Python Simulator.set_publish_every_time_step方法代码示例

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
    def test_kuka(self):
        """Kuka IIWA with mesh geometry."""
        file_name = FindResourceOrThrow(
            "drake/manipulation/models/iiwa_description/sdf/"
            "iiwa14_no_collision.sdf")
        builder = DiagramBuilder()
        kuka, scene_graph = AddMultibodyPlantSceneGraph(builder)
        Parser(plant=kuka).AddModelFromFile(file_name)
        kuka.Finalize()

        visualizer = builder.AddSystem(MeshcatVisualizer(scene_graph,
                                                         zmq_url=ZMQ_URL,
                                                         open_browser=False))
        builder.Connect(scene_graph.get_pose_bundle_output_port(),
                        visualizer.get_input_port(0))

        diagram = builder.Build()

        diagram_context = diagram.CreateDefaultContext()
        kuka_context = diagram.GetMutableSubsystemContext(
            kuka, diagram_context)

        kuka_context.FixInputPort(
            kuka.get_actuation_input_port().get_index(), np.zeros(
                kuka.get_actuation_input_port().size()))

        simulator = Simulator(diagram, diagram_context)
        simulator.set_publish_every_time_step(False)
        simulator.AdvanceTo(.1)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
    def test_simulator_ctor(self):
        # Create simple system.
        system = ConstantVectorSource([1])

        def check_output(context):
            # Check number of output ports and value for a given context.
            output = system.AllocateOutput(context)
            self.assertEquals(output.get_num_ports(), 1)
            system.CalcOutput(context, output)
            value = output.get_vector_data(0).get_value()
            self.assertTrue(np.allclose([1], value))

        # Create simulator with basic constructor.
        simulator = Simulator(system)
        simulator.Initialize()
        simulator.set_target_realtime_rate(0)
        simulator.set_publish_every_time_step(True)
        self.assertTrue(simulator.get_context() is
                        simulator.get_mutable_context())
        check_output(simulator.get_context())
        simulator.StepTo(1)

        # Create simulator specifying context.
        context = system.CreateDefaultContext()
        # @note `simulator` now owns `context`.
        simulator = Simulator(system, context)
        self.assertTrue(simulator.get_context() is context)
        check_output(context)
        simulator.StepTo(1)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
    def test_cart_pole(self):
        """Cart-Pole with simple geometry."""
        file_name = FindResourceOrThrow(
            "drake/examples/multibody/cart_pole/cart_pole.sdf")

        builder = DiagramBuilder()
        cart_pole, scene_graph = AddMultibodyPlantSceneGraph(builder)
        Parser(plant=cart_pole).AddModelFromFile(file_name)
        cart_pole.Finalize()
        assert cart_pole.geometry_source_is_registered()

        visualizer = builder.AddSystem(MeshcatVisualizer(scene_graph,
                                                         zmq_url=ZMQ_URL,
                                                         open_browser=False))
        builder.Connect(scene_graph.get_pose_bundle_output_port(),
                        visualizer.get_input_port(0))

        diagram = builder.Build()

        diagram_context = diagram.CreateDefaultContext()
        cart_pole_context = diagram.GetMutableSubsystemContext(
            cart_pole, diagram_context)

        cart_pole_context.FixInputPort(
            cart_pole.get_actuation_input_port().get_index(), [0])

        cart_slider = cart_pole.GetJointByName("CartSlider")
        pole_pin = cart_pole.GetJointByName("PolePin")
        cart_slider.set_translation(context=cart_pole_context, translation=0.)
        pole_pin.set_angle(context=cart_pole_context, angle=2.)

        simulator = Simulator(diagram, diagram_context)
        simulator.set_publish_every_time_step(False)
        simulator.AdvanceTo(.1)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
    def test_texture_override(self):
        """Draws a textured box to test the texture override pathway."""
        object_file_path = FindResourceOrThrow(
            "drake/systems/sensors/test/models/box_with_mesh.sdf")
        # Find the texture path just to ensure it exists and
        # we're testing the code path we want to.
        FindResourceOrThrow("drake/systems/sensors/test/models/meshes/box.png")

        builder = DiagramBuilder()
        plant = MultibodyPlant(0.002)
        _, scene_graph = AddMultibodyPlantSceneGraph(builder, plant)
        object_model = Parser(plant=plant).AddModelFromFile(object_file_path)
        plant.Finalize()

