class PyDartQtWindow(QtGui.QMainWindow):
def __init__(self, _title, _sim):
super(PyDartQtWindow, self).__init__()
# Check and create captures directory
if not os.path.isdir('captures'):
os.makedirs('captures')
self.sim = _sim
self.setWindowTitle(_title)
self.trackball = None
self.initUI()
self.initActions()
self.initToolbarActions()
self.initToolbar()
self.initMenu()
self.idleTimer = QtCore.QTimer()
self.idleTimer.timeout.connect(self.idleTimerEvent)
self.idleTimer.start(0)
self.renderTimer = QtCore.QTimer()
self.renderTimer.timeout.connect(self.renderTimerEvent)
self.renderTimer.start(25)
self.cam0Event()
def setTrackball(self, _trackball):
self.trackball = _trackball
self.cam0Event()
def initUI(self):
self.setGeometry(0, 0, 1280, 720)
# self.setWindowTitle('Toolbar')
self.glwidget = GLWidget(self)
self.glwidget.setGeometry(0, 30, 1280, 720)
self.glwidget.sim = self.sim
def createAction(self, name, handler=None):
action = QtGui.QAction(name, self)
if handler is not None:
action.triggered.connect(handler)
return action
def initActions(self):
# Create actions
self.resetAction = QtGui.QAction('Reset', self)
self.resetAction.triggered.connect(self.resetEvent)
self.playAction = QtGui.QAction('Play', self)
self.playAction.setCheckable(True)
self.playAction.setShortcut('Space')
self.animAction = QtGui.QAction('Anim', self)
self.animAction.setCheckable(True)
self.captureAction = QtGui.QAction('Capture', self)
self.captureAction.setCheckable(True)
self.movieAction = QtGui.QAction('Movie', self)
self.movieAction.triggered.connect(self.movieEvent)
self.screenshotAction = QtGui.QAction('Screenshot', self)
self.screenshotAction.triggered.connect(self.screenshotEvent)
# Camera Menu
self.cam0Action = QtGui.QAction('Camera0', self)
self.cam0Action.triggered.connect(self.cam0Event)
self.cam1Action = QtGui.QAction('Camera1', self)
self.cam1Action.triggered.connect(self.cam1Event)
self.printCamAction = QtGui.QAction('Print Camera', self)
self.printCamAction.triggered.connect(self.printCamEvent)
def initToolbarActions(self):
self.toolbar_actions = []
self.toolbar_actions.append(self.resetAction)
self.toolbar_actions.append(self.playAction)
self.toolbar_actions.append(self.animAction)
self.toolbar_actions.append(None)
self.toolbar_actions.append(self.screenshotAction)
self.toolbar_actions.append(self.captureAction)
self.toolbar_actions.append(self.movieAction)
def initToolbar(self):
""" Read self.toolbar_actions and add them to the toolbar.
None will be interpreted as separator """
# Create a toolbar
self.toolbar = self.addToolBar('Control')
for action in self.toolbar_actions:
if action is None:
self.toolbar.addSeparator()
elif isinstance(action, QtGui.QAction):
self.toolbar.addAction(action)
elif isinstance(action, QtGui.QWidget):
self.toolbar.addWidget(action)
self.rangeSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.rangeSlider.valueChanged[int].connect(self.rangeSliderEvent)
self.toolbar.addWidget(self.rangeSlider)
def initMenu(self):
menubar = self.menuBar()
self.fileMenu = menubar.addMenu('&File')
# Camera menu
self.cameraMenu = menubar.addMenu('&Camera')
self.cameraMenu.addAction(self.cam0Action)
self.cameraMenu.addAction(self.cam1Action)
self.cameraMenu.addSeparator()
self.cameraMenu.addAction(self.printCamAction)
# Recording menu
self.recordingMenu = menubar.addMenu('&Recording')
self.recordingMenu.addAction(self.screenshotAction)
self.recordingMenu.addSeparator()
self.recordingMenu.addAction(self.captureAction)
self.recordingMenu.addAction(self.movieAction)
self.menuBar = menubar
def idleTimerEvent(self):
doCapture = False
# Do animation
if self.animAction.isChecked():
for i in range(10):
v = self.rangeSlider.value() + 1
if v <= self.rangeSlider.maximum():
self.rangeSlider.setValue(v)
else:
self.animAction.setChecked(False)
if v % 100 == 1:
doCapture = True
# Do play
elif self.playAction.isChecked():
if self._step_callback is not None:
self._step_callback(self.sim)
result = self.sim.step()
if result:
self.playAction.setChecked(False)
doCapture = (self.sim.num_frames() % 4 == 1)
if self.captureAction.isChecked() and doCapture:
self.glwidget.capture('capture')
def renderTimerEvent(self):
self.glwidget.updateGL()
if hasattr(self.sim, 'statusMessage'):
message = self.sim.statusMessage()
else:
message = '# frames = %d' % self.sim.num_frames()
self.statusBar().showMessage(message)
self.rangeSlider.setRange(0, self.sim.num_frames() - 1)
def keyPressEvent(self, event):
if event.key() == QtCore.Qt.Key_Escape:
print 'Escape key pressed! Bye.'
