Choreonoid Python Module (AssimpPlugin)

cnoid.AssimpPlugin

Choreonoid Assimp Utility module

class cnoid.AssimpPlugin.AssimpSceneLoader

Bases: pybind11_object

AssimpSceneLoader : loading mesh file as a scene for Util/SceneGraph in choreonoid using Assimp ( https://github.com/assimp/assimp )

__init__(self: cnoid.AssimpPlugin.AssimpSceneLoader) → None

load(self: cnoid.AssimpPlugin.AssimpSceneLoader, arg0: str) → cnoid.Util.SgNode

Loading a mesh file using Assimp ( https://github.com/assimp/assimp )

Parameters:

filename (str) – Filename to be loaded

Returns:

Root object of loaded mesh

Return type:

cnoid.Util.SgGroup

setCreaseAngle(self: cnoid.AssimpPlugin.AssimpSceneLoader, arg0: float) → None

Setting creaseAngle

Parameters:

angle (float) – Set creaseAngle

setForceGenerateNormals(self: cnoid.AssimpPlugin.AssimpSceneLoader, arg0: bool) → None

Setting flag for generating normals, even if the original mesh has normals

Parameters:

on (boolean) – If True, forcing to generate normals

setMessageSinkStdErr(self: cnoid.AssimpPlugin.AssimpSceneLoader) → None

Setting MessageSkin to stderr. It is required to read error messages in console

Parameters:

None –

class cnoid.AssimpPlugin.AssimpSceneWriter

Bases: pybind11_object

AssimpSceneWriter : Saving a scene for Util/SceneGraph in choreonoid as a mesh file using Assimp ( https://github.com/assimp/assimp )

__init__(self: cnoid.AssimpPlugin.AssimpSceneWriter) → None

generatePrimitiveMesh(self: cnoid.AssimpPlugin.AssimpSceneWriter, arg0: bool) → None

Setting for generating meshes for primitives

Parameters:

on (boolean) – If True, this scene writer generates a mesh file including meshes converted from primitive type

ignoreURDFPrimitive(self: cnoid.AssimpPlugin.AssimpSceneWriter, arg0: bool) → None

Setting for ignoring primitives used in URDF

Parameters:

on (boolean) – If True, this scene writer ignore primitive type in URDF(Box, Cylinder, Sphere)

property outputType

Setting output type of saving mesh. If not set, output type is determined from filename. For saving mesh as ‘stl’, you shoud set outputType = ‘stlb’, if you want a stl binary file.

Parameters:

output_type (str) – output type to be set

Returns

str : Current output type

setExpandVertices(self: cnoid.AssimpPlugin.AssimpSceneWriter, arg0: bool) → None

Expanding vertices to represent that each vertices has a normal

Parameters:

on (boolean) – If True, expanding vertices

setMessageSinkStdErr(self: cnoid.AssimpPlugin.AssimpSceneWriter) → None

Setting MessageSkin to stderr. It is required to read error messages in console

Parameters:

None –

setVerbose(self: cnoid.AssimpPlugin.AssimpSceneWriter, arg0: bool) → None

Setting debug message level

Parameters:

on (boolean) – Set debug message level

writeScene(self: cnoid.AssimpPlugin.AssimpSceneWriter, arg0: str, arg1: cnoid.Util.SgNode) → bool

Writing scene as a mesh file using Assimp ( https://github.com/assimp/assimp )

Parameters:

• filename (str) – Filename to be saved

• node (cnoid.Util.SgNode) – An object of SceneGraph to be saved

Returns:

If the process succeeds, True is returned.

Return type:

boolean

cnoid.AssimpPlugin.registerAssimpSceneLoader() → None