        # Add meshcat visualizer.
        viz = builder.AddSystem(
            MeshcatVisualizer(scene_graph,
                              zmq_url=None,
                              open_browser=False))
        builder.Connect(
            scene_graph.get_pose_bundle_output_port(),
            viz.get_input_port(0))

        diagram = builder.Build()
        diagram_context = diagram.CreateDefaultContext()

        simulator = Simulator(diagram, diagram_context)
        simulator.set_publish_every_time_step(False)
        simulator.AdvanceTo(1.0)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
 def show_cloud(pc, use_native=False, **kwargs):
     # kwargs go to ctor.
     builder = DiagramBuilder()
     # Add point cloud visualization.
     if use_native:
         viz = meshcat.Visualizer(zmq_url=ZMQ_URL)
     else:
         plant, scene_graph = AddMultibodyPlantSceneGraph(builder)
         plant.Finalize()
         viz = builder.AddSystem(MeshcatVisualizer(
             scene_graph, zmq_url=ZMQ_URL, open_browser=False))
         builder.Connect(
             scene_graph.get_pose_bundle_output_port(),
             viz.get_input_port(0))
     pc_viz = builder.AddSystem(
         MeshcatPointCloudVisualizer(viz, **kwargs))
     # Make sure the system runs.
     diagram = builder.Build()
     diagram_context = diagram.CreateDefaultContext()
     context = diagram.GetMutableSubsystemContext(
         pc_viz, diagram_context)
     context.FixInputPort(
         pc_viz.GetInputPort("point_cloud_P").get_index(),
         AbstractValue.Make(pc))
     simulator = Simulator(diagram, diagram_context)
     simulator.set_publish_every_time_step(False)
     simulator.AdvanceTo(sim_time)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
def main():
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument(
        "--target_realtime_rate", type=float, default=1.0,
        help="Desired rate relative to real time.  See documentation for "
             "Simulator::set_target_realtime_rate() for details.")
    parser.add_argument(
        "--simulation_time", type=float, default=10.0,
        help="Desired duration of the simulation in seconds.")
    parser.add_argument(
        "--time_step", type=float, default=0.,
        help="If greater than zero, the plant is modeled as a system with "
             "discrete updates and period equal to this time_step. "
             "If 0, the plant is modeled as a continuous system.")
    args = parser.parse_args()

    file_name = FindResourceOrThrow(
        "drake/examples/multibody/cart_pole/cart_pole.sdf")
    builder = DiagramBuilder()
    scene_graph = builder.AddSystem(SceneGraph())
    cart_pole = builder.AddSystem(MultibodyPlant(time_step=args.time_step))
    cart_pole.RegisterAsSourceForSceneGraph(scene_graph)
    Parser(plant=cart_pole).AddModelFromFile(file_name)
    cart_pole.AddForceElement(UniformGravityFieldElement())
    cart_pole.Finalize()
    assert cart_pole.geometry_source_is_registered()

    builder.Connect(
        scene_graph.get_query_output_port(),
        cart_pole.get_geometry_query_input_port())
    builder.Connect(
        cart_pole.get_geometry_poses_output_port(),
        scene_graph.get_source_pose_port(cart_pole.get_source_id()))

    ConnectDrakeVisualizer(builder=builder, scene_graph=scene_graph)
    diagram = builder.Build()

    diagram_context = diagram.CreateDefaultContext()
    cart_pole_context = diagram.GetMutableSubsystemContext(
        cart_pole, diagram_context)

    cart_pole_context.FixInputPort(
        cart_pole.get_actuation_input_port().get_index(), [0])

    cart_slider = cart_pole.GetJointByName("CartSlider")
    pole_pin = cart_pole.GetJointByName("PolePin")
    cart_slider.set_translation(context=cart_pole_context, translation=0.)
    pole_pin.set_angle(context=cart_pole_context, angle=2.)

