From dc6e7bb8c6b6062bcdcacf10bb6525b33e44e1df Mon Sep 17 00:00:00 2001 From: lan Date: Tue, 23 Sep 2025 09:01:31 +0800 Subject: [PATCH 01/19] =?UTF-8?q?MuJoCo=20=E6=99=BA=E8=83=BD=E4=BD=93?= =?UTF-8?q?=E7=A5=9E=E7=BB=8F=E5=86=B3=E7=AD=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/jiqirenmoxingmoning/README.md | 48 +++++++++++ src/jiqirenmoxingmoning/main.py | 129 ++++++++++++++++++++++++++++++ 2 files changed, 177 insertions(+) create mode 100644 src/jiqirenmoxingmoning/README.md create mode 100644 src/jiqirenmoxingmoning/main.py diff --git a/src/jiqirenmoxingmoning/README.md b/src/jiqirenmoxingmoning/README.md new file mode 100644 index 0000000000..4fb2e4440c --- /dev/null +++ b/src/jiqirenmoxingmoning/README.md @@ -0,0 +1,48 @@ +# 基于 MuJoCo 的神经网络代理实现 +实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 + +# 环境配置 +平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） +软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） +核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 + +# 基础依赖安装 +安装 Python 3.11（推荐版本） +安装 MuJoCo 及相关依赖：shell + +# 安装MuJoCo Python绑定 +pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装PyTorch（根据系统配置选择合适版本） +pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装文档生成工具 +pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com +pip install -r requirements.txt +（可选）验证安装： +shell +python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" +mkdocs --version + +# 文档查看 +在命令行中进入项目根目录，运行： +shell +mkdocs build +mkdocs serve +使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 + +# 贡献指南 +提交代码前，请阅读 贡献指南。代码优化方向包括： +遵循 PEP 8 代码风格 并完善注释 +实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） +撰写对应功能的 文档 +添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） +优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） + +# 参考资源 +MuJoCo 官方文档 +MuJoCo GitHub 仓库 +MuJoCo Python 绑定教程 +MuJoCo 模型库（Menagerie） +神经网络基础原理 +MuJoCo 强化学习教程（MJX） \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/main.py b/src/jiqirenmoxingmoning/main.py new file mode 100644 index 0000000000..6d7860d708 --- /dev/null +++ b/src/jiqirenmoxingmoning/main.py @@ -0,0 +1,129 @@ +import os +import sys +import time +import argparse +import threading +import numpy as np +import mujoco +from mujoco import viewer + +def load_model(model_path): + """加载模型（支持XML和MJB格式）""" + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + print(f"成功加载模型: {model_path}") + return model, data + except Exception as e: + print(f"模型加载失败: {str(e)}") + return None, None + +def convert_model(input_path, output_path): + """模型格式转换（XML↔MJB）""" + model, _ = load_model(input_path) + if not model: + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + else: + with open(output_path, 'w') as f: + f.write(mujoco.save_last_xml(output_path, model)) + print(f"模型已转换至: {output_path}") + return True + except Exception as e: + print(f"模型转换失败: {str(e)}") + return False + +def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): + """测试模拟速度""" + model, data = load_model(model_path) + if not model: + return + + # 生成控制噪声 + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + def simulate_thread(thread_id): + """线程模拟函数""" + start = time.time() + mj_data = mujoco.MjData(model) + for i in range(nstep): + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.time() + return end - start + + # 多线程模拟 + threads = [] + start_time = time.time() + for i in range(nthread): + t = threading.Thread(target=simulate_thread, args=(i,)) + threads.append(t) + t.start() + + for t in threads: + t.join() + total_time = time.time() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + print("\n速度测试结果:") + print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") + print(f"每秒步数: {steps_per_sec:.0f}") + print(f"实时因子: {realtime_factor:.2f}x") + +def visualize(model_path): + """可视化模拟""" + model, data = load_model(model_path) + if not model: + return + + # 启动交互式查看器 + with viewer.launch_passive(model, data) as v: + print("可视化窗口已启动 (按ESC退出)") + while True: + mujoco.mj_step(model, data) + v.sync() + # 检查退出条件（窗口关闭） + if not v.is_running(): + break + +def main(): + parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") + subparsers = parser.add_subparsers(dest="command", required=True) + + # 可视化命令 + viz_parser = subparsers.add_parser("visualize", help="可视化模型") + viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") + + # 速度测试命令 + speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 模型转换命令 + convert_parser = subparsers.add_parser("convert", help="转换模型格式") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") + + args = parser.parse_args() + + if args.command == "visualize": + visualize(args.model) + elif args.command == "testspeed": + test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) + elif args.command == "convert": + convert_model(args.input, args.output) + +if __name__ == "__main__": + main() \ No newline at end of file From bccc27f19bd8887689d82cabbf42218fe61afab2 Mon Sep 17 00:00:00 2001 From: lan Date: Wed, 24 Sep 2025 15:03:02 +0800 Subject: [PATCH 02/19] =?UTF-8?q?MuJoCo=20=E6=99=BA=E8=83=BD=E4=BD=93?= =?UTF-8?q?=E7=A5=9E=E7=BB=8F=E5=86=B3=E7=AD=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/README.md | 48 ++++++++++++++ src/Neuro_Mujoco/main.py | 129 +++++++++++++++++++++++++++++++++++++ 2 files changed, 177 insertions(+) create mode 100644 src/Neuro_Mujoco/README.md create mode 100644 src/Neuro_Mujoco/main.py diff --git a/src/Neuro_Mujoco/README.md b/src/Neuro_Mujoco/README.md new file mode 100644 index 0000000000..4fb2e4440c --- /dev/null +++ b/src/Neuro_Mujoco/README.md @@ -0,0 +1,48 @@ +# 基于 MuJoCo 的神经网络代理实现 +实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 + +# 环境配置 +平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） +软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） +核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 + +# 基础依赖安装 +安装 Python 3.11（推荐版本） +安装 MuJoCo 及相关依赖：shell + +# 安装MuJoCo Python绑定 +pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装PyTorch（根据系统配置选择合适版本） +pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装文档生成工具 +pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com +pip install -r requirements.txt +（可选）验证安装： +shell +python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" +mkdocs --version + +# 文档查看 +在命令行中进入项目根目录，运行： +shell +mkdocs build +mkdocs serve +使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 + +# 贡献指南 +提交代码前，请阅读 贡献指南。代码优化方向包括： +遵循 PEP 8 代码风格 并完善注释 +实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） +撰写对应功能的 文档 +添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） +优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） + +# 参考资源 +MuJoCo 官方文档 +MuJoCo GitHub 仓库 +MuJoCo Python 绑定教程 +MuJoCo 模型库（Menagerie） +神经网络基础原理 +MuJoCo 强化学习教程（MJX） \ No newline at end of file diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py new file mode 100644 index 0000000000..6d7860d708 --- /dev/null +++ b/src/Neuro_Mujoco/main.py @@ -0,0 +1,129 @@ +import os +import sys +import time +import argparse +import threading +import numpy as np +import mujoco +from mujoco import viewer + +def load_model(model_path): + """加载模型（支持XML和MJB格式）""" + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + print(f"成功加载模型: {model_path}") + return model, data + except Exception as e: + print(f"模型加载失败: {str(e)}") + return None, None + +def convert_model(input_path, output_path): + """模型格式转换（XML↔MJB）""" + model, _ = load_model(input_path) + if not model: + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + else: + with open(output_path, 'w') as f: + f.write(mujoco.save_last_xml(output_path, model)) + print(f"模型已转换至: {output_path}") + return True + except Exception as e: + print(f"模型转换失败: {str(e)}") + return False + +def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): + """测试模拟速度""" + model, data = load_model(model_path) + if not model: + return + + # 生成控制噪声 + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + def simulate_thread(thread_id): + """线程模拟函数""" + start = time.time() + mj_data = mujoco.MjData(model) + for i in range(nstep): + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.time() + return end - start + + # 多线程模拟 + threads = [] + start_time = time.time() + for i in range(nthread): + t = threading.Thread(target=simulate_thread, args=(i,)) + threads.append(t) + t.start() + + for t in threads: + t.join() + total_time = time.time() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + print("\n速度测试结果:") + print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") + print(f"每秒步数: {steps_per_sec:.0f}") + print(f"实时因子: {realtime_factor:.2f}x") + +def visualize(model_path): + """可视化模拟""" + model, data = load_model(model_path) + if not model: + return + + # 启动交互式查看器 + with viewer.launch_passive(model, data) as v: + print("可视化窗口已启动 (按ESC退出)") + while True: + mujoco.mj_step(model, data) + v.sync() + # 检查退出条件（窗口关闭） + if not v.is_running(): + break + +def main(): + parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") + subparsers = parser.add_subparsers(dest="command", required=True) + + # 可视化命令 + viz_parser = subparsers.add_parser("visualize", help="可视化模型") + viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") + + # 速度测试命令 + speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 模型转换命令 + convert_parser = subparsers.add_parser("convert", help="转换模型格式") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") + + args = parser.parse_args() + + if args.command == "visualize": + visualize(args.model) + elif args.command == "testspeed": + test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) + elif args.command == "convert": + convert_model(args.input, args.output) + +if __name__ == "__main__": + main() \ No newline at end of file From c57a219d1c02a7b3ba49f3666b0a8b56dff703f9 Mon Sep 17 00:00:00 2001 From: lan Date: Wed, 24 Sep 2025 15:41:26 +0800 Subject: [PATCH 03/19] =?UTF-8?q?Mujoco=E6=99=BA=E8=83=BD=E4=BD=93?= =?UTF-8?q?=E7=A5=9E=E7=BB=8F=E5=86=B3=E7=AD=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/main.py | 205 ++++++++++++++++++++---------- src/jiqirenmoxingmoning/README.md | 48 ------- src/jiqirenmoxingmoning/main.py | 129 ------------------- 3 files changed, 138 insertions(+), 244 deletions(-) delete mode 100644 src/jiqirenmoxingmoning/README.md delete mode 100644 src/jiqirenmoxingmoning/main.py diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index 6d7860d708..12f1d66df7 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -2,27 +2,57 @@ import sys import time import argparse -import threading import numpy as np import mujoco from mujoco import viewer +from typing import Tuple, List, Optional, NoReturn +from concurrent.futures import ThreadPoolExecutor +import tqdm -def load_model(model_path): +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: """加载模型（支持XML和MJB格式）""" + if not os.path.exists(model_path): + print(f"[错误] 模型文件不存在 - {model_path}") + return None, None + try: if model_path.endswith('.mjb'): model = mujoco.MjModel.from_binary_path(model_path) else: model = mujoco.MjModel.from_xml_path(model_path) data = mujoco.MjData(model) - print(f"成功加载模型: {model_path}") + print(f"[成功] 加载模型: {os.path.basename(model_path)}") + print_model_info(model) return model, data except Exception as e: - print(f"模型加载失败: {str(e)}") + print(f"[错误] 模型加载失败: {str(e)}") return None, None -def convert_model(input_path, output_path): +def print_model_info(model: mujoco.MjModel) -> None: + """打印模型基本信息""" + info = [ + f" 自由度: {model.nq}", + f" 关节数量: {model.njnt}", + f" 身体数量: {model.nbody}", + f" 传感器数量: {model.nsensor}", + f" 控制维度: {model.nu}", + f" 时间步长: {model.opt.timestep:.6f}s" + ] + print("模型信息:") + print("\n".join(info)) + +def convert_model(input_path: str, output_path: str) -> bool: """模型格式转换（XML↔MJB）""" + # 验证输出路径：若目录不存在则创建 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir) + except Exception as e: + print(f"[错误] 无法创建输出目录: {str(e)}") + return False + + # 加载输入模型 model, _ = load_model(input_path) if not model: return False @@ -31,99 +61,140 @@ def convert_model(input_path, output_path): if output_path.endswith('.mjb'): mujoco.save_model(model, output_path) else: + xml_content = mujoco.save_last_xml(output_path, model) with open(output_path, 'w') as f: - f.write(mujoco.save_last_xml(output_path, model)) - print(f"模型已转换至: {output_path}") + f.write(xml_content) + + print(f"[成功] 模型已转换至: {output_path}") + print(f" 文件大小: {os.path.getsize(output_path) / 1024:.2f} KB") return True except Exception as e: - print(f"模型转换失败: {str(e)}") + print(f"[错误] 模型转换失败: {str(e)}") return False -def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): - """测试模拟速度""" - model, data = load_model(model_path) +def simulate_worker(model: mujoco.MjModel, nstep: int, ctrl: np.ndarray) -> float: + """模拟工作线程：执行单线程的模拟计算""" + data = mujoco.MjData(model) + start = time.time() + for i in range(nstep): + data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, data) + return time.time() - start + +def test_speed(model_path: str, nstep: int = 10000, nthread: int = 1, ctrlnoise: float = 0.01) -> NoReturn: + """测试模拟速度：支持多线程，输出性能指标""" + model, _ = load_model(model_path) if not model: return - # 生成控制噪声 + # 参数修正：确保线程数不超过CPU核心数，步数不小于100 + nthread = max(1, min(nthread, os.cpu_count() or 1)) + nstep = max(100, nstep) + + print(f"\n[信息] 开始速度测试: {nstep}步 × {nthread}线程") + print(f" 控制噪声强度: {ctrlnoise}") + + # 生成控制噪声（模拟真实控制信号波动） ctrl = ctrlnoise * np.random.randn(nstep, model.nu) - def simulate_thread(thread_id): - """线程模拟函数""" - start = time.time() - mj_data = mujoco.MjData(model) - for i in range(nstep): - mj_data.ctrl[:] = ctrl[i] - mujoco.mj_step(model, mj_data) - end = time.time() - return end - start - - # 多线程模拟 - threads = [] + # 使用线程池执行多线程模拟，添加进度条 start_time = time.time() - for i in range(nthread): - t = threading.Thread(target=simulate_thread, args=(i,)) - threads.append(t) - t.start() + with ThreadPoolExecutor(max_workers=nthread) as executor: + futures = [executor.submit(simulate_worker, model, nstep, ctrl) for _ in range(nthread)] + + # 进度条显示：等待所有线程完成 + for _ in tqdm.tqdm(range(nthread), desc="模拟进度"): + for future in futures: + if future.done(): + futures.remove(future) + break + time.sleep(0.1) - for t in threads: - t.join() total_time = time.time() - start_time - # 计算性能指标 + # 计算核心性能指标 total_steps = nstep * nthread steps_per_sec = total_steps / total_time realtime_factor = (total_steps * model.opt.timestep) / total_time - print("\n速度测试结果:") - print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") - print(f"每秒步数: {steps_per_sec:.0f}") - print(f"实时因子: {realtime_factor:.2f}x") + print("\n[测试结果] 速度测试结果:") + print(f" 总步数: {total_steps:,}") # 千位分隔符提升可读性 + print(f" 总时间: {total_time:.2f}s") + print(f" 每秒步数: {steps_per_sec:.0f}") + print(f" 实时因子: {realtime_factor:.2f}倍") # 明确标注“倍”，避免误解 -def visualize(model_path): - """可视化模拟""" +def visualize(model_path: str) -> NoReturn: + """可视化模拟：支持视角控制、暂停/继续等交互操作""" model, data = load_model(model_path) - if not model: + if not model or not data: return - # 启动交互式查看器 + print("\n[可视化] 启动可视化窗口") + print(" 操作说明:") + print(" - 鼠标拖动: 旋转/平移视角") + print(" - 滚轮: 缩放视角") + print(" - 空格键: 暂停/继续模拟") + print(" - ESC键: 退出窗口") + + # 启动被动式查看器（支持自定义交互） with viewer.launch_passive(model, data) as v: - print("可视化窗口已启动 (按ESC退出)") - while True: - mujoco.mj_step(model, data) + paused = False # 暂停状态标记 + while v.is_running(): + # 未暂停时执行模拟步 + if not paused: + mujoco.mj_step(model, data) + # 同步查看器与模拟数据 v.sync() - # 检查退出条件（窗口关闭） - if not v.is_running(): - break + + # 处理键盘事件 + for event in v.window.events: + if event.key == ord(' '): # 空格键切换暂停状态 + paused = not paused + event.consumed = True # 标记事件已处理，避免重复响应 + elif event.key == 27: # ESC键退出 + v.close() + event.consumed = True def main(): - parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") - subparsers = parser.add_subparsers(dest="command", required=True) - - # 可视化命令 - viz_parser = subparsers.add_parser("visualize", help="可视化模型") - viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") - - # 速度测试命令 - speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") + # 命令行参数解析：使用默认值提示，提升易用性 + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持模型加载、可视化、速度测试、格式转换）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True, help="子命令（选择需执行的功能）") + + # 1. 可视化子命令 + viz_parser = subparsers.add_parser("visualize", help="可视化模型模拟过程") + viz_parser.add_argument("model", help="模型文件路径（支持XML或MJB格式）") + + # 2. 速度测试子命令 + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") speed_parser.add_argument("model", help="模型文件路径") - speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") - speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") - speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程执行的模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="用于模拟的线程数（建议不超过CPU核心数）") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制信号的噪声强度（模拟真实场景波动）") - # 模型转换命令 - convert_parser = subparsers.add_parser("convert", help="转换模型格式") - convert_parser.add_argument("input", help="输入模型路径") - convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") + # 3. 模型转换子命令 + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML与MJB互转）") + convert_parser.add_argument("input", help="输入模型路径（XML或MJB格式）") + convert_parser.add_argument("output", help="输出模型路径（需指定格式：.xml或.mjb）") args = parser.parse_args() - if args.command == "visualize": - visualize(args.model) - elif args.command == "testspeed": - test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) - elif args.command == "convert": - convert_model(args.input, args.output) + # 执行对应功能，捕获异常并友好提示 + try: + if args.command == "visualize": + visualize(args.model) + elif args.command == "testspeed": + test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) + elif args.command == "convert": + convert_model(args.input, args.output) + print("\n[完成] 操作执行完毕") + except KeyboardInterrupt: + print("\n[提示] 操作被用户手动中断（Ctrl+C）") + except Exception as e: + print(f"\n[错误] 发生未预期错误: {str(e)}") + sys.exit(1) if __name__ == "__main__": main() \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/README.md b/src/jiqirenmoxingmoning/README.md deleted file mode 100644 index 4fb2e4440c..0000000000 --- a/src/jiqirenmoxingmoning/README.md +++ /dev/null @@ -1,48 +0,0 @@ -# 基于 MuJoCo 的神经网络代理实现 -实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 - -# 环境配置 -平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） -软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） -核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 - -# 基础依赖安装 -安装 Python 3.11（推荐版本） -安装 MuJoCo 及相关依赖：shell - -# 安装MuJoCo Python绑定 -pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com - -# 安装PyTorch（根据系统配置选择合适版本） -pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com - -# 安装文档生成工具 -pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com -pip install -r requirements.txt -（可选）验证安装： -shell -python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" -mkdocs --version - -# 文档查看 -在命令行中进入项目根目录，运行： -shell -mkdocs build -mkdocs serve -使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 - -# 贡献指南 -提交代码前，请阅读 贡献指南。代码优化方向包括： -遵循 PEP 8 代码风格 并完善注释 -实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） -撰写对应功能的 文档 -添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） -优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） - -# 参考资源 -MuJoCo 官方文档 -MuJoCo GitHub 仓库 -MuJoCo Python 绑定教程 -MuJoCo 模型库（Menagerie） -神经网络基础原理 -MuJoCo 强化学习教程（MJX） \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/main.py b/src/jiqirenmoxingmoning/main.py deleted file mode 100644 index 6d7860d708..0000000000 --- a/src/jiqirenmoxingmoning/main.py +++ /dev/null @@ -1,129 +0,0 @@ -import os -import sys -import time -import argparse -import threading -import numpy as np -import mujoco -from mujoco import viewer - -def load_model(model_path): - """加载模型（支持XML和MJB格式）""" - try: - if model_path.endswith('.mjb'): - model = mujoco.MjModel.from_binary_path(model_path) - else: - model = mujoco.MjModel.from_xml_path(model_path) - data = mujoco.MjData(model) - print(f"成功加载模型: {model_path}") - return model, data - except Exception as e: - print(f"模型加载失败: {str(e)}") - return None, None - -def convert_model(input_path, output_path): - """模型格式转换（XML↔MJB）""" - model, _ = load_model(input_path) - if not model: - return False - - try: - if output_path.endswith('.mjb'): - mujoco.save_model(model, output_path) - else: - with open(output_path, 'w') as f: - f.write(mujoco.save_last_xml(output_path, model)) - print(f"模型已转换至: {output_path}") - return True - except Exception as e: - print(f"模型转换失败: {str(e)}") - return False - -def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): - """测试模拟速度""" - model, data = load_model(model_path) - if not model: - return - - # 生成控制噪声 - ctrl = ctrlnoise * np.random.randn(nstep, model.nu) - - def simulate_thread(thread_id): - """线程模拟函数""" - start = time.time() - mj_data = mujoco.MjData(model) - for i in range(nstep): - mj_data.ctrl[:] = ctrl[i] - mujoco.mj_step(model, mj_data) - end = time.time() - return end - start - - # 多线程模拟 - threads = [] - start_time = time.time() - for i in range(nthread): - t = threading.Thread(target=simulate_thread, args=(i,)) - threads.append(t) - t.start() - - for t in threads: - t.join() - total_time = time.time() - start_time - - # 计算性能指标 - total_steps = nstep * nthread - steps_per_sec = total_steps / total_time - realtime_factor = (total_steps * model.opt.timestep) / total_time - - print("\n速度测试结果:") - print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") - print(f"每秒步数: {steps_per_sec:.0f}") - print(f"实时因子: {realtime_factor:.2f}x") - -def visualize(model_path): - """可视化模拟""" - model, data = load_model(model_path) - if not model: - return - - # 启动交互式查看器 - with viewer.launch_passive(model, data) as v: - print("可视化窗口已启动 (按ESC退出)") - while True: - mujoco.mj_step(model, data) - v.sync() - # 检查退出条件（窗口关闭） - if not v.is_running(): - break - -def main(): - parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") - subparsers = parser.add_subparsers(dest="command", required=True) - - # 可视化命令 - viz_parser = subparsers.add_parser("visualize", help="可视化模型") - viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") - - # 速度测试命令 - speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") - speed_parser.add_argument("model", help="模型文件路径") - speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") - speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") - speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") - - # 模型转换命令 - convert_parser = subparsers.add_parser("convert", help="转换模型格式") - convert_parser.add_argument("input", help="输入模型路径") - convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") - - args = parser.parse_args() - - if args.command == "visualize": - visualize(args.model) - elif args.command == "testspeed": - test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) - elif args.command == "convert": - convert_model(args.input, args.output) - -if __name__ == "__main__": - main() \ No newline at end of file From 3bd54cdbc1c1304bd46e8135497b52217aa0d17e Mon Sep 17 00:00:00 2001 From: lan Date: Wed, 24 Sep 2025 16:12:40 +0800 Subject: [PATCH 04/19] =?UTF-8?q?Revert=20"Mujoco=E6=99=BA=E8=83=BD?= =?UTF-8?q?=E4=BD=93=E7=A5=9E=E7=BB=8F=E5=86=B3=E7=AD=96"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This reverts commit c57a219d1c02a7b3ba49f3666b0a8b56dff703f9. --- src/Neuro_Mujoco/main.py | 205 ++++++++++-------------------- src/jiqirenmoxingmoning/README.md | 48 +++++++ src/jiqirenmoxingmoning/main.py | 129 +++++++++++++++++++ 3 files changed, 244 insertions(+), 138 deletions(-) create mode 100644 src/jiqirenmoxingmoning/README.md create mode 100644 src/jiqirenmoxingmoning/main.py diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index 12f1d66df7..6d7860d708 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -2,57 +2,27 @@ import sys import time import argparse +import threading import numpy as np import mujoco from mujoco import viewer -from typing import Tuple, List, Optional, NoReturn -from concurrent.futures import ThreadPoolExecutor -import tqdm -def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: +def load_model(model_path): """加载模型（支持XML和MJB格式）""" - if not os.path.exists(model_path): - print(f"[错误] 模型文件不存在 - {model_path}") - return None, None - try: if model_path.endswith('.mjb'): model = mujoco.MjModel.from_binary_path(model_path) else: model = mujoco.MjModel.from_xml_path(model_path) data = mujoco.MjData(model) - print(f"[成功] 加载模型: {os.path.basename(model_path)}") - print_model_info(model) + print(f"成功加载模型: {model_path}") return model, data except Exception as e: - print(f"[错误] 模型加载失败: {str(e)}") + print(f"模型加载失败: {str(e)}") return None, None -def print_model_info(model: mujoco.MjModel) -> None: - """打印模型基本信息""" - info = [ - f" 自由度: {model.nq}", - f" 关节数量: {model.njnt}", - f" 身体数量: {model.nbody}", - f" 传感器数量: {model.nsensor}", - f" 控制维度: {model.nu}", - f" 时间步长: {model.opt.timestep:.6f}s" - ] - print("模型信息:") - print("\n".join(info)) - -def convert_model(input_path: str, output_path: str) -> bool: +def convert_model(input_path, output_path): """模型格式转换（XML↔MJB）""" - # 验证输出路径：若目录不存在则创建 - output_dir = os.path.dirname(output_path) - if output_dir and not os.path.exists(output_dir): - try: - os.makedirs(output_dir) - except Exception as e: - print(f"[错误] 无法创建输出目录: {str(e)}") - return False - - # 加载输入模型 model, _ = load_model(input_path) if not model: return False @@ -61,140 +31,99 @@ def convert_model(input_path: str, output_path: str) -> bool: if output_path.endswith('.mjb'): mujoco.save_model(model, output_path) else: - xml_content = mujoco.save_last_xml(output_path, model) with open(output_path, 'w') as f: - f.write(xml_content) - - print(f"[成功] 模型已转换至: {output_path}") - print(f" 文件大小: {os.path.getsize(output_path) / 1024:.2f} KB") + f.write(mujoco.save_last_xml(output_path, model)) + print(f"模型已转换至: {output_path}") return True except Exception as e: - print(f"[错误] 模型转换失败: {str(e)}") + print(f"模型转换失败: {str(e)}") return False -def simulate_worker(model: mujoco.MjModel, nstep: int, ctrl: np.ndarray) -> float: - """模拟工作线程：执行单线程的模拟计算""" - data = mujoco.MjData(model) - start = time.time() - for i in range(nstep): - data.ctrl[:] = ctrl[i] - mujoco.mj_step(model, data) - return time.time() - start - -def test_speed(model_path: str, nstep: int = 10000, nthread: int = 1, ctrlnoise: float = 0.01) -> NoReturn: - """测试模拟速度：支持多线程，输出性能指标""" - model, _ = load_model(model_path) +def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): + """测试模拟速度""" + model, data = load_model(model_path) if not model: return - # 参数修正：确保线程数不超过CPU核心数，步数不小于100 - nthread = max(1, min(nthread, os.cpu_count() or 1)) - nstep = max(100, nstep) - - print(f"\n[信息] 开始速度测试: {nstep}步 × {nthread}线程") - print(f" 控制噪声强度: {ctrlnoise}") - - # 生成控制噪声（模拟真实控制信号波动） + # 生成控制噪声 ctrl = ctrlnoise * np.random.randn(nstep, model.nu) - # 使用线程池执行多线程模拟，添加进度条 + def simulate_thread(thread_id): + """线程模拟函数""" + start = time.time() + mj_data = mujoco.MjData(model) + for i in range(nstep): + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.time() + return end - start + + # 多线程模拟 + threads = [] start_time = time.time() - with ThreadPoolExecutor(max_workers=nthread) as executor: - futures = [executor.submit(simulate_worker, model, nstep, ctrl) for _ in range(nthread)] - - # 进度条显示：等待所有线程完成 - for _ in tqdm.tqdm(range(nthread), desc="模拟进度"): - for future in futures: - if future.done(): - futures.remove(future) - break - time.sleep(0.1) + for i in range(nthread): + t = threading.Thread(target=simulate_thread, args=(i,)) + threads.append(t) + t.start() + for t in threads: + t.join() total_time = time.time() - start_time - # 计算核心性能指标 + # 计算性能指标 total_steps = nstep * nthread steps_per_sec = total_steps / total_time realtime_factor = (total_steps * model.opt.timestep) / total_time - print("\n[测试结果] 速度测试结果:") - print(f" 总步数: {total_steps:,}") # 千位分隔符提升可读性 - print(f" 总时间: {total_time:.2f}s") - print(f" 每秒步数: {steps_per_sec:.0f}") - print(f" 实时因子: {realtime_factor:.2f}倍") # 明确标注“倍”，避免误解 + print("\n速度测试结果:") + print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") + print(f"每秒步数: {steps_per_sec:.0f}") + print(f"实时因子: {realtime_factor:.2f}x") -def visualize(model_path: str) -> NoReturn: - """可视化模拟：支持视角控制、暂停/继续等交互操作""" +def visualize(model_path): + """可视化模拟""" model, data = load_model(model_path) - if not model or not data: + if not model: return - print("\n[可视化] 启动可视化窗口") - print(" 操作说明:") - print(" - 鼠标拖动: 旋转/平移视角") - print(" - 滚轮: 缩放视角") - print(" - 空格键: 暂停/继续模拟") - print(" - ESC键: 退出窗口") - - # 启动被动式查看器（支持自定义交互） + # 启动交互式查看器 with viewer.launch_passive(model, data) as v: - paused = False # 暂停状态标记 - while v.is_running(): - # 未暂停时执行模拟步 - if not paused: - mujoco.mj_step(model, data) - # 同步查看器与模拟数据 + print("可视化窗口已启动 (按ESC退出)") + while True: + mujoco.mj_step(model, data) v.sync() - - # 处理键盘事件 - for event in v.window.events: - if event.key == ord(' '): # 空格键切换暂停状态 - paused = not paused - event.consumed = True # 标记事件已处理，避免重复响应 - elif event.key == 27: # ESC键退出 - v.close() - event.consumed = True + # 检查退出条件（窗口关闭） + if not v.is_running(): + break def main(): - # 命令行参数解析：使用默认值提示，提升易用性 - parser = argparse.ArgumentParser( - description="MuJoCo功能整合工具（支持模型加载、可视化、速度测试、格式转换）", - formatter_class=argparse.ArgumentDefaultsHelpFormatter - ) - subparsers = parser.add_subparsers(dest="command", required=True, help="子命令（选择需执行的功能）") - - # 1. 可视化子命令 - viz_parser = subparsers.add_parser("visualize", help="可视化模型模拟过程") - viz_parser.add_argument("model", help="模型文件路径（支持XML或MJB格式）") - - # 2. 速度测试子命令 - speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") + subparsers = parser.add_subparsers(dest="command", required=True) + + # 可视化命令 + viz_parser = subparsers.add_parser("visualize", help="可视化模型") + viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") + + # 速度测试命令 + speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") speed_parser.add_argument("model", help="模型文件路径") - speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程执行的模拟步数") - speed_parser.add_argument("--nthread", type=int, default=1, help="用于模拟的线程数（建议不超过CPU核心数）") - speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制信号的噪声强度（模拟真实场景波动）") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") - # 3. 模型转换子命令 - convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML与MJB互转）") - convert_parser.add_argument("input", help="输入模型路径（XML或MJB格式）") - convert_parser.add_argument("output", help="输出模型路径（需指定格式：.xml或.mjb）") + # 模型转换命令 + convert_parser = subparsers.add_parser("convert", help="转换模型格式") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") args = parser.parse_args() - # 执行对应功能，捕获异常并友好提示 - try: - if args.command == "visualize": - visualize(args.model) - elif args.command == "testspeed": - test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) - elif args.command == "convert": - convert_model(args.input, args.output) - print("\n[完成] 操作执行完毕") - except KeyboardInterrupt: - print("\n[提示] 操作被用户手动中断（Ctrl+C）") - except Exception as e: - print(f"\n[错误] 发生未预期错误: {str(e)}") - sys.exit(1) + if args.command == "visualize": + visualize(args.model) + elif args.command == "testspeed": + test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) + elif args.command == "convert": + convert_model(args.input, args.output) if __name__ == "__main__": main() \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/README.md b/src/jiqirenmoxingmoning/README.md new file mode 100644 index 0000000000..4fb2e4440c --- /dev/null +++ b/src/jiqirenmoxingmoning/README.md @@ -0,0 +1,48 @@ +# 基于 MuJoCo 的神经网络代理实现 +实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 + +# 环境配置 +平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） +软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） +核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 + +# 基础依赖安装 +安装 Python 3.11（推荐版本） +安装 MuJoCo 及相关依赖：shell + +# 安装MuJoCo Python绑定 +pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装PyTorch（根据系统配置选择合适版本） +pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com + +# 安装文档生成工具 +pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com +pip install -r requirements.txt +（可选）验证安装： +shell +python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" +mkdocs --version + +# 文档查看 +在命令行中进入项目根目录，运行： +shell +mkdocs build +mkdocs serve +使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 + +# 贡献指南 +提交代码前，请阅读 贡献指南。代码优化方向包括： +遵循 PEP 8 代码风格 并完善注释 +实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） +撰写对应功能的 文档 +添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） +优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） + +# 参考资源 +MuJoCo 官方文档 +MuJoCo GitHub 仓库 +MuJoCo Python 绑定教程 +MuJoCo 模型库（Menagerie） +神经网络基础原理 +MuJoCo 强化学习教程（MJX） \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/main.py b/src/jiqirenmoxingmoning/main.py new file mode 100644 index 0000000000..6d7860d708 --- /dev/null +++ b/src/jiqirenmoxingmoning/main.py @@ -0,0 +1,129 @@ +import os +import sys +import time +import argparse +import threading +import numpy as np +import mujoco +from mujoco import viewer + +def load_model(model_path): + """加载模型（支持XML和MJB格式）""" + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + print(f"成功加载模型: {model_path}") + return model, data + except Exception as e: + print(f"模型加载失败: {str(e)}") + return None, None + +def convert_model(input_path, output_path): + """模型格式转换（XML↔MJB）""" + model, _ = load_model(input_path) + if not model: + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + else: + with open(output_path, 'w') as f: + f.write(mujoco.save_last_xml(output_path, model)) + print(f"模型已转换至: {output_path}") + return True + except Exception as e: + print(f"模型转换失败: {str(e)}") + return False + +def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): + """测试模拟速度""" + model, data = load_model(model_path) + if not model: + return + + # 生成控制噪声 + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + def simulate_thread(thread_id): + """线程模拟函数""" + start = time.time() + mj_data = mujoco.MjData(model) + for i in range(nstep): + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.time() + return end - start + + # 多线程模拟 + threads = [] + start_time = time.time() + for i in range(nthread): + t = threading.Thread(target=simulate_thread, args=(i,)) + threads.append(t) + t.start() + + for t in threads: + t.join() + total_time = time.time() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + print("\n速度测试结果:") + print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") + print(f"每秒步数: {steps_per_sec:.0f}") + print(f"实时因子: {realtime_factor:.2f}x") + +def visualize(model_path): + """可视化模拟""" + model, data = load_model(model_path) + if not model: + return + + # 启动交互式查看器 + with viewer.launch_passive(model, data) as v: + print("可视化窗口已启动 (按ESC退出)") + while True: + mujoco.mj_step(model, data) + v.sync() + # 检查退出条件（窗口关闭） + if not v.is_running(): + break + +def main(): + parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") + subparsers = parser.add_subparsers(dest="command", required=True) + + # 可视化命令 + viz_parser = subparsers.add_parser("visualize", help="可视化模型") + viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") + + # 速度测试命令 + speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 模型转换命令 + convert_parser = subparsers.add_parser("convert", help="转换模型格式") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") + + args = parser.parse_args() + + if args.command == "visualize": + visualize(args.model) + elif args.command == "testspeed": + test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) + elif args.command == "convert": + convert_model(args.input, args.output) + +if __name__ == "__main__": + main() \ No newline at end of file From 20113e5c1328e1209d6c8af9c20dcd3e63b5d266 Mon Sep 17 00:00:00 2001 From: lan Date: Thu, 25 Sep 2025 08:42:38 +0800 Subject: [PATCH 05/19] =?UTF-8?q?=E5=9F=BA=E4=BA=8E=20MuJoCo=20=E7=9A=84?= =?UTF-8?q?=E7=A5=9E=E7=BB=8F=E7=BD=91=E7=BB=9C=E4=BB=A3=E7=90=86=E5=AE=9E?= =?UTF-8?q?=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/jiqirenmoxingmoning/README.md | 48 ----------- src/jiqirenmoxingmoning/main.py | 129 ------------------------------ 2 files changed, 177 deletions(-) delete mode 100644 src/jiqirenmoxingmoning/README.md delete mode 100644 src/jiqirenmoxingmoning/main.py diff --git a/src/jiqirenmoxingmoning/README.md b/src/jiqirenmoxingmoning/README.md deleted file mode 100644 index 4fb2e4440c..0000000000 --- a/src/jiqirenmoxingmoning/README.md +++ /dev/null @@ -1,48 +0,0 @@ -# 基于 MuJoCo 的神经网络代理实现 -实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 - -# 环境配置 -平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） -软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） -核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 - -# 基础依赖安装 -安装 Python 3.11（推荐版本） -安装 MuJoCo 及相关依赖：shell - -# 安装MuJoCo Python绑定 -pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com - -# 安装PyTorch（根据系统配置选择合适版本） -pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com - -# 安装文档生成工具 -pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com -pip install -r requirements.txt -（可选）验证安装： -shell -python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" -mkdocs --version - -# 文档查看 -在命令行中进入项目根目录，运行： -shell -mkdocs build -mkdocs serve -使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 - -# 贡献指南 -提交代码前，请阅读 贡献指南。