def __init__(self):
self.mainWindow = QtGui.QMainWindow()
self.mainWindow.resize(768 * (16 / 9.0), 768)
self.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
self.editMenu = self.mainWindow.menuBar().addMenu('&Edit')
self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
self.toolbarMenu = self.viewMenu.addMenu('&Toolbars')
self.toolsMenu = self.mainWindow.menuBar().addMenu('&Tools')
self.helpMenu = self.mainWindow.menuBar().addMenu('&Help')
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.toolbarMenuManager = PythonQt.dd.ddViewMenu(self.toolbarMenu)
self.quitAction = self.fileMenu.addAction('&Quit')
self.quitAction.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
self.quitAction.connect('triggered()', self.quit)
self.fileMenu.addSeparator()
self.pythonConsoleAction = self.toolsMenu.addAction('&Python Console')
self.pythonConsoleAction.setShortcut(QtGui.QKeySequence('F8'))
self.pythonConsoleAction.connect('triggered()', self.showPythonConsole)
self.toolsMenu.addSeparator()
helpAction = self.helpMenu.addAction('Online Documentation')
helpAction.connect('triggered()', self.showOnlineDocumentation)
self.helpMenu.addSeparator()
helpKeyboardShortcutsAction = self.helpMenu.addAction(
'Keyboard Shortcuts')
helpKeyboardShortcutsAction.connect('triggered()',
self.showOnlineKeyboardShortcuts)
self.helpMenu.addSeparator()
def initUndoRedo(self, fields):
undoStack = QtGui.QUndoStack()
undoView = QtGui.QUndoView(undoStack)
undoView.setEmptyLabel("Start")
undoView.setWindowTitle("History")
undoDock = fields.app.addWidgetToDock(
undoView, QtCore.Qt.LeftDockWidgetArea, visible=False
)
undoAction = undoStack.createUndoAction(undoStack)
redoAction = undoStack.createRedoAction(undoStack)
undoAction.setShortcut(QtGui.QKeySequence("Ctrl+Z"))
redoAction.setShortcut(QtGui.QKeySequence("Ctrl+Shift+Z"))
fields.app.editMenu.addAction(undoAction)
fields.app.editMenu.addAction(redoAction)
return FieldContainer(
undoDock=undoDock,
undoStack=undoStack,
undoView=undoView,
undoAction=undoAction,
redoAction=redoAction,
)
def __init__(self):
self.mainWindow = QtGui.QMainWindow()
self.mainWindow.resize(768 * (16 / 9.0), 768)
self.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu("&File")
self.editMenu = self.mainWindow.menuBar().addMenu("&Edit")
self.viewMenu = self.mainWindow.menuBar().addMenu("&View")
self.toolbarMenu = self.viewMenu.addMenu("&Toolbars")
self.toolsMenu = self.mainWindow.menuBar().addMenu("&Tools")
self.helpMenu = self.mainWindow.menuBar().addMenu("&Help")
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.toolbarMenuManager = PythonQt.dd.ddViewMenu(self.toolbarMenu)
self.quitAction = self.fileMenu.addAction("&Quit")
self.quitAction.setShortcut(QtGui.QKeySequence("Ctrl+Q"))
self.quitAction.connect("triggered()", self.quit)
self.fileMenu.addSeparator()
self.pythonConsoleAction = self.toolsMenu.addAction("&Python Console")
self.pythonConsoleAction.setShortcut(QtGui.QKeySequence("F8"))
self.pythonConsoleAction.connect("triggered()", self.showPythonConsole)
self.toolsMenu.addSeparator()
helpAction = self.helpMenu.addAction("Online Documentation")
helpAction.connect("triggered()", self.showOnlineDocumentation)
self.helpMenu.addSeparator()
helpKeyboardShortcutsAction = self.helpMenu.addAction("Keyboard Shortcuts")
helpKeyboardShortcutsAction.connect(
"triggered()", self.showOnlineKeyboardShortcuts
)
self.helpMenu.addSeparator()
def setup(self):
QtGui.QShortcut(QtGui.QKeySequence("Ctrl+W"), self.widget).connect(
QtCore.SIGNAL("activated()"), self.close
)
QtGui.QShortcut(QtGui.QKeySequence("Ctrl+Q"), self.widget).connect(
QtCore.SIGNAL("activated()"), self.close
)
self.capturePanel = CapturePanel(self)
self.sendPosturePanel = SendPosturePanel(self)
def showToolbarWidget(self):
if app.getMainWindow() is None:
return
if self.toolbarWidget:
self.execButton.setEnabled(True)
return
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
label = QtGui.QLabel('Walk plan:')
