bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
from pathlib import Path
|
|
from .message import bright, info, error, warning
|
|
from .processor import Processor
|
|
from .config import Config
|
|
from .robot import Robot, Part
|
|
from .geometry import Mesh
|
|
import numpy as np
|
|
|
|
|
|
class ProcessorCollisionAsVisual(Processor):
|
|
"""
|
|
This processor will update the part mesh and shapes to turn every collision into visual.
|
|
|
|
Can be useful for debugging
|
|
"""
|
|
|
|
def __init__(self, config: Config):
|
|
super().__init__(config)
|
|
|
|
# OpenSCAD pure shapes
|
|
self.collisions_as_visual: bool = config.get("collisions_as_visual", False)
|
|
|
|
def process(self, robot: Robot):
|
|
"""
|
|
Runs the processor
|
|
"""
|
|
if self.collisions_as_visual:
|
|
print(info("+ Converting collisions to visual"))
|
|
for link in robot.links:
|
|
for part in link.parts:
|
|
for mesh in part.meshes:
|
|
mesh.visual = mesh.collision
|
|
for shape in part.shapes:
|
|
shape.visual = shape.collision
|
|
part.prune_unused_geometry()
|