def _addHandle(self,
jointName,
componentIndex,
handleInfo=None,
type='circular',
reverseOppositeJoint=False,
minValue=-10000,
maxValue=10000):
"""
Adds a handle to the model.
handleInfo can be the name of an joint where the handle should be located
"""
oppositeJointName = jointName.replace("STANCE_", "TEMP_").replace(
"SWING_", "STANCE_").replace("TEMP_", "SWING_")
try:
handleJointName = handleInfo.replace("STANCE_",
"l").replace("SWING_", "r")
posInChild = self._character.getJointByName(
handleJointName).getParentJointPosition()
except AttributeError:
posInChild = Point3d(0, 0, 0)
handle = Handle(self._controller, jointName, componentIndex, type,
posInChild, oppositeJointName, reverseOppositeJoint,
minValue, maxValue)
self._handles.append(handle)
return handle
def __init__(self, loop, socket, peeraddr):
self.loop_ = loop
self.socket_ = Socket(socket)
self.peeraddr_ = peeraddr
self.events_ = Events(self.socket_.getSocketFd(), kEevntRead)
self.handle_ = Handle(self.events_)
self.recvBuffer_ = ''
self.writeBuffer_ = ''
self.messageCb_ = defMessageCallback
def __init__(self, loop):
self.loop_ = loop
self.serversd_ = Socket()
self.serversd_.bind()
self.serversd_.listen(100)
self.conns_ = {}
self.events_ = Events(self.serversd_.getSocketFd(), kEevntRead)
self.handle_ = Handle(self.events_, self.serverReadCb)
self.loop_.addHandle(self.handle_)
self.messageCb_ = defMessageCallback
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
def save(self):
torch.save(self.target_net, './model/model_gpu.check')
def load(self):
self.eval_net = torch.load('./model/model_gpu.check')
self.target_net = torch.load('./model/model_gpu.check')
print('load model succes...')
dqn = DeepQN()
Op = Handle()
print('\n collecting experience...')
if os.path.exists('./model/model_gpu.check'):
dqn.load()
total_step = 0
for i_episode in range(1000):
Op.getstate()
while True:
action = dqn.choose_action(Op.state)
# 执行行为
state_next, reward, terminal = Op.action(action)
def _create(self):
"""Creates the basic model class for the simple keyframe editor. Characters are always forced to left stance."""
app = wx.GetApp()
try:
self._controller = app.getController(0)
except IndexError:
return
self._character = self._controller.getCharacter()
handlesSide = []
handlesFront = []
self._handles = []
handlesSide.append( self._addHandle( 'SWING_Shoulder', 2, 'SWING_Elbow', minValue = -3.14, maxValue = 3.14 ) )
handlesSide.append( self._addHandle( 'STANCE_Shoulder', 2, 'STANCE_Elbow', minValue = -3.14, maxValue = 3.14 ) )
handlesSide.append( self._addHandle( 'SWING_Elbow', 0, reverseOppositeJoint = True, minValue = -2.8, maxValue = 0 ) )
handlesSide.append( self._addHandle( 'STANCE_Elbow', 0, type = 'reverseCircular', reverseOppositeJoint = True,minValue = 0, maxValue = 2.8 ) )
handlesSide.append( self._addHandle( 'SWING_Ankle', 0, 'SWING_ToeJoint' ) )
handlesSide.append( self._addHandle( 'STANCE_Ankle', 0, 'STANCE_ToeJoint' ) )
handlesSide.append( self._addHandle( 'pelvis_lowerback', 2, 'lowerback_torso', minValue = -1.2, maxValue = 1.2 ) )
handlesSide.append( self._addHandle( 'lowerback_torso', 2, 'torso_head', minValue = -1.2, maxValue = 1.2 ) )
handlesSide.append( self._addHandle( 'torso_head', 2, minValue = -1.2, maxValue = 1.2 ) )
handlesFront.append( self._addHandle( 'SWING_Shoulder', 1, 'SWING_Elbow', type = 'reverseCircular', reverseOppositeJoint = True, minValue = -2, maxValue = 2 ) )
handlesFront.append( self._addHandle( 'STANCE_Shoulder', 1, 'STANCE_Elbow', type = 'reverseCircular', reverseOppositeJoint = True, minValue = -2, maxValue = 2 ) )
