def main(): global app, view, nav_data nav_data = np.array([[0, 0, 0]]) lcmUtils.addSubscriber(".*_NAV$", node_nav_t, handleNavData) app = ConsoleApp() app.setupGlobals(globals()) app.showPythonConsole() view = app.createView() view.show() global d d = DebugData() d.addLine([0, 0, 0], [1, 0, 0], color=[0, 1, 0]) d.addSphere((0, 0, 0), radius=0.02, color=[1, 0, 0]) #vis.showPolyData(d.getPolyData(), 'my debug geometry', colorByName='RGB255') startSwarmVisualization() app.start()
def __init__(self): self.timer = TimerCallback(targetFps=10) #self.timer.disableScheduledTimer() self.app = ConsoleApp() self.robotModel, self.jointController = roboturdf.loadRobotModel( 'robot model') self.fpsCounter = simpletimer.FPSCounter() self.drakePoseJointNames = robotstate.getDrakePoseJointNames() self.fpsCounter.printToConsole = True self.timer.callback = self._tick self._initialized = False self.publishChannel = 'JOINT_POSITION_GOAL' # self.lastCommandMessage = newAtlasCommandMessageAtZero() self._numPositions = len(robotstate.getDrakePoseJointNames()) self._previousElapsedTime = 100 self._baseFlag = 0 self.jointLimitsMin = np.array([ self.robotModel.model.getJointLimits(jointName)[0] for jointName in robotstate.getDrakePoseJointNames() ]) self.jointLimitsMax = np.array([ self.robotModel.model.getJointLimits(jointName)[1] for jointName in robotstate.getDrakePoseJointNames() ]) self.useControllerFlag = False self.drivingGainsFlag = False self.applyDefaults()
def __init__(self, percentObsDensity=20, endTime=40, nonRandomWorld=False, circleRadius=0.7, worldScale=1.0, autoInitialize=True, verbose=True): self.verbose = verbose self.startSimTime = time.time() self.collisionThreshold = 1.3 self.randomSeed = 5 self.Sensor_rayLength = 8 self.percentObsDensity = percentObsDensity self.defaultControllerTime = 1000 self.nonRandomWorld = nonRandomWorld self.circleRadius = circleRadius self.worldScale = worldScale # create the visualizer object self.app = ConsoleApp() self.view = self.app.createView(useGrid=False) self.initializeOptions() self.initializeColorMap() if autoInitialize: self.initialize()
def __init__(self): self.app = ConsoleApp() self.view = self.app.createView() self.robotSystem = robotsystem.create(self.view) jointGroups = getJointGroups() self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups) self.jointCommandPanel = JointCommandPanel(self.robotSystem) self.jointCommandPanel.ui.speedSpinBox.setEnabled(False) self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms) self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs) self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders) self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged) self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged) self.widget = QtGui.QWidget() gl = QtGui.QGridLayout(self.widget) gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan gl.addWidget(self.view, 0, 1, 1, 1) gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1) gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1) gl.setRowStretch(0,1) gl.setColumnStretch(1,1) #self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan) lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal) lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def main(): app = ConsoleApp() camVis = CameraVisualizer() camVis.createUI() camVis.showUI() app.start()
def __init__(self): self.app = ConsoleApp() self.view = self.app.createView() self.robotModel, self.jointController = roboturdf.loadRobotModel('robot model', self.view) self.jointController.setZeroPose() self.view.show() self.sub = lcmUtils.addSubscriber('ATLAS_COMMAND', lcmdrc.atlas_command_t, self.onAtlasCommand) self.sub.setSpeedLimit(60)
def main(): app = ConsoleApp() view = app.createView(useGrid=False) imageManager = cameraview.ImageManager() cameraView = cameraview.CameraView(imageManager, view) view.show() app.start()
def __init__(self): self.sub = lcmUtils.addSubscriber('JOINT_POSITION_GOAL', lcmdrc.robot_state_t, self.onJointPositionGoal) self.sub = lcmUtils.addSubscriber('SINGLE_JOINT_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal) lcmUtils.addSubscriber('COMMITTED_PLAN_PAUSE', lcmdrc.plan_control_t, self.onPause) self.debug = False if self.debug: self.app = ConsoleApp() self.view = self.app.createView() self.robotModel, self.jointController = roboturdf.loadRobotModel('robot model', self.view) self.jointController.setPose('ATLAS_COMMAND', commandStream._currentCommandedPose) self.view.show() self.timer = TimerCallback(targetFps=30) self.timer.callback = self.onDebug
def setDefaultOptions(self): defaultOptions = dict() defaultOptions['Sensor'] = dict() defaultOptions['Sensor']['rayLength'] = 20 defaultOptions['Sensor']['numRays'] = 100 defaultOptions['Sensor']['FOV'] = 270 defaultOptions['Sim'] = dict() defaultOptions['Sim']['dt'] = 0.05 defaultOptions['Sim']['usePursuitController'] = True defaultOptions['featureDetector'] = {} defaultOptions['featureDetector']['detectCorners'] = True self.options = defaultOptions self.app = ConsoleApp() self.view = self.app.createView(useGrid=False)
def __init__(self, percentObsDensity=20, endTime=40, randomizeControl=False, nonRandomWorld=False, circleRadius=0.7, worldScale=1.0, supervisedTrainingTime=500, autoInitialize=True, verbose=True, sarsaType="discrete"): self.verbose = verbose self.randomizeControl = randomizeControl self.startSimTime = time.time() self.collisionThreshold = 1.3 self.randomSeed = 5 self.Sarsa_numInnerBins = 4 self.Sarsa_numOuterBins = 4 self.Sensor_rayLength = 8 self.sarsaType = sarsaType self.percentObsDensity = percentObsDensity self.supervisedTrainingTime = 10 self.learningRandomTime = 10 self.learningEvalTime = 10 self.defaultControllerTime = 10 self.nonRandomWorld = nonRandomWorld self.circleRadius = circleRadius self.worldScale = worldScale # create the visualizer object self.app = ConsoleApp() # view = app.createView(useGrid=False) self.view = self.app.createView(useGrid=False) self.initializeOptions() self.initializeColorMap() if autoInitialize: self.initialize()
def main(): app = ConsoleApp() view = app.createView(useGrid=False) view.orientationMarkerWidget().Off() view.backgroundRenderer().SetBackground([0, 0, 0]) view.backgroundRenderer().SetBackground2([0, 0, 0]) cameraChannel = parseChannelArgument() imageManager = cameraview.ImageManager() imageManager.queue.addCameraStream(cameraChannel) imageManager.addImage(cameraChannel) cameraView = cameraview.CameraImageView(imageManager, cameraChannel, view=view) cameraView.eventFilterEnabled = False view.renderWindow().GetInteractor().SetInteractorStyle( vtk.vtkInteractorStyleImage()) view.show() app.start()
position, quat = transformUtils.poseFromTransform(pelvisToWorld) msg = lcmbot.pose_t() msg.utime = robotStateJointController.lastRobotStateMessage.utime msg.pos = [0.0, 0.0, 0.0] msg.orientation = quat.tolist() lcmUtils.publish(channel, msg) def enable(self): self.capture() self.timer.start() def disable(self): self.timer.stop() self.clear() #--------------------------------------- app = ConsoleApp() app.setupGlobals(globals()) app.showPythonConsole() view = app.createView() view.show() robotsystem.create(view, globals()) estimator = FootLockEstimator() app.start()