diff --git a/python/initial_python_solution/.blit_test.py.swp b/python/initial_python_solution/.blit_test.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..5c52e18edb5224f1c6bd60b1766faf468b66fb90
Binary files /dev/null and b/python/initial_python_solution/.blit_test.py.swp differ
diff --git a/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp b/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp
index 12b2cf4aa8c3ea2f063d13812214aa29f1ac0189..6dfe2a96bb05e401c7327f20ce338af45f733479 100644
Binary files a/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp and b/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp differ
diff --git a/python/initial_python_solution/blit_test.py b/python/initial_python_solution/blit_test.py
index d0a97298e9a823b5f94348b10c782f696def9b47..b6832cf6cae4d284c2edaa1545be8e07267062c0 100644
--- a/python/initial_python_solution/blit_test.py
+++ b/python/initial_python_solution/blit_test.py
@@ -1,5 +1,6 @@
import matplotlib.pyplot as plt
import numpy as np
+import time
x = np.linspace(0, 2 * np.pi, 100)
@@ -30,7 +31,8 @@ ax.draw_artist(ln)
# renderer to the GUI framework so you can see it
fig.canvas.blit(fig.bbox)
-for j in range(100):
+for j in range(1000):
+ start = time.time()
# reset the background back in the canvas state, screen unchanged
fig.canvas.restore_region(bg)
# update the artist, neither the canvas state nor the screen have changed
@@ -41,5 +43,8 @@ for j in range(100):
fig.canvas.blit(fig.bbox)
# flush any pending GUI events, re-painting the screen if needed
fig.canvas.flush_events()
+ end = time.time()
+ print("time on rendering", end - start)
+ print("fps: ", 1/ (end - start))
# you can put a pause in if you want to slow things down
# plt.pause(.1)
diff --git a/python/initial_python_solution/dark_background_example.py b/python/initial_python_solution/dark_background_example.py
new file mode 100644
index 0000000000000000000000000000000000000000..df4705fe580e35d85b12a9c28272d61f6d42d968
--- /dev/null
+++ b/python/initial_python_solution/dark_background_example.py
@@ -0,0 +1,18 @@
+import matplotlib.pyplot as plt
+import numpy as np
+
+plt.style.use('dark_background')
+
+fig, ax = plt.subplots()
+
+L = 6
+x = np.linspace(0, L)
+ncolors = len(plt.rcParams['axes.prop_cycle'])
+shift = np.linspace(0, L, ncolors, endpoint=False)
+for s in shift:
+ ax.plot(x, np.sin(x + s), 'o-')
+ax.set_xlabel('x-axis')
+ax.set_ylabel('y-axis')
+ax.set_title("'dark_background' style sheet")
+
+plt.show()
diff --git a/python/initial_python_solution/manipulator_visual_motion_analyzer.py b/python/initial_python_solution/manipulator_visual_motion_analyzer.py
index 3cea2701b7776da660e13f6492dca66e2dc9aeb3..23a428da562b03b6b72f0ae07e0145bf91670251 100644
--- a/python/initial_python_solution/manipulator_visual_motion_analyzer.py
+++ b/python/initial_python_solution/manipulator_visual_motion_analyzer.py
@@ -405,10 +405,10 @@ def update_points(new_val):
ik_env.p_e_point_plots[robot_index].set_data([ik_env.data[robot_index]['p_es'][index][0]], [ik_env.data[robot_index]['p_es'][index][1]])
ik_env.p_e_point_plots[robot_index].set_3d_properties([ik_env.data[robot_index]['p_es'][index][2]])
canvas_ee.draw()
- #canvas_manipulator.draw()
+ canvas_manipulator.draw()
# NEW
# might need to manually update all artists here from ax_something
- canvas_manipulator.blit(fig_manipulator.bbox)
+ #canvas_manipulator.blit(fig_manipulator.bbox)
canvas_manip_graphs.draw()
canvas_imu.draw()
# TODO update may not be needed as we're going by slider here
diff --git a/python/initial_python_solution/robot_stuff/.InverseKinematics.py.swp b/python/initial_python_solution/robot_stuff/.InverseKinematics.py.swp
deleted file mode 100644
index a9ec7ce2e024e479f6e20b5e8b5460644f0e31c2..0000000000000000000000000000000000000000
Binary files a/python/initial_python_solution/robot_stuff/.InverseKinematics.py.swp and /dev/null differ
diff --git a/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp b/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..c0aefbb19e9fc5f2403b0c03a9d5e4906deb177d
Binary files /dev/null and b/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp differ
diff --git a/python/initial_python_solution/robot_stuff/InverseKinematics.py b/python/initial_python_solution/robot_stuff/InverseKinematics.py
index 8cbe712bd58bf4ef3b8e7dd4251d6192d8464bcc..9cd579d94725f7e951d9a585bbc5869f95604d50 100644
