Initialize a scene object with the given mesh, pose, and material. Parameters ---------- mesh : trimesh.Trimesh A mesh representing the object's geometry. poses : list of autolab_core.RigidTransform A set of poses, one for each instance of the
(self, mesh, poses=None, raw_pose_data=None, colors=None,
T_obj_world=None,
material=None,
enabled=True)
| 81 | """A scene object which consists as a set of identical objects. |
| 82 | """ |
| 83 | def __init__(self, mesh, poses=None, raw_pose_data=None, colors=None, |
| 84 | T_obj_world=None, |
| 85 | material=None, |
| 86 | enabled=True): |
| 87 | """Initialize a scene object with the given mesh, pose, and material. |
| 88 | |
| 89 | Parameters |
| 90 | ---------- |
| 91 | mesh : trimesh.Trimesh |
| 92 | A mesh representing the object's geometry. |
| 93 | poses : list of autolab_core.RigidTransform |
| 94 | A set of poses, one for each instance of the scene object, |
| 95 | relative to the full object's origin. |
| 96 | raw_pose_data : (4*n,4) float or None |
| 97 | A numpy array containing raw pose data, where each row is a column of a point's |
| 98 | homogenous transform matrix. If not present, poses must be present. |
| 99 | colors : (n,3) float or None |
| 100 | A set of colors for each instanced object. If None, the color specified in material |
| 101 | properties is used for all instances. |
| 102 | T_obj_world : autolab_core.RigidTransform |
| 103 | A rigid transformation from the object's frame to the world frame. |
| 104 | material : MaterialProperties |
| 105 | A set of material properties for the object. |
| 106 | enabled : bool |
| 107 | If False, the object will not be rendered. |
| 108 | """ |
| 109 | |
| 110 | super(InstancedSceneObject, self).__init__(mesh, T_obj_world, material, enabled) |
| 111 | self._poses = poses |
| 112 | self._raw_pose_data = raw_pose_data |
| 113 | |
| 114 | if self._raw_pose_data is None: |
| 115 | if self._poses is None: |
| 116 | raise ValueError('Either poses or raw_pose_data must be specified') |
| 117 | self._raw_pose_data = np.zeros((4*len(self._poses), 4)) |
| 118 | for i, pose in enumerate(self._poses): |
| 119 | self._raw_pose_data[i*4:(i+1)*4,:] = pose.matrix.T |
| 120 | |
| 121 | self._n_instances = self._raw_pose_data.shape[0] // 4 |
| 122 | |
| 123 | self._colors = colors |
| 124 | if self._colors is None: |
| 125 | self._colors = np.tile(material.color, (self._n_instances,1)) |
| 126 | |
| 127 | @property |
| 128 | def poses(self): |