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Fixes for python cameras example
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@costashatz
costashatz committed Aug 26, 2024
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17 changes: 9 additions & 8 deletions docs/faq/index.html
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Expand Up @@ -1995,10 +1995,11 @@ <h2 id="how-can-i-attach-a-camera-to-a-moving-link"><strong>How can I attach a c
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<div class="highlight"><pre><span></span><code><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a><span class="n">tf</span> <span class="o">=</span> <span class="n">dartpy</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">Isometry3</span><span class="p">()</span>
<a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a><span class="n">rot</span> <span class="o">=</span> <span class="n">dartpy</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">AngleAxis</span><span class="p">(</span><span class="mf">3.14</span><span class="p">,</span> <span class="p">[</span><span class="mf">1.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>
<a id="__codelineno-23-3" name="__codelineno-23-3" href="#__codelineno-23-3"></a><span class="n">rot</span> <span class="o">=</span> <span class="n">rot</span><span class="o">.</span><span class="n">multiply</span><span class="p">(</span> <span class="n">dartpy</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">AngleAxis</span><span class="p">(</span><span class="mf">1.57</span><span class="p">,</span> <span class="p">[</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">]))</span><span class="o">.</span><span class="n">to_rotation_matrix</span><span class="p">()</span>
<a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a><span class="n">rot</span> <span class="o">=</span> <span class="n">dartpy</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">AngleAxis</span><span class="p">(</span><span class="mf">3.14</span><span class="p">,</span> <span class="p">[</span><span class="mf">1.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>
<a id="__codelineno-23-3" name="__codelineno-23-3" href="#__codelineno-23-3"></a><span class="n">rot</span> <span class="o">=</span> <span class="n">rot</span><span class="o">.</span><span class="n">multiply</span><span class="p">(</span><span class="n">dartpy</span><span class="o">.</span><span class="n">math</span><span class="o">.</span><span class="n">AngleAxis</span><span class="p">(</span><span class="mf">1.57</span><span class="p">,</span> <span class="p">[</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">]))</span><span class="o">.</span><span class="n">to_rotation_matrix</span><span class="p">()</span>
<a id="__codelineno-23-4" name="__codelineno-23-4" href="#__codelineno-23-4"></a><span class="n">tf</span><span class="o">.</span><span class="n">set_translation</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">])</span>
<a id="__codelineno-23-5" name="__codelineno-23-5" href="#__codelineno-23-5"></a><span class="n">camera</span><span class="o">.</span><span class="n">attach_to_body</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">body_node</span><span class="p">(</span><span class="s2">&quot;iiwa_link_ee&quot;</span><span class="p">),</span> <span class="n">tf</span><span class="p">)</span> <span class="c1"># cameras are looking towards -z by default</span>
<a id="__codelineno-23-5" name="__codelineno-23-5" href="#__codelineno-23-5"></a><span class="n">tf</span><span class="o">.</span><span class="n">set_rotation</span><span class="p">(</span><span class="n">rot</span><span class="p">)</span>
<a id="__codelineno-23-6" name="__codelineno-23-6" href="#__codelineno-23-6"></a><span class="n">camera</span><span class="o">.</span><span class="n">attach_to_body</span><span class="p">(</span><span class="n">robot</span><span class="o">.</span><span class="n">body_node</span><span class="p">(</span><span class="s2">&quot;iiwa_link_ee&quot;</span><span class="p">),</span> <span class="n">tf</span><span class="p">)</span> <span class="c1"># cameras are looking towards -z by default</span>
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Expand Down Expand Up @@ -2034,11 +2035,11 @@ <h2 id="how-can-i-manipulate-the-camera-object"><strong>How can I manipulate the
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<div class="highlight"><pre><span></span><code><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a><span class="n">camera</span><span class="o">.</span><span class="n">camera</span><span class="p">()</span><span class="o">.</span><span class="n">set_camera_params</span><span class="p">(</span><span class="mf">5.</span><span class="p">,</span> <span class="c1">#far plane</span>
<a id="__codelineno-27-2" name="__codelineno-27-2" href="#__codelineno-27-2"></a> <span class="mf">0.01</span><span class="p">,</span> <span class="c1">#near plane</span>
<a id="__codelineno-27-3" name="__codelineno-27-3" href="#__codelineno-27-3"></a> <span class="mf">60.0</span><span class="p">,</span> <span class="c1"># field of view</span>
<a id="__codelineno-27-4" name="__codelineno-27-4" href="#__codelineno-27-4"></a> <span class="mi">600</span><span class="p">,</span> <span class="c1"># width</span>
<a id="__codelineno-27-5" name="__codelineno-27-5" href="#__codelineno-27-5"></a> <span class="mi">400</span><span class="p">)</span> <span class="c1">#height</span>
<div class="highlight"><pre><span></span><code><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a><span class="n">camera</span><span class="o">.</span><span class="n">camera</span><span class="p">()</span><span class="o">.</span><span class="n">set_camera_params</span><span class="p">(</span><span class="mf">5.</span><span class="p">,</span> <span class="c1"># far plane</span>
<a id="__codelineno-27-2" name="__codelineno-27-2" href="#__codelineno-27-2"></a> <span class="mf">0.01</span><span class="p">,</span> <span class="c1"># near plane</span>
<a id="__codelineno-27-3" name="__codelineno-27-3" href="#__codelineno-27-3"></a> <span class="mf">60.0</span><span class="p">,</span> <span class="c1"># field of view</span>
<a id="__codelineno-27-4" name="__codelineno-27-4" href="#__codelineno-27-4"></a> <span class="mi">600</span><span class="p">,</span> <span class="c1"># width</span>
<a id="__codelineno-27-5" name="__codelineno-27-5" href="#__codelineno-27-5"></a> <span class="mi">400</span><span class="p">)</span> <span class="c1"># height</span>
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2 changes: 1 addition & 1 deletion docs/search/search_index.json
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2 changes: 1 addition & 1 deletion src/docs/include/macros.py
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2 changes: 1 addition & 1 deletion src/examples/python/cameras.py
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Expand Up @@ -3,7 +3,7 @@
import dartpy
robot = rd.Iiwa()

ctrl = [-0.3, np.pi/3, 0.2, -np.pi/4, 0., 0., -0.6]
ctrl = [-0.3, np.pi / 3., 0.2, -np.pi / 4., 0., 0., -0.6]
controller = rd.PDControl(ctrl)
robot.add_controller(controller)
controller.set_pd(500., 50.)
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