self.close()
if 0 <= event.key() and event.key() < 256: # If key is ascii
key = chr(event.key())
if self._keyboard_callback is not None:
self._keyboard_callback(self.sim, key)
if hasattr(self.sim, 'key_pressed'):
self.sim.key_pressed(key)
def rangeSliderEvent(self, value):
self.sim.set_frame(value)
def screenshotEvent(self):
self.glwidget.capture()
def movieEvent(self):
cmd = 'avconv -r 200 -i ./captures/capture.%04d.png output.mp4'
print 'Movie command:', cmd
os.system(cmd)
def resetEvent(self):
self.sim.reset()
def cam0Event(self):
if self.trackball is not None:
self.glwidget.tb = eval(repr(self.trackball)) # Make a deepcopy
return
self.glwidget.tb = Trackball(phi=-0.0, theta=0.0, zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.02, 0.09, -0.69])
def cam1Event(self):
self.glwidget.tb = Trackball(phi=-0.0, theta=0.0, zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.06, 0.26, -1.23])
def printCamEvent(self):
print 'printCamEvent'
print '----'
print repr(self.glwidget.tb)
print '----'
class PyDartQtWindow(QtGui.QMainWindow):
def __init__(self, _title, _sim):
super(PyDartQtWindow, self).__init__()
# Check and create captures directory
if not os.path.isdir('captures'):
os.makedirs('captures')
self.sim = _sim
self.setWindowTitle(_title)
self.trackball = None
self.initUI()
self.initActions()
self.initToolbarActions()
self.initToolbar()
self.initMenu()
self.idleTimer = QtCore.QTimer()
self.idleTimer.timeout.connect(self.idleTimerEvent)
self.idleTimer.start(0)
self.renderTimer = QtCore.QTimer()
self.renderTimer.timeout.connect(self.renderTimerEvent)
self.renderTimer.start(25)
self.cam0Event()
def setTrackball(self, _trackball):
self.trackball = _trackball
self.cam0Event()
def initUI(self):
self.setGeometry(0, 0, 1280, 720)
# self.setWindowTitle('Toolbar')
self.glwidget = GLWidget(self)
self.glwidget.setGeometry(0, 30, 1280, 720)
self.glwidget.sim = self.sim
def createAction(self, name, handler=None):
action = QtGui.QAction(name, self)
if handler is not None:
action.triggered.connect(handler)
return action
def initActions(self):
# Create actions
self.resetAction = QtGui.QAction('Reset', self)
self.resetAction.triggered.connect(self.resetEvent)
self.playAction = QtGui.QAction('Play', self)
self.playAction.setCheckable(True)
self.playAction.setShortcut('Space')
self.animAction = QtGui.QAction('Anim', self)
self.animAction.setCheckable(True)
self.captureAction = QtGui.QAction('Capture', self)
self.captureAction.setCheckable(True)
self.movieAction = QtGui.QAction('Movie', self)
self.movieAction.triggered.connect(self.movieEvent)
self.screenshotAction = QtGui.QAction('Screenshot', self)
self.screenshotAction.triggered.connect(self.screenshotEvent)
# Camera Menu
self.cam0Action = QtGui.QAction('Camera0', self)
self.cam0Action.triggered.connect(self.cam0Event)
self.cam1Action = QtGui.QAction('Camera1', self)
self.cam1Action.triggered.connect(self.cam1Event)
self.printCamAction = QtGui.QAction('Print Camera', self)
self.printCamAction.triggered.connect(self.printCamEvent)
def initToolbarActions(self):
self.toolbar_actions = []
self.toolbar_actions.append(self.resetAction)
self.toolbar_actions.append(self.playAction)
self.toolbar_actions.append(self.animAction)
self.toolbar_actions.append(None)
self.toolbar_actions.append(self.screenshotAction)
self.toolbar_actions.append(self.captureAction)
self.toolbar_actions.append(self.movieAction)
def initToolbar(self):
""" Read self.toolbar_actions and add them to the toolbar.
