def edit_template(world):
"""Shows how to pop up a visualization window with a world in which the robot configuration and a transform can be edited"""
#add the world to the visualizer
vis.add("world",world)
xform = se3.identity()
vis.add("transform",xform)
robotPath = ("world",world.robot(0).getName()) #compound item reference: refers to robot 0 in the world
vis.edit(robotPath)
vis.edit("transform")
#This prints how to get references to items in the visualizer
print("Visualization items:")
vis.listItems(indent=2)
vis.setWindowTitle("Visualization editing test")
if not MULTITHREADED:
vis.loop(setup=vis.show)
else:
vis.show()
while vis.shown():
vis.lock()
#TODO: you may modify the world here.
vis.unlock()
time.sleep(0.01)
print("Resulting configuration",vis.getItemConfig(robotPath))
print("Resulting transform (config)",vis.getItemConfig("transform")) # this is a vector describing the item parameters
xform = list(xform) #convert se3 element from tuple to list
config.setConfig(xform,vis.getItemConfig("transform"))
print("Resulting transform (se3)",xform)
#quit the visualization thread nicely
vis.kill()
#creates a world and loads all the items on the command line
world = WorldModel()
for fn in sys.argv[1:]:
res = world.readFile(fn)
if not res:
raise RuntimeError("Unable to load model "+fn)
robot = world.robot(0)
endeffectors = [robot.numLinks()-1]
#(res,val) = editors.run(editors.SelectionEditor("endeffectors",endeffectors,description="End effector links",world=world,robot=robot))
#if res:
# print "Return value",val
# endeffectors = val
vis.add("world",world)
vis.listItems()
vis.setColor(("world",world.robot(0).getName()),1,1,0,1)
coordinates.setRobotModel(robot)
eenames = [robot.link(e).getName() for e in endeffectors]
eeobjectives = []
for e in endeffectors:
f = coordinates.frame(robot.link(e).getName())
fw = coordinates.addFrame(robot.link(e).getName()+"_tgt",robot.link(e).getTransform())
assert f != None
vis.add("ee_"+robot.link(e).getName(),fw)
vis.edit("ee_"+robot.link(e).getName())
obj = coordinates.ik_fixed_objective(f)
eeobjectives.append(obj)
#this tests the cartesian interpolation stuff
print "***** BEGINNING CARTESIAN INTERPOLATION TEST *****"
vp = vis.getViewport()
vp.w, vp.h = 1500, 1100
vis.setViewport(vp)
## Create robot object. Change the class to the desired robot.
## Also, make sure the robot class corresponds to the robot in simpleWorld.xml file
robot = unicycle(world.robot(0), "unicycle", vis)
robot.setAltitude(0.1)
## Display the world coordinate system
vis.add("WCS", [so3.identity(), [0, 0, 0]])
vis.setAttribute("WCS", "size", 12)
print "Visualization items:"
vis.listItems(indent=2)
#vis.autoFitCamera()
vis.addText("textCol", "No collision")
vis.setAttribute("textCol", "size", 24)
collisionFlag = False
collisionChecker = collide.WorldCollider(world)
## On-screen text display
vis.addText("textConfig", "Robot configuration: ")
vis.setAttribute("textConfig", "size", 24)
vis.addText("textbottom", "WCS: X-axis Red, Y-axis Green, Z-axis Blue",
(20, -30))
print "Starting visualization window#..."
## Run the visualizer, which runs in a separate thread
