From 61891e86beb0d2b7fe2d904cb73b4272fd96fa09 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 27 Nov 2023 12:58:54 +0100
Subject: [PATCH] more changes
---
.../manipulator_visual_motion_analyzer.py | 433 +++++++++---------
1 file changed, 211 insertions(+), 222 deletions(-)
diff --git a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
index 11fb982..1442111 100644
--- a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
+++ b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
@@ -148,16 +148,16 @@ class ManipulatorVisualMotionAnalyzer:
# LAYOUT OF THE GUI #
# putting plots into: frames -> notebooks -> tabs #
#####################################################
- self.notebook_left = Notebook(root, height=int(SCREEN_HEIGHT))
- self.notebook_right = Notebook(root, height=int(SCREEN_HEIGHT))
- self.frame_manipulator = Frame(notebook_left)
- self.frame_manip_graphs = Frame(notebook_right)
- self.frame_imu = Frame(notebook_right)
- self.frame_ee = Frame(notebook_left)
- self.tabs_left = notebook_left.add(frame_manipulator, text='manipulator')
- self.tabs_left = notebook_left.add(frame_ee, text="end-effector")
- self.tabs_right = notebook_right.add(frame_manip_graphs, text='manipulator-graphs')
- self.tabs_right = notebook_right.add(frame_imu, text="ee-graphs")
+ self.notebook_left = Notebook(root, height=int(self.SCREEN_HEIGHT))
+ self.notebook_right = Notebook(root, height=int(self.SCREEN_HEIGHT))
+ self.frame_manipulator = Frame(self.notebook_left)
+ self.frame_manip_graphs = Frame(self.notebook_right)
+ self.frame_imu = Frame(self.notebook_right)
+ self.frame_ee = Frame(self.notebook_left)
+ self.tabs_left = self.notebook_left.add(self.frame_manipulator, text='manipulator')
+ self.tabs_left = self.notebook_left.add(self.frame_ee, text="end-effector")
+ self.tabs_right = self.notebook_right.add(self.frame_manip_graphs, text='manipulator-graphs')
+ self.tabs_right = self.notebook_right.add(self.frame_imu, text="ee-graphs")
self.notebook_left.grid(row=0, column=0, sticky='ew')
self.notebook_right.grid(row=0, column=1, sticky='ew')
@@ -201,6 +201,11 @@ class ManipulatorVisualMotionAnalyzer:
self.fig_ee = Figure(figsize=(SCREEN_WIDTH/DPI*SCALING_FACTOR_WIDTH, SCREEN_HEIGHT/DPI*SCALING_FACTOR_HEIGHT), dpi=DPI)
self.rec3D_ax = self.fig_ee.add_subplot(projection='3d')
self.rec3D_ax.set(xticklabels=[], yticklabels=[], zticklabels=[])
+ self.canvas_ee = FigureCanvasTkAgg(self.fig_ee, master=self.frame_ee)
+ self.canvas_ee_widget = self.canvas_ee.get_tk_widget()
+ self.canvas_ee_widget.grid(row=0, column=0)
+ self.canvas_ee._tkcanvas.grid(row=1, column=0)
+ self.canvas_ee.draw()
#######################################################################
# MANIPULATOR PLOT #
@@ -252,6 +257,21 @@ class ManipulatorVisualMotionAnalyzer:
color='pink', linewidth=0.1,
alpha=0.3, shade=True))
+ # tkinterize the figure/canvas
+ self.canvas_manipulator = FigureCanvasTkAgg(self.fig_manipulator, master=self.frame_manipulator)
+ # need to hit it with the first draw before saving background
+ self.canvas_manipulator.draw()
+ # save background - in manual blitting you reload and update yourself
+ self.background_manipulator = self.canvas_manipulator.copy_from_bbox(self.fig_manipulator.bbox)
+ # take and put the matplotlib toolbar below the plot.
