def __init__(self,world,name="My GL simulation program"):
"""Arguments:
- world: a RobotWorld instance.
"""
GLRealtimeProgram.__init__(self,name)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = robotcollide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.commanded_config_color = [0,1,0,0.5]
#turn this on to draw contact points
self.drawContacts = False
#turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
#turn this on to save log to disk
self.logging = False
self.logger = None
def __init__(self,
source_streams,
noise_streams,
rir_streams,
config,
DEBUG=False):
"""
:param source_streams: a list of SpeechDataStream objects, containing the clean speech source files names and
meta-data such as label, utterance ID, and speaker ID.
:param noise_streams: a list of DataStream objects, containing noise file names.
:param rir_streams: a list of RIRDataStream objects, containing RIR file names and meta data information.
:param config: an object of type DataGeneratorSequenceConfig
:param DEBUG: if set to DEBUG mode, will plot the filterbanks and label.
"""
self._source_streams = source_streams
self._source_streams_prior = self._get_streams_prior(source_streams)
self._rir_streams = rir_streams
self._rir_streams_prior = self._get_streams_prior(rir_streams)
self._noise_streams = noise_streams
self._noise_streams_prior = self._get_streams_prior(noise_streams)
self._data_len = config.n_segment_per_epoch
self._single_source_simulator = SimpleSimulator(
use_rir=config.use_reverb,
use_noise=config.use_noise,
snr_range=config.snr_range)
self._config = config
self._DEBUG = DEBUG
self._gen_window()
def __init__(self, world, name="My GL simulation program"):
"""Arguments:
- world: a RobotWorld instance.
"""
GLRealtimeProgram.__init__(self, name)
self.world = world
# Put your initialization code here
# the current example creates a collision class, simulator,
# simulation flag, and screenshot flags
self.collider = robotcollide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.commanded_config_color = [0, 1, 0, 0.5]
# turn this on to draw contact points
self.drawContacts = False
# turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
# turn this on to save log to disk
self.logging = False
self.logger = None
class GLSimulationProgram(GLRealtimeProgram):
"""A program that runs a simulation given a world.
Attributes:
- world: the RobotWorld instance provided on startup. All elements
are assumed to be instantiated already.
- sim: a Simulator for the given world.
- simulate: set this to True to start simulating.
- saveScreenshots: set this to True if frames should be saved to disk.
- commanded_config_color: an RGBA tuple defining the color of the
commanded configuration, or None if it should not be drawn.
- verbose: set to 1 if you wish to get printouts of the event loop
- logging, logger: set to True and the logger if you wish to save a
CSV log file to disk. Easier to use beginLogging(), pauseLogging(),
and endLogging().
Subclasses should overload self.control_loop() and put whatever control
loop you desire inside. Note: in this loop you should interact with
self.sim.controller(0), not self.world.robot(0). self.world is simply
a model and does not have a direct relation to the simulation.
"""
def __init__(self,world,name="My GL simulation program"):
"""Arguments:
- world: a RobotWorld instance.
"""
GLRealtimeProgram.__init__(self,name)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = robotcollide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.commanded_config_color = [0,1,0,0.5]
#turn this on to draw contact points
self.drawContacts = False
#turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
#turn this on to save log to disk
self.logging = False
self.logger = None
def beginLogging(self,state_fn="simulation_state.csv",contact_fn="simulation_contact.csv"):
self.logging = True
self.logger = SimLogger(self.sim,state_fn,contact_fn)
def endLogging(self):
self.logging = False
self.logger = None
def pauseLogging(self,paused=True):
self.logging=not paused
def display(self):
#Put your display handler here
#the current example draws the simulated world in grey and the
#commanded configurations in transparent green
self.sim.drawGL()
"""
#draw commanded configurations
if self.commanded_config_color != None:
for i in xrange(self.world.numRobots()):
r = self.world.robot(i)
mode = self.sim.controller(i).getControlType()
if mode == "PID":
