public void constructDialog() {
sim.disableGUIComponents();
String fileEnding = ".guiConf";
if (dataFileChooser.showSaveDialog(frame) == JFileChooser.APPROVE_OPTION) {
try {
chosenFile = dataFileChooser.getSelectedFile();
String filename = chosenFile.getName();
if (!filename.endsWith(fileEnding)) {
filename = filename.concat(fileEnding);
if (!chosenFile.getName().equals(filename)) {
File newChosenFile = new File(chosenFile.getParent(), filename);
chosenFile = newChosenFile;
}
}
Writer output = null;
output = new BufferedWriter(new FileWriter(chosenFile));
output.write(writeGUIConfig());
output.close();
System.out.println("Your file has been written");
} catch (Exception e) {
System.err.println("Error While Writting/Saving Gui Configuration File");
e.printStackTrace();
}
}
sim.enableGUIComponents();
}
protected void setupTest(DRCRobotModel robotModel)
throws SimulationExceededMaximumTimeException, InterruptedException {
boolean runMultiThreaded = false;
setupTrack(runMultiThreaded, robotModel);
FullHumanoidRobotModel fullRobotModel = robotModel.createFullRobotModel();
pushRobotController =
new PushRobotController(
drcFlatGroundWalkingTrack.getDrcSimulation().getRobot(), fullRobotModel);
if (VISUALIZE_FORCE) {
drcFlatGroundWalkingTrack
.getSimulationConstructionSet()
.addYoGraphic(pushRobotController.getForceVisualizer());
}
SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
BooleanYoVariable enable =
(BooleanYoVariable) scs.getVariable("PushRecoveryControlModule", "enablePushRecovery");
// enable push recovery
enable.set(true);
for (RobotSide robotSide : RobotSide.values) {
String prefix = fullRobotModel.getFoot(robotSide).getName();
scs.getVariable(prefix + "FootControlModule", prefix + "State");
@SuppressWarnings("unchecked")
final EnumYoVariable<WalkingStateEnum> walkingState =
(EnumYoVariable<WalkingStateEnum>)
scs.getVariable("WalkingHighLevelHumanoidController", "walkingState");
doubleSupportStartConditions.put(
robotSide, new DoubleSupportStartCondition(walkingState, robotSide));
}
}
public SimplePendulumSimulation() {
SimplePendulumRobot robot = new SimplePendulumRobot();
robot.setController(new SimplePendulumController(robot));
SimulationConstructionSetParameters parameters = new SimulationConstructionSetParameters();
parameters.setDataBufferSize(32000);
sim = new SimulationConstructionSet(robot, parameters);
sim.setDT(DT, 20);
sim.setGroundVisible(true);
sim.setCameraPosition(0, -9.0, 0.6);
sim.setCameraFix(0.0, 0.0, 0.70);
sim.setSimulateDuration(60.0); // sets the simulation duration to 60 seconds
Thread myThread = new Thread(sim);
myThread.start();
}
@Ignore("Needs to be improved")
@ContinuousIntegrationTest(estimatedDuration = 67.1)
@Test(timeout = 340000)
public void testMultiStepForwardAndContinueWalking()
throws SimulationExceededMaximumTimeException, InterruptedException,
ControllerFailureException {
BambooTools.reportTestStartedMessage(simulationTestingParameters.getShowWindows());
setupTest(getRobotModel());
SimulationConstructionSet scs = drcFlatGroundWalkingTrack.getSimulationConstructionSet();
setForwardPushParameters();
Vector3d forceDirection = new Vector3d(1.0, 0.0, 0.0);
blockingSimulationRunner = new BlockingSimulationRunner(scs, 1000.0);
BooleanYoVariable walk =
(BooleanYoVariable) scs.getVariable("ComponentBasedFootstepDataMessageGenerator", "walk");
// disable walking
walk.set(false);
blockingSimulationRunner.simulateAndBlock(4.0);
// push the robot
pushRobotController.applyForceDelayed(
pushCondition, PUSH_DELAY, forceDirection, forceMagnitude, forceDuration);
// simulate for a little while longer
blockingSimulationRunner.simulateAndBlock(forceDuration + 6.0);
// re-enable walking
walk.set(true);
blockingSimulationRunner.simulateAndBlock(6.0);
Point3d center = new Point3d(0.0, 0.0, 0.8882009563211146);
Vector3d plusMinusVector =
new Vector3d(Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY, 0.5);
BoundingBox3d boundingBox =
BoundingBox3d.createUsingCenterAndPlusMinusVector(center, plusMinusVector);
DRCSimulationTestHelper.assertRobotsRootJointIsInBoundingBox(
boundingBox, drcFlatGroundWalkingTrack.getDrcSimulation().getRobot());
createVideo(scs);
BambooTools.reportTestFinishedMessage(simulationTestingParameters.getShowWindows());
}
public static void addCube(
double cubeX, double cubeY, double cubeSize, Color color, SimulationConstructionSet scs) {
final double CUBE_HEIGHT = 0.001;
// Make cubes a tiny bit smaller so they don't blend together.
