def __init__(self, world, robot):
GLWidgetPlugin.__init__(self)
self.world = world
self.robot = robot
assert robot.index == 0, "Can only work with the 0'th robot in the world"
self.resolution = RedundancyResolutionGraph(world)
self.mode = 'interpolate'
self.configs = None
self.folder = None
self.settings = None
self.drawWorkspaceRoadmap = False
self.solveConstraint = True
self.clippingplanes = (0.1, 50)
self.rotationAsDepth = False
self.pointWidget = PointPoser()
self.xformWidget = TransformPoser()
self.roadmapDisplayList = CachedGLObject()
self.disconnectionDisplayList = CachedGLObject()
self.movie_frame = None
self.movie_rotate = False
self.walk_path = None
self.walk_workspace_path = None
self.walk_progress = None
self.temp_config = None
self.useboundary = None
def __init__(self, world):
GLWidgetPlugin.__init__(self)
self.world = world
self.poseWidget = PointPoser()
self.robotWidget = RobotPoser(world.robot(0))
self.addWidget(self.poseWidget)
self.addWidget(self.robotWidget)
def __init__(self,world):
GLWidgetPlugin.__init__(self)
self.world = world
self.poseWidget = PointPoser()
self.robotWidget = RobotPoser(world.robot(0))
self.addWidget(self.poseWidget)
self.addWidget(self.robotWidget)
self.add_action(self.print_config,'Print config',' ')
self.add_action(self.save_world,'Save world','s')
def __init__(self,taskGen):
GLWidgetPlugin.__init__(self)
self.world = taskGen.world
self.sendMilestone = False
self.initialPose = False
self.tuckArmPose = False
self.selectedLimb = "both"
self.gripperControl = False
self.gripperState = "open"
self.trackPosition = False
self.trackPosition_lastState = False
def __init__(self, world):
GLWidgetPlugin.__init__(self)
self.world = world
self.robot = world.robot(0)
self.subrobots = []
for i in range(6):
self.subrobots.append(
SubRobotModel(self.robot, list(range(6 + i * 6, 12 + i * 6))))
(res, val) = editors.run(
editors.SelectionEditor("subrobot",
self.subrobots[0]._links,
description="sub robot links",
world=world,
robot=self.robot))
if res:
print("Return value", val)
self.subrobots[0]._links = val
self.startConfig = self.robot.getConfig()
self.robotWidget = RobotPoser(world.robot(0))
self.robotWidget.setActiveDofs(self.subrobots[0]._links)
self.addWidget(self.robotWidget)
def __init__(self, world, object):
GLWidgetPlugin.__init__(self)
from klampt.model.collide import WorldCollider
from klampt.plan.rigidobjectcspace import RigidObjectCSpace
from klampt import ObjectPoser
self.world = world
self.object = object
self.space = RigidObjectCSpace(object, collider=WorldCollider(world))
self.costFunction = None
self.start = None
self.goal = None
self.startWidget = ObjectPoser(self.object)
self.goalWidget = ObjectPoser(self.object)
self.addWidget(self.startWidget)
self.addWidget(self.goalWidget)
self.optimizingPlanner = True
self.path = []
self.G = None
def __init__(self, taskGen):
GLWidgetPlugin.__init__(self)
self.world = taskGen.world
self.sendMilestone = False
self.initialPose = False