--- a/python/initial_python_solution/robot_stuff/InverseKinematics.py
+++ b/python/initial_python_solution/robot_stuff/InverseKinematics.py
@@ -6,6 +6,7 @@ from robot_stuff.utils import *
# general imports
import numpy as np
+import matplotlib.pyplot as plt
# ######################################### NOTE #########################
# i'm half-adding another robot for the purposes of the plot.
@@ -144,7 +145,7 @@ class InverseKinematicsEnv:
self.drawingInited = False
if self.drawingInited == False:
- plt.ion()
+ #plt.ion()
self.fig = plt.figure()
#self.ax = self.fig.add_subplot(111, projection='3d')
self.ax = self.fig.add_subplot(111, projection='3d')
@@ -156,13 +157,30 @@ class InverseKinematicsEnv:
color_link = 'black'
self.robot.initDrawing(self.ax, color_link)
self.drawingInited = True
+ plt.pause(0.1)
+ # put this here for good measure
+ self.robot.drawStateAnim()
+ self.bg = self.fig.canvas.copy_from_bbox(self.fig.bbox)
+ # manual blitting basically
+ # restore region
+ self.fig.canvas.restore_region(self.bg)
+ # updating all the artists (set new properties (position bla))
self.robot.drawStateAnim()
+ # now you need to manually draw all the artist (otherwise you update everything)
+ # thank god that's just lines, all in a list.
+ # btw, that should definitely be a dictionary, not a list,
+ # this makes the code fully unreadable (although correct).
+ for link in self.robot.lines:
+ for line in link:
+ self.ax.draw_artist(line)
+ self.fig.canvas.blit(self.fig.bbox)
+ # NOTE: this might not work
self.ax.set_title(str(self.n_of_tries_for_point) + 'th iteration toward goal')
drawPoint(self.ax, self.goal, 'red', 'o')
# if no draw it is kinda faster
#self.fig.canvas.draw()
# this is even faster
- self.fig.canvas.update()
+ #self.fig.canvas.update()
self.fig.canvas.flush_events()
diff --git a/python/initial_python_solution/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc b/python/initial_python_solution/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc
index 47e56460692494af368d10f7e35571c312e88590..2396b89a46501036d462e70fa75232ab54f4e46f 100644
Binary files a/python/initial_python_solution/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc and b/python/initial_python_solution/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc differ
diff --git a/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc b/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc
index 83515247013d576e7357d50aa88d446cd98cef1c..fef8c56c5d57b61d99de335ea07b479488fdf269 100644
Binary files a/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc and b/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc differ
diff --git a/python/initial_python_solution/robot_stuff/forw_kinm.py b/python/initial_python_solution/robot_stuff/forw_kinm.py
index 267373b677b03903ea5fdad41ead95d577acfb11..dbf3d3e077bbd38e7084b3f0c8325d5679a2da36 100644
--- a/python/initial_python_solution/robot_stuff/forw_kinm.py
+++ b/python/initial_python_solution/robot_stuff/forw_kinm.py
@@ -133,10 +133,10 @@ class Robot_raw:
z_hat = self.joints[j].HomMat[0:3,2]
p = self.joints[j].HomMat[0:3,3]
- line_x, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'r')
- line_y, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'g')
- line_z, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'b')
- line_p, = self.ax.plot(np.array([]),np.array([]),np.array([]), self.color_link)
+ line_x, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'r')#, animated=True)
+ line_y, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'g')#, animated=True)
+ line_z, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'b')#, animated=True)
+ line_p, = self.ax.plot(np.array([]),np.array([]),np.array([]), self.color_link)#, animated=True)
self.lines += [[line_x, line_y, line_z, line_p]]
avg_link_lenth += self.joints[j].d + self.joints[j].r