handlesFront.append( self._addHandle( 'SWING_Shoulder', 0, type = 'reversePerpendicular', minValue = -3.3, maxValue = 3.3 ) )
handlesFront.append( self._addHandle( 'STANCE_Shoulder', 0, type = 'perpendicular', minValue = -3.3, maxValue = 3.3 ) )
handlesFront.append( self._addHandle( 'pelvis_lowerback', 1, 'lowerback_torso', reverseOppositeJoint = True, minValue = -1.2, maxValue = 1.2 ) )
handlesFront.append( self._addHandle( 'lowerback_torso', 1, 'torso_head', reverseOppositeJoint = True, minValue = -1.2, maxValue = 1.2 ) )
handlesFront.append( self._addHandle( 'torso_head', 1, reverseOppositeJoint = True, minValue = -1.2, maxValue = 1.2 ) )
stanceKneeHandle = Handle( self._controller, 'STANCE_Knee', 0, minValue = 0.1, maxValue = 2.2 )
self._handles.append( stanceKneeHandle )
swingFootHandleSagittal = BaseHandle( self._controller.getSwingFootTrajectoryDeltaSagittal() )
swingFootHandleCoronal = BaseHandle( self._controller.getSwingFootTrajectoryDeltaCoronal() )
swingFootHandleHeight = BaseHandle( self._controller.getSwingFootTrajectoryDeltaHeight() )
self._handles.append( swingFootHandleSagittal )
self._handles.append( swingFootHandleCoronal )
self._handles.append( swingFootHandleHeight )
self._editors = []
self._times = [ i / float(self._nbEditors-1) for i in range(self._nbEditors) ]
for handle in self._handles:
handle.forceKeyframesAt([0,1],self._times)
for handle in self._handles:
handle.enforceSymmetry()
stanceFootToSwingFootTrajectory = Trajectory3dv()
stanceFootToSwingFootTrajectory.addKnot(0,Vector3d(-0.2,0,-0.4))
stanceFootToSwingFootTrajectory.addKnot(0.5,Vector3d(-0.2,0.125,0))
stanceFootToSwingFootTrajectory.addKnot(1,Vector3d(-0.2,0,0.4))
glCanvasSize = wx.GetApp().getGLCanvas().GetSize()
minWidth = glCanvasSize.x / self._nbEditors - 50
minHeight = glCanvasSize.y / 2
for i, time in enumerate(self._times) :
posableCharacter = PosableCharacter(PyUtils.copy(self._character), self._controller)
if i == 0 or i == self._nbEditors-1:
checkBoxVisible = False
else :
checkBoxVisible = True
editor = EditorWindow( self._container,
posableCharacter = posableCharacter,
handlesSide = handlesSide,
handlesFront = handlesFront,
stanceKneeHandle = stanceKneeHandle,
swingFootHandleSagittal = swingFootHandleSagittal,
swingFootHandleCoronal = swingFootHandleCoronal,
swingFootHandleHeight = swingFootHandleHeight,
time = time,
controller = self._controller,
stanceFootToSwingFootTrajectory = stanceFootToSwingFootTrajectory,
minWidth = minWidth, minHeight = minHeight,
checkBoxVisible = checkBoxVisible )
functor = SetKeyframeVisibilityFunctor(self,i)
editor.addCheckBoxCallback( functor.execute )
self._sizer.add(editor, 0, GLUtils.GLUI_EXPAND )
self._editors.append(editor)
self._container.getParent().layout()
def process(self, command): # TODO: # - check/feedback behaviour for multi handles or matches # - database support for remembering/tracking/learning choices handle_results = Handle.processHandles(self.handles, command) return self.executeCommand(handle_results)
def __init__(self): # JSON stored command handles self.handles = Handle.load(Handle.HANDLES_FILENAME)
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
# THE POSSIBILITY OF SUCH DAMAGE.
'''
File: myprecious.py
Author: Vanildo Souto Mangueira <*****@*****.**>
Description: Arquivo Principal
'''
import sys
from Handle import Handle
from Bootstrap import Bootstrap
boot = Bootstrap()
handle = Handle()
if (len(sys.argv) > 1):
if sys.argv[1] == '-i' or sys.argv[1] == '--interactive':
handle.interactive()
handle.keyHandle(sys.argv[1])
else:
handle.interactive()