def loadedItem(self, fn, obj):
if fn in self.active:
print("klampt_browser: Re-loaded item", fn,
"so I'm first removing it")
self.remove(fn)
assert fn not in self.active
item = ResourceItem(obj)
self.active[fn] = item
item.plugin = GLVisualizationPlugin()
basename = os.path.basename(fn)
#determine whether it's being animated
if isinstance(obj, Trajectory) and len(obj.milestones) > 0:
d = len(obj.milestones[0])
if self.world.numRobots() > 0 and d == self.world.robot(
0).numLinks():
obj = RobotTrajectory(self.world.robot(0), obj.times,
obj.milestones)
robotpath = ('world', self.world.robot(0).getName())
item.animationBuddy = robotpath
elif d == 3:
item.plugin.add("anim_point", [0, 0, 0])
item.animationBuddy = "anim_point"
elif d == 12:
item.plugin.add("anim_xform", se3.identity())
item.animationBuddy = "anim_xform"
else:
print("klampt_browser: Can't interpret trajectory of length",
d)
elif isinstance(obj, MultiPath):
if self.world.numRobots() > 0:
robotpath = ('world', self.world.robot(0).getName())
item.animationBuddy = robotpath
item.plugin.add("world", self.world)
item.plugin.add(basename, obj)
item.plugin.addText("label", basename, position=(10, 10))
try:
type = vis.objectToVisType(obj, self.world)
except:
type = 'unknown'
if type in robot_override_types:
if self.world.numRobots() > 0:
path = ('world', self.world.robot(0).getName())
item.plugin.hide(path)
item.plugin.initialize()
def __init__(self, glwindow=None, parent=None):
QtWidgets.QMainWindow.__init__(self, parent)
# Splitter to show 2 views in same widget easily.
self.splitter = QtWidgets.QSplitter()
# The model.
self.model = QtWidgets.QFileSystemModel()
# You can setRootPath to any path.
self.model.setRootPath(QtCore.QDir.rootPath())
# Add filters
filters = []
print("ALLOWABLE FILE EXTENSIONS")
for k, v in loader.extensionToTypes.items():
filters.append("*" + k)
print(" ", k)
filters.append("*.xml")
filters.append("*.json")
filters.append("*.txt")
filters.append("*.obj")
filters.append("*.rob")
filters.append("*.urdf")
filters.append("*.env")
self.model.setNameFilters(filters)
# Create the view in the splitter.
self.view = QtWidgets.QTreeView()
# Set the model of the view.
self.view.setModel(self.model)
#nicer size for columns
self.view.header().resizeSection(0, 200)
self.view.header().resizeSection(1, 75)
self.view.header().resizeSection(2, 75)
self.view.header().resizeSection(3, 150)
