if __name__ == '__main__':
# We'll open the visualizer by spawning it as a subprocess.
vis_binary = os.path.join(os.path.dirname(sys.executable),
"drake-visualizer")
# The viewer will take some time to load before it is ready to receive
# messages, so we'll wait until it sends its first status message.
print "waiting for viewer to initialize"
lc = lcm.LCM()
lc.subscribe("DIRECTOR_TREE_VIEWER_RESPONSE", lambda c, d: None)
vis_process = subprocess.Popen([vis_binary, '--testing', '--interactive'])
# Wait for one LCM message to be received.
lc.handle()
vis = Visualizer("lines")
vis["basic_line"].setgeometry(PolyLine([[0, 0, 0], [0, 0, 1]]))
vis["arrow_end"].setgeometry(PolyLine([[.1, 0, 0], [.1, 0, 1]], end_head=True))
vis["arrow_start"].setgeometry(PolyLine([[-.1, 0, 0], [-.1, 0, 1]], start_head=True))
vis["loop"].setgeometry(PolyLine([[1, 0, 0], [1, 1, 0.5], [1, 0, 1]], closed=True))
vis["poly_arrow"].setgeometry(PolyLine([[0, 1, 0], [0, 1, 1], [-1, 1, 1]], start_head=True, end_head=True))
vis["colored_hairline"].setgeometry(GeometryData(PolyLine([[0, -1, 0], [0, -1, 1]], radius=0), color=[0, 0.2, 0.8, 0.5]))
vis["sharp_arrow"].setgeometry(PolyLine([[-1, 0, 0.5], [-0.5, 0, 0.5]], end_head=True, head_length=0.2))
# We'll open the visualizer by spawning it as a subprocess.
vis_binary = os.path.join(os.path.dirname(sys.executable),
"drake-visualizer")
# The viewer will take some time to load before it is ready to receive
# messages, so we'll wait until it sends its first status message.
print("waiting for viewer to initialize")
lc = lcm.LCM()
lc.subscribe("DIRECTOR_TREE_VIEWER_RESPONSE", lambda c, d: None)
vis_process = subprocess.Popen([vis_binary, '--testing', '--interactive'])
# Wait for one LCM message to be received.
lc.handle()
# We can provide an initial path if we want
vis = Visualizer(path="/root/folder1")
vis["boxes"].setgeometry(
[GeometryData(Box([1, 1, 1]),
color=np.hstack((np.random.rand(3), 0.5)),
transform=transformations.translation_matrix([x, -2, 0]))
for x in range(10)])
# Index into the visualizer to get a sub-tree. vis.__getitem__ is lazily
# implemented, so these sub-visualizers come into being as soon as they're
# asked for
vis = vis["group1"]
box_vis = vis["box"]
sphere_vis = vis["sphere"]
# instead.
vis_binary = os.path.join(os.path.dirname(sys.executable),
"drake-visualizer")
# The viewer will take some time to load before it is ready to receive
# messages, so we'll wait until it sends its first status message.
print "waiting for viewer to initialize"
lc = lcm.LCM()
lc.subscribe("DIRECTOR_TREE_VIEWER_RESPONSE", lambda c, d: None)
vis_process = subprocess.Popen([vis_binary, '--testing', '--interactive'])
# Wait for one LCM message to be received.
lc.handle()
# We can provide an initial path if we want
vis = Visualizer(path="/root/folder1")
vis["boxes"].setgeometry(
[GeometryData(Box([1, 1, 1]),
color=np.hstack((np.random.rand(3), 0.5)),
transform=transformations.translation_matrix([x, -2, 0]))
for x in range(10)])
# Index into the visualizer to get a sub-tree. vis.__getitem__ is lazily
# implemented, so these sub-visualizers come into being as soon as they're
# asked for
vis = vis["group1"]
box_vis = vis["box"]
sphere_vis = vis["sphere"]