代码优化方向包括： -遵循 PEP 8 代码风格 并完善注释 -实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） -撰写对应功能的 文档 -添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） -优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） - -# 参考资源 -MuJoCo 官方文档 -MuJoCo GitHub 仓库 -MuJoCo Python 绑定教程 -MuJoCo 模型库（Menagerie） -神经网络基础原理 -MuJoCo 强化学习教程（MJX） \ No newline at end of file diff --git a/src/jiqirenmoxingmoning/main.py b/src/jiqirenmoxingmoning/main.py deleted file mode 100644 index 6d7860d708..0000000000 --- a/src/jiqirenmoxingmoning/main.py +++ /dev/null @@ -1,129 +0,0 @@ -import os -import sys -import time -import argparse -import threading -import numpy as np -import mujoco -from mujoco import viewer - -def load_model(model_path): - """加载模型（支持XML和MJB格式）""" - try: - if model_path.endswith('.mjb'): - model = mujoco.MjModel.from_binary_path(model_path) - else: - model = mujoco.MjModel.from_xml_path(model_path) - data = mujoco.MjData(model) - print(f"成功加载模型: {model_path}") - return model, data - except Exception as e: - print(f"模型加载失败: {str(e)}") - return None, None - -def convert_model(input_path, output_path): - """模型格式转换（XML↔MJB）""" - model, _ = load_model(input_path) - if not model: - return False - - try: - if output_path.endswith('.mjb'): - mujoco.save_model(model, output_path) - else: - with open(output_path, 'w') as f: - f.write(mujoco.save_last_xml(output_path, model)) - print(f"模型已转换至: {output_path}") - return True - except Exception as e: - print(f"模型转换失败: {str(e)}") - return False - -def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): - """测试模拟速度""" - model, data = load_model(model_path) - if not model: - return - - # 生成控制噪声 - ctrl = ctrlnoise * np.random.randn(nstep, model.nu) - - def simulate_thread(thread_id): - """线程模拟函数""" - start = time.time() - mj_data = mujoco.MjData(model) - for i in range(nstep): - mj_data.ctrl[:] = ctrl[i] - mujoco.mj_step(model, mj_data) - end = time.time() - return end - start - - # 多线程模拟 - threads = [] - start_time = time.time() - for i in range(nthread): - t = threading.Thread(target=simulate_thread, args=(i,)) - threads.append(t) - t.start() - - for t in threads: - t.join() - total_time = time.time() - start_time - - # 计算性能指标 - total_steps = nstep * nthread - steps_per_sec = total_steps / total_time - realtime_factor = (total_steps * model.opt.timestep) / total_time - - print("\n速度测试结果:") - print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") - print(f"每秒步数: {steps_per_sec:.0f}") - print(f"实时因子: {realtime_factor:.2f}x") - -def visualize(model_path): - """可视化模拟""" - model, data = load_model(model_path) - if not model: - return - - # 启动交互式查看器 - with viewer.launch_passive(model, data) as v: - print("可视化窗口已启动 (按ESC退出)") - while True: - mujoco.mj_step(model, data) - v.sync() - # 检查退出条件（窗口关闭） - if not v.is_running(): - break - -def main(): - parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") - subparsers = parser.add_subparsers(dest="command", required=True) - - # 可视化命令 - viz_parser = subparsers.add_parser("visualize", help="可视化模型") - viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") - - # 速度测试命令 - speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") - speed_parser.add_argument("model", help="模型文件路径") - speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") - speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") - speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") - - # 模型转换命令 - convert_parser = subparsers.add_parser("convert", help="转换模型格式") - convert_parser.add_argument("input", help="输入模型路径") - convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") - - args = parser.parse_args() - - if args.command == "visualize": - visualize(args.model) - elif args.command == "testspeed": - test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) - elif args.command == "convert": - convert_model(args.input, args.output) - -if __name__ == "__main__": - main() \ No newline at end of file From c0f3a6bebd26dccd467315056105537a07f7acb1 Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 13 Oct 2025 11:02:10 +0800 Subject: [PATCH 06/19] =?UTF-8?q?=E4=BC=98=E5=8C=96=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E7=BB=93=E6=9E=84=EF=BC=9A=E6=94=B9=E7=94=A8ThreadPoolExecutor?= =?UTF-8?q?=E3=80=81=E6=B7=BB=E5=8A=A0=E7=B1=BB=E5=9E=8B=E6=B3=A8=E8=A7=A3?= =?UTF-8?q?=E5=92=8C=E6=97=A5=E5=BF=97=E7=B3=BB=E7=BB=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/main.py | 217 ++++++++++++++++++++++++++++----------- 1 file changed, 155 insertions(+), 62 deletions(-) diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index 6d7860d708..73e1614f47 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -1,129 +1,222 @@ import os import sys import time +import logging import argparse -import threading +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict import numpy as np import mujoco from mujoco import viewer -def load_model(model_path): - """加载模型（支持XML和MJB格式）""" +# MuJoCo多功能工具集：提供模型可视化、性能测试和格式转换的一站式解决方案 +# 核心架构：统一的模型加载接口 + 模块化功能组件 + 命令行驱动 + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + try: if model_path.endswith('.mjb'): model = mujoco.MjModel.from_binary_path(model_path) else: model = mujoco.MjModel.from_xml_path(model_path) data = mujoco.MjData(model) - print(f"成功加载模型: {model_path}") + logger.info(f"成功加载模型: {model_path}") return model, data except Exception as e: - print(f"模型加载失败: {str(e)}") + logger.error(f"模型加载失败: {str(e)}", exc_info=True) return None, None -def convert_model(input_path, output_path): - """模型格式转换（XML↔MJB）""" + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ model, _ = load_model(input_path) if not model: return False + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + try: if output_path.endswith('.mjb'): mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") else: - with open(output_path, 'w') as f: - f.write(mujoco.save_last_xml(output_path, model)) - print(f"模型已转换至: {output_path}") + # 处理XML格式保存 + xml_content = mujoco.mj_saveLastXMLToString(model, output_path) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") return True except Exception as e: - print(f"模型转换失败: {str(e)}") + logger.error(f"模型转换失败: {str(e)}", exc_info=True) return False -def test_speed(model_path, nstep=10000, nthread=1, ctrlnoise=0.01): - """测试模拟速度""" - model, data = load_model(model_path) + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) if not model: return + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + # 生成控制噪声 ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") - def simulate_thread(thread_id): - """线程模拟函数""" - start = time.time() + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" mj_data = mujoco.MjData(model) + start = time.perf_counter() for i in range(nstep): mj_data.ctrl[:] = ctrl[i] mujoco.mj_step(model, mj_data) - end = time.time() - return end - start - - # 多线程模拟 - threads = [] - start_time = time.time() - for i in range(nthread): - t = threading.Thread(target=simulate_thread, args=(i,)) - threads.append(t) - t.start() + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration - for t in threads: - t.join() - total_time = time.time() - start_time + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time # 计算性能指标 total_steps = nstep * nthread steps_per_sec = total_steps / total_time realtime_factor = (total_steps * model.opt.timestep) / total_time - print("\n速度测试结果:") - print(f"总步数: {total_steps}, 总时间: {total_time:.2f}s") - print(f"每秒步数: {steps_per_sec:.0f}") - print(f"实时因子: {realtime_factor:.2f}x") - -def visualize(model_path): - """可视化模拟""" + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + + +def visualize(model_path: str) -> None: + """ + 可视化模型并运行模拟 + + 参数: + model_path: 模型文件路径 + """ model, data = load_model(model_path) if not model: return - # 启动交互式查看器 - with viewer.launch_passive(model, data) as v: - print("可视化窗口已启动 (按ESC退出)") - while True: - mujoco.mj_step(model, data) - v.sync() - # 检查退出条件（窗口关闭） - if not v.is_running(): - break - -def main(): - parser = argparse.ArgumentParser(description="MuJoCo功能整合工具") + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互操作）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running(): + mujoco.mj_step(model, data) + v.sync() + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + + +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) subparsers = parser.add_subparsers(dest="command", required=True) # 可视化命令 - viz_parser = subparsers.add_parser("visualize", help="可视化模型") + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") # 速度测试命令 - speed_parser = subparsers.add_parser("testspeed", help="测试模拟速度") + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") speed_parser.add_argument("model", help="模型文件路径") - speed_parser.add_argument("--nstep", type=int, default=10000, help="每轮步数") - speed_parser.add_argument("--nthread", type=int, default=1, help="线程数") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") # 模型转换命令 - convert_parser = subparsers.add_parser("convert", help="转换模型格式") + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") convert_parser.add_argument("input", help="输入模型路径") - convert_parser.add_argument("output", help="输出模型路径（.xml或.mjb）") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") args = parser.parse_args() - if args.command == "visualize": - visualize(args.model) - elif args.command == "testspeed": - test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise) - elif args.command == "convert": - convert_model(args.input, args.output) + # 命令映射 + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + if __name__ == "__main__": - main() \ No newline at end of file + main() + \ No newline at end of file From b567d78b555c4cef9448cab993049f6074aa583b Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 13 Oct 2025 11:03:16 +0800 Subject: [PATCH 07/19] =?UTF-8?q?=E5=BF=BD=E7=95=A5=20mujoco=5Fmenagerie?= =?UTF-8?q?=20=E7=9B=AE=E5=BD=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/.gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/Neuro_Mujoco/.gitignore diff --git a/src/Neuro_Mujoco/.gitignore b/src/Neuro_Mujoco/.gitignore new file mode 100644 index 0000000000..2ef9ad983a --- /dev/null +++ b/src/Neuro_Mujoco/.gitignore @@ -0,0 +1 @@ +"mujoco_menagerie/" From e5e9e65a1b4de96c1c5633e617a86e6b423af39e Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 17 Nov 2025 14:17:32 +0800 Subject: [PATCH 08/19] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dconvert=5Fmodel?= =?UTF-8?q?=E5=87=BD=E6=95=B0XML=E5=AF=BC=E5=87=BAbug=EF=BC=9A=E6=AD=A3?= =?UTF-8?q?=E7=A1=AE=E4=BC=A0=E9=80=92MjData=E5=AE=9E=E4=BE=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/main.py | 25 ++++++++++++++++--------- 1 file changed, 16 insertions(+), 9 deletions(-) diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index 73e1614f47..67e0fe54f8 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -60,8 +60,9 @@ def convert_model(input_path: str, output_path: str) -> bool: 返回: 转换成功返回True，失败返回False """ - model, _ = load_model(input_path) - if not model: + # 修复点：加载模型时同时获取model和data（原代码只用到了model，忽略了data） + model, data = load_model(input_path) + if not model or not data: return False # 确保输出目录存在 @@ -79,8 +80,9 @@ def convert_model(input_path: str, output_path: str) -> bool: mujoco.save_model(model, output_path) logger.info(f"二进制模型已保存至: {output_path}") else: - # 处理XML格式保存 - xml_content = mujoco.mj_saveLastXMLToString(model, output_path) + # 修复核心bug：mj_saveLastXMLToString需要接收MjData实例，而非MjModel + # 同时使用正确的XML保存流程，确保模型参数完整导出 + xml_content = mujoco.mj_saveLastXMLToString(data) with open(output_path, 'w', encoding='utf-8') as f: f.write(xml_content) logger.info(f"XML模型已保存至: {output_path}") @@ -117,8 +119,13 @@ def test_speed( logger.error("线程数必须为正数") return - # 生成控制噪声 - ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + # 生成控制噪声（处理model.nu=0的情况） + if model.nu > 0: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + else: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声设置") + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") def simulate_thread(thread_id: int) -> float: @@ -126,7 +133,8 @@ def simulate_thread(thread_id: int) -> float: mj_data = mujoco.MjData(model) start = time.perf_counter() for i in range(nstep): - mj_data.ctrl[:] = ctrl[i] + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] mujoco.mj_step(model, mj_data) end = time.perf_counter() duration = end - start @@ -218,5 +226,4 @@ def main() -> None: if __name__ == "__main__": - main() - \ No newline at end of file + main() \ No newline at end of file From 372dc90d865d44de291eee42f8ff40daa0232031 Mon Sep 17 00:00:00 2001 From: lan Date: Tue, 18 Nov 2025 08:18:05 +0800 Subject: [PATCH 09/19] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dconvert=5Fmodel?= =?UTF-8?q?=E5=87=BD=E6=95=B0XML=E5=AF=BC=E5=87=BAbug=EF=BC=9A=E6=AD=A3?= =?UTF-8?q?=E7=A1=AE=E4=BC=A0=E9=80=92MjData=E5=AE=9E=E4=BE=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/main.py | 18 ++++++------------ 1 file changed, 6 insertions(+), 12 deletions(-) diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index 67e0fe54f8..aea5e0b6d8 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -60,7 +60,7 @@ def convert_model(input_path: str, output_path: str) -> bool: 返回: 转换成功返回True，失败返回False """ - # 修复点：加载模型时同时获取model和data（原代码只用到了model，忽略了data） + # 关键修改1：加载模型时同时获取model和data（原代码只用到model，忽略data） model, data = load_model(input_path) if not model or not data: return False @@ -80,8 +80,8 @@ def convert_model(input_path: str, output_path: str) -> bool: mujoco.save_model(model, output_path) logger.info(f"二进制模型已保存至: {output_path}") else: - # 修复核心bug：mj_saveLastXMLToString需要接收MjData实例，而非MjModel - # 同时使用正确的XML保存流程，确保模型参数完整导出 + # 关键修改2：修复函数参数错误——传递MjData实例（data）而非MjModel实例（model） + # 关键修改3：移除多余的output_path参数（该函数无需指定输出路径，直接返回XML字符串） xml_content = mujoco.mj_saveLastXMLToString(data) with open(output_path, 'w', encoding='utf-8') as f: f.write(xml_content) @@ -119,13 +119,8 @@ def test_speed( logger.error("线程数必须为正数") return - # 生成控制噪声（处理model.nu=0的情况） - if model.nu > 0: - ctrl = ctrlnoise * np.random.randn(nstep, model.nu) - else: - ctrl = None - logger.warning("模型无控制输入（nu=0），将跳过控制噪声设置") - + # 生成控制噪声 + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") def simulate_thread(thread_id: int) -> float: @@ -133,8 +128,7 @@ def simulate_thread(thread_id: int) -> float: mj_data = mujoco.MjData(model) start = time.perf_counter() for i in range(nstep): - if ctrl is not None: - mj_data.ctrl[:] = ctrl[i] + mj_data.ctrl[:] = ctrl[i] mujoco.mj_step(model, mj_data) end = time.perf_counter() duration = end - start From cda7baa876cbf176589d89c46f2c4a9b36a5d208 Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 1 Dec 2025 09:51:35 +0800 Subject: [PATCH 10/19] =?UTF-8?q?feat:=20=E5=AE=8C=E5=96=84ROS=E9=9B=86?= =?UTF-8?q?=E6=88=90=E9=85=8D=E7=BD=AE=EF=BC=8C=E6=B7=BB=E5=8A=A0=E4=BB=BF?= =?UTF-8?q?=E7=9C=9F=E5=90=AF=E5=8A=A8=E6=B5=81=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt | 39 +++++++++++++++++++ .../mujoco_ros/launch/main.launch | 26 +++++++++++++ src/Neuro_Mujoco/mujoco_ros/package.xml | 26 +++++++++++++ .../mujoco_ros/scripts/publisher.py | 29 ++++++++++++++ .../mujoco_ros/scripts/subscriber.py | 36 +++++++++++++++++ 5 files changed, 156 insertions(+) create mode 100644 src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt create mode 100644 src/Neuro_Mujoco/mujoco_ros/launch/main.launch create mode 100644 src/Neuro_Mujoco/mujoco_ros/package.xml create mode 100644 src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py create mode 100644 src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py diff --git a/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt b/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt new file mode 100644 index 0000000000..0bfeec44fa --- /dev/null +++ b/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mujoco_ros) + +## 支持 C++11 +add_compile_options(-std=c++11) + +## 查找 ROS 1 依赖 +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + geometry_msgs + std_msgs +) + +## 声明 catkin 包 +catkin_package( + CATKIN_DEPENDS rospy sensor_msgs geometry_msgs std_msgs +) + +## 包含路径 +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## 安装 Python 脚本（main.py 用绝对路径，彻底避免歧义） +catkin_install_python( + PROGRAMS + scripts/publisher.py + scripts/subscriber.py + /home/lan/桌面/nn/src/Neuro_Mujoco/main.py # 绝对路径！绝对路径！绝对路径！ + DESTINATION + \${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## 安装 launch 文件 +install( + DIRECTORY launch/ + DESTINATION \${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) \ No newline at end of file diff --git a/src/Neuro_Mujoco/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/mujoco_ros/launch/main.launch new file mode 100644 index 0000000000..713d414ad8 --- /dev/null +++ b/src/Neuro_Mujoco/mujoco_ros/launch/main.launch @@ -0,0 +1,26 @@ + + + + + + + + + + diff --git a/src/Neuro_Mujoco/mujoco_ros/package.xml b/src/Neuro_Mujoco/mujoco_ros/package.xml new file mode 100644 index 0000000000..cabbdc22a0 --- /dev/null +++ b/src/Neuro_Mujoco/mujoco_ros/package.xml @@ -0,0 +1,26 @@ + + + mujoco_ros + 0.0.0 + ROS 1 Noetic 版本的 MuJoCo 封装包，含发布者、订阅者和启动文件 + your_name + MIT + + + catkin + rospy + sensor_msgs + geometry_msgs + std_msgs + + + rospy + sensor_msgs + geometry_msgs + std_msgs + + + + catkin + + \ No newline at end of file diff --git a/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py b/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py new file mode 100644 index 0000000000..07e1dfba30 --- /dev/null +++ b/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py b/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py new file mode 100644 index 0000000000..6ef2effdbc --- /dev/null +++ b/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() # 阻塞等待消息 + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") From 214d4871e5bbc05306803a98c3cc99e199a5c45f Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 8 Dec 2025 09:39:40 +0800 Subject: [PATCH 11/19] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86README.md?= =?UTF-8?q?=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/README.md | 132 ++++++++++++++++++++++++++++++------- 1 file changed, 110 insertions(+), 22 deletions(-) diff --git a/src/Neuro_Mujoco/README.md b/src/Neuro_Mujoco/README.md index 4fb2e4440c..c89de604be 100644 --- a/src/Neuro_Mujoco/README.md +++ b/src/Neuro_Mujoco/README.md @@ -2,14 +2,14 @@ 实现基于 MuJoCo 物理引擎的机器人、机械结构等智能体的感知、规划与控制，结合神经网络实现动态环境中的自主决策与行为生成。 # 环境配置 -平台：Windows 10/11，Ubuntu 20.04/22.04，macOS（Intel/Apple Silicon） -软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） -核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 +平台：Windows 10/11，Ubuntu 20.04/22.04（ROS推荐），macOS（Intel/Apple Silicon） +软件：Python 3.7-3.12（需支持 3.7 及以上版本）、PyTorch（不依赖 TensorFlow） +核心依赖：MuJoCo 物理引擎、mujoco-python 绑定 # 基础依赖安装 -安装 Python 3.11（推荐版本） -安装 MuJoCo 及相关依赖：shell - +安装 Python 3.11（推荐版本） +安装 MuJoCo 及相关依赖： +```shell # 安装MuJoCo Python绑定 pip install mujoco -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com @@ -19,30 +19,118 @@ pip3 install torch torchvision torchaudio -i http://mirrors.aliyun.com/pypi/simp # 安装文档生成工具 pip install mkdocs -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com pip install -r requirements.txt -（可选）验证安装： -shell +``` + +（可选）验证安装： +```shell python -c "import mujoco; print('MuJoCo version:', mujoco.__version__)" mkdocs --version +``` + +# ROS 集成配置（Ubuntu 专属） +### 1. ROS 版本要求 +- Ubuntu 20.04 → ROS Noetic +- Ubuntu 22.04 → ROS Humble（需适配 Python 3.10+） + +### 2. 安装 ROS 依赖 +```shell +# ROS Noetic 依赖（Ubuntu 20.04） +sudo apt install ros-noetic-rospy ros-noetic-catkin ros-noetic-geometry-msgs ros-noetic-sensor-msgs +sudo apt install python3-catkin-tools python3-rosdep +``` + +### 3. Catkin 工作空间配置 +```shell +# 创建/进入 Catkin 工作空间（示例路径：~/桌面/nn/catkin_ws） +mkdir -p ~/桌面/nn/catkin_ws/src && cd ~/桌面/nn/catkin_ws/src + +# 将 mujoco_ros 功能包软链接到 Catkin 工作空间 +ln -s ~/桌面/nn/src/Neuro_Mujoco/mujoco_ros ./mujoco_ros + +# 初始化 rosdep（首次使用） +sudo rosdep init && rosdep update +rosdep install --from-paths ./ --ignore-src -r -y +``` + +### 4. 编译 Catkin 工作空间 +```shell +cd ~/桌面/nn/catkin_ws +# 清理旧编译缓存 +rm -rf build devel +# 编译（支持虚拟环境 Python） +catkin_make -DPYTHON_EXECUTABLE=$(which python3) +``` + +### 5. ROS 启动步骤 +#### 5.1 激活环境 +```shell +# 激活 Python 虚拟环境 +source ~/桌面/nn/.venv/bin/activate + +# 加载 Catkin 环境 +source ~/桌面/nn/catkin_ws/devel/setup.bash +``` + +#### 5.2 启动仿真与 ROS 节点 +```shell +# 启动 Anymal B 模型 + ROS 控制/订阅节点 +roslaunch mujoco_ros main.launch +# 或使用绝对路径（避免软链接歧义） +roslaunch ~/桌面/nn/src/Neuro_Mujoco/mujoco_ros/launch/main.launch +``` + +#### 5.3 核心节点说明 +- `mujoco_core`：MuJoCo 仿真核心，发布关节状态（`/mujoco/joint_states`）、基座姿态（`/mujoco/pose`） +- `mujoco_ctrl_publisher`：控制指令发布者，发布 `/mujoco/ctrl_cmd` 话题（适配 Anymal B 控制维度 nu=12） +- `mujoco_state_subscriber`：状态订阅者，实时打印关节状态与基座姿态 # 文档查看 -在命令行中进入项目根目录，运行： -shell +在命令行中进入项目根目录，运行： +```shell mkdocs build mkdocs serve +``` 使用浏览器打开 http://127.0.0.1:8000，查看项目文档是否正常显示。 +# 常见问题解决 +1. **`ModuleNotFoundError: No module named 'rclpy'`** + → 错误导入 ROS 2 库，替换为 ROS 1 的 `rospy` 即可。 + +2. **`unrecognized arguments: __name:=mujoco_core`** + → 修改 `main.py` 中参数解析： + ```python + # 原代码：args = parser.parse_args() + args, unknown = parser.parse_known_args() # 忽略 ROS 自动参数 + ``` + +3. **`模型文件不存在`** + → 修改 `launch/main.launch` 中的模型路径，指向真实 MuJoCo 模型（如 Anymal B：`/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b/anymal_b.xml`）。 + +4. **`NameError: name 'count' is not defined`** + → 初始化 `count` 变量或注释冗余计数逻辑： + ```python + count = 0 # 循环前初始化 + while ...: + count += 1 + if count % 5 == 0: # 按需保留 + ... + ``` + # 贡献指南 -提交代码前，请阅读 贡献指南。代码优化方向包括： -遵循 PEP 8 代码风格 并完善注释 -实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） -撰写对应功能的 文档 -添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） -优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） +提交代码前，请阅读 贡献指南。代码优化方向包括： +- 遵循 PEP 8 代码风格 并完善注释 +- 实现神经网络在 MuJoCo 模拟环境中的应用（如强化学习控制、运动规划等） +- 撰写对应功能的 文档 +- 添加自动化测试（包括模型加载验证、物理模拟稳定性测试、神经网络推理性能测试等） +- 优化物理模拟与神经网络的交互效率（如数据采集、动作执行链路） +- 扩展 ROS 功能（如多机通信、RViz 可视化、Gazebo 联合仿真） # 参考资源 -MuJoCo 官方文档 -MuJoCo GitHub 仓库 -MuJoCo Python 绑定教程 -MuJoCo 模型库（Menagerie） -神经网络基础原理 -MuJoCo 强化学习教程（MJX） \ No newline at end of file +- MuJoCo 官方文档 +- MuJoCo GitHub 仓库 +- MuJoCo Python 绑定教程 +- MuJoCo 模型库（Menagerie） +- 神经网络基础原理 +- MuJoCo 强化学习教程（MJX） +- ROS Noetic 官方文档 +- Catkin 工作空间教程 \ No newline at end of file From 74878c05467a358121f19fe2c65e9ad264dfbba6 Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 8 Dec 2025 23:06:38 +0800 Subject: [PATCH 12/19] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E4=BA=86=20ROSManager?= =?UTF-8?q?=20=E7=B1=BB,=E5=B0=86=20ROS=20=E5=8A=9F=E8=83=BD=E5=B0=81?= =?UTF-8?q?=E8=A3=85=E4=B8=BA=E7=8B=AC=E7=AB=8B=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/main.py | 203 +++++++++++++++++++++++++++++++++++---- 1 file changed, 184 insertions(+), 19 deletions(-) diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index aea5e0b6d8..ad13854ffc 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -9,8 +9,17 @@ import mujoco from mujoco import viewer -# MuJoCo多功能工具集：提供模型可视化、性能测试和格式转换的一站式解决方案 -# 核心架构：统一的模型加载接口 + 模块化功能组件 + 命令行驱动 +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + # 配置日志系统 logging.basicConfig( @@ -43,6 +52,7 @@ def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujo model = mujoco.MjModel.from_xml_path(model_path) data = mujoco.MjData(model) logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") return model, data except Exception as e: logger.error(f"模型加载失败: {str(e)}", exc_info=True) @@ -60,7 +70,6 @@ def convert_model(input_path: str, output_path: str) -> bool: 返回: 转换成功返回True，失败返回False """ - # 关键修改1：加载模型时同时获取model和data（原代码只用到model，忽略data） model, data = load_model(input_path) if not model or not data: return False @@ -80,8 +89,6 @@ def convert_model(input_path: str, output_path: str) -> bool: mujoco.save_model(model, output_path) logger.info(f"二进制模型已保存至: {output_path}") else: - # 关键修改2：修复函数参数错误——传递MjData实例（data）而非MjModel实例（model） - # 关键修改3：移除多余的output_path参数（该函数无需指定输出路径，直接返回XML字符串） xml_content = mujoco.mj_saveLastXMLToString(data) with open(output_path, 'w', encoding='utf-8') as f: f.write(xml_content) @@ -119,8 +126,13 @@ def test_speed( logger.error("线程数必须为正数") return - # 生成控制噪声 - ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") def simulate_thread(thread_id: int) -> float: @@ -128,7 +140,8 @@ def simulate_thread(thread_id: int) -> float: mj_data = mujoco.MjData(model) start = time.perf_counter() for i in range(nstep): - mj_data.ctrl[:] = ctrl[i] + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] mujoco.mj_step(model, mj_data) end = time.perf_counter() duration = end - start @@ -154,56 +167,208 @@ def simulate_thread(thread_id: int) -> float: logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") -def visualize(model_path: str) -> None: +# ===================== ROS管理器类（新增模块化ROS功能）===================== +class ROSManager: + """ROS管理器类（模块化ROS功能）""" + + def __init__(self, model: mujoco.MjModel): + if not ROS_AVAILABLE: + raise RuntimeError("ROS环境未就绪，无法启用ROS模式") + + self.model = model + self.ctrl_cmd = None + self.joint_msg = None + self.njnt = 0 + self.initialized = False + + # ROS发布者 + self.joint_state_pub = None + self.pose_pub = None + self.ros_rate = None + + def initialize(self): + """初始化ROS节点和发布者/订阅者""" + rospy.init_node("mujoco_ros_node", anonymous=True) + self.ros_rate = rospy.Rate(100) # 100Hz发布频率 + + # 创建发布者 + self.joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 + ) + + self.pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + + # 初始化关节状态消息 + self.joint_msg = JointState() + joint_names = [] + + for i in range(self.model.njnt): + joint_type = self.model.joint(i).type + if joint_type != mujoco.mjtJoint.mjJNT_FREE: + joint_names.append(self.model.joint(i).name) + + self.joint_msg.name = joint_names + self.njnt = len(joint_names) + + # 初始化控制命令 + if self.model.nu > 0: + self.ctrl_cmd = np.zeros(self.model.nu) + rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + self._ctrl_callback, + queue_size=5 + ) + + self.initialized = True + return self + + def _ctrl_callback(self, msg: Float32MultiArray): + """控制指令回调函数""" + if self.model.nu == len(msg.data): + self.ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令，前5个值: {self.ctrl_cmd[:5]}...") + + def apply_control(self, data: mujoco.MjData): + """将ROS控制指令应用到MuJoCo数据""" + if self.ctrl_cmd is not None and self.model.nu > 0: + data.ctrl[:] = self.ctrl_cmd + + def publish_states(self, data: mujoco.MjData): + """发布关节状态和姿态""" + if not self.initialized: + return + + # 发布关节状态 + self.joint_msg.header.stamp = rospy.Time.now() + self.joint_msg.position = data.qpos[:self.njnt].tolist() + self.joint_msg.velocity = data.qvel[:self.njnt].tolist() + self.joint_state_pub.publish(self.joint_msg) + + # 发布基座姿态 + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" + + if self.model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if self.model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if self.model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + if self.model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if self.model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if self.model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if self.model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + self.pose_pub.publish(pose_msg) + + # 控制发布频率 + self.ros_rate.sleep() + + +# ===================== 可视化函数（使用ROSManager类）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: """ - 可视化模型并运行模拟 + 可视化模型并运行模拟（支持ROS 1模式） 参数: model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） """ model, data = load_model(model_path) if not model: return - logger.info("启动可视化窗口（按ESC键退出，鼠标可交互操作）") + # ROS管理器初始化 + ros_manager = None + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + try: + ros_manager = ROSManager(model).initialize() + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（{ros_manager.njnt}个非自由关节）") + logger.info(f"发布话题：/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + except Exception as e: + logger.error(f"ROS初始化失败: {str(e)}") + return + + # ===================== 可视化主循环 ===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") try: with viewer.launch_passive(model, data) as v: - while v.is_running(): + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令 + if ros_manager: + ros_manager.apply_control(data) + + # 执行MuJoCo模拟步 mujoco.mj_step(model, data) v.sync() + + # ROS模式：发布状态 + if ros_manager: + ros_manager.publish_states(data) + logger.info("可视化窗口已关闭") except Exception as e: logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + finally: + if ros_manager: + logger.info("ROS管理器已关闭") +# ===================== 主函数（新增--ros选项）===================== def main() -> None: parser = argparse.ArgumentParser( - description="MuJoCo功能整合工具", + description="MuJoCo功能整合工具（支持ROS 1消息封装）", formatter_class=argparse.ArgumentDefaultsHelpFormatter ) subparsers = parser.add_subparsers(dest="command", required=True) - # 可视化命令 + # 1. 可视化命令（新增--ros选项） viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") - viz_parser.add_argument("model", help="模型文件路径（XML或MJB）") + viz_parser.add_argument("model", help="模型文件路径") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) - # 速度测试命令 + # 2. 速度测试命令（原有功能不变） speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") speed_parser.add_argument("model", help="模型文件路径") speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") - # 模型转换命令 + # 3. 模型转换命令（原有功能不变） convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") convert_parser.add_argument("input", help="输入模型路径") convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") args = parser.parse_args() - # 命令映射 + # 命令映射（更新visualize，支持use_ros参数） command_handlers: Dict[str, callable] = { - "visualize": lambda: visualize(args.model), + "visualize": lambda: visualize(args.model, use_ros=args.ros), "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), "convert": lambda: convert_model(args.input, args.output) } From 191005d791431e614bf75f5af6d0c4c0eb9491d0 Mon Sep 17 00:00:00 2001 From: lan Date: Mon, 8 Dec 2025 23:07:19 +0800 Subject: [PATCH 13/19] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E4=BA=86=20ROSManager?= =?UTF-8?q?=20=E7=B1=BB,=E5=B0=86=20ROS=20=E5=8A=9F=E8=83=BD=E5=B0=81?= =?UTF-8?q?=E8=A3=85=E4=B8=BA=E7=8B=AC=E7=AB=8B=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt | 39 ------------------- .../mujoco_ros/launch/main.launch | 26 ------------- src/Neuro_Mujoco/mujoco_ros/package.xml | 26 ------------- .../mujoco_ros/scripts/publisher.py | 29 -------------- .../mujoco_ros/scripts/subscriber.py | 36 ----------------- 5 files changed, 156 deletions(-) delete mode 100644 src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt delete mode 100644 src/Neuro_Mujoco/mujoco_ros/launch/main.launch delete mode 100644 src/Neuro_Mujoco/mujoco_ros/package.xml delete mode 100644 src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py delete mode 100644 src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py diff --git a/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt b/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt deleted file mode 100644 index 0bfeec44fa..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(mujoco_ros) - -## 支持 C++11 -add_compile_options(-std=c++11) - -## 查找 ROS 1 依赖 -find_package(catkin REQUIRED COMPONENTS - rospy - sensor_msgs - geometry_msgs - std_msgs -) - -## 声明 catkin 包 -catkin_package( - CATKIN_DEPENDS rospy sensor_msgs geometry_msgs std_msgs -) - -## 包含路径 -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## 安装 Python 脚本（main.py 用绝对路径，彻底避免歧义） -catkin_install_python( - PROGRAMS - scripts/publisher.py - scripts/subscriber.py - /home/lan/桌面/nn/src/Neuro_Mujoco/main.py # 绝对路径！绝对路径！绝对路径！ - DESTINATION - \${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## 安装 launch 文件 -install( - DIRECTORY launch/ - DESTINATION \${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file diff --git a/src/Neuro_Mujoco/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/mujoco_ros/launch/main.launch deleted file mode 100644 index 713d414ad8..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/launch/main.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - diff --git a/src/Neuro_Mujoco/mujoco_ros/package.xml b/src/Neuro_Mujoco/mujoco_ros/package.xml deleted file mode 100644 index cabbdc22a0..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - mujoco_ros - 0.0.0 - ROS 1 Noetic 版本的 MuJoCo 封装包，含发布者、订阅者和启动文件 - your_name - MIT - - - catkin - rospy - sensor_msgs - geometry_msgs - std_msgs - - - rospy - sensor_msgs - geometry_msgs - std_msgs - - - - catkin - - \ No newline at end of file diff --git a/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py b/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py deleted file mode 100644 index 07e1dfba30..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/scripts/publisher.py +++ /dev/null @@ -1,29 +0,0 @@ -#!/usr/bin/env python -import rospy -from std_msgs.msg import Float32MultiArray -import numpy as np - -class MujocoCtrlPublisher: - def __init__(self): - rospy.init_node("mujoco_ctrl_publisher", anonymous=True) - self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) - self.rate = rospy.Rate(10) - self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 - rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") - - def run(self): - while not rospy.is_shutdown(): - # 正弦波控制指令 - ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 - msg = Float32MultiArray() - msg.data = [ctrl_cmd] * self.model_nu - self.pub.publish(msg) - rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") - self.rate.sleep() - -if __name__ == "__main__": - try: - publisher = MujocoCtrlPublisher() - publisher.run() - except rospy.ROSInterruptException: - pass diff --git a/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py b/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py deleted file mode 100644 index 6ef2effdbc..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/scripts/subscriber.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python -import rospy -from sensor_msgs.msg import JointState -from geometry_msgs.msg import PoseStamped - -class MujocoStateSubscriber: - def __init__(self): - rospy.init_node("mujoco_state_subscriber", anonymous=True) - # 订阅关节状态 - rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) - # 订阅基座姿态 - rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) - rospy.loginfo("="*50) - rospy.loginfo("Mujoco 状态订阅者已启动") - rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") - rospy.loginfo("="*50) - - def joint_state_cb(self, msg): - # 打印关节状态（位置+速度） - rospy.loginfo("【关节状态】") - rospy.loginfo(f" 关节名称：{msg.name}") - rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") - rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") - - def pose_cb(self, msg): - # 打印基座姿态（位置+四元数） - rospy.loginfo("【基座姿态】") - rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") - rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") - -if __name__ == "__main__": - try: - subscriber = MujocoStateSubscriber() - rospy.spin() # 阻塞等待消息 - except rospy.ROSInterruptException: - rospy.loginfo("状态订阅者退出") From e5e99002fa70be5a6a8286bbed270bf12a0a799d Mon Sep 17 00:00:00 2001 From: lan Date: Thu, 11 Dec 2025 09:42:43 +0800 Subject: [PATCH 14/19] =?UTF-8?q?=E6=8F=90=E4=BA=A4=E6=84=9F=E7=9F=A5?= =?UTF-8?q?=E6=A8=A1=E5=9D=97=E5=92=8C=E6=8E=A7=E5=88=B6=E6=A8=A1=E5=9D=97?= =?UTF-8?q?ros=E5=B0=81=E8=A3=85?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/cakin_ws/build/.built_by | 1 + 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COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100644 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100644 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 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CMakeFiles/Makefile2 geometry_msgs_generate_messages_cpp +.PHONY : geometry_msgs_generate_messages_cpp + +# fast build rule for target. +geometry_msgs_generate_messages_cpp/fast: + $(MAKE) -f mujoco_ros/CMakeFiles/geometry_msgs_generate_messages_cpp.dir/build.make mujoco_ros/CMakeFiles/geometry_msgs_generate_messages_cpp.dir/build +.PHONY : geometry_msgs_generate_messages_cpp/fast + +#============================================================================= +# Target rules for targets named geometry_msgs_generate_messages_nodejs + +# Build rule for target. +geometry_msgs_generate_messages_nodejs: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 geometry_msgs_generate_messages_nodejs +.PHONY : geometry_msgs_generate_messages_nodejs + +# fast build rule for target. +geometry_msgs_generate_messages_nodejs/fast: + $(MAKE) -f mujoco_ros/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build.make mujoco_ros/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build +.PHONY : geometry_msgs_generate_messages_nodejs/fast + +#============================================================================= +# Target rules for targets named std_msgs_generate_messages_cpp + +# Build rule for target. +std_msgs_generate_messages_cpp: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_cpp +.PHONY : std_msgs_generate_messages_cpp + +# fast build rule for target. +std_msgs_generate_messages_cpp/fast: + $(MAKE) -f mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build +.PHONY : std_msgs_generate_messages_cpp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... doxygen" + @echo "... run_tests" + @echo "... clean_test_results" + @echo "... tests" + @echo "... download_extra_data" + @echo "... gmock_main" + @echo "... gmock" + @echo "... gtest_main" + @echo "... gtest" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... std_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... geometry_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_py" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_cpp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 new file mode 100644 index 0000000000..bfdb6d5a91 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV new file mode 100644 index 0000000000..a7109986fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/camera_capture.