+ # these are quite nifty (zooming, adjusting axes etc)
+ self.canvas_manipulator_widget = self.canvas_manipulator.get_tk_widget()
+ self.canvas_manipulator_widget.grid(row=0, column=0)
+ self.canvas_manipulator._tkcanvas.grid(row=1, column=0)
+ # i probably don't need this draw, but who cares
+ self.canvas_manipulator.draw()
+
+
#######################################################################
# manipulability plots #
#######################################################################
@@ -298,6 +318,13 @@ class ManipulatorVisualMotionAnalyzer:
dist_to_goal_lines.append(dist_to_goal_line)
# TODO: blit this line
self.point_in_time_dist_to_goal_line = ax.axvline(x=0, color='red')
+ # tkinterize canvas
+ self.canvas_manip_graphs = FigureCanvasTkAgg(self.fig_manip_graphs, master=self.frame_manip_graphs)
+ # put matplotlib toolbar below the plot
+ self.canvas_manip_graphs_widget = self.canvas_manip_graphs.get_tk_widget()
+ self.canvas_manip_graphs_widget.grid(row=0, column=0)
+ self.canvas_manip_graphs._tkcanvas.grid(row=1, column=0)
+ self.canvas_manip_graphs.draw()
#######################################################################
@@ -357,220 +384,28 @@ class ManipulatorVisualMotionAnalyzer:
self.point_in_time_ax_omega_y_line = ax_omega_y.axvline(x=0, color='red')
self.point_in_time_ax_omega_z_line = ax_omega_z.axvline(x=0, color='red')
+ self.canvas_imu = FigureCanvasTkAgg(self.fig_imu, master=self.frame_imu)
+ self.canvas_imu_widget = self.canvas_manip_graphs.get_tk_widget()
+ self.canvas_imu_widget.grid(row=0, column=0)
+ self.canvas_imu._tkcanvas.grid(row=1, column=0)
+ self.canvas_imu.draw()
+
+ # i don't even remember what these toolbars are lol
+ # pack_toolbar=False will make it easier to use a layout manager later on.
+ toolbar_manipulator = NavigationToolbar2Tk(canvas_manipulator, frame_manipulator, pack_toolbar=False)
+ toolbar_manipulator.update()
+ toolbar_manipulator.grid(column=0, row=2)
+ toolbar_manip_graphs = NavigationToolbar2Tk(canvas_manip_graphs, frame_manip_graphs, pack_toolbar=False)
+ toolbar_manip_graphs.update()
+ toolbar_manip_graphs.grid(column=0, row=2)
+ toolbar_ee = NavigationToolbar2Tk(canvas_ee, frame_ee, pack_toolbar=False)
+ toolbar_ee.update()
+ toolbar_ee.grid(column=0, row=2)
+ toolbar_imu = NavigationToolbar2Tk(canvas_imu, frame_imu, pack_toolbar=False)
+ toolbar_imu.update()
+ toolbar_imu.grid(column=0, row=2)
-# tkinterize these plots
-canvas_manipulator = FigureCanvasTkAgg(fig_manipulator, master=frame_manipulator)
-canvas_manipulator.draw()
-# NEW
-# TODO maybe you want another background idk
-# worked elsewhere with figure.bbox
-background_manipulator = canvas_manipulator.copy_from_bbox(fig_manipulator.bbox)
-#background_manipulator = canvas_manipulator.copy_from_bbox(canvas_manipulator.bbox)
-
-canvas_manipulator_widget = canvas_manipulator.get_tk_widget()
-canvas_manipulator_widget.grid(row=0, column=0)
-canvas_manipulator._tkcanvas.grid(row=1, column=0)
-canvas_manipulator.draw()
-
-canvas_ee = FigureCanvasTkAgg(fig_ee, master=frame_ee)
-canvas_ee_widget = canvas_ee.get_tk_widget()
-canvas_ee_widget.grid(row=0, column=0)
-canvas_ee._tkcanvas.grid(row=1, column=0)
-canvas_ee.draw()
-
-canvas_manip_graphs = FigureCanvasTkAgg(fig_manip_graphs, master=frame_manip_graphs)
-canvas_manip_graphs_widget = canvas_manip_graphs.get_tk_widget()
-canvas_manip_graphs_widget.grid(row=0, column=0)
-canvas_manip_graphs._tkcanvas.grid(row=1, column=0)
-canvas_manip_graphs.draw()
-
-canvas_imu = FigureCanvasTkAgg(self.fig_imu, master=frame_imu)
-canvas_imu_widget = canvas_manip_graphs.get_tk_widget()
-canvas_imu_widget.grid(row=0, column=0)
-canvas_imu._tkcanvas.grid(row=1, column=0)
-canvas_imu.draw()
-
-# pack_toolbar=False will make it easier to use a layout manager later on.