# Set the root index of the view as the user's home directory.
#self.view.setRootIndex(self.model.index(QtCore.QDir.homePath()))
self.view.setRootIndex(self.model.index(os.getcwd()))
self.view.setSelectionMode(
QtWidgets.QAbstractItemView.ExtendedSelection)
self.world = WorldModel()
self.tempWorld = WorldModel()
self.active = dict()
self.emptyVisPlugin = GLVisualizationPlugin()
self.emptyVisPlugin.add("world", self.world)
self.emptyVisProgram = None
self.selected = set()
self.visCache = []
self.modified = set()
self.left = QtWidgets.QFrame()
self.right = QtWidgets.QFrame()
self.leftLayout = QtWidgets.QVBoxLayout()
self.left.setLayout(self.leftLayout)
self.upButton = QtWidgets.QPushButton("Up")
self.leftLayout.addWidget(self.upButton)
self.leftLayout.addWidget(self.view)
#visualization configuration
vbuttonLayout = QtWidgets.QHBoxLayout()
self.autoFitCameraButton = QtWidgets.QCheckBox("Auto-fit cameras")
self.lockCameraCheck = QtWidgets.QCheckBox("Lock cameras")
#self.overlayCheck = QtWidgets.QCheckBox("Overlay")
self.maxGridItemsLabel = QtWidgets.QLabel("Grid width")
self.maxGridItems = QtWidgets.QSpinBox()
self.maxGridItems.setRange(3, 15)
self.autoFitCameraButton.setToolTip(
"If checked, the camera is automatically fit the the items in the scene"
)
self.lockCameraCheck.setToolTip(
"If checked, all cameras are navigated simultaneously")
#self.overlayCheck.setTooltip("If checked, all items are drawn on top of one another")
self.maxGridItems.setToolTip(
"Max # height/width in the visualization pane")
vbuttonLayout.addWidget(self.autoFitCameraButton)
vbuttonLayout.addWidget(self.lockCameraCheck)
#vbuttonLayout.addWidget(self.overlayCheck)
vbuttonLayout.addWidget(self.maxGridItemsLabel)
vbuttonLayout.addWidget(self.maxGridItems)
self.leftLayout.addLayout(vbuttonLayout)
#playback
self.timeDriver = QtWidgets.QSlider()
self.timeDriver.setOrientation(QtCore.Qt.Horizontal)
self.timeDriver.setRange(0, 1000)
#self.timeDriver.setSizeHint()
self.playButton = QtWidgets.QPushButton("Play")
self.playButton.setCheckable(True)
self.stopButton = QtWidgets.QPushButton("Stop")
self.playButton.setToolTip(
"Starts/pauses playing any selected animations")
self.stopButton.setToolTip("Stops playing any selected animations")
label = QtWidgets.QLabel("Time")
label.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
vbuttonLayout = QtWidgets.QHBoxLayout()
vbuttonLayout.addWidget(label)
vbuttonLayout.addWidget(self.timeDriver)
vbuttonLayout.addWidget(self.playButton)
vbuttonLayout.addWidget(self.stopButton)
self.leftLayout.addLayout(vbuttonLayout)
#editing
vbuttonLayout = QtWidgets.QHBoxLayout()
self.editButton = QtWidgets.QPushButton("Edit item")
self.saveButton = QtWidgets.QPushButton("Save item")
self.editButton.setToolTip(
"Pops up a dialog to edit the selected item, if available")
self.saveButton.setToolTip("Saves changes to edited items")
self.saveButton.setEnabled(False)
self.createComboBox = QtWidgets.QComboBox()
self.createComboBox.addItem("Create new item...")
for n in create_types:
self.createComboBox.addItem(n)
vbuttonLayout.addWidget(self.editButton)
vbuttonLayout.addWidget(self.saveButton)
vbuttonLayout.addWidget(self.createComboBox)
self.leftLayout.addLayout(vbuttonLayout)
#world configuration
vbuttonLayout = QtWidgets.QHBoxLayout()
self.addButton = QtWidgets.QPushButton("Add to world")
self.clearButton = QtWidgets.QPushButton("Clear world")
self.addButton.setToolTip(
"Adds the selected item(s) to the reference world")
self.clearButton.setToolTip("Clears the reference world")
vbuttonLayout.addWidget(self.addButton)
vbuttonLayout.addWidget(self.clearButton)
self.leftLayout.addLayout(vbuttonLayout)
self.splitter.addWidget(self.left)
self.splitter.addWidget(self.right)
