Python consoleapp.ConsoleApp類代碼示例

def main():
    app = ConsoleApp()
    camVis = CameraVisualizer()
    camVis.createUI()
    camVis.showUI()    
    
    app.start()

def main():

    app = ConsoleApp()

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

    view.show()
    app.start()

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()

    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 __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 robotMain(useDrivingGains=False, useController=True):

    print 'waiting for robot state...'
    commandStream.waitForRobotState()
    print 'starting.'
    commandStream.timer.targetFps = 1000

    if useController==True:
        commandStream.useController()
    else:
        commandStream.publishChannel = 'ATLAS_COMMAND'

    if useDrivingGains:
        commandStream.applyDrivingDefaults()

    commandStream.startStreaming()
    positionListener = PositionGoalListener()
    planListener = CommittedRobotPlanListener()
    ConsoleApp.start()

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()

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)

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)

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
#.........這裏部分代碼省略.........

import os

from ddapp.consoleapp import ConsoleApp
from ddapp import ioUtils
from ddapp import segmentation
from ddapp import segmentationroutines
from ddapp import applogic
from ddapp import visualization as vis

#from ddapp import roboturdf


app = ConsoleApp()

# create a view
view = app.createView()
segmentation._defaultSegmentationView = view


'''
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)

segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)

# Move Robot in front of the table:
robotStateJointController.q[5] = -0.63677# math.radians(120)
robotStateJointController.q[0] = 0.728
robotStateJointController.q[1] = -0.7596
robotStateJointController.q[2] = 0.79788
robotStateJointController.q[33] = 0.5 # head down
robotStateJointController.push()

from ddapp.consoleapp import ConsoleApp
from ddapp import lcmspy
from ddapp import lcmUtils
from ddapp import simpletimer as st

app = ConsoleApp()

app.setupGlobals(globals())

if app.getTestingInteractiveEnabled():
    app.showPythonConsole()


lcmspy.findLCMModulesInSysPath()

timer = st.SimpleTimer()
stats = {}

channelToMsg = {}
items = {}

def item(r, c):
    rowDict = items.setdefault(r, {})
    try:
        return rowDict[c]

    except KeyError:
        i = QtGui.QTableWidgetItem('')
        table.setItem(r, c, i)
        rowDict[c] = i
        return i

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
#.........這裏部分代碼省略.........

from ddapp import affordanceurdf
from ddapp import objectmodel as om
from ddapp import visualization as vis
from ddapp import lcmUtils
from ddapp import ioUtils
from ddapp.debugVis import DebugData
from ddapp.timercallback import TimerCallback
from ddapp import segmentation
from ddapp.uuidutil import newUUID
from ddapp import geometryencoder
from ddapp import sceneloader
import drc as lcmdrc
import os
import json
from ddapp.utime import getUtime
app = ConsoleApp()

app.setupGlobals(globals())
app.showPythonConsole()

view = app.createView()
view.show()

robotsystem.create(view, globals())


def affordanceFromDescription(desc):
    affordanceManager.collection.updateDescription(desc)
    return affordanceManager.getAffordanceById(desc['uuid'])

def newBox():

    assert not checkGraspFrame(goalFrame, side)
    frame = teleopPanel.endEffectorTeleop.newReachTeleop(goalFrame, side)
    assert checkGraspFrame(goalFrame, side)

    teleopPanel.ui.planButton.click()
    assert playbackPanel.plan is not None

    teleopPanel.ikPlanner.useCollision = True;
    teleopPanel.ui.planButton.click()
    assert playbackPanel.plan is not None

    frame.setProperty('Edit', True)
    app.startTestingModeQuitTimer()


app = ConsoleApp()
app.setupGlobals(globals())

view = app.createView()
robotsystem.create(view, globals())


playbackPanel = playbackpanel.PlaybackPanel(planPlayback, playbackRobotModel, playbackJointController,
                                  robotStateModel, robotStateJointController, manipPlanner)

teleopPanel = teleoppanel.TeleopPanel(robotStateModel, robotStateJointController, teleopRobotModel, teleopJointController,
                 ikPlanner, manipPlanner, affordanceManager, playbackPanel.setPlan, playbackPanel.hidePlan)

manipPlanner.connectPlanReceived(playbackPanel.setPlan)