A complete description of an object in a Scene. This includes its geometry (represented as a Trimesh), its pose in the world, and its material properties.
| 6 | from .material import MaterialProperties |
| 7 | |
| 8 | class SceneObject(object): |
| 9 | """A complete description of an object in a Scene. |
| 10 | |
| 11 | This includes its geometry (represented as a Trimesh), its pose in the world, |
| 12 | and its material properties. |
| 13 | """ |
| 14 | |
| 15 | def __init__(self, mesh, |
| 16 | T_obj_world=None, |
| 17 | material=None, |
| 18 | enabled=True): |
| 19 | """Initialize a scene object with the given mesh, pose, and material. |
| 20 | |
| 21 | Parameters |
| 22 | ---------- |
| 23 | mesh : trimesh.Trimesh |
| 24 | A mesh representing the object's geometry. |
| 25 | T_obj_world : autolab_core.RigidTransform |
| 26 | A rigid transformation from the object's frame to the world frame. |
| 27 | material : MaterialProperties |
| 28 | A set of material properties for the object. |
| 29 | enabled : bool |
| 30 | If False, the object will not be rendered. |
| 31 | """ |
| 32 | if not isinstance(mesh, Trimesh): |
| 33 | raise ValueError('mesh must be an object of type Trimesh') |
| 34 | if T_obj_world is None: |
| 35 | T_obj_world = RigidTransform(from_frame='obj', to_frame='world') |
| 36 | if material is None: |
| 37 | material = MaterialProperties() |
| 38 | if material.smooth: |
| 39 | mesh = mesh.smoothed() |
| 40 | |
| 41 | self._mesh = mesh |
| 42 | self._material = material |
| 43 | self.T_obj_world = T_obj_world |
| 44 | self._enabled = True |
| 45 | |
| 46 | @property |
| 47 | def enabled(self): |
| 48 | """bool: If False, the object will not be rendered. |
| 49 | """ |
| 50 | return self._enabled |
| 51 | |
| 52 | @enabled.setter |
| 53 | def enabled(self, enabled): |
| 54 | self._enabled = enabled |
| 55 | |
| 56 | @property |
| 57 | def mesh(self): |
| 58 | """trimesh.Trimesh: A mesh representing the object's geometry. |
| 59 | """ |
| 60 | return self._mesh |
| 61 | |
| 62 | @property |
| 63 | def material(self): |
| 64 | """MaterialProperties: A set of material properties for the object. |
| 65 | """ |