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   "cell_type": "code",
   "execution_count": null,
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   "source": [
    "#%load_ext wurlitzer\n",
    "#^^^ the wurlitzer extension is used to capture C/C++ output to be displayed in the notebook\n",
    "#^^^ this is very useful for debugging, but it doesn't work on windows\n",
    "\n",
    "#Python 2/3 compatibility\n",
    "from __future__ import print_function,division\n",
    "\n",
    "import time\n",
    "from klampt import *\n",
    "from klampt.math import vectorops,so3,se3\n",
    "from klampt import vis\n",
    "from klampt.model.create import primitives\n",
    "from IPython.display import clear_output\n",
    "from klampt.vis.ipython import EditConfig,EditPoint,EditTransform\n",
    "\n",
    "world = WorldModel()\n",
    "world.loadFile(\"../data/athlete_plane.xml\")\n",
    "vis.add(\"world\",world)\n",
    "\n",
    "vis.add(\"sphere\",[1,0,2],color=(0,1,0),size=0.5)\n",
    "#vis.add(\"sphere\",primitives.sphere(0.5,[1,0,2]))\n",
    "#vis.setColor(\"sphere\",0,1,0)\n",
    "vis.add(\"ghost\",world.robot(0).getConfig(),color=(0,1,0,0.5))\n",
    "\n",
    "vis.show()\n",
    "\n",
    "#Controls:\n",
    "#left mouse click to rotate the view\n",
    "#right click or ctrl+click to pan the view\n",
    "#mouse wheel or shift+click to zoom the view"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "q = world.robot(0).getConfig()\n",
    "#getConfig() returns a copy of the robot's current configuration, so these changes\n",
    "#aren't reflected in the WorldModel...\n",
    "q[6] = 2\n",
    "q[2] = 0.5\n",
    "#until this call here\n",
    "world.robot(0).setConfig(q)\n",
    "\n",
    "#WAIT? why didn't the visualization change?\n",
    "#... Because the WorldModel knows nothing about the visualization..."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#... so we need to do this manually.\n",
    "#Use a kvis.update() call to push the current state of the world to the visualization\n",
    "vis.update()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#do a little animation... note the vis.update calls\n",
    "q = world.robot(0).getConfig()\n",
    "for i in range(20):\n",
    "    q[2] = i*0.1\n",
    "    world.robot(0).setConfig(q)\n",
    "    vis.update()\n",
    "    time.sleep(0.1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#can move the camera using setViewport() and setViewport()\n",
    "cam = vis.getViewport()\n",
    "print(cam)\n",
    "cam['position']['x'] += 1.5\n",
    "vis.setViewport(cam)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#add some \"extras\"\n",
    "\n",
    "vis.addText(\"some_text\",text=\"hello\",position=(10,10))\n",
    "vis.add(\"sphere1\",[1,0,0.5],size=0.3)\n",
    "vis.setColor(\"sphere1\",1,0,0,0.25)\n",
    "q = [0.0]*world.robot(0).numLinks()\n",
    "vis.add('ghost',q)\n",
    "vis.setColor('ghost',0,1,0,0.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#items can be updated by calling add again, setItemConfig, or setAttribute\n",
    "vis.addText(\"some_text\",text=\"hello modified\")\n",
    "vis.setAttribute(\"sphere1\",'size',0.5)\n",
    "vis.add(\"xform\",(so3.identity(),[1,0,0]),length=0.5,width=3)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "#you can create multiple KlamptWidget objects\n",
    "window2 = vis.createWindow()\n",
    "\n",
    "vis.add(\"world\",world)\n",
    "vis.show()\n",
    "print([a['name'] for a in vis.nativeWindow().scene['object']['children']])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "vis.lock()\n",
    "vis.add('ghost',[0.0]*len(world.robot(0).getConfig()))\n",
    "vis.setColor('ghost',0,1,0,0.5)\n",
    "vis.add(\"xform\",(so3.identity(),[1,0,0.5]))\n",
    "vis.add(\"point\",[0.5,0,1],color=(1,0,0))\n",
    "vis.unlock()\n",
    "\n",
    "print([a['name'] for a in vis.nativeWindow().scene['object']['children']])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#and you can add editors\n",
    "vis.edit('ghost')\n",
    "vis.edit('point')\n",
    "vis.edit('xform')\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "scrolled": false
   },
   "outputs": [],
   "source": [
    "#you can even load multiple worlds\n",
    "world2 = WorldModel()\n",
    "world2.loadFile('../data/hubo_plane.xml')\n",
    "window4 = vis.createWindow()\n",
    "vis.add(\"world\",world2)\n",
    "\n",
    "#here's how you show a playback widget \n",
    "from klampt.vis.ipython import Playback\n",
    "playback_widget3 = Playback(vis.nativeWindow())\n",
    "display(playback_widget3)\n",
    "vis.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#you can play around with these hooks to the playback widget\n",
    "framerate = 30\n",
    "movespeed = 1.0\n",
    "robot = world2.robot(0)\n",
    "q0 = robot.getConfig()\n",
    "def advance():\n",
    "    q = robot.getConfig()\n",
    "    q[9] += movespeed/framerate\n",
    "    robot.setConfig(q)\n",
    "def reset():\n",
    "    robot.setConfig(q0)\n",
    "playback_widget3.advance = advance\n",
    "playback_widget3.reset = reset\n",
    "playback_widget3.framerate = framerate\n",
    "playback_widget3.maxframes = 30"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "#If the Jupyter notebook is running on your own computer, and you have OpenGL, you can\n",
    "#still use the standard Klamp't vis functions\n",
    "vis.kill()\n",
    "vis.init([\"PyQt\",\"GLUT\"])\n",
    "vis.add(\"world\",world)\n",
    "vis.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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