-toolbar_manipulator = NavigationToolbar2Tk(canvas_manipulator, frame_manipulator, pack_toolbar=False)
-toolbar_manipulator.update()
-toolbar_manipulator.grid(column=0, row=2)
-toolbar_manip_graphs = NavigationToolbar2Tk(canvas_manip_graphs, frame_manip_graphs, pack_toolbar=False)
-toolbar_manip_graphs.update()
-toolbar_manip_graphs.grid(column=0, row=2)
-toolbar_ee = NavigationToolbar2Tk(canvas_ee, frame_ee, pack_toolbar=False)
-toolbar_ee.update()
-toolbar_ee.grid(column=0, row=2)
-toolbar_imu = NavigationToolbar2Tk(canvas_imu, frame_imu, pack_toolbar=False)
-toolbar_imu.update()
-toolbar_imu.grid(column=0, row=2)
-
-#######################################################################
-# functions for widgets to control the plots #
-#######################################################################
-
-# keyboard inputs
-# whatever, doesn't hurt, could be used
-#canvas.mpl_connect(
-# "key_press_event", lambda event: print(f"you pressed {event.key}"))
-#canvas.mpl_connect("key_press_event", key_press_handler)
-
-# new_val is what the widget gives you
-# you define what needs to happen to plots in Figure below,
-# and call canvas.draw
-def update_points(new_val):
-# ee plot
-###########################################################################
- start = ttime.time()
- #fig_manipulator.canvas.restore_region(background_manipulator)
- canvas_manipulator.restore_region(background_manipulator)
- index = int(np.floor(float(new_val)))
-
- # Update 3D reconstruction plot
- # plot3D_camera(recP[index], scale=scale)
-# C, Q = camera_data_for_plot3D(recP[cam_indices[index]])
-# camera_center.set_data_3d(*C)
-# C = C.flatten()
-# for ii in range(len(camera_coordinate_system)):
-# camera_coordinate_system[ii].set_data([C[0], C[0] + scale * Q[0,ii]],
-# [C[1], C[1] + scale * Q[1,ii]])
-# camera_coordinate_system[ii].set_3d_properties([C[2], C[2] + scale * Q[2,ii]])
-# recX_ = recX[:,X_indices[:num_pts_subset*(index+1)]]
-# rec_points3D.set_data_3d(recX_[0,:], recX_[1,:], recX_[2,:])
-###########################################################################
-
- ik_env.ax.set_title(str(index) + 'th iteration toward goal')
- # animate 3d manipulator
- for robot_index, robot in enumerate(ik_env.robots):
- ik_env.robots[robot_index].setJoints(ik_env.data[robot_index]["qs"][index])
- ik_env.robots[robot_index].drawStateAnim()
-
- # NEW AND BROKEN
- for link in robot.lines:
- for line in link:
- ik_env.ax.draw_artist(line)
- # all these are in lists as that's what the line plot wants,
- # despite the fact that we have single points
- point_in_time_eigen1_line.set_xdata([time[index]])
- point_in_time_manip_index_line.set_xdata([time[index]])
- point_in_time_dist_to_goal_line.set_xdata([time[index]])
- point_in_time_ax_v_x_line.set_xdata([time[index]])
- point_in_time_ax_v_y_line.set_xdata([time[index]])
- point_in_time_ax_v_z_line.set_xdata([time[index]])
- point_in_time_ax_omega_x_line.set_xdata([time[index]])
- point_in_time_ax_omega_y_line.set_xdata([time[index]])
- point_in_time_ax_omega_z_line.set_xdata([time[index]])
-
- # ellipsoid update
- radii = 1.0/ik_env.data[robot_index]["manip_ell_eigenvals"][index] * 0.1
- u = np.linspace(0.0, 2.0 * np.pi, 60)
- v = np.linspace(0.0, np.pi, 60)
- x = radii[0] * np.outer(np.cos(u), np.sin(v))
- y = radii[1] * np.outer(np.sin(u), np.sin(v))
- z = radii[2] * np.outer(np.ones_like(u), np.cos(v))
