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 initMainWindow(self, fields):
organizationName = "RobotLocomotion"
applicationName = "DirectorMainWindow"
windowTitle = "Director App"
if hasattr(fields, "organizationName"):
organizationName = fields.organizationName
if hasattr(fields, "applicationName"):
applicationName = fields.applicationName
if hasattr(fields, "windowTitle"):
windowTitle = fields.windowTitle
MainWindowApp.applicationInstance().setOrganizationName(
organizationName)
MainWindowApp.applicationInstance().setApplicationName(applicationName)
app = MainWindowApp()
app.mainWindow.setCentralWidget(fields.view)
app.mainWindow.setWindowTitle(windowTitle)
app.mainWindow.setWindowIcon(QtGui.QIcon(":/images/drake_logo.png"))
sceneBrowserDock = app.addWidgetToDock(
fields.objectModel.getTreeWidget(),
QtCore.Qt.LeftDockWidgetArea,
visible=True,
)
propertiesDock = app.addWidgetToDock(
app.wrapScrollArea(fields.objectModel.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=True,
)
app.addViewMenuSeparator()
def toggleObjectModelDock():
newState = not sceneBrowserDock.visible
sceneBrowserDock.setVisible(newState)
propertiesDock.setVisible(newState)
applogic.addShortcut(app.mainWindow, "F1", toggleObjectModelDock)
# applogic.addShortcut(app.mainWindow, 'F8', app.showPythonConsole)
return FieldContainer(
app=app,
mainWindow=app.mainWindow,
sceneBrowserDock=sceneBrowserDock,
propertiesDock=propertiesDock,
toggleObjectModelDock=toggleObjectModelDock,
commandLineArgs=drcargs.args(),
)
def initMainWindow(self, fields):
from director import viewcolors
organizationName = 'RobotLocomotion'
applicationName = 'DirectorMainWindow'
windowTitle = 'Director App'
if hasattr(fields, 'organizationName'):
organizationName = fields.organizationName
if hasattr(fields, 'applicationName'):
applicationName = fields.applicationName
if hasattr(fields, 'windowTitle'):
windowTitle = fields.windowTitle
MainWindowApp.applicationInstance().setOrganizationName(organizationName)
MainWindowApp.applicationInstance().setApplicationName(applicationName)
app = MainWindowApp()
app.mainWindow.setCentralWidget(fields.view)
app.mainWindow.setWindowTitle(windowTitle)
app.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
sceneBrowserDock = app.addWidgetToDock(fields.objectModel.getTreeWidget(),
QtCore.Qt.LeftDockWidgetArea, visible=True)
propertiesDock = app.addWidgetToDock(app.wrapScrollArea(fields.objectModel.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea, visible=True)
app.addViewMenuSeparator()
def toggleObjectModelDock():
newState = not sceneBrowserDock.visible
sceneBrowserDock.setVisible(newState)
propertiesDock.setVisible(newState)
applogic.addShortcut(app.mainWindow, 'F1', toggleObjectModelDock)
#applogic.addShortcut(app.mainWindow, 'F8', app.showPythonConsole)
return FieldContainer(
app=app,
mainWindow=app.mainWindow,
sceneBrowserDock=sceneBrowserDock,
propertiesDock=propertiesDock,
toggleObjectModelDock=toggleObjectModelDock,
commandLineArgs=drcargs.args()
)
def showObjectModel(self):
if not self.objectModelWidget:
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
model = om.getDefaultObjectModel()
l.addWidget(model.getTreeWidget())
l.addWidget(model.getPropertiesPanel())
applogic.addShortcut(w, 'Ctrl+Q', self.quit)
self.objectModelWidget = w
self.objectModelWidget.resize(350, 700)
self.objectModelWidget.show()
self.objectModelWidget.raise_()
self.objectModelWidget.activateWindow()
return self.objectModelWidget
def showObjectModel(self):
if not self.objectModelWidget:
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
model = om.getDefaultObjectModel()
l.addWidget(model.getTreeWidget())
l.addWidget(model.getPropertiesPanel())
applogic.addShortcut(w, "Ctrl+Q", self.quit)
self.objectModelWidget = w
self.objectModelWidget.resize(350, 700)
self.objectModelWidget.show()
self.objectModelWidget.raise_()
self.objectModelWidget.activateWindow()
return self.objectModelWidget
def initMainWindow(self, fields):
from director import viewcolors
organizationName = 'RobotLocomotion'
applicationName = 'DirectorMainWindow'
if hasattr(fields, 'organizationName'):
organizationName = fields.organizationName
if hasattr(fields, 'applicationName'):
applicationName = fields.applicationName
