from klampt import *
from klampt.io import loader, resource
from klampt.math import se3
from klampt.model.trajectory import Trajectory, RobotTrajectory
from klampt.model.multipath import MultiPath
from klampt.model import types
from klampt import vis
from klampt.vis.glcommon import GLMultiViewportProgram
vis.init("PyQt5")
from klampt.vis.backends.vis_gl import GLVisualizationPlugin
from klampt.vis.backends.qtbackend import QtGLWindow
import sys, os, time
from PyQt5 import QtGui
from PyQt5 import QtCore
from PyQt5 import QtWidgets
world_item_extensions = set(['.obj', '.rob', '.urdf', '.env'])
robot_override_types = ['Config', 'Configs']
animation_types = ['Trajectory', 'LinearPath', 'MultiPath']
create_types = resource.visualEditTypes()[:-1]
def save(obj, fn):
if hasattr(obj, 'saveFile'):
return obj.saveFile(fn)
if hasattr(obj, 'save'):
return obj.save(fn)
type = loader.filenameToType(fn)
return loader.save(obj, type, fn)
glClearColor(0.8, 0.8, 0.9, 0)
# Default light source
glLightfv(GL_LIGHT0, GL_POSITION, [0, -1, 2, 0])
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1, 1, 1, 1])
glLightfv(GL_LIGHT0, GL_SPECULAR, [1, 1, 1, 1])
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT1, GL_POSITION, [-1, 2, 1, 0])
glLightfv(GL_LIGHT1, GL_DIFFUSE, [0.5, 0.5, 0.5, 1])
glLightfv(GL_LIGHT1, GL_SPECULAR, [0.5, 0.5, 0.5, 1])
glEnable(GL_LIGHT1)
do_snapshot()
show_snapshot_matplotlib()
else:
vis.init()
vis.setBackgroundColor(1, 0, 0)
vis.show()
vis.add("world", world)
while vis.shown():
time.sleep(0.25)
vis.lock()
#vis.show(False)
q0 = robot.getConfig()
vmax = robot.getVelocityLimits()
for i in range(len(q0)):
q0[i] += random.uniform(-vmax[i], vmax[i]) * 0.1
robot.setConfig(q0)
vis.unlock()
show_snapshot_matplotlib(True)
from klampt import WorldModel, vis
world = WorldModel()
world.readFile("world.xml")
vis.init("IPython")
vis.add("world", world)
vis.show()
#string = vis.nativeWindow().page()
#with open("vis.html", "w") as f:
# f.write(string)
import sys
import klampt
from klampt import vis
from klampt.robotsim import setRandomSeed
from klampt.vis.glcommon import GLWidgetPlugin
from klampt import RobotPoser
from klampt.model import ik, coordinates, config, trajectory, collide
from klampt.math import vectorops, so3, se3
from klampt.vis import GLSimulationPlugin, glinit
import time
import math
#Can choose 'PyQt', 'PyQt5', 'PyQt4', or 'GLUT'. This will be passed to vis.init()
BACKEND = None
#BACKEND = 'GLUT'
vis.init(BACKEND)
#set this to True to test multi-threaded visualization, False to test single-threaded
MULTITHREADED = vis.multithreaded()
#set this to True to demonstrate the code for manually animating a path
MANUAL_ANIMATION = False
#set this to True to demonstrate the code for manually setting up editing widgets in a GLPluginInterface
MANUAL_EDITING = False
def basic_template(world):
"""Shows how to pop up a visualization window with a world"""
#add the world to the visualizer
vis.add("world", world)
#adding a point