    simulator = Simulator(diagram, diagram_context)
    simulator.set_publish_every_time_step(False)
    simulator.set_target_realtime_rate(args.target_realtime_rate)
    simulator.Initialize()
    simulator.AdvanceTo(args.simulation_time)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
def main():
    args_parser = argparse.ArgumentParser(
        description=__doc__,
        formatter_class=argparse.RawDescriptionHelpFormatter)
    args_parser.add_argument(
        "filename", type=str,
        help="Path to an SDF or URDF file.")
    args_parser.add_argument(
        "--package_path",
        type=str,
        default=None,
        help="Full path to the root package for reading in SDF resources.")
    position_group = args_parser.add_mutually_exclusive_group()
    position_group.add_argument(
        "--position", type=float, nargs="+", default=[],
        help="A list of positions which must be the same length as the number "
             "of positions in the sdf model.  Note that most models have a "
             "floating-base joint by default (unless the sdf explicitly welds "
             "the base to the world, and so have 7 positions corresponding to "
             "the quaternion representation of that floating-base position.")
    position_group.add_argument(
        "--joint_position", type=float, nargs="+", default=[],
        help="A list of positions which must be the same length as the number "
             "of positions ASSOCIATED WITH JOINTS in the sdf model.  This "
             "does not include, e.g., floating-base coordinates, which will "
             "be assigned a default value.")
    args_parser.add_argument(
        "--test", action='store_true',
        help="Disable opening the gui window for testing.")
    # TODO(russt): Add option to weld the base to the world pending the
    # availability of GetUniqueBaseBody requested in #9747.
    args = args_parser.parse_args()
    filename = args.filename
    if not os.path.isfile(filename):
        args_parser.error("File does not exist: {}".format(filename))

    builder = DiagramBuilder()
    scene_graph = builder.AddSystem(SceneGraph())

    # Construct a MultibodyPlant.
    plant = MultibodyPlant()
    plant.RegisterAsSourceForSceneGraph(scene_graph)

    # Create the parser.
    parser = Parser(plant)

    # Get the package pathname.
    if args.package_path:
        # Verify that package.xml is found in the designated path.
        package_path = os.path.abspath(args.package_path)
        if not os.path.isfile(os.path.join(package_path, "package.xml")):
            parser.error("package.xml not found at: {}".format(package_path))

        # Get the package map and populate it using the package path.
        package_map = parser.package_map()
        package_map.PopulateFromFolder(package_path)

    # Add the model from the file and finalize the plant.
    parser.AddModelFromFile(filename)
    plant.Finalize(scene_graph)

    # Add sliders to set positions of the joints.
    sliders = builder.AddSystem(JointSliders(robot=plant))
    to_pose = builder.AddSystem(MultibodyPositionToGeometryPose(plant))
    builder.Connect(sliders.get_output_port(0), to_pose.get_input_port())
    builder.Connect(
        to_pose.get_output_port(),
        scene_graph.get_source_pose_port(plant.get_source_id()))

    # Connect this to drake_visualizer.
    ConnectDrakeVisualizer(builder=builder, scene_graph=scene_graph)

    if len(args.position):
        sliders.set_position(args.position)
    elif len(args.joint_position):
        sliders.set_joint_position(args.joint_position)

    # Make the diagram and run it.
    diagram = builder.Build()
    simulator = Simulator(diagram)

    simulator.set_publish_every_time_step(False)

    if args.test:
        sliders.window.withdraw()
        simulator.StepTo(0.1)
    else:
        simulator.set_target_realtime_rate(1.0)
        simulator.StepTo(np.inf)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
builder.Connect(filter.get_output_port(0),
                station.GetInputPort("iiwa_position"))

wsg_buttons = builder.AddSystem(SchunkWsgButtons(teleop.window))
builder.Connect(wsg_buttons.GetOutputPort("position"), station.GetInputPort(
    "wsg_position"))
builder.Connect(wsg_buttons.GetOutputPort("force_limit"),
                station.GetInputPort("wsg_force_limit"))

diagram = builder.Build()
simulator = Simulator(diagram)

station_context = diagram.GetMutableSubsystemContext(
    station, simulator.get_mutable_context())

station_context.FixInputPort(station.GetInputPort(
    "iiwa_feedforward_torque").get_index(), np.zeros(7))