execButton = QtGui.QPushButton('')
execButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaPlay))
clearButton = QtGui.QPushButton('')
clearButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_TrashIcon))
stopButton = QtGui.QPushButton('')
stopButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaStop))
l.addWidget(label)
l.addWidget(execButton)
l.addWidget(stopButton)
l.addWidget(clearButton)
l.setContentsMargins(0, 0, 0, 0)
execButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
execButton.connect('clicked()', self.onExecClicked)
clearButton.connect('clicked()', self.onClearClicked)
stopButton.connect('clicked()', self.sendStopWalking)
self.execButton = execButton
self.stopButton = stopButton
self.toolbarWidget = app.getMainWindow().toolBar().addWidget(w)
self.execButton.show()
def __init__(self, planPlayback, playbackRobotModel,
playbackJointController, robotStateModel,
robotStateJointController, manipPlanner):
self.planPlayback = planPlayback
self.playbackRobotModel = playbackRobotModel
self.playbackJointController = playbackJointController
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.manipPlanner = manipPlanner
manipPlanner.connectPlanCommitted(self.onPlanCommitted)
manipPlanner.connectUseSupports(self.updateButtonColor)
self.autoPlay = True
self.useOperationColors()
self.planFramesObj = None
self.plan = None
self.poseInterpolator = None
self.startTime = 0.0
self.endTime = 1.0
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = self.updateAnimation
self.animationClock = SimpleTimer()
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddPlaybackPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
uifile.close()
self.ui = WidgetDict(self.widget.children())
self.ui.viewModeCombo.connect('currentIndexChanged(const QString&)',
self.viewModeChanged)
self.ui.playbackSpeedCombo.connect(
'currentIndexChanged(const QString&)', self.playbackSpeedChanged)
self.ui.interpolationCombo.connect(
'currentIndexChanged(const QString&)', self.interpolationChanged)
self.ui.samplesSpinBox.connect('valueChanged(int)',
self.numberOfSamplesChanged)
self.ui.playbackSlider.connect('valueChanged(int)',
self.playbackSliderValueChanged)
self.ui.animateButton.connect('clicked()', self.animateClicked)
self.ui.hideButton.connect('clicked()', self.hideClicked)
self.ui.executeButton.connect('clicked()', self.executeClicked)
self.ui.executeButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
self.ui.stopButton.connect('clicked()', self.stopClicked)
self.ui.executeButton.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.ui.executeButton.connect(
'customContextMenuRequested(const QPoint&)',
self.showExecuteContextMenu)
self.setPlan(None)
self.hideClicked()
def __init__(self, mainWindowApp):
self.app = mainWindowApp
self.rootFolderName = "data files"
self.openAction = QtGui.QAction("&Open Data...", self.app.fileMenu)
self.app.fileMenu.insertAction(self.app.quitAction, self.openAction)
self.app.fileMenu.insertSeparator(self.app.quitAction)
self.openAction.setShortcut(QtGui.QKeySequence("Ctrl+O"))
self.openAction.connect("triggered()", self.onOpenDataFile)
def __init__(self):
self.applicationInstance().setOrganizationName('RobotLocomotionGroup')
self.applicationInstance().setApplicationName('drake-visualizer')
om.init()
self.view = PythonQt.dd.ddQVTKWidgetView()
# init grid
self.gridObj = vis.showGrid(self.view, parent='scene')
self.gridObj.setProperty('Surface Mode', 'Surface with edges')
self.gridObj.setProperty('Color', [0, 0, 0])
self.gridObj.setProperty('Alpha', 0.1)
# init view options
self.viewOptions = vis.ViewOptionsItem(self.view)
om.addToObjectModel(self.viewOptions,
parentObj=om.findObjectByName('scene'))
self.viewOptions.setProperty('Background color', [0.3, 0.3, 0.35])
self.viewOptions.setProperty('Background color 2', [0.95, 0.95, 1])
# setup camera
applogic.setCameraTerrainModeEnabled(self.view, True)
applogic.resetCamera(viewDirection=[-1, 0, -0.3], view=self.view)