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN new file mode 100644 index 0000000000..4206de18db --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG new file mode 100644 index 0000000000..32a2263235 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso new file mode 100644 index 0000000000..8a3ac615d6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/main.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy new file mode 100644 index 0000000000..d1e667e88e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/publisher.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym new file mode 100644 index 0000000000..ec8a1f5170 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB new file mode 100644 index 0000000000..e2e25986dc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 new file mode 100644 index 0000000000..5de23cacfa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/subscriber.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000000..590a615c68 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.8.12") +set(catkin_MAINTAINER "Geoffrey Biggs , Ivan Santiago Paunovic ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh new file mode 100644 index 0000000000..d6be91db5c --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000000..0812c0468b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';'): + python_path = os.path.join(workspace, 'lib/python3/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/env.sh') + +output_filename = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000000..2fa5f791d7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish new file mode 100644 index 0000000000..292928b137 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000000..1bbe7450dd --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish new file mode 100644 index 0000000000..0dacb14d43 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000000..f1c74b7f32 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000000..5520170415 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake @@ -0,0 +1,18 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "mujoco_ros") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mujoco_ros") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "mujoco_vision_control") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mujoco_vision_control") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py new file mode 100644 index 0000000000..438e448fce --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') if '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic' != '' else [] diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh new file mode 100644 index 0000000000..7648a2661f --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export LD_LIBRARY_PATH='/opt/ros/noetic/lib' +export PKG_CONFIG_PATH='/opt/ros/noetic/lib/pkgconfig' +export PWD='/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build' \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000000..5e25fbf8a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000000..7ec7539aeb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000000..2d535224f6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,50 @@ + + + + catkin + 0.8.12 + Low-level build system macros and infrastructure for ROS. + Geoffrey Biggs + Ivan Santiago Paunovic + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + Michael Carroll + Tully Foote + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python-nose + python3-nose + + + + + + diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache b/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache new file mode 100644 index 0000000000..4b6b89aeb7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache @@ -0,0 +1,2 @@ +mujoco_ros:mujoco_vision_control +-DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_DEVEL_PREFIX=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install -G Unix Makefiles \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake b/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake new file mode 100644 index 0000000000..9bb003bf83 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake @@ -0,0 +1,163 @@ +# Install script for directory: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" TYPE PROGRAM FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + 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std_msgs_generate_messages_cpp + +# fast build rule for target. +std_msgs_generate_messages_cpp/fast: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build +.PHONY : std_msgs_generate_messages_cpp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... list_install_components" + @echo "... std_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... install/local" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... install" + @echo "... std_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... geometry_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_py" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... install/strip" + @echo "... std_msgs_generate_messages_cpp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/camera_capture.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/camera_capture.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py new file mode 100644 index 0000000000..7d79b63d2b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py @@ -0,0 +1,354 @@ +#!/usr/bin/env python3 +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc new file mode 100644 index 0000000000..b0054e9f51 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install + +Name: mujoco_ros +Description: Description of mujoco_ros +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: rospy sensor_msgs geometry_msgs std_msgs diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake new file mode 100644 index 0000000000..2a3eb1771a --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_ros_CONFIG_INCLUDED) + return() +endif() +set(mujoco_ros_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(mujoco_ros_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros) + set(mujoco_ros_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_ros_INSTALL_PREFIX "") + set(mujoco_ros_PREFIX ${mujoco_ros_DEVEL_PREFIX}) +else() + set(mujoco_ros_SOURCE_PREFIX "") + set(mujoco_ros_DEVEL_PREFIX "") + set(mujoco_ros_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_ros_PREFIX ${mujoco_ros_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_ros' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_ros_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_ros_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'your_name ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_ros_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_ros_NUM_DUMMY_TARGETS) + set(mujoco_ros_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_ros_NUM_DUMMY_TARGETS "${mujoco_ros_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_ros_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_ros_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_ros'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_ros_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_ros_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_ros_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rospy;sensor_msgs;geometry_msgs;std_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_ros_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_ros_dep}_FOUND) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${${mujoco_ros_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_ros_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_ros_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${${mujoco_ros_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_ros_EXPORTED_TARGETS ${${mujoco_ros_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_ros_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py new file mode 100644 index 0000000000..27794b9894 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py new file mode 100644 index 0000000000..fb137213e3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() # 阻塞等待消息 + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000000..454cf03290 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake new file mode 100644 index 0000000000..a405ec7563 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "mujoco_ros") +set(mujoco_ros_VERSION "0.0.0") +set(mujoco_ros_MAINTAINER "your_name ") +set(mujoco_ros_PACKAGE_FORMAT "1") +set(mujoco_ros_BUILD_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_BUILD_EXPORT_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_BUILDTOOL_DEPENDS "catkin") +set(mujoco_ros_BUILDTOOL_EXPORT_DEPENDS ) +set(mujoco_ros_EXEC_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_RUN_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_TEST_DEPENDS ) +set(mujoco_ros_DOC_DEPENDS ) +set(mujoco_ros_URL_WEBSITE "") +set(mujoco_ros_URL_BUGTRACKER "") +set(mujoco_ros_URL_REPOSITORY "") +set(mujoco_ros_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000000..7f7959b2fc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "rospy;sensor_msgs;geometry_msgs;std_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_ros" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000000..962b7c1a19 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "rospy;sensor_msgs;geometry_msgs;std_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_ros" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/camera_capture.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/camera_capture.py.stamp new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp new file mode 100644 index 0000000000..bd40a333fa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp @@ -0,0 +1,354 @@ +#! /usr/bin/env python +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/package.xml.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/package.xml.stamp new file mode 100644 index 0000000000..cabbdc22a0 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/package.xml.stamp @@ -0,0 +1,26 @@ + + + mujoco_ros + 0.0.0 + ROS 1 Noetic 版本的 MuJoCo 封装包，含发布者、订阅者和启动文件 + your_name + MIT + + + catkin + rospy + sensor_msgs + geometry_msgs + std_msgs + + + rospy + sensor_msgs + geometry_msgs + std_msgs + + + + catkin + + \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/pkg.pc.em.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/pkg.pc.em.stamp new file mode 100644 index 0000000000..549fb75ce8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/publisher.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/publisher.py.stamp new file mode 100644 index 0000000000..07e1dfba30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/publisher.py.stamp @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/subscriber.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/subscriber.py.stamp new file mode 100644 index 0000000000..6ef2effdbc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/subscriber.py.stamp @@ -0,0 +1,36 @@ +#!/usr/bin/env python +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() # 阻塞等待消息 + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/cmake_install.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/cmake_install.cmake new file mode 100644 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target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/CMakeFiles /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/CMakeFiles/progress.marks + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc new file mode 100644 index 0000000000..d58512db2b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install + +Name: mujoco_vision_control +Description: Description of mujoco_vision_control +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake new file mode 100644 index 0000000000..beb4a70d7e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_vision_control_CONFIG_INCLUDED) + return() +endif() +set(mujoco_vision_control_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(mujoco_vision_control_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control) + set(mujoco_vision_control_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_vision_control_INSTALL_PREFIX "") + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_DEVEL_PREFIX}) +else() + set(mujoco_vision_control_SOURCE_PREFIX "") + set(mujoco_vision_control_DEVEL_PREFIX "") + set(mujoco_vision_control_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_vision_control' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_vision_control_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_vision_control_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'lan ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_vision_control_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_vision_control_NUM_DUMMY_TARGETS) + set(mujoco_vision_control_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_vision_control_NUM_DUMMY_TARGETS "${mujoco_vision_control_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_vision_control_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_vision_control'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_vision_control_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_vision_control_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_vision_control_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_vision_control_dep}_FOUND) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${${mujoco_vision_control_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_vision_control_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_vision_control_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${${mujoco_vision_control_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_vision_control_EXPORTED_TARGETS ${${mujoco_vision_control_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_vision_control_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000000..454cf03290 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake new file mode 100644 index 0000000000..784529d52e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "mujoco_vision_control") +set(mujoco_vision_control_VERSION "0.0.0") +set(mujoco_vision_control_MAINTAINER "lan ") +set(mujoco_vision_control_PACKAGE_FORMAT "2") +set(mujoco_vision_control_BUILD_DEPENDS "cv_bridge" "message_generation" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_BUILD_EXPORT_DEPENDS "cv_bridge" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_BUILDTOOL_DEPENDS "catkin") +set(mujoco_vision_control_BUILDTOOL_EXPORT_DEPENDS ) +set(mujoco_vision_control_EXEC_DEPENDS "cv_bridge" "message_runtime" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_RUN_DEPENDS "cv_bridge" "message_runtime" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_TEST_DEPENDS ) +set(mujoco_vision_control_DOC_DEPENDS ) +set(mujoco_vision_control_URL_WEBSITE "") +set(mujoco_vision_control_URL_BUGTRACKER "") +set(mujoco_vision_control_URL_REPOSITORY "") +set(mujoco_vision_control_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000000..dac67af49b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_vision_control" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000000..90599d54b8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_vision_control" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp new file mode 100644 index 0000000000..7565b2e336 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp @@ -0,0 +1,73 @@ + + + mujoco_vision_control + 0.0.0 + The mujoco_vision_control package + + + + + lan + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cv_bridge + message_generation + rospy + sensor_msgs + std_msgs + cv_bridge + rospy + sensor_msgs + std_msgs + cv_bridge + message_runtime + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp new file mode 100644 index 0000000000..549fb75ce8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake new file mode 100644 index 0000000000..60a05b34fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mujoco_vision_control/cmake" TYPE FILE FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake" + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mujoco_vision_control" TYPE FILE FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control/package.xml") +endif() + diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.built_by b/src/Neuro_Mujoco/cakin_ws/devel/.built_by new file mode 100644 index 0000000000..2e212dd304 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.catkin b/src/Neuro_Mujoco/cakin_ws/devel/.catkin new file mode 100644 index 0000000000..fe5d38d0d7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.catkin @@ -0,0 +1 @@ +/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall b/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall new file mode 100644 index 0000000000..bfdb6d5a91 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py b/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/env.sh b/src/Neuro_Mujoco/cakin_ws/devel/env.sh new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py new file mode 100644 index 0000000000..a7109986fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/camera_capture.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py new file mode 100644 index 0000000000..8a3ac615d6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/main.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py new file mode 100644 index 0000000000..d1e667e88e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/publisher.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py new file mode 100644 index 0000000000..5de23cacfa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/subscriber.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc new file mode 100644 index 0000000000..e1ec076e92 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel + +Name: mujoco_ros +Description: Description of mujoco_ros +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: rospy sensor_msgs geometry_msgs std_msgs diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc new file mode 100644 index 0000000000..eed9d22115 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel + +Name: mujoco_vision_control +Description: Description of mujoco_vision_control +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish new file mode 100644 index 0000000000..4206de18db --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh new file mode 100644 index 0000000000..32a2263235 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.bash b/src/Neuro_Mujoco/cakin_ws/devel/setup.bash new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.fish b/src/Neuro_Mujoco/cakin_ws/devel/setup.fish new file mode 100644 index 0000000000..ec8a1f5170 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.sh b/src/Neuro_Mujoco/cakin_ws/devel/setup.sh new file mode 100644 index 0000000000..e2e25986dc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh b/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake new file mode 100644 index 0000000000..087d179896 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_ros_CONFIG_INCLUDED) + return() +endif() +set(mujoco_ros_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(mujoco_ros_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros) + set(mujoco_ros_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_ros_INSTALL_PREFIX "") + set(mujoco_ros_PREFIX ${mujoco_ros_DEVEL_PREFIX}) +else() + set(mujoco_ros_SOURCE_PREFIX "") + set(mujoco_ros_DEVEL_PREFIX "") + set(mujoco_ros_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_ros_PREFIX ${mujoco_ros_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_ros' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_ros_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_ros_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'your_name ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_ros_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_ros_NUM_DUMMY_TARGETS) + set(mujoco_ros_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_ros_NUM_DUMMY_TARGETS "${mujoco_ros_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_ros_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_ros_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_ros'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_ros_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_ros_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_ros_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rospy;sensor_msgs;geometry_msgs;std_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_ros_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_ros_dep}_FOUND) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${${mujoco_ros_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_ros_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_ros_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${${mujoco_ros_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_ros_EXPORTED_TARGETS ${${mujoco_ros_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_ros_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake new file mode 100644 index 0000000000..8c94a6b1fa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_vision_control_CONFIG_INCLUDED) + return() +endif() +set(mujoco_vision_control_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(mujoco_vision_control_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control) + set(mujoco_vision_control_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_vision_control_INSTALL_PREFIX "") + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_DEVEL_PREFIX}) +else() + set(mujoco_vision_control_SOURCE_PREFIX "") + set(mujoco_vision_control_DEVEL_PREFIX "") + set(mujoco_vision_control_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_vision_control' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_vision_control_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_vision_control_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'lan ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_vision_control_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_vision_control_NUM_DUMMY_TARGETS) + set(mujoco_vision_control_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_vision_control_NUM_DUMMY_TARGETS "${mujoco_vision_control_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_vision_control_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_vision_control'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_vision_control_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_vision_control_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_vision_control_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_vision_control_dep}_FOUND) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${${mujoco_vision_control_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_vision_control_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_vision_control_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${${mujoco_vision_control_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_vision_control_EXPORTED_TARGETS ${${mujoco_vision_control_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_vision_control_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt new file mode 100644 index 0000000000..8aff41edaa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mujoco_ros) + +## 支持 C++11 +add_compile_options(-std=c++11) + +## 查找 ROS 1 依赖 +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + geometry_msgs + std_msgs +) + +## 声明 catkin 包 +catkin_package( + CATKIN_DEPENDS rospy sensor_msgs geometry_msgs std_msgs +) + +## 包含路径 +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## 安装 Python 脚本（main.py 用绝对路径，彻底避免歧义） +catkin_install_python(PROGRAMS + scripts/main.py + scripts/publisher.py + scripts/subscriber.py + scripts/camera_capture.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## 安装 launch 文件 +install( + DIRECTORY launch/ + DESTINATION \${CATKIN_PACKAGE_SHARE_DESTINATION}/launch +) diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch new file mode 100644 index 0000000000..518cc20835 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch @@ -0,0 +1,26 @@ + + + + + + + + + + \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/package.xml b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/package.xml new file mode 100644 index 0000000000..cabbdc22a0 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/package.xml @@ -0,0 +1,26 @@ + + + mujoco_ros + 0.0.0 + ROS 1 Noetic 版本的 MuJoCo 封装包，含发布者、订阅者和启动文件 + your_name + MIT + + + catkin + rospy + sensor_msgs + geometry_msgs + std_msgs + + + rospy + sensor_msgs + geometry_msgs + std_msgs + + + + catkin + + \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py new file mode 100644 index 0000000000..bd40a333fa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py @@ -0,0 +1,354 @@ +#! /usr/bin/env python +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py new file mode 100644 index 0000000000..07e1dfba30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py new file mode 100644 index 0000000000..6ef2effdbc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() # 阻塞等待消息 + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") From 8f1bc5d925d822325d9bf433d53094080583ea75 Mon Sep 17 00:00:00 2001 From: lan Date: Sun, 14 Dec 2025 18:33:19 +0800 Subject: [PATCH 15/19] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=20mujoco=5Fros=20?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E5=90=AF=E5=8A=A8/=E8=84=9A=E6=9C=AC?= =?UTF-8?q?=E6=96=87=E4=BB=B6,=E6=B7=BB=E5=8A=A0=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E5=92=8C=E6=84=9F=E7=9F=A5=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch | 6 +++--- src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py | 2 -- .../cakin_ws/src/mujoco_ros/scripts/publisher.py | 2 +- .../cakin_ws/src/mujoco_ros/scripts/subscriber.py | 2 +- 4 files changed, 5 insertions(+), 7 deletions(-) diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch index 518cc20835..291afae66a 100644 --- a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch @@ -1,5 +1,5 @@ - + + + you can add as many datasets as you want in the lists! env = ImitationFactory.make("UnitreeH1", - default_dataset_conf=DefaultDatasetConf(["squat"]), - lafan1_dataset_conf=LAFAN1DatasetConf(["dance2_subject4", "walk1_subject1"]), + default_dataset_conf=DefaultDatasetConf(["squat", "walk"]), + lafan1_dataset_conf=LAFAN1DatasetConf(["dance2_subject4"]), # if SMPL and AMASS are installed, you can use the following: - #amass_dataset_conf=AMASSDatasetConf(["DanceDB/DanceDB/20120911_TheodorosSourmelis/Capoeira_Theodoros_v2_C3D_poses"]) - ) + # amass_dataset_conf=AMASSDatasetConf(["DanceDB/DanceDB/20120911_TheodorosSourmelis/Capoeira_Theodoros_v2_C3D_poses", + # "KIT/12/WalkInClockwiseCircle11_poses", + # "HUMAN4D/HUMAN4D/Subject3_Medhi/INF_JumpingJack_S3_01_poses", + # 'KIT/359/walking_fast05_poses']), + n_substeps=20) env.play_trajectory(n_episodes=3, n_steps_per_episode=500, render=True) + +import numpy as np +import gymnasium as gym +from gymnasium import spaces +import mujoco +import ssl +import urllib3 +# 禁用SSL验证，解决huggingface证书问题 +ssl._create_default_https_context = ssl._create_unverified_context +urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning) + +from loco_mujoco.task_factories import ImitationFactory, LAFAN1DatasetConf, DefaultDatasetConf + +# -------------------------- 1. 正确定义WalkerEnv类（无内部实例化） -------------------------- +class WalkerEnv(gym.Env): + metadata = {"render_modes": ["human"], "render_fps": 30} + + def __init__(self, render_mode=None): + super().__init__() + # 创建UnitreeH1环境（简化数据集，减少网络请求） + self.env = ImitationFactory.make( + "UnitreeH1", + default_dataset_conf=DefaultDatasetConf(["walk"]), # 仅保留walk，减少下载 + lafan1_dataset_conf=LAFAN1DatasetConf(["walk1_subject1"]) + ) + + # 修复Box空间精度警告：显式转换为float32 + obs_low = self.env.info.observation_space.low.astype(np.float32) + obs_high = self.env.info.observation_space.high.astype(np.float32) + obs_shape = self.env.info.observation_space.shape + act_low = self.env.info.action_space.low.astype(np.float32) + act_high = self.env.info.action_space.high.astype(np.float32) + act_shape = self.env.info.action_space.shape + + self.observation_space = spaces.Box(low=obs_low, high=obs_high, shape=obs_shape, dtype=np.float32) + self.action_space = spaces.Box(low=act_low, high=act_high, shape=act_shape, dtype=np.float32) + + # 核心属性（避免访问self.env.sim） + self.render_mode = render_mode + self.robot_model = self.env.model # 直接获取模型 + self.robot_data = self.env.data # 直接获取数据 + + # 脚部和地面几何ID（容错获取） + self.foot_ids = [] + for name in ["FL_foot", "FR_foot", "RL_foot", "RR_foot"]: + geom_id = mujoco.mj_name2id(self.robot_model, mujoco.mjtObj.mjOBJ_GEOM, name) + if geom_id != -1: + self.foot_ids.append(geom_id) + self.ground_id = mujoco.mj_name2id(self.robot_model, mujoco.mjtObj.mjOBJ_GEOM, "floor") + + # 状态跟踪 + self.episode_steps = 0 + self.max_episode_steps = 500 # 缩短单episode步数 + + def step(self, action): + # 执行动作 + observation, _, _, _, info = self.env.step(action) + + # 获取机器人关键状态 + x_vel = self.robot_data.qvel[0] + torso_z = self.robot_data.qpos[2] + torso_angle = self.robot_data.qpos[3:6] + + # 优化后的奖励函数 + total_reward = 0.0 + total_reward += x_vel * 15.0 # 前进奖励 + total_reward += -abs(torso_z - 1.1) * 3.0 # 直立奖励 + total_reward += -np.sum(np.square(torso_angle)) * 3.0 # 姿态稳定奖励 + total_reward += -np.sum(np.square(action)) * 0.005 # 动作平滑惩罚 + total_reward += 1.5 # 存活奖励 + + # 触地惩罚 + if self.ground_id != -1: + for i in range(self.robot_data.ncon): + contact = self.robot_data.contact[i] + geom1, geom2 = contact.geom1, contact.geom2 + is_foot_contact = (geom1 in self.foot_ids) or (geom2 in self.foot_ids) + is_ground_contact = (geom1 == self.ground_id) or (geom2 == self.ground_id) + if is_ground_contact and not is_foot_contact: + total_reward -= 40.0 + + # 终止条件 + self.episode_steps += 1 + done = False + if torso_z < 0.6 or np.any(np.abs(torso_angle) > 0.8) or self.episode_steps >= self.max_episode_steps: + done = True + if torso_z < 0.6 or np.any(np.abs(torso_angle) > 0.8): + total_reward -= 80.0 + + # 渲染 + if self.render_mode == "human": + self.render() + + return observation, total_reward, done, False, info + + def reset(self, seed=None, options=None): + super().reset(seed=seed) + observation = self.env.reset() + self.episode_steps = 0 + return observation, {} + + def render(self): + self.env.render() + + def close(self): + # 彻底容错的资源释放 + try: + self.env.close() + except AttributeError: + pass + + # 安全释放Mujoco模型和数据 + if hasattr(self, 'robot_model') and self.robot_model is not None: + try: + mujoco.mj_deleteModel(self.robot_model) + except: + pass + del self.robot_model + + if hasattr(self, 'robot_data') and self.robot_data is not None: + try: + mujoco.mj_deleteData(self.robot_data) + except: + pass + del self.robot_data + + if hasattr(self, 'env'): + del self.env + +# -------------------------- 2. 训练函数（类定义完成后再实例化） -------------------------- +def train_ppo(): + # 类定义完成后，再创建实例（核心修复NameError） + env = WalkerEnv(render_mode=None) + + from stable_baselines3 import PPO + from stable_baselines3.common.callbacks import CheckpointCallback, EvalCallback + + # 检查点回调 + checkpoint_callback = CheckpointCallback( + save_freq=5000, + save_path="./logs/", + name_prefix="walker_model", + save_replay_buffer=False, + save_vecnormalize=False, + ) + + # 评估回调 + eval_env = WalkerEnv(render_mode=None) + eval_callback = EvalCallback( + eval_env, + eval_freq=10000, + n_eval_episodes=3, + deterministic=True, + verbose=1 + ) + + # 优化后的PPO超参数 + model = PPO( + "MlpPolicy", + env, + verbose=1, + learning_rate=5e-4, + n_steps=1024, + batch_size=32, + n_epochs=5, + gamma=0.98, + gae_lambda=0.92, + clip_range=0.25, + ent_coef=0.02, + device="auto" + ) + + print("开始训练（优化版，预计20-30分钟）...") + model.learn( + total_timesteps=300000, + callback=[checkpoint_callback, eval_callback], + progress_bar=True + ) + + model.save("unitree_h1_walker_optimized") + print("训练完成！模型已保存为 unitree_h1_walker_optimized") + +# -------------------------- 3. 测试函数 -------------------------- +def test_ppo(): + from stable_baselines3 import PPO + # 使用上下文管理器自动管理环境 + with WalkerEnv(render_mode="human") as env: + model = PPO.load("unitree_h1_walker_optimized", env=env) + print("开始测试...（按ESC退出）") + obs, _ = env.reset() + for _ in range(10000): + action, _ = model.predict(obs, deterministic=True) + obs, reward, done, _, _ = env.step(action) + if done: + obs, _ = env.reset() + +# -------------------------- 4. 主函数（执行训练+测试） -------------------------- +if __name__ == "__main__": + train_ppo() + test_ppo() diff --git a/src/MMAP-DRL-Nav/carla_environment.py b/src/MMAP-DRL-Nav/carla_environment.py index a5bc03017e..30c6cffe52 100644 --- a/src/MMAP-DRL-Nav/carla_environment.py +++ b/src/MMAP-DRL-Nav/carla_environment.py @@ -1,160 +1,364 @@ import carla import numpy as np import gym -import random # 新增：用于随机选spawn点 -import time # 新增：用于销毁后延迟 +import time +import socket # 端口检测 +import random # 仅新增：随机生成NPC位置/选择蓝图 class CarlaEnvironment(gym.Env): def __init__(self): super(CarlaEnvironment, self).__init__() + # 初始化CARLA客户端 self.client = carla.Client('localhost', 2000) + self.client.set_timeout(20.0) # 超时20秒 + + # ========== 1. 端口检测 + 重试连接 ========== + def is_port_used(port): + """检测端口是否被占用""" + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + try: + s.connect(('localhost', port)) + return True + except: + return False + finally: + s.close() + + if not is_port_used(2000): + raise RuntimeError("❌ 2000端口未被占用，请先启动CARLA模拟器") + + max_retry = 3 + retry_count = 0 + while retry_count < max_retry: + try: + # 加载CARLA默认地图（避免map not found） + self.world = self.client.get_world() + break + except RuntimeError as e: + retry_count += 1 + print(f"⚠️ 连接失败，重试第{retry_count}次...") + time.sleep(5) + else: + raise RuntimeError("❌ CARLA连接超时（3次重试失败），请检查模拟器是否正常启动") - self.client.set_timeout(10.0) - self.world = self.client.get_world() self.blueprint_library = self.world.get_blueprint_library() - + # ========== 同步模式配置（视角不抖核心） ========== + self.sync_settings = self.world.get_settings() + self.sync_settings.synchronous_mode = True # 同步模式是视角不抖的关键 + self.sync_settings.fixed_delta_seconds = 1.0 / 30 # 固定30fps，避免帧率波动 + self.sync_settings.no_rendering_mode = False + self.world.apply_settings(self.sync_settings) + + # ========== NPC配置（50辆车+5行人） ========== + self.traffic_manager = self.client.get_trafficmanager(8000) + self.traffic_manager.set_synchronous_mode(True) + self.npc_vehicle_list = [] # 存储NPC车辆 + self.npc_pedestrian_list = [] # 存储NPC行人 + self.hit_vehicle = False # 撞车标记（终止） + self.hit_pedestrian = False # 撞人标记（不终止） + + # 新增：出生点碰撞检测配置 + self.spawn_retry_times = 20 # 出生点重试次数 + self.spawn_safe_radius = 2.0 # 安全半径（避免近距离碰撞） + + # 动作/观测空间 self.action_space = gym.spaces.Discrete(4) - self.observation_space = gym.spaces.Box(low=0, high=255, shape=(128, 128, 3), dtype=np.uint8) - + self.observation_space = gym.spaces.Box( + low=0, high=255, shape=(128, 128, 3), dtype=np.uint8 + ) + + # 核心对象 self.vehicle = None + self.camera = None + self.collision_sensor = None + self.image_data = None + self.has_collision = False + # 视角参数（核心修改：进一步后移视角，确保看到车屁股） + self.view_height = 6.0 # 基础高度保持6米（高视角） + self.view_pitch = -15.0 # 俯视角度保持15度（向下看） + self.view_distance = 8.0 # 正后方距离从6→8米（大幅后移，必看车屁股） + self.z_offset = 0.5 # z轴补偿保留，避免上坡卡地下 - self.camera = None - - # 新增：镜头跟随参数（仅用于初始化跳转） - self.spectator_offset = carla.Location(x=0, y=0, z=2.5) - self.spectator_distance = -5.0 - self.spectator_pitch = -10 - + # ========== 新增：安全生成车辆（解决碰撞问题） ========== + def _spawn_vehicle_safely(self, vehicle_bp): + """安全生成主角车辆，避免出生点碰撞""" + # 1. 获取所有可用出生点 + spawn_points = self.world.get_map().get_spawn_points() + if not spawn_points: + # 无预设出生点则生成随机位置 + spawn_points = [carla.Transform( + carla.Location(x=random.uniform(-50, 50), y=random.uniform(-50, 50), z=0.5), + carla.Rotation(yaw=random.uniform(0, 360)) + )] - # 新增：初始化时先清理所有残留actor - self._clean_all_actors() - - self.reset() - - # 新增：核心清理函数 - 销毁所有残留的车辆/传感器/行人等actor - def _clean_all_actors(self): - # 获取当前世界所有actor - actor_list = self.world.get_actors() - for actor in actor_list: - # 筛选需要销毁的actor类型：车辆、传感器、行人（可根据需求调整） - if actor.type_id.startswith('vehicle') or actor.type_id.startswith('sensor') or actor.type_id.startswith('walker'): - try: - actor.destroy() - time.sleep(0.05) # 短暂延迟，确保销毁完成 - except Exception as e: - print(f"销毁actor失败: {e}") - # 额外清理当前实例的车辆和相机 - if self.camera is not None: - self.camera.destroy() - self.camera = None - if self.vehicle is not None: - self.vehicle.destroy() - self.vehicle = None + # 2. 重试生成车辆，直到成功或达到最大次数 + for attempt in range(self.spawn_retry_times): + # 随机选一个出生点 + spawn_point = random.choice(spawn_points) + + # 微调出生点高度（避免地面碰撞） + spawn_point.location.z += 0.2 - def reset(self): - # 第一步：先清理残留车辆（增强版） - self._clean_all_actors() + try: + # 检测该位置是否有碰撞 + vehicle = self.world.try_spawn_actor(vehicle_bp, spawn_point) + if vehicle is not None: + print(f"✅ 车辆生成成功（重试{attempt}次）") + return vehicle + except RuntimeError as e: + print(f"⚠️ 出生点碰撞，重试第{attempt+1}次...") + continue + # 所有重试失败，抛出异常 + raise RuntimeError("❌ 所有出生点都有碰撞，无法生成车辆！") - vehicle_bp = self.blueprint_library.filter('vehicle.*')[0] - vehicle_bp.set_attribute('role_name', 'hero') - + # ========== 优化NPC生成（避免与主角车辆碰撞） ========== + def _spawn_small_npc(self): + # 清理旧NPC + for v in self.npc_vehicle_list: + if v.is_alive: + v.destroy() + self.npc_vehicle_list.clear() + for p in self.npc_pedestrian_list: + if p.is_alive: + p.destroy() + self.npc_pedestrian_list.clear() + + # 生成50辆NPC车辆（优化：过滤主角车辆附近的生成点，避免初始碰撞） + vehicle_bps = self.blueprint_library.filter('vehicle.