# Eval the output port once to read the initial positions of the IIWA.
q0 = station.GetOutputPort("iiwa_position_measured").Eval(
    station_context).get_value()
teleop.set_position(q0)
filter.set_initial_output_value(diagram.GetMutableSubsystemContext(
    filter, simulator.get_mutable_context()), q0)

# This is important to avoid duplicate publishes to the hardware interface:
simulator.set_publish_every_time_step(False)

simulator.set_target_realtime_rate(args.target_realtime_rate)
simulator.StepTo(args.duration)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]
    def test_contact_force(self):
        """A block sitting on a table."""
        object_file_path = FindResourceOrThrow(
            "drake/examples/manipulation_station/models/061_foam_brick.sdf")
        table_file_path = FindResourceOrThrow(
            "drake/examples/kuka_iiwa_arm/models/table/"
            "extra_heavy_duty_table_surface_only_collision.sdf")

        # T: tabletop frame.
        X_TObject = RigidTransform([0, 0, 0.2])

        builder = DiagramBuilder()
        plant = MultibodyPlant(0.002)
        _, scene_graph = AddMultibodyPlantSceneGraph(builder, plant)
        object_model = Parser(plant=plant).AddModelFromFile(object_file_path)
        table_model = Parser(plant=plant).AddModelFromFile(table_file_path)

        # Weld table to world.
        plant.WeldFrames(
            A=plant.world_frame(),
            B=plant.GetFrameByName("link", table_model))

        plant.Finalize()

        # Add meshcat visualizer.
        viz = builder.AddSystem(
            MeshcatVisualizer(scene_graph,
                              zmq_url=ZMQ_URL,
                              open_browser=False))
        builder.Connect(
            scene_graph.get_pose_bundle_output_port(),
            viz.get_input_port(0))

        # Add contact visualizer.
        contact_viz = builder.AddSystem(
            MeshcatContactVisualizer(
                meshcat_viz=viz,
                force_threshold=0,
                contact_force_scale=10,
                plant=plant))
        contact_input_port = contact_viz.GetInputPort("contact_results")
        builder.Connect(
            plant.GetOutputPort("contact_results"),
            contact_input_port)
        builder.Connect(
            scene_graph.get_pose_bundle_output_port(),
            contact_viz.GetInputPort("pose_bundle"))

        diagram = builder.Build()

        diagram_context = diagram.CreateDefaultContext()
        mbp_context = diagram.GetMutableSubsystemContext(
            plant, diagram_context)

        X_WT = plant.CalcRelativeTransform(
            mbp_context,
            plant.world_frame(),
            plant.GetFrameByName("top_center"))

        plant.SetFreeBodyPose(
            mbp_context,
            plant.GetBodyByName("base_link", object_model),
            X_WT.multiply(X_TObject))

        simulator = Simulator(diagram, diagram_context)
        simulator.set_publish_every_time_step(False)
        simulator.AdvanceTo(1.0)

        contact_viz_context = (
            diagram.GetMutableSubsystemContext(contact_viz, diagram_context))
        contact_results = contact_viz.EvalAbstractInput(
            contact_viz_context,
            contact_input_port.get_index()).get_value()

        self.assertGreater(contact_results.num_contacts(), 0)
        self.assertEqual(contact_viz._contact_key_counter, 4)

# 需要导入模块: from pydrake.systems.analysis import Simulator [as 别名]
# 或者: from pydrake.systems.analysis.Simulator import set_publish_every_time_step [as 别名]

