def multiwindow_template(world):
"""Tests multiple windows and views."""
vis.add("world",world)
vp = vis.getViewport()
vp.w,vp.h = 800,800
vis.setViewport(vp)
vis.setWindowTitle("vis.spin test: will close in 5 seconds...")
vis.spin(5.0)
#Now testing ability to re-launch windows
vis.setWindowTitle("Shown again. Close me to proceed.")
vis.spin(float('inf'))
vis.setWindowTitle("Dialog test. Close me to proceed.")
vp = vis.getViewport()
vp.w,vp.h = 400,600
vis.setViewport(vp)
vis.dialog()
vp.w,vp.h = 640,480
vis.setViewport(vp)
for i in range(3):
widgets = GLWidgetPlugin()
widgets.addWidget(RobotPoser(world.robot(0)))
vis.addPlugin(widgets)
vis.setWindowTitle("Split screen test")
vis.spin(float('inf'))
vis.setPlugin(None)
vis.setWindowTitle("Back to normal. Close me to quit.")
vis.dialog()
vis.kill()
def main():
print("============================================================")
print(sys.argv[0] + ": Simulates a robot file and Python controller")
if len(sys.argv) <= 1:
print("USAGE: simtest.py [world_file] [controller files (.py)]")
print("============================================================")
if len(sys.argv) <= 1:
exit()
world = WorldModel()
#load up any world items, control modules, or paths
control_modules = []
for fn in sys.argv[1:]:
path, base = os.path.split(fn)
mod_name, file_ext = os.path.splitext(base)
if file_ext == '.py' or file_ext == '.pyc':
sys.path.append(os.path.abspath(path))
mod = importlib.import_module(mod_name, base)
control_modules.append(mod)
elif file_ext == '.path':
control_modules.append(fn)
else:
res = world.readFile(fn)
if not res:
print("Unable to load model " + fn)
print("Quitting...")
sys.exit(1)
viewer = MyGLViewer(world)
for i, c in enumerate(control_modules):
if isinstance(c, str):
sys.path.append(os.path.abspath("../control"))
import trajectory_controller
#it's a path file, try to load it
controller = trajectory_controller.make(world.robot(i), c)
else:
try:
maker = c.make
except AttributeError:
print("Module", c.__name__, "must have a make() method")
print("Quitting...")
sys.exit(1)
controller = maker(world.robot(i))
viewer.sim.setController(world.robot(i), controller)
vis.setWindowTitle("Klamp't Simulation Tester")
if SPLIT_SCREEN_TEST:
viewer2 = MyGLViewer(world)
vis.setPlugin(viewer)
vis.addPlugin(viewer2)
viewer2.window.broadcast = True
vis.show()
while vis.shown():
time.sleep(0.01)
vis.kill()
else:
vis.run(viewer)
def multiwindow_template(world):
"""Tests multiple windows and views."""
vis.add("world", world)
vp = vis.getViewport()
vp.w, vp.h = 400, 600
vis.setViewport(vp)
vis.addText("label1", "This is Window 1", (20, 20))
vis.setWindowTitle("Window 1")
vis.show()
id1 = vis.getWindow()
print("First window ID:", id1)
id2 = vis.createWindow("Window 2")
vis.add("Lone point", [0, 0, 0])
vis.setViewport(vp)
vis.addText("label1", "This is Window 2", (20, 20))
print("Second window ID:", vis.getWindow())
vis.setWindow(id2)
vis.spin(float('inf'))
#restore back to 1 window, clear the text
vis.setWindow(id1)
vis.clearText()
vp = vis.getViewport()
vp.w, vp.h = 800, 800
vis.setViewport(vp)
vis.setWindowTitle("vis.spin test: will close in 5 seconds...")
vis.spin(5.0)
#Now testing ability to re-launch windows
vis.setWindowTitle("Shown again. Close me to proceed.")
vis.spin(float('inf'))
vis.setWindowTitle("Dialog test. Close me to proceed.")