self.splitter.setHandleWidth(7)
self.setCentralWidget(self.splitter)
self.rightLayout = QtWidgets.QVBoxLayout()
self.right.setLayout(self.rightLayout)
if glwindow is None:
self.glwidget = QtGLWindow("viewport")
else:
self.glwidget = glwindow
self.rightLayout.addWidget(self.glwidget)
self.glviewportManager = MyMultiViewportProgram()
self.glwidget.setProgram(self.glviewportManager)
self.glwidget.setParent(self.splitter)
self.glviewportManager.sizePolicy = 'squeeze'
self.glviewportManager.addView(self.emptyVisPlugin)
self.glviewportManager.items = self.active
self.emptyVisProgram = self.glviewportManager.views[-1]
self.glwidget.setFixedSize(QtWidgets.QWIDGETSIZE_MAX,
QtWidgets.QWIDGETSIZE_MAX)
self.glwidget.setSizePolicy(
QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding))
self.glwidget.adjustSize()
self.glwidget.refresh()
self.upButton.clicked.connect(self.onUpClicked)
self.view.selectionModel().selectionChanged.connect(
self.selection_changed)
self.view.doubleClicked.connect(self.onViewDoubleClick)
self.autoFitCameraButton.clicked.connect(self.onAutoFitCamera)
self.maxGridItems.valueChanged.connect(self.maxGridItemsChanged)
self.lockCameraCheck.toggled.connect(self.onLockCamerasToggled)
self.timeDriver.valueChanged.connect(self.timeDriverChanged)
self.playButton.toggled.connect(self.togglePlay)
self.stopButton.clicked.connect(self.stopPlay)
self.editButton.clicked.connect(self.onEditClicked)
self.saveButton.clicked.connect(self.onSaveClicked)
self.createComboBox.currentIndexChanged.connect(
self.onCreateIndexChanged)
self.addButton.clicked.connect(self.onAddClicked)
self.clearButton.clicked.connect(self.onClearClicked)
class ResourceBrowser(QtWidgets.QMainWindow):
def __init__(self, glwindow=None, parent=None):
QtWidgets.QMainWindow.__init__(self, parent)
# Splitter to show 2 views in same widget easily.
self.splitter = QtWidgets.QSplitter()
# The model.
self.model = QtWidgets.QFileSystemModel()
# You can setRootPath to any path.
self.model.setRootPath(QtCore.QDir.rootPath())
# Add filters
filters = []
print("ALLOWABLE FILE EXTENSIONS")
for k, v in loader.extensionToTypes.items():
filters.append("*" + k)
print(" ", k)
filters.append("*.xml")
filters.append("*.json")
filters.append("*.txt")
filters.append("*.obj")
filters.append("*.rob")
filters.append("*.urdf")
filters.append("*.env")
self.model.setNameFilters(filters)
# Create the view in the splitter.
self.view = QtWidgets.QTreeView()
# Set the model of the view.
self.view.setModel(self.model)
#nicer size for columns
self.view.header().resizeSection(0, 200)
self.view.header().resizeSection(1, 75)
self.view.header().resizeSection(2, 75)
self.view.header().resizeSection(3, 150)
# Set the root index of the view as the user's home directory.
#self.view.setRootIndex(self.model.index(QtCore.QDir.homePath()))
self.view.setRootIndex(self.model.index(os.getcwd()))
self.view.setSelectionMode(
QtWidgets.QAbstractItemView.ExtendedSelection)
self.world = WorldModel()
self.tempWorld = WorldModel()
self.active = dict()
self.emptyVisPlugin = GLVisualizationPlugin()
self.emptyVisPlugin.add("world", self.world)
self.emptyVisProgram = None
self.selected = set()
self.visCache = []
self.modified = set()
self.left = QtWidgets.QFrame()
self.right = QtWidgets.QFrame()
self.leftLayout = QtWidgets.QVBoxLayout()
self.left.setLayout(self.leftLayout)
self.upButton = QtWidgets.QPushButton("Up")
self.leftLayout.addWidget(self.upButton)
self.leftLayout.addWidget(self.view)
#visualization configuration
vbuttonLayout = QtWidgets.QHBoxLayout()
self.autoFitCameraButton = QtWidgets.QCheckBox("Auto-fit cameras")
self.lockCameraCheck = QtWidgets.QCheckBox("Lock cameras")
#self.overlayCheck = QtWidgets.QCheckBox("Overlay")
