def init_cameras(self, ):
self.cameras = list()
self.add_camera(
Trackball(rot=[-0.152, 0.045, -0.002, 0.987],
trans=[0.050, 0.210, -2.500]), "Camera Y up")
self.add_camera(
Trackball(rot=[0.535, 0.284, 0.376, 0.701],
trans=[0.10, 0.02, -2.770]), "Camera Z up")
self.set_camera(0)
def getViewer(self, sim, title=None):
# glutInit(sys.argv)
win = PushGLUTWindow(sim, title)
win.scene.add_camera(Trackball(theta=-45.0, phi=0.0, zoom=0.1),
'gym_camera')
win.scene.set_camera(win.scene.num_cameras() - 1)
win.run()
return win
def getViewer(sim, title=None):
win = PyQt5Window(sim, title)
win.scene.add_camera(
Trackball(theta=0, phi=0, zoom=1.2, trans=[0, 0.0, -30]),
'Hopper_camera')
win.scene.set_camera(win.scene.num_cameras() - 1)
#win.run()
return win
def getViewer(self, sim, title=None):
# glutInit(sys.argv)
win = StaticGLUTWindow(sim, title)
win.scene.add_camera(Trackball(theta=-45.0, phi = 0.0, zoom=0.1), 'gym_camera')
win.scene.set_camera(win.scene.num_cameras()-1)
# to add speed,
if self._obs_type == 'image':
win.run(self.screen_width, self.screen_height, _show_window=self.visualize)
else:
win.run(_show_window=self.visualize)
return win
def update_camera(self):
self.glutwindow.scene.replace_camera(
0,
Trackball(theta=self.camera_theta,
phi=self.camera_phi,
trans=[
self.camera_horizontal, self.camera_vertical,
self.camera_depth
]))
self.glutwindow.scene.set_camera(0)
self.glutwindow.drawGL()
print("\r")
def __init__(self, env, title):
Thread.__init__(self)
self.cv = Condition()
self.title = title
self.env = env
self.sim = env.sim
self.win = MyGLUTWindow(self.sim.world, self.sim, self.env, self.title,
self.cv)
self.camera_theta = 75 #, for mirror 85
self.camera_phi = 135 #, for mirror -75
self.camera_horizontal = 0.0
self.camera_vertical = -0.25
self.camera_depth = -1.25
self.camera_0 = Trackball(theta=self.camera_theta,
phi=self.camera_phi,
trans=[
self.camera_horizontal,
self.camera_vertical, self.camera_depth
])
self.win.scene.replace_camera(0, self.camera_0)
for joint in robot.joints:
print(joint.name)
# rootJoint added by default
# the default name for z trans root is rootJoint_pos_z
# positions['rootJoint_pos_z'] = 1.5
# positions['rootz'] = 1.5
# robot.set_positions(positions)
# robot.joints[0].set_actuator_type(pydart.joint.Joint.LOCKED) # TODO
# floor.joints[0].set_actuator_type(pydart.joint.Joint.LOCKED)
# pydart.gui.viewer.launch(world, default_camera=1) # Use Z-up camera
win = StaticGLUTWindow(world, None)
win.scene.add_camera(Trackball(theta=-45.0, phi=0.0, zoom=0.1), 'gym_camera')
# win.scene.set_camera(1)
win.run()
# win = pydart.gui.pyqt5.window.PyQt5Window(world)
#
# win.scene.add_camera(Trackball(theta=-45.0, phi=0.0, zoom=0.1), 'gym_camera')
# win.scene.set_camera(1)
# win.run()
while world.t < 10.0:
robot.set_forces([0.0] * 3 + [100.0] * 3)
# print(world.skeletons[1].q)
world.step()
# win.scene.render(sim=world)
win.runSingleStep()
from pydart2.gui.trackball import Trackball
from pydart2.gui.glut.window import GLUTWindow
stop = False
if __name__ == '__main__':
print('Hello, PyDART!')
pydart.init()
print('pydart initialization OK')
world = pydart.World(0.0005, 'examples/data/skel/arti_data.skel')
#world.set_gravity([0, -9.8, 0])
print('pydart create_world OK')
# pydart.gui.viewer.launch(world)
# skel = world.skeletons[-1]
# skel.friction = 0.9
#skel.q = (np.random.rand(skel.ndofs))
#skel.set_forces(np.array([0, 0, 0, 100, 0, 0]))
#skel.set_accelerations([0, 5, 0])
#print(skel.tau)
#print(skel.friction)
# skel.controller = ApplyForce(skel)
win = GLUTWindow(world, None)
# win.scene.set_camera(None)
win.scene.add_camera(
Trackball(rot=[-0.152, 0.045, -0.002, 0.987], trans=[0, 0.2, -.500]),
"Camera Y up")
win.scene.set_camera(2)
# skel.bodynodes[0].set_mass(1)
win.run()