

Retrieve a named object in the scene.

Parameters

name	Name of object to retrieve.

Definition at line 90 of file scene.py.

    def get_object(self, name):
        return self.shapes[name]

load_scene()

def robowflex_visualization.scene.Scene.load_scene	(		self,
			scene_file
	)

Loads a YAML moveit_msgs::PlanningScene into Blender.

Parameters

scene_file

YAML package URI to load.

Definition at line 38 of file scene.py.

    def load_scene(self, scene_file):
        self.filepath = resolved = rv.utils.resolve_path(scene_file)
        self.yaml = rv.utils.read_YAML_data(scene_file)
 
        if "world" in self.yaml and self.yaml["world"]["collision_objects"]:
            for co in self.yaml["world"]["collision_objects"]:
                self.add_collision_object(co)
 
        if "robot_state" in self.yaml:
            if "attached_collision_objects" in self.yaml["robot_state"].keys():
               for cao in self.yaml["robot_state"]["attached_collision_objects"]:
                   self.add_collision_object(cao["object"])
 

Member Data Documentation

collection

robowflex_visualization.scene.Scene.collection

Definition at line 22 of file scene.py.

filepath

robowflex_visualization.scene.Scene.filepath

Definition at line 39 of file scene.py.

name

robowflex_visualization.scene.Scene.name

Definition at line 19 of file scene.py.

shapes

robowflex_visualization.scene.Scene.shapes

Definition at line 20 of file scene.py.

yaml

robowflex_visualization.scene.Scene.yaml

Definition at line 40 of file scene.py.

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The documentation for this class was generated from the following file:

• scene.py