self.maxGridItemsLabel = QtWidgets.QLabel("Grid width")
self.maxGridItems = QtWidgets.QSpinBox()
self.maxGridItems.setRange(3, 15)
self.autoFitCameraButton.setToolTip(
"If checked, the camera is automatically fit the the items in the scene"
)
self.lockCameraCheck.setToolTip(
"If checked, all cameras are navigated simultaneously")
#self.overlayCheck.setTooltip("If checked, all items are drawn on top of one another")
self.maxGridItems.setToolTip(
"Max # height/width in the visualization pane")
vbuttonLayout.addWidget(self.autoFitCameraButton)
vbuttonLayout.addWidget(self.lockCameraCheck)
#vbuttonLayout.addWidget(self.overlayCheck)
vbuttonLayout.addWidget(self.maxGridItemsLabel)
vbuttonLayout.addWidget(self.maxGridItems)
self.leftLayout.addLayout(vbuttonLayout)
#playback
self.timeDriver = QtWidgets.QSlider()
self.timeDriver.setOrientation(QtCore.Qt.Horizontal)
self.timeDriver.setRange(0, 1000)
#self.timeDriver.setSizeHint()
self.playButton = QtWidgets.QPushButton("Play")
self.playButton.setCheckable(True)
self.stopButton = QtWidgets.QPushButton("Stop")
self.playButton.setToolTip(
"Starts/pauses playing any selected animations")
self.stopButton.setToolTip("Stops playing any selected animations")
label = QtWidgets.QLabel("Time")
label.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
vbuttonLayout = QtWidgets.QHBoxLayout()
vbuttonLayout.addWidget(label)
vbuttonLayout.addWidget(self.timeDriver)
vbuttonLayout.addWidget(self.playButton)
vbuttonLayout.addWidget(self.stopButton)
self.leftLayout.addLayout(vbuttonLayout)
#editing
vbuttonLayout = QtWidgets.QHBoxLayout()
self.editButton = QtWidgets.QPushButton("Edit item")
self.saveButton = QtWidgets.QPushButton("Save item")
self.editButton.setToolTip(
"Pops up a dialog to edit the selected item, if available")
self.saveButton.setToolTip("Saves changes to edited items")
self.saveButton.setEnabled(False)
self.createComboBox = QtWidgets.QComboBox()
self.createComboBox.addItem("Create new item...")
for n in create_types:
self.createComboBox.addItem(n)
vbuttonLayout.addWidget(self.editButton)
vbuttonLayout.addWidget(self.saveButton)
vbuttonLayout.addWidget(self.createComboBox)
self.leftLayout.addLayout(vbuttonLayout)
#world configuration
vbuttonLayout = QtWidgets.QHBoxLayout()
self.addButton = QtWidgets.QPushButton("Add to world")
self.clearButton = QtWidgets.QPushButton("Clear world")
self.addButton.setToolTip(
"Adds the selected item(s) to the reference world")
self.clearButton.setToolTip("Clears the reference world")
vbuttonLayout.addWidget(self.addButton)
vbuttonLayout.addWidget(self.clearButton)
self.leftLayout.addLayout(vbuttonLayout)
self.splitter.addWidget(self.left)
self.splitter.addWidget(self.right)
self.splitter.setHandleWidth(7)
self.setCentralWidget(self.splitter)
self.rightLayout = QtWidgets.QVBoxLayout()
self.right.setLayout(self.rightLayout)
if glwindow is None:
self.glwidget = QtGLWindow("viewport")
else:
self.glwidget = glwindow
self.rightLayout.addWidget(self.glwidget)
self.glviewportManager = MyMultiViewportProgram()
self.glwidget.setProgram(self.glviewportManager)
self.glwidget.setParent(self.splitter)
self.glviewportManager.sizePolicy = 'squeeze'
self.glviewportManager.addView(self.emptyVisPlugin)
self.glviewportManager.items = self.active
self.emptyVisProgram = self.glviewportManager.views[-1]
self.glwidget.setFixedSize(QtWidgets.QWIDGETSIZE_MAX,
QtWidgets.QWIDGETSIZE_MAX)
self.glwidget.setSizePolicy(
QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding))
self.glwidget.adjustSize()
self.glwidget.refresh()
self.upButton.clicked.connect(self.onUpClicked)
self.view.selectionModel().selectionChanged.connect(
self.selection_changed)
self.view.doubleClicked.connect(self.onViewDoubleClick)