# This setting improves the near plane clipping resolution.
# Drake often draws a very large ground plane which is detrimental to
# the near clipping for up close objects. The trade-off is Z buffer
# resolution but in practice things look good with this setting.
self.view.renderer().SetNearClippingPlaneTolerance(0.0005)
# add view behaviors
self.viewBehaviors = viewbehaviors.ViewBehaviors(self.view)
applogic._defaultRenderView = self.view
self.mainWindow = QtGui.QMainWindow()
self.mainWindow.setCentralWidget(self.view)
self.mainWindow.resize(768 * (16 / 9.0), 768)
self.mainWindow.setWindowTitle('Drake Visualizer')
self.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
self.settings = QtCore.QSettings()
self.fileMenu = self.mainWindow.menuBar().addMenu('&File')
self.viewMenu = self.mainWindow.menuBar().addMenu('&View')
self.viewMenuManager = PythonQt.dd.ddViewMenu(self.viewMenu)
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(
self.view) if lcmgl.LCMGL_AVAILABLE else None
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
self.sceneBrowserDock = self.addWidgetToDock(
model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea, visible=False)
self.propertiesDock = self.addWidgetToDock(
self.wrapScrollArea(model.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=False)
self.addViewMenuSeparator()
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(
self.screenGrabberPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(
self.view)
self.cameraBookmarksDock = self.addWidgetToDock(
self.cameraBookmarksPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
self.cameraControlPanel = cameracontrolpanel.CameraControlPanel(
self.view)
self.cameraControlDock = self.addWidgetToDock(
self.cameraControlPanel.widget,
QtCore.Qt.RightDockWidgetArea,
visible=False)
act = self.fileMenu.addAction('&Quit')
act.setShortcut(QtGui.QKeySequence('Ctrl+Q'))
act.connect('triggered()', self.applicationInstance().quit)
self.fileMenu.addSeparator()
act = self.fileMenu.addAction('&Open Data...')
act.setShortcut(QtGui.QKeySequence('Ctrl+O'))
act.connect('triggered()', self._onOpenDataFile)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
self.applicationInstance().connect('aboutToQuit()',
self._onAboutToQuit)
for obj in om.getObjects():
obj.setProperty('Deletable', False)
self.mainWindow.show()
self._saveWindowState('MainWindowDefault')
self._restoreWindowState('MainWindowCustom')
def addShortcut(widget, keySequence, func):
shortcut = QtGui.QShortcut(QtGui.QKeySequence(keySequence), widget)
shortcut.connect("activated()", func)
shortcut.connect("activatedAmbiguously()", func)
return shortcut
def addShortcut(keySequence, widget, slot):
shortcut = QtGui.QShortcut(QtGui.QKeySequence(keySequence), widget)
shortcut.connect('activated()', slot)
def __init__(self):
super(ExportQtGui, self).__init__()
#--# Create Groups
self.mainGroup = QtGui.QGroupBox('Export List')
self.optionGroup = QtGui.QGroupBox('Options')
#--# Create Layouts
layoutV1_main = QtGui.QVBoxLayout()
