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()