Add the possibility to draw 3d arrows

Author: GiulioRomualdi

robot_log_visualizer/file_reader/signal_provider.py

@@ -51,6 +51,10 @@ def __init__(self, period: float):
         self._3d_trajectories_path = {}
         self._3d_trajectories_path_lock = QMutex()
 
+        self._3d_arrows = {}
+        self._3d_arrows_path_lock = QMutex()
+        self.max_arrow = 0
+
         self.period = period
 
         self.data = {}
@@ -319,6 +323,18 @@ def get_3d_point_at_index(self, index):
 
         return points
 
+    def get_3d_arrow_at_index(self, index):
+        arrows = {}
+
+        self._3d_arrows_path_lock.lock()
+
+        for key, value in self._3d_arrows.items():
+            arrows[key] = self.get_item_from_path_at_index(value, index)
+
+        self._3d_arrows_path_lock.unlock()
+
+        return arrows
+
     def get_3d_trajectory_at_index(self, index):
         trajectories = {}
 
@@ -354,6 +370,20 @@ def unregister_3d_point(self, key):
         del self._3d_points_path[key]
         self._3d_points_path_lock.unlock()
 
+    def register_3d_arrow(self, key, arrow_path):
+        self._3d_arrows_path_lock.lock()
+        self._3d_arrows[key] = arrow_path
+        for _, value in self._3d_arrows.items():
+            data, _ = self.get_item_from_path(arrow_path)
+            arrow = data[:, 3:]
+            self.max_arrow = max(np.max(np.linalg.norm(arrow, axis=1)), self.max_arrow)
+        self._3d_arrows_path_lock.unlock()
+
+    def unregister_3d_arrow(self, key):
+        self._3d_arrows_path_lock.lock()
+        del self._3d_arrows[key]
+        self._3d_arrows_path_lock.unlock()
+
     def register_3d_trajectory(self, key, trajectory_path):
         self._3d_trajectories_path_lock.lock()
         self._3d_trajectories_path[key] = trajectory_path

robot_log_visualizer/robot_visualizer/meshcat_provider.py

@@ -36,6 +36,7 @@ def __init__(self, signal_provider, period):
         self.env_list = ["GAZEBO_MODEL_PATH", "ROS_PACKAGE_PATH", "AMENT_PREFIX_PATH"]
         self._registered_3d_points = set()
         self._registered_3d_trajectories = dict()
+        self._register_3d_arrow = set()
 
     @property
     def state(self):
@@ -56,6 +57,14 @@ def register_3d_point(self, point_path, color):
             radius=radius, color=color, shape_name=point_path
         )
 
+    def register_3d_arrow(self, arrow_path, color):
+        radius = 0.02
+        locker = QMutexLocker(self.meshcat_visualizer_mutex)
+        self._register_3d_arrow.add(arrow_path)
+        self._meshcat_visualizer.load_arrow(
+            radius=radius, color=color, shape_name=arrow_path
+        )
+
     def register_3d_trajectory(self, trajectory_path, color):
         locker = QMutexLocker(self.meshcat_visualizer_mutex)
         self._registered_3d_trajectories[trajectory_path] = (False, color)
@@ -70,6 +79,11 @@ def unregister_3d_trajectory(self, trajectory_path):
         self._registered_3d_trajectories.pop(trajectory_path, None)
         self._meshcat_visualizer.delete(shape_name=trajectory_path)
 
+    def unregister_3d_arrow(self, arrow_path):
+        locker = QMutexLocker(self.meshcat_visualizer_mutex)
+        self._register_3d_arrow.remove(arrow_path)
+        self._meshcat_visualizer.delete(shape_name=arrow_path)
+
     def load_model(self, considered_joints, model_name):
         def get_model_path_from_envs(env_list):
             return [
@@ -216,6 +230,19 @@ def run(self):
                         color=self._registered_3d_trajectories[trajectory_path][1],
                     )
 
