continue
traj.times.append(len(traj.times) * 0.5)
q = q0[:]
q[i] = qmin[i]
traj.milestones.append(q)
traj.times.append(len(traj.times) * 0.5)
q[i] = qmax[i]
traj.milestones.append(q)
save, traj.milestones = resource.edit("trajectory",
traj.milestones,
world=world)
visualization.animate("robot", traj)
visualization.show()
iteration = 0
while visualization.shown():
#visualization.lock()
#can modify the visualization here
#visualization.unlock()
#time.sleep(0.01)
#animationTime = visualization.animationTime()
iteration += 1
if len(sys.argv) > 1:
visualization.animate("robot", None)
sim = Simulator(world)
sim.simulate(0)
trajectory.execute_path(traj.milestones, sim.controller(0))
if __name__ == "__main__":
print "visplugin.py: This example demonstrates how to simulate a world and read user input using the visualization framework"
if len(sys.argv)<=1:
print "USAGE: visplugin.py [world_file]"
exit()
world = WorldModel()
for fn in sys.argv[1:]:
res = world.readFile(fn)
if not res:
raise RuntimeError("Unable to load model "+fn)
print "Press 'q' to exit"
#the plugin is used to get interactivity with the visualizer... if you
#don't care about interactivity, you may leave it out. See vistemplate.py for
#an example of this
plugin = MyGLPlugin(world)
visualization.setPlugin(plugin)
#add the world to the visualizer
visualization.add("world",world)
#run the visualizer in a separate thread
visualization.show()
while visualization.shown() and not plugin.quit:
visualization.lock()
#TODO: you may modify the world here
visualization.unlock()
#changes to the visualization must be done outside the lock
time.sleep(0.01)
print "Ending visualization."
visualization.kill()
robotname = 'athlete'
world = WorldModel()
world.readFile(worldfile)
print "Showing robot in modal dialog box"
visualization.add("robot",world.robot(0))
visualization.add("ee",world.robot(0).link(11).getTransform())
visualization.dialog()
import threading
import time
print "Showing threaded visualization"
lock = threading.Lock()
visualization.show(lock)
for i in range(3):
lock.acquire()
q = world.robot(0).getConfig()
q[9] = 3.0
world.robot(0).setConfig(q)
lock.release()
time.sleep(1.0)
if not visualization.shown():
break
lock.acquire()
q = world.robot(0).getConfig()
q[9] = -1.0
world.robot(0).setConfig(q)
lock.release()
time.sleep(1.0)
worldfile = "../../data/athlete_plane.xml"
robotname = "athlete"
world = WorldModel()
world.readFile(worldfile)
"""
#tests of visualization module interacting with the resource module
print "Showing robot in modal dialog box"
visualization.add("robot",world.robot(0))
visualization.add("ee",world.robot(0).link(11).getTransform())
visualization.dialog()
import time
"""
"""
#tests of visualization module interacting with the resource module
print "Showing threaded visualization"
visualization.show()
for i in range(3):
visualization.lock()
q = world.robot(0).getConfig()
q[9] = 3.0
world.robot(0).setConfig(q)
visualization.unlock()
time.sleep(1.0)
if not visualization.shown():
break
visualization.lock()
q = world.robot(0).getConfig()
q[9] = -1.0
resource module."""
worldfile = "../../data/athlete_plane.xml"
robotname = 'athlete'
world = WorldModel()
world.readFile(worldfile)
"""
#tests of visualization module interacting with the resource module
print "Showing robot in modal dialog box"
visualization.add("robot",world.robot(0))
visualization.add("ee",world.robot(0).link(11).getTransform())
visualization.dialog()
import time
"""
"""
#tests of visualization module interacting with the resource module
print "Showing threaded visualization"
visualization.show()
for i in range(3):
visualization.lock()
q = world.robot(0).getConfig()
q[9] = 3.0
world.robot(0).setConfig(q)
visualization.unlock()
time.sleep(1.0)
if not visualization.shown():
break
visualization.lock()
q = world.robot(0).getConfig()
q[9] = -1.0
