From 0d12f01f75af238a7a4bffa9379860c78fa84fbc Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Thu, 4 Aug 2016 10:28:37 +0200
Subject: [PATCH] [Python] Update robot_wrapper to allow proper creation of
scenes
---
bindings/python/robot_wrapper.py | 28 ++++++++++++++++------------
1 file changed, 16 insertions(+), 12 deletions(-)
diff --git a/bindings/python/robot_wrapper.py b/bindings/python/robot_wrapper.py
index 99d070611..8e8b8156b 100644
--- a/bindings/python/robot_wrapper.py
+++ b/bindings/python/robot_wrapper.py
@@ -154,29 +154,33 @@ class RobotWrapper(object):
# Create the scene displaying the robot meshes in gepetto-viewer
def loadDisplayModel(self, nodeName, windowName="pinocchio"):
import os
+ print "load the model"
# Open a window for displaying your model.
try:
# If the window already exists, do not do anything.
self.windowID = self.viewer.gui.getWindowID(windowName)
print "Warning: window '%s' already created. Cannot (re-)load the model." % windowName
- return
except:
# Otherwise, create the empty window.
self.windowID = self.viewer.gui.createWindow(windowName)
- # Start a new "scene" in this window, named "world", with just a floor.
- self.viewer.gui.createSceneWithFloor("world")
- self.viewer.gui.addSceneToWindow("world", self.windowID)
+ # Start a new "scene" in this window, named "world", with just a floor.
+ gui = self.viewer.gui
+ scene_l = gui.getSceneList()
+ if "world" not in scene_l:
+ self.viewer.gui.createScene("world")
+ self.viewer.gui.addSceneToWindow("world", self.windowID)
+
+ self.viewer.gui.createGroup(nodeName)
- self.viewer.gui.createGroup(nodeName)
- # iterate over visuals and create the meshes in the viewer
- for visual in self.visual_model.geometryObjects :
- meshName = self.viewerNodeNames(visual)
- meshPath = visual.mesh_path
- self.viewer.gui.addMesh(meshName, meshPath)
+ # iterate over visuals and create the meshes in the viewer
+ for visual in self.visual_model.geometryObjects :
+ meshName = self.viewerNodeNames(visual)
+ meshPath = visual.mesh_path
+ self.viewer.gui.addMesh(meshName, meshPath)
- # Finally, refresh the layout to obtain your first rendering.
- self.viewer.gui.refresh()
+ # Finally, refresh the layout to obtain your first rendering.
+ self.viewer.gui.refresh()
# Display in gepetto-view the robot at configuration q, by placing all the bodies.
--
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