vp = vis.getViewport()
vp.w, vp.h = 400, 600
vis.setViewport(vp)
vis.dialog()
vp.w, vp.h = 640, 480
vis.setViewport(vp)
for i in range(3):
widgets = GLWidgetPlugin()
widgets.addWidget(RobotPoser(world.robot(0)))
vis.addPlugin(widgets)
vis.setWindowTitle("Split screen test")
vis.spin(float('inf'))
vis.setPlugin(None)
vis.setWindowTitle("Back to normal. Close me to quit.")
vis.dialog()
vis.kill()
if not res:
raise RuntimeError("Unable to load model "+fn)
viewer = MyGLViewer(world)
for i,c in enumerate(control_modules):
if isinstance(c,str):
sys.path.append(os.path.abspath("../control"))
import trajectory_controller
#it's a path file, try to load it
controller = trajectory_controller.make(world.robot(i),c)
else:
try:
maker = c.make
except AttributeError:
print "Module",c.__name__,"must have a make() method"
raise
controller = maker(world.robot(i))
viewer.sim.setController(world.robot(i),controller)
if SPLIT_SCREEN_TEST:
viewer2 = MyGLViewer(world)
vis.setPlugin(viewer)
vis.addPlugin(viewer2)
viewer2.window.broadcast = True
vis.show()
while vis.shown():
time.sleep(0.01)
vis.kill()
else:
vis.run(viewer)
def main():
print(
"================================================================================"
)
print(sys.argv[0] + ": Simulates a robot file and Python controller")
if len(sys.argv) <= 1:
print(
"USAGE: klampt_sim [world_file] [trajectory (.traj/.path) or controller (.py)]"
)
print()
print(
" Try: klampt_sim athlete_plane.xml motions/athlete_flex_opt.path "
)
print(" [run from Klampt-examples/data/]")
print(
"================================================================================"
)
if len(sys.argv) <= 1:
exit()
world = WorldModel()
#load up any world items, control modules, or paths
control_modules = []
for fn in sys.argv[1:]:
path, base = os.path.split(fn)
mod_name, file_ext = os.path.splitext(base)
if file_ext == '.py' or file_ext == '.pyc':
sys.path.append(os.path.abspath(path))
mod = importlib.import_module(mod_name, base)
control_modules.append(mod)
elif file_ext == '.path':
control_modules.append(fn)
else:
res = world.readFile(fn)
if not res:
print("Unable to load model " + fn)
print("Quitting...")
sys.exit(1)
viewer = MyGLViewer(world)
for i, c in enumerate(control_modules):
if isinstance(c, str):
from klampt.control.blocks import trajectory_tracking
from klampt.model.trajectory import RobotTrajectory
from klampt.io import loader
traj = loader.load('Trajectory', c)
rtraj = RobotTrajectory(world.robot(i), traj.times,
traj.milestones)
#it's a path file, try to load it
controller = trajectory_tracking.TrajectoryPositionController(
rtraj)
else:
try:
maker = c.make
except AttributeError:
print("Module", c.__name__, "must have a make() method")
print("Quitting...")
sys.exit(1)
controller = maker(world.robot(i))
viewer.sim.setController(world.robot(i), controller)
vis.setWindowTitle("Klamp't Simulation Tester")
if SPLIT_SCREEN_TEST:
viewer2 = MyGLViewer(world)
vis.setPlugin(viewer)
vis.addPlugin(viewer2)
viewer2.window.broadcast = True
vis.show()
while vis.shown():
time.sleep(0.01)
vis.kill()
else:
vis.run(viewer)
"""
print "Doing a dialog..."
vis.setWindowTitle("Dialog test")
print "calling dialog()"
vis.dialog()
print "Doing a split screen program..."
vp.w, vp.h = 640, 480
vis.setViewport(vp)
for i in range(3):
widgets = GLWidgetPlugin()
widgets.addWidget(RobotPoser(world.robot(0)))
#update the coordinates every time the widget changes
widgets.widgetchangefunc = (lambda self: coordinates.updateFromWorld())
vis.addPlugin(widgets)
vis.setWindowTitle("Split screen test")
vis.show()
while vis.shown():
time.sleep(0.1)
print "Showing a dialog, back to normal..."
vis.setPlugin(None)
vis.dialog()
print "Showing again, back to normal..."
vis.setWindowTitle("Basic visualization test")
vis.show()
while vis.shown():
time.sleep(0.01)
print "Ending klampt.vis visualization."