q = self.sim.controller(i).getCommandedConfig()
#save old appearance
oldapps = [r.link(j).appearance().clone() for j in xrange(r.numLinks())]
#set new appearance
for j in xrange(r.numLinks()):
r.link(j).appearance().setColor(*self.commanded_config_color)
r.setConfig(q)
r.drawGL()
#restore old appearance
for j in xrange(r.numLinks()):
r.link(j).appearance().set(oldapps[j])
glDisable(GL_BLEND)
"""
#draw contacts, if enabled
if self.drawContacts:
glDisable(GL_LIGHTING)
glDisable(GL_DEPTH_TEST)
glEnable(GL_POINT_SMOOTH)
glColor3f(1,1,0)
glLineWidth(1.0)
glPointSize(5.0)
forceLen = 0.1 #scale of forces
maxid = self.world.numIDs()
for i in xrange(maxid):
for j in xrange(i+1,maxid):
points = self.sim.getContacts(i,j)
if len(points) > 0:
forces = self.sim.getContactForces(i,j)
glBegin(GL_POINTS)
for p in points:
glVertex3f(*p[0:3])
glEnd()
glBegin(GL_LINES)
for p,f in zip(points,forces):
glVertex3f(*p[0:3])
glVertex3f(*vectorops.madd(p[0:3],f,forceLen))
glEnd()
glEnable(GL_DEPTH_TEST)
def control_loop(self):
#Put your control handler here
pass
def idle(self):
#Put your idle loop handler here
#the current example simulates with the current time step self.dt
if self.simulate:
#Handle screenshots
if self.saveScreenshots:
#The following line saves movies on simulation time
if self.sim.getTime() >= self.nextScreenshotTime:
#The following line saves movies on wall clock time
#if self.ttotal >= self.nextScreenshotTime:
self.save_screen("image%04d.ppm"%(self.screenshotCount,))
self.screenshotCount += 1
self.nextScreenshotTime += 1.0/30.0;
#Handle logging
if self.logger: self.logger.saveStep()
#Advance simulation
self.control_loop()
self.sim.simulate(self.dt)
self.refresh()
def mousefunc(self,button,state,x,y):
#Put your mouse handler here
#the current example prints out the list of objects clicked whenever
#you right click
if self.verbose: print "mouse",button,state,x,y
GLRealtimeProgram.mousefunc(self,button,state,x,y)
def motionfunc(self,x,y,dx,dy):
GLRealtimeProgram.motionfunc(self,x,y,dx,dy)
def specialfunc(self,c,x,y):
#Put your keyboard special character handler here
if self.verbose: print c,"pressed"
pass
def keyboardfunc(self,c,x,y):
#Put your keyboard handler here
#the current example toggles simulation / movie mode
if self.verbose: print c,"pressed"
if c == 's':
self.simulate = not self.simulate
print "Simulating:",self.simulate
elif c == 'm':
self.saveScreenshots = not self.saveScreenshots
print "Movie mode:",self.saveScreenshots
elif c == 'l':
if self.logging:
self.pauseLogging()
else:
if self.logger==None:
self.beginLogging()
else:
self.pauseLogging(False)
elif c == 'c':
self.drawContacts = not self.drawContacts
if self.drawContacts:
self.sim.enableContactFeedbackAll()
self.refresh()
def click_world(self,x,y):
"""Helper: returns a list of world objects sorted in order of
increasing distance."""
#get the viewport ray
(s,d) = self.click_ray(x,y)
#run the collision tests
collided = []
for g in self.collider.geomList:
(hit,pt) = g[1].rayCast(s,d)
if hit:
dist = vectorops.dot(vectorops.sub(pt,s),d)
collided.append((dist,g[0]))
return [g[1] for g in sorted(collided)]
def doSim(world,
duration,
initialCondition,
returnItems=None,
trace=False,
simDt=0.01,
simInit=None,
simStep=None,
simTerm=None):
"""Runs a simulation for a given initial condition of a world.
Arguments:
- world: the world
- duration: the maximum duration of simulation, in seconds
- initialCondition: a dictionary mapping named items to values.
Each named item is specified by a path as used by the map module, e.g.
'robot[0].config[4]'. See the documentation for map.get_item()/
map.set_item() for details.
Special items include 'args' which is a tuple provided to each simInit,
simStep, and simTerm call.
- returnItems (optional): a list of named items to return in the final
state of the simulation. By default returns everything that is
variable in the simulator (simulation time, robot and rigid object
configuration / velocity, robot commands, robot sensors).
- trace (optional, default False): if True, returns the entire trace of
the items specified in returnItems rather than just the final state.
- simDt (optional, default 0.01): the outer simulation loop (usually
corresponds to the control rate).
- simInit (optional): a function f(sim) called on the simulator after its
initial conditions are set but before simulating. You may configure the
simulator with this function.