- for i in range(len(x)):
- for j in range(len(x)):
- [x[i,j],y[i,j],z[i,j]] = np.dot([x[i,j],y[i,j],z[i,j]], ik_env.data[robot_index]["manip_elip_svd_rots"][index]) + ik_env.data[robot_index]['p_es'][index]
-
- if ellipse_on_off_var.get():
- try:
- ik_env.ellipsoid_surf_plots[robot_index].remove()
- except ValueError:
- pass
- ik_env.ellipsoid_surf_plots[robot_index] = ik_env.ax.plot_surface(x, y, z, rstride=3, cstride=3,
- color='pink', linewidth=0.1,
- alpha=0.3, shade=True)
-
- 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()
- # NEW AND BROKEN
-# fig_manipulator.canvas.blit(fig_manipulator.bbox)
-# fig_manipulator.canvas.flush_events()
- canvas_manipulator.blit(fig_manipulator.bbox)
- canvas_manipulator.flush_events()
- #canvas_manipulator.draw()
- # might need to manually update all artists here from ax_something
- #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
- root.update()
- end = ttime.time()
- print("time per update:", end - start)
- print("fps", 1 / (end - start))
-
-
-def update_goal_x(new_val):
- goal_x = float(new_val)
- ik_env.goal[0] = goal_x
- ik_env.goal_point_plot.set_data([ik_env.goal[0]], [ik_env.goal[1]])
- ik_env.goal_point_plot.set_3d_properties([ik_env.goal[2]])
- canvas_ee.draw()
- canvas_manipulator.draw()
- canvas_manip_graphs.draw()
- # TODO update may not be needed as we're going by slider here
- root.update()
-
-def update_goal_y(new_val):
- goal_y = float(new_val)
- ik_env.goal[1] = goal_y
- ik_env.goal_point_plot.set_data([ik_env.goal[0]], [ik_env.goal[1]])
- ik_env.goal_point_plot.set_3d_properties([ik_env.goal[2]])
- canvas_ee.draw()
- canvas_manipulator.draw()
- canvas_manip_graphs.draw()
- # TODO update may not be needed as we're going by slider here
- root.update()
-
-def update_goal_z(new_val):
- goal_z = float(new_val)
- ik_env.goal[2] = goal_z
- ik_env.goal_point_plot.set_data([ik_env.goal[0]], [ik_env.goal[1]])
- ik_env.goal_point_plot.set_3d_properties([ik_env.goal[2]])
- canvas_ee.draw()
- canvas_manipulator.draw()
- canvas_manip_graphs.draw()
- # TODO update may not be needed as we're going by slider here
- root.update()
-
-
-
-def reset():
- ik_env.reset()
-# ik_env.goal_point_plot.remove()
-# ik_env.goal_point_plot = drawPoint(ik_env.ax, ik_env.goal, 'red', 'o')
-# print(controller_string1.get())
-# print(controller_string2.get())
- controller1 = getController(controller_string1.get())
- controller2 = getController(controller_string2.get())
- controllers = [controller1, controller2]
- for robot_index, robot in enumerate(ik_env.robots):
- ik_env.data.append(makeRun(controllers[robot_index], ik_env, n_iters, robot_index))
- trajectory_plots[robot_index].set_data(ik_env.data[robot_index]['p_es'][:,0], ik_env.data[robot_index]['p_es'][:,1])
- trajectory_plots[robot_index].set_3d_properties(ik_env.data[robot_index]['p_es'][:,2])
- eigen1_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,0])
- eigen2_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,1])
- eigen3_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,2])
- manip_index_lines[robot_index].set_ydata(ik_env.data[robot_index]['manip_indeces'])
- dist_to_goal_lines[robot_index].set_ydata(ik_env.data[robot_index]['dists_to_goal'])
- update_points(0)
- canvas_ee.draw()
- canvas_manipulator.draw()
- canvas_manip_graphs.draw()
- root.update()
-
-def play():
- pass
-
-# ellipse on/off
-def add_remove_ellipse():
- try:
