scripts/geometric_shapes.py

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# Datas for compare_convex_box
from gepetto import Quaternion
from gepetto.corbaserver import Client
 
 
def translate(tr, t, d):
    return [tr[i] + d * t[i] for i in range(3)] + tr[3:]
 
 
cl = Client()
try:
    cl.gui.getWindowID("fcl")
except Exception:
    cl.gui.createWindow("fcl")
 
cl.gui.addBox("fcl/b0", 2, 2, 2, [1, 0, 0, 0.5])
cl.gui.addBox("fcl/b1", 2, 2, 2, [0, 1, 0, 0.5])
cl.gui.setWireFrameMode("fcl/b1", "WIREFRAME")
cl.gui.addBox("fcl/b1_0", 2, 2, 2, [0, 0, 1, 0.5])
cl.gui.addBox("fcl/b1_1", 2, 2, 2, [0, 0.5, 1, 0.5])
 
cl.gui.addSphere("fcl/p0", 0.01, [1, 0, 1, 1])
cl.gui.addSphere("fcl/p1", 0.01, [0, 1, 1, 1])
 
cl.gui.addArrow("fcl/n0", 0.01, 1.0, [1, 0, 1, 1])
cl.gui.addArrow("fcl/n1", 0.01, 1.0, [0, 1, 1, 1])
 
eps = 0.0
d0 = 1.5183589910964868 + eps
n0 = [0.0310588, 0.942603, -0.332467]
d1 = 1.7485932899646754 + eps
n1 = [0.132426, -0.0219519, -0.99095]
 
qn0 = Quaternion()
qn1 = Quaternion()
qn0.fromTwoVector([1, 0, 0], n0)
qn1.fromTwoVector([1, 0, 0], n1)
 
pb1 = [0.135584, 0.933659, 0.290395, 0.119895, 0.977832, -0.164725, 0.0483272]
pb1_0 = translate(pb1, n0, d0)
pb1_1 = translate(pb1, n1, -d1)
cl.gui.applyConfiguration("fcl/b1", pb1)
cl.gui.applyConfiguration("fcl/b1_0", pb1_0)
cl.gui.applyConfiguration("fcl/b1_1", pb1_1)
 
cl.gui.applyConfigurations(
    ["fcl/p0", "fcl/p1"],
    [
        [0.832569, 0.259513, -0.239598, 0, 0, 0, 1],
        [-0.879579, 0.719545, 0.171906, 0, 0, 0, 1],
    ],
)
cl.gui.applyConfigurations(
    ["fcl/n0", "fcl/n1"],
    [
        (
            0.832569,
            0.259513,
            -0.239598,
        )
        + qn0.toTuple(),
        (
            -0.879579,
            0.719545,
            0.171906,
        )
        + qn1.toTuple(),
    ],
)
 
cl.gui.refresh()