def main():
app = ConsoleApp()
view = app.createView()
vis_item = {"current": None}
def handle_data(msg):
# msg = lcmdrake.lcmt_viewer_geometry_data.decode(msg_data)
side_length = int(round(np.power(len(msg.float_data), 1. / 3)))
data = np.reshape(msg.float_data,
(side_length, side_length, side_length))
# convert to a vtkImageData
image = numpyToVtkImage(data)
# compute iso contour as value 0.5
polyData = applyContourFilter(image, 0.0)
# show data
if vis_item["current"] is not None:
vis_item["current"].removeFromAllViews()
vis_item["current"] = vis.showPolyData(polyData, 'contour')
view.resetCamera()
lcmUtils.addSubscriber("FIELD_DATA", lcmdrake.lcmt_viewer_geometry_data,
handle_data)
# start app
view.show()
view.resetCamera()
app.start()
def main():
app = ConsoleApp()
camVis = CameraVisualizer()
camVis.createUI()
camVis.showUI()
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):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
self.config = drcargs.getDirectorConfig()
jointGroups = self.config['teleopJointGroups']
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 __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', lcmbotcore.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', lcmbotcore.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 __init__(self, world):
"""Constructs the simulator.
Args:
world: World.
"""
self._robots = []
self._obstacles = []
self._world = world
self._app = ConsoleApp()
self._view = self._app.createView(useGrid=False)
# performance tracker
self._num_targets = 0
self._num_crashes = 0
self._run_ticks = 0
self._initialize()
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()
factory = robotsystem.RobotSystemFactory()
options = factory.getDisabledOptions()
options.useDirectorConfig = True
options.useRobotState = True
options.usePlanning = True
options.usePlayback = True
options.useAffordances = True
options.usePlannerPublisher = True
options.useTeleop = True
robotSystem = factory.construct(view=view, options=options)
return robotSystem
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
robotSystem = makeRobotSystem(view)
robotSystem.ikPlanner.planningMode = 'pydrake'
robotSystem.teleopPanel.widget.show()
#testIkPlan()
#constraintSet = ikplanner.ConstraintSet(robotSystem.ikPlanner, buildConstraints(), endPoseName='user_end', startPoseName='q_nom')
#fields = constraintSet.runIk()
#print fields