- for robot_index, robot in enumerate(ik_env.robots):
- ik_env.ellipsoid_surf_plots[robot_index].remove()
- except ValueError:
- pass
-
# NOTE: this thing is not used
same_starting_position_on_off_var = IntVar()
@@ -586,6 +421,7 @@ same_starting_position_checkbutton= Checkbutton(root, text = "same starting posi
#######################################################################
# PLACING ELEMENTS IN THE GUI #
#######################################################################
+ # TODO put this into init
# LEFT PANE BELOW MANIP/EE PLOTS
frame_below_manipulator_plot = Frame(frame_manipulator)
@@ -697,6 +533,159 @@ slider_goal_x.set(ik_env.goal[0])
slider_goal_y.set(ik_env.goal[1])
slider_goal_z.set(ik_env.goal[2])
+
+
+#######################################################################
+# functions for widgets to control the plots #
+#######################################################################
+
+# keyboard inputs
+# whatever, doesn't hurt, could be used
+#canvas.mpl_connect(
+# "key_press_event", lambda event: print(f"you pressed {event.key}"))
+#canvas.mpl_connect("key_press_event", key_press_handler)
+
+# new_val is what the widget gives you
+# you define what needs to happen to plots in Figure below,
+# and call canvas.draw
+ def update_points(self, new_val):
+ start = ttime.time()
+ #fig_manipulator.canvas.restore_region(background_manipulator)
+ self.canvas_manipulator.restore_region(self.background_manipulator)
+ index = int(np.floor(float(new_val)))
+ # ee plot here, but NOTE: UNUSED
+
+ self.ik_env.ax.set_title(str(index) + 'th iteration toward goal')
+ # animate 3d manipulator
+ for robot_index, robot in enumerate(self.ik_env.robots):
+ self.ik_env.robots[robot_index].setJoints(self.ik_env.data[robot_index]["qs"][index])
+ self.ik_env.robots[robot_index].drawStateAnim()
+
+ # NEW AND BROKEN
+ for link in robot.lines:
+ for line in link:
+ self.ik_env.ax.draw_artist(line)
+ # all these are in lists as that's what the line plot wants,
+ # despite the fact that we have single points
+ self.point_in_time_eigen1_line.set_xdata([time[index]])
+ self.point_in_time_manip_index_line.set_xdata([time[index]])
+ self.point_in_time_dist_to_goal_line.set_xdata([time[index]])
+ self.point_in_time_ax_v_x_line.set_xdata([time[index]])
+ self.point_in_time_ax_v_y_line.set_xdata([time[index]])
+ self.point_in_time_ax_v_z_line.set_xdata([time[index]])
+ self.point_in_time_ax_omega_x_line.set_xdata([time[index]])
+ self.point_in_time_ax_omega_y_line.set_xdata([time[index]])
+ self.point_in_time_ax_omega_z_line.set_xdata([time[index]])
+
+ # ellipsoid update
+ radii = 1.0/self.ik_env.data[robot_index]["manip_ell_eigenvals"][index] * 0.1
+ u = np.linspace(0.0, 2.0 * np.pi, 60)
+ v = np.linspace(0.0, np.pi, 60)
+ x = radii[0] * np.outer(np.cos(u), np.sin(v))
+ y = radii[1] * np.outer(np.sin(u), np.sin(v))
+ z = radii[2] * np.outer(np.ones_like(u), np.cos(v))
+ for i in range(len(x)):
+ for j in range(len(x)):
+ [x[i,j],y[i,j],z[i,j]] = np.dot([x[i,j],y[i,j],z[i,j]], self.ik_env.data[robot_index]["manip_elip_svd_rots"][index]) + self.ik_env.data[robot_index]['p_es'][index]
+
+ if self.ellipse_on_off_var.get():
+ try:
+ self.ik_env.ellipsoid_surf_plots[robot_index].remove()
+ except ValueError:
+ pass
+ self.ik_env.ellipsoid_surf_plots[robot_index] = self.ik_env.ax.plot_surface(x, y, z, rstride=3, cstride=3,
+ color='pink', linewidth=0.1,
+ alpha=0.3, shade=True)