self.autoFitCameraButton.clicked.connect(self.onAutoFitCamera)
self.maxGridItems.valueChanged.connect(self.maxGridItemsChanged)
self.lockCameraCheck.toggled.connect(self.onLockCamerasToggled)
self.timeDriver.valueChanged.connect(self.timeDriverChanged)
self.playButton.toggled.connect(self.togglePlay)
self.stopButton.clicked.connect(self.stopPlay)
self.editButton.clicked.connect(self.onEditClicked)
self.saveButton.clicked.connect(self.onSaveClicked)
self.createComboBox.currentIndexChanged.connect(
self.onCreateIndexChanged)
self.addButton.clicked.connect(self.onAddClicked)
self.clearButton.clicked.connect(self.onClearClicked)
def closeEvent(self, event):
if len(self.modified) > 0:
reply = QtWidgets.QMessageBox.question(
self, "Unsaved changes", "Would you like to save changes to " +
', '.join(self.modified) + "?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No)
if reply == QtWidgets.QMessageBox.Yes:
self.onSaveClicked()
vis.show(False)
def onViewDoubleClick(self):
indices = self.view.selectedIndexes()
if len(indices) == 0: return
item = indices[0]
name = str(self.model.filePath(item))
oldselected = self.selected
self.selected = set([name])
self.onAddClicked()
self.selected = oldselected
def onUpClicked(self):
currentRoot = self.view.rootIndex()
self.view.setRootIndex(currentRoot.parent())
def selection_changed(self, newSelection, deselected):
#print "klampt_browser: Selection changed!"
for i in newSelection.indexes():
if i.column() == 0:
fn = str(i.model().filePath(i))
self.selected.add(fn)
self.add(fn)
#print " value:",fn
#print "klampt_browser: Deselected:"
for i in deselected.indexes():
if i.column() == 0:
fn = str(i.model().filePath(i))
self.selected.remove(fn)
self.remove(fn)
#klampt_browser: print " value:",fn
self.refresh()
def onAutoFitCamera(self):
if self.autoFitCameraButton.isChecked():
for (k, item) in self.active.items():
vis.autoFitViewport(item.program.view, [self.world, item.obj])
def onLockCamerasToggled(self, on):
self.glviewportManager.broadcast = on
if on:
self.lockCameras()
def lockCameras(self):
view0 = self.glviewportManager.views[0].view
cam0 = view0.camera
for p in self.glviewportManager.views[1:]:
cam = p.view.camera
copyCamera(cam0, cam)
def timeDriverChanged(self, value):
u = value * 0.001
animTrajectoryTime = u * self.glviewportManager.animationDuration
for (k, item) in self.active.items():
obj = item.obj
plugin = item.plugin
if item.animationBuddy is not None:
path = item.animationBuddy
if plugin.getItem(path).animation is None:
plugin.animate(path, obj, endBehavior='halt')
else:
anim = plugin.getItem(path).animation
plugin.pauseAnimation(False)
self.glviewportManager.setAnimTime(animTrajectoryTime)
def togglePlay(self, value):
self.animating = value
self.glviewportManager.refresh()
if value:
for (k, item) in self.active.items():
obj = item.obj
plugin = item.plugin
if item.animationBuddy is not None:
plugin.animate(item.animationBuddy,
obj,
endBehavior='halt')
plugin.pauseAnimation(False)
self.glviewportManager.startAnim()
self.glviewportManager.refresh()
else:
#pause
self.glviewportManager.stopAnim()
#self.idlesleep(float('inf'))
def stopPlay(self):
self.playButton.setChecked(False)
#revert to no animations
for (k, item) in self.active.items():
obj = item.obj
plugin = item.plugin
if isinstance(obj, (Trajectory, MultiPath)):
robotpath = ('world', self.world.robot(0).getName())
plugin.animate(robotpath, None)
plugin.pauseAnimation()
def onEditClicked(self):
if len(self.active) == 0:
QtWidgets.QMessageBox.warning(self.splitter, "Invalid item",
"No item selected, can't edit")
return
fn = sorted(self.active.keys())[0]
def doedit():
print("klampt_browser: Launching resource.edit", fn, "...")
