FramesViewer/example.py at master · apirrone/FramesViewer · GitHub

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from FramesViewer import Viewer
import numpy as np
import FramesViewer.utils as utils

import time

fv = Viewer()
fv.start()

# Frames
frame1 = utils.make_pose([0.15, 0.15, 0], [45, 0, 0])
frame2 = utils.make_pose([0.15, 0.15, 0.15], [0, 90, 45])
frame3 = frame2.copy()

fv.push_frame(frame1, "frame1", [1, 0, 0])
fv.push_frame(frame2, "frame2", [0, 1, 0])

fv.push_link("frame1", "frame2", color=(1, 0, 0))

fv.push_frame(frame3, "frame3")
fv.delete_frame("frame3")

# fv.createPointsList("a", size=10, color=(1, 0, 0))

fv.create_mesh(
    "mug", "assets/mug_plastoc.obj", utils.make_pose([0.1, 0, 0], [0, 0, 0]), scale=0.01
)

# # Points
# for i in range(10):
#     for j in range(10):
#         for z in range(10):
#             fv.pushPoint("a", [i * 0.1, j * 0.1, z * 0.1])

# An infinite loop is needed to keep the viewer thread alive.
while True:
    frame2 = utils.translate_absolute(frame2, [0, 0.0005, 0])
    frame2 = utils.rotate_in_self(frame2, [0.5, 0.5, 0.5])
    fv.push_frame(frame2, "frame2", [0, 1, 0])

    time.sleep(0.01)