+
+ self.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]])
+ self.ik_env.p_e_point_plots[robot_index].set_3d_properties([ik_env.data[robot_index]['p_es'][index][2]])
+ # TODO: blit the rest
+ canvas_manipulator.blit(fig_manipulator.bbox)
+ canvas_manipulator.flush_events()
+ canvas_manip_graphs.draw()
+ # non blitted (bad)
+ canvas_imu.draw()
+ self.canvas_ee.draw()
+ # TODO update may not be needed as we're going by slider here
+ root.update()
+ end = ttime.time()
+ print("time per update:", end - start)
+ print("fps", 1 / (end - start))
+
+
+ def update_goal_x(self, new_val):
+ goal_x = float(new_val)
+ self.ik_env.goal[0] = goal_x
+ self.ik_env.goal_point_plot.set_data([self.ik_env.goal[0]], [self.ik_env.goal[1]])
+ self.ik_env.goal_point_plot.set_3d_properties([self.ik_env.goal[2]])
+ self.canvas_ee.draw()
+ self.canvas_manipulator.draw()
+ self.canvas_manip_graphs.draw()
+ # TODO update may not be needed as we're going by slider here
+ self.root.update()
+
+ def update_goal_y(self, new_val):
+ goal_y = float(new_val)
+ self.ik_env.goal[1] = goal_y
+ self.ik_env.goal_point_plot.set_data([self.ik_env.goal[0]], [self.ik_env.goal[1]])
+ self.ik_env.goal_point_plot.set_3d_properties([self.ik_env.goal[2]])
+ self.canvas_ee.draw()
+ self.canvas_manipulator.draw()
+ self.canvas_manip_graphs.draw()
+ # TODO update may not be needed as we're going by slider here
+ self.root.update()
+
+ def update_goal_z(self, new_val):
+ goal_z = float(new_val)
+ self.ik_env.goal[2] = goal_z
+ self.ik_env.goal_point_plot.set_data([self.ik_env.goal[0]], [self.ik_env.goal[1]])
+ self.ik_env.goal_point_plot.set_3d_properties([self.ik_env.goal[2]])
+ self.canvas_ee.draw()
+ self.canvas_manipulator.draw()
+ self.canvas_manip_graphs.draw()
+ # TODO update may not be needed as we're going by slider here
+ self.root.update()
+
+
+
+# TODO fix
+ def reset():
+ ik_env.reset()
+ # ik_env.goal_point_plot.remove()
+ # ik_env.goal_point_plot = drawPoint(ik_env.ax, ik_env.goal, 'red', 'o')
+ # print(controller_string1.get())
+ # print(controller_string2.get())
+ controller1 = getController(controller_string1.get())
+ controller2 = getController(controller_string2.get())
+ controllers = [controller1, controller2]
+ for robot_index, robot in enumerate(ik_env.robots):
+ ik_env.data.append(makeRun(controllers[robot_index], ik_env, n_iters, robot_index))
+ trajectory_plots[robot_index].set_data(ik_env.data[robot_index]['p_es'][:,0], ik_env.data[robot_index]['p_es'][:,1])
+ trajectory_plots[robot_index].set_3d_properties(ik_env.data[robot_index]['p_es'][:,2])
+ eigen1_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,0])
+ eigen2_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,1])
+ eigen3_lines[robot_index].set_ydata(ik_env.data[robot_index]["manip_ell_eigenvals"][:,2])
+ manip_index_lines[robot_index].set_ydata(ik_env.data[robot_index]['manip_indeces'])
+ dist_to_goal_lines[robot_index].set_ydata(ik_env.data[robot_index]['dists_to_goal'])
+ update_points(0)
+ canvas_ee.draw()
+ canvas_manipulator.draw()
+ canvas_manip_graphs.draw()
+ root.update()
+
+ def play():
+ pass
+
+ # ellipse on/off
+ def add_remove_ellipse():
+ try:
+ for robot_index, robot in enumerate(ik_env.robots):
+ ik_env.ellipsoid_surf_plots[robot_index].remove()
+ except ValueError:
+ pass
+
+
+
if name == "__main__":
queue = Queue()
root = Tk()
--
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