Python ConsoleApp.createView方法代码示例

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
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()

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
def main():

    app = ConsoleApp()

    view = app.createView(useGrid=False)
    imageManager = cameraview.ImageManager()
    cameraView = cameraview.CameraView(imageManager, view)

    view.show()
    app.start()

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
class DebugAtlasCommandListener(object):

    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 onAtlasCommand(self, msg):
        pose = atlasCommandToDrakePose(msg)
        self.jointController.setPose('ATLAS_COMMAND', pose)

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
class PositionGoalListener(object):

    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 onPause(self, msg):
        commandStream.stopStreaming()

    def onJointPositionGoal(self, msg):
        #lcmUtils.publish('ATLAS_COMMAND', msg)

        commandStream.startStreaming()
        pose = robotstate.convertStateMessageToDrakePose(msg)
        self.setGoalPose(pose)

    def setGoalPose(self, pose):
        commandStream.setGoalPose(pose)

    def onDebug(self):
        self.jointController.setPose('ATLAS_COMMAND', commandStream._currentCommandedPose)

    def onSingleJointPositionGoal(self, msg):
        jointPositionGoal = msg.joint_position
        jointName = msg.joint_name
        allowedJointNames = ['l_leg_aky','l_arm_lwy']

        if not (jointName in allowedJointNames):
            print 'Position goals are not allowed for this joint'
            print 'ignoring this position goal'
            print 'use the sliders instead'
            return
            
        commandStream.setIndividualJointGoalPose(jointPositionGoal, jointName)

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
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()

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
from ddapp.consoleapp import ConsoleApp
from ddapp.debugVis import DebugData
import ddapp.visualization as vis

# initialize application components
app = ConsoleApp()
view = app.createView()
view.showMaximized()

# create a sphere primitive
d = DebugData()
d.addSphere(center=(0,0,0), radius=0.5)

# show the sphere in the visualization window
sphere = vis.showPolyData(d.getPolyData(), 'sphere')
sphere.setProperty('Color', [0,1,0])

# start the application
app.start()

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
class Simulator(object):
    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 initializeOptions(self):
        self.options = dict()

        self.options["Reward"] = dict()
        self.options["Reward"]["actionCost"] = 0.1
        self.options["Reward"]["collisionPenalty"] = 100.0
        self.options["Reward"]["raycastCost"] = 20.0

        self.options["SARSA"] = dict()
        self.options["SARSA"]["type"] = "discrete"
        self.options["SARSA"]["lam"] = 0.7
        self.options["SARSA"]["alphaStepSize"] = 0.2
        self.options["SARSA"]["useQLearningUpdate"] = False
        self.options["SARSA"]["epsilonGreedy"] = 0.2
        self.options["SARSA"]["burnInTime"] = 500
        self.options["SARSA"]["epsilonGreedyExponent"] = 0.3
        self.options["SARSA"]["exponentialDiscountFactor"] = 0.05  # so gamma = e^(-rho*dt)
        self.options["SARSA"]["numInnerBins"] = 5
        self.options["SARSA"]["numOuterBins"] = 4
        self.options["SARSA"]["binCutoff"] = 0.5

        self.options["World"] = dict()
        self.options["World"]["obstaclesInnerFraction"] = 0.85
        self.options["World"]["randomSeed"] = 40
        self.options["World"]["percentObsDensity"] = 7.5
        self.options["World"]["nonRandomWorld"] = True
        self.options["World"]["circleRadius"] = 1.75
        self.options["World"]["scale"] = 1.0

        self.options["Sensor"] = dict()
        self.options["Sensor"]["rayLength"] = 10
        self.options["Sensor"]["numRays"] = 20

        self.options["Car"] = dict()
        self.options["Car"]["velocity"] = 12

        self.options["dt"] = 0.05

        self.options["runTime"] = dict()
        self.options["runTime"]["supervisedTrainingTime"] = 10
        self.options["runTime"]["learningRandomTime"] = 10
        self.options["runTime"]["learningEvalTime"] = 10
        self.options["runTime"]["defaultControllerTime"] = 10

    def setDefaultOptions(self):

        defaultOptions = dict()

        defaultOptions["Reward"] = dict()
        defaultOptions["Reward"]["actionCost"] = 0.1
        defaultOptions["Reward"]["collisionPenalty"] = 100.0
        defaultOptions["Reward"]["raycastCost"] = 20.0

        defaultOptions["SARSA"] = dict()
        defaultOptions["SARSA"]["type"] = "discrete"
        defaultOptions["SARSA"]["lam"] = 0.7
        defaultOptions["SARSA"]["alphaStepSize"] = 0.2
        defaultOptions["SARSA"]["useQLearningUpdate"] = False
#.........这里部分代码省略.........

# 需要导入模块: from ddapp.consoleapp import ConsoleApp [as 别名]
# 或者: from ddapp.consoleapp.ConsoleApp import createView [as 别名]
class AtlasCommandPanel(object):

    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 onSingleJointPositionGoal(self, msg):
        jointPositionGoal = msg.joint_position
        jointName = msg.joint_name
        allowedJointNames = ['l_leg_aky','l_arm_lwy']

        if not (jointName in allowedJointNames):
            print 'Position goals are not allowed for this joint'
            print 'ignoring this position goal'
            print 'use the sliders instead'
            return

        if (jointName == 'l_arm_lwy') and (not self.jointCommandPanel.steeringControlEnabled):
            print 'Steering control not enabled'
            print 'ignoring steering command'
            return

        if (jointName == 'l_leg_aky') and (not self.jointCommandPanel.throttleControlEnabled):
            print 'Throttle control not enabled'
            print 'ignoring throttle command'
            return
            
        jointIdx = self.jointTeleopPanel.toJointIndex(joint_name)
        self.jointTeleopPanel.endPose[jointIdx] = jointPositionGoal
        self.jointTeleopPanel.updateSliders()
        self.jointTeleopPanel.sliderChanged(jointName)

            
    def onRobotPlan(self, msg):
        playback = planplayback.PlanPlayback()
        playback.interpolationMethod = 'pchip'
        poseTimes, poses = playback.getPlanPoses(msg)
        f = playback.getPoseInterpolator(poseTimes, poses)

        jointController = self.robotSystem.teleopJointController

        timer = simpletimer.SimpleTimer()

        def setPose(pose):
            jointController.setPose('plan_playback', pose)
            self.jointTeleopPanel.endPose = pose
            self.jointTeleopPanel.updateSliders()
            commandStream.setGoalPose(pose)

        def updateAnimation():

            tNow = timer.elapsed()

            if tNow > poseTimes[-1]:
                pose = poses[-1]
                setPose(pose)
                return False

            pose = f(tNow)
            setPose(pose)


        self.animationTimer = TimerCallback()
        self.animationTimer.targetFps = 60
        self.animationTimer.callback = updateAnimation
        self.animationTimer.start()


    def mirrorJointsChanged(self):
        self.jointTeleopPanel.mirrorLegs = self.jointCommandPanel.ui.mirrorLegsCheck.checked
        self.jointTeleopPanel.mirrorArms = self.jointCommandPanel.ui.mirrorArmsCheck.checked
#.........这里部分代码省略.........