- simStep (optional): a function f(sim) that is called on every outer
simulation loop (usually a controller function).
- simTerm (optional): a function f(sim) that returns True if the simulation
should terminate early. Called on every outer simulation loop.
Return value is the final state of each returned item upon termination.
This takes the form of a dictionary mapping named items (specified by
the returnItems argument) to their values.
Additional returned items are:
- 'status', which gives the status string of the simulation
- 'time', which gives the time of the simulation, in s
- 'wall_clock_time', which gives the time elapsed while computing the simulation, in s
"""
if returnItems == None:
#set up default return items
returnItems = []
for i in range(world.numRigidObjects()):
returnItems.append('rigidObjects[' + str(i) + '].transform')
returnItems.append('rigidObjects[' + str(i) + '].velocity')
for i in range(world.numRobots()):
returnItems.append('time')
returnItems.append('controllers[' + str(i) + '].commandedConfig')
returnItems.append('controllers[' + str(i) + '].commandedVelocity')
returnItems.append('controllers[' + str(i) + '].sensedConfig')
returnItems.append('controllers[' + str(i) + '].sensedVelocity')
returnItems.append('controllers[' + str(i) + '].sensors')
returnItems.append('robots[' + str(i) + '].actualConfig')
returnItems.append('robots[' + str(i) + '].actualVelocity')
returnItems.append('robots[' + str(i) + '].actualTorques')
initCond = getWorldSimState(world)
args = ()
for k, v in initialCondition.iteritems():
if k is not 'args':
map.set_item(world, k, v)
else:
args = v
sim = SimpleSimulator(world)
if simInit: simInit(sim, *args)
assert simDt > 0, "Time step must be positive"
res = dict()
if trace:
for k in returnItems:
res[k] = [map.get_item(sim, k)]
res['status'] = [sim.getStatusString()]
print "klampt.batch.doSim(): Running simulation for", duration, "s"
t0 = time.time()
t = 0
worst_status = 0
while t < duration:
if simTerm and simTerm(sim, *args) == True:
if not trace:
for k in returnItems:
res[k] = map.get_item(sim, k)
res['status'] = sim.getStatusString(worst_status)
res['time'] = t
res['wall_clock_time'] = time.time() - t0
#restore initial world state
setWorldSimState(world, initCond)
print " Termination condition reached at", t, "s"
print " Computation time:", time.time() - t0
return res
if simStep: simStep(sim, *args)
sim.simulate(simDt)
worst_status = max(worst_status, sim.getStatus())
if trace:
for k in returnItems:
res[k].append(map.get_item(sim, k))
res['status'].append(sim.getStatusString())
res['time'] = t
res['wall_clock_time'] = time.time() - t0
t += simDt
if not trace:
#just get the terminal stats
for k in returnItems:
res[k] = map.get_item(sim, k)
res['status'] = sim.getStatusString(worst_status)
res['time'] = t
res['wall_clock_time'] = time.time() - t0
print " Done."
print " Computation time:", time.time() - t0
#restore initial world state
setWorldSimState(world, initCond)
return res
class GLSimulationProgram(GLRealtimeProgram):
"""A program that runs a simulation given a world.
Attributes:
- world: the RobotWorld instance provided on startup. All elements
are assumed to be instantiated already.
- sim: a Simulator for the given world.
- simulate: set this to True to start simulating.
- saveScreenshots: set this to True if frames should be saved to disk.
- commanded_config_color: an RGBA tuple defining the color of the
commanded configuration, or None if it should not be drawn.
- verbose: set to 1 if you wish to get printouts of the event loop
- logging, logger: set to True and the logger if you wish to save a
CSV log file to disk. Easier to use beginLogging(), pauseLogging(),
and endLogging().
Subclasses should overload self.control_loop() and put whatever control
loop you desire inside. Note: in this loop you should interact with
self.sim.controller(0), not self.world.robot(0). self.world is simply
a model and does not have a direct relation to the simulation.
"""
def __init__(self, world, name="My GL simulation program"):
"""Arguments:
- world: a RobotWorld instance.
