from klampt.robotsim import WorldModel
from klampt import se3,so3
from time import sleep
import json
apc_order = json.load(open(os.path.join(os.path.dirname(__file__), 'example.json')))
knowledge_base_dir = './kb/'
world = WorldModel()
model = world.loadRobot('klampt_models/baxter_with_reflex_gripper_col.rob')
print 'before'
robot = LowLevelController(model, 'baxter_with_reflex_gripper_col.rob')
print 'here'
kb = KnowledgeBase()
kb.robot_state = RobotState(robot)
print kb.robot_state
kb.active_limb = 'left'
kb.bin_contents = apc_order['bin_contents']
# make fake bin vantage points, need to update to real vantage points at some point
for k in [ 'bin_vantage_points', 'vantage_point_xforms' ]:
path = os.path.join(knowledge_base_dir, '{}.json'.format(k))
data = json.load(open(path))
setattr(kb, k, data)
r = PerceptionInterface(kb)
c = ControlInterface(robot, kb)
p = PlanningInterface(kb)
logging.basicConfig(level=logging.DEBUG, format="%(asctime)-15s %(filename)s:%(lineno)d %(levelname)s: %(message)s")
# allow importing from the repository root
import sys, os
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from integration.control_server import ControlServer
from integration.interface import ControlInterface
from api.shared import KnowledgeBase, RobotState
from apc.motion import FakeLowLevelController as LowLevelController
from time import sleep
from klampt.robotsim import WorldModel
kb = KnowledgeBase()
parallel = False
if parallel:
cs = ControlServer(kb)
task = cs.start()
while not task.done:
print "starting..."
sleep(1)
print kb.robot_state.sensed_config
for plan in ["test plan", "test plan 2"]:
task = cs.execute(plan)
if not task:
print "restarting ControlServer"
import math
import json
apc_order = json.load(open(os.path.join(os.path.dirname(__file__), 'example.json')))
knowledge_base_dir = './kb/'
world = WorldModel()
model = world.loadRobot('klampt_models/baxter_with_reflex_gripper_col.rob')
robot = LowLevelController(model)
#initial config
robot.setMilestone([ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.1, 0.0, 2.358, 0.0, 0.0, 0.3, -0.98, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.18, 0.0, 2.118, 0.04, 0.0, 0.62, 0.901, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
kb = KnowledgeBase()
kb.robot_state = RobotState(robot)
kb.active_limb = 'left'
kb.bin_contents = apc_order['bin_contents']
kb.target_bin = 'bin_D'
kb.withdraw_point_xforms = json.load(open('kb/withdraw_point_xforms.json'))
kb.bin_bounds = json.load(open('kb/bin_bounds.json'))
# kb.object_xforms['cheezit_bit_original'] = (se3.identity()[0], (0.7, 0.5, 1))
# TODO: Proper shelf transform needs created here
r = PerceptionInterface(kb)
# make fake bin vantage points, need to update to real vantage points at some point
for k in [ 'bin_vantage_points', 'vantage_point_xforms' ]:
path = os.path.join(knowledge_base_dir, '{}.json'.format(k))
apc_order = json.load(open(os.path.join(os.path.dirname(__file__), 'example.json')))
knowledge_base_dir = './kb/'
world = WorldModel()
model = world.loadRobot('klampt_models/baxter_with_reflex_gripper_col.rob')
robot = LowLevelController(model)
#initial config
robot.setMilestone([ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.1, 0.0, 2.358, 0.0, 0.0, 0.3, -0.98, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.18, 0.0, 2.118, 0.04, 0.0, 0.62, 0.901, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
#bin f config
# robot.setMilestone([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0999999999999996, 0.0, 2.358, 0.0, 0.0, 0.3, -0.9800000000000004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.30158718316595046, 0.1653559427347274, 2.2363132059607045, 1.834400059027026, 1.0639366601020779, 0.0, -1.0132113159072906, 2.7856916491114374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
kb = KnowledgeBase()
kb.robot_state = RobotState(robot)
kb.active_limb = 'left'
kb.bin_contents = apc_order['bin_contents']
kb.withdraw_point_xforms = json.load(open('kb/withdraw_point_xforms.json'))
kb.bin_bounds = json.load(open('kb/bin_bounds.json'))
try:
reader = csv.reader(open(os.path.join(knowledge_base_dir,'Object Dimensions.csv')))
header = None
for line in reader:
if header == None:
header = line
else:
kb.object_minimum_dims[line[0]] = float(line[1])*0.01
kb.object_maximum_dims[line[0]] = float(line[2])*0.01
knowledge_base_dir = './kb/'
world = WorldModel()
model = world.loadRobot('klampt_models/baxter_with_reflex_gripper_col.rob')
robot = LowLevelController(model)
robot.setMilestone([ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.1, 0.0, 2.358, 0.0, 0.0, 0.3, -0.98, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.18, 0.0, 2.118, 0.04, 0.0, 0.62, 0.901, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
# robot.setMilestone([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0999999999999996, 0.0, 2.358, 0.0, 0.0, 0.3, -0.9800000000000004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06679184745163541, 0.365135941112352, 2.5041869579036335, 1.5646287249338475, 0.8377567543461182, 0.0, -1.097366825056886, 2.493786406695833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
kb = KnowledgeBase()
kb.robot_state = RobotState(robot)
kb.active_limb = 'right'
kb.withdraw_point_xforms = json.load(open('kb/withdraw_point_xforms.json'))
kb.bin_bounds = json.load(open('kb/bin_bounds.json'))
# kb.object_xforms['cheezit_bit_original'] = (se3.identity()[0], (0.7, 0.5, 1))
# make fake bin vantage points, need to update to real vantage points at some point
for k in [ 'bin_vantage_points', 'vantage_point_xforms' ]:
path = os.path.join(knowledge_base_dir, '{}.json'.format(k))
data = json.load(open(path))
setattr(kb, k, data)
kb.shelf_xform = localizeShelf()