None will be interpreted as separator """
# Create a toolbar
self.toolbar = self.addToolBar('Control')
for action in self.toolbar_actions:
if action is None:
self.toolbar.addSeparator()
elif isinstance(action, QtGui.QAction):
self.toolbar.addAction(action)
elif isinstance(action, QtGui.QWidget):
self.toolbar.addWidget(action)
self.rangeSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.rangeSlider.valueChanged[int].connect(self.rangeSliderEvent)
self.toolbar.addWidget(self.rangeSlider)
def initMenu(self):
menubar = self.menuBar()
self.fileMenu = menubar.addMenu('&File')
# Camera menu
self.cameraMenu = menubar.addMenu('&Camera')
self.cameraMenu.addAction(self.cam0Action)
self.cameraMenu.addAction(self.cam1Action)
self.cameraMenu.addSeparator()
self.cameraMenu.addAction(self.printCamAction)
# Recording menu
self.recordingMenu = menubar.addMenu('&Recording')
self.recordingMenu.addAction(self.screenshotAction)
self.recordingMenu.addSeparator()
self.recordingMenu.addAction(self.captureAction)
self.recordingMenu.addAction(self.movieAction)
self.menuBar = menubar
def idleTimerEvent(self):
doCapture = False
# Do animation
if self.animAction.isChecked():
for i in range(10):
v = self.rangeSlider.value() + 1
if v <= self.rangeSlider.maximum():
self.rangeSlider.setValue(v)
else:
self.animAction.setChecked(False)
if v % 100 == 1:
doCapture = True
# Do play
elif self.playAction.isChecked():
if self._step_callback is not None:
self._step_callback(self.sim)
result = self.sim.step()
if result:
self.playAction.setChecked(False)
doCapture = (self.sim.num_frames() % 4 == 1)
if self.captureAction.isChecked() and doCapture:
self.glwidget.capture('capture')
def renderTimerEvent(self):
self.glwidget.updateGL()
if hasattr(self.sim, 'statusMessage'):
message = self.sim.statusMessage()
else:
message = '# frames = %d' % self.sim.num_frames()
self.statusBar().showMessage(message)
self.rangeSlider.setRange(0, self.sim.num_frames() - 1)
def keyPressEvent(self, event):
if event.key() == QtCore.Qt.Key_Escape:
print 'Escape key pressed! Bye.'
