Update objects in ArVizExample, make style more consistent

source/RobotAPI/components/ArViz/Example/ArVizExample.cpp

@@ -128,7 +128,6 @@ namespace armarx
             Eigen::Vector3f direction = dirRot * Eigen::Vector3f::UnitX();
             arrow.direction(direction);
 
-
             Eigen::Vector3f pos = Eigen::Vector3f::Zero();
             pos.z() = +300.0f;
             pos.x() = -500.0f;
@@ -334,23 +333,31 @@ namespace armarx
             pos.x() = 100.0f * std::sin(timeInSeconds);
             pos.y() = 1000.0f;
 
-            viz::Object sponge = viz::Object("sponge")
-                                 .position(pos)
-                                 .file("ArmarXObjects", "ArmarXObjects/SecondHands/Screwbox_big/Screwbox_big.xml");
+            viz::Object sponge =
+                    viz::Object("screwbox")
+                    .position(pos)
+                    .file("PriorKnowledgeData",
+                          "PriorKnowledgeData/objects/Maintenance/bauhaus-screwbox-large/bauhaus-screwbox-large.xml");
 
             layer.add(sponge);
+            layer.add(viz::Pose("screwbox pose").position(pos));
         }
-
         {
             Eigen::Vector3f pos = Eigen::Vector3f::Zero();
             pos.x() = 300.0f + 100.0f * std::sin(timeInSeconds);
             pos.y() = 1000.0f;
 
-            viz::Object spraybottle = viz::Object("spraybottle")
-                                      .position(pos)
-                                      .file("ArmarXObjects", "ArmarXObjects/SecondHands/Spraybottle/Spraybottle.xml");
+            Eigen::AngleAxisf orientation(M_PI_2, Eigen::Vector3f::UnitX());
+
+            viz::Object spraybottle =
+                    viz::Object("spraybottle")
+                    .position(pos)
+                    .orientation(Eigen::Quaternionf(orientation))
+                    .file("PriorKnowledgeData",
+                          "PriorKnowledgeData/objects/Maintenance/spraybottle/spraybottle.wrl");
 
             layer.add(spraybottle);
+            layer.add(viz::Pose("spraybottle pose").pose(pos, orientation.toRotationMatrix()));
         }
     }
 
@@ -362,11 +369,18 @@ namespace armarx
         const Eigen::Vector3f at = {-400, 0, 100};
         const Eigen::Vector3f dir = {-150, 0, 0};
 
-        layer.add(viz::Box("box_always").position(at).size(100).color(simox::Color::azure()));
-        layer.add(viz::Text("text_seconds").position(at + Eigen::Vector3f(0, 0, 100))
+        layer.add(viz::Box("box_always")
+                  .position(at).size(100)
+                  .color(simox::Color::azure())
+                  );
+        layer.add(viz::Text("text_seconds")
+                  .position(at + Eigen::Vector3f(0, 0, 100))
                   .orientation(Eigen::AngleAxisf(float(M_PI), Eigen::Vector3f::UnitZ())
                                * Eigen::Quaternionf::FromTwoVectors(Eigen::Vector3f::UnitZ(), - Eigen::Vector3f::UnitY()))
-                  .text(std::to_string(time % 3)).scale(5).color(simox::Color::black()));
+                  .text(std::to_string(time % 3))
+                  .scale(5)
+                  .color(simox::Color::black())
+                  );
 
         switch (time % 3)
         {
@@ -405,9 +419,11 @@ namespace armarx
                 {
                     std::stringstream ss;
                     ss << "box_" << x << "_" << y << "_" << z;
-                    layer.add(viz::Box(ss.str()).position(at + dist * Eigen::Vector3f(x, y, z))
+                    layer.add(viz::Box(ss.str())
+                              .position(at + dist * Eigen::Vector3f(x, y, z))
                               .orientation(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()).toRotationMatrix())
-                              .size(size).color(simox::Color(cf * x, cf * y, cf * z)));
+                              .size(size)
+                              .color(simox::Color(cf * x, cf * y, cf * z)));
                 }
             }
         }
@@ -430,8 +446,10 @@ namespace armarx
             const simox::color::ColorMap& cmap = pair.second;
 
             Eigen::Vector3f shift(0, 0, - 1.5f * index * size.y());
-            viz::Mesh mesh = viz::Mesh(name + "_mesh").position(at + shift).orientation(ori)
-                             .grid2D(size, num, [&cmap](size_t, size_t, const E::Vector3f & p)
+            viz::Mesh mesh = viz::Mesh(name + "_mesh")
+                    .position(at + shift)
+                    .orientation(ori)
+                    .grid2D(size, num, [&cmap](size_t, size_t, const E::Vector3f & p)
             {
                 return viz::Color(cmap((p.x() + 100.f) / 200.f));
             });