try:
(save, obj) = resource.edit(name=fn,
value=self.active[fn].obj,
world=self.world)
except Exception as e:
print("klampt_browser: Exception raised during resource.edit:",
e)
QtWidgets.QMessageBox.warning(
self.splitter, "Editing not available",
"Unable to edit item of type " +
self.active[fn].obj.__class__.__name__)
return
if save and obj is not None:
self.active[fn].obj = obj
#mark it as modified and re-add it to the visualization
basename = os.path.basename(fn)
self.active[fn].plugin.add(basename, obj)
self.modified.add(fn)
self.saveButton.setEnabled(True)
QtCore.QTimer.singleShot(0, doedit)
def onSaveClicked(self):
for fn in self.modified:
if not save(self.active[fn].obj, fn):
print("klampt_browser: Error saving file", fn)
self.modified = set()
self.saveButton.setEnabled(False)
def onCreateIndexChanged(self, item):
if item == 0: return
type = create_types[item - 1]
robot = None
if self.world.numRobots() > 0:
robot = self.world.robot(0)
try:
(save, obj) = resource.edit("untitled",
types.make(type, robot),
type=type,
world=self.world)
except Exception as e:
print("klampt_browser: Exception raised during resource.edit():",
e)
QtWidgets.QMessageBox.warning(
self.splitter, "Creation not available",
"Unable to create item of type " + type +
", did you remember to add items to the reference world?")
return
if obj is not None and save:
fn = resource.save(obj, type, directory='')
if fn is not None:
self.loadedItem(fn, obj)
#TODO: should we add to selection in tree view?
self.createComboBox.setCurrentIndex(0)
def onAddClicked(self):
if self.world.numIDs() == 0:
for name in self.selected:
if name not in self.active: continue
copyCamera(self.active[name].program.view.camera,
self.emptyVisProgram.view.camera)
break
todel = []
for name in self.selected:
if name not in self.active: continue
s = self.active[name].obj
if isinstance(s, (RobotModel, RigidObjectModel, TerrainModel)):
self.world.add(s.getName(), s)
self.tempWorld.remove(s)
todel.append(name)
elif isinstance(s, WorldModel):
for i in range(s.numRobots()):
self.world.add(s.robot(i).getName(), s.robot(i))
for i in range(s.numRigidObjects()):
self.world.add(
s.rigidObject(i).getName(), s.rigidObject(i))
for i in range(s.numTerrains()):
self.world.add(s.terrain(i).getName(), s.terrain(i))
for k, item in self.active.items():
item.plugin.add("world", self.world)
todel.append(name)
elif isinstance(s, (TriangleMesh, PointCloud, GeometricPrimitive)):
t = self.world.makeTerrain(name)
t.geometry().set(Geometry3D(s))
todel.append(name)
elif isinstance(s, Geometry3D):
t = self.world.makeTerrain(name)
t.geometry().set(s.clone())
todel.append(name)
for name in todel:
self.remove(name)
if len(todel) > 0:
self.refresh()
def onClearClicked(self):
self.world = WorldModel()
self.tempWorld = WorldModel()
self.active = dict()
self.visCache = []
self.emptyVisPlugin.add("world", self.world)
self.refresh()
def add(self, fn, openDir=True, warn=True):
#assert fn not in self.active
if fn in self.active:
print("add(): Warning, file", fn, "is already active")
return
for i, (cfn, citem) in enumerate(self.visCache):
if cfn == fn:
print()
print("klampt_browser: PULLED", fn, "FROM CACHE")
print()
self.active[fn] = citem
return True
if len(self.active) >= MAX_VIS_ITEMS:
return
if os.path.isdir(fn):
if openDir:
failures = []
successes = []