"""
GLRealtimeProgram.__init__(self, name)
self.world = world
# Put your initialization code here
# the current example creates a collision class, simulator,
# simulation flag, and screenshot flags
self.collider = robotcollide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.commanded_config_color = [0, 1, 0, 0.5]
# turn this on to draw contact points
self.drawContacts = False
# turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
# turn this on to save log to disk
self.logging = False
self.logger = None
def beginLogging(self, state_fn="simulation_state.csv", contact_fn="simulation_contact.csv"):
self.logging = True
self.logger = SimLogger(self.sim, state_fn, contact_fn)
def endLogging(self):
self.logging = False
self.logger = None
def pauseLogging(self, paused=True):
self.logging = not paused
def display(self):
# Put your display handler here
# the current example draws the simulated world in grey and the
# commanded configurations in transparent green
self.sim.drawGL()
"""
#draw commanded configurations
if self.commanded_config_color != None:
for i in xrange(self.world.numRobots()):
r = self.world.robot(i)
mode = self.sim.controller(i).getControlType()
if mode == "PID":
q = self.sim.controller(i).getCommandedConfig()
#save old appearance
oldapps = [r.link(j).appearance().clone() for j in xrange(r.numLinks())]
#set new appearance
for j in xrange(r.numLinks()):
r.link(j).appearance().setColor(*self.commanded_config_color)
r.setConfig(q)
r.drawGL()
#restore old appearance
for j in xrange(r.numLinks()):
r.link(j).appearance().set(oldapps[j])
glDisable(GL_BLEND)
"""
# draw contacts, if enabled
if self.drawContacts:
glDisable(GL_LIGHTING)
glDisable(GL_DEPTH_TEST)
glEnable(GL_POINT_SMOOTH)
glColor3f(1, 1, 0)
glLineWidth(1.0)
glPointSize(5.0)
forceLen = 0.1 # scale of forces
maxid = self.world.numIDs()
for i in xrange(maxid):
for j in xrange(i + 1, maxid):
points = self.sim.getContacts(i, j)
if len(points) > 0:
forces = self.sim.getContactForces(i, j)
glBegin(GL_POINTS)
for p in points:
glVertex3f(*p[0:3])
glEnd()
glBegin(GL_LINES)
for p, f in zip(points, forces):
glVertex3f(*p[0:3])
glVertex3f(*vectorops.madd(p[0:3], f, forceLen))
glEnd()
glEnable(GL_DEPTH_TEST)
def control_loop(self):
# Put your control handler here
pass
def idle(self):
# Put your idle loop handler here
# the current example simulates with the current time step self.dt
if self.simulate:
# Handle screenshots
if self.saveScreenshots:
# The following line saves movies on simulation time
if self.sim.getTime() >= self.nextScreenshotTime:
# The following line saves movies on wall clock time
# if self.ttotal >= self.nextScreenshotTime:
self.save_screen("image%04d.ppm" % (self.screenshotCount,))
self.screenshotCount += 1
self.nextScreenshotTime += 1.0 / 30.0
# Handle logging
if self.logger:
self.logger.saveStep()
# Advance simulation
self.control_loop()
self.sim.simulate(self.dt)
self.refresh()
def mousefunc(self, button, state, x, y):
# Put your mouse handler here
# the current example prints out the list of objects clicked whenever
# you right click
if self.verbose:
print "mouse", button, state, x, y
GLRealtimeProgram.mousefunc(self, button, state, x, y)
def motionfunc(self, x, y, dx, dy):
GLRealtimeProgram.motionfunc(self, x, y, dx, dy)
def specialfunc(self, c, x, y):
# Put your keyboard special character handler here
if self.verbose:
print c, "pressed"
pass
def keyboardfunc(self, c, x, y):
# Put your keyboard handler here
# the current example toggles simulation / movie mode
if self.verbose:
print c, "pressed"
if c == "s":
self.simulate = not self.simulate
print "Simulating:", self.simulate
elif c == "m":
self.saveScreenshots = not self.saveScreenshots
print "Movie mode:", self.saveScreenshots
elif c == "l":
if self.logging:
self.pauseLogging()
else:
if self.logger == None:
self.beginLogging()
else:
self.pauseLogging(False)
elif c == "c":
self.drawContacts = not self.drawContacts
if self.drawContacts:
self.sim.enableContactFeedbackAll()
self.refresh()
def click_world(self, x, y):
"""Helper: returns a list of world objects sorted in order of
increasing distance."""
