def init_visualizer():
time_viz = TimeVisualizer()
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper('Tools', time_viz._name,
time_viz.is_enabled, time_viz.set_enabled)
return time_viz
def init_visualizer():
# Create a visualizer instance.
my_visualizer = HydroelasticContactVisualizer()
# Adds to the 'Tools' menu.
applogic.MenuActionToggleHelper('Tools', my_visualizer._name,
my_visualizer.is_enabled,
my_visualizer.set_enabled)
return my_visualizer
def init_visualizer():
viz = InputSupervisorVisualizer()
# vis.addText('supervisor_text')
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper('Tools', viz._name, viz.is_enabled,
viz.set_enabled)
return viz
def init_visualizer():
frame_viz = FramesVisualizer()
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper('Tools', frame_viz._name,
frame_viz.is_enabled,
frame_viz.set_enabled)
return frame_viz
def init_visualizer():
point_cloud_viz = PointCloudsVisualizer()
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper('Tools', point_cloud_viz._name,
point_cloud_viz.is_enabled,
point_cloud_viz.set_enabled)
return point_cloud_viz
def init_visualizer():
# Create a visualizer instance.
my_visualizer = ArrowVisualizer()
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper('Tools', my_visualizer._name,
my_visualizer.is_enabled,
my_visualizer.set_enabled)
return my_visualizer
def initTreeViewer(self, fields):
from director import treeviewer
treeViewer = treeviewer.TreeViewer(fields.view)
applogic.MenuActionToggleHelper('Tools', treeViewer.name,
treeViewer.isEnabled,
treeViewer.setEnabled)
return FieldContainer(treeViewer=treeViewer)
def initDrakeVisualizer(self, fields):
from director import drakevisualizer
drakeVisualizer = drakevisualizer.DrakeVisualizer(fields.view)
applogic.MenuActionToggleHelper('Tools', drakeVisualizer.name,
drakeVisualizer.isEnabled,
drakeVisualizer.setEnabled)
return FieldContainer(drakeVisualizer=drakeVisualizer)
def init_visualizer():
# Create a visualizer instance.
my_visualizer = ExperimentalDeformableMeshVisualizer()
# Adds to the "Tools" menu.
applogic.MenuActionToggleHelper(
"Tools",
my_visualizer._name,
my_visualizer.is_enabled,
my_visualizer.set_enabled,
)
return my_visualizer
def initLCMGLRenderer(self, fields):
from director import lcmgl
if lcmgl.LCMGL_AVAILABLE:
lcmglManager = lcmgl.LCMGLManager(fields.view)
applogic.MenuActionToggleHelper('Tools', 'LCMGL Renderer',
lcmglManager.isEnabled,
lcmglManager.setEnabled)
else:
lcmglManager = None
return FieldContainer(lcmglManager=lcmglManager)
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel,
robotStateJointController, view)
else:
app.removeToolbarMacro('ActionHandControlPanel')
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver,
robotStateModel,
robotStateJointController,
irisDriver)
else:
app.removeToolbarMacro('ActionFootstepPanel')
if useLCMGL:
lcmglManager = lcmgl.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - LCM GL',
lcmglManager.isEnabled, lcmglManager.setEnabled)
if useOctomap:
octomapManager = lcmoctomap.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Octomap',
octomapManager.isEnabled,
octomapManager.setEnabled)
if useCollections:
collectionsManager = lcmcollections.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Collections',
collectionsManager.isEnabled,
collectionsManager.setEnabled)
if useDrakeVisualizer:
drakeVisualizer = drakevisualizer.DrakeVisualizer(view)
x,y,z,w = body.quat
quat = (w,x,y,z)
bodyToOptitrack = transformUtils.transformFromPose(body.xyz, quat)
bodyToWorld = transformUtils.concatenateTransforms((bodyToOptitrack, self.optitrackToWorld))
obj = folder.findChild(name)
if not obj:
geometry = self._makeMarkers(body.marker_xyz)
geometry = filterUtils.transformPolyData(geometry, bodyToOptitrack.GetLinearInverse())
obj = vis.showPolyData(geometry, name, parent=folder, color=[1,0,0])
frameObj = vis.addChildFrame(obj)
frameObj.setProperty('Scale', 0.2)
frameObj.setProperty('Visible', True)
obj.getChildFrame().copyFrame(bodyToWorld)
def onMessage(self, msg):
self.fpsCounter.tick()
self.lastMessage = msg
self._handleRigidBodies(msg.rigid_bodies)
if __name__ == '__main__':
from director import applogic
optitrackVis = OptitrackVisualizer()
optitrackVis.setEnabled(True)
applogic.MenuActionToggleHelper('Tools', optitrackVis.name, optitrackVis.isEnabled, optitrackVis.setEnabled)