MainWindowApp.applicationInstance().setOrganizationName(
organizationName)
MainWindowApp.applicationInstance().setApplicationName(applicationName)
app = MainWindowApp()
app.mainWindow.setCentralWidget(fields.view)
app.mainWindow.setWindowTitle('Director App')
app.mainWindow.setWindowIcon(QtGui.QIcon(':/images/drake_logo.png'))
sceneBrowserDock = app.addWidgetToDock(
fields.objectModel.getTreeWidget(),
QtCore.Qt.LeftDockWidgetArea,
visible=True)
propertiesDock = app.addWidgetToDock(app.wrapScrollArea(
fields.objectModel.getPropertiesPanel()),
QtCore.Qt.LeftDockWidgetArea,
visible=True)
app.addViewMenuSeparator()
def toggleObjectModelDock():
newState = not sceneBrowserDock.visible
sceneBrowserDock.setVisible(newState)
propertiesDock.setVisible(newState)
applogic.addShortcut(app.mainWindow, 'F1', toggleObjectModelDock)
#applogic.addShortcut(app.mainWindow, 'F8', app.showPythonConsole)
return FieldContainer(app=app,
mainWindow=app.mainWindow,
sceneBrowserDock=sceneBrowserDock,
propertiesDock=propertiesDock,
toggleObjectModelDock=toggleObjectModelDock)
def showObjectModel(self):
if not self.objectModelWidget:
w = QtGui.QSplitter(QtCore.Qt.Vertical)
model = om.getDefaultObjectModel()
w.addWidget(model.getTreeWidget())
sw = QtGui.QScrollArea()
sw.setWidget(model.getPropertiesPanel())
sw.setWidgetResizable(True)
w.addWidget(sw)
applogic.addShortcut(w, 'Ctrl+Q', self.quit)
self.objectModelWidget = w
self.objectModelWidget.resize(350, 700)
w.setSizes([350, 350])
self.objectModelWidget.show()
self.objectModelWidget.raise_()
self.objectModelWidget.activateWindow()
return self.objectModelWidget
def showObjectModel(self):
if not self.objectModelWidget:
w = QtGui.QSplitter(QtCore.Qt.Vertical)
model = om.getDefaultObjectModel()
w.addWidget(model.getTreeWidget())
sw = QtGui.QScrollArea()
sw.setWidget(model.getPropertiesPanel())
sw.setWidgetResizable(True)
w.addWidget(sw)
applogic.addShortcut(w, 'Ctrl+Q', self.quit)
self.objectModelWidget = w
self.objectModelWidget.resize(350, 700)
w.setSizes([350, 350])
self.objectModelWidget.show()
self.objectModelWidget.raise_()
self.objectModelWidget.activateWindow()
return self.objectModelWidget
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
def createView(self, useGrid=True):
view = PythonQt.dd.ddQVTKWidgetView()
view.resize(600, 400)
applogic.setCameraTerrainModeEnabled(view, True)
if useGrid:
self.gridObj = vis.showGrid(view, parent='scene')
self.viewOptions = vis.ViewOptionsItem(view)
om.addToObjectModel(self.viewOptions, parentObj=om.findObjectByName('scene'))
applogic.resetCamera(viewDirection=[-1,-1,-0.3], view=view)
self.viewBehaviors = viewbehaviors.ViewBehaviors(view)
applogic._defaultRenderView = view
applogic.addShortcut(view, 'Ctrl+Q', self.quit)
applogic.addShortcut(view, 'F8', self.showPythonConsole)
applogic.addShortcut(view, 'F1', self.showObjectModel)
view.setWindowIcon(om.Icons.getIcon(om.Icons.Robot))
view.setWindowTitle('View')
return view
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 __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")
self.lc.publish("PD_CONFIG", msg.encode())
time.sleep(self.ramp_up_time / 100.0)
# store previous kp kd gains
self.kp_ = msg.kp
self.kd_ = msg.kd
self.prev_pos_ = msg.desired_position
def setState_clicked(self):
self.lc.handle_timeout(100)
self.lc.handle_timeout(100) #twice to clear the buffer
def state_handler(self, channel, data):
msg = dairlib.lcmt_robot_output.decode(data)
for idx_msg, joint in enumerate(msg.position_names):
if joint in position_names:
idx = position_names.index(joint)
self.ledits[idx].setValue(msg.position[idx_msg])
self.values[idx] = msg.position[idx_msg]
print('message handled')
print(msg.position[6])
panel = ControllerGui()
app.addWidgetToDock(panel, QtCore.Qt.RightDockWidgetArea)
import director.openscope as scope
import subprocess
view = applogic.getMainWindow()
applogic.addShortcut(view, 'Ctrl+I', scope.startSignalScope)
def addShortcuts(self, widget):
applogic.addShortcut(widget, 'Ctrl+Q', consoleapp.ConsoleApp.quit)
applogic.addShortcut(widget, 'F8',
consoleapp.ConsoleApp.showPythonConsole)
def addShortcuts(self, widget):
applogic.addShortcut(widget, 'Ctrl+Q', consoleapp.ConsoleApp.quit)
applogic.addShortcut(widget, 'F8', consoleapp.ConsoleApp.showPythonConsole)
