rs_opw_kinematics::read_trimesh

Function load_trimesh_from_ply

Source 
pub fn load_trimesh_from_ply(ply_file_path: &str) -> TriMesh
Expand description

Function to load a TriMesh from a PLY file

Examples found in repository?
examples/complete_visible_robot.rs (line 81)
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pub fn create_rx160_robot() -> KinematicsWithShape {
    use rs_opw_kinematics::read_trimesh::{load_trimesh_from_stl, load_trimesh_from_ply };

    // Environment object to collide with.
    let monolith = load_trimesh_from_stl("src/tests/data/object.stl");

    KinematicsWithShape::with_safety(
        // OPW parameters for Staubli RX 160
        Parameters {
            a1: 0.15,
            a2: 0.0,
            b: 0.0,
            c1: 0.55,
            c2: 0.825,
            c3: 0.625,
            c4: 0.11,
            ..Parameters::new()
        },
        // Define constraints directly in degrees, converting internally to radians.
        Constraints::from_degrees(
            [
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -225.0..=225.0,
                -360.0..=360.0,
            ],
            BY_PREV, // Prioritize previous joint position
        ),
        // Joint meshes
        [
            // If your meshes, if offset in .stl file, use Trimesh::transform_vertices,
            // you may also need Trimesh::scale in some extreme cases.
            // If your joints or tool consist of multiple meshes, combine these
            // with Trimesh::append
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_1.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_2.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_3.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_4.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_5.stl"),
            load_trimesh_from_stl("src/tests/data/staubli/rx160/link_6.stl"),
        ],
        // Base link mesh
        load_trimesh_from_stl("src/tests/data/staubli/rx160/base_link.stl"),
        // Base transform, this is where the robot is standing
        Isometry3::from_parts(
            Translation3::new(0.4, 0.7, 0.0).into(),
            UnitQuaternion::identity(),
        ),
        // Tool mesh. Load it from .ply file for feature demonstration
        load_trimesh_from_ply("src/tests/data/flag.ply"),
        // Tool transform, tip (not base) of the tool. The point past this
        // transform is known as tool center point (TCP).
        Isometry3::from_parts(
            Translation3::new(0.0, 0.0, 0.5).into(),
            UnitQuaternion::identity(),
        ),
        // Objects around the robot, with global transforms for them.
        vec![
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(-1., 0., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., 1., 0.),
            },
            CollisionBody {
                mesh: monolith.clone(),
                pose: Isometry3::translation(0., -1., 0.),
            },
        ],
        SafetyDistances {
            to_environment: 0.05,   // Robot should not come closer than 5 cm to pillars
            to_robot_default: 0.05, // No closer than 5 cm to itself.
            special_distances: SafetyDistances::distances(&[
                // Due construction of this robot, these joints are very close, so
                // special rules are needed for them.
                ((J2, J_BASE), NEVER_COLLIDES), // base and J2 cannot collide
                ((J3, J_BASE), NEVER_COLLIDES), // base and J3 cannot collide
                ((J2, J4), NEVER_COLLIDES),
                ((J3, J4), NEVER_COLLIDES),
                ((J4, J_TOOL), 0.02_f32), // reduce distance requirement to 2 cm.
                ((J4, J6), 0.02_f32),     // reduce distance requirement to 2 cm.
            ]),
            mode: CheckMode::AllCollsions, // we need to report all for visualization
            // mode: CheckMode::NoCheck, // this is very fast but no collision check
        },
    )
}