# get the viewport ray
(s, d) = self.click_ray(x, y)
# run the collision tests
collided = []
for g in self.collider.geomList:
(hit, pt) = g[1].rayCast(s, d)
if hit:
dist = vectorops.dot(vectorops.sub(pt, s), d)
collided.append((dist, g[0]))
return [g[1] for g in sorted(collided)]
def doSim(world,duration,initialCondition,
returnItems=None,trace=False,
simDt=0.01,simInit=None,simStep=None,simTerm=None):
"""Runs a simulation for a given initial condition of a world.
Args:
world (WorldModel): the world
duration (float): the maximum duration of simulation, in seconds
initialCondition (dict): a dictionary mapping named items to values.
Each named item is specified by a path as used by the access
module, e.g. 'robot[0].config[4]'. See the documentation for
access.get_item()/
access.set_item() for details.
Special items include 'args' which is a tuple provided to each
simInit, simStep, and simTerm call.
returnItems (list of strs, optional): a list of named items to return
in the final state of the simulation. By default returns
everything that is variable in the simulator (simulation time,
robot and rigid object configuration / velocity, robot commands,
robot sensors).
trace (bool, optional): if True, returns the entire trace of
the items specified in returnItems rather than just the final
state.
simDt (float, optional, default 0.01): the outer simulation loop
(usually corresponds to the control rate).
simInit (function, optional): a function f(sim) called on the simulator
after its initial conditions are set but before simulating. You may
configure the simulator with this function.
simStep (function, optional): a function f(sim) that is called on every
outer simulation loop (usually a controller function).
simTerm (function, optional): a function f(sim) that returns True if
the simulation should terminate early. Called on every outer
simulation loop.
Returns:
(dict): the final state of each returned item upon termination. The
dictionary maps named items (specified by the returnItems argument)
to their values. Additional returned items are:
* 'status', which gives the status string of the simulation
* 'time', which gives the time of the simulation, in s
* 'wall_clock_time', which gives the time elapsed while computing
the simulation, in s
"""
if returnItems == None:
#set up default return items
returnItems = []
for i in range(world.numRigidObjects()):
returnItems.append('rigidObjects['+str(i)+'].transform')
returnItems.append('rigidObjects['+str(i)+'].velocity')
for i in range(world.numRobots()):
returnItems.append('time')
returnItems.append('controllers['+str(i)+'].commandedConfig')
returnItems.append('controllers['+str(i)+'].commandedVelocity')
returnItems.append('controllers['+str(i)+'].sensedConfig')
returnItems.append('controllers['+str(i)+'].sensedVelocity')
returnItems.append('controllers['+str(i)+'].sensors')
returnItems.append('robots['+str(i)+'].actualConfig')
returnItems.append('robots['+str(i)+'].actualVelocity')
returnItems.append('robots['+str(i)+'].actualTorques')
initCond = getWorldSimState(world)
args = ()
for k,v in initialCondition.iteritems():
if k is not 'args':
access.set_item(world,k,v)
else:
args = v
sim = SimpleSimulator(world)
if simInit: simInit(sim,*args)
assert simDt > 0,"Time step must be positive"
res = dict()
if trace:
for k in returnItems:
res[k] = [access.get_item(sim,k)]
res['status'] = [sim.getStatusString()]
print "klampt.batch.doSim(): Running simulation for",duration,"s"
t0 = time.time()
t = 0
worst_status = 0
while t < duration:
if simTerm and simTerm(sim,*args)==True:
if not trace:
for k in returnItems:
res[k] = access.get_item(sim,k)
res['status']=sim.getStatusString(worst_status)
res['time']=t
res['wall_clock_time']=time.time()-t0
#restore initial world state
setWorldSimState(world,initCond)
print " Termination condition reached at",t,"s"
print " Computation time:",time.time()-t0
return res
if simStep: simStep(sim,*args)
sim.simulate(simDt)
worst_status = max(worst_status,sim.getStatus())
if trace:
for k in returnItems:
res[k].append(access.get_item(sim,k))
res['status'].append(sim.getStatusString())
res['time']=t
res['wall_clock_time']=time.time()-t0
t += simDt
if not trace:
#just get the terminal stats
for k in returnItems:
res[k] = access.get_item(sim,k)
res['status']=sim.getStatusString(worst_status)
res['time']=t
res['wall_clock_time']=time.time()-t0
print " Done."
print " Computation time:",time.time()-t0
#restore initial world state
setWorldSimState(world,initCond)
return res