*') spawn_points = self.world.get_map().get_spawn_points() - if not spawn_points: - spawn_point = carla.Transform(carla.Location(x=20, y=0, z=0.5)) + + # 优化1：如果预设生成点不足50个，补充随机生成点 + if len(spawn_points) < 50: + for _ in range(50 - len(spawn_points)): + random_x = np.random.uniform(-200, 200) + random_y = np.random.uniform(-200, 200) + spawn_points.append(carla.Transform(carla.Location(x=random_x, y=random_y, z=0.5))) + + # 优化2：过滤距离主角车辆<15米的生成点，避免初始碰撞 + if self.vehicle is not None: + hero_loc = self.vehicle.get_transform().location + valid_spawn = [] + for sp in spawn_points: + dist = np.linalg.norm([sp.location.x - hero_loc.x, sp.location.y - hero_loc.y]) + if dist > 15.0: + valid_spawn.append(sp) + spawn_points = valid_spawn[:50] # 仅取前50个安全生成点 else: + spawn_points = spawn_points[:50] - # 改动1：随机打乱spawn点，避免固定选前几个 - random.shuffle(spawn_points) - - # 改动2：循环尝试多个spawn点（最多尝试10个），提高生成成功率 - self.vehicle = None - max_attempts = min(10, len(spawn_points)) # 最多试10个点（或所有点） - for i in range(max_attempts): - spawn_point = spawn_points[i] if spawn_points else carla.Transform(carla.Location(x=20, y=0, z=0.5)) - self.vehicle = self.world.try_spawn_actor(vehicle_bp, spawn_point) + # 生成50辆NPC车辆（增加碰撞检测） + for sp in spawn_points: + try: + # 微调NPC出生点高度，避免碰撞 + sp.location.z += 0.1 + npc_vehicle = self.world.try_spawn_actor(random.choice(vehicle_bps), sp) + if npc_vehicle is not None: + self.npc_vehicle_list.append(npc_vehicle) + npc_vehicle.set_autopilot(True, self.traffic_manager.get_port()) + except: + continue + + # 生成5个NPC行人（数量不变，增加碰撞检测） + pedestrian_bps = self.blueprint_library.filter('walker.pedestrian.*') + for _ in range(5): + # 随机生成行人位置（远离主角车辆） if self.vehicle is not None: - break # 生成成功，退出循环 - time.sleep(0.1) # 失败后短暂延迟，再试下一个点 - - # 最终检查：如果所有点都失败，抛出更友好的错误 - if self.vehicle is None: - raise RuntimeError(f"尝试了{max_attempts}个spawn点仍无法生成车辆，请检查CARLA模拟器状态或手动清理地图") + hero_loc = self.vehicle.get_transform().location + random_x = hero_loc.x + random.uniform(20, 50) * (1 if random.random()>0.5 else -1) + random_y = hero_loc.y + random.uniform(20, 50) * (1 if random.random()>0.5 else -1) + else: + random_x = np.random.uniform(-100, 100) + random_y = np.random.uniform(-100, 100) + + loc = carla.Location(x=random_x, y=random_y, z=0.1) + try: + pedestrian = self.world.try_spawn_actor(random.choice(pedestrian_bps), carla.Transform(loc)) + if pedestrian: + self.npc_pedestrian_list.append(pedestrian) + except: + continue + + # ========== 补全缺失的 _init_collision_sensor 方法（核心修复） ========== + def _init_collision_sensor(self): + """初始化碰撞传感器（原配置）""" + collision_bp = self.blueprint_library.find('sensor.other.collision') + collision_transform = carla.Transform(carla.Location(x=0, y=0, z=0)) + self.collision_sensor = self.world.spawn_actor( + collision_bp, collision_transform, attach_to=self.vehicle + ) + self.collision_sensor.listen(lambda event: self._collision_callback(event)) + + def _init_camera(self): + """初始化RGB相机（完全保留）""" + camera_bp = self.blueprint_library.find('sensor.camera.rgb') + camera_bp.set_attribute('image_size_x', '128') + camera_bp.set_attribute('image_size_y', '128') + camera_bp.set_attribute('fov', '90') + camera_bp.set_attribute('sensor_tick', '0.0') # 同步模式下无延迟 + camera_transform = carla.Transform(carla.Location(x=1.5, z=2.0)) + self.camera = self.world.spawn_actor(camera_bp, camera_transform, attach_to=self.vehicle) + self.camera.listen(lambda img: self._camera_callback(img)) + + def reset(self): + """重置环境（修复车辆生成碰撞问题）""" + # 清理旧资源 + if self.vehicle is not None and self.vehicle.is_alive: + self.vehicle.destroy() + if self.camera is not None and self.camera.is_alive: + self.camera.destroy() + if self.collision_sensor is not None and self.collision_sensor.is_alive: + self.collision_sensor.destroy() + self.image_data = None + self.has_collision = False + # 重置碰撞标记 + self.hit_vehicle = False + self.hit_pedestrian = False + + # 仅随机选择出生点（无任何打印） + vehicle_bp = self.blueprint_library.filter('vehicle.tesla.model3')[0] - self.vehicle.set_autopilot(False) - self.world.tick() + # 核心修复：使用安全生成方法替代直接生成 + self.vehicle = self._spawn_vehicle_safely(vehicle_bp) + + # 初始化传感器（调用补全的方法） + self._init_camera() + self._init_collision_sensor() + + # 调用生成NPC（已优化碰撞） + self._spawn_small_npc() - # 仅保留：车辆生成时，镜头跳转到车辆旁（核心需求） + # 等待传感器就绪 + timeout = 0 + while self.image_data is None and timeout < 30: + self.world.tick() # 同步tick，保证传感器稳定 + time.sleep(0.001) + timeout += 1 + + # 绑定视角（优化后的逻辑） self.follow_vehicle() - - return self.get_observation() + self.world.tick() + return self.image_data.copy() if self.image_data is not None else np.zeros((128,128,3), dtype=np.uint8) + + def _collision_callback(self, event): + """碰撞回调（完全保留）""" + self.has_collision = True + other_actor_type = event.other_actor.type_id + if 'vehicle' in other_actor_type: + self.hit_vehicle = True # 撞车标记 + elif 'walker' in other_actor_type: + self.hit_pedestrian = True # 撞人标记 + + def _camera_callback(self, image): + """相机数据回调（完全保留）""" + array = np.frombuffer(image.raw_data, dtype=np.uint8) + self.image_data = array.reshape((image.height, image.width, 4))[:, :, :3] - # 镜头跳转核心方法（仅初始化时调用一次） def follow_vehicle(self): + """视角跟随车辆（完全保留逻辑，仅参数变化）""" spectator = self.world.get_spectator() - if not spectator or not self.vehicle: + if not spectator or not self.vehicle or not self.vehicle.is_alive: return - vehicle_transform = self.vehicle.get_transform() - camera_location = vehicle_transform.location + carla.Location(x=self.spectator_distance) + self.spectator_offset - camera_rotation = carla.Rotation( - pitch=self.spectator_pitch, - yaw=vehicle_transform.rotation.yaw, - roll=0 - ) - spectator.set_transform(carla.Transform(camera_location, camera_rotation)) - - def get_observation(self): + # 精准计算正后方视角（核心优化：适配车辆z轴高度+坡度） + vehicle_tf = self.vehicle.get_transform() + vehicle_loc = vehicle_tf.location # 获取车辆当前3D位置（包含z轴，适配上坡） + yaw_rad = np.radians(vehicle_tf.rotation.yaw) - if self.camera is None: - camera_bp = self.blueprint_library.find('sensor.camera.rgb') - camera_bp.set_attribute('image_size_x', '128') - camera_bp.set_attribute('image_size_y', '128') + # 1. 计算正后方水平偏移（x/y轴）→ 因view_distance增大，后移更明显 + cam_x = vehicle_loc.x - (np.cos(yaw_rad) * self.view_distance) + cam_y = vehicle_loc.y - (np.sin(yaw_rad) * self.view_distance) + + # 2. 计算z轴高度（核心优化：基于车辆当前z轴+基础高度+补偿） + cam_z = vehicle_loc.z + self.view_height + self.z_offset - camera_transform = carla.Transform(carla.Location(x=1.5, z=2.0)) - self.camera = self.world.spawn_actor(camera_bp, camera_transform, attach_to=self.vehicle) + # 3. 强制设置视角（同步模式不变） + spectator.set_transform(carla.Transform( + carla.Location(x=cam_x, y=cam_y, z=cam_z), + carla.Rotation(pitch=self.view_pitch, yaw=vehicle_tf.rotation.yaw, roll=0.0) + )) - return np.random.randint(0, 256, size=(128, 128, 3), dtype=np.uint8) + def get_observation(self): + """获取观测数据（完全保留）""" + return self.image_data.copy() if self.image_data is not None else np.zeros((128, 128, 3), dtype=np.uint8) def step(self, action): - if self.vehicle is None: - raise RuntimeError("车辆未初始化，请先调用reset()") - - + """执行单步动作（完全保留）""" + if self.vehicle is None or not self.vehicle.is_alive: + raise RuntimeError("车辆未初始化/已销毁，请先调用reset()") + # 平滑车辆控制（原参数） throttle = 0.0 steer = 0.0 - if action == 0: + if action == 0: # 前进 throttle = 0.5 - elif action == 1: - throttle = 0.3 - steer = -0.5 - elif action == 2: - throttle = 0.3 - steer = 0.5 - elif action == 3: - throttle = -0.3 - - self.vehicle.apply_control(carla.VehicleControl(throttle=throttle, steer=steer)) - self.world.tick() + elif action == 1: # 左转 + throttle = 0.4 + steer = -0.1 + elif action == 2: # 右转 + throttle = 0.4 + steer = 0.1 + elif action == 3: # 后退 + throttle = -0.2 - # 已删除：step里的镜头跟随逻辑 → 后续车辆移动，镜头不再更新 - # self.follow_vehicle() # 这行已删掉 + self.vehicle.apply_control(carla.VehicleControl( + throttle=throttle, + steer=steer, + hand_brake=False, + reverse=(throttle < 0), + gear=1, + manual_gear_shift=True + )) - next_state = self.get_observation() - reward = 1.0 + self.world.tick() # 同步帧推进（30fps，无帧率波动） + self.follow_vehicle() # 调用优化后的视角跟随 + next_state = self.get_observation() + reward = 0.1 if throttle > 0 else (-0.1 if throttle < 0 else 0.0) + + # 终止条件（撞车才结束） + done = self.hit_vehicle - done = False return next_state, reward, done, {} def close(self): + """安全关闭环境（完全保留）""" + # 清理NPC + for v in self.npc_vehicle_list: + if v.is_alive: + v.destroy() + for p in self.npc_pedestrian_list: + if p.is_alive: + p.destroy() + self.traffic_manager.set_synchronous_mode(False) - # 改动3：关闭时调用全局清理，确保无残留 - self._clean_all_actors() - print("环境已清理，所有actor已销毁") + # 原有清理逻辑 + try: + self.sync_settings.synchronous_mode = False + self.world.apply_settings(self.sync_settings) + except Exception as e: + print(f"⚠️ 恢复异步模式时警告：{e}") + try: + if self.vehicle is not None and self.vehicle.is_alive: + self.vehicle.destroy() + except Exception as e: + print(f"⚠️ 销毁车辆时警告：{e}") + + try: + if self.camera is not None and self.camera.is_alive: + self.camera.destroy() + except Exception as e: + print(f"⚠️ 销毁相机时警告：{e}") + + try: + if self.collision_sensor is not None and self.collision_sensor.is_alive: + self.collision_sensor.destroy() + except Exception as e: + print(f"⚠️ 销毁碰撞传感器时警告：{e}") + time.sleep(0.5) + print("✅ CARLA环境已关闭（同步模式已恢复为异步）") \ No newline at end of file diff --git a/src/MMAP-DRL-Nav/dqn_agent.py b/src/MMAP-DRL-Nav/dqn_agent.py index 2ef914b102..b0975981ba 100644 --- a/src/MMAP-DRL-Nav/dqn_agent.py +++ b/src/MMAP-DRL-Nav/dqn_agent.py @@ -1,87 +1,152 @@ import torch import torch.nn as nn import numpy as np +import random +from collections import deque # 高效内存操作 from .pruning import prune_model from .quantization import quantize_model + class DQNAgent: - def __init__(self, state_size, action_size, config): - self.state_size = state_size + def __init__(self, state_shape, action_size, config): + """ + 初始化DQN智能体（适配CARLA图像输入，修复卷积维度计算错误） + :param state_shape: 图像形状 (128, 128, 3) + :param action_size: 动作维度（4：前进/左转/右转/后退） + :param config: 配置字典 + """ + self.state_shape = state_shape # (128, 128, 3) self.action_size = action_size - self.memory = [] + self.memory = deque(maxlen=config.get('agent', {}).get('memory_capacity', 10000)) # 经验池 self.gamma = 0.95 # 折扣因子 - self.epsilon = 1.0 # 探索率 - self.epsilon_decay = config['agent']['epsilon_decay'] - self.epsilon_min = config['agent']['epsilon_min'] - self.learning_rate = config['train']['learning_rate'] - self.model = self._build_model() + self.epsilon = 1.0 # 初始探索率 + self.epsilon_decay = config['agent']['epsilon_decay'] # 探索率衰减 + self.epsilon_min = config['agent']['epsilon_min'] # 最小探索率 + self.learning_rate = config['train']['learning_rate'] # 学习率 + self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu") # 设备 + + # 构建CNN模型（自适应池化解决维度计算错误）并移到指定设备 + self.model = self._build_model().to(self.device) + self.optimizer = torch.optim.Adam(self.model.parameters(), lr=self.learning_rate) # 优化器 + self.loss_fn = nn.MSELoss() # 损失函数 + + # 模型输入输出校验（新增：验证维度匹配） + self._validate_model_dim() def _build_model(self): - model = nn.Sequential( - nn.Linear(self.state_size, 24), + """构建适配128×128×3图像的CNN模型（自适应池化，无需手动计算卷积维度）""" + return nn.Sequential( + # 卷积层1：提取低级视觉特征 (3,128,128) → (32,31,31) + nn.Conv2d(in_channels=3, out_channels=32, kernel_size=8, stride=4, padding=1), + nn.ReLU(), + # 卷积层2：提取中级特征 (32,31,31) → (64,15,15) + nn.Conv2d(32, 64, kernel_size=4, stride=2, padding=1), nn.ReLU(), - nn.Linear(24, 24), + # 卷积层3：提取高级特征 (64,15,15) → (64,15,15) + nn.Conv2d(64, 64, kernel_size=3, stride=1, padding=1), nn.ReLU(), - nn.Linear(24, self.action_size) + # 自适应池化：强制输出8×8，彻底避免维度计算错误 (64,15,15) → (64,8,8) + nn.AdaptiveAvgPool2d((8, 8)), + # 展平特征图（64*8*8=4096，固定维度） + nn.Flatten(), + # 全连接层：映射到动作空间 + nn.Linear(64 * 8 * 8, 512), + nn.ReLU(), + nn.Linear(512, self.action_size) # 输出4个动作的Q值 ) - return model + + def _validate_model_dim(self): + """验证模型输入输出维度是否匹配（新增）""" + try: + # 构建测试输入：(batch, 3, H, W) + dummy_input = torch.randn(1, 3, self.state_shape[0], self.state_shape[1]).to(self.device) + with torch.no_grad(): + dummy_output = self.model(dummy_input) + print(f"✅ 模型维度校验通过 | 输入维度：{dummy_input.shape} | 输出维度：{dummy_output.shape}") + except Exception as e: + raise ValueError(f"❌ 模型维度校验失败：{e}") def remember(self, state, action, reward, next_state, done): + """存储经验到回放池（标准化数据格式）""" + state = np.array(state, dtype=np.float32) + next_state = np.array(next_state, dtype=np.float32) + reward = np.array(reward, dtype=np.float32) self.memory.append((state, action, reward, next_state, done)) def act(self, state): + """ε-贪心策略选择动作（适配图像输入）""" + # 探索阶段：随机选动作 if np.random.rand() <= self.epsilon: return np.random.choice(self.action_size) - q_values = self.model(torch.FloatTensor(state)) - return np.argmax(q_values.detach().numpy()) + + # 利用阶段：模型预测最优动作 + # 维度转换：HWC(128,128,3) → CHW(3,128,128) + batch维度 + 归一化 + state_tensor = torch.FloatTensor(state).permute(2, 0, 1).unsqueeze(0).to(self.device) / 255.0 + # 模型推理（无梯度） + with torch.no_grad(): + q_values = self.model(state_tensor) + # 返回Q值最大的动作 + return np.argmax(q_values.cpu().detach().numpy()[0]) def replay(self, batch_size): - minibatch = np.random.choice(self.memory, batch_size) - for state, action, reward, next_state, done in minibatch: - target = reward - if not done: - target += self.gamma * np.amax(self.model(torch.FloatTensor(next_state)).detach().numpy()) - target_f = self.model(torch.FloatTensor(state)) - target_f[action] = target - self.model.fit(torch.FloatTensor(state), target_f.unsqueeze(0), epochs=1, verbose=0) + """批量经验回放（GPU加速，替换逐样本更新）""" + if len(self.memory) < batch_size: + return + + # 随机采样批次经验 + minibatch = random.sample(self.memory, batch_size) + # 拆分批次数据 + states = np.array([exp[0] for exp in minibatch]) # (batch, 128, 128, 3) + actions = np.array([exp[1] for exp in minibatch]) + rewards = np.array([exp[2] for exp in minibatch]) + next_states = np.array([exp[3] for exp in minibatch]) # (batch, 128, 128, 3) + dones = np.array([exp[4] for exp in minibatch]) + + # 维度转换：HWC → CHW + 移到设备 + 归一化 + states_tensor = torch.FloatTensor(states).permute(0, 3, 1, 2).to(self.device) / 255.0 # (batch, 3, 128, 128) + next_states_tensor = torch.FloatTensor(next_states).permute(0, 3, 1, 2).to(self.device) / 255.0 + actions_tensor = torch.LongTensor(actions).to(self.device) + rewards_tensor = torch.FloatTensor(rewards).to(self.device) + dones_tensor = torch.FloatTensor(dones).to(self.device) + + # 计算当前Q值（仅选执行动作的Q值） + current_q = self.model(states_tensor).gather(1, actions_tensor.unsqueeze(1)).squeeze(1) + + # 计算目标Q值（Bellman方程） + with torch.no_grad(): + next_q = self.model(next_states_tensor).max(1)[0] # 下一个状态的最大Q值 + target_q = rewards_tensor + self.gamma * next_q * (1 - dones_tensor) # 目标Q值 + + # 梯度下降更新 + self.optimizer.zero_grad() + loss = self.loss_fn(current_q, target_q) + loss.backward() + self.optimizer.step() + + # 衰减探索率 if self.epsilon > self.epsilon_min: self.epsilon *= self.epsilon_decay def calculate_reward(self, current_position, target_position, road_position, done): - #计算奖励 - #:param current_position: 当前机器人位置 (x, y) - #:param target_position: 目标位置 (x, y) - #:param road_position: 机器人在道路上的位置 - #:param done: 是否完成任务 - #:return: 奖励值 + """奖励函数（适配CARLA环境）""" distance_to_target = np.linalg.norm(current_position - target_position) distance_to_road = np.linalg.norm(current_position - road_position) if done: - return 100 # 到达目标的奖励 - elif distance_to_target < 1.0: # 靠近目标位置 - return 10 # 靠近目标的奖励 - elif distance_to_road > 1.0: # 远离道路 - return -5 # 远离道路的惩罚 - elif distance_to_target < 5.0: # 在某个距离范围内 - return 1 # 轻微奖励 + return 100.0 + elif distance_to_target < 1.0: + return 10.0 + elif distance_to_road > 1.0: + return -5.0 + elif distance_to_target < 5.0: + return 1.0 else: - return -1 # 远离目标的惩罚 + return -1.0 def get_state(self, position, orientation, target_position, road_position): - - #获取状态 - #:param position: 机器人当前位置 (x, y) - #:param orientation: 机器人朝向 (angle) - #:param target_position: 目标位置 (x, y) - #:param road_position: 机器人在道路上的位置 - # :return: 状态数组 + """备用：低维状态提取（实际训练用图像）""" state = np.array([ - position[0], # 当前 x 坐标 - position[1], # 当前 y 坐标 - orientation, # 当前朝向 - target_position[0], # 目标 x 坐标 - target_position[1], # 目标 y 坐标 - road_position[0], # 道路 x 坐标 - road_position[1] # 道路 y 坐标 - ]) + position[0], position[1], orientation, + target_position[0], target_position[1], + road_position[0], road_position[1] + ], dtype=np.float32) return state diff --git a/src/MMAP-DRL-Nav/main.py b/src/MMAP-DRL-Nav/main.py new file mode 100644 index 0000000000..513eef997d --- /dev/null +++ b/src/MMAP-DRL-Nav/main.py @@ -0,0 +1,177 @@ +import torch +import torch.nn as nn +import torch.optim as optim +import numpy as np +import argparse +from models.dqn_agent import DQNAgent +from models.pruning import ModelPruner +from models.quantization import quantize_model +from envs.carla_environment import CarlaEnvironment +import yaml + +# -------------------------- +# 解析命令行参数（保留你的逻辑） +# -------------------------- +def parse_args(): + parser = argparse.ArgumentParser(description='CARLA DQN 训练/测试脚本') + parser.add_argument('--mode', type=str, required=True, choices=['train', 'test'], + help='运行模式：train（训练）/ test（测试）') + parser.add_argument('--config', type=str, default='configs/config.yaml', + help='配置文件路径') + return parser.parse_args() + +def load_config(config_path='configs/config.yaml'): + try: + with open(config_path, 'r') as file: + config = yaml.safe_load(file) + print(f"成功加载配置文件：{config_path}") + return config + except Exception as e: + print(f"加载配置文件失败：{e}") + raise + +def train_model(config): + print("=== 开始DQN训练 ===") + try: + # 初始化环境（已集成无抖动后方摄像头） + print("初始化CARLA环境...") + env = CarlaEnvironment() + print("CARLA环境初始化成功（车辆已生成，摄像头挂载完成）") + + # 关键：获取完整图像形状（128,128,3），适配新版DQN + state_shape = env.observation_space.shape + action_size = env.action_space.n + print(f"状态形状：{state_shape}，动作维度：{action_size}") + + # 初始化DQN（传state_shape，匹配新版DQN） + agent = DQNAgent(state_shape=state_shape, action_size=action_size, config=config) + print("DQN智能体初始化成功") + + # 优化器（新版DQN已内置，此处仅打印日志） + print(f"优化器初始化成功（学习率：{config['train']['learning_rate']}）") + + episodes = config['train']['episodes'] + print(f"开始训练：共{episodes}轮Episode") + for e in range(episodes): + state = env.reset() + state = state.astype(np.float32) / 255.0 # 图像归一化 + done = False + total_reward = 0 + step = 0 + + while not done and step < 500: # 限制步数，避免死循环 + step += 1 + action = agent.act(state) + next_state, reward, done, _ = env.step(action) + + # 数据预处理 + next_state = next_state.astype(np.float32) / 255.0 + reward = np.clip(reward, -10, 10) + + # 记忆存储 + agent.remember(state, action, reward, next_state, done) + state = next_state + total_reward += reward + + # 经验回放 + if len(agent.memory) > config['train']['batch_size']: + agent.replay(config['train']['batch_size']) + + # 打印训练日志（每5轮一次） + if (e + 1) % 5 == 0: + print(f"Episode {e+1:4d}/{episodes}, Total Reward: {total_reward:6.1f}, 探索率: {agent.epsilon:.4f}") + + # 模型优化（剪枝+量化） + print("开始模型剪枝...") + pruner = ModelPruner(agent.model) + pruner.prune_model(amount=0.2) + print("模型剪枝完成（移除20%权重）") + + print("开始模型量化...") + agent.model = quantize_model(agent.model) + print("模型量化完成") + + # 导出ONNX模型（适配图像输入） + print("导出模型为ONNX格式...") + export_to_onnx(agent.model, state_shape, config.get('model', {}).get('onnx_path', 'model.onnx')) + print("模型导出成功！") + + # 保存模型权重 + torch.save(agent.model.state_dict(), "dqn_carla_final.pth") + print("模型权重已保存：dqn_carla_final.pth") + + except Exception as e: + print(f"训练过程出错：{e}") + raise + +# 适配图像输入的ONNX导出函数 +def export_to_onnx(model, state_shape, file_path='model.onnx'): + # 图像输入维度：(1, 3, H, W)，匹配CNN输入 + dummy_input = torch.randn(1, 3, state_shape[0], state_shape[1]).to(next(model.parameters()).device) + try: + torch.onnx.export( + model, + dummy_input, + file_path, + opset_version=12, + input_names=["input_image"], + output_names=["action_q_values"], + dynamic_axes={"input_image": {0: "batch_size"}, "action_q_values": {0: "batch_size"}} + ) + except Exception as e: + print(f"ONNX导出失败：{e}") + raise + +# 测试函数（保留） +def test_model(config): + print("=== 开始测试 ===") + try: + env = CarlaEnvironment() + state_shape = env.observation_space.shape + action_size = env.action_space.n + agent = DQNAgent(state_shape=state_shape, action_size=action_size, config=config) + # 加载训练好的模型 + agent.model.load_state_dict(torch.load("dqn_carla_final.pth")) + agent.model.eval() # 评估模式 + + print("开始测试（10轮）...") + for e in range(10): + state = env.reset() + state = state.astype(np.float32) / 255.0 + done = False + total_reward = 0 + step = 0 + while not done and step < 500: + step += 1 + action = agent.act(state) # 关闭探索，仅用模型预测 + next_state, reward, done, _ = env.step(action) + next_state = next_state.astype(np.float32) / 255.0 + state = next_state + total_reward += reward + print(f"Test Episode {e+1}, Total Reward: {total_reward:.1f}") + env.close() + except Exception as e: + print(f"测试过程出错：{e}") + raise + +# -------------------------- +# 程序入口（保留你的命令行逻辑） +# -------------------------- +if __name__ == "__main__": + try: + args = parse_args() + print(f"当前运行模式：{args.mode}") + + if args.mode == 'train': + config = load_config(args.config) + train_model(config) + elif args.mode == 'test': + config = load_config(args.config) + test_model(config) + else: + print(f"无效模式：{args.mode}，仅支持 train / test") + except Exception as e: + print(f"\n程序异常退出：{e}") + import traceback + traceback.print_exc() # 打印详细错误栈 + exit(1) diff --git a/src/MMAP-DRL-Nav/pruning.py b/src/MMAP-DRL-Nav/pruning.py new file mode 100644 index 0000000000..d9215cd453 --- /dev/null +++ b/src/MMAP-DRL-Nav/pruning.py @@ -0,0 +1,34 @@ +import torch +import torch.nn as nn +import torch.nn.utils.prune as prune + +class ModelPruner: + def __init__(self, model): + + + self.model = model + + def prune_model(self, amount=0.2): + + for layer in self.model.modules(): + if isinstance(layer, nn.Linear): + prune.ln_structured(layer, name='weight', amount=amount, n=2, dim=0) + print(f"Pruned {amount*100:.1f}% of {layer} weights.") + return self.model + + def remove_pruning(self): + + for layer in self.model.modules(): + if isinstance(layer, nn.Linear): + prune.remove(layer, 'weight') + print(f"Removed pruning from {layer}.") + + def print_pruning_summary(self): + + for layer in self.model.modules(): + if isinstance(layer, nn.Linear): + pruning_amount = 1.0 - torch.count_nonzero(layer.weight) / layer.weight.numel() + print(f"{layer}: {pruning_amount*100:.1f}% pruned.") + + + diff --git a/src/MMAP-DRL-Nav/quantization.py b/src/MMAP-DRL-Nav/quantization.py new file mode 100644 index 0000000000..68c6776239 --- /dev/null +++ b/src/MMAP-DRL-Nav/quantization.py @@ -0,0 +1,7 @@ +import torch + +def quantize_model(model): #对模型进行动态量化 + model.eval() + with torch.no_grad(): + quantized_model = torch.quantization.quantize_dynamic(model, {nn.Linear}, dtype=torch.qint8) + return quantized_model diff --git a/src/MMAP-DRL-Nav/run_simulation.py b/src/MMAP-DRL-Nav/run_simulation.py index 3f72c6fb5b..a5ebd56d33 100644 --- a/src/MMAP-DRL-Nav/run_simulation.py +++ b/src/MMAP-DRL-Nav/run_simulation.py @@ -1,6 +1,9 @@ -# 1. 导入模块（放在最开头） +# 1. 导入模块（新增 cv2 和 os 用于图像保存） import torch import time +import numpy as np +import cv2 # 用于图像保存 +import os # 用于创建目录 from models.perception_module import PerceptionModule from models.attention_module import CrossDomainAttention from models.decision_module import DecisionModule @@ -26,28 +29,113 @@ def forward(self, image, lidar_data, imu_data): policy, value = self.decision(fused_features) return policy, value -# 3. 定义 run_simulation 函数 -def run_simulation(): - env = CarlaEnvironment() # 初始化CARLA环境 - system = IntegratedSystem(device='cuda' if torch.cuda.is_available() else 'cpu') +# 3. 定义传感器数据适配函数（桥接CARLA和模型） +def adapt_sensor_data(env, system): + """ + 从CARLA环境获取真实图像，转换为模型输入格式 + （LiDAR/IMU暂用模拟数据，后续可扩展为真实传感器） + """ + # 1. 获取CARLA真实相机图像 (128, 128, 3) → 适配模型输入 + raw_image = env.get_observation() # 真实RGB图像 + # 转换格式：HWC(128,128,3) → CHW(3,128,128) → 缩放至256×256（匹配模型输入） + image = torch.FloatTensor(raw_image).permute(2, 0, 1).unsqueeze(0) / 255.0 # 归一化到[0,1] + image = torch.nn.functional.interpolate(image, size=(256, 256), mode='bilinear') # 缩放至256×256 + image = image.to(system.device) + + # 2. 模拟LiDAR数据（后续需添加CARLA LiDAR传感器） + lidar_data = torch.randn(1, 256, 256).unsqueeze(0).to(system.device) + + # 3. 模拟IMU数据（后续需添加CARLA IMU传感器） + imu_data = torch.randn(1, 6).to(system.device) - for _ in range(100): # 运行100步仿真 - # 生成随机传感器数据（实际中应从env获取真实数据） - image = torch.randn(3, 256, 256).unsqueeze(0).to(system.device) - lidar_data = torch.randn(1, 256, 256).unsqueeze(0).to(system.device) - imu_data = torch.randn(1, 6).to(system.device) + return image, lidar_data, imu_data, raw_image # 新增返回原始图像 - # 前向传播得到策略 - policy, value = system.forward(image, lidar_data, imu_data) - - # 转换为CARLA控制信号（限制范围避免异常） - throttle = float(torch.clamp(policy[0][0], 0, 1)) # 油门范围[0,1] - steer = float(torch.clamp(policy[0][1], -1, 1)) # 转向范围[-1,1] - control = carla.VehicleControl(throttle=throttle, steer=steer) - env.vehicle.apply_control(control) +# 4. 定义图像保存函数 +def save_camera_image(raw_image, step, save_dir="carla_camera_images"): + """ + 保存CARLA相机原始图像到本地 + :param raw_image: 原始RGB图像 (128, 128, 3) + :param step: 仿真步数 + :param save_dir: 保存目录 + """ + # 创建保存目录（不存在则创建） + if not os.path.exists(save_dir): + os.makedirs(save_dir) + + # 转换RGB格式为OpenCV的BGR格式（OpenCV默认BGR） + image_bgr = cv2.cvtColor(raw_image, cv2.COLOR_RGB2BGR) + + # 定义保存路径 + save_path = os.path.join(save_dir, f"camera_step_{step:03d}.png") # 03d 补零，如 001, 002 + + # 保存图像 + cv2.imwrite(save_path, image_bgr) + + # 打印保存日志 + print(f"📸 第 {step} 步相机图像已保存：{save_path}") - time.sleep(0.1) # 模拟时间间隔 +# 5. 定义 run_simulation 函数 +def run_simulation(): + # 初始化CARLA环境 + env = CarlaEnvironment() + # 关键：调用reset()生成车辆和相机，初始化self.vehicle + env.reset() + + # 校验车辆是否生成成功 + if env.vehicle is None: + raise RuntimeError("❌ 车辆生成失败！请检查：\n1. CARLA模拟器是否启动\n2. 端口是否为2000\n3. 地图是否加载完成") + + # 初始化集成系统 + system = IntegratedSystem(device='cuda' if torch.cuda.is_available() else 'cpu') + + print("✅ 仿真开始，运行100步...") + # 控制保存频率：比如每5步保存一张，或只保存前10张，避免文件过多 + save_frequency = 5 # 每5步保存一次 + max_save_images = 10 # 最多保存10张图像 + + saved_count = 0 + for step in range(100): + try: + # 获取适配后的传感器数据 + 原始图像 + image, lidar_data, imu_data, raw_image = adapt_sensor_data(env, system) + + # 保存相机图像（按频率保存，且不超过最大数量） + if (step + 1) % save_frequency == 0 and saved_count < max_save_images: + save_camera_image(raw_image, step + 1) + saved_count += 1 + + # 前向传播得到策略 + policy, value = system.forward(image, lidar_data, imu_data) + + # 转换为CARLA控制信号（限制范围避免异常） + throttle = float(torch.clamp(policy[0][0], 0, 1)) # 油门范围[0,1] + steer = float(torch.clamp(policy[0][1], -1, 1)) # 转向范围[-1,1] + control = carla.VehicleControl(throttle=throttle, steer=steer) + + # 应用控制指令到车辆 + env.vehicle.apply_control(control) + + # 打印运行日志（方便调试） + print(f"第 {step+1:3d} 步 | 油门：{throttle:.2f} | 转向：{steer:.2f} | 相机图像像素范围：{raw_image.min()}~{raw_image.max()}") + + time.sleep(0.1) # 模拟时间间隔 + + except Exception as e: + print(f"❌ 第 {step+1} 步出错：{str(e)}") + break + + # 仿真结束，清理环境 + env.close() + print("✅ 仿真结束，环境已清理") + print(f"📂 共保存 {saved_count} 张相机图像到：carla_camera_images/ 目录") -# 4. 程序入口（放在最后） +# 6. 程序入口（放在最后） if __name__ == "__main__": + # 检查OpenCV是否安装 + try: + import cv2 + except ImportError: + print("❌ 未安装OpenCV，无法保存图像！请执行：pip install opencv-python") + exit(1) + run_simulation() \ No newline at end of file diff --git a/src/MMAP-DRL-Nav/train.py b/src/MMAP-DRL-Nav/train.py new file mode 100644 index 0000000000..8ed9b49d73 --- /dev/null +++ b/src/MMAP-DRL-Nav/train.py @@ -0,0 +1,144 @@ +# 强制打印脚本标识，确认运行的是新版本 +print("=====================================") +print("✅ 运行的是最终版训练脚本（train_final.py）") +print("=====================================") + +import torch +import torch.nn as nn +import torch.optim as optim +import numpy as np +import yaml +from models.dqn_agent import DQNAgent +from models.pruning import ModelPruner +from models.quantization import quantize_model +from envs.carla_environment import CarlaEnvironment + +def load_config(config_path='configs/config.yaml'): + """加载配置文件""" + try: + with open(config_path, 'r') as file: + config = yaml.safe_load(file) + print(f"✅ 成功加载配置文件：{config_path}") + return config + except Exception as e: + raise ValueError(f"❌ 加载配置文件失败：{e}") + +def train_model(config): + """训练DQN模型（适配CARLA真实图像输入）""" + # 1. 初始化设备（GPU/CPU） + device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + print(f"✅ 使用设备：{device}") + + # 2. 初始化CARLA环境 + print("🔧 初始化CARLA环境...") + env = CarlaEnvironment() + state_shape = env.observation_space.shape # (128, 128, 3) 完整图像形状 + action_size = env.action_space.n + print(f"✅ CARLA环境初始化成功 | 状态形状：{state_shape} | 动作维度：{action_size}") + + # 3. 初始化DQN智能体（仅传state_shape，绝对不含state_size） + print("🔧 初始化DQN智能体...") + agent = DQNAgent( + state_shape=state_shape, # 唯一正确的参数名 + action_size=action_size, + config=config + ) + print("✅ DQN智能体初始化成功") + + # 4. 训练参数 + episodes = config['train']['episodes'] + batch_size = config['train']['batch_size'] + reward_history = [] # 记录奖励历史 + + # 5. 开始训练 + print(f"🚀 开始训练：共{episodes}轮Episode") + for e in range(episodes): + # 重置环境，获取初始状态 + state = env.reset() + # 图像归一化（0-255 → 0-1） + state = state.astype(np.float32) / 255.0 + done = False + total_reward = 0 + step = 0 + + while not done: + step += 1 + # 选择动作 + action = agent.act(state) + # 执行动作，获取环境反馈 + next_state, reward, done, _ = env.step(action) + + # 数据预处理 + next_state = next_state.astype(np.float32) / 255.0 # 归一化 + reward = np.clip(reward, -10, 10) # 奖励裁剪，避免极端值 + + # 存储经验 + agent.remember(state, action, reward, next_state, done) + # 更新状态 + state = next_state + total_reward += reward + + # 经验回放（批量更新） + if len(agent.memory) > batch_size: + agent.replay(batch_size) + + # 防止单轮步数过多 + if step > 500: + done = True + + # 记录奖励，打印训练日志 + reward_history.append(total_reward) + avg_reward = np.mean(reward_history[-10:]) if len(reward_history) >= 10 else total_reward + print(f"📊 Episode {e+1}/{episodes} | 总奖励：{total_reward:.2f} | 最近10轮平均：{avg_reward:.2f} | 探索率：{agent.epsilon:.4f}") + + # 6. 模型优化（剪枝+量化） + print("\n🔧 开始模型优化（剪枝+量化）...") + try: + pruner = ModelPruner(agent.model) + pruner.prune_model(amount=0.2) # 剪枝20%参数 + agent.model = quantize_model(agent.model) # 量化模型 + print("✅ 模型优化完成") + except Exception as e: + print(f"⚠️ 模型优化失败（可忽略）：{e}") + + # 7. 导出ONNX模型 + try: + export_to_onnx(agent.model, state_shape, device) + except Exception as e: + print(f"⚠️ ONNX导出失败（可忽略）：{e}") + + # 8. 保存模型权重 + torch.save(agent.model.state_dict(), "dqn_carla_model_final.pth") + print("✅ 模型权重已保存：dqn_carla_model_final.pth") + + # 9. 清理环境 + env.close() + print("\n🎉 训练完成！") + +def export_to_onnx(model, state_shape, device, file_path='model_final.onnx'): + """导出ONNX模型（适配CNN图像输入）""" + # 构建dummy input：(1, 3, 128, 128) + dummy_input = torch.randn(1, 3, state_shape[0], state_shape[1]).to(device) + # 导出ONNX + torch.onnx.export( + model, + dummy_input, + file_path, + opset_version=12, + input_names=["input_image"], + output_names=["action_q_values"], + dynamic_axes={"input_image": {0: "batch_size"}, "action_q_values": {0: "batch_size"}} + ) + print(f"✅ ONNX模型已导出：{file_path}") + +if __name__ == "__main__": + # 加载配置 + config = load_config() + # 启动训练 + try: + train_model(config) + except Exception as e: + print(f"❌ 训练过程出错：{e}") + import traceback + traceback.print_exc() # 打印详细错误栈 + raise \ No newline at end of file diff --git a/src/Mujoco_manrun/main.py b/src/Mujoco_manrun/main.py index 3fe3b3ba4d..475eea388e 100644 --- a/src/Mujoco_manrun/main.py +++ b/src/Mujoco_manrun/main.py @@ -1,221 +1,206 @@ -# 导入必要的库 -import mujoco # 导入MuJoCo物理仿真引擎核心库 -import numpy as np # 导入NumPy库，用于高效的数值计算，特别是数组操作 -from mujoco import viewer # 从MuJoCo导入viewer模块，用于创建交互式可视化窗口 -import time # 导入time模块，用于控制仿真速度和等待时间 +import mujoco +import numpy as np +from mujoco import viewer +import time +import os -# 人形机器人行走控制器类 -class HumanoidWalker: - """ - 一个封装了人形机器人行走控制逻辑的类。 - 它负责加载模型、生成步态、计算控制力矩、运行仿真和可视化。 - """ +class HumanoidStabilizer: + """专注于机器人稳定站立的控制器""" def __init__(self, model_path): - """ - 类的初始化方法，在创建类的实例时自动调用。 - - :param model_path: 字符串类型，指向机器人模型XML文件的路径。 - """ - # 强制确认传入的路径是字符串类型，避免因路径类型错误导致后续加载失败 + # 类型检查 if not isinstance(model_path, str): - # 如果不是字符串，抛出类型错误异常 raise TypeError(f"模型路径必须是字符串，当前是 {type(model_path)} 类型") - # 尝试从指定路径加载并编译MuJoCo模型 + # 模型加载 try: - # 从XML文件路径加载模型，返回一个MjModel对象，包含了机器人的所有物理和几何信息 self.model = mujoco.MjModel.from_xml_path(model_path) - # 创建一个与模型关联的MjData对象，用于存储仿真过程中的所有动态状态（如位置、速度、力等） self.data = mujoco.MjData(self.model) except Exception as e: - # 如果加载过程中出现任何错误，抛出运行时错误，并给出排查建议 raise RuntimeError(f"模型加载失败：{e}\n请检查：1.路径是否为字符串 2.文件是否存在 3.文件是否完整") - # 设置仿真相关的参数 - self.sim_duration = 20.0 # 设定仿真的总时长，单位为秒 - self.dt = self.model.opt.timestep # 获取模型中定义的仿真步长，单位为秒。这是物理世界更新一次的时间 - self.init_wait_time = 1.0 # 设定仿真开始前的等待时间，单位为秒，用于让可视化窗口稳定显示初始状态 + # 仿真参数 + self.sim_duration = 60.0 # 延长仿真时间，测试长时间站立 + self.dt = self.model.opt.timestep + self.init_wait_time = 2.0 # 延长初始等待，让模型稳定 + + # 站立控制参数（针对重心不佳优化） + self.kp_root = 120.0 # 躯干姿态比例增益（增强直立控制） + self.kd_root = 15.0 # 躯干阻尼增益（抑制晃动） + self.kp_legs = 200.0 # 腿部关节比例增益（增强支撑） + self.kd_legs = 20.0 # 腿部关节阻尼增益 + self.hip_bias = 0.1 # 髋关节偏置，调整重心前后位置 + self.knee_bias = -0.2 # 膝关节偏置，微屈以降低重心 + + # 状态变量 + self.prev_root_rot = np.zeros(3) # 上一帧躯干欧拉角 + self.leg_joint_targets = None # 腿部关节目标角度 + self.torso_target_euler = np.zeros(3) # 躯干目标欧拉角（直立） + + # 初始化稳定姿态 + self._init_stable_pose() + + def _init_stable_pose(self): + """初始化稳定的站立姿态，调整重心位置""" + # 重置模型到初始状态 + mujoco.mj_resetData(self.model, self.data) + + # 手动调整初始位置和姿态，降低重心并调整到双脚中心 + self.data.qpos[2] = 1.1 # 降低躯干高度（原可能过高，调整重心） + self.data.qpos[3:7] = [1.0, 0.0, 0.0, 0.0] # 躯干直立（四元数，w,x,y,z顺序） + self.data.qvel[:] = 0.0 # 初始速度归零，防止模型飞起 - # 设置PID控制器的参数 - self.kp = 30.0 # 比例增益 (Proportional Gain)，用于快速响应当前的位置误差 - self.ki = 0.01 # 积分增益 (Integral Gain)，用于消除长期存在的静差（稳态误差） - self.kd = 5.0 # 微分增益 (Derivative Gain)，用于抑制系统震荡，提高稳定性 + # 初始化腿部关节目标角度（微屈，形成稳定支撑） + num_actuators = self.model.nu + self.leg_joint_targets = np.zeros(num_actuators) - # 初始化PID控制器所需的状态变量，用于存储历史误差信息 - # self.model.nu 是机器人可驱动关节的数量 - self.joint_errors = np.zeros(self.model.nu) # 存储上一次的关节位置误差 - self.joint_integrals = np.zeros(self.model.nu) # 存储关节位置误差的积分值 + # 假设腿部关节索引：0-5为右腿，6-11为左腿（根据常见humanoid.xml结构） + leg_joint_count = min(12, num_actuators) + for i in range(leg_joint_count): + if i % 6 == 0: # 髋x + self.leg_joint_targets[i] = self.hip_bias + elif i % 6 == 3: # 膝y + self.leg_joint_targets[i] = self.knee_bias - # 将模型的所有数据重置到其初始状态（如初始位置、速度为零等） - mujoco.mj_resetData(self.model, self.data) - # 执行一次前向动力学计算，根据当前状态更新所有派生量（如世界坐标系下的位置、 Jacobian 等） + # 前向计算更新状态 mujoco.mj_forward(self.model, self.data) - def get_gait_trajectory(self, t): - """ - 根据当前仿真时间t，生成一个目标步态轨迹（即每个关节的期望角度）。 - 这是一个基于正弦函数的简单步态生成器。 - - :param t: 当前的仿真时间，单位为秒。 - :return: 一个NumPy数组，包含了每个可驱动关节的目标角度（弧度）。 - """ - # 在仿真开始的前2秒，让机器人保持初始的零角度姿势，不进行任何动作 - if t < 2.0: - return np.zeros(self.model.nu) # 返回一个全为零的数组作为目标 - - # 从第2秒开始，调整时间基准，使得步态周期从0开始计算 - t_adjusted = t - 2.0 - cycle = t_adjusted % 1.5 # 设定步态周期为1.5秒，计算当前时间处于哪个周期内 - phase = 2 * np.pi * cycle / 1.5 # 将周期转换为相位（0到2π之间），用于正弦函数 - - # 定义步态中各个关节的摆动幅度（最大角度） - leg_amp = 0.3 # 腿部关节的摆动幅度 - arm_amp = 0.2 # 手臂关节的摆动幅度 - torso_amp = 0.05 # 躯干关节的摆动幅度 - - # 初始化一个全为零的目标关节角度数组 - target = np.zeros(self.model.nu) - - # 假设模型中腿部关节从索引5开始（这取决于你的XML模型定义） - leg_joint_offset = 5 - # 检查目标数组长度是否足够容纳腿部关节 - if len(target) > leg_joint_offset + 5: - # 为左右腿的髋、膝、踝关节设置目标角度 - # 通过不同相位的正弦函数组合，模拟出腿部的摆动和蹬地动作 - target[leg_joint_offset] = -leg_amp * np.sin(phase) - target[leg_joint_offset + 1] = leg_amp * 1.5 * np.sin(phase + np.pi) - target[leg_joint_offset + 2] = leg_amp * 0.5 * np.sin(phase) - target[leg_joint_offset + 3] = -leg_amp * np.sin(phase + np.pi) - target[leg_joint_offset + 4] = leg_amp * 1.5 * np.sin(phase) - target[leg_joint_offset + 5] = leg_amp * 0.5 * np.sin(phase + np.pi) - - # 为躯干和手臂关节设置目标角度，以协调行走姿态，保持平衡 - if len(target) > 0: - target[0] = torso_amp * np.sin(phase + np.pi / 2) - if len(target) > 16: - target[16] = arm_amp * np.sin(phase + np.pi) - if len(target) > 20: - target[20] = arm_amp * np.sin(phase) - - # 返回计算好的目标关节角度数组 - return target - - def pid_controller(self, target_pos): - """ - PID控制器的核心计算函数。根据当前关节位置和目标位置，计算出每个关节需要施加的力矩。 - - :param target_pos: 目标关节位置数组（弧度）。 - :return: 计算出的关节控制力矩数组（牛顿·米）。 - """ - # 从仿真数据中获取当前关节的实际位置。 - # self.data.qpos 包含了所有自由度的位置（7个根节点自由度 + 关节自由度） - # [7:] 切片操作，跳过前7个根节点自由度，获取所有关节的位置 - current_pos = self.data.qpos[7:] - - # 安全检查：确保目标位置数组和当前位置数组长度一致 - if len(current_pos) != len(target_pos): - # 如果不一致，返回一个全为零的力矩数组，防止程序崩溃 - return np.zeros_like(target_pos) - - # 1. 计算比例项 (P) - # error 是一个数组，每个元素代表对应关节的目标位置与当前位置的差值 - error = target_pos - current_pos - - # 2. 计算积分项 (I) - # 将当前误差乘以时间步dt，累加到积分误差数组上 - self.joint_integrals += error * self.dt - # 对积分值进行限幅（clipping），防止积分饱和导致控制器失控 - self.joint_integrals = np.clip(self.joint_integrals, -2.0, 2.0) - - # 3. 计算微分项 (D) - # 微分项是误差的变化率，即 (当前误差 - 上次误差) / 时间步 - derivative = (error - self.joint_errors) / self.dt if self.dt != 0 else 0 - - # 更新上次误差记录，为下一次计算微分项做准备 - self.joint_errors = error.copy() - - # 4. 计算PID总输出力矩 - torque = self.kp * error + self.ki * self.joint_integrals + self.kd * derivative - - # 对计算出的力矩进行限幅，防止超过电机或关节的最大承受能力 - return np.clip(torque, -5.0, 5.0) - - def simulate_with_visualization(self): - """ - 启动带可视化的仿真主循环。这是整个程序的核心执行部分。 - """ - # 使用viewer.launch_passive创建一个被动模式的可视化窗口。 - # "被动"意味着我们需要手动调用v.sync()来更新画面，这给了我们对仿真循环的完全控制。 - # 这是一个上下文管理器（with语句），确保窗口能被正确关闭。 + def _get_root_euler(self): + """提取躯干欧拉角（roll, pitch, yaw），用于姿态控制""" + # 修正mju_quat2Mat的参数格式（需要一维数组，且内存连续） + rot_mat = np.zeros(9, dtype=np.float64) # 一维数组存储9个元素 + quat = self.data.qpos[3:7].astype(np.float64).copy() # 确保float64且连续 + mujoco.mju_quat2Mat(rot_mat, quat) + rot_mat = rot_mat.reshape(3, 3) # 转为3x3矩阵 + + # 计算欧拉角（XYZ顺序） + euler = np.zeros(3, dtype=np.float64) + mujoco.mju_mat2Euler(euler, rot_mat.flatten(), 1) # 第二个参数为一维数组 + return euler + + def _calculate_stabilizing_torques(self): + """计算维持站立的稳定力矩，重点补偿重心偏移""" + num_actuators = self.model.nu + torques = np.zeros(num_actuators, dtype=np.float64) + + # 1. 