added mujoco experiement and started refactor

utra-robosoccer · Jul 26, 2024 · 9094ddf · 9094ddf
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diff --git a/.idea/jupyter-settings.xml b/.idea/jupyter-settings.xml
diff --git a/...ction_Test_test_visualize_annotations.xml → ..._detection_test_test_object_detection.xml b/...ction_Test_test_visualize_annotations.xml → ..._detection_test_test_object_detection.xml
diff --git a/...tDetection_test_object_detection_node.xml → ...detection_test_test_object_detection2.xml b/...tDetection_test_object_detection_node.xml → ...detection_test_test_object_detection2.xml
diff --git a/...ction_Test_test_object_detection_node.xml → ...detection_test_test_object_detection3.xml b/...ction_Test_test_object_detection_node.xml → ...detection_test_test_object_detection3.xml
diff --git a/...ction_Test_test_object_detection_node.xml → ...tDetection_test_object_detection_node.xml b/...ction_Test_test_object_detection_node.xml → ...tDetection_test_object_detection_node.xml
diff --git a/...localization_test_object_localization.xml → ...ization_test_test_object_localization.xml b/...localization_test_object_localization.xml → ...ization_test_test_object_localization.xml
diff --git a/...tLocalization_test_goalpost_detection.xml → ...tLocalization_test_goalpost_detection.xml b/...tLocalization_test_goalpost_detection.xml → ...tLocalization_test_goalpost_detection.xml
diff --git a/...estObjectLocalization_test_hsv_filter.xml → ...estObjectLocalization_test_hsv_filter.xml b/...estObjectLocalization_test_hsv_filter.xml → ...estObjectLocalization_test_hsv_filter.xml
diff --git a/...jectLocalization_test_robot_detection.xml → ...jectLocalization_test_robot_detection.xml b/...jectLocalization_test_robot_detection.xml → ...jectLocalization_test_robot_detection.xml
diff --git a/...Engine2D_test_dummy_vs_dummy_strategy.xml → ..._test_game_engine_2d_TestGameEngine2D.xml b/...Engine2D_test_dummy_vs_dummy_strategy.xml → ..._test_game_engine_2d_TestGameEngine2D.xml
diff --git a/...tGameEngine2D_test_obstacle_detection.xml → ...Engine2D_test_dummy_vs_dummy_strategy.xml b/...tGameEngine2D_test_obstacle_detection.xml → ...Engine2D_test_dummy_vs_dummy_strategy.xml
diff --git a/soccer_common/src/soccer_common/camera.py b/soccer_common/src/soccer_common/camera.py
@@ -7,10 +7,14 @@
 
 
 class Camera:
-
+    # TODO maybe put into a common percpetion
+    # TODO also could be split up into different files too many things
     HORIZONTAL_FOV = 1.39626
 
     def __init__(self):
+        # TODO why does this need pose shouldnt all the calcualtions be in the robots relative frame and
+        #  then transformed into the world frame that would make it a lot less relient on
+        #  knowledge of its global position
         self.pose = Transformation()
         self.camera_info = None
         self.horizontalFOV = Camera.HORIZONTAL_FOV
@@ -34,7 +38,9 @@ def reset_position(self, from_world_frame=False, camera_frame="/camera", skip_if
             trans = [0, 0, 0]
             rot = [0, 0, 0, 1]
             self.pose = Transformation(trans, rot)
+        # TODO put in its own ros file
         """
+
         Resets the position of the camera, it uses a series of methods that fall back on each other to get the location of the camera
 
         :param from_world_frame: If this is set to true, the camera position transformation will be from the world instead of the robot odom frame

