def main(argv):
"""An example using the API demonstrating adding image coordinates to the world object service."""
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args(argv)
# Create robot object with a world object client.
sdk = bosdyn.client.create_standard_sdk('WorldObjectClient')
sdk.load_app_token(options.app_token)
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Time sync is necessary so that time-based filter requests can be converted.
robot.time_sync.wait_for_sync()
# Create the world object client.
world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# List all world objects in the scene before any mutation.
world_objects = world_object_client.list_world_objects().world_objects
print("Current World objects before mutations: " +
str([obj for obj in world_objects]))
# Set the detection time for the additional april tag. The client library will convert the time into robot time.
# Uses a function to get google.protobuf.Timestamp of the current system time.
timestamp = now_timestamp()
# Create the image coordinate object. This type of object does not require a base frame for the world object.
# Since we are not providing a transform to the object expressed by the image coordinates, than it is not necessary
# to set the frame_name_image_properties, as this describes the frame used in a transform (such as world_tform_image_coords)
img_coord = wo.ImageProperties(
camera_source="back",
coordinates=geom.Polygon(vertexes=[geom.Vec2(x=100, y=100)]))
wo_obj = wo.WorldObject(id=2,
name="img_coord_tester",
acquisition_time=timestamp,
image_properties=img_coord)
# Request to add the image coordinates detection to the world object service.
add_coords = make_add_world_object_req(wo_obj)
resp = world_object_client.mutate_world_objects(mutation_req=add_coords)
# List all world objects in the scene after the mutation was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("Current World objects after adding coordinates: " +
str([obj for obj in world_objects]))
return True
def main(argv):
"""An example using the API to apply mutations to world objects."""
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args(argv)
# Create robot object with a world object client.
sdk = bosdyn.client.create_standard_sdk('WorldObjectClient')
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Time sync is necessary so that time-based filter requests can be converted.
robot.time_sync.wait_for_sync()
# Create the world object client.
world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# List all world objects in the scene.
world_objects = world_object_client.list_world_objects().world_objects
print("Current World objects' ids " +
str([obj.id for obj in world_objects]))
# If there are any world objects in Spot's perception scene, then attempt to mutate one.
# This should fail and return a STATUS_NO_PERMISSION since a client cannot mutate
# objects that they did not add into the scene.
if len(world_objects) > 0:
obj_to_mutate = world_objects[0]
# Attempt to delete the object.
delete_req = make_delete_world_object_req(obj_to_mutate)
status = world_object_client.mutate_world_objects(delete_req).status
assert (status == world_object_pb2.MutateWorldObjectResponse.
STATUS_NO_PERMISSION)
# Attempt to change the object.
for edge in obj_to_mutate.transforms_snapshot.child_to_parent_edge_map:
obj_to_mutate.transforms_snapshot.child_to_parent_edge_map[
edge].parent_tform_child.position.x = 1.0
change_req = make_change_world_object_req(obj_to_mutate)
status = world_object_client.mutate_world_objects(change_req).status
assert (status == world_object_pb2.MutateWorldObjectResponse.
STATUS_NO_PERMISSION)
# Request to add the new april tag detection to the world object service.
wo_obj_to_add = create_apriltag_object()
add_apriltag = make_add_world_object_req(wo_obj_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_apriltag)
# Get the world object ID set by the service, so that we can make additional changes to this object.
added_apriltag_world_obj_id = resp.mutated_object_id
# List all world objects in the scene after the mutation was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object IDs after object addition: " +
str([obj.apriltag_properties.tag_id for obj in world_objects]))
for world_obj in world_objects:
if world_obj.id == added_apriltag_world_obj_id:
# Look for the custom frame that was included in the add-request, where the child frame name was "my_special_frame"
full_snapshot = world_obj.transforms_snapshot
for edge in full_snapshot.child_to_parent_edge_map:
if edge == "my_special_frame":
print(
"The world object includes the custom frame vision_tform_my_special_frame!"
)
# Request to change an existing apriltag's dimensions. This will succeed because it is changing
# an object that was added by a client program. We are using the ID returned by the service to
# change the correct apriltag.
time_now = now_timestamp()
tag_prop_modified = world_object_pb2.AprilTagProperties(
tag_id=308, dimensions=geom.Vec2(x=.35, y=.35))
wo_obj_to_change = world_object_pb2.WorldObject(
id=added_apriltag_world_obj_id,
name="world_obj_apriltag",
transforms_snapshot=wo_obj_to_add.transforms_snapshot,
acquisition_time=time_now,
apriltag_properties=tag_prop_modified)
print("World object X dimension of apriltag size before change: " +
str([obj.apriltag_properties.dimensions.x for obj in world_objects]))
change_apriltag = make_change_world_object_req(wo_obj_to_change)
resp = world_object_client.mutate_world_objects(
mutation_req=change_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
# List all world objects in the scene after the mutation was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object X dimension of apriltag size after change: " +
str([obj.apriltag_properties.dimensions.x for obj in world_objects]))
# Add a apriltag and then delete it. This will succeed because it is deleting an object added by
# a client program and not specific to Spot's perception
add_apriltag = make_add_world_object_req(wo_obj_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
apriltag_to_delete_id = resp.mutated_object_id
# Update the list of world object's after adding a apriltag
world_objects = world_object_client.list_world_objects().world_objects
# Delete the april tag that was just added. This will succeed because it is changing an object that was
# just added by a client program (and not an object Spot's perception system detected). The world object
# can be identified by the ID returned from the service after the mutation request succeeded.
wo_obj_to_delete = world_object_pb2.WorldObject(id=apriltag_to_delete_id)
delete_apriltag = make_delete_world_object_req(wo_obj_to_delete)
resp = world_object_client.mutate_world_objects(
mutation_req=delete_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
# List all world objects in the scene after the deletion was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object IDs after object deletion: " +
str([obj.apriltag_properties.tag_id for obj in world_objects]))
# Add a drawable object into the perception scene with a custom frame and unique name.
sphere_to_add = create_drawable_sphere_object()
add_sphere = make_add_world_object_req(sphere_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_sphere)
# Get the world object ID set by the service.
sphere_id = resp.mutated_object_id
# List all world objects in the scene after the mutation was applied. Find the sphere in the list
# and see the transforms added into the frame tree snapshot by Spot in addition to the custom frame.
world_objects = world_object_client.list_world_objects().world_objects
for world_obj in world_objects:
if world_obj.id == sphere_id:
print("Found sphere named " + world_obj.name)
full_snapshot = world_obj.transforms_snapshot
for edge in full_snapshot.child_to_parent_edge_map:
print("Child frame name: " + edge + ". Parent frame name: " +
full_snapshot.child_to_parent_edge_map[edge].
parent_frame_name)
return True