/manipulation-data

Media and data files associated with the manipulation textbook (in the manipulation repo)

Primary LanguageHTMLBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

manipulation-data

Media and data files associated with the manipulation textbook (in the manipulation repo)

Note: with two-factor authentication, I need to use the token instead of the password to push to https from the command line.

matplotlib animations

I've been adding a little javascript

    function getParameterByName(name) {
      name = name.replace(/[\[]/, "\\[").replace(/[\]]/, "\\]");
      var regex = new RegExp("[\\?&]" + name + "=([^&#]*)"),
        results = regex.exec(location.search);
      return results == null ? "" : decodeURIComponent(results[1].replace(/\+/g, " "));
    }
    var height=getParameterByName("height")
    if (height) {
      document.getElementById(img_id).style.height = height;
    }

just after the line starting with var img_id = so that I can control the size from the iframe. Then I pass ?height=240px into the iframe url.

SVGs

To resize the SVGs I got out of matplotlib plt.savefig("filename.svg"), I opened them in Inkscape, ungrouped the main group. Selected the important objects, and did Edit>Resize Page to Selection. Then saved. It's useful to remember plt.rcParams.update({"savefig.transparent": True}).

I've also made a few figures in slides.com by exporting the presentation to pdf, cropping in acrobat, then converting to SVG with pdf2svg.

Even for omnigraffle, I've had better luck using Times Italic fonts and exporting to pdf, then converting via pdf2svg.

Matplotlib animations

I have AdvanceToAndSaveAnimation in underactuated/pyplot_visualizer.py that shows the way.

Meshcat animations

To make meshcat animations save to html, the workflow (at least with MeshcatVisualizer) is roughly:

meshcat.SetProperty('/Background', 'visible', False)
meshcat.StartRecording()
simulator.AdvanceTo(args.duration)
meshcat.PublishRecording()
f = open("animation.html", "w")
f.write(meshcat.StaticHtml())
f.close()

Colab

When I generate files on colab, i can download them with

from google.colab import files
files.download("animation.html")

To make collision geometry figures

run drake_visualizer and e.g. ./bazel-bin/manipulation/util/geometry_inspector --visualize_collisions --find_resource drake/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf

I can set the background to white in View->Properties Panel