diff --git a/...ontrol/soccer_pycontrol/src/soccer_pycontrol/exp/.ipynb_checkpoints/fhgj-checkpoint.ipynb b/...ontrol/soccer_pycontrol/src/soccer_pycontrol/exp/.ipynb_checkpoints/fhgj-checkpoint.ipynb
@@ -0,0 +1,160 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "initial_id",
+   "metadata": {
+    "collapsed": true
+   },
+   "outputs": [],
+   "source": [
+    ""
+   ]
+  },
+  {
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-07-26T20:27:26.357513Z",
+     "start_time": "2024-07-26T20:27:26.339991Z"
+    }
+   },
+   "cell_type": "code",
+   "source": [
+    "import mujoco\n",
+    "import mediapy as media\n",
+    "from IPython.display import clear_output\n",
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "chaotic_pendulum = \"\"\"\n",
+    "<mujoco>\n",
+    "  <option timestep=\".001\">\n",
+    "    <flag energy=\"enable\" contact=\"disable\"/>\n",
+    "  </option>\n",
+    "\n",
+    "  <default>\n",
+    "    <joint type=\"hinge\" axis=\"0 -1 0\"/>\n",
+    "    <geom type=\"capsule\" size=\".02\"/>\n",
+    "  </default>\n",
+    "\n",
+    "  <worldbody>\n",
+    "    <light pos=\"0 -.4 1\"/>\n",
+    "    <camera name=\"fixed\" pos=\"0 -1 0\" xyaxes=\"1 0 0 0 0 1\"/>\n",
+    "    <body name=\"0\" pos=\"0 0 .2\">\n",
+    "      <joint name=\"root\"/>\n",
+    "      <geom fromto=\"-.2 0 0 .2 0 0\" rgba=\"1 1 0 1\"/>\n",
+    "      <geom fromto=\"0 0 0 0 0 -.25\" rgba=\"1 1 0 1\"/>\n",
+    "      <body name=\"1\" pos=\"-.2 0 0\">\n",
+    "        <joint/>\n",
+    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"1 0 0 1\"/>\n",
+    "      </body>\n",
+    "      <body name=\"2\" pos=\".2 0 0\">\n",
+    "        <joint/>\n",
+    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"0 1 0 1\"/>\n",
+    "      </body>\n",
+    "      <body name=\"3\" pos=\"0 0 -.25\">\n",
+    "        <joint/>\n",
+    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"0 0 1 1\"/>\n",
+    "      </body>\n",
+    "    </body>\n",
+    "  </worldbody>\n",
+    "</mujoco>\n",
+    "\"\"\"\n",
+    "model = mujoco.MjModel.from_xml_string(chaotic_pendulum)\n",
+    "data = mujoco.MjData(model)\n",
+    "height = 480\n",
+    "width = 640\n",
+    "\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
+    "  mujoco.mj_forward(model, data)\n",
+    "  renderer.update_scene(data, camera=\"fixed\")\n",
+    "\n",
+    "  media.show_image(renderer.render())\n",
+    "  "
+   ],
+   "id": "d2325b549cd7d10e",
+   "outputs": [
+    {
+     "ename": "ModuleNotFoundError",
+     "evalue": "No module named 'mujoco'",
+     "output_type": "error",
+     "traceback": [
+      "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m",
+      "\u001B[0;31mModuleNotFoundError\u001B[0m                       Traceback (most recent call last)",
+      "Cell \u001B[0;32mIn[3], line 1\u001B[0m\n\u001B[0;32m----> 1\u001B[0m \u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;21;01mmujoco\u001B[39;00m\n\u001B[1;32m      2\u001B[0m \u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;21;01mmediapy\u001B[39;00m \u001B[38;5;28;01mas\u001B[39;00m \u001B[38;5;21;01mmedia\u001B[39;00m\n\u001B[1;32m      3\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m \u001B[38;5;21;01mIPython\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mdisplay\u001B[39;00m \u001B[38;5;28;01mimport\u001B[39;00m clear_output\n",
+      "\u001B[0;31mModuleNotFoundError\u001B[0m: No module named 'mujoco'"
+     ]
+    }
+   ],
+   "execution_count": 3
+  },
+  {
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-07-26T20:27:27.341789Z",
+     "start_time": "2024-07-26T20:27:27.340199Z"
+    }
+   },
+   "cell_type": "code",
+   "source": "",
+   "id": "a1e4e0175c70e866",
+   "outputs": [],
+   "execution_count": 3
+  },
+  {
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-07-26T20:27:27.943871Z",
+     "start_time": "2024-07-26T20:27:27.942200Z"
+    }
+   },
+   "cell_type": "code",
+   "source": "",
+   "id": "48cd10deb5af0b86",
+   "outputs": [],
+   "execution_count": 3
+  },
+  {
+   "metadata": {
+    "ExecuteTime": {
+     "end_time": "2024-07-26T20:27:28.142440Z",
+     "start_time": "2024-07-26T20:27:28.138875Z"
+    }
+   },
+   "cell_type": "code",
+   "source": "",
+   "id": "1f98341c9c2caf8b",
+   "outputs": [],
+   "execution_count": 3
+  },
+  {
+   "metadata": {},
+   "cell_type": "code",
+   "outputs": [],
+   "execution_count": null,
+   "source": "",
+   "id": "c7736f9160249cc"
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 2
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython2",
+   "version": "2.7.6"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}