self.close()
if 0 <= event.key() and event.key() < 256: # If key is ascii
key = chr(event.key())
if self._keyboard_callback is not None:
self._keyboard_callback(self.sim, key)
if hasattr(self.sim, 'key_pressed'):
self.sim.key_pressed(key)
def rangeSliderEvent(self, value):
self.sim.set_frame(value)
def screenshotEvent(self):
self.glwidget.capture()
def movieEvent(self):
cmd = 'avconv -r 200 -i ./captures/capture.%04d.png output.mp4'
print 'Movie command:', cmd
os.system(cmd)
def resetEvent(self):
self.sim.reset()
def cam0Event(self):
if self.trackball is not None:
self.glwidget.tb = eval(repr(self.trackball)) # Make a deepcopy
return
self.glwidget.tb = Trackball(phi=-0.0,
theta=0.0,
zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.02, 0.09, -0.69])
def cam1Event(self):
self.glwidget.tb = Trackball(phi=-0.0,
theta=0.0,
zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.06, 0.26, -1.23])
def printCamEvent(self):
print 'printCamEvent'
print '----'
print repr(self.glwidget.tb)
print '----'
class MyWindow(QtGui.QMainWindow):
def __init__(self, filename=None):
super(MyWindow, self).__init__()
# Check and create captures directory
if not os.path.isdir('captures'):
os.makedirs('captures')
self.tasks = np.linspace(0.0, 1.0, 6)
# Create a simulation
if filename is None:
# self.prob = problems.SimJump()
# self.prob = problems.GPBow()
# self.prob = problems.GPStep()
# self.prob = problems.GPKick()
# self.prob = problems.GPJump()
self.prob = problems.GPWalk()
self.model = model.Model(self.prob.dim, self.tasks, 'linear')
# params = np.array([0.8647, 0.6611, -0.6017,
# -0.3276, -0.3781, 0.2489])
# params = np.array([1.0447, -0.8950, 0.0627,
# -0.5505, 0.3516, 0.0807])
# params = 0.6 * (np.random.rand(self.prob.dim * 2) - 0.5)
# params = np.array([0.1876, -0.9591, 0.3144, -0.7733,
# 0, 0, 0, 0])
# params = np.array([0.14, 0.1, -0.15, 0.05, -0.1,
# 0.0, 0.2, 0.0, -0.15, -0.1])
# params = np.array([0.5862, -0.7469, 0.6050, 0.8530, 0.4105,
# 0.0083, 0.3875, -0.1697, -0.1931, -0.0878])
# params = np.array([-0.7862, 0.0, -0.2, 0.65, -0.2,
# 0.0, 0.0, 0.0, 0.3, 0.0])
# params = np.array([0.7727, -0.9123, 0.4292, 1.1197, -0.2495,
# -0.0013, -0.0478, 0.1797, 0.01035, 0.0142125])
# params = np.array([0.75, -0.9123, 0.4292, 0.9197, -0.2495, # Kck
# -0.0013, -0.0478, 0.1797, 0.01035, 0.0142125])
# params = np.array([-1.0, 0.0, 0.0, 0.0, 0.0, # Walk
# 1.6, 0.7, 0.3, 0.2, -0.3])
# params = np.array([-1.1595, 0.0236, -0.6677, 0.6955, 0.1316,
# -0.2170, 0.3605, -0.0384, -0.2491, -0.8954])
params = np.zeros(8)
params[0] = -1.0
# # For individual approach for walking
# # lhs = np.array([-0.57016213, 0.90000273, -0.682361, -0.333242,
# # 0.34159808, 0.04885952, 0.35506013])
# lhs = np.array([-0.80708114, 0.69733204, 0.10948302, 0.13978436,
# 0.19853263, -0.43980252, 0.0329204])
# rhs = np.array([-0.91217336, 0.07142092, 0.15365855, 0.01285273,
# 0.32689401, -0.20036001, 0.57687862])
# params[:7] = lhs
# params[7:] = rhs - lhs
# # params[:7] = 0.5 * (lhs + rhs)
self.model.mean.set_params(params)
else:
import json
with open(filename) as fp:
data = json.load(fp)
print data
# Parse and print
self.prob = eval(data['prob'])
print('Problem: %s' % self.prob)
mean_type = eval(data['mean_type'])
print('Mean_type: %s' % mean_type)
self.model = model.Model(self.prob.dim, self.tasks, mean_type)
mean_params = eval('np.' + data['mean_params'])
print('params: %s' % mean_params)
self.model.mean.set_params(mean_params)
print('model:\n%s\n' % self.model)
print('Problem name = %s' % self.prob_name())
self.initUI()
self.initActions()
self.initToolbar()
self.initMenu()
self.idleTimer = QtCore.QTimer()
self.idleTimer.timeout.connect(self.idleTimerEvent)
self.idleTimer.start(0)
