visualization¶
Classes for visualizing grasps and 3D models, extending the Berkeley AUTOLAB visualization module.
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class
dexnet.visualization.
DexNetVisualizer2D
¶ Dex-Net extension of the base pyplot 2D visualization tools
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static
grasp
(grasp, color=’r’, arrow_len=4, arrow_head_len=2, arrow_head_width=3, arrow_width=1, jaw_len=3, jaw_width=3.0, grasp_center_size=7.5, grasp_center_thickness=2.5, grasp_center_style=’+’, grasp_axis_width=1, grasp_axis_style=’–’, line_width=8.0, show_center=True, show_axis=False, scale=1.0)¶ Plots a 2D grasp with arrow and jaw style using matplotlib
Parameters: - grasp (
Grasp2D
) – 2D grasp to plot - color (
str
) – color of plotted grasp - arrow_len (float) – length of arrow body
- arrow_head_len (float) – length of arrow head
- arrow_head_width (float) – width of arrow head
- arrow_width (float) – width of arrow body
- jaw_len (float) – length of jaw line
- jaw_width (float) – line width of jaw line
- grasp_center_thickness (float) – thickness of grasp center
- grasp_center_style (
str
) – style of center of grasp - grasp_axis_width (float) – line width of grasp axis
- grasp_axis_style (:obj:`str) – style of grasp axis line
- show_center (bool) – whether or not to plot the grasp center
- show_axis (bool) – whether or not to plot the grasp axis
- grasp (
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static
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class
dexnet.visualization.
DexNetVisualizer3D
¶ Dex-Net extension of the base Mayavi-based 3D visualization tools
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static
grasp
(grasp, T_obj_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=obj, to_frame=world), tube_radius=0.002, endpoint_color=(0, 1, 0), endpoint_scale=0.004, grasp_axis_color=(0, 1, 0))¶ Plots a grasp as an axis and center.
Parameters: - grasp (
dexnet.grasping.Grasp
) – the grasp to plot - T_obj_world (
autolab_core.RigidTransform
) – the pose of the object that the grasp is referencing in world frame - tube_radius (float) – radius of the plotted grasp axis
- endpoint_color (3-tuple) – color of the endpoints of the grasp axis
- endpoint_scale (3-tuple) – scale of the plotted endpoints
- grasp_axis_color (3-tuple) – color of the grasp axis
- grasp (
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static
gripper
(gripper, grasp, T_obj_world, color=(0.5, 0.5, 0.5))¶ Plots a robotic gripper in a pose specified by a particular grasp object.
Parameters: - gripper (
dexnet.grasping.RobotGripper
) – the gripper to plot - grasp (
dexnet.grasping.Grasp
) – the grasp to plot the gripper performing - T_obj_world (
autolab_core.RigidTransform
) – the pose of the object that the grasp is referencing in world frame - color (3-tuple) – color of the gripper mesh
- gripper (
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static
gripper_on_object
(gripper, grasp, obj, stable_pose=None, T_table_world=RigidTransform(rotation=[[ 1. 0. 0.] [ 0. 1. 0.] [ 0. 0. 1.]], translation=[ 0. 0. 0.], from_frame=table, to_frame=world), gripper_color=(0.5, 0.5, 0.5), object_color=(0.5, 0.5, 0.5), style=’surface’, plot_table=True, table_dim=0.15)¶ Visualize a gripper on an object.
Parameters: - gripper (
dexnet.grasping.RobotGripper
) – gripper to plot - grasp (
dexnet.grasping.Grasp
) – grasp to plot the gripper in - obj (
dexnet.grasping.GraspableObject3D
) – 3D object to plot the gripper on - stable_pose (
meshpy.StablePose
orautolab_core.RigidTransform
) – stable pose of the object on a planar worksurface - T_table_world (
autolab_core.RigidTransform
) – pose of table, specified as a transformation from mesh frame to world frame - gripper_color (3-tuple) – color of the gripper mesh
- object_color (3-tuple) – color of the object mesh
- style (
str
) – color of the object mesh - plot_table (bool) – whether or not to plot the table
- table_dim (float) – dimension of the table
- gripper (
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static