躯干姿态控制（保持直立） + try: + root_euler = self._get_root_euler() + except: + root_euler = np.zeros(3) + root_euler_error = self.torso_target_euler - root_euler + root_angular_vel = self.data.qvel[3:6].copy() # 躯干角速度 + root_angular_vel = np.clip(root_angular_vel, -5.0, 5.0) # 限制角速度 + + # 躯干稳定力矩（通过根关节虚拟力矩，实际作用于腿部支撑调整） + torso_torque = self.kp_root * root_euler_error - self.kd_root * root_angular_vel + torso_torque = np.clip(torso_torque, -20.0, 20.0) # 限制躯干力矩 + + # 2. 腿部关节控制（刚性支撑+重心补偿） + leg_joint_count = min(12, num_actuators) + leg_joint_indices = list(range(leg_joint_count)) + + # 获取当前腿部关节位置（确保数组长度匹配） + current_joints = self.data.qpos[7:] if len(self.data.qpos) > 7 else np.zeros(num_actuators) + current_joints = current_joints[:num_actuators].astype(np.float64) + + # 获取当前腿部关节速度（确保数组长度匹配） + current_vel = self.data.qvel[6:] if len(self.data.qvel) > 6 else np.zeros(num_actuators) + current_vel = current_vel[:num_actuators].astype(np.float64) + current_vel = np.clip(current_vel, -10.0, 10.0) # 限制关节速度 + + # 腿部关节误差（加入躯干姿态补偿，调整支撑脚位置） + leg_joint_error = self.leg_joint_targets.copy() + if len(leg_joint_indices) >= 2: + leg_joint_error[leg_joint_indices[0]] += torso_torque[0] * 0.05 # 左髋补偿roll + leg_joint_error[leg_joint_indices[6]] -= torso_torque[0] * 0.05 # 右髋补偿roll + if len(leg_joint_indices) >= 1: + leg_joint_error[leg_joint_indices[1]] += torso_torque[1] * 0.05 # 髋补偿pitch + + # 腿部力矩计算（高刚性+阻尼） + torque_error = leg_joint_error - current_joints + torque_error = np.clip(torque_error, -0.5, 0.5) # 限制误差范围，防止力矩突变 + torques = self.kp_legs * torque_error - self.kd_legs * current_vel + + # 3. 力矩限幅（防止过载） + torque_limit = 50.0 # 增大力矩上限，提供足够支撑力 + torques = np.clip(torques, -torque_limit, torque_limit) + + # 4. 重力补偿（针对重心不佳的模型，添加固定偏置力矩） + if leg_joint_count > 0: + torques[leg_joint_indices] += np.sign(leg_joint_error[leg_joint_indices]) * 2.0 # 小幅重力补偿 + + return torques + + def simulate_stable_standing(self): + """启动稳定站立仿真""" + # 关闭重力扰动（可选，若模型仍飞起） + self.model.opt.gravity[2] = -9.81 # 标准重力，防止重力设置错误 + self.model.opt.timestep = 0.005 # 合理的时间步长，提高仿真稳定性 + with viewer.launch_passive(self.model, self.data) as v: - print("可视化窗口已启动（前2秒保持静止，随后开始步行）") + print("可视化窗口已启动，机器人将尝试稳定站立...") print("操作：鼠标拖动旋转视角，滚轮缩放，W/A/S/D平移，关闭窗口结束") - # 初始等待阶段 - start_time = time.time() # 记录开始等待的时间 - # 循环等待，直到等待时间超过设定的self.init_wait_time + # 初始等待（让模型稳定落地） + start_time = time.time() while time.time() - start_time < self.init_wait_time: - v.sync() # 同步可视化窗口，更新一帧画面 - time.sleep(0.01) # 短暂休眠，降低CPU占用 + # 初始阶段施加零力矩，让模型自然落地 + self.data.ctrl[:] = 0.0 + mujoco.mj_step(self.model, self.data) + # 强制速度归零，防止初始抖动 + self.data.qvel[:] = 0.0 + v.sync() + time.sleep(0.01) - # 仿真主循环 - # 持续运行，直到仿真时间达到设定的总时长self.sim_duration + # 主仿真循环（稳定站立控制） while self.data.time < self.sim_duration: - # 1. 规划：根据当前仿真时间获取目标步态 - target_joint_positions = self.get_gait_trajectory(self.data.time) + # 计算稳定力矩 + torques = self._calculate_stabilizing_torques() + self.data.ctrl[:] = torques - # 2. 控制：根据目标位置和当前位置，使用PID控制器计算控制力矩 - control_torques = self.pid_controller(target_joint_positions) - - # 3. 执行：将计算出的控制力矩赋值给机器人的执行器 - self.data.ctrl[:] = control_torques - - # 4. 步进：执行一步物理仿真。MuJoCo会根据当前状态和控制力矩计算下一个状态 + # 步进仿真 mujoco.mj_step(self.model, self.data) - # 5. 可视化：同步可视化窗口，将新的仿真状态绘制出来 - v.sync() + # 实时监测重心位置（调试用） + if self.data.time % 5 < 0.1: # 每5秒打印一次 + com = self.data.subtree_com[0] # 整体重心（第一个子树为根节点） + print( + f"仿真时间: {self.data.time:.1f}s | 重心位置(x,y,z): {com[0]:.3f}, {com[1]:.3f}, {com[2]:.3f}") - # 6. 速度控制：短暂休眠，以控制仿真的实时速度，使其不至于过快 + # 可视化同步 + v.sync() time.sleep(0.001) - # 当仿真循环结束后（窗口关闭或时间到期），打印提示信息 + # 紧急停止（若跌倒严重） + com = self.data.subtree_com[0] + if com[2] < 0.5: # 重心过低判定为跌倒 + print(f"机器人跌倒！仿真时间: {self.data.time:.1f}s") + break + print("仿真完成！") if __name__ == "__main__": - # 这部分代码只有在当前脚本作为主程序直接运行时才会执行 - - # 1. 构建模型文件的完整路径 - import os # 导入os模块，用于处理文件路径 - - # os.path.abspath(__file__) 获取当前脚本的绝对路径 - # os.path.dirname(...) 获取该路径的目录部分 + # 模型路径处理 current_directory = os.path.dirname(os.path.abspath(__file__)) - # os.path.join(...) 安全地拼接目录和文件名，跨平台兼容 model_file_path = os.path.join(current_directory, "humanoid.xml") - # 2. 打印路径信息，方便用户排查路径问题 print(f"当前脚本所在目录：{current_directory}") print(f"模型文件完整路径：{model_file_path}") - # 3. 检查模型文件是否存在 + # 检查模型文件存在性 if not os.path.exists(model_file_path): - # 如果文件不存在，抛出文件未找到异常 raise FileNotFoundError( f"模型文件不存在！\n查找路径：{model_file_path}\n" f"请确认 'humanoid.xml' 文件放在以下目录中：{current_directory}" ) - # 4. 实例化控制器并启动仿真 + # 启动稳定站立仿真 try: - # 创建HumanoidWalker类的实例，并传入模型文件路径 - walker = HumanoidWalker(model_file_path) - print("\n开始仿真...") - # 调用实例的simulate_with_visualization方法，启动仿真 - walker.simulate_with_visualization() + stabilizer = HumanoidStabilizer(model_file_path) + print("\n开始稳定站立仿真...") + stabilizer.simulate_stable_standing() except Exception as e: - # 如果在整个过程中发生任何未捕获的异常，打印错误信息 print(f"\n仿真过程中发生错误：{e}") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/.built_by b/src/Neuro_Mujoco/cakin_ws/build/.built_by new file mode 100644 index 0000000000..2e212dd304 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/src/box/mian.py b/src/Neuro_Mujoco/cakin_ws/build/CATKIN_IGNORE similarity index 100% rename from src/box/mian.py rename to src/Neuro_Mujoco/cakin_ws/build/CATKIN_IGNORE diff --git a/src/Neuro_Mujoco/cakin_ws/build/CMakeCache.txt b/src/Neuro_Mujoco/cakin_ws/build/CMakeCache.txt new file mode 100644 index 0000000000..be2786997b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/CMakeCache.txt @@ -0,0 +1,760 @@ +# This is the CMakeCache file. +# For build in directory: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and 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COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100644 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/src/Neuro_Mujoco/cakin_ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100644 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 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+.PHONY : geometry_msgs_generate_messages_nodejs/fast + +#============================================================================= +# Target rules for targets named std_msgs_generate_messages_cpp + +# Build rule for target. +std_msgs_generate_messages_cpp: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_cpp +.PHONY : std_msgs_generate_messages_cpp + +# fast build rule for target. +std_msgs_generate_messages_cpp/fast: + $(MAKE) -f mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build +.PHONY : std_msgs_generate_messages_cpp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... doxygen" + @echo "... run_tests" + @echo "... clean_test_results" + @echo "... tests" + @echo "... download_extra_data" + @echo "... gmock_main" + @echo "... gmock" + @echo "... gtest_main" + @echo "... gtest" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... std_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... geometry_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_py" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_cpp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 new file mode 100644 index 0000000000..bfdb6d5a91 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/.rosinstall.Gmea4 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/_setup_util.py.jScai @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV new file mode 100644 index 0000000000..a7109986fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/camera_capture.py.mJFbV @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/camera_capture.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/env.sh.KUNJJ @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.bash.VZT5Y @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN new file mode 100644 index 0000000000..4206de18db --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.fish.l2oBN @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG new file mode 100644 index 0000000000..32a2263235 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.sh.3SctG @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/local_setup.zsh.vMwsY @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso new file mode 100644 index 0000000000..8a3ac615d6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/main.py.MrYso @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/main.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy new file mode 100644 index 0000000000..d1e667e88e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/publisher.py.p7Emy @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/publisher.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.bash.EWnXx @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym new file mode 100644 index 0000000000..ec8a1f5170 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.fish.KG7ym @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB new file mode 100644 index 0000000000..e2e25986dc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.sh.DfUTB @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/setup.zsh.CxhiT @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 new file mode 100644 index 0000000000..5de23cacfa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/atomic_configure/subscriber.py.7V498 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/subscriber.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000000..590a615c68 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.8.12") +set(catkin_MAINTAINER "Geoffrey Biggs , Ivan Santiago Paunovic ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh new file mode 100644 index 0000000000..d6be91db5c --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000000..0812c0468b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';'): + python_path = os.path.join(workspace, 'lib/python3/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/env.sh') + +output_filename = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000000..2fa5f791d7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish new file mode 100644 index 0000000000..292928b137 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000000..1bbe7450dd --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish new file mode 100644 index 0000000000..0dacb14d43 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000000..f1c74b7f32 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000000..5520170415 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.cmake @@ -0,0 +1,18 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "mujoco_ros") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mujoco_ros") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "mujoco_vision_control") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mujoco_vision_control") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py new file mode 100644 index 0000000000..438e448fce --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') if '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic' != '' else [] diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh new file mode 100644 index 0000000000..7648a2661f --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/setup_cached.sh @@ -0,0 +1,12 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export LD_LIBRARY_PATH='/opt/ros/noetic/lib' +export PKG_CONFIG_PATH='/opt/ros/noetic/lib/pkgconfig' +export PWD='/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build' \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000000..5e25fbf8a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000000..7ec7539aeb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000000..2d535224f6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,50 @@ + + + + catkin + 0.8.12 + Low-level build system macros and infrastructure for ROS. + Geoffrey Biggs + Ivan Santiago Paunovic + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + Michael Carroll + Tully Foote + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python-nose + python3-nose + + + + + + diff --git a/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache b/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache new file mode 100644 index 0000000000..4b6b89aeb7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/catkin_make.cache @@ -0,0 +1,2 @@ +mujoco_ros:mujoco_vision_control +-DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_DEVEL_PREFIX=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install -G Unix Makefiles \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake b/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake new file mode 100644 index 0000000000..9bb003bf83 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/cmake_install.cmake @@ -0,0 +1,163 @@ +# Install script for directory: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" TYPE PROGRAM FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + 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std_msgs_generate_messages_cpp + +# fast build rule for target. +std_msgs_generate_messages_cpp/fast: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mujoco_ros/CMakeFiles/std_msgs_generate_messages_cpp.dir/build +.PHONY : std_msgs_generate_messages_cpp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... list_install_components" + @echo "... std_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... install/local" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... install" + @echo "... std_msgs_generate_messages_eus" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... geometry_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_py" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... install/strip" + @echo "... std_msgs_generate_messages_cpp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/camera_capture.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/camera_capture.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py new file mode 100644 index 0000000000..7d79b63d2b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/main.py @@ -0,0 +1,354 @@ +#!/usr/bin/env python3 +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc new file mode 100644 index 0000000000..b0054e9f51 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_ros.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install + +Name: mujoco_ros +Description: Description of mujoco_ros +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: rospy sensor_msgs geometry_msgs std_msgs diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake new file mode 100644 index 0000000000..2a3eb1771a --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/mujoco_rosConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_ros_CONFIG_INCLUDED) + return() +endif() +set(mujoco_ros_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(mujoco_ros_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros) + set(mujoco_ros_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_ros_INSTALL_PREFIX "") + set(mujoco_ros_PREFIX ${mujoco_ros_DEVEL_PREFIX}) +else() + set(mujoco_ros_SOURCE_PREFIX "") + set(mujoco_ros_DEVEL_PREFIX "") + set(mujoco_ros_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_ros_PREFIX ${mujoco_ros_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_ros' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_ros_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_ros_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'your_name ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_ros_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_ros_NUM_DUMMY_TARGETS) + set(mujoco_ros_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_ros_NUM_DUMMY_TARGETS "${mujoco_ros_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_ros_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_ros_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_ros'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_ros_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_ros_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_ros_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rospy;sensor_msgs;geometry_msgs;std_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_ros_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_ros_dep}_FOUND) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${${mujoco_ros_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_ros_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_ros_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${${mujoco_ros_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_ros_EXPORTED_TARGETS ${${mujoco_ros_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_ros_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py new file mode 100644 index 0000000000..27794b9894 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8，若你的模型不同请修改 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py new file mode 100644 index 0000000000..fb137213e3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/installspace/subscriber.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() # 阻塞等待消息 + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000000..454cf03290 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake new file mode 100644 index 0000000000..a405ec7563 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "mujoco_ros") +set(mujoco_ros_VERSION "0.0.0") +set(mujoco_ros_MAINTAINER "your_name ") +set(mujoco_ros_PACKAGE_FORMAT "1") +set(mujoco_ros_BUILD_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_BUILD_EXPORT_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_BUILDTOOL_DEPENDS "catkin") +set(mujoco_ros_BUILDTOOL_EXPORT_DEPENDS ) +set(mujoco_ros_EXEC_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_RUN_DEPENDS "rospy" "sensor_msgs" "geometry_msgs" "std_msgs") +set(mujoco_ros_TEST_DEPENDS ) +set(mujoco_ros_DOC_DEPENDS ) +set(mujoco_ros_URL_WEBSITE "") +set(mujoco_ros_URL_BUGTRACKER "") +set(mujoco_ros_URL_REPOSITORY "") +set(mujoco_ros_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000000..7f7959b2fc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "rospy;sensor_msgs;geometry_msgs;std_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_ros" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000000..962b7c1a19 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "rospy;sensor_msgs;geometry_msgs;std_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_ros" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/camera_capture.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/camera_capture.py.stamp new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp new file mode 100644 index 0000000000..bd40a333fa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/main.py.stamp @@ -0,0 +1,354 @@ +#! /usr/bin/env python +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/mujoco_ros/package.xml b/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/package.xml.stamp similarity index 100% rename from src/Neuro_Mujoco/mujoco_ros/package.xml rename to src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/package.xml.stamp diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_ros/catkin_generated/stamps/mujoco_ros/pkg.pc.em.stamp 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the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install/fast + +# Special rule for the target list_install_components +list_install_components: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\"" +.PHONY : list_install_components + +# Special rule for the target list_install_components +list_install_components/fast: list_install_components + +.PHONY : list_install_components/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..." + /usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /usr/bin/ctest --force-new-ctest-process $(ARGS) +.PHONY : test + +# Special rule for the target test +test/fast: test + +.PHONY : test/fast + +# The main all target +all: cmake_check_build_system + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/CMakeFiles /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/CMakeFiles/progress.marks + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(MAKE) -f CMakeFiles/Makefile2 mujoco_vision_control/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc new file mode 100644 index 0000000000..d58512db2b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install + +Name: mujoco_vision_control +Description: Description of mujoco_vision_control +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake new file mode 100644 index 0000000000..beb4a70d7e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_vision_control_CONFIG_INCLUDED) + return() +endif() +set(mujoco_vision_control_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(mujoco_vision_control_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control) + set(mujoco_vision_control_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_vision_control_INSTALL_PREFIX "") + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_DEVEL_PREFIX}) +else() + set(mujoco_vision_control_SOURCE_PREFIX "") + set(mujoco_vision_control_DEVEL_PREFIX "") + set(mujoco_vision_control_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_vision_control' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_vision_control_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_vision_control_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'lan ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_vision_control_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_vision_control_NUM_DUMMY_TARGETS) + set(mujoco_vision_control_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_vision_control_NUM_DUMMY_TARGETS "${mujoco_vision_control_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_vision_control_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_vision_control'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_vision_control_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_vision_control_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_vision_control_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_vision_control_dep}_FOUND) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${${mujoco_vision_control_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_vision_control_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_vision_control_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${${mujoco_vision_control_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_vision_control_EXPORTED_TARGETS ${${mujoco_vision_control_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_vision_control_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000000..454cf03290 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake new file mode 100644 index 0000000000..784529d52e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "mujoco_vision_control") +set(mujoco_vision_control_VERSION "0.0.0") +set(mujoco_vision_control_MAINTAINER "lan ") +set(mujoco_vision_control_PACKAGE_FORMAT "2") +set(mujoco_vision_control_BUILD_DEPENDS "cv_bridge" "message_generation" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_BUILD_EXPORT_DEPENDS "cv_bridge" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_BUILDTOOL_DEPENDS "catkin") +set(mujoco_vision_control_BUILDTOOL_EXPORT_DEPENDS ) +set(mujoco_vision_control_EXEC_DEPENDS "cv_bridge" "message_runtime" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_RUN_DEPENDS "cv_bridge" "message_runtime" "rospy" "sensor_msgs" "std_msgs") +set(mujoco_vision_control_TEST_DEPENDS ) +set(mujoco_vision_control_DOC_DEPENDS ) +set(mujoco_vision_control_URL_WEBSITE "") +set(mujoco_vision_control_URL_BUGTRACKER "") +set(mujoco_vision_control_URL_REPOSITORY "") +set(mujoco_vision_control_DEPRECATED "") \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000000..dac67af49b --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_vision_control" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000000..90599d54b8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "mujoco_vision_control" +PROJECT_SPACE_DIR = "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp new file mode 100644 index 0000000000..7565b2e336 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/package.xml.stamp @@ -0,0 +1,73 @@ + + + mujoco_vision_control + 0.0.0 + The mujoco_vision_control package + + + + + lan + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cv_bridge + message_generation + rospy + sensor_msgs + std_msgs + cv_bridge + rospy + sensor_msgs + std_msgs + cv_bridge + message_runtime + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp new file mode 100644 index 0000000000..549fb75ce8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/catkin_generated/stamps/mujoco_vision_control/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake new file mode 100644 index 0000000000..60a05b34fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/build/mujoco_vision_control/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_control.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mujoco_vision_control/cmake" TYPE FILE FILES + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig.cmake" + "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/build/mujoco_vision_control/catkin_generated/installspace/mujoco_vision_controlConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mujoco_vision_control" TYPE FILE FILES "/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control/package.xml") +endif() + diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.built_by b/src/Neuro_Mujoco/cakin_ws/devel/.built_by new file mode 100644 index 0000000000..2e212dd304 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.catkin b/src/Neuro_Mujoco/cakin_ws/devel/.catkin new file mode 100644 index 0000000000..fe5d38d0d7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.catkin @@ -0,0 +1 @@ +/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall b/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall new file mode 100644 index 0000000000..bfdb6d5a91 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/setup.sh diff --git a/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py b/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py new file mode 100644 index 0000000000..d3016e5278 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel;/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/env.sh b/src/Neuro_Mujoco/cakin_ws/devel/env.sh new file mode 100644 index 0000000000..8aa9d244ae --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py new file mode 100644 index 0000000000..a7109986fb --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/camera_capture.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/camera_capture.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py new file mode 100644 index 0000000000..8a3ac615d6 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/main.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/main.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py new file mode 100644 index 0000000000..d1e667e88e --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/publisher.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/publisher.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py new file mode 100644 index 0000000000..5de23cacfa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/mujoco_ros/subscriber.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/scripts/subscriber.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc new file mode 100644 index 0000000000..e1ec076e92 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_ros.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel + +Name: mujoco_ros +Description: Description of mujoco_ros +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: rospy sensor_msgs geometry_msgs std_msgs diff --git a/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc new file mode 100644 index 0000000000..eed9d22115 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/lib/pkgconfig/mujoco_vision_control.pc @@ -0,0 +1,8 @@ +prefix=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel + +Name: mujoco_vision_control +Description: Description of mujoco_vision_control +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash new file mode 100644 index 0000000000..7da0d973d4 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish new file mode 100644 index 0000000000..4206de18db --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh new file mode 100644 index 0000000000..32a2263235 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh new file mode 100644 index 0000000000..e692accfd3 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.bash b/src/Neuro_Mujoco/cakin_ws/devel/setup.bash new file mode 100644 index 0000000000..ff47af8f30 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.fish b/src/Neuro_Mujoco/cakin_ws/devel/setup.fish new file mode 100644 index 0000000000..ec8a1f5170 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.sh b/src/Neuro_Mujoco/cakin_ws/devel/setup.sh new file mode 100644 index 0000000000..e2e25986dc --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh b/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh new file mode 100644 index 0000000000..9f780b7410 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake new file mode 100644 index 0000000000..087d179896 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_ros/cmake/mujoco_rosConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_ros_CONFIG_INCLUDED) + return() +endif() +set(mujoco_ros_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(mujoco_ros_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros) + set(mujoco_ros_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_ros_INSTALL_PREFIX "") + set(mujoco_ros_PREFIX ${mujoco_ros_DEVEL_PREFIX}) +else() + set(mujoco_ros_SOURCE_PREFIX "") + set(mujoco_ros_DEVEL_PREFIX "") + set(mujoco_ros_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_ros_PREFIX ${mujoco_ros_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_ros' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_ros_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_ros_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'your_name ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_ros_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_ros' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_ros/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_ros_NUM_DUMMY_TARGETS) + set(mujoco_ros_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_ros_NUM_DUMMY_TARGETS "${mujoco_ros_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_ros::wrapped-linker-option${mujoco_ros_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_ros_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_ros_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_ros_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_ros'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_ros_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_ros_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_ros_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "rospy;sensor_msgs;geometry_msgs;std_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_ros_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_ros_dep}_FOUND) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_ros_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_ros_INCLUDE_DIRS ${${mujoco_ros_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_ros_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_ros_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_ros_LIBRARIES ${mujoco_ros_LIBRARIES}) + + _list_append_unique(mujoco_ros_LIBRARY_DIRS ${${mujoco_ros_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_ros_EXPORTED_TARGETS ${${mujoco_ros_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_ros_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake new file mode 100644 index 0000000000..7fd9f993a7 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake new file mode 100644 index 0000000000..8c94a6b1fa --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/devel/share/mujoco_vision_control/cmake/mujoco_vision_controlConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(mujoco_vision_control_CONFIG_INCLUDED) + return() +endif() +set(mujoco_vision_control_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(mujoco_vision_control_SOURCE_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control) + set(mujoco_vision_control_DEVEL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel) + set(mujoco_vision_control_INSTALL_PREFIX "") + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_DEVEL_PREFIX}) +else() + set(mujoco_vision_control_SOURCE_PREFIX "") + set(mujoco_vision_control_DEVEL_PREFIX "") + set(mujoco_vision_control_INSTALL_PREFIX /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/install) + set(mujoco_vision_control_PREFIX ${mujoco_vision_control_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'mujoco_vision_control' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(mujoco_vision_control_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(mujoco_vision_control_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'lan ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${mujoco_vision_control_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'mujoco_vision_control' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/src/mujoco_vision_control/${idir}'. ${_report}") + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT mujoco_vision_control_NUM_DUMMY_TARGETS) + set(mujoco_vision_control_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR mujoco_vision_control_NUM_DUMMY_TARGETS "${mujoco_vision_control_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::mujoco_vision_control::wrapped-linker-option${mujoco_vision_control_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND mujoco_vision_control_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND mujoco_vision_control_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/home/lan/桌面/nn/src/Neuro_Mujoco/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${lib_path}) + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mujoco_vision_control'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND mujoco_vision_control_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(mujoco_vision_control_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${mujoco_vision_control_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 mujoco_vision_control_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${mujoco_vision_control_dep}_FOUND) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${mujoco_vision_control_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(mujoco_vision_control_INCLUDE_DIRS ${${mujoco_vision_control_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${mujoco_vision_control_dep}_LIBRARIES}) + _list_append_deduplicate(mujoco_vision_control_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(mujoco_vision_control_LIBRARIES ${mujoco_vision_control_LIBRARIES}) + + _list_append_unique(mujoco_vision_control_LIBRARY_DIRS ${${mujoco_vision_control_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(mujoco_vision_control_EXPORTED_TARGETS ${${mujoco_vision_control_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${mujoco_vision_control_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt similarity index 70% rename from src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt rename to src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt index 0bfeec44fa..8aff41edaa 100644 --- a/src/Neuro_Mujoco/mujoco_ros/CMakeLists.txt +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/CMakeLists.txt @@ -23,17 +23,16 @@ include_directories( ) ## 安装 Python 脚本（main.py 用绝对路径，彻底避免歧义） -catkin_install_python( - PROGRAMS - scripts/publisher.py - scripts/subscriber.py - /home/lan/桌面/nn/src/Neuro_Mujoco/main.py # 绝对路径！绝对路径！绝对路径！ - DESTINATION - \${CATKIN_PACKAGE_BIN_DESTINATION} +catkin_install_python(PROGRAMS + scripts/main.py + scripts/publisher.py + scripts/subscriber.py + scripts/camera_capture.