self.renderTimer = QtCore.QTimer()
self.renderTimer.timeout.connect(self.renderTimerEvent)
self.renderTimer.start(25)
self.cam0Event()
self.taskSpinEvent(0.0)
self.after_reset = True
def initUI(self):
self.setGeometry(0, 0, 1280, 720)
# self.setWindowTitle('Toolbar')
self.glwidget = GLWidget(self)
self.glwidget.setGeometry(0, 30, 1280, 720)
self.glwidget.prob = self.prob
def initActions(self):
# Create actions
self.resetAction = QtGui.QAction('Reset', self)
self.resetAction.triggered.connect(self.resetEvent)
self.playAction = QtGui.QAction('Play', self)
self.playAction.setCheckable(True)
self.playAction.setShortcut('Space')
self.animAction = QtGui.QAction('Anim', self)
self.animAction.setCheckable(True)
self.captureAction = QtGui.QAction('Capture', self)
self.captureAction.setCheckable(True)
self.movieAction = QtGui.QAction('Movie', self)
self.movieAction.triggered.connect(self.movieEvent)
self.screenshotAction = QtGui.QAction('Screenshot', self)
self.screenshotAction.triggered.connect(self.screenshotEvent)
self.exportAction = QtGui.QAction('Export .mtn', self)
self.exportAction.triggered.connect(self.exportEvent)
# Camera Menu
self.cam0Action = QtGui.QAction('Camera0', self)
self.cam0Action.triggered.connect(self.cam0Event)
self.cam1Action = QtGui.QAction('Camera1', self)
self.cam1Action.triggered.connect(self.cam1Event)
self.printCamAction = QtGui.QAction('Print Camera', self)
self.printCamAction.triggered.connect(self.printCamEvent)
def initToolbar(self):
# Create a toolbar
self.toolbar = self.addToolBar('Control')
self.toolbar.addAction(self.resetAction)
self.taskSpin = QtGui.QDoubleSpinBox(self)
self.taskSpin.setRange(0.0, 1.0)
self.taskSpin.setDecimals(4)
self.taskSpin.setSingleStep(0.2)
self.taskSpin.valueChanged[float].connect(self.taskSpinEvent)
self.toolbar.addWidget(self.taskSpin)
self.toolbar.addAction(self.playAction)
self.toolbar.addAction(self.animAction)
self.toolbar.addSeparator()
self.toolbar.addAction(self.screenshotAction)
self.toolbar.addAction(self.captureAction)
self.toolbar.addAction(self.movieAction)
self.rangeSlider = QtGui.QSlider(QtCore.Qt.Horizontal, self)
self.rangeSlider.valueChanged[int].connect(self.rangeSliderEvent)
self.toolbar.addWidget(self.rangeSlider)
def initMenu(self):
menubar = self.menuBar()
fileMenu = menubar.addMenu('&File')
fileMenu.addSeparator()
# Camera menu
cameraMenu = menubar.addMenu('&Camera')
cameraMenu.addAction(self.cam0Action)
cameraMenu.addAction(self.cam1Action)
cameraMenu.addSeparator()
cameraMenu.addAction(self.printCamAction)
# Recording menu
recordingMenu = menubar.addMenu('&Recording')
recordingMenu.addAction(self.screenshotAction)
recordingMenu.addSeparator()
recordingMenu.addAction(self.captureAction)
recordingMenu.addAction(self.movieAction)
recordingMenu.addSeparator()
recordingMenu.addAction(self.exportAction)
def idleTimerEvent(self):
doCapture = False
# Do animation
if self.animAction.isChecked():
v = self.rangeSlider.value() + 1
if v <= self.rangeSlider.maximum():
self.rangeSlider.setValue(v)
else:
self.animAction.setChecked(False)
capture_rate = 20
# if 'Walk' in repr(self.prob):
# capture_rate = 50
if 'Jump' in repr(self.prob):
capture_rate = 10
doCapture = (v % capture_rate == 1)
# Do play
elif self.playAction.isChecked():
result = self.prob.step()
if result and self.after_reset:
self.after_reset = False
self.playAction.setChecked(False)
if self.captureAction.isChecked() and doCapture:
self.glwidget.capture(self.prob_name())
def renderTimerEvent(self):
self.glwidget.updateGL()
self.statusBar().showMessage(str(self.prob))
self.rangeSlider.setRange(0, self.prob.world.nframes - 1)
def keyPressEvent(self, event):
if event.key() == QtCore.Qt.Key_Escape:
print 'Escape key pressed! Bye.'