+                for (
+                    arrow_path,
+                    arrow,
+                ) in self._signal_provider.get_3d_arrow_at_index(index).items():
+                    if arrow_path not in self._register_3d_arrow:
+                        continue
+
+                    self._meshcat_visualizer.set_arrow_transform(
+                        origin=arrow[0:3],
+                        vector=arrow[3:6] / self._signal_provider.max_arrow,
+                        shape_name=arrow_path,
+                    )
+
                 self.meshcat_visualizer_mutex.unlock()
 
             sleep_time = self._period - (time.time() - start)

robot_log_visualizer/ui/gui.py

@@ -166,6 +166,7 @@ def __init__(self, signal_provider, meshcat_provider, animation_period):
         self.video_items = []
         self.visualized_3d_points = set()
         self.visualized_3d_trajectories = set()
+        self.visualized_3d_arrows = set()
         self.visualized_3d_points_colors_palette = ColorPalette()
 
         self.toolButton_on_click()
@@ -731,8 +732,10 @@ def variableTreeWidget_on_right_click(self, item_position):
 
         add_3d_point_str = "Show as a 3D point"
         add_3d_trajectory_str = "Show as a 3D trajectory"
+        add_3d_arrow_str = "Show as a 3D arrow"
         remove_3d_point_str = "Remove the 3D point"
         remove_3d_trajectory_str = "Remove the 3D trajectory"
+        remove_3d_arrow_str = "Remove the 3D arrow"
         use_as_base_position_str = "Use as base position"
         use_as_base_orientation_str = "Use as base orientation"
         dont_use_as_base_position_str = "Don't use as base position"
@@ -784,14 +787,24 @@ def variableTreeWidget_on_right_click(self, item_position):
             else:
                 menu.addAction(use_as_base_orientation_str + " (xyzw Quaternion)")
 
+        if item_size == 6:
+            if item_key in self.visualized_3d_arrows:
+                menu.addAction(remove_3d_arrow_str)
+            else:
+                menu.addAction(add_3d_arrow_str)
+
         # show the menu
         action = menu.exec_(self.ui.variableTreeWidget.mapToGlobal(item_position))
         if action is None:
             return
 
         item_path = self.get_item_path(item)
 
-        if action.text() == add_3d_point_str or action.text() == add_3d_trajectory_str:
+        if (
+            action.text() == add_3d_point_str
+            or action.text() == add_3d_trajectory_str
+            or action.text() == add_3d_arrow_str
+        ):
             color = next(self.visualized_3d_points_colors_palette)
 
             item.setForeground(0, QtGui.QBrush(QtGui.QColor(color.as_hex())))
@@ -802,12 +815,20 @@ def variableTreeWidget_on_right_click(self, item_position):
                 )
                 self.signal_provider.register_3d_point(item_key, item_path)
                 self.visualized_3d_points.add(item_key)
-            else:
+            elif action.text() == add_3d_trajectory_str:
                 self.meshcat_provider.register_3d_trajectory(
                     item_key, list(color.as_normalized_rgb())
                 )
                 self.signal_provider.register_3d_trajectory(item_key, item_path)
                 self.visualized_3d_trajectories.add(item_key)
+            elif action.text() == add_3d_arrow_str:
+                self.meshcat_provider.register_3d_arrow(
+                    item_key, list(color.as_normalized_rgb())
+                )
+                self.signal_provider.register_3d_arrow(item_key, item_path)
+                self.visualized_3d_arrows.add(item_key)
+            else:
+                raise ValueError("Unknown action")
 
         if action.text() == remove_3d_point_str:
             self.meshcat_provider.unregister_3d_point(item_key)
@@ -821,6 +842,12 @@ def variableTreeWidget_on_right_click(self, item_position):
             self.visualized_3d_trajectories.remove(item_key)
             item.setForeground(0, QtGui.QBrush(QtGui.QColor(0, 0, 0)))
 
+        if action.text() == remove_3d_arrow_str:
+            self.meshcat_provider.unregister_3d_arrow(item_key)
+            self.signal_provider.unregister_3d_arrow(item_key)
+            self.visualized_3d_arrows.remove(item_key)
+            item.setForeground(0, QtGui.QBrush(QtGui.QColor(0, 0, 0)))
+
         if (
             use_as_base_orientation_str in action.text()
             or action.text() == use_as_base_position_str