cubeSize *= 0.9;
Graphics3DObject linkGraphics = new Graphics3DObject();
linkGraphics.translate(new Vector3d(cubeX, cubeY, CUBE_HEIGHT));
linkGraphics.addCube(
cubeSize, cubeSize, cubeSize, new YoAppearanceRGBColor(new Color3f(color), 0.0));
scs.addStaticLinkGraphics(linkGraphics);
}
private FloatingJoint getRootJoint(SimulationConstructionSet scs0) {
Joint firstRootJoint = scs0.getRobots()[0].getRootJoints().get(0);
if (firstRootJoint instanceof FloatingJoint) return (FloatingJoint) firstRootJoint;
throw new RuntimeException("first root joint is not a floating joint: " + firstRootJoint);
}
public StewartPlatformSimulation() {
StewartPlatformRobot StewartPlatform = new StewartPlatformRobot("StewartPlatform");
StewartPlatform.setController(
new StewartPlatformController(StewartPlatform, "stewartPlatformSimulation"));
sim = new SimulationConstructionSet(StewartPlatform);
StewartPlatform.setGravity(0.0); // -9.81);
// StewartPlatform View:
// sim.setCameraFix(45.0,0.0,18.0);
// sim.setCameraPosition(-64.0,100.0,8.0);
sim.setDT(0.0004, 50);
sim.setCameraTracking(false, true, true, false);
sim.setCameraDolly(false, true, true, false);
// Set up some graphs and entry boxes:
sim.setupGraph(new String[] {"q_platform_x", "q_d_x"});
sim.setupGraph(new String[] {"q_platform_y", "q_d_y"});
sim.setupGraph(new String[] {"q_platform_z", "q_d_z"});
sim.setupGraph(new String[] {"q_yaw", "q_d_yaw"});
sim.setupGraph(new String[] {"q_roll", "q_d_roll"});
sim.setupGraph(new String[] {"q_pitch", "q_d_pitch"});
// sim.setupGraph("q_ball_z");
// sim.setupGraph(new String[]{"qd_ball_x", "qd_ball_z"} );
// sim.setupEntryBox("k_loop");
// sim.setupEntryBox("b_loop");
// sim.setupEntryBox("Fx");
// sim.setupEntryBox("Fy");
// sim.setupEntryBox("Fz");
// sim.setupEntryBox("q_d_x");sim.setupEntryBox("q_d_y");sim.setupEntryBox("q_d_z");
// sim.setupEntryBox("k_x");sim.setupEntryBox("k_y");sim.setupEntryBox("k_z");
// sim.setupEntryBox("b_x");sim.setupEntryBox("b_y");sim.setupEntryBox("b_z");
sim.setupEntryBox("x_amp");
sim.setupEntryBox("y_amp");
sim.setupEntryBox("z_amp");
sim.setupEntryBox("x_freq");
sim.setupEntryBox("y_freq");
sim.setupEntryBox("z_freq");
sim.setupEntryBox("y_phase");
// Start the simulation
Thread myThread = new Thread(sim);
myThread.start();
}
public GraphArrayWindow(
AllCommandsExecutor allCommandsExecutor,
SimulationConstructionSet sim,
GUIEnablerAndDisabler guiEnablerAndDisabler,
ConfigurationList configurationList,
GraphGroupList graphGroupList,
String graphGroupName,
GraphConfigurationList graphConfigurationList,
SelectedVariableHolder selectedVariableHolder,
DataBuffer dataBuffer,
StandardGUIActions mainGUIActions,
int screenID,
Point windowLocation,
Dimension windowSize,
boolean maximizeWindow) {
