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 __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 __init__(self):
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)
# add view behaviors
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.mainWindow.show()
self.drakeVisualizer = DrakeVisualizer(self.view)
self.lcmglManager = lcmgl.LCMGLManager(self.view) if lcmgl.LCMGL_AVAILABLE else None
self.screenGrabberPanel = ScreenGrabberPanel(self.view)
self.screenGrabberDock = self.addWidgetToDock(self.screenGrabberPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.screenGrabberDock.setVisible(False)
self.cameraBookmarksPanel = camerabookmarks.CameraBookmarkWidget(self.view)
self.cameraBookmarksDock = self.addWidgetToDock(self.cameraBookmarksPanel.widget, QtCore.Qt.RightDockWidgetArea)
self.cameraBookmarksDock.setVisible(False)
model = om.getDefaultObjectModel()
model.getTreeWidget().setWindowTitle('Scene Browser')
model.getPropertiesPanel().setWindowTitle('Properties Panel')
model.setActiveObject(self.viewOptions)
self.sceneBrowserDock = self.addWidgetToDock(model.getTreeWidget(), QtCore.Qt.LeftDockWidgetArea)
self.propertiesDock = self.addWidgetToDock(self.wrapScrollArea(model.getPropertiesPanel()), QtCore.Qt.LeftDockWidgetArea)
self.sceneBrowserDock.setVisible(False)
self.propertiesDock.setVisible(False)
applogic.addShortcut(self.mainWindow, 'Ctrl+Q', self.applicationInstance().quit)
applogic.addShortcut(self.mainWindow, 'F1', self._toggleObjectModel)
applogic.addShortcut(self.mainWindow, 'F2', self._toggleScreenGrabber)
applogic.addShortcut(self.mainWindow, 'F3', self._toggleCameraBookmarks)
applogic.addShortcut(self.mainWindow, 'F8', applogic.showPythonConsole)
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')
view = app.createView()
view.show()
view.resize(1080, 768)
robotSystem = robotsystem.create(view)
widget = LinkWidget(view, robotSystem.robotStateModel)
widget.start()
app.viewOptions.setProperty('Gradient background', False)
app.viewOptions.setProperty('Background color', [1,1,1])
app.viewOptions.setProperty('Orientation widget', False)
app.gridObj.setProperty('Color', [0,0,0])
app.gridObj.setProperty('Surface Mode', 'Surface with edges')
w = ForcesPanel()
m = QtGui.QMainWindow()
m.setCentralWidget(view)
dock = QtGui.QDockWidget()
dock.setWindowTitle('Forces panel')
dock.setWidget(w.widget)
m.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock)
m.resize(1080, 768)
m.show()
app.start()