#.........这里部分代码省略.........
        choices=['default', 'clutter_clearing'])
    MeshcatVisualizer.add_argparse_argument(parser)
    args = parser.parse_args()

    if args.test:
        # Don't grab mouse focus during testing.
        grab_focus = False
        # See: https://stackoverflow.com/a/52528832/7829525
        os.environ["SDL_VIDEODRIVER"] = "dummy"
    else:
        grab_focus = True

    builder = DiagramBuilder()

    if args.hardware:
        station = builder.AddSystem(ManipulationStationHardwareInterface())
        station.Connect(wait_for_cameras=False)
    else:
        station = builder.AddSystem(ManipulationStation())

        # Initializes the chosen station type.
        if args.setup == 'default':
            station.SetupDefaultStation()
        elif args.setup == 'clutter_clearing':
            station.SetupClutterClearingStation()
            ycb_objects = CreateDefaultYcbObjectList()
            for model_file, X_WObject in ycb_objects:
                station.AddManipulandFromFile(model_file, X_WObject)

        station.Finalize()
        ConnectDrakeVisualizer(builder, station.get_scene_graph(),
                               station.GetOutputPort("pose_bundle"))
        if args.meshcat:
            meshcat = builder.AddSystem(MeshcatVisualizer(
                station.get_scene_graph(), zmq_url=args.meshcat))
            builder.Connect(station.GetOutputPort("pose_bundle"),
                            meshcat.get_input_port(0))

    robot = station.get_controller_plant()
    params = DifferentialInverseKinematicsParameters(robot.num_positions(),
                                                     robot.num_velocities())

    time_step = 0.005
    params.set_timestep(time_step)
    # True velocity limits for the IIWA14 (in rad, rounded down to the first
    # decimal)
    iiwa14_velocity_limits = np.array([1.4, 1.4, 1.7, 1.3, 2.2, 2.3, 2.3])
    # Stay within a small fraction of those limits for this teleop demo.
    factor = args.velocity_limit_factor
    params.set_joint_velocity_limits((-factor*iiwa14_velocity_limits,
                                      factor*iiwa14_velocity_limits))

    differential_ik = builder.AddSystem(DifferentialIK(
        robot, robot.GetFrameByName("iiwa_link_7"), params, time_step))

    builder.Connect(differential_ik.GetOutputPort("joint_position_desired"),
                    station.GetInputPort("iiwa_position"))

    teleop = builder.AddSystem(MouseKeyboardTeleop(grab_focus=grab_focus))
    filter_ = builder.AddSystem(
        FirstOrderLowPassFilter(time_constant=args.filter_time_const, size=6))

    builder.Connect(teleop.get_output_port(0), filter_.get_input_port(0))
    builder.Connect(filter_.get_output_port(0),
                    differential_ik.GetInputPort("rpy_xyz_desired"))

    builder.Connect(teleop.GetOutputPort("position"), station.GetInputPort(
        "wsg_position"))
    builder.Connect(teleop.GetOutputPort("force_limit"),
                    station.GetInputPort("wsg_force_limit"))

    diagram = builder.Build()
    simulator = Simulator(diagram)

    # This is important to avoid duplicate publishes to the hardware interface:
    simulator.set_publish_every_time_step(False)

    station_context = diagram.GetMutableSubsystemContext(
        station, simulator.get_mutable_context())

    station.GetInputPort("iiwa_feedforward_torque").FixValue(
        station_context, np.zeros(7))

    simulator.AdvanceTo(1e-6)
    q0 = station.GetOutputPort("iiwa_position_measured").Eval(station_context)
    differential_ik.parameters.set_nominal_joint_position(q0)

    teleop.SetPose(differential_ik.ForwardKinematics(q0))
    filter_.set_initial_output_value(
        diagram.GetMutableSubsystemContext(
            filter_, simulator.get_mutable_context()),
        teleop.get_output_port(0).Eval(diagram.GetMutableSubsystemContext(
            teleop, simulator.get_mutable_context())))
    differential_ik.SetPositions(diagram.GetMutableSubsystemContext(
        differential_ik, simulator.get_mutable_context()), q0)

    simulator.set_target_realtime_rate(args.target_realtime_rate)

    print_instructions()
    simulator.AdvanceTo(args.duration)