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) ## 安装 launch 文件 install( DIRECTORY launch/ DESTINATION \${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file +) diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch new file mode 100644 index 0000000000..291afae66a --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/launch/main.launch @@ -0,0 +1,26 @@ + + + catkin + rospy + sensor_msgs + geometry_msgs + std_msgs + + + rospy + sensor_msgs + geometry_msgs + std_msgs + + + + catkin + + \ No newline at end of file diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py new file mode 100644 index 0000000000..48b9de181f --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/main.py @@ -0,0 +1,352 @@ +#! /usr/bin/env python +import os +import sys +import time +import logging +import argparse +from concurrent.futures import ThreadPoolExecutor +from typing import Optional, Tuple, List, Dict +import numpy as np +import mujoco +from mujoco import viewer + +# ===================== ROS 1 相关导入（新增）===================== +try: + import rospy + from sensor_msgs.msg import JointState + from geometry_msgs.msg import PoseStamped + from std_msgs.msg import Float32MultiArray + ROS_AVAILABLE = True +except ImportError: + ROS_AVAILABLE = False + logging.warning("未检测到 ROS 环境，ROS 功能已禁用（如需启用，请安装 ROS 1 Noetic 并配置环境）") + + +# 配置日志系统 +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler(sys.stdout)] +) +logger = logging.getLogger("mujoco_utils") + + +def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujoco.MjData]]: + """ + 加载MuJoCo模型（支持XML和MJB格式） + + 参数: + model_path: 模型文件路径 + + 返回: + 加载成功返回(model, data)元组，失败返回(None, None) + """ + if not os.path.exists(model_path): + logger.error(f"模型文件不存在: {model_path}") + return None, None + + try: + if model_path.endswith('.mjb'): + model = mujoco.MjModel.from_binary_path(model_path) + else: + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + logger.info(f"成功加载模型: {model_path}") + logger.info(f"模型信息：控制维度(nu)={model.nu} | 关节数(njnt)={model.njnt} | 自由度(nq)={model.nq}") + return model, data + except Exception as e: + logger.error(f"模型加载失败: {str(e)}", exc_info=True) + return None, None + + +def convert_model(input_path: str, output_path: str) -> bool: + """ + 转换模型格式（XML↔MJB） + 参数: + input_path: 输入模型路径 + output_path: 输出模型路径（需指定扩展名.xml或.mjb） + 返回: + 转换成功返回True，失败返回False + """ + model, data = load_model(input_path) + if not model or not data: + return False + + # 确保输出目录存在 + output_dir = os.path.dirname(output_path) + if output_dir and not os.path.exists(output_dir): + try: + os.makedirs(output_dir, exist_ok=True) + logger.info(f"创建输出目录: {output_dir}") + except Exception as e: + logger.error(f"无法创建输出目录: {str(e)}") + return False + + try: + if output_path.endswith('.mjb'): + mujoco.save_model(model, output_path) + logger.info(f"二进制模型已保存至: {output_path}") + else: + xml_content = mujoco.mj_saveLastXMLToString(data) + with open(output_path, 'w', encoding='utf-8') as f: + f.write(xml_content) + logger.info(f"XML模型已保存至: {output_path}") + return True + except Exception as e: + logger.error(f"模型转换失败: {str(e)}", exc_info=True) + return False + + +def test_speed( + model_path: str, + nstep: int = 10000, + nthread: int = 1, + ctrlnoise: float = 0.01 +) -> None: + """ + 测试模型模拟速度 + + 参数: + model_path: 模型文件路径 + nstep: 每线程模拟步数 + nthread: 测试线程数 + ctrlnoise: 控制噪声强度 + """ + model, _ = load_model(model_path) + if not model: + return + + # 参数验证 + if nstep <= 0: + logger.error("步数必须为正数") + return + if nthread <= 0: + logger.error("线程数必须为正数") + return + + # 生成控制噪声（处理nu=0的情况） + if model.nu == 0: + ctrl = None + logger.warning("模型无控制输入（nu=0），将跳过控制噪声") + else: + ctrl = ctrlnoise * np.random.randn(nstep, model.nu) + + logger.info(f"开始速度测试: 线程数={nthread}, 每线程步数={nstep}") + + def simulate_thread(thread_id: int) -> float: + """单线程模拟函数""" + mj_data = mujoco.MjData(model) + start = time.perf_counter() + for i in range(nstep): + if ctrl is not None: + mj_data.ctrl[:] = ctrl[i] + mujoco.mj_step(model, mj_data) + end = time.perf_counter() + duration = end - start + logger.debug(f"线程 {thread_id} 完成，耗时: {duration:.2f}秒") + return duration + + # 执行多线程测试 + start_time = time.perf_counter() + with ThreadPoolExecutor(max_workers=nthread) as executor: + thread_durations: List[float] = list(executor.map(simulate_thread, range(nthread))) + total_time = time.perf_counter() - start_time + + # 计算性能指标 + total_steps = nstep * nthread + steps_per_sec = total_steps / total_time + realtime_factor = (total_steps * model.opt.timestep) / total_time + + logger.info("\n===== 速度测试结果 =====") + logger.info(f"总步数: {total_steps:,}") + logger.info(f"总耗时: {total_time:.2f}秒") + logger.info(f"每秒步数: {steps_per_sec:.0f}") + logger.info(f"实时因子: {realtime_factor:.2f}x") + logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") + +# ===================== 可视化函数（新增ROS支持）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） + + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + njnt = 0 + + if use_ros: + if not ROS_AVAILABLE: + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return + + # 初始化ROS节点 + rospy.init_node("mujoco_ros_node", anonymous=True) + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( + "/mujoco/joint_states", + JointState, + queue_size=10 # 消息队列大小 + ) + pose_pub = rospy.Publisher( + "/mujoco/pose", + PoseStamped, + queue_size=10 + ) + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（过滤自由关节，避免冗余） + joint_msg = JointState() + joint_msg.name = [ + model.joint(i).name for i in range(model.njnt) + if model.joint(i).type != mujoco.mjtJoint.mjJNT_FREE + ] + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") + + if model.nu > 0: + ros_subscribers = rospy.Subscriber( + "/mujoco/ctrl_cmd", + Float32MultiArray, + ctrl_callback, + queue_size=5 + ) + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") + + # ===================== 可视化主循环（原有逻辑+ROS发布）===================== + logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") + try: + with viewer.launch_passive(model, data) as v: + while v.is_running() and (not use_ros or not rospy.is_shutdown()): + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） + mujoco.mj_step(model, data) + v.sync() + + # ===================== ROS 消息发布（新增）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度） + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = data.qpos[:njnt].tolist() # 关节位置（前njnt个自由度） + joint_msg.velocity = data.qvel[:njnt].tolist() # 关节速度 + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（假设根关节是自由关节，取前7个自由度：x,y,z,qx,qy,qz,qw） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + + logger.info("可视化窗口已关闭") + except Exception as e: + logger.error(f"可视化过程出错: {str(e)}", exc_info=True) + +# ===================== 主函数（新增--ros选项）===================== +def main() -> None: + parser = argparse.ArgumentParser( + description="MuJoCo功能整合工具（支持ROS 1消息封装）", + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + subparsers = parser.add_subparsers(dest="command", required=True) + + # 1. 可视化命令（新增--ros选项） + viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") + viz_parser.add_argument( + "--ros", + action="store_true", + help="启用ROS模式（发布关节状态/基座姿态，订阅控制指令）" + ) + + # 2. 速度测试命令（原有功能不变） + speed_parser = subparsers.add_parser("testspeed", help="测试模型模拟速度") + speed_parser.add_argument("model", help="模型文件路径") + speed_parser.add_argument("--nstep", type=int, default=10000, help="每线程模拟步数") + speed_parser.add_argument("--nthread", type=int, default=1, help="测试线程数量") + speed_parser.add_argument("--ctrlnoise", type=float, default=0.01, help="控制噪声强度") + + # 3. 模型转换命令（原有功能不变） + convert_parser = subparsers.add_parser("convert", help="转换模型格式（XML↔MJB）") + convert_parser.add_argument("input", help="输入模型路径") + convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") + + args, unknown = parser.parse_known_args() + + + # 命令映射（更新visualize，支持use_ros参数） + command_handlers: Dict[str, callable] = { + "visualize": lambda: visualize(args.model, use_ros=args.ros), + "testspeed": lambda: test_speed(args.model, args.nstep, args.nthread, args.ctrlnoise), + "convert": lambda: convert_model(args.input, args.output) + } + + # 执行命令 + try: + command_handlers[args.command]() + except KeyError: + logger.error(f"未知命令: {args.command}") + sys.exit(1) + except Exception as e: + logger.critical(f"程序执行失败: {str(e)}", exc_info=True) + sys.exit(1) + + + +if __name__ == "__main__": + main() diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py new file mode 100644 index 0000000000..95bffb19d8 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import Float32MultiArray +import numpy as np + +class MujocoCtrlPublisher: + def __init__(self): + rospy.init_node("mujoco_ctrl_publisher", anonymous=True) + self.pub = rospy.Publisher("/mujoco/ctrl_cmd", Float32MultiArray, queue_size=10) + self.rate = rospy.Rate(10) + self.model_nu = 8 # ant 模型 nu=8 + rospy.loginfo("控制指令发布者已启动，发布 /mujoco/ctrl_cmd") + + def run(self): + while not rospy.is_shutdown(): + # 正弦波控制指令 + ctrl_cmd = np.sin(rospy.get_time() * 2.0) * 0.3 + msg = Float32MultiArray() + msg.data = [ctrl_cmd] * self.model_nu + self.pub.publish(msg) + rospy.loginfo(f"发布指令：{[round(x,3) for x in msg.data[:5]]}...") + self.rate.sleep() + +if __name__ == "__main__": + try: + publisher = MujocoCtrlPublisher() + publisher.run() + except rospy.ROSInterruptException: + pass diff --git a/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py new file mode 100644 index 0000000000..ab1f642318 --- /dev/null +++ b/src/Neuro_Mujoco/cakin_ws/src/mujoco_ros/scripts/subscriber.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python +import rospy +from sensor_msgs.msg import JointState +from geometry_msgs.msg import PoseStamped + +class MujocoStateSubscriber: + def __init__(self): + rospy.init_node("mujoco_state_subscriber", anonymous=True) + # 订阅关节状态 + rospy.Subscriber("/mujoco/joint_states", JointState, self.joint_state_cb) + # 订阅基座姿态 + rospy.Subscriber("/mujoco/pose", PoseStamped, self.pose_cb) + rospy.loginfo("="*50) + rospy.loginfo("Mujoco 状态订阅者已启动") + rospy.loginfo("订阅话题：/mujoco/joint_states、/mujoco/pose") + rospy.loginfo("="*50) + + def joint_state_cb(self, msg): + # 打印关节状态（位置+速度） + rospy.loginfo("【关节状态】") + rospy.loginfo(f" 关节名称：{msg.name}") + rospy.loginfo(f" 关节位置：{[round(x,3) for x in msg.position[:5]]}...") + rospy.loginfo(f" 关节速度：{[round(x,3) for x in msg.velocity[:5]]}...") + + def pose_cb(self, msg): + # 打印基座姿态（位置+四元数） + rospy.loginfo("【基座姿态】") + rospy.loginfo(f" 位置：x={msg.pose.position.x:.3f}, y={msg.pose.position.y:.3f}, z={msg.pose.position.z:.3f}") + rospy.loginfo(f" 姿态：qx={msg.pose.orientation.x:.3f}, qy={msg.pose.orientation.y:.3f}, qz={msg.pose.orientation.z:.3f}, qw={msg.pose.orientation.w:.3f}") + +if __name__ == "__main__": + try: + subscriber = MujocoStateSubscriber() + rospy.spin() + except rospy.ROSInterruptException: + rospy.loginfo("状态订阅者退出") diff --git a/src/Neuro_Mujoco/main.py b/src/Neuro_Mujoco/main.py index ad13854ffc..9abd43f684 100644 --- a/src/Neuro_Mujoco/main.py +++ b/src/Neuro_Mujoco/main.py @@ -1,3 +1,4 @@ +#! /usr/bin/env python import os import sys import time @@ -62,11 +63,9 @@ def load_model(model_path: str) -> Tuple[Optional[mujoco.MjModel], Optional[mujo def convert_model(input_path: str, output_path: str) -> bool: """ 转换模型格式（XML↔MJB） - 参数: input_path: 输入模型路径 output_path: 输出模型路径（需指定扩展名.xml或.mjb） - 返回: 转换成功返回True，失败返回False """ @@ -166,176 +165,162 @@ def simulate_thread(thread_id: int) -> float: logger.info(f"实时因子: {realtime_factor:.2f}x") logger.info(f"线程平均耗时: {np.mean(thread_durations):.2f}秒 (±{np.std(thread_durations):.2f})") - -# ===================== ROS管理器类（新增模块化ROS功能）===================== -class ROSManager: - """ROS管理器类（模块化ROS功能）""" +# ===================== 可视化函数（仅优化ROS关节状态发布逻辑）===================== +def visualize(model_path: str, use_ros: bool = False) -> None: + """ + 可视化模型并运行模拟（支持ROS 1模式） - def __init__(self, model: mujoco.MjModel): + 参数: + model_path: 模型文件路径 + use_ros: 是否启用ROS模式（默认False） + """ + model, data = load_model(model_path) + if not model: + return + + # ===================== ROS 1 初始化（新增）===================== + ros_publishers = None + ros_subscribers = None + ros_rate = None + ctrl_cmd = None + joint_msg = None + # 新增：存储非自由关节的ID和对应的qpos/qvel索引（解决索引错位+支持多自由度） + joint_ids = [] + joint_qpos_idxs = [] + joint_qvel_idxs = [] + + if use_ros: if not ROS_AVAILABLE: - raise RuntimeError("ROS环境未就绪，无法启用ROS模式") - - self.model = model - self.ctrl_cmd = None - self.joint_msg = None - self.njnt = 0 - self.initialized = False - - # ROS发布者 - self.joint_state_pub = None - self.pose_pub = None - self.ros_rate = None + logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") + return - def initialize(self): - """初始化ROS节点和发布者/订阅者""" + # 初始化ROS节点 rospy.init_node("mujoco_ros_node", anonymous=True) - self.ros_rate = rospy.Rate(100) # 100Hz发布频率 - - # 创建发布者 - self.joint_state_pub = rospy.Publisher( + ros_rate = rospy.Rate(100) # 100Hz发布频率（与MuJoCo默认步长0.01s匹配） + logger.info("="*60) + logger.info("ROS 1 模式已启用！") + logger.info(f"发布话题：/mujoco/joint_states（关节状态）、/mujoco/pose（基座姿态）") + logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") + logger.info("="*60) + + # 1. 创建ROS发布者 + joint_state_pub = rospy.Publisher( "/mujoco/joint_states", JointState, - queue_size=10 + queue_size=10 # 消息队列大小 ) - - self.pose_pub = rospy.Publisher( + pose_pub = rospy.Publisher( "/mujoco/pose", PoseStamped, queue_size=10 ) - - # 初始化关节状态消息 - self.joint_msg = JointState() - joint_names = [] - - for i in range(self.model.njnt): - joint_type = self.model.joint(i).type + ros_publishers = (joint_state_pub, pose_pub) + + # 2. 初始化关节状态消息（精准映射非自由关节的索引，支持多自由度） + joint_msg = JointState() + joint_msg.name = [] + for i in range(model.njnt): + joint_type = model.joint(i).type if joint_type != mujoco.mjtJoint.mjJNT_FREE: - joint_names.append(self.model.joint(i).name) + joint_msg.name.append(model.joint(i).name) + joint_ids.append(i) + # 获取该关节在qpos中的起始索引（mjJNT_FREE=7维, mjJNT_BALL=3维, mjJNT_HINGE/SLIDE=1维） + joint_qpos_idxs.append(model.jnt_qposadr[i]) + # 获取该关节在qvel中的起始索引 + joint_qvel_idxs.append(model.jnt_dofadr[i]) - self.joint_msg.name = joint_names - self.njnt = len(joint_names) + njnt = len(joint_msg.name) + logger.info(f"ROS将发布 {njnt} 个非自由关节状态：{joint_msg.name}") + if njnt > 0: + logger.debug(f"关节qpos索引映射：{dict(zip(joint_msg.name, joint_qpos_idxs))}") + + # 3. 创建ROS订阅者（接收控制指令） + ctrl_cmd = np.zeros(model.nu) if model.nu > 0 else None + def ctrl_callback(msg: Float32MultiArray): + nonlocal ctrl_cmd + if model.nu == len(msg.data): + ctrl_cmd = np.array(msg.data) + logger.debug(f"收到ROS控制指令：{ctrl_cmd[:5]}...") # 只打印前5个值，避免日志冗余 + else: + logger.warning(f"控制指令长度不匹配！期望 {model.nu} 个值，实际收到 {len(msg.data)} 个") - # 初始化控制命令 - if self.model.nu > 0: - self.ctrl_cmd = np.zeros(self.model.nu) - rospy.Subscriber( + if model.nu > 0: + ros_subscribers = rospy.Subscriber( "/mujoco/ctrl_cmd", Float32MultiArray, - self._ctrl_callback, + ctrl_callback, queue_size=5 ) - - self.initialized = True - return self - - def _ctrl_callback(self, msg: Float32MultiArray): - """控制指令回调函数""" - if self.model.nu == len(msg.data): - self.ctrl_cmd = np.array(msg.data) - logger.debug(f"收到ROS控制指令，前5个值: {self.ctrl_cmd[:5]}...") - - def apply_control(self, data: mujoco.MjData): - """将ROS控制指令应用到MuJoCo数据""" - if self.ctrl_cmd is not None and self.model.nu > 0: - data.ctrl[:] = self.ctrl_cmd - - def publish_states(self, data: mujoco.MjData): - """发布关节状态和姿态""" - if not self.initialized: - return - - # 发布关节状态 - self.joint_msg.header.stamp = rospy.Time.now() - self.joint_msg.position = data.qpos[:self.njnt].tolist() - self.joint_msg.velocity = data.qvel[:self.njnt].tolist() - self.joint_state_pub.publish(self.joint_msg) - - # 发布基座姿态 - pose_msg = PoseStamped() - pose_msg.header.stamp = rospy.Time.now() - pose_msg.header.frame_id = "world" - - if self.model.nq >= 1: - pose_msg.pose.position.x = data.qpos[0] - if self.model.nq >= 2: - pose_msg.pose.position.y = data.qpos[1] - if self.model.nq >= 3: - pose_msg.pose.position.z = data.qpos[2] - - if self.model.nq >= 4: - pose_msg.pose.orientation.x = data.qpos[3] - if self.model.nq >= 5: - pose_msg.pose.orientation.y = data.qpos[4] - if self.model.nq >= 6: - pose_msg.pose.orientation.z = data.qpos[5] - if self.model.nq >= 7: - pose_msg.pose.orientation.w = data.qpos[6] - - self.pose_pub.publish(pose_msg) - - # 控制发布频率 - self.ros_rate.sleep() - - -# ===================== 可视化函数（使用ROSManager类）===================== -def visualize(model_path: str, use_ros: bool = False) -> None: - """ - 可视化模型并运行模拟（支持ROS 1模式） - - 参数: - model_path: 模型文件路径 - use_ros: 是否启用ROS模式（默认False） - """ - model, data = load_model(model_path) - if not model: - return - - # ROS管理器初始化 - ros_manager = None - if use_ros: - if not ROS_AVAILABLE: - logger.error("ROS 环境未就绪，无法启用 ROS 模式（请检查ROS安装和环境配置）") - return - - try: - ros_manager = ROSManager(model).initialize() - logger.info("="*60) - logger.info("ROS 1 模式已启用！") - logger.info(f"发布话题：/mujoco/joint_states（{ros_manager.njnt}个非自由关节）") - logger.info(f"发布话题：/mujoco/pose（基座姿态）") - logger.info(f"订阅话题：/mujoco/ctrl_cmd（控制指令，长度={model.nu}）") - logger.info("="*60) - except Exception as e: - logger.error(f"ROS初始化失败: {str(e)}") - return + else: + logger.warning("模型无控制输入（nu=0），不订阅控制指令话题") - # ===================== 可视化主循环 ===================== + # ===================== 可视化主循环（原有逻辑+优化ROS发布）===================== logger.info("启动可视化窗口（按ESC键退出，鼠标可交互：拖拽旋转、滚轮缩放）") try: with viewer.launch_passive(model, data) as v: while v.is_running() and (not use_ros or not rospy.is_shutdown()): - # ROS模式：应用控制指令 - if ros_manager: - ros_manager.apply_control(data) - - # 执行MuJoCo模拟步 + # ROS模式：应用控制指令（新增） + if use_ros and ctrl_cmd is not None: + data.ctrl[:] = ctrl_cmd + + # 执行MuJoCo模拟步（原有逻辑） mujoco.mj_step(model, data) v.sync() - - # ROS模式：发布状态 - if ros_manager: - ros_manager.publish_states(data) - + + # ===================== ROS 消息发布（仅优化关节状态部分）===================== + if use_ros and ros_publishers is not None: + joint_state_pub, pose_pub = ros_publishers + + # 1. 发布关节状态（位置、速度）- 优化后：精准映射+支持多自由度 + joint_msg.header.stamp = rospy.Time.now() + joint_msg.position = [] + joint_msg.velocity = [] + for idx, (joint_id, qpos_idx, qvel_idx) in enumerate(zip(joint_ids, joint_qpos_idxs, joint_qvel_idxs)): + joint_type = model.joint(joint_id).type + # 球关节（3自由度）：补充3维位置/速度 + if joint_type == mujoco.mjtJoint.mjJNT_BALL: + joint_msg.position.extend(data.qpos[qpos_idx:qpos_idx+3]) + joint_msg.velocity.extend(data.qvel[qvel_idx:qvel_idx+3]) + # 铰链/滑动关节（1自由度）：仅取1维 + elif joint_type in [mujoco.mjtJoint.mjJNT_HINGE, mujoco.mjtJoint.mjJNT_SLIDE]: + joint_msg.position.append(data.qpos[qpos_idx]) + joint_msg.velocity.append(data.qvel[qvel_idx]) + + joint_state_pub.publish(joint_msg) + + # 2. 发布基座姿态（原有逻辑不变） + pose_msg = PoseStamped() + pose_msg.header.stamp = rospy.Time.now() + pose_msg.header.frame_id = "world" # 坐标系名称（可自定义） + + # 位置信息（x,y,z） + if model.nq >= 1: + pose_msg.pose.position.x = data.qpos[0] + if model.nq >= 2: + pose_msg.pose.position.y = data.qpos[1] + if model.nq >= 3: + pose_msg.pose.position.z = data.qpos[2] + + # 姿态信息（四元数 qx,qy,qz,qw） + if model.nq >= 4: + pose_msg.pose.orientation.x = data.qpos[3] + if model.nq >= 5: + pose_msg.pose.orientation.y = data.qpos[4] + if model.nq >= 6: + pose_msg.pose.orientation.z = data.qpos[5] + if model.nq >= 7: + pose_msg.pose.orientation.w = data.qpos[6] + + pose_pub.publish(pose_msg) + + # 按ROS频率休眠，确保消息发布稳定 + ros_rate.sleep() + logger.info("可视化窗口已关闭") except Exception as e: logger.error(f"可视化过程出错: {str(e)}", exc_info=True) - finally: - if ros_manager: - logger.info("ROS管理器已关闭") - -# ===================== 主函数（新增--ros选项）===================== +# ===================== 主函数（完全保持原有逻辑不变）===================== def main() -> None: parser = argparse.ArgumentParser( description="MuJoCo功能整合工具（支持ROS 1消息封装）", @@ -345,7 +330,7 @@ def main() -> None: # 1. 可视化命令（新增--ros选项） viz_parser = subparsers.add_parser("visualize", help="可视化模型并运行模拟") - viz_parser.add_argument("model", help="模型文件路径") + viz_parser.add_argument("model", help="/home/lan/桌面/nn/mujoco_menagerie/anybotics_anymal_b") viz_parser.add_argument( "--ros", action="store_true", @@ -364,7 +349,8 @@ def main() -> None: convert_parser.add_argument("input", help="输入模型路径") convert_parser.add_argument("output", help="输出模型路径（需指定.xml或.mjb扩展名）") - args = parser.parse_args() + args, unknown = parser.parse_known_args() + # 命令映射（更新visualize，支持use_ros参数） command_handlers: Dict[str, callable] = { @@ -384,5 +370,6 @@ def main() -> None: sys.exit(1) + if __name__ == "__main__": main() \ No newline at end of file diff --git a/src/Neuro_Mujoco/mujoco_ros/launch/main.launch b/src/Neuro_Mujoco/mujoco_ros/launch/main.launch deleted file mode 100644 index 713d414ad8..0000000000 --- a/src/Neuro_Mujoco/mujoco_ros/launch/main.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - diff --git a/src/Unmanned_vehicle_control/main_help_functions.py b/src/Unmanned_vehicle_control/main_help_functions.py index 09ddbdb74b..17d78685a8 100644 --- a/src/Unmanned_vehicle_control/main_help_functions.py +++ b/src/Unmanned_vehicle_control/main_help_functions.py @@ -41,6 +41,24 @@ def get_eight_trajectory(x_init, y_init, total_points=100): theta_ref.append(theta_ref[-1]) return x_traj_rotated, y_traj_rotated, v_ref, theta_ref +def get_circle_trajectory(x_center, y_center, radius=25, total_points=200): + """生成圆形轨迹""" + t_values = np.linspace(0, 2 * np.pi, total_points) + x_traj = x_center + radius * np.cos(t_values) + y_traj = y_center + radius * np.sin(t_values) + + v_ref = [V_REF for _ in range(total_points)] + + # 计算参考角度（切线方向） + theta_ref = [] + for i in range(total_points - 1): + dx = x_traj[i + 1] - x_traj[i] + dy = y_traj[i + 1] - y_traj[i] + theta = np.arctan2(dy, dx) + theta_ref.append(theta) + theta_ref.append(theta_ref[-1]) # 最后一个点保持与前一个相同 + + return x_traj, y_traj, v_ref, theta_ref def get_ref_trajectory(x_traj, y_traj, theta_traj, current_idx): if current_idx + N < len(x_traj): diff --git a/src/airsim_control/README.md b/src/airsim_control/README.md index 29baf69f8c..049742e882 100644 --- a/src/airsim_control/README.md +++ b/src/airsim_control/README.md @@ -1,32 +1,34 @@ -# 🚁 AirSim 无人机激光雷达系统：避障与 3D 扫描 +AirSim 无人机激光雷达系统：迷宫自主寻路与避障 -> 基于 Microsoft AirSim API 实现的无人机自动避障控制与环境 3D 点云扫描系统。 +[项目简介] +基于 Microsoft AirSim API 实现的无人机自动避障控制与环境 3D 点云扫描系统。 +本项目利用 Python API 与 Microsoft AirSim 仿真环境交互，通过搭载的 32 线激光雷达（Lidar）获取环境深度数据。项目核心从简单的避障升级为具备记忆能力的自主路径规划系统，能够像人类一样探索迷宫、识别死胡同、并最终找到出口。 -## 📖 项目简介 +[核心功能] -本项目利用 Python API 与 Microsoft AirSim 仿真环境交互，通过搭载的 32 线激光雷达（Lidar）获取环境深度数据。主要功能包括： -* **实时障碍物检测**：分析雷达回波数据，判断前方障碍。 -* **3D 环境扫描**：获取并在本地保存环境的点云数据。 -* **辅助飞行控制**：结合键盘控制与自动避障逻辑，实现安全的仿真飞行。 +1. 智能迷宫寻路 + - 直行优先策略：在多条路径可选时，优先保持直行，避免在老路中左右摇摆。 + - 死胡同记忆与封锁：利用 DFS (深度优先搜索) 思想，当检测到死路时，自动掉头并生成“虚拟墙（禁区）”，防止再次进入。 + - 出口诱导机制：当雷达检测到极远距离（>15米）的开阔地时，判定为出口并全速冲刺。 + - 机身坐标系控制：使用 Body Frame 控制飞行，彻底解决了无人机转向后方向感错乱的问题。 +2. 记忆与决策系统 + - 栅格化记忆地图：将世界划分为 2米 x 2米的栅格，实时记录“去过的地方”。 + - 射线检测评分：在路口决策时，向各个方向发射虚拟射线，检测路径是否为“新路”，优先探索未知区域。 + - 防抖动冷却：决策后强制执行一段距离，防止在路口反复纠结。 +3. 基础飞行保障 + - 紧急避险：配备物理反推刹车逻辑，在距离障碍物 <1.0米 时强制反向推力，防止惯性撞墙。 + - 高度锁定：通过 PID 控制器将飞行高度严格限制在设定值（如 -1.5米）。 - -## 📦 环境依赖 (Dependencies) - +[环境依赖] 在运行代码之前，请确保已安装以下 Python 库： - -```bash pip install airsim numpy keyboard +[配置文件] +关键步骤：为了确保雷达不被机身遮挡并获得最佳扫描效果，请务必使用以下配置覆盖你的 "文档\AirSim\settings.json" 文件。 +注意：HorizontalFOV 必须设置为 -90 到 90，且 DataFrame 必须为 SensorLocalFrame。 - - - -\## 运行方式 - -1\. 修改 `settings` 配置文件。 -为了确保雷达不被机身遮挡并获得最佳扫描效果，请务必使用以下配置覆盖你的 文档\AirSim\settings.json 文件： { "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md", "SettingsVersion": 1.2, @@ -56,26 +58,30 @@ pip install airsim numpy keyboard } } -2\. 启动虚拟引擎并运行 AirSim。 - -3\. 运行相关代码。 - - - -\## 无人机操控方式 - - - -按键 功能 说明 -W 前进 向机头方向水平移动 -S 后退 向后方水平移动 -A 向左 向左侧平移 (不改变朝向) -D 向右 向右侧平移 (不改变朝向) -Q 左转 原地逆时针旋转机头 -E 右转 原地顺时针旋转机头 -↑ (上箭头) 上升 垂直向上飞行 -↓ (下箭头) 下降 垂直向下飞行 -空格 急刹 悬停，停止所有移动 - - - +[运行方式] +1. 启动 Unreal Engine (AirSim) 仿真环境。 +2. 确保无人机处于迷宫入口处。 +3. 运行 Python 寻路脚本。 + +[可视化调试说明] +代码运行时，会在 AirSim 窗口中绘制彩色小球，代表无人机的“思维过程”： + +- 绿色球体：新路 (New Path) - 未探索的区域，优先级最高。 +- 蓝色方块：足迹 (Visited) - 已经走过的路径点。 +- 红色球体：老路 (Old Path) - 探测到前方是走过的路，尽量避免。 +- 黑色大球：死路/禁区 (Forbidden) - 已确认为死胡同，生成虚拟墙封锁。 +- 黄色大球：出口 (Exit) - 检测到终点开阔地。 + +[手动操控 (辅助)] +虽然本系统设计为全自动运行，但在紧急情况下或使用手动模式代码时，可用以下按键： + +Ctrl + C : 停止 (立即中断程序并降落) +W : 前进 (向机头方向水平移动) +S : 后退 (向后方水平移动) +A : 向左 (向左侧平移，不改变朝向) +D : 向右 (向右侧平移，不改变朝向) +Q : 左转 (原地逆时针旋转机头) +E : 右转 (原地顺时针旋转机头) +上箭头 : 上升 (垂直向上飞行) +下箭头 : 下降 (垂直向下飞行) +空格 : 急刹 (悬停，停止所有移动) \ No newline at end of file diff --git a/src/airsim_control/maze.py b/src/airsim_control/maze.py new file mode 100644 index 0000000000..547dd16019 --- /dev/null +++ b/src/airsim_control/maze.py @@ -0,0 +1,275 @@ +import airsim +import numpy as np +import time +import math + +# --- 配置 --- +VEHICLE_NAME = "Drone_1" +LIDAR_NAME = "lidar_1" + +# 飞行参数 +TARGET_HEIGHT = -1.5 +CRUISE_SPEED = 2.5 # 稍微提速 +TURN_SPEED = 90.0 # 转快点，别磨叽 +STOP_DIST = 3.5 # 刹车距离 +PASS_DIST = 4.5 # 判定通行的距离 +GRID_SIZE = 2.0 # 记忆格大小 + +# 极远距离 (视为出口) +EXIT_DIST_THRESHOLD = 15.0 + +# 可视化开关 +VISUALIZE = True + + +# --- 记忆模块 --- +class MemoryMap: + def __init__(self, grid_size): + self.grid_size = grid_size + self.visited = set() + self.forbidden = set() + + def _to_grid(self, x, y): + return (round(x / self.grid_size), round(y / self.grid_size)) + + def mark_visited(self, pos_x, pos_y, client): + gx, gy = self._to_grid(pos_x, pos_y) + if (gx, gy) in self.forbidden: return + if (gx, gy) not in self.visited: + self.visited.add((gx, gy)) + if VISUALIZE: + client.simPlotPoints([airsim.Vector3r(gx * self.grid_size, gy * self.grid_size, -1.5)], + color_rgba=[0.0, 0.0, 1.0, 1.0], size=15, is_persistent=True) + + def mark_forbidden(self, pos_x, pos_y, client): + gx, gy = self._to_grid(pos_x, pos_y) + if (gx, gy) not in self.forbidden: + self.forbidden.add((gx, gy)) + if VISUALIZE: + client.simPlotPoints([airsim.Vector3r(gx * self.grid_size, gy * self.grid_size, -1.5)], + color_rgba=[0.0, 0.0, 0.0, 1.0], size=30, is_persistent=True) + + def check_status(self, pos_x, pos_y): + gx, gy = self._to_grid(pos_x, pos_y) + if (gx, gy) in self.forbidden: return 2 + + # 范围检查：如果目标点或其相邻点去过，都算去过（模糊匹配） + for dx in [-1, 0, 1]: + for dy in [-1, 0, 1]: + if (gx + dx, gy + dy) in self.visited: + return 1 + return 0 + + +# 初始化 +memory = MemoryMap(GRID_SIZE) +client = airsim.MultirotorClient() +client.confirmConnection() +client.enableApiControl(True, vehicle_name=VEHICLE_NAME) +client.armDisarm(True, vehicle_name=VEHICLE_NAME) + +print("🚀 起飞中...") +client.takeoffAsync(vehicle_name=VEHICLE_NAME).join() +client.moveToZAsync(TARGET_HEIGHT, 1, vehicle_name=VEHICLE_NAME).join() + +print("\n=== 终极寻路: 直觉 + 出口诱导 ===") + + +def get_lidar_info(): + """获取前、左、右距离""" + lidar_data = client.getLidarData(lidar_name=LIDAR_NAME, vehicle_name=VEHICLE_NAME) + if not lidar_data or len(lidar_data.point_cloud) < 3: return 99, 99, 99 + + points = np.array(lidar_data.point_cloud, dtype=np.float32) + points = np.reshape(points, (int(points.shape[0] / 3), 3)) + valid = points[(points[:, 2] > -0.5) & (points[:, 2] < 0.5)] + if len(valid) == 0: return 99, 99, 99 + + f_mask = (valid[:, 0] > 0) & (np.abs(valid[:, 1]) < 1.0) + l_mask = (valid[:, 1] < -1.0) & (np.abs(valid[:, 0]) < 1.0) + r_mask = (valid[:, 1] > 1.0) & (np.abs(valid[:, 0]) < 1.0) + + f_d = np.min(valid[f_mask][:, 0]) if np.any(f_mask) else 99 + l_d = np.min(np.linalg.norm(valid[l_mask][:, :2], axis=1)) if np.any(l_mask) else 99 + r_d = np.min(np.linalg.norm(valid[r_mask][:, :2], axis=1)) if np.any(r_mask) else 99 + + return f_d, l_d, r_d + + +def get_global_yaw(): + o = client.simGetVehiclePose(vehicle_name=VEHICLE_NAME).orientation + return math.degrees( + math.atan2(2.0 * (o.w_val * o.z_val + o.x_val * o.y_val), 1.0 - 2.0 * (o.y_val * o.y_val + o.z_val * o.z_val))) + + +def turn_rel(angle): + print(f" ↪️ 转向 {angle}°...") + client.moveByVelocityAsync(0, 0, 0, abs(angle) / TURN_SPEED, + drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, + yaw_mode=airsim.YawMode(is_rate=True, + yaw_or_rate=float(TURN_SPEED if angle > 0 else -TURN_SPEED)), + vehicle_name=VEHICLE_NAME).join() + client.moveByVelocityAsync(0, 0, 0, 0.2, vehicle_name=VEHICLE_NAME).join() + + +def check_direction_score(pos, curr_yaw, angle, lidar_dist): + """评分系统""" + # 1. 物理阻挡 + if lidar_dist < PASS_DIST: + return -1000, "🧱 阻挡" + + # 2. 【核心优化】出口检测 + # 如果雷达距离极远(>15米)，说明前面是开阔地(出口)，给予超高分！ + if lidar_dist > EXIT_DIST_THRESHOLD: + client.simPlotPoints([airsim.Vector3r(pos.x_val, pos.y_val, -1.5)], color_rgba=[1.0, 1.0, 0.0, 1.0], size=30, + duration=5.0) + return 10000, "🎉 出口/开阔地" + + # 3. 记忆检查 + rad = math.radians(curr_yaw + angle) + check_dist = 4.0 + target_x = pos.x_val + math.cos(rad) * check_dist + target_y = pos.y_val + math.sin(rad) * check_dist + + status_code = memory.check_status(target_x, target_y) + + if status_code == 2: # 死路 + return -1000, "⚫ 死路" + + elif status_code == 1: # 老路 + # 调试：红点 + client.simPlotPoints([airsim.Vector3r(target_x, target_y, -1.5)], color_rgba=[1.0, 0.0, 0.0, 1.0], size=10, + duration=2.0) + return -50, "👣 老路" + + else: # 新路 + # 调试：绿点 + client.simPlotPoints([airsim.Vector3r(target_x, target_y, -1.5)], color_rgba=[0.0, 1.0, 0.0, 1.0], size=20, + duration=2.0) + return 100, "✨ 新路" + + +def scan_and_decide(): + print("\n🛑 决策中...") + client.moveByVelocityAsync(0, 0, 0, 0.5, vehicle_name=VEHICLE_NAME).join() + + pos = client.simGetVehiclePose(vehicle_name=VEHICLE_NAME).position + curr_yaw = get_global_yaw() + f_d, l_d, r_d = get_lidar_info() + + options = [ + {"angle": 0, "dist": f_d, "name": "前方"}, + {"angle": -90, "dist": l_d, "name": "左侧"}, + {"angle": 90, "dist": r_d, "name": "右侧"} + ] + + candidates = [] + + print(" 📊 评分:") + for opt in options: + score, status = check_direction_score(pos, curr_yaw, opt["angle"], opt["dist"]) + + # 只有非墙壁才加入 + if score > -500: + candidates.append({ + "angle": opt["angle"], + "score": score, + "name": opt["name"], + "dist": opt["dist"] + }) + print(f" -> {opt['name']}: {status} ({score})") + + if len(candidates) > 0: + # 排序逻辑优化： + # 1. 分数高的优先 + # 2. 【核心优化】分数相同时，优先选角度为0的(直行)！避免左右乱转 + # 3. 最后选距离远的 + # 我们用 tuple 排序: (score, is_straight, dist) + # angle == 0 转换为 1 (是直行), 否则 0 + + candidates.sort(key=lambda x: (x["score"], 1 if x["angle"] == 0 else 0, x["dist"]), reverse=True) + + best = candidates[0] + print(f"✅ 决定: {best['name']}") + + if best["angle"] != 0: + turn_rel(best["angle"]) + + return True # 找到了路 + + else: + print("⚠️ 全是死路! 掉头并封锁") + memory.mark_forbidden(pos.x_val, pos.y_val, client) + turn_rel(180) + return False # 被迫掉头 + + +try: + # 强制冷却时间 (防止刚转完头又觉得不对劲) + cooldown_until = 0 + + while True: + # 记录足迹 + pos = client.simGetVehiclePose(vehicle_name=VEHICLE_NAME).position + memory.mark_visited(pos.x_val, pos.y_val, client) + + f_d, l_d, r_d = get_lidar_info() + + # 状态判定 + is_stuck = f_d < STOP_DIST + # 只有当侧面非常宽敞(>5m)，且没在冷却期内，才视为岔路 + is_junction = (l_d > 5.0 or r_d > 5.0) and time.time() > cooldown_until + + # --- 优先级 1: 看到出口 (Exit) --- + # 如果前方一片空旷 (>15米)，说明要出去了，无视所有逻辑直接冲 + if f_d > EXIT_DIST_THRESHOLD: + print(f"\r[🎉 发现出口!] 前方开阔 {f_d:.1f}m - 全速前进!", end="") + client.moveByVelocityBodyFrameAsync(CRUISE_SPEED * 1.5, 0, 0, 0.1, + drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, + yaw_mode=airsim.YawMode(is_rate=True, yaw_or_rate=0), + vehicle_name=VEHICLE_NAME).join() + continue # 跳过后面所有逻辑 + + # --- 优先级 2: 遇阻 --- + if is_stuck: + print(f"\r[🛑 遇阻] 前方 {f_d:.1f}m", end="") + scan_and_decide() + # 决策完后，给 3秒 冷却时间，让它先飞离路口，别原地纠结 + cooldown_until = time.time() + 3.0 + + # --- 优先级 3: 岔路 --- + elif is_junction: + print(f"\r[✨ 岔路] 左:{l_d:.1f}m 右:{r_d:.1f}m", end="") + print(" -> 决策...") + # 往前送 2米 + client.moveByVelocityBodyFrameAsync(CRUISE_SPEED, 0, 0, 1.5, + drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, + yaw_mode=airsim.YawMode(is_rate=True, yaw_or_rate=0), + vehicle_name=VEHICLE_NAME).join() + + scan_and_decide() + cooldown_until = time.time() + 3.0 + + # --- 优先级 4: 巡航 --- + else: + print(f"\r[🚀 巡航] 前:{f_d:.1f}m ", end="", flush=True) + + z_curr = client.simGetVehiclePose(vehicle_name=VEHICLE_NAME).position.z_val + vz = (TARGET_HEIGHT - z_curr) * 1.0 + + # 简单的居中 + vy = 0 + if l_d < 2.0 and r_d < 2.0: + vy = (l_d - r_d) * 0.5 + vy = np.clip(vy, -1.0, 1.0) + + client.moveByVelocityBodyFrameAsync( + vx=CRUISE_SPEED, vy=float(vy), vz=float(vz), duration=0.1, + drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom, + yaw_mode=airsim.YawMode(is_rate=True, yaw_or_rate=0), + vehicle_name=VEHICLE_NAME + ).join() + +except KeyboardInterrupt: + print("\n降落...") + client.reset() \ No newline at end of file diff --git a/src/airsim_control/settings.json b/src/airsim_control/settings.json index 40ef1d2f7f..ce2a728d0a 100644 --- a/src/airsim_control/settings.json +++ b/src/airsim_control/settings.json @@ -5,24 +5,22 @@ "Vehicles": { "Drone_1": { "VehicleType": "SimpleFlight", - "X": 0, - "Y": 0, - "Z": 0, + "X": 0, "Y": 0, "Z": 0, "Sensors": { "lidar_1": { "SensorType": 6, "Enabled": true, - "Range": 100, - "NumberOfChannels": 16, - "PointsPerSecond": 15000, + "Range": 40, + "NumberOfChannels": 32, + "PointsPerSecond": 50000, + "RotationsPerSecond": 10, "VerticalFOVUpper": 10, - "VerticalFOVLower": -15, - "HorizontalFOVStart": -90, - "HorizontalFOVEnd": 90, - "X": 0, - "Y": 0, - "Z": -0.1, - "DrawDebugPoints": true + "VerticalFOVLower": -10, + "HorizontalFOVStart": -30, + "HorizontalFOVEnd": 30, + "X": 0, "Y": 0, "Z": -0.5, + "DrawDebugPoints": false, + "DataFrame": "SensorLocalFrame" } } } diff --git a/src/biomechanical_hcl_smart_simulation_platform/README.md b/src/biomechanical_hcl_smart_simulation_platform/README.md index 0bfb65396f..aacd5e9679 100644 --- a/src/biomechanical_hcl_smart_simulation_platform/README.md +++ b/src/biomechanical_hcl_smart_simulation_platform/README.md @@ -205,26 +205,72 @@ python uitb/test/evaluator.py simulators/mobl_arms_index_pointing --num_episodes - 运行 `python uitb/test/evaluator.py --help` 查看所有参数。 -## 6. 预训练模拟器与示例 -项目提供 4 个预训练模拟器，覆盖典型 HCI 任务，可直接加载使用： - -| 任务名称 | 模拟器路径 | 配置文件路径 | 功能说明 | -|-------------------------|--------------------------------------------------------------------------|--------------------------------------------------------------------------|------------------------------| -| 指向（Pointing） | simulators/mobl_arms_index_pointing | uitb/configs/mobl_arms_index_pointing.yaml | 控制手臂模型指向目标位置 | -| 追踪（Tracking） | simulators/mobl_arms_index_tracking | uitb/configs/mobl_arms_index_tracking.yaml | 控制手臂模型追踪移动目标 | -| 选择反应（Choice Reaction） | simulators/mobl_arms_index_choice_reaction | uitb/configs/mobl_arms_index_choice_reaction.yaml | 对随机出现的目标做出反应选择 | -| 摇杆控制遥控车 | simulators/mobl_arms_index_remote_driving | uitb/configs/mobl_arms_index_remote_driving.yaml | 通过摇杆模型控制遥控车行驶 | +## 6. 预训练模拟器总结 +### 6.1 预训练模拟器介绍 +本子项目基于 User-in-the-Box 框架，是其中一个已经训练完成的预训练模拟器：mobl_arms_index_remote_driving – Controlling an RC Car via Joystick。 +在该模拟器中：“用户”被建模为一个带肌肉驱动的上肢生物力学模型（mobl_arms_index），拥有视觉 / 本体感觉等感知能力； +“交互设备”是一个虚拟 RC 小车 + 手柄环境，用户通过操纵手柄（Joystick）来控制小车移动； +整个环境遵循 OpenAI Gym 接口，可以与现有强化学习库（如 stable-baselines3）直接对接。 ### 6.1 示例演示（GIF） -- 指向任务： -- 追踪任务： -- 选择反应任务： -- 遥控车任务： - -### 6.2 学术复现资源 -UIST 2022 论文中使用的模拟器、训练数据及图表复现脚本，可在独立分支获取： -- 分支链接：[https://github.com/aikkala/user-in-the-box/tree/uist-submission-aleksi](https://github.com/aikkala/user-in-the-box/tree/uist-submission-aleksi) +- 指向任务：https://imgur.com/a/CHzVeBK +- 追踪任务：https://imgur.com/a/CHzVeBK +- 选择反应任务：https://imgur.com/a/CHzVeBK +- 遥控车任务：https://imgur.com/a/CHzVeBK + +### 6.3 操作流程 +1. 克隆仓库并安装依赖 + ```bash + git clone + cd user-in-the-box + + # 创建并启用 Conda 环境（推荐） + conda env create -f conda_env.yml + conda activate uitb + + # 安装 Python 包（可编辑模式，方便后续修改） + pip install -e . + +2. 构建 RC Car 预训练模拟器 + python - << 'EOF' + from uitb import Simulator + config_file = "uitb/configs/mobl_arms_index_remote_driving.yaml" + sim_folder = Simulator.build(config_file) + print("Built simulator at:", sim_folder) + EOF + +运行后会在 simulators/mobl_arms_index_remote_driving/ 下生成独立模拟器包。 + +3. 用随机策略测试环境是否正常工作 + +python - << 'EOF' +from uitb import Simulator +sim_folder = "simulators/mobl_arms_index_remote_driving" +env = Simulator.get(sim_folder) + +obs, info = env.reset() +for step in range(1000): + action = env.action_space.sample() + obs, reward, terminated, truncated, info = env.step(action) + env.render() + if terminated or truncated: + print(f"Episode finished at step {step}, resetting...") + obs, info = env.reset() + +env.close() +EOF + + +4. 使用评估脚本查看预训练策略表现并录制视频 + + python uitb/test/evaluator.py simulators/mobl_arms_index_remote_driving \ + --num_episodes 10 \ + --record \ + --logging \ + --action_sample_freq 100 + +视频和日志保存在 simulators/mobl_arms_index_remote_driving/evaluate/ 目录下。 ## 7. 扩展开发指南 ### 7.1 新增生物力学模型 diff --git a/src/biomechanical_hcl_smart_simulation_platform/main.py b/src/biomechanical_hcl_smart_simulation_platform/main.py index 9756e4930b..e2ac1291c7 100644 --- a/src/biomechanical_hcl_smart_simulation_platform/main.py +++ b/src/biomechanical_hcl_smart_simulation_platform/main.py @@ -1,91 +1,111 @@ -import argparse -from pathlib import Path - -from uitb import Simulator - - -def make_simulator(task_name: str): - """ - 根据任务名称返回对应的 simulator 环境。 - - task_name: "pointing"、"tracking" 或 "choice_reaction" - """ - project_root = Path(__file__).resolve().parent - - if task_name == "pointing": - sim_dir = project_root / "simulators" / "mobl_arms_index_pointing" - elif task_name == "tracking": - sim_dir = project_root / "simulators" / "mobl_arms_index_tracking" - elif task_name == "choice_reaction": - # 🔹 新增 Choice Reaction 任务入口 - sim_dir = project_root / "simulators" / "mobl_arms_index_choice_reaction" - else: - raise ValueError(f"Unknown task: {task_name}") - - # README 里说明：Simulator.get(simulator_folder) 会返回一个 gym 风格的环境 - # 可以直接调用 reset / step / render 等方法。 - simulator = Simulator.get(str(sim_dir)) - return simulator - +#!/usr/bin/env python +# -*- coding: utf-8 -*- -def run_episodes(env, num_episodes: int, max_steps: int): - """ - 用随机动作跑若干个 episode，主要是演示 env 的使用。 - """ - for ep in range(num_episodes): - obs, info = env.reset() - done = False - step = 0 - episode_reward = 0.0 - - print(f"\n=== Episode {ep + 1}/{num_episodes} ===") +import os +from pathlib import Path - while not done and step < max_steps: - # 这里先用随机策略，作业如果需要你可以换成自己的策略 - action = env.action_space.sample() +import rospy +from std_msgs.msg import Float32MultiArray, Float32, Bool - # gymnasium 接口：obs, reward, terminated, truncated, info - obs, reward, terminated, truncated, info = env.step(action) - done = terminated or truncated - episode_reward += reward - step += 1 +from uitb import Simulator - # 如果你想看实时画面（而不是只出视频），可以打开这一行： - # env.render() - print(f"Episode reward: {episode_reward:.3f} (steps: {step})") +class RCCarNode(object): + def __init__(self, simulator_folder, rate_hz=30.0): + rospy.loginfo("RCCarNode init, simulator_folder: %s", simulator_folder) + + # 创建 simulator（RC Car via Joystick） + self.env = Simulator.get(simulator_folder) + + self.rate = rospy.Rate(rate_hz) + + # 当前 action（从 ROS 话题拿） + self.current_action = None + + # 发布者：观测 / 奖励 / 终止标志 + self.obs_pub = rospy.Publisher( + "/rc_car/obs", Float32MultiArray, queue_size=1 + ) + self.reward_pub = rospy.Publisher( + "/rc_car/reward", Float32, queue_size=1 + ) + self.done_pub = rospy.Publisher( + "/rc_car/done", Bool, queue_size=1 + ) + + # 订阅 action（你后面可以用别的节点发布这个话题，比如摇杆转指令） + rospy.Subscriber( + "/rc_car/action", Float32MultiArray, self.action_callback + ) + + # 先 reset 一次 + self.reset_env() + + def action_callback(self, msg): + # 保存最新的动作 + self.current_action = list(msg.data) + + def reset_env(self): + obs, info = self.env.reset() + self.publish_obs(obs) + rospy.loginfo("Environment reset") + + def publish_obs(self, obs): + msg = Float32MultiArray() + # obs 可能是 numpy 数组，统一转 list + try: + data = obs.flatten().tolist() + except AttributeError: + # 已经是 list/tuple + data = list(obs) + msg.data = data + self.obs_pub.publish(msg) + + def step_once(self): + # 如果还没收到 action，就用零动作（或随机动作，看你需求） + if self.current_action is None: + # 用零向量动作（假设 action_space 是 Box） + import numpy as np + + action_dim = self.env.action_space.shape[0] + action = np.zeros(action_dim, dtype=float) + else: + action = self.current_action + + obs, reward, terminated, truncated, info = self.env.step(action) + done = terminated or truncated + + # 发布结果 + self.publish_obs(obs) + self.reward_pub.publish(Float32(data=float(reward))) + self.done_pub.publish(Bool(data=done)) + + if done: + rospy.loginfo("Episode done, auto reset") + self.reset_env() + + def spin(self): + rospy.loginfo("RCCarNode spinning...") + while not rospy.is_shutdown(): + self.step_once() + self.rate.sleep() def main(): - parser = argparse.ArgumentParser( - description="User-in-the-Box demo for Pointing, Tracking & Choice Reaction" - ) - parser.add_argument( - "--task", - # 🔹 在命令行参数里加入 choice_reaction 选项 - choices=["pointing", "tracking", "choice_reaction"], - default="pointing", - help="选择要运行的任务：pointing / tracking / choice_reaction", - ) - parser.add_argument( - "--num_episodes", - type=int, - default=1, - help="要运行的 episode 数", - ) - parser.add_argument( - "--max_steps", - type=int, - default=200, - help="每个 episode 最多运行多少步（防止无限循环）", + rospy.init_node("rc_car_sim_node") + + # 从参数服务器取 simulator_folder，如果没给就用默认路径 + default_sim_folder = str( + Path(__file__).resolve().parents[2] + / "simulators" + / "mobl_arms_index_remote_driving" ) - args = parser.parse_args() + simulator_folder = rospy.get_param("~simulator_folder", default_sim_folder) + + rate_hz = rospy.get_param("~rate", 30.0) - env = make_simulator(args.task) - try: - run_episodes(env, args.num_episodes, args.max_steps) - finally: - env.close() + node = RCCarNode(simulator_folder=simulator_folder, rate_hz=rate_hz) + node.spin() if __name__ == "__main__": diff --git a/src/box/README.md b/src/box/README.md new file mode 100644 index 0000000000..a4f32c0853 --- /dev/null +++ b/src/box/README.md @@ -0,0 +1,60 @@ +user-in-the-box-simulator +基于Gymnasium和MuJoCo的仿真器，集成生物力学模型、感知模块与强化学习任务，支持分层强化学习与可视化渲染 + +一、环境准备 +1.虚拟环境创建与激活 +# 切换到项目根目录 +cd C:\Users\86186\user-in-the-box + +# 创建Python 3.9虚拟环境（兼容性最优） +python -m venv venv --python=3.9 + +# 激活虚拟环境（Windows PowerShell） +\venv\Scripts\Activate.ps1 +2.依赖安装 使用国内镜像源加速安装： +# 核心依赖 +pip install gymnasium==1.2.1 mujoco==2.3.5 stable-baselines3==2.2.1 pygame==2.5.2 opencv-python==4.9.0.80 -i https://pypi.tuna.tsinghua.edu.cn/simple + +# 辅助依赖 +pip install numpy==1.26.4 scipy==1.11.4 matplotlib==3.8.4 ruamel.yaml==0.18.6 certifi -i https://pypi.tuna.tsinghua.edu.cn/simple + +二、核心文件说明 + +1.simulator.py（仿真器核心） +功能：继承 gym.Env，实现仿真环境的初始化、步骤推进（step）、环境重置（reset）和可视化渲染（render），集成生物力学模型、感知模块和任务逻辑。 运行方式：需通过调用脚本（如 test_simulator.py）运行，示例见 “三、运行步骤”。 +2.main.py（辅助脚本） 功能：基于 certifi 查询 CA 证书信息（路径或内容），用于验证网络请求的安全性。 +运行方式： +# 查看证书路径 +python main.py + +# 查看证书内容 +python main.py -c +三、运行步骤 + +仿真器运行（simulator.py） +步骤 1：运行脚本 test_simulator.py + +步骤 2：执行脚本 + +python test_simulator.py +此时会弹出 Pygame 窗口，展示仿真过程（如机械臂运动、感知模块渲染）。 2. 辅助脚本运行（main.py） 在终端执行以下命令，查看证书信息： + +# 查看证书路径 +python main.py + +# 查看证书内容 +python main.py -c + +四、依赖清单 +|库名称 |版本 |用途| +|------|-------|----| +|gymnasium| 1.2.1 |强化学习环境接口| +|mujoco|2.3.5|物理仿真引擎| +|stable-baselines3|2.2.1|强化学习算法库| +|pygame |2.5.2|可视化渲染| +|opencv-python|4.9.0.80|图像感知处理| +|numpy| 1.26.4| 数值计算| +|scipy| 1.11.4|科学计算| +|matplotlib|3.8.4|数据可视化| +|ruamel.yaml|0.18.6 |配置文件解析| +|certifi |2025.10.10 |CA 证书管理| \ No newline at end of file diff --git a/src/box/_init_.py b/src/box/_init_.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/box/arm_grab_simulation_1.yaml b/src/box/arm_grab_simulation_1.yaml new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/box/main.py b/src/box/main.py new file mode 100644 index 0000000000..96f58810d7 --- /dev/null +++ b/src/box/main.py @@ -0,0 +1,15 @@ +import argparse +from certifi import where + +parser = argparse.ArgumentParser() +parser.add_argument("-c", "--contents", action="store_true", help="查看证书文件内容") +args = parser.parse_args() + +if args.contents: + # 读取 certifi 证书文件内容 + cert_path = where() + with open(cert_path, "r", encoding="utf-8") as f: + print(f.read()) +else: + # 打印证书文件路径 + print(where()) \ No newline at end of file diff --git a/src/box/perception/_init_.py b/src/box/perception/_init_.py new file mode 100644 index 0000000000..972cded186 --- /dev/null +++ b/src/box/perception/_init_.py @@ -0,0 +1,5 @@ +from .base import Perception +from .vision import VisionPerception +from .joint_state import JointStatePerception + +__all__ = ["Perception", "VisionPerception", "JointStatePerception"] \ No newline at end of file diff --git a/src/box/perception/base.py b/src/box/perception/base.py new file mode 100644 index 0000000000..3033ccc71b --- /dev/null +++ b/src/box/perception/base.py @@ -0,0 +1,109 @@ +import numpy as np +import mujoco +from collections import defaultdict + +class PerceptionModule: + """感知子模块基类，所有具体感知模块需继承此类""" + def __init__(self, modality, model, data, **kwargs): + self.modality = modality # 感知模态名称（如vision/joint_state） + self.model = model # MuJoCo模型 + self.data = data # MuJoCo数据 + self.kwargs = kwargs # 模块参数 + self.cameras = [] # 关联的相机（视觉类模块用） + + def reset(self, model, data): + """重置感知模块状态""" + self.model = model + self.data = data + + def update(self, model, data): + """每步更新感知数据""" + pass + + def get_observation(self, model, data, info=None): + """获取该模块的观测数据（需子类实现）""" + raise NotImplementedError + + def get_observation_space_params(self): + """获取Gymnasium观测空间参数（需子类实现）""" + raise NotImplementedError + + def get_renders(self): + """获取可视化渲染结果（视觉类模块用）""" + return [] + + def close(self): + """释放资源""" + pass + + +class Perception: + """感知总控制器，管理所有感知子模块，适配仿真器架构""" + def __init__(self, model, data, bm_model, perception_modules, common_kwargs): + self.model = model + self.data = data + self.bm_model = bm_model # 关联生物力学模型 + self.common_kwargs = common_kwargs # 通用参数（如dt、callbacks） + + # 初始化感知子模块 + self.perception_modules = [] + self.cameras_dict = defaultdict(list) # 相机映射（适配渲染） + self.nu = 0 # 感知模块动作维度（无动作则为0，保持与仿真器兼容） + + # 遍历配置的感知模块，初始化实例 + for module_cls, module_kwargs in perception_modules.items(): + module = module_cls( + model=model, + data=data, + **module_kwargs + ) + self.perception_modules.append(module) + # 关联相机（用于渲染） + if hasattr(module, 'cameras') and module.cameras: + self.cameras_dict[module] = module.cameras + + def reset(self, model, data): + """重置所有感知模块""" + self.model = model + self.data = data + for module in self.perception_modules: + module.reset(model, data) + + def update(self, model, data): + """每步更新所有感知模块""" + self.model = model + self.data = data + for module in self.perception_modules: + module.update(model, data) + + def get_observation(self, model, data, info=None): + """收集所有感知模块的观测数据，返回字典（适配仿真器观测空间）""" + observation = {} + for module in self.perception_modules: + obs = module.get_observation(model, data, info) + if obs is not None: + observation[module.modality] = obs + return observation + + def get_state(self, model, data): + """获取感知模块状态（用于仿真器状态记录）""" + state = {} + for module in self.perception_modules: + state[f"perception_{module.modality}"] = module.get_observation(model, data) + return state + + def get_renders(self): + """获取所有视觉类模块的渲染结果（适配仿真器可视化）""" + renders = [] + for module in self.perception_modules: + renders.extend(module.get_renders()) + return renders + + def set_ctrl(self, model, data, ctrl): + """感知模块动作控制（无动作则空实现，保持与仿真器接口兼容）""" + pass + + def close(self, **kwargs): + """释放所有感知模块资源""" + for module in self.perception_modules: + module.close() \ No newline at end of file diff --git a/src/box/perception/joint_state.py b/src/box/perception/joint_state.py new file mode 100644 index 0000000000..c99eea72be --- /dev/null +++ b/src/box/perception/joint_state.py @@ -0,0 +1,77 @@ +import numpy as np +import mujoco +from .base import PerceptionModule + +class JointStatePerception(PerceptionModule): + """关节状态感知模块，采集关节角度、速度、力矩""" + def __init__(self, model, data, joint_names=None, include_velocity=True, + include_torque=True, normalize=True, **kwargs): + super().__init__(modality="joint_state", model=model, data=data,** kwargs) + + # 关节配置 + self.joint_names = joint_names or self._get_all_joints() # 默认所有关节 + self.include_velocity = include_velocity + self.include_torque = include_torque + self.normalize = normalize + + # 获取关节ID和范围（用于归一化） + self.joint_ids = [mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, name) + for name in self.joint_names] + self.joint_ranges = model.jnt_range[self.joint_ids] # 关节角度范围(min, max) + + def _get_all_joints(self): + """获取模型中所有关节名称""" + joint_names = [] + for i in range(self.model.njnt): + name = mujoco.mj_id2name(self.model, mujoco.mjtObj.mjOBJ_JOINT, i) + if name: + joint_names.append(name) + return joint_names + + def _normalize_qpos(self, qpos): + """归一化关节角度到[-1, 1]""" + norm_qpos = (qpos - self.joint_ranges[:, 0]) / (self.joint_ranges[:, 1] - self.joint_ranges[:, 0] + 1e-8) + return (norm_qpos - 0.5) * 2 # 映射到[-1,1] + + def get_observation(self, model, data, info=None): + """获取关节状态观测（角度+速度+力矩）""" + # 关节角度 + qpos = data.qpos[[model.jnt_qposadr[jid] for jid in self.joint_ids]] + if self.normalize: + qpos = self._normalize_qpos(qpos) + + # 拼接观测 + obs_list = [qpos.astype(np.float32)] + + # 关节速度 + if self.include_velocity: + qvel = data.qvel[[model.jnt_dofadr[jid] for jid in self.joint_ids]] + # 速度归一化到[-1,1]（基于经验范围） + if self.normalize: + qvel = np.clip(qvel / 10.0, -1.0, 1.0) + obs_list.append(qvel.astype(np.float32)) + + # 关节力矩 + if self.include_torque: + torque = data.qfrc_actuator[[model.jnt_dofadr[jid] for jid in self.joint_ids]] + # 力矩归一化到[-1,1] + if self.normalize: + torque = np.clip(torque / 50.0, -1.0, 1.0) + obs_list.append(torque.astype(np.float32)) + + return np.concatenate(obs_list) + + def get_observation_space_params(self): + """定义关节状态观测空间参数""" + # 计算观测维度 + dim = len(self.joint_ids) + if self.include_velocity: + dim += len(self.joint_ids) + if self.include_torque: + dim += len(self.joint_ids) + + return { + "low": -1.0 if self.normalize else -np.inf, + "high": 1.0 if self.normalize else np.inf, + "shape": (dim,) + } \ No newline at end of file diff --git a/src/box/perception/vision.py b/src/box/perception/vision.py new file mode 100644 index 0000000000..db72c89b67 --- /dev/null +++ b/src/box/perception/vision.py @@ -0,0 +1,62 @@ +import numpy as np +import mujoco +from .base import PerceptionModule +from src.box.utils.rendering import Camera # 复用仿真器的Camera类 + +class VisionPerception(PerceptionModule): + """视觉感知模块，支持RGB/深度图采集""" + def __init__(self, model, data, camera_id="rgb_camera", resolution=(640, 480), + capture_depth=False, normalize=True, **kwargs): + super().__init__(modality="vision", model=model, data=data, **kwargs) + + # 相机配置 + self.camera_id = camera_id + self.resolution = resolution + self.capture_depth = capture_depth + self.normalize = normalize + + # 初始化相机（复用仿真器的Camera类） + self.camera = Camera( + context=self.kwargs.get("rendering_context"), + model=model, + data=data, + camera_id=camera_id, + dt=self.kwargs.get("dt", 0.01) + ) + self.cameras = [self.camera] # 关联到模块相机列表 + + def get_observation(self, model, data, info=None): + """获取视觉观测数据（RGB/深度图）""" + # 渲染相机画面 + rgb_img, depth_img = self.camera.render() + + # 拼接观测（RGB为主，可选深度） + if self.capture_depth: + # 归一化深度图 + depth_img = (depth_img - depth_img.min()) / (depth_img.max() - depth_img.min() + 1e-8) + obs = np.concatenate([rgb_img, depth_img[..., np.newaxis]], axis=-1) + else: + obs = rgb_img + + # 归一化到[0,1]（可选） + if self.normalize: + obs = obs.astype(np.float32) / 255.0 + + # 展平为一维向量（适配RL观测空间） + return obs.flatten() + + def get_observation_space_params(self): + """定义视觉观测空间参数（适配Gymnasium）""" + # 计算观测维度：RGB(3通道) + 深度(可选1通道) + channels = 3 + (1 if self.capture_depth else 0) + shape = (self.resolution[0] * self.resolution[1] * channels,) + return { + "low": 0.0, + "high": 1.0, + "shape": shape + } + + def get_renders(self): + """返回原始RGB图像（用于仿真器渲染）""" + rgb_img, _ = self.camera.render() + return [rgb_img] \ No newline at end of file diff --git a/src/box/simulator.py b/src/box/simulator.py index 954b06b7a5..866969922e 100644 --- a/src/box/simulator.py +++ b/src/box/simulator.py @@ -1,816 +1,278 @@ -import gymnasium as gym -from gymnasium import spaces -import pygame -import mujoco import os import numpy as np -import scipy -import matplotlib -import sys -import importlib -import shutil -import inspect -import pathlib -from datetime import datetime -import copy -from collections import defaultdict -import xml.etree.ElementTree as ET - -from stable_baselines3 import PPO #required to load a trained LLC policy in HRL approach - -from .perception.base import Perception -from .utils.rendering import Camera, Context -from .utils.functions import output_path, parent_path, is_suitable_package_name, parse_yaml, write_yaml - - -class Simulator(gym.Env): - """ - The Simulator class contains functionality to build a standalone Python package from a config file. The built package - integrates a biomechanical model, a task model, and a perception model into one simulator that implements a gym.Env - interface. - """ - - # May be useful for later, the three digit number suffix is of format X.Y.Z where X is a major version. - version = "1.1.0" - - @classmethod - def get_class(cls, *args): - """ Returns a class from given strings. The last element in args should contain the class name. """ - # TODO check for incorrect module names etc - modules = ".".join(args[:-1]) - if "." in args[-1]: - splitted = args[-1].split(".") - if modules == "": - modules = ".".join(splitted[:-1]) - else: - modules += "." + ".".join(splitted[:-1]) - cls_name = splitted[-1] - else: - cls_name = args[-1] - module = cls.get_module(modules) - return getattr(module, cls_name) - - @classmethod - def get_module(cls, *args): - """ Returns a module from given strings. """ - src = __name__.split(".")[0] - modules = ".".join(args) - return importlib.import_module(src + "." + modules) - - @classmethod - def build(cls, config): - """ Builds a simulator based on a config. The input 'config' may be a dict (parsed from YAML) or path to a YAML file - - Args: - config: - - A dict containing configuration information. See example configs in folder uitb/configs/ - - A path to a config file - """ - - # If config is a path to the config file, parse it first - if isinstance(config, str): - if not os.path.isfile(config): - raise FileNotFoundError(f"Given config file {config} does not exist") - config = parse_yaml(config) - - # Make sure required things are defined in config - assert "simulation" in config, "Simulation specs (simulation) must be defined in config" - assert "bm_model" in config["simulation"], "Biomechanical model (bm_model) must be defined in config" - assert "task" in config["simulation"], "task (task) must be defined in config" - - assert "run_parameters" in config["simulation"], "Run parameters (run_parameters) must be defined in config" - run_parameters = config["simulation"]["run_parameters"].copy() - assert "action_sample_freq" in run_parameters, "Action sampling frequency (action_sample_freq) must be defined " \ - "in run parameters" - - # Set simulator version - config["version"] = cls.version - - # Save generated simulators to uitb/simulators - if "simulator_folder" in config: - simulator_folder = os.path.normpath(config["simulator_folder"]) - else: - simulator_folder = os.path.join(output_path(), config["simulator_name"]) - - # If 'package_name' is not defined use 'simulator_name' - if "package_name" not in config: - config["package_name"] = config["simulator_name"] - if not is_suitable_package_name(config["package_name"]): - raise NameError("Package name defined in the config file (either through 'package_name' or 'simulator_name') is " - "not a suitable Python package name. Use only lower-case letters and underscores instead of " - "spaces, and the name cannot start with a number.") - - # The name used in gym has a suffix -v0 - config["gym_name"] = "uitb:" + config["package_name"] + "-v0" - - # Create a simulator in the simulator folder - cls._clone(simulator_folder, config["package_name"]) - - # Load task class - task_cls = cls.get_class("tasks", config["simulation"]["task"]["cls"]) - task_cls.clone(simulator_folder, config["package_name"], app_executable=config["simulation"]["task"].get("kwargs", {}).get("unity_executable", None)) - simulation = task_cls.initialise(config["simulation"]["task"].get("kwargs", {})) - - # Set some compiler options - # TODO: would make more sense to have a separate "environment" class / xml file that defines all these defaults, - # including e.g. cameras, lighting, etc., so that they could be easily changed. Task and biomechanical model would - # be integrated into that object - compiler_defaults = {"inertiafromgeom": "auto", "balanceinertia": "true", "boundmass": "0.001", - "boundinertia": "0.001", "inertiagrouprange": "0 1"} - compiler = simulation.find("compiler") - if compiler is None: - ET.SubElement(simulation, "compiler", compiler_defaults) - else: - compiler.attrib.update(compiler_defaults) - - # Load biomechanical model class - bm_cls = cls.get_class("bm_models", config["simulation"]["bm_model"]["cls"]) - bm_cls.clone(simulator_folder, config["package_name"]) - bm_cls.insert(simulation) - - # Add perception modules - for module_cfg in config["simulation"].get("perception_modules", []): - module_cls = cls.get_class("perception", module_cfg["cls"]) - module_kwargs = module_cfg.get("kwargs", {}) - module_cls.clone(simulator_folder, config["package_name"]) - module_cls.insert(simulation, **module_kwargs) - - # Clone also RL library files so the package will be completely standalone - rl_cls = cls.get_class("rl", config["rl"]["algorithm"]) - rl_cls.clone(simulator_folder, config["package_name"]) - - # TODO read the xml file directly from task.getroot() instead of writing it to a file first; need to input a dict - # of assets to mujoco.MjModel.from_xml_path - simulation_file = os.path.join(simulator_folder, config["package_name"], "simulation") - with open(simulation_file+".xml", 'w') as file: - simulation.write(file, encoding='unicode') - - # Initialise the simulator - model, _, _, _, _, _ = \ - cls._initialise(config, simulator_folder, {**run_parameters, "build": True}) - - # Now that simulator has been initialised, everything should be set. Now we want to save the xml file again, but - # mujoco only is able to save the latest loaded xml file (which is either the task or bm model xml files which are - # are read in their __init__ functions), hence we need to read the file we've generated again before saving the - # modified model - mujoco.MjModel.from_xml_path(simulation_file+".xml") - mujoco.mj_saveLastXML(simulation_file+".xml", model) - - # Save the modified model also as binary for faster loading - mujoco.mj_saveModel(model, simulation_file+".mjcf", None) - - # Input built time into config - config["built"] = datetime.now().strftime("%Y-%m-%d %H:%M:%S") - - # Save config - write_yaml(config, os.path.join(simulator_folder, "config.yaml")) - - return simulator_folder - - @classmethod - def _clone(cls, simulator_folder, package_name): - """ Create a folder for the simulator being built, and copy or create relevant files. - - Args: - simulator_folder: Location of the simulator. - package_name: Name of the simulator (which is a python package). - """ - - # Create the folder - dst = os.path.join(simulator_folder, package_name) - os.makedirs(dst, exist_ok=True) - - # Copy simulator - src = pathlib.Path(inspect.getfile(cls)) - shutil.copyfile(src, os.path.join(dst, src.name)) - - # Create __init__.py with env registration - with open(os.path.join(dst, "__init__.py"), "w") as file: - file.write("from .simulator import Simulator\n\n") - file.write("from gymnasium.envs.registration import register\n") - file.write("import pathlib\n\n") - file.write("module_folder = pathlib.Path(__file__).parent\n") - file.write("simulator_folder = module_folder.parent\n") - file.write("kwargs = {'simulator_folder': simulator_folder}\n") - file.write("register(id=f'{module_folder.stem}-v0', entry_point=f'{module_folder.stem}.simulator:Simulator', kwargs=kwargs)\n") - - # Copy utils - shutil.copytree(os.path.join(parent_path(src), "utils"), os.path.join(simulator_folder, package_name, "utils"), - dirs_exist_ok=True) - # Copy train - shutil.copytree(os.path.join(parent_path(src), "train"), os.path.join(simulator_folder, package_name, "train"), - dirs_exist_ok=True) - # Copy test - shutil.copytree(os.path.join(parent_path(src), "test"), os.path.join(simulator_folder, package_name, "test"), - dirs_exist_ok=True) - - @classmethod - def _initialise(cls, config, simulator_folder, run_parameters): - """ Initialise a simulator -- i.e., create a MjModel, MjData, and initialise all necessary variables. - - Args: - config: A config dict. - simulator_folder: Location of the simulator. - run_parameters: Important run time variables that may also be used to override parameters. - """ - - # Get task class and kwargs - task_cls = cls.get_class("tasks", config["simulation"]["task"]["cls"]) - task_kwargs = config["simulation"]["task"].get("kwargs", {}) - - # Get bm class and kwargs - bm_cls = cls.get_class("bm_models", config["simulation"]["bm_model"]["cls"]) - bm_kwargs = config["simulation"]["bm_model"].get("kwargs", {}) - - # Initialise perception modules - perception_modules = {} - for module_cfg in config["simulation"].get("perception_modules", []): - module_cls = cls.get_class("perception", module_cfg["cls"]) - module_kwargs = module_cfg.get("kwargs", {}) - perception_modules[module_cls] = module_kwargs - - # Get simulation file - simulation_file = os.path.join(simulator_folder, config["package_name"], "simulation") - - # Load the mujoco model; try first with the binary model (faster, contains some parameters that may be lost when - # re-saving xml files like body mass). For some reason the binary model fails to load in some situations (like - # when the simulator has been built on a different computer) - # TODO loading from binary disabled, weird problems (like a body not found from model when loaded from binary, but - # found correctly when model loaded from xml) - # try: - # model = mujoco.MjModel.from_binary_path(simulation_file + ".mjcf") - # except: # TODO what was the exception type - model = mujoco.MjModel.from_xml_path(simulation_file + ".xml") - - # Initialise MjData - data = mujoco.MjData(model) - - # Add frame skip and dt to run parameters - run_parameters["frame_skip"] = int(1 / (model.opt.timestep * run_parameters["action_sample_freq"])) - run_parameters["dt"] = model.opt.timestep*run_parameters["frame_skip"] - - # Initialise a rendering context, required for e.g. some vision modules - run_parameters["rendering_context"] = Context(model, - max_resolution=run_parameters.get("max_resolution", [1280, 960])) - - # Initialise callbacks - callbacks = {} - for cb in run_parameters.get("callbacks", []): - callbacks[cb["name"]] = cls.get_class(cb["cls"])(cb["name"], **cb["kwargs"]) - - # Now initialise the actual classes; model and data are input to the inits so that stuff can be modified if needed - # (e.g. move target to a specific position wrt to a body part) - task = task_cls(model, data, **{**task_kwargs, **callbacks, **run_parameters}) - bm_model = bm_cls(model, data, **{**bm_kwargs, **callbacks, **run_parameters}) - perception = Perception(model, data, bm_model, perception_modules, {**callbacks, **run_parameters}) - - return model, data, task, bm_model, perception, callbacks - - @classmethod - def get(cls, simulator_folder, render_mode="rgb_array", render_mode_perception="embed", render_show_depths=False, run_parameters=None, use_cloned=True): - """ Returns a Simulator that is located in given folder. - - Args: - simulator_folder: Location of the simulator. - render_mode: Whether render() will return a single rgb array (render_mode="rgb_array"), - a list of rgb arrays (render_mode="rgb_array_list"; - adapted from https://github.com/openai/gym/blob/master/gym/wrappers/render_collection.py), - or None while the frames in a separate PyGame window are updated directly when calling - step() or reset() (render_mode="human"; - adapted from https://github.com/openai/gym/blob/master/gym/wrappers/human_rendering.py)). - render_mode_perception: Whether images of visual perception modules should be directly embedded into main camera view ("embed"), stored as separate videos ("separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) - render_show_depths: Whether depth images of visual perception modules should be included in rendering. - run_parameters: Can be used to override parameters during run time. - use_cloned: Can be useful for debugging. Set to False to use original files instead of the ones that have been - cloned/copied during building phase. - """ - - # Read config file - config_file = os.path.join(simulator_folder, "config.yaml") - try: - config = parse_yaml(config_file) - except: - raise FileNotFoundError(f"Could not open file {config_file}") - - # Make sure the simulator has been built - if "built" not in config: - raise RuntimeError("Simulator has not been built") - - # Make sure simulator_folder is in path (used to import gen_cls_cloned) - if simulator_folder not in sys.path: - sys.path.insert(0, simulator_folder) - - # Get Simulator class - gen_cls_cloned = getattr(importlib.import_module(config["package_name"]), "Simulator") - if hasattr(gen_cls_cloned, "version"): - _legacy_mode = False - gen_cls_cloned_version = gen_cls_cloned.version.split("-v")[-1] - else: - _legacy_mode = True - gen_cls_cloned_version = gen_cls_cloned.id.split("-v")[-1] #deprecated - if use_cloned: - gen_cls = gen_cls_cloned - else: - gen_cls = cls - gen_cls_version = gen_cls.version.split("-v")[-1] - - if gen_cls_version.split(".")[0] > gen_cls_cloned_version.split(".")[0]: - raise RuntimeError( - f"""Severe version mismatch. The simulator '{config["simulator_name"]}' has version {gen_cls_cloned_version}, while your uitb package has version {gen_cls_version}.\nTo run with version {gen_cls_cloned_version}, set 'use_cloned=True'.""") - elif gen_cls_version.split(".")[1] > gen_cls_cloned_version.split(".")[1]: - print( - f"""WARNING: Version mismatch. The simulator '{config["simulator_name"]}' has version {gen_cls_cloned_version}, while your uitb package has version {gen_cls_version}.\nTo run with version {gen_cls_version}, set 'use_cloned=True'.""") - - if _legacy_mode: - _simulator = gen_cls(simulator_folder, run_parameters=run_parameters) - else: - try: - _simulator = gen_cls(simulator_folder, render_mode=render_mode, render_mode_perception=render_mode_perception, render_show_depths=render_show_depths, - run_parameters=run_parameters) - except TypeError: - _simulator = gen_cls(simulator_folder, render_mode=render_mode, render_show_depths=render_show_depths, - run_parameters=run_parameters) - - # Return Simulator object - return _simulator - - def __init__(self, simulator_folder, render_mode="rgb_array", render_mode_perception="embed", render_show_depths=False, run_parameters=None): - """ Initialise a new `Simulator`. - - Args: - simulator_folder: Location of a simulator. - render_mode: Whether render() will return a single rgb array (render_mode="rgb_array"), - a list of rgb arrays (render_mode="rgb_array_list"; - adapted from https://github.com/openai/gym/blob/master/gym/wrappers/render_collection.py), - or None while the frames in a separate PyGame window are updated directly when calling - step() or reset() (render_mode="human"; - adapted from https://github.com/openai/gym/blob/master/gym/wrappers/human_rendering.py)). - render_mode_perception: Whether images of visual perception modules should be directly embedded into main camera view ("embed"), stored as separate videos ("separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) - render_show_depths: Whether depth images of visual perception modules should be included in rendering. - run_parameters: Can be used to override parameters during run time. - """ - - # Make sure simulator exists - if not os.path.exists(simulator_folder): - raise FileNotFoundError(f"Simulator folder {simulator_folder} does not exists") - self._simulator_folder = simulator_folder - - # Read config - self._config = parse_yaml(os.path.join(self._simulator_folder, "config.yaml")) - - # Get run parameters: these parameters can be used to override parameters used during training - self._run_parameters = self._config["simulation"]["run_parameters"].copy() - self._run_parameters.update(run_parameters or {}) - - # Initialise simulation - self._model, self._data, self.task, self.bm_model, self.perception, self.callbacks = \ - self._initialise(self._config, self._simulator_folder, self._run_parameters) - - # Set action space TODO for now we assume all actuators have control signals between [-1, 1] - self.action_space = self._initialise_action_space() - - # Set observation space - self.observation_space = self._initialise_observation_space() - - # Collect some episode statistics - self._episode_statistics = {"length (seconds)": 0, "length (steps)": 0, "reward": 0} - - # Initialise viewer - self._GUI_camera = Camera(self._run_parameters["rendering_context"], self._model, self._data, camera_id='for_testing', - dt=self._run_parameters["dt"]) - - self._render_mode = render_mode - self._render_mode_perception = render_mode_perception #whether perception camera views should be directly embedded into camera view of camera_id ("embed"), stored in self._render_stack_perception ("separate"), or not used at all "separate"), or not used at all [which allows to watch vision in Unity Editor if debug mode is enabled/standalone app is disabled] (None) - self._render_stack = [] #only used if render_mode == "rgb_array_list" - self._render_stack_perception = defaultdict(list) #only used if render_mode == "rgb_array_list" and self._render_mode_perception == "separate" - self._render_stack_pop = True #If True, clear the render stack after .render() is called. - self._render_stack_clean_at_reset = True #If True, clear the render stack when .reset() is called. - self._render_show_depths = render_show_depths #If True, depth images of visual perception modules are included in GUI rendering. - self._render_screen_size = None #only used if render_mode == "human" - self._render_window = None #only used if render_mode == "human" - self._render_clock = None #only used if render_mode == "human" - - if 'llc' in self.config: #if HRL approach is used - llc_simulator_folder = os.path.join(output_path(), self.config["llc"]["simulator_name"]) - if llc_simulator_folder not in sys.path: - sys.path.insert(0, llc_simulator_folder) - if not os.path.exists(llc_simulator_folder): - raise FileNotFoundError(f"Simulator folder {llc_simulator_folder} does not exists") - llccheckpoint_dir = os.path.join(llc_simulator_folder, 'checkpoints') - # Load policy TODO should create a load method for uitb.rl.BaseRLModel - print(f'Loading model: {os.path.join(llccheckpoint_dir, self.config["llc"]["checkpoint"])}\n') - self.llc_model = PPO.load(os.path.join(llccheckpoint_dir, self.config["llc"]["checkpoint"])) - self.action_space = self._initialise_HRL_action_space() - self._max_steps = self.config["llc"]["llc_ratio"] - self._dwell_threshold = int(0.5*self._max_steps) - self._target_radius = 0.05 - self._independent_dofs = [] - self._independent_joints = [] - joints = self.config["llc"]["joints"] - for joint in joints: - joint_id = mujoco.mj_name2id(self._model, mujoco.mjtObj.mjOBJ_JOINT, joint) - if self._model.jnt_type[joint_id] not in [mujoco.mjtJoint.mjJNT_HINGE, mujoco.mjtJoint.mjJNT_SLIDE]: - raise NotImplementedError(f"Only 'hinge' and 'slide' joints are supported, joint " - f"{joint} is of type {mujoco.mjtJoint(self._model.jnt_type[joint_id]).name}") - self._independent_dofs.append(self._model.jnt_qposadr[joint_id]) - self._independent_joints.append(joint_id) - self._jnt_range = self._model.jnt_range[self._independent_joints] - - - #To normalize joint ranges for llc - def _normalise_qpos(self, qpos): - # Normalise to [0, 1] - qpos = (qpos - self._jnt_range[:, 0]) / (self._jnt_range[:, 1] - self._jnt_range[:, 0]) - # Normalise to [-1, 1] - qpos = (qpos - 0.5) * 2 - return qpos - - def _initialise_action_space(self): - """ Initialise action space. """ - num_actuators = self.bm_model.nu + self.perception.nu - actuator_limits = np.ones((num_actuators,2)) * np.array([-1.0, 1.0]) - return spaces.Box(low=np.float32(actuator_limits[:, 0]), high=np.float32(actuator_limits[:, 1])) - - def _initialise_HRL_action_space(self): - bm_nu = self.bm_model.nu - bm_jnt_range = np.ones((bm_nu,2)) * np.array([-1.0, 1.0]) - perception_nu = self.perception.nu - perception_jnt_range = np.ones((perception_nu,2)) * np.array([-1.0, 1.0]) - jnt_range = np.concatenate((bm_jnt_range, perception_jnt_range), axis=0) - action_space = gym.spaces.Box(low=jnt_range[:,0], high=jnt_range[:,1]) - return action_space - - def _initialise_observation_space(self): - """ Initialise observation space. """ - observation = self.get_observation() - obs_dict = dict() - for module in self.perception.perception_modules: - obs_dict[module.modality] = spaces.Box(dtype=np.float32, **module.get_observation_space_params()) - if "stateful_information" in observation: - obs_dict["stateful_information"] = spaces.Box(dtype=np.float32, - **self.task.get_stateful_information_space_params()) - return spaces.Dict(obs_dict) - - def _get_qpos(self, model, data): - qpos = data.qpos[self._independent_dofs].copy() - qpos = self._normalise_qpos(qpos) - return qpos - - def step(self, action): - """ Step simulation forward with given actions. - - Args: - action: Actions sampled from a policy. Limited to range [-1, 1]. - """ - if 'llc' in self.config: #if HRL approach is used - self.task._target_qpos = action # action to pass to LLC - self._steps = 0 # Initialise loop control to 0 - #acc_reward = 0 #To be used when rewards are being accumulated in llc steps - - while self._steps < self._max_steps: # loop for llc controls based on llc_ratio - - llc_action, _states = self.llc_model.predict(self.get_llcobservation(action), deterministic=True) # Get BM action from LLC - # Set control for the bm model - self.bm_model.set_ctrl(self._model, self._data, llc_action) - - # Set control for perception modules (e.g. eye movements) - self.perception.set_ctrl(self._model, self._data, action[self.bm_model.nu:]) - - # Advance the simulation - mujoco.mj_step(self._model, self._data, nstep=int(self._run_parameters["frame_skip"])) # Number of timesteps to skip for LLC - - # Update bm model (e.g. update constraints); updates also effort model - self.bm_model.update(self._model, self._data) - - # Update perception modules - self.perception.update(self._model, self._data) - - dist = np.abs(action - self._get_qpos(self._model, self._data)) - - # Update environment - reward, terminated, truncated, info = self.task.update(self._model, self._data) - - # Add an effort cost to reward - reward -= self.bm_model.get_effort_cost(self._model, self._data) - - #acc_reward += reward #To be used when rewards are being accumulated in llc steps - - # Get observation - obs = self.get_observation() - - # Add frame to stack - if self._render_mode == "rgb_array_list": - self._render_stack.append(self._GUI_rendering()) - elif self._render_mode == "human": - self._GUI_rendering_pygame() - - if truncated or terminated: - break - - # Pointing - if "target_spawned" in info: - if info["target_spawned"] or info["target_hit"]: - break - - # Choice Reaction - elif "new_button_generated" in info: - if info["new_button_generated"] or info["target_hit"]: - break - - self._steps += 1 - if np.all(dist < self._target_radius): - break - - return obs, reward, terminated, truncated, info - - else: - # Set control for the bm model - self.bm_model.set_ctrl(self._model, self._data, action[:self.bm_model.nu]) - - # Set control for perception modules (e.g. eye movements) - self.perception.set_ctrl(self._model, self._data, action[self.bm_model.nu:]) - - # Advance the simulation - mujoco.mj_step(self._model, self._data, nstep=self._run_parameters["frame_skip"]) - - # Update bm model (e.g. update constraints); updates also effort model - self.bm_model.update(self._model, self._data) - - # Update perception modules - self.perception.update(self._model, self._data) - - # Update environment - reward, terminated, truncated, info = self.task.update(self._model, self._data) - - # Add an effort cost to reward - effort_cost = self.bm_model.get_effort_cost(self._model, self._data) - info["EffortCost"] = effort_cost - reward -= effort_cost - - # Get observation - obs = self.get_observation(info) - - # Add frame to stack - if self._render_mode == "rgb_array_list": - self._render_stack.append(self._GUI_rendering()) - elif self._render_mode == "human": - self._GUI_rendering_pygame() - - return obs, reward, terminated, truncated, info - - - def get_observation(self, info=None): - """ Returns an observation from the perception model. - - Returns: - A dict with observations from individual perception modules. May also contain stateful information from a task. - """ - - # Get observation from perception - observation = self.perception.get_observation(self._model, self._data, info) - - # Add any stateful information that is required - stateful_information = self.task.get_stateful_information(self._model, self._data) - if stateful_information.size > 0: #TODO: define stateful_information (and encoder) that can be used as default, if no stateful information is provided (zero-size arrays do not work with sb3 currently...) - observation["stateful_information"] = stateful_information - - return observation - - def get_llcobservation(self,action): - """ Returns an observation from the perception model. - - Returns: - A dict with observations from individual perception modules. May also contain stateful information from a task. - """ - - # Get observation from perception - observation = self.perception.get_observation(self._model, self._data) - - # Remove Vision for LLC - observation.pop("vision") - qpos = self._get_qpos(self._model, self._data) - qpos_diff = action - qpos - - # Stateful Information for LLC policy - stateful_information = qpos_diff - if stateful_information is not None: - observation["stateful_information"] = stateful_information - - return observation - - - def reset(self, seed=None): - """ Reset the simulator and return an observation. """ - - super().reset(seed=seed) - - # Reset sim - mujoco.mj_resetData(self._model, self._data) - - # Reset all models - self.bm_model.reset(self._model, self._data) - self.perception.reset(self._model, self._data) - info = self.task.reset(self._model, self._data) - - # Do a forward so everything will be set - mujoco.mj_forward(self._model, self._data) - - if self._render_mode == "rgb_array_list": - if self._render_stack_clean_at_reset: - self._render_stack = [] - self._render_stack_perception = defaultdict(list) - self._render_stack.append(self._GUI_rendering()) - elif self._render_mode == "human": - self._GUI_rendering_pygame() - - return self.get_observation(), info - - def render(self): - if self._render_mode == "rgb_array_list": - render_stack = self._render_stack - if self._render_stack_pop: - self._render_stack = [] - return render_stack - elif self._render_mode == "rgb_array": - return self._GUI_rendering() - else: - return None - - def get_render_stack_perception(self): - render_stack_perception = self._render_stack_perception - # if self._render_stack_pop: - # self._render_stack_perception = defaultdict(list) - return render_stack_perception - - def _GUI_rendering(self): - # Grab an image from the 'for_testing' camera and grab all GUI-prepared images from included visual perception modules, and display them 'picture-in-picture' - - # Grab images - img, _ = self._GUI_camera.render() - - if self._render_mode_perception == "embed": - # Embed perception camera images into main camera image +import pygame +import mujoco +import yaml +from gymnasium import spaces +from typing import Dict, Any, Optional, Tuple +import mujoco.viewer + +class Simulator: + def __init__(self, simulator_folder: str, render_mode: Optional[str] = None): + self.simulator_folder = simulator_folder + self.render_mode = render_mode + self.step_count = 0 + self.terminated = False + self.truncated = False + self.last_reward = 0.0 + self.model = None + self.data = None + self.viewer = None + self.screen = None + + # 1. 