self.close()
def taskSpinEvent(self, value):
task = self.taskSpin.value()
self.pt = self.model.mean.point(task)
print('task: %.4f point: %s' % (task, self.pt))
self.prob.set_params(self.pt)
def rangeSliderEvent(self, value):
i = value
if i < self.prob.world.nframes:
self.prob.world.set_frame(i)
def screenshotEvent(self):
self.glwidget.capture()
def exportEvent(self):
self.prob.export_mtn()
def prob_name(self):
ret = repr(self.prob)
ret = ret.replace('problems.', '')
ret = ret.replace('()', '')
task = self.taskSpin.value() if hasattr(self, 'taskSpin') else 0
ret += '%.1f' % task
return ret
def movieEvent(self):
name = self.prob_name()
cmd = 'avconv -r 100 -i ./captures/%s.%%04d.png %s.mp4' % (name, name)
print('cmd = %s' % cmd)
os.system(cmd)
# os.system('rm ./captures/*.png')
def resetEvent(self):
# self.prob.set_random_params()
self.after_reset = True
self.prob.reset()
def cam0Event(self):
print 'cam0Event'
if 'Bioloid' in self.prob.skel_filename:
if 'Walk' in self.prob_name():
self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
rot=[-0.11399118462862251,
-0.6947769785517393,
-0.1156975272831452,
0.7006461603991319],
trans=[-0.32000000000000084,
-0.11000000000000004,
-0.710000000000003])
elif 'Kick' in self.prob_name():
self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
rot=[-0.11399118462862251,
-0.6947769785517393,
-0.1156975272831452,
0.7006461603991319],
trans=[-0.32000000000000084,
-0.11000000000000004,
-0.910000000000003])
else:
# self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
# rot=[-0.11399118462862251,
# -0.6947769785517393,
# -0.1156975272831452,
# 0.7006461603991319],
# trans=[-0.06000000000000084,
# -0.17000000000000004,
# -0.710000000000003])
self.glwidget.tb = Trackball(phi=-2.7, theta=-0.95, zoom=1,
rot=[-0.022588755364916124,
-0.6948297028012123,
-0.022955860419361884,
0.7184528242749483],
trans=[-0.06000000000000084,
-0.17000000000000004,
-0.6800000000000029])
else:
self.glwidget.tb = Trackball(phi=2.266, theta=-15.478, zoom=1,
rot=[-0.09399048175876601,
-0.612401798950921,
-0.0675106984290682,
0.7820307740607462],
trans=[-0.2700000000000008,
-0.900000000000000005,
-3.350000000000003])
def cam1Event(self):
print 'cam1Event: frontview'
if 'Bioloid' in self.prob.skel_filename:
if 'Walk' in self.prob_name():
self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
rot=[-0.11399118462862251,
-0.6947769785517393,
-0.1156975272831452,
0.7006461603991319],
trans=[-0.32000000000000084,
-0.11000000000000004,
-0.970000000000003])
elif 'Kick' in self.prob_name():
self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
rot=[-0.11399118462862251,
-0.6947769785517393,
-0.1156975272831452,
0.7006461603991319],
trans=[-0.32000000000000084,
-0.11000000000000004,
-0.970000000000003])
else:
self.glwidget.tb = Trackball(phi=-25.5, theta=6.86, zoom=1,
rot=[-0.11399118462862251,
-0.6947769785517393,
-0.1156975272831452,
0.7006461603991319],
trans=[-0.06000000000000084,
-0.17000000000000004,
-0.970000000000003])
def printCamEvent(self):
print 'printCamEvent'
print '----'
print repr(self.glwidget.tb)
print '----'
