Real-Time Physics Simulation Forum 2022-05-19T12:04:38+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13437 2022-05-19T12:04:38+00:00 2022-05-19T12:04:38+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44019#p44019 <![CDATA[Re: Link number limit in createVisualShapeArray]]>
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Statistics: Posted by everglow0214 — Thu May 19, 2022 12:04 pm

]]> 2022-05-19T11:53:55+00:00 2022-05-19T11:53:55+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=44018#p44018 <![CDATA[Link number limit in createVisualShapeArray]]> createVisualShapeArray? I want to add some visualization of occupancy grid map in PyBullet. However, only a few grids can be shown. Here are my codes, where the variable grid_map is a 3-dimensional numpy array.

Code: 

ground_idxs = np.argwhere(grid_map[0:1,:] >= 50)num_ground_idxs = ground_idxs.shape[0]        shapeTypes_ground = [p.GEOM_BOX for _ in range(num_ground_idxs)]half_size = [resolution/2, resolution/2, resolution/2]halfExtents_ground = [half_size for _ in range(num_ground_idxs)]visualFramePositions_ground =\    (np.flip(ground_idxs,axis=1) + 0.5) * resolution + np.array(bbx_min)visualGroundId = p.createVisualShapeArray(    shapeTypes = shapeTypes_ground,    halfExtents = halfExtents_ground,    visualFramePositions = visualFramePositions_ground.tolist())mb_id = p.createMultiBody(    baseMass = 0,    baseVisualShapeIndex = visualGroundId,    basePosition = [0,0,0])p.changeVisualShape(mb_id, -1, rgbaColor=[0, 0.5, 0, 0.5])
The grid map is in the order of Z-Y-X. In this code, I would like to plot the grids that indicate the ground. So I used

Code: 

np.argwhere(grid_map[0:1,:] >= 50)
The size of ground_idxs is 563. But only less than 20 grids are shown properly.

Thanks~

Statistics: Posted by everglow0214 — Thu May 19, 2022 11:53 am

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