for f in os.listdir(fn):
if f not in ['.', '..'] and os.path.splitext(f)[1] != '':
if not self.add(os.path.join(fn, f),
openDir=False,
warn=False):
failures.append(f)
else:
successes.append(f)
if len(failures) != 0 and len(successes) != 0:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid items",
"Could not load files " + ', '.join(failures) +
" as Klamp't elements")
return True
else:
return False
path, ext = os.path.splitext(fn)
#print "Extension is",ext
if ext in world_item_extensions:
try:
worldid = self.tempWorld.loadElement(fn)
except Exception:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid item",
"Could not load " + fn + " as a Klamp't world element")
return False
if worldid < 0:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid item",
"Could not load " + fn + " as a Klamp't world element")
return False
obj = None
for i in range(self.tempWorld.numRobots()):
if self.tempWorld.robot(i).getID() == worldid:
obj = self.tempWorld.robot(i)
break
for i in range(self.tempWorld.numRigidObjects()):
if self.tempWorld.rigidObject(i).getID() == worldid:
obj = self.tempWorld.rigidObject(i)
break
for i in range(self.tempWorld.numTerrains()):
if self.tempWorld.terrain(i).getID() == worldid:
obj = self.tempWorld.terrain(i)
break
assert obj is not None, "Hmm... couldn't find world id %d in world?" % (
worldid, )
self.loadedItem(fn, obj)
return True
try:
type = loader.filenameToType(fn)
except RuntimeError:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid item",
"Could not load file " + fn + " as a known Klamp't type")
return False
if type == 'xml':
#try loading a world
try:
world = WorldModel()
res = world.readFile(fn)
if not res:
try:
obj = loader.load('MultiPath', fn)
except Exception as e:
if warn:
print(
"klampt_browser: Trying MultiPath load, got exception",
e)
import traceback
traceback.print_exc()
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid WorldModel",
"Could not load " + fn +
" as a world XML file")
return False
self.loadedItem(fn, obj)
return True
except IOError:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid WorldModel",
"Could not load " + fn + " as a world XML file")
return False
self.loadedItem(fn, world)
return
elif type == 'json':
import json
f = open(fn, 'r')
jsonobj = json.load(f)
try:
obj = loader.fromJson(jsonobj)
except Exception:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid JSON", "Could not recognize " +
fn + " as a known Klamp't type")
return False
else:
try:
obj = loader.load(type, fn)
except Exception as e:
if warn:
QtWidgets.QMessageBox.warning(
self.splitter, "Invalid item",
"Error while loading file " + fn + ": " + str(e))
return False
self.loadedItem(fn, obj)
return True
def loadedItem(self, fn, obj):
if fn in self.active:
print("klampt_browser: Re-loaded item", fn,
"so I'm first removing it")
self.remove(fn)
assert fn not in self.active
item = ResourceItem(obj)
self.active[fn] = item
item.plugin = GLVisualizationPlugin()
basename = os.path.basename(fn)
#determine whether it's being animated
if isinstance(obj, Trajectory) and len(obj.milestones) > 0:
d = len(obj.milestones[0])
if self.world.numRobots() > 0 and d == self.world.robot(
0).numLinks():
obj = RobotTrajectory(self.world.robot(0), obj.times,
obj.milestones)
robotpath = ('world', self.world.robot(0).getName())
item.animationBuddy = robotpath
