def initialize(self):
GLWidgetPlugin.initialize(self)
self.images = {}
self.images['left'] = GLTexture("UI/Resources/left-arm.png")
self.images['right'] = GLTexture("UI/Resources/right-arm.png")
self.images['both'] = GLTexture("UI/Resources/both-arm.png")
return True
def initialize(self):
GLWidgetPlugin.initialize(self)
self.window.program.clearColor = [1, 1, 1, 1]
assert self.resolution.domain != None
print "Domain", self.resolution.domain
assert len(
self.resolution.ikTaskSpace) == 1, "Can only do one task, for now"
task = self.resolution.ikTaskSpace[0]
if task.orientation == 'variable':
#if a 2D problem and want to show depth, turn this to true
active = [
i for i, (a, b) in enumerate(zip(*self.resolution.domain)[:3])
if b != a
]
if len(active) <= 2:
self.rotationAsDepth = True
else:
self.rotationAsDepth = False
link = self.resolution.ikTemplate.objectives[0].link()
self.xformWidget.enableTranslation(True)
self.xformWidget.enableRotation(True)
print "Initial transform", self.robot.link(link).getTransform()
#self.xformWidget.set(*self.robot.link(link).getTransform())
self.addWidget(self.xformWidget)
elif task.orientation == 'axis':
self.rotationAsDepth = False
link = self.resolution.ikTemplate.objectives[0].link()
self.xformWidget.enableTranslation(True)
self.xformWidget.enableRotation(True)
print "Initial transform", self.robot.link(link).getTransform()
#self.xformWidget.set(*self.robot.link(link).getTransform())
self.addWidget(self.xformWidget)
else:
self.rotationAsDepth = False
link = self.resolution.ikTemplate.objectives[0].link()
local, world = self.resolution.ikTemplate.objectives[
0].getPosition()
print "Initial position", self.resolution.robot.link(
link).getWorldPosition(local)
self.pointWidget.set(
self.resolution.robot.link(link).getWorldPosition(local))
self.addWidget(self.pointWidget)
return True
def initialize(self):
GLWidgetPlugin.initialize(self)
return True