this.configurationList = configurationList;
this.graphGroupList = graphGroupList;
this.graphConfigurationList = graphConfigurationList;
GraphicsConfiguration configurationToUse = null;
GraphicsEnvironment graphicsEnvironment = GraphicsEnvironment.getLocalGraphicsEnvironment();
GraphicsDevice[] devices = graphicsEnvironment.getScreenDevices();
for (int j = 0; j < devices.length; j++) {
// GraphicsDevice graphicsDevice = devices[j];
if (devices[j].toString().indexOf("screen=" + screenID) >= 0)
configurationToUse = devices[j].getDefaultConfiguration();
}
String windowName;
if (graphGroupName != null) {
windowName = "Graph Window: " + graphGroupName;
this.name = graphGroupName;
} else {
windowName = "Graph Window";
this.name = "Unnamed";
}
frame = new JFrame(windowName, configurationToUse);
frame.setName(windowName);
myGraphArrayPanel = new GraphArrayPanel(selectedVariableHolder, dataBuffer, frame);
windowGUIActions = new StandardGUIActions();
SaveGraphConfigurationDialogConstructor saveGraphConfigurationDialogConstructor =
new SaveGraphConfigurationDialogGenerator(guiEnablerAndDisabler, frame, myGraphArrayPanel);
LoadGraphGroupDialogConstructor loadGraphGroupDialogConstructor =
new LoadGraphGroupDialogGenerator(
sim, sim.getStandardSimulationGUI(), this, frame, myGraphArrayPanel);
PrintGraphsDialogConstructor printGraphsDialogConstructor =
new PrintGraphsDialogGenerator(myGraphArrayPanel);
ExportGraphsToFileConstructor exportGraphsToFileConstructor;
if (USE_CSV_INSTEAD_OF_MATLAB) {
exportGraphsToFileConstructor =
new CsvExportGraphsToFileGenerator(
sim, frame, myGraphArrayPanel, sim.getStandardSimulationGUI());
} else {
exportGraphsToFileConstructor =
new MatlabExportGraphsToFileGenerator(
sim, frame, myGraphArrayPanel, sim.getStandardSimulationGUI());
}
windowGUIActions.createGraphWindowActions(
mainGUIActions,
myGraphArrayPanel,
saveGraphConfigurationDialogConstructor,
loadGraphGroupDialogConstructor,
printGraphsDialogConstructor,
exportGraphsToFileConstructor);
JPanel buttonPanel = windowGUIActions.createGraphWindowButtons();
JMenuBar menuBar = windowGUIActions.createGraphWindowMenus();
frame.setJMenuBar(menuBar);
frame.getContentPane().add(buttonPanel, "South");
JPanel graphArrayAndButtonPanel = new JPanel(new java.awt.BorderLayout());
graphArrayAndButtonPanel.add("Center", myGraphArrayPanel);
JPanel graphButtonPanel = myGraphArrayPanel.createGraphButtonPanel();
graphArrayAndButtonPanel.add("South", graphButtonPanel);
frame.getContentPane().add(graphArrayAndButtonPanel);
this.selectGraphGroup(graphGroupName);
if (windowLocation != null) frame.setLocation(windowLocation);
frame.pack();
if (maximizeWindow) {
frame.setExtendedState(Frame.MAXIMIZED_BOTH);
} else if (windowSize != null) frame.setSize(windowSize);
frame.setVisible(true);
}