elif d == 3:
item.plugin.add("anim_point", [0, 0, 0])
item.animationBuddy = "anim_point"
elif d == 12:
item.plugin.add("anim_xform", se3.identity())
item.animationBuddy = "anim_xform"
else:
print("klampt_browser: Can't interpret trajectory of length",
d)
elif isinstance(obj, MultiPath):
if self.world.numRobots() > 0:
robotpath = ('world', self.world.robot(0).getName())
item.animationBuddy = robotpath
item.plugin.add("world", self.world)
item.plugin.add(basename, obj)
item.plugin.addText("label", basename, position=(10, 10))
try:
type = vis.objectToVisType(obj, self.world)
except:
type = 'unknown'
if type in robot_override_types:
if self.world.numRobots() > 0:
path = ('world', self.world.robot(0).getName())
item.plugin.hide(path)
item.plugin.initialize()
def remove(self, fn, openDir=True):
if os.path.isdir(fn):
if openDir:
for f in os.listdir(fn):
if f not in ['.', '..'] and os.path.splitext(f)[1] != '':
self.remove(os.path.join(fn, f), openDir=False)
return
if fn not in self.active:
return
if fn in self.modified:
reply = QtWidgets.QMessageBox.question(
self, "Unsaved changes", "Would you like to save changes to " +
', '.join(self.modified) + "?",
QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No)
if reply == QtWidgets.QMessageBox.Yes:
save(self.active[fn], fn)
self.modified.remove(fn)
s = self.active[fn]
del self.active[fn]
if s.program is not None:
copyCamera(s.program.view.camera, self.emptyVisProgram.view.camera)
print()
print("klampt_browser: ADDING", fn, "TO CACHE")
print()
self.visCache.append((fn, s))
if len(self.visCache) > MAX_VIS_CACHE:
self.visCache.pop(0)
cleartemp = isinstance(s.obj,
(RobotModel, RigidObjectModel, TerrainModel))
if cleartemp:
for (k, v) in self.active.items():
if isinstance(v.obj,
(RobotModel, RigidObjectModel, TerrainModel)):
cleartemp = False
break
if cleartemp:
if self.tempWorld.numRobots() + self.tempWorld.numRigidObjects(
) + self.tempWorld.numTerrains() > 10:
print("klampt_browser: Clearing temp world...")
self.tempWorld = WorldModel()
self.visCache = [
(fn, s) for (fn, s) in self.visCache
if not isinstance(s.obj, (RobotModel, RigidObjectModel,
TerrainModel))
]
def maxGridItemsChanged(self):
self.refresh()
def refresh(self):
self.glviewportManager.clearViews()
if len(self.active) == 0:
self.glviewportManager.addView(self.emptyVisProgram)
else:
for k in sorted(self.active.keys()):
item = self.active[k]
if item.program is not None:
item.program.view.w, item.program.view.h = (640, 480)
self.glviewportManager.addView(item.program)
else:
#new view
self.glviewportManager.addView(item.plugin)
item.program = self.glviewportManager.views[-1]
if self.autoFitCameraButton.isChecked():
vis.autoFitViewport(item.program.view,
[self.world, item.obj])
else:
copyCamera(self.emptyVisProgram.view.camera,
item.program.view.camera)
if len(self.glviewportManager.views
) >= self.maxGridItems.value()**2:
break
if self.glviewportManager.broadcast: #locking cameras
self.lockCameras()
self.glviewportManager.animationDuration = 0
for (k, item) in self.active.items():
obj = item.obj
if isinstance(obj, (Trajectory, MultiPath)):
self.glviewportManager.animationDuration = max(
self.glviewportManager.animationDuration, obj.duration())
print("klampt_browser: Setting animation duration to",
self.glviewportManager.animationDuration)
self.glviewportManager.refresh()