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Moveit to tmkit #16

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Moveit to tmkit #16

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37ce51d
Modified package and method definitions to expose moveit scene file p…
cannontwo Apr 24, 2017
5c7719d
Moved moveit-to-tmkit files
cannontwo May 1, 2017
f3ed1a2
Cleaned up scene stuff
cannontwo May 2, 2017
421dc6b
Fixed reparenting to not be box1 specific
cannontwo May 2, 2017
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2 changes: 1 addition & 1 deletion lisp/amino-rx.asd
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@
(:file "rx/lexer" :depends-on ("rx/util"))
(:file "rx/inex" :depends-on ("rx/util"))
(:file "rx/scenefile/curly" :depends-on ("rx/scenegraph" "rx/mesh" "rx/lexer" "rx/inex"))
;(:file "rx/scenefile/moveit" :depends-on ("rx/scenegraph" "rx/mesh"))
(:file "rx/scenefile/moveit" :depends-on ("rx/scenegraph" "rx/mesh"))
(:file "rx/scenefile/scenefile"
:depends-on ("rx/scenefile/urdf" "rx/scenefile/curly"))
(:file "rx/animate" :depends-on ("rx/scenegraph" "rx/povray"))
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23 changes: 23 additions & 0 deletions lisp/moveit-to-tmkit/moveit-to-tmkit.lisp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
(load "~/tmkit/load.lisp")

(in-package robray)

(require :amino-rx)

(defparameter *robray-tmp-directory* "/tmp/amino")

(defun reparent (parent-frame frame scene-graph)
(setf scene-graph (robray::scene-graph-reparent scene-graph parent-frame frame)))

;; Loading Moveit scene into robray, with reparenting, etc.
(defun moveit-to-tmkit (moveit-file &optional (out-file "~/out.robray"))
(let* ((moveit-graph (robray::load-moveit-scene moveit-file)))
(progn
(robray::scene-graph-f moveit-graph (scene-frame-fixed nil "null-frame"))
(robray::map-scene-graph-frames nil #'(lambda (frame) (setf moveit-graph (robray::reparent "null-frame" (robray::scene-frame-name frame) moveit-graph))) moveit-graph)
;; Annotate frame box1 with type moveable
(with-open-file (stream out-file
:direction :output
:if-exists :supersede
:if-does-not-exist :create)
(format stream (sycamore:rope-string (sycamore:rope moveit-graph)))))))
3 changes: 3 additions & 0 deletions lisp/rx/robray-package.lisp
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Expand Up @@ -102,4 +102,7 @@
:motion-plan-endpoint-map
:motion-plan-endpoint-array

;; scenegraph parsing
:load-moveit-scene

))
2 changes: 1 addition & 1 deletion lisp/rx/scenefile/moveit.lisp
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Expand Up @@ -140,7 +140,7 @@
(vec3 translation))
:geometry (scene-geometry-box (draw-options-default :color (subseq rgba 0 3)
:alpha (elt rgba 3))
(scene-box size))))))
size)))))
(parse-mesh (name)
(destructuring-bind (vertex-count face-count)
(int-line)
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