先加载配置 + self.config = self._load_config() + # 2. 再加载模型 + self.model, self.data = self._load_model() + # 3. 最后校验配置 + self._validate_config() + + # 初始化动作空间、观测空间、渲染 + self._init_action_space() + self._init_observation_space() - # perception_camera_images = [rgb_or_depth_array for camera in self.perception.cameras - # for rgb_or_depth_array in camera.render() if rgb_or_depth_array is not None] - perception_camera_images = self.perception.get_renders() - - # TODO: add text annotations to perception camera images - if len(perception_camera_images) > 0: - _img_size = img.shape[:2] #(height, width) - - - # Vertical alignment of perception camera images, from bottom right to top right - ## TODO: allow for different inset locations - _desired_subwindow_height = np.round(_img_size[0] / len(perception_camera_images)).astype(int) - _maximum_subwindow_width = np.round(0.2 * _img_size[1]).astype(int) - - perception_camera_images_resampled = [] - for ocular_img in perception_camera_images: - # Convert 2D depth arrays to 3D heatmap arrays - if ocular_img.ndim == 2: - if self._render_show_depths: - ocular_img = matplotlib.pyplot.imshow(ocular_img, cmap=matplotlib.pyplot.cm.jet, interpolation='bicubic').make_image('TkAgg', unsampled=True)[0][ - ..., :3] - matplotlib.pyplot.close() #delete image - else: - continue - - resample_factor = min(_desired_subwindow_height / ocular_img.shape[0], _maximum_subwindow_width / ocular_img.shape[1]) - - resample_height = np.round(ocular_img.shape[0] * resample_factor).astype(int) - resample_width = np.round(ocular_img.shape[1] * resample_factor).astype(int) - resampled_img = np.zeros((resample_height, resample_width, ocular_img.shape[2]), dtype=np.uint8) - for channel in range(ocular_img.shape[2]): - resampled_img[:, :, channel] = scipy.ndimage.zoom(ocular_img[:, :, channel], resample_factor, order=0) - - perception_camera_images_resampled.append(resampled_img) - - ocular_img_bottom = _img_size[0] - for ocular_img_idx, ocular_img in enumerate(perception_camera_images_resampled): - #print(f"Modify ({ocular_img_bottom - ocular_img.shape[0]}, { _img_size[1] - ocular_img.shape[1]})-({ocular_img_bottom}, {img.shape[1]}).") - img[ocular_img_bottom - ocular_img.shape[0]:ocular_img_bottom, _img_size[1] - ocular_img.shape[1]:] = ocular_img - ocular_img_bottom -= ocular_img.shape[0] - # input((len(perception_camera_images_resampled), perception_camera_images_resampled[0].shape, img.shape)) - elif self._render_mode_perception == "separate": - for module, camera_list in self.perception.cameras_dict.items(): - for camera in camera_list: - for rgb_or_depth_array in camera.render(): - if rgb_or_depth_array is not None: - self._render_stack_perception[f"{module.modality}/{type(camera).__name__}"].append(rgb_or_depth_array) - - return img - - def _GUI_rendering_pygame(self): - rgb_array = np.transpose(self._GUI_rendering(), axes=(1, 0, 2)) - - if self._render_screen_size is None: - self._render_screen_size = rgb_array.shape[:2] - - assert self._render_screen_size == rgb_array.shape[ - :2], f"Expected an rgb array of shape {self._render_screen_size} from self._GUI_camera, but received an rgb array of shape {rgb_array.shape[:2]}. " - - if self._render_window is None: - pygame.init() - pygame.display.init() - self._render_window = pygame.display.set_mode(self._render_screen_size) - - if self._render_clock is None: - self._render_clock = pygame.time.Clock() - - surf = pygame.surfarray.make_surface(rgb_array) - self._render_window.blit(surf, (0, 0)) - pygame.event.pump() - self._render_clock.tick(self.fps) - pygame.display.flip() - - def close(self): - """ Close the rendering window (if self._render_mode == 'human').""" - super().close() - if self._render_window is not None: - import pygame - - pygame.display.quit() - pygame.quit() - - @property - def fps(self): - return self._GUI_camera._fps - - def callback(self, callback_name, num_timesteps): - """ Update a callback -- may be useful during training, e.g. for curriculum learning. """ - self.callbacks[callback_name].update(num_timesteps) - - def update_callbacks(self, num_timesteps): - """ Update all callbacks. """ - for callback_name in self.callbacks: - self.callback(callback_name, num_timesteps) - - # def get_logdict_keys(self): - # return list(self.task._info["log_dict"].keys()) - - # def get_logdict_value(self, key): - # return self.task._info["log_dict"].get(key) - - @property - def config(self): - """ Return config. """ - return copy.deepcopy(self._config) - - @property - def run_parameters(self): - """ Return run parameters. """ - # Context cannot be deep copied - exclude = {"rendering_context"} - run_params = {k: copy.deepcopy(self._run_parameters[k]) for k in self._run_parameters.keys() - exclude} - run_params["rendering_context"] = self._run_parameters["rendering_context"] - return run_params - - @property - def simulator_folder(self): - """ Return simulator folder. """ - return self._simulator_folder - - @property - def render_mode(self): - """ Return render mode. """ - return self._render_mode - - def get_state(self): - """ Return a state of the simulator / individual components (biomechanical model, perception model, task). - - This function is used for logging/evaluation purposes, not for RL training. - - Returns: - A dict with one float or numpy vector per keyword. - """ - - # Get time, qpos, qvel, qacc, act_force, act, ctrl of the current simulation - state = {"timestep": self._data.time, - "qpos": self._data.qpos.copy(), - "qvel": self._data.qvel.copy(), - "qacc": self._data.qacc.copy(), - "act_force": self._data.actuator_force.copy(), - "act": self._data.act.copy(), - "ctrl": self._data.ctrl.copy()} - - # Add state from the task - state.update(self.task.get_state(self._model, self._data)) - - # Add state from the biomechanical model - state.update(self.bm_model.get_state(self._model, self._data)) + if self.render_mode: + self._init_render() + + @classmethod + def get(cls, simulator_folder: str, **kwargs): + return cls(simulator_folder, **kwargs) + + def _load_config(self) -> Dict[str, Any]: + config_path = os.path.join(self.simulator_folder, "config.yaml") + if not os.path.exists(config_path): + default_config = { + "simulation": { + "max_steps": 1000, + "model_path": "arm_model.mjcf", + "control_frequency": 20, + "target_joint_pos": [0.0] + } + } + with open(config_path, "w", encoding="utf-8") as f: + yaml.dump(default_config, f) + with open(config_path, "r", encoding="utf-8") as f: + return yaml.safe_load(f) + + def _load_model(self): + model_path = os.path.join(self.simulator_folder, self.config["simulation"].get("model_path", "arm_model.mjcf")) + if not os.path.exists(model_path): + with open(model_path, "w", encoding="utf-8") as f: + f.write(""" + """) + model = mujoco.MjModel.from_xml_path(model_path) + data = mujoco.MjData(model) + return model, data + + def _validate_config(self): + if "simulation" not in self.config: + self.config["simulation"] = {} + + # 如果有模型，使用模型信息，否则使用默认值 + if self.model is not None: + nq = self.model.nq + else: + nq = 1 # 默认值 + + self.config["simulation"].setdefault("target_joint_pos", [0.0] * nq) + self.config["simulation"].setdefault("max_steps", 1000) + self.config["simulation"].setdefault("control_frequency", 20) + + def _init_action_space(self): + """初始化动作空间""" + # 确保模型已加载 + if self.model is None: + raise ValueError("模型未加载，无法初始化动作空间") + + n_actuators = self.model.nu + self.action_space = spaces.Box( + low=-1.0, + high=1.0, + shape=(n_actuators,), + dtype=np.float32 + ) + print(f"动作空间初始化: 维度={n_actuators}") + + def _init_observation_space(self): + """初始化观测空间""" + # 确保模型已加载 + if self.model is None: + raise ValueError("模型未加载，无法初始化观测空间") + + n_qpos = self.model.nq + n_qvel = self.model.nv + + obs_dim = n_qpos + n_qvel + + self.observation_space = spaces.Box( + low=-np.inf, + high=np.inf, + shape=(obs_dim,), + dtype=np.float32 + ) + print(f"观测空间初始化: 维度={obs_dim} (位置={n_qpos}, 速度={n_qvel})") + + def _init_render(self): + """初始化渲染""" + if self.render_mode == "human": + try: + pygame.init() + self.screen = pygame.display.set_mode((800, 600)) + pygame.display.set_caption("MuJoCo Arm Simulation") + print("Pygame渲染初始化成功") + except Exception as e: + print(f"渲染初始化失败: {e}") + + def reset(self, seed: Optional[int] = None) -> Tuple[np.ndarray, dict]: + """重置仿真环境""" + if seed is not None: + np.random.seed(seed) + + # 重置MuJoCo数据 + mujoco.mj_resetData(self.model, self.data) + + # 重置计数器 + self.step_count = 0 + self.terminated = False + self.truncated = False + self.last_reward = 0.0 + + # 获取初始观测 + obs = self._get_obs() + + # 渲染初始状态 + if self.render_mode == "human": + self.render() + + return obs, {} - # Add state from the perception model - state.update(self.perception.get_state(self._model, self._data)) + def step(self, action: np.ndarray) -> Tuple[np.ndarray, float, bool, bool, dict]: + """执行一步仿真""" + # 将动作应用到执行器 + self.data.ctrl[:] = action * 10.0 + + # 执行一步仿真 + mujoco.mj_step(self.model, self.data) + + # 更新计数器 + self.step_count += 1 + + # 计算奖励 + reward = self._compute_reward() + self.last_reward = reward + + # 检查是否终止 + self.terminated = self._check_terminated() + + # 检查是否截断（达到最大步数） + max_steps = self.config["simulation"].get("max_steps", 1000) + self.truncated = self.step_count >= max_steps + + # 获取观测 + obs = self._get_obs() + + # 渲染当前状态 + if self.render_mode == "human": + self.render() + + return obs, reward, self.terminated, self.truncated, {} - return state + def _get_obs(self) -> np.ndarray: + """获取当前观测""" + qpos = self.data.qpos.copy() + qvel = self.data.qvel.copy() + + obs = np.concatenate([qpos, qvel]) + return obs.astype(np.float32) - def close(self, **kwargs): - """ Perform any necessary clean up. + def _compute_reward(self) -> float: + """计算奖励函数""" + target_pos = np.array(self.config["simulation"]["target_joint_pos"]) + current_pos = self.data.qpos.copy() + + # 确保数组维度匹配 + if len(target_pos) != len(current_pos): + target_pos = np.zeros_like(current_pos) + + pos_error = np.sum((current_pos - target_pos) ** 2) + reward = -pos_error + + return float(reward) - This function is inherited from gym.Env. It should be automatically called when this object is garbage collected - or the program exists, but that doesn't seem to be the case. This function will be called if this object has been - initialised in the context manager fashion (i.e. using the 'with' statement). """ - self.task.close(**kwargs) - self.perception.close(**kwargs) - self.bm_model.close(**kwargs) + def _check_terminated(self) -> bool: + """检查是否达到终止条件""" + joint_pos = self.data.qpos.copy() + + if np.any(np.abs(joint_pos) > np.pi): + return True + + return False + + def render(self): + """渲染当前仿真状态""" + if self.render_mode == "human" and self.screen is not None: + # 处理pygame事件 + for event in pygame.event.get(): + if event.type == pygame.QUIT: + self.close() + return + elif event.type == pygame.KEYDOWN: + if event.key == pygame.K_ESCAPE: + self.close() + return + + # 清屏 + self.screen.fill((255, 255, 255)) + + # 绘制简单表示（2D投影） + joint_angle = self.data.qpos[0] if self.model.nq > 0 else 0 + + arm_length = 200 + center_x, center_y = 400, 300 + + end_x = center_x + arm_length * np.cos(joint_angle) + end_y = center_y + arm_length * np.sin(joint_angle) + + # 绘制机械臂 + pygame.draw.line(self.screen, (0, 0, 0), + (center_x, center_y), (end_x, end_y), 5) + + # 绘制关节 + pygame.draw.circle(self.screen, (255, 0, 0), + (int(center_x), int(center_y)), 10) + pygame.draw.circle(self.screen, (0, 0, 255), + (int(end_x), int(end_y)), 8) + + # 显示信息 + font = pygame.font.Font(None, 36) + step_text = font.render(f"Step: {self.step_count}", True, (0, 0, 0)) + reward_text = font.render(f"Reward: {self.last_reward:.2f}", True, (0, 0, 0)) + angle_text = font.render(f"Joint Angle: {joint_angle:.2f} rad", True, (0, 0, 0)) + + self.screen.blit(step_text, (10, 10)) + self.screen.blit(reward_text, (10, 50)) + self.screen.blit(angle_text, (10, 90)) + + # 更新显示 + pygame.display.flip() + + # 控制帧率 + control_freq = self.config["simulation"].get("control_frequency", 20) + pygame.time.delay(int(1000 / control_freq)) + + def close(self): + """关闭环境""" + if self.render_mode == "human": + pygame.quit() \ No newline at end of file diff --git a/src/box/simulators/2.py b/src/box/simulators/2.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/src/box/simulators/arm_simulation/arm_model.mjcf b/src/box/simulators/arm_simulation/arm_model.mjcf new file mode 100644 index 0000000000..dde587e969 --- /dev/null +++ b/src/box/simulators/arm_simulation/arm_model.mjcf @@ -0,0 +1,14 @@ + + \ No newline at end of file diff --git a/src/box/simulators/arm_simulation/arm_simulation.xml b/src/box/simulators/arm_simulation/arm_simulation.xml new file mode 100644 index 0000000000..dde587e969 --- /dev/null +++ b/src/box/simulators/arm_simulation/arm_simulation.xml @@ -0,0 +1,14 @@ + + \ No newline at end of file diff --git a/src/box/simulators/arm_simulation/config.yaml b/src/box/simulators/arm_simulation/config.yaml new file mode 100644 index 0000000000..49138a68d1 --- /dev/null +++ b/src/box/simulators/arm_simulation/config.yaml @@ -0,0 +1,4 @@ +# 最小化配置示例（具体字段需根据 simulator.py 中的要求调整） +simulation: + model_path: "arm_model.mjcf" # 模型文件名（若有） + render: true \ No newline at end of file diff --git a/src/box/test.simulator.py b/src/box/test.simulator.py index 06f94e93fd..233864623b 100644 --- a/src/box/test.simulator.py +++ b/src/box/test.simulator.py @@ -1,25 +1,93 @@ -from uitb.simulator import Simulator - -# 加载仿真器（需替换为实际仿真器路径，如 "uitb/simulators/arm_simulation"） -simulator_folder = "uitb/simulators/your_sim_folder" -env = Simulator.get( - simulator_folder=simulator_folder, - render_mode="human", # "human" 弹出Pygame窗口；"rgb_array" 输出图片数组 - render_mode_perception="embed" # 感知图像嵌入主窗口 -) - -# 重置环境 -obs, info = env.reset(seed=42) -print("初始观测值：", {k: v.shape for k in obs}) - -# 运行 1000 步仿真（随机动作示例） -for step in range(1000): - action = env.action_space.sample() - obs, reward, terminated, truncated, info = env.step(action) - if step % 100 == 0: - print(f"第 {step} 步 | 奖励：{reward:.2f} | 终止状态：{terminated}") - if terminated or truncated: - obs, info = env.reset() - -# 关闭仿真（释放资源） -env.close() +import sys +import os +import importlib.util +import numpy as np + +# 1. 手动指定 simulator.py 的绝对路径 +simulator_path = os.path.abspath(os.path.join(os.path.dirname(__file__), "simulator.py")) + +# 2. 检查文件是否存在 +if not os.path.exists(simulator_path): + raise FileNotFoundError(f"simulator.py 不存在：{simulator_path}") + +# 3. 动态加载 simulator.py 模块 +spec = importlib.util.spec_from_file_location("simulator", simulator_path) +simulator_module = importlib.util.module_from_spec(spec) +sys.modules["simulator"] = simulator_module +spec.loader.exec_module(simulator_module) + +# 4. 从加载的模块中导入 Simulator 类 +Simulator = simulator_module.Simulator + +# 配置仿真器路径（根据你的目录结构） +current_dir = os.path.dirname(os.path.abspath(__file__)) +simulator_folder = os.path.join(current_dir, "simulators", "arm_simulation") + +# 检查仿真器目录是否存在，如果不存在则创建 +if not os.path.exists(simulator_folder): + print(f"创建仿真器目录：{simulator_folder}") + os.makedirs(simulator_folder, exist_ok=True) + +print("=" * 50) +print("机械臂仿真环境") +print("=" * 50) +print(f"仿真器目录: {simulator_folder}") +print(f"当前工作目录: {os.getcwd()}") + +try: + # 创建仿真环境 + env = Simulator.get( + simulator_folder=simulator_folder, + render_mode="human" + ) + + print("仿真环境创建成功!") + print(f"模型关节数(nq): {env.model.nq}") + print(f"模型执行器数(nu): {env.model.nu}") + print(f"模型速度数(nv): {env.model.nv}") + print("=" * 50) + + # 重置环境 + obs, info = env.reset(seed=42) + print(f"初始观测值: {obs}") + print(f"观测值形状: {obs.shape}") + print(f"动作空间形状: {env.action_space.shape}") + print("=" * 50) + + print("\n开始仿真...") + print("按ESC键或关闭窗口可结束仿真") + print("-" * 50) + + # 运行仿真 + for step in range(1000): + # 随机采样动作 + action = env.action_space.sample() + + # 执行一步 + obs, reward, terminated, truncated, info = env.step(action) + + # 每50步打印一次信息 + if step % 50 == 0: + print(f"Step {step:4d} | 奖励: {reward:7.3f} | 终止: {terminated} | 截断: {truncated}") + + # 如果环境终止或截断，则重置 + if terminated or truncated: + print(f"\n环境终止/截断 (Step {step})，重置仿真...") + obs, info = env.reset() + + print("\n仿真完成!") + +except Exception as e: + print(f"\n发生错误: {type(e).__name__}: {e}") + import traceback + traceback.print_exc() + +finally: + # 关闭环境 + print("\n关闭仿真环境...") + try: + if 'env' in locals(): + env.close() + except: + pass + print("仿真结束") \ No newline at end of file diff --git a/src/box/utils/functions.py b/src/box/utils/functions.py new file mode 100644 index 0000000000..b30ef1a5e8 --- /dev/null +++ b/src/box/utils/functions.py @@ -0,0 +1,25 @@ +# src/box/utils/functions.py +import os +import yaml + +def output_path(): + """示例：返回输出路径""" + return os.path.abspath(os.path.join(os.path.dirname(__file__), "../../output")) + +def parent_path(path): + """示例：返回父目录路径""" + return os.path.dirname(os.path.abspath(path)) + +def is_suitable_package_name(name): + """示例：验证包名是否合法""" + return name.isidentifier() and name[0].islower() + +def parse_yaml(file_path): + """示例：解析YAML文件""" + with open(file_path, "r", encoding="utf-8") as f: + return yaml.safe_load(f) + +def write_yaml(data, file_path): + """示例：写入YAML文件""" + with open(file_path, "w", encoding="utf-8") as f: + yaml.safe_dump(data, f, default_flow_style=False) \ No newline at end of file diff --git a/src/box/utils/rendering.py b/src/box/utils/rendering.py new file mode 100644 index 0000000000..6c030ddf24 --- /dev/null +++ b/src/box/utils/rendering.py @@ -0,0 +1,26 @@ +# src/box/utils/rendering.py +import mujoco +import numpy as np + +class Context: + """渲染上下文类，用于管理渲染配置""" + def __init__(self, model, max_resolution): + self.model = model + self.max_resolution = max_resolution # 格式：[宽度, 高度] +# 必须确保此文件的路径和内容完全匹配 +class Context: + def __init__(self, model, max_resolution): + self.model = model + self.max_resolution = max_resolution + +class Camera: + def __init__(self, context, model, data, camera_id, dt): + self.context = context + self.model = model + self.data = data + self.camera_id = camera_id + self.dt = dt + self._fps = 1.0 / dt + + def render(self): + return (None, None) \ No newline at end of file diff --git a/src/carla_autonomous_driving_perception/carla_model3_spawn_with_spectator.py b/src/carla_autonomous_driving_perception/carla_model3_spawn_with_spectator.py new file mode 100644 index 0000000000..f2d3207a13 --- /dev/null +++ b/src/carla_autonomous_driving_perception/carla_model3_spawn_with_spectator.py @@ -0,0 +1,209 @@ +import carla +import pygame +import time +import random +import queue +import cv2 +import numpy as np +from threading import Lock + +# 自定义线性插值函数（适配同步帧） +def lerp(a, b, t): + """线性插值：t值根据同步帧率调整（30帧下0.15更稳定）""" + return a + t * (b - a) + +# 1. 连接CARLA服务器并配置强同步模式 +client = carla.Client('localhost', 2000) +client.set_timeout(15.0) +world = client.load_world('Town05') + +# 启用严格同步模式（关键：固定帧间隔，禁用异步更新） +settings = world.get_settings() +settings.synchronous_mode = True # 客户端控制帧推进 +settings.fixed_delta_seconds = 1/30 # 30帧/秒（与后续tick频率一致） +settings.no_rendering_mode = False # 启用渲染 +world.apply_settings(settings) + +# 2. 初始化同步锁与帧数据缓存（确保线程安全） +frame_lock = Lock() +latest_snapshot = None # 存储当前帧的Actor快照（含车辆状态） + +# 绑定帧同步回调：每帧更新车辆状态快照 +def on_world_tick(snapshot): + global latest_snapshot + with frame_lock: + latest_snapshot = snapshot # 缓存当前帧的所有Actor状态 +world.on_tick(on_world_tick) + +bp_lib = world.get_blueprint_library() +spawn_points = world.get_map().get_spawn_points() + +# 3. 生成主角车辆（Tesla Model3） +model3_bp = bp_lib.find('vehicle.tesla.model3') +# 确保生成点有效（避免初始位置异常导致抖动） +vehicle = None +for _ in range(5): + try: + vehicle = world.spawn_actor(model3_bp, random.choice(spawn_points)) + print(f"主角车辆生成成功（ID: {vehicle.id}）") + break + except: + time.sleep(0.5) +if not vehicle: + raise Exception("主角车辆生成失败，请重启CARLA服务器") + +# 4. 初始化实时RGB摄像头（新增模块） +def init_camera(vehicle): + """初始化绑定到主角车的RGB摄像头，返回摄像头actor和图像队列""" + # 摄像头蓝图配置 + camera_bp = bp_lib.find('sensor.camera.rgb') + camera_bp.set_attribute('image_size_x', '1024') # 图像宽度 + camera_bp.set_attribute('image_size_y', '720') # 图像高度 + camera_bp.set_attribute('fov', '90') # 视场角 + camera_bp.set_attribute('shutter_speed', '100') # 减少运动模糊 + + # 摄像头安装位置：车前方2米，高度1.5米，略微上仰（便于观察前方路况） + camera_transform = carla.Transform( + carla.Location(x=2.0, z=1.5), + carla.Rotation(pitch=-5) + ) + + # 生成摄像头并绑定到主角车 + camera = world.spawn_actor( + camera_bp, + camera_transform, + attach_to=vehicle + ) + + # 创建图像队列（线程安全） + image_queue = queue.Queue() + camera.listen(image_queue.put) # 摄像头数据存入队列 + + print("RGB摄像头初始化完成，实时画面将在窗口显示（按'q'关闭）") + return camera, image_queue + +# 初始化摄像头 +camera, image_queue = init_camera(vehicle) + +# 5. 生成NPC车辆（减少至100辆，确保同步性能） +npc_count = 100 # 500辆会导致同步延迟，100辆是性能与效果的平衡 +print(f"开始生成{npc_count}辆NPC车辆...") +for i in range(npc_count): + vehicle_bp = random.choice(bp_lib.filter('vehicle')) + if 'tesla' in vehicle_bp.id: # 避免与主角车混淆 + continue + # 尝试生成（避开主角车位置） + spawn_point = random.choice(spawn_points) + if spawn_point.location.distance(vehicle.get_location()) < 20: + continue + world.try_spawn_actor(vehicle_bp, spawn_point) + # 每生成20辆同步一次，确保服务器不卡顿 + if i % 20 == 0: + world.tick() + time.sleep(0.1) + +# 统计实际生成数量 +all_vehicles = world.get_actors().filter('*vehicle*') +actual_npc_count = len(all_vehicles) - 1 +print(f"NPC生成完成 | 实际数量: {actual_npc_count}辆（总车辆: {len(all_vehicles)}）") + +# 6. 启动所有车辆自动驾驶（绑定交通管理器同步端口） +tm = client.get_trafficmanager(8000) +tm.set_synchronous_mode(True) # 交通管理器也启用同步模式 +for v in all_vehicles: + v.set_autopilot(True, tm.get_port()) # 所有车辆通过TM控制，确保行为同步 + +# 7. 平滑视角函数（基于当前帧快照数据） +def set_spectator_smooth(last_transform=None): + """ + 基于当前帧快照更新视角，彻底避免异步抖动 + 数据来源：on_world_tick缓存的latest_snapshot（当前帧精确状态） + """ + spectator = world.get_spectator() + with frame_lock: + if not latest_snapshot: + return last_transform # 等待第一帧数据 + # 从当前帧快照中获取主角车的精确状态（而非实时查询） + vehicle_snapshot = latest_snapshot.find(vehicle.id) + if not vehicle_snapshot: + return last_transform + vehicle_tf = vehicle_snapshot.get_transform() # 这是当前帧的精确位置 + + # 目标视角：车后8米、上方3米，轻微右偏（便于观察整车和周围环境） + target_tf = carla.Transform( + vehicle_tf.transform(carla.Location(x=-8, z=3, y=0.5)), + vehicle_tf.rotation + ) + + # 首次调用直接设置 + if last_transform is None: + spectator.set_transform(target_tf) + return target_tf + + # 插值平滑（t=0.15适配30帧，同步模式下更稳定） + smooth_loc = carla.Location( + x=lerp(last_transform.location.x, target_tf.location.x, 0.15), + y=lerp(last_transform.location.y, target_tf.location.y, 0.15), + z=lerp(last_transform.location.z, target_tf.location.z, 0.15) + ) + smooth_rot = carla.Rotation( + pitch=lerp(last_transform.rotation.pitch, target_tf.rotation.pitch, 0.15), + yaw=lerp(last_transform.rotation.yaw, target_tf.rotation.yaw, 0.15), + roll=lerp(last_transform.rotation.roll, target_tf.rotation.roll, 0.15) + ) + smooth_tf = carla.Transform(smooth_loc, smooth_rot) + spectator.set_transform(smooth_tf) + return smooth_tf + +# 8. 主循环（整合实时摄像头画面与原有逻辑） +print("\n程序运行中（强同步模式），按Ctrl+C或摄像头窗口按'q'退出...") +print("功能：实时RGB摄像头画面 + 车辆自动驾驶 + 平滑视角") +last_spectator_tf = None +clock = pygame.time.Clock() + +try: + # 先推进一帧获取初始快照 + world.tick() + last_spectator_tf = set_spectator_smooth() + + while True: + # 推进一帧（触发世界更新和摄像头数据采集） + world.tick() + + # 更新 spectator 视角（平滑跟随） + last_spectator_tf = set_spectator_smooth(last_spectator_tf) + + # 处理实时摄像头画面（新增逻辑） + if not image_queue.empty(): + image = image_queue.get() + # 将原始数据转换为RGBA格式并reshape + img = np.reshape(np.copy(image.raw_data), (image.height, image.width, 4)) + # 显示图像（OpenCV窗口） + cv2.imshow('CARLA RGB Camera', img) + # 按'q'键退出 + if cv2.waitKey(1) == ord('q'): + break + + # 控制客户端帧率与服务器同步 + clock.tick(30) + +except KeyboardInterrupt: + print("\n用户中断，清理资源...") +finally: + # 清理摄像头资源（关键：避免残留传感器） + camera.stop() # 停止摄像头监听 + camera.destroy() # 销毁摄像头actor + + # 恢复CARLA默认设置 + settings.synchronous_mode = False + tm.set_synchronous_mode(False) + world.apply_settings(settings) + + # 销毁所有车辆 + for v in all_vehicles: + if v.is_alive: + v.destroy() + + # 关闭所有OpenCV窗口 + cv2.destroyAllWindows() + print("资源清理完成，同步模式已关闭") \ No newline at end of file diff --git a/src/drone_perception/image_classification.py b/src/drone_perception/image_classification.py index 8746da7006..9c4f1b3bf4 100644 --- a/src/drone_perception/image_classification.py +++ b/src/drone_perception/image_classification.py @@ -287,3 +287,4 @@ def train_model(model, train_loader, test_loader, epochs, patience=5): plt.show() print("模型训练完成！") + diff --git a/src/drone_perception/visual_navigation.py b/src/drone_perception/visual_navigation.py index f6853b9c6e..2274b00cab 100644 --- a/src/drone_perception/visual_navigation.py +++ b/src/drone_perception/visual_navigation.py @@ -8,7 +8,6 @@ import time import os -# DroneBattery Class to manage battery class DroneBattery: def __init__(self, max_capacity=100, current_charge=100): self.max_capacity = max_capacity @@ -17,24 +16,6 @@ def __init__(self, max_capacity=100, current_charge=100): def display_battery_status(self): print(f"Battery Status: {self.current_charge}%") - def charge_battery(self, charge_rate=10): - while self.current_charge < self.max_capacity: - self.current_charge += charge_rate - if self.current_charge > self.max_capacity: - self.current_charge = self.max_capacity - print(f"Charging... {self.current_charge}%") - time.sleep(1) - print("Battery fully charged!") - - def discharge_battery(self, discharge_rate=10): - while self.current_charge > 0: - self.current_charge -= discharge_rate - if self.current_charge < 0: - self.current_charge = 0 - print(f"Discharging... {self.current_charge}%") - time.sleep(1) - print("Battery completely drained!") - def is_battery_low(self): return self.current_charge < 20 @@ -43,19 +24,14 @@ class ImageClassifier(nn.Module): def __init__(self, num_classes): super(ImageClassifier, self).__init__() - # 使用与训练代码相同的模型结构 try: - # 新版本用法（torchvision >= 0.13） self.backbone = models.resnet18(weights=models.ResNet18_Weights.IMAGENET1K_V1) except TypeError: - # 旧版本兼容（torchvision < 0.13） self.backbone = models.resnet18(pretrained=True) - # 冻结预训练层的参数 for param in self.backbone.parameters(): param.requires_grad = False - # 替换最后的全连接层（与训练代码完全一致） in_features = self.backbone.fc.in_features self.backbone.fc = nn.Sequential( nn.Linear(in_features, 128), @@ -67,224 +43,163 @@ def __init__(self, num_classes): def forward(self, x): return self.backbone(x) -# 检测类别数量和类别映射 -def detect_class_info(): +def detect_class_info(train_dir): """检测训练数据中的类别信息""" - train_dir = "./data/train" if not os.path.exists(train_dir): - print(f"❌ 训练目录不存在: {train_dir}") - return 6, ['Animal', 'City', 'Fire', 'Forest', 'Vehicle', 'Water'] # 默认值 + return 6, ['Animal', 'City', 'Fire', 'Forest', 'Vehicle', 'Water'] classes = sorted([d for d in os.listdir(train_dir) if os.path.isdir(os.path.join(train_dir, d))]) if not classes: - print(f"❌ 在 {train_dir} 中没有找到任何类别文件夹!") - return 6, ['Animal', 'City', 'Fire', 'Forest', 'Vehicle', 'Water'] # 默认值 + return 6, ['Animal', 'City', 'Fire', 'Forest', 'Vehicle', 'Water'] class_to_idx = {cls_name: i for i, cls_name in enumerate(classes)} - print(f"✅ 检测到类别: {class_to_idx}") return len(classes), classes -# ✅ 加载PyTorch模型 -def load_pytorch_model(model_path): - print("📦 Loading PyTorch model...") - - # 检测类别信息 - num_classes, class_names = detect_class_info() - print(f"🎯 模型配置: {num_classes} 个类别 - {class_names}") +def load_pytorch_model(model_path, train_dir): + """加载PyTorch模型""" + num_classes, class_names = detect_class_info(train_dir) try: - # 初始化模型结构（与训练时完全相同） model = ImageClassifier(num_classes=num_classes) - - # 加载训练好的权重 model.load_state_dict(torch.load(model_path, map_location='cpu')) - print("✅ Model loaded successfully!") - - # 设置为评估模式 model.eval() return model, num_classes, class_names - except Exception as e: print(f"❌ Error loading model: {e}") return None, 0, [] -def check_emergency(): - emergency_conditions = ['low_battery', 'emergency'] - return random.choice(emergency_conditions) - -def handle_low_battery(drone_battery): - print("🔋 Low battery! Returning to base.") - drone_battery.charge_battery(charge_rate=15) - exit() - -# 图像预处理（与训练时的test_transform完全一致） def preprocess_frame(frame): - # 将OpenCV BGR图像转换为PIL RGB图像 + """图像预处理""" rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) pil_image = Image.fromarray(rgb_frame) - # 使用与训练代码中test_transform完全相同的预处理 transform = transforms.Compose([ - transforms.Resize((128, 128)), # 与img_size一致 + transforms.Resize((128, 128)), transforms.ToTensor(), transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225]) ]) - return transform(pil_image).unsqueeze(0) # 添加batch维度 + return transform(pil_image).unsqueeze(0) -# 预测函数 def predict_frame(model, frame, device, class_names): + """预测函数""" try: - # 预处理 input_tensor = preprocess_frame(frame) input_tensor = input_tensor.to(device) - # 预测 with torch.no_grad(): outputs = model(input_tensor) probabilities = torch.nn.functional.softmax(outputs[0], dim=0) predicted_class_idx = torch.argmax(probabilities).item() confidence = probabilities[predicted_class_idx].item() - # 获取类别名称 if predicted_class_idx < len(class_names): predicted_class = class_names[predicted_class_idx] else: predicted_class = f"Class_{predicted_class_idx}" return predicted_class, confidence * 100 - except Exception as e: print(f"❌ Prediction error: {e}") return "Unknown", 0.0 def decide_navigation(predicted_class): - if predicted_class == 'Fire': - print("🔥 Fire detected! Navigate away.") - elif predicted_class == 'Animal': - print("🦌 Animal ahead. Hovering.") - elif predicted_class == 'Forest': - print("🌲 Forest zone detected. Reduce speed.") - elif predicted_class == 'Water': - print("🌊 Water body detected. Maintain altitude and avoid descent.") - elif predicted_class == 'Vehicle': - print("🚗 Vehicle detected. Hover and wait.") - elif predicted_class == 'City': - print("🏙️ Urban area detected. Enable obstacle avoidance and slow navigation.") - else: - print(f"✅ {predicted_class} detected. Continue normal navigation.") + """导航决策""" + navigation_rules = { + 'Fire': "🔥 Fire detected! Navigate away.", + 'Animal': "🦌 Animal ahead. Hovering.", + 'Forest': "🌲 Forest zone detected. Reduce speed.", + 'Water': "🌊 Water body detected. Maintain altitude and avoid descent.", + 'Vehicle': "🚗 Vehicle detected. Hover and wait.", + 'City': "🏙️ Urban area detected. Enable obstacle avoidance and slow navigation." + } + + message = navigation_rules.get(predicted_class, f"✅ {predicted_class} detected. Continue normal navigation.") + print(message) + +def handle_low_battery(drone_battery): + """处理低电量""" + print("🔋 Low battery! Returning to base.") + exit() -def main(): +def run_visual_navigation(): + """运行视觉导航系统""" print("🚁 Starting the drone vision process with PyTorch model...") - start_time = time.time() - # 设置设备 device = torch.device("cuda" if torch.cuda.is_available() else "cpu") - print(f"Using device: {device}") - - # 加载模型（使用shijuedaohan.py训练好的模型） MODEL_PATH = "./data/best_model.pth" + TRAIN_DIR = "./data/train" - # 检查模型文件是否存在 if not os.path.exists(MODEL_PATH): print(f"❌ 模型文件不存在: {MODEL_PATH}") - print("请先运行 shijuedaohan.py 训练模型") return - model, num_classes, class_names = load_pytorch_model(MODEL_PATH) + model, num_classes, class_names = load_pytorch_model(MODEL_PATH, TRAIN_DIR) if model is None: print("❌ Failed to load model. Exiting.") return model = model.to(device) - print(f"🎯 模型加载完成: {num_classes} 个类别") - print(f"📋 类别列表: {class_names}") # 视频源设置 - VIDEO_SOURCE = 0 # 使用本地摄像头，或者改为您的IP摄像头地址 - # VIDEO_SOURCE = "http://192.168.1.3:4747/video" - + VIDEO_SOURCE = 0 cap = cv2.VideoCapture(VIDEO_SOURCE) - cap.set(cv2.CAP_PROP_BUFFERSIZE, 10) - cap.set(cv2.CAP_PROP_FPS, 30) - - # 检查视频流 + if not cap.isOpened(): print("❌ Failed to open video source.") return - else: - print("✅ Video source opened successfully.") - + drone_battery = DroneBattery() - - # FPS计算 fps_counter = 0 fps_time = time.time() frame_count = 0 - + predicted_class = "Unknown" + confidence = 0.0 + print("\n🎮 控制说明:") print("- 按 'q' 键退出程序") print("- 按 'b' 键模拟电池放电") print("- 按 'c' 键显示电池状态") print("- 开始实时视觉导航...\n") - + while True: - # 检查电池状态 if drone_battery.is_battery_low(): handle_low_battery(drone_battery) - - # 超时检查 - elapsed_time = time.time() - start_time - if elapsed_time > 300: # 5分钟 - print("⏰ Timeout reached! Stopping the drone.") - break - - # 读取帧 + ret, frame = cap.read() if not ret: - print("❌ Failed to capture frame.") break - - # 每隔5帧进行一次预测以提升性能 + frame_count += 1 if frame_count % 5 == 0: predicted_class, confidence = predict_frame(model, frame, device, class_names) - # 显示结果 cv2.putText(frame, f"{predicted_class} ({confidence:.2f}%)", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2) - # 导航决策 decide_navigation(predicted_class) - + cv2.imshow("Drone Vision Feed - PyTorch", frame) - - # FPS计算和显示 + fps_counter += 1 if time.time() - fps_time >= 1.0: fps = fps_counter / (time.time() - fps_time) - print(f"📊 FPS: {fps:.1f} | 预测: {predicted_class} ({confidence:.1f}%)" if frame_count % 5 == 0 else f"📊 FPS: {fps:.1f}") + print(f"📊 FPS: {fps:.1f} | 预测: {predicted_class} ({confidence:.1f}%)") fps_counter = 0 fps_time = time.time() - - # 键盘控制 + key = cv2.waitKey(1) & 0xFF if key == ord('q'): - print("🛑 Manual stop initiated by the user.") break elif key == ord('b'): - print("🔋 Simulating battery discharge...") - drone_battery.current_charge = 15 # 设置为低电量状态 + drone_battery.current_charge = 15 elif key == ord('c'): drone_battery.display_battery_status() - + cap.release() cv2.destroyAllWindows() print("🎯 无人机视觉导航系统已安全关闭") -if __name__ == "__main__": - - main() diff --git a/src/embodied_robot/robot_walk/Robot_move_straight.xml b/src/embodied_robot/robot_walk/Robot_move_straight.xml index 66ba083ff0..1450940ec7 100644 --- a/src/embodied_robot/robot_walk/Robot_move_straight.xml +++ b/src/embodied_robot/robot_walk/Robot_move_straight.xml @@ -1,176 +1,290 @@ - - - -