def edit_contacting_links(self):
contact_links = set()
for i,(name,unit) in enumerate(self.contact_units):
contact_links.add(name)
ok_pressed,links = editors.run(editors.SelectionEditor("Contacting links",value=list(contact_links),description="Select all links in contact",world=self.world,robot=self.world.robot(0)))
if not ok_pressed:
return
#if self.config_name != None:
# print "Saving to",self.config_name+".array"
# resource.set(self.config_name+".array",type="IntArray",value=links)
robot = self.world.robot(0)
linkNames = set([robot.link(l).getName() for l in links])
self.contact_units = []
for i,(name,unit) in enumerate(self.hand.all_units):
if name in linkNames:
self.contact_units.append(i)
return self.contact_units
def __init__(self, world):
GLWidgetPlugin.__init__(self)
self.world = world
self.robot = world.robot(0)
self.subrobots = []
for i in range(6):
self.subrobots.append(
SubRobotModel(self.robot, list(range(6 + i * 6, 12 + i * 6))))
(res, val) = editors.run(
editors.SelectionEditor("subrobot",
self.subrobots[0]._links,
description="sub robot links",
world=world,
robot=self.robot))
if res:
print("Return value", val)
self.subrobots[0]._links = val
self.startConfig = self.robot.getConfig()
self.robotWidget = RobotPoser(world.robot(0))
self.robotWidget.setActiveDofs(self.subrobots[0]._links)
self.addWidget(self.robotWidget)
def edit_contacting_units(self):
tempWorld = WorldModel(self.world)
patches = {}
selected = []
for i,(link,unit) in enumerate(self.hand.all_units):
obj = tempWorld.makeRigidObject(unit.name)
patch = GeometricPrimitive()
patch.setAABB([-unit.patchSize/2,-unit.patchSize/2,-0.001],[unit.patchSize/2,unit.patchSize/2,0.001])
obj.geometry().set(Geometry3D(patch))
obj.appearance().setColor(0,0,0,0.5)
obj.setTransform(*self.unit_frames[i].worldCoordinates())
patches[obj.getID()] = i
if i in self.contact_units:
selected.append(obj.getID())
ok_pressed,objects = editors.run(editors.SelectionEditor("Contacting units",value=selected,description="Select all units in contact",world=tempWorld))
if not ok_pressed:
return
self.contact_units = []
for oid in objects:
if oid in patches:
self.contact_units.append(patches[oid])
for u in self.contact_units:
assert u >= 0 and u < len(self.unit_frames),"Invalid unit? "+str(u)
return self.contact_units
from klampt import *
from klampt.vis import editors
world = WorldModel()
if not world.readFile("/home/motion/Klampt-examples/data/robots/baxter.rob"):
raise RuntimeError("Can't read the Baxter file")
links = editors.run(editors.SelectionEditor("active_ik_links",
value=[15,16,17,18,19,20],
description="Robot arm links for IK",
world=world))
from klampt import *
from klampt.vis import editors
world = WorldModel()
if not world.readFile("/home/motion/Klampt-examples/data/robots/baxter.rob"):
raise RuntimeError("Can't read the Baxter file")
links = editors.run(
editors.SelectionEditor("active_ik_links",
value=[15, 16, 17, 18, 19, 20],
description="Robot arm links for IK",
world=world))