layoutV2_grp = QtGui.QVBoxLayout()
layoutV3_grp = QtGui.QVBoxLayout()
layoutH1_wdg = QtGui.QHBoxLayout()
layoutH2_wdg = QtGui.QHBoxLayout()
layoutH3_wdg = QtGui.QHBoxLayout()
layoutH4_wdg = QtGui.QHBoxLayout()
layoutH5_wdg = QtGui.QHBoxLayout()
## Build Layouts
self.setLayout(layoutV1_main)
self.mainGroup.setLayout(layoutV2_grp)
self.optionGroup.setLayout(layoutV3_grp)
layoutV2_grp.addLayout(layoutH1_wdg)
layoutV2_grp.addLayout(layoutH2_wdg)
layoutV3_grp.addLayout(layoutH3_wdg)
layoutV3_grp.addLayout(layoutH4_wdg)
layoutV3_grp.addLayout(layoutH5_wdg)
#--# Export List TreeWidget
self.exportList = QtGui.QTreeWidget()
self.exportList.setSelectionMode(
QtGui.QAbstractItemView.ExtendedSelection)
self.exportList.setSortingEnabled(True)
self.exportList.setAlternatingRowColors(True)
#--# Create Widgets
self.addBtn = QtGui.QToolButton(self)
self.removeBtn = QtGui.QToolButton(self)
self.clearBtn = QtGui.QToolButton(self)
self.addAllBtn = QtGui.QToolButton(self)
self.browseBtn = QtGui.QPushButton('Browse')
self.exportBtn = QtGui.QPushButton('Export')
self.formatCombo = QtGui.QComboBox()
self.exportLabel = QtGui.QLabel('Path: ')
self.formatLabel = QtGui.QLabel('Format: ')
self.templateLabel = QtGui.QLabel('Template: ')
self.templateLn = QtGui.QLineEdit(defaultTemplate)
self.exportLn = QtGui.QLineEdit()
## Set Icons
self.addBtn.setIcon(QtGui.QIcon('%s/Plus.png' % icon_path))
self.removeBtn.setIcon(QtGui.QIcon('%s/Minus.png' % icon_path))
self.clearBtn.setIcon(QtGui.QIcon('%s/Quit.png' % icon_path))
self.addAllBtn.setIcon(QtGui.QIcon('%s/AddObject.png' % icon_path))
#--# Populate Layouts
layoutH1_wdg.addWidget(self.exportList)
layoutH2_wdg.addWidget(self.addBtn)
layoutH2_wdg.addWidget(self.removeBtn)
layoutH2_wdg.addWidget(self.clearBtn)
layoutH2_wdg.addWidget(self.addAllBtn)
layoutH2_wdg.addStretch()
layoutH3_wdg.addWidget(self.exportLabel)
layoutH3_wdg.addWidget(self.exportLn)
layoutH3_wdg.addWidget(self.browseBtn)
layoutH4_wdg.addWidget(self.templateLabel)
layoutH4_wdg.addWidget(self.templateLn)
layoutH4_wdg.addWidget(self.formatLabel)
layoutH4_wdg.addWidget(self.formatCombo)
layoutH5_wdg.addWidget(self.exportBtn)
## Final
layoutV1_main.addWidget(self.mainGroup)
layoutV1_main.addWidget(self.optionGroup)
#--# StyleSheets
self.setStyleSheet("\
QTreeWidget { alternate-background-color: rgb(100, 100, 100); } \
")
#--# Keyboard shortcuts
self.deleteKey = QtGui.QShortcut(QtGui.QKeySequence('Delete'), self)
#--# Connections
self.addBtn.connect("clicked()", self.addUDIM)
self.removeBtn.connect("clicked()",
lambda: self.manageTree(remove=True))
self.clearBtn.connect("clicked()", self.clear)
self.addAllBtn.connect("clicked()", self.addAllObjects)
self.browseBtn.connect("clicked()", self.getExportPath)
self.exportBtn.connect("clicked()", self.export)
self.deleteKey.connect("activated()",
lambda: self.manageTree(remove=True))
self.exportList.connect("itemDoubleClicked (QTreeWidgetItem *,int)",
lambda: self.manageTree(pick=True))
#--# Init
self.init()
self.setHeader()