def __init__(self, objname, markerid=5):
self.markerid = markerid
self.objname = objname
self.gdb = db.GraspDB(database="nxt",
user="******",
password="******")
self.robot = nxtsim.NxtRobot()
self.rgthnd = sck918.Sck918(jawwidth=50,
hndcolor=(0.5, 0.5, 0.5, 1),
ftsensoroffset=0)
self.lfthnd = sck918.Sck918(jawwidth=50,
hndcolor=(0.5, 0.5, 0.5, 1),
ftsensoroffset=0)
self.robotmesh = nxtsimmesh.NxtMesh(rgthand=self.rgthnd,
lfthand=self.lfthnd)
self.robotball = nxtsimball.NxtBall()
self.robotik = nxtik
self.env = bldgfsettingnear.Env()
self.env.reparentTo(base.render)
self.objcm = self.env.loadobj(objname)
self.groove = self.env.loadobj("tenonhole_new_115.STL")
self.groove.setPos(595, 0, 973 - 76 + 75 + 80)
self.groove.setRPY(0, 90, -90)
self.groove.setColor(0, 0, 1, 0.4)
# self.groove.showLocalFrame()
self.groove.reparentTo(base.render)
self.obstaclecmlist = self.env.getstationaryobslist()
# for obstaclecdcm in self.obstaclecmlist:
# obstaclecdcm.showcn()
self.robot.goinitpose()
# self.rgtwatchpos = [400.0, -200.0, 1200.0]
# self.rgtwatchrotmat = [[0.09141122, -0.76823672, 0.63360582],
# [-0.99509199, -0.04625775, 0.08747659],
# [-0.03789355, -0.63849242, -0.76869468]]
# self.rgtwatchjs = self.robot.numik(self.rgtwatchpos, self.rgtwatchrotmat, "rgt")
#
# self.robot.movearmfk(self.rgtwatchjs, armname="rgt")
self.rbtmnp = self.robotmesh.genmnp(self.robot,
self.rgthnd.jawwidthopen,
self.lfthnd.jawwidthopen)
self.rbtmnp.reparentTo(base.render)
# uncomment the following commands to actuate the robot
self.nxtu = nxturx.NxtRobot(host="10.0.1.114:15005")
self.nxtu.goInitial()
# self.nxtu = nxturx.NxtCon()
# self.nxtu.setJointAnglesOfGroup('rarm', self.robot.initjnts[3:9], 5.0)
# self.nxtu.setJointAnglesOfGroup('larm', self.robot.initjnts[9:15], 5.0)
self.hc = hndcam.HndCam(rgtcamid=0, lftcamid=1)
# goallist, a list of 4x4 h**o numpy mat
self.goallist = []
self.objrenderlist = []
self.startobjcm = None
self.rbtmnpani = [None, None]
self.objmnpani = [None]
def on_connect(self, conn):
print("onconnect")
try:
if self.__connected is True:
return
except:
self.__connected = False
if self.__connected is False:
self.__hndcam = hndcam.HndCam(rgtcamid=[0, 1], lftcamid=[2, 3])
print("Initialized!")
def __init__(self, objname, markerid=5):
self.markerid = markerid
self.objname = objname
self.gdb = db.GraspDB(database="nxt",
user="******",
password="******")
self.robot = nxtsim.NxtRobot()
self.rgthnd = rtq85nm.newHand(hndid="rgt", ftsensoroffset=0)
self.lfthnd = rtq85nm.newHand(hndid="lft", ftsensoroffset=0)
self.robotmesh = nxtsimmesh.NxtMesh(rgthand=self.rgthnd,
lfthand=self.lfthnd)
self.robotball = nxtsimball.NxtBall()
self.robotik = nxtik
self.env = bldgfsettingnear.Env()
self.env.reparentTo(base.render)
self.objcm = self.env.loadobj(objname)
self.obstaclecmlist = self.env.getstationaryobslist()
for obstaclecdcm in self.obstaclecmlist:
obstaclecdcm.showcn()
self.robot.goinitpose()
# self.rgtwatchpos = [400.0, -200.0, 1200.0]
# self.rgtwatchrotmat = [[0.09141122, -0.76823672, 0.63360582],
# [-0.99509199, -0.04625775, 0.08747659],
# [-0.03789355, -0.63849242, -0.76869468]]
# self.rgtwatchjs = self.robot.numik(self.rgtwatchpos, self.rgtwatchrotmat, "rgt")
#
# self.robot.movearmfk(self.rgtwatchjs, armname="rgt")
self.rbtmnp = self.robotmesh.genmnp(self.robot,
self.rgthnd.jawwidthopen,
self.lfthnd.jawwidthopen)
self.rbtmnp.reparentTo(base.render)
# uncomment the following commands to actuate the robot
# self.nxtu = nxturx.NxtCon()
# self.nxtu.setJointAnglesOfGroup('rarm', self.robot.initjnts[3:9], 5.0, True)
# self.nxtu.setJointAnglesOfGroup('larm', self.robot.initjnts[9:15], 5.0, True)
self.hc = hndcam.HndCam(rgtcamid=0, lftcamid=1)
# goallist, a list of 4x4 h**o numpy mat
self.goallist = []
self.objrenderlist = []
self.startobjcm = None
self.rbtmnpani = [None, None]
self.objmnpani = [None]
def __init__(self, objname, markerid = 5):
self.markerid = markerid
self.objname = objname
self.gdb = db.GraspDB(database="wrs", user="******", password="******")
self.robot = ur3dualsim.Ur3DualRobot()
self.rgthnd = rtq85nm.newHand(hndid="rgt")
self.lfthnd = rtq85nm.newHand(hndid="lft")
self.robotmesh = ur3dualsimmesh.Ur3DualMesh(rgthand=self.rgthnd, lfthand=self.lfthnd)
self.robotball = ur3dualsimball.Ur3DualBall()
self.robotik = ur3dualik
self.env = bunrisettingfree.Env()
self.env.reparentTo(base.render)
self.objcm = self.env.loadobj(objname)
self.obstaclecmlist = self.env.getstationaryobslist()
for obstaclecdcm in self.obstaclecmlist:
obstaclecdcm.showcn()
self.robot.goinitpose()
self.rgtwatchpos = [400.0, -200.0, 1200.0]
self.rgtwatchrotmat = [[0.09141122, -0.76823672, 0.63360582],
[-0.99509199, -0.04625775, 0.08747659],
[-0.03789355, -0.63849242, -0.76869468]]
self.rgtwatchjs = self.robot.numik(self.rgtwatchpos, self.rgtwatchrotmat, "rgt")
self.robot.movearmfk(self.rgtwatchjs, armname="rgt")
self.rbtmnp =self.robotmesh.genmnp(self.robot, self.rgthnd.jawwidthopen, self.lfthnd.jawwidthopen)
self.rbtmnp.reparentTo(base.render)
# uncomment the following commands to actuate the robot
# self.ur3u = ur3urx.Ur3DualUrx()
# self.ur3u.movejntssgl(self.robot.initjnts[3:9], 'rgt')
# self.ur3u.movejntssgl(self.robot.initjnts[9:15], 'lft')
# self.ur3u.movejntssgl(self.rgtwatchjs, 'rgt')
self.hc = hndcam.HndCam(rgtcamid = 0, lftcamid = 1)
# goallist, a list of 4x4 h**o numpy mat
self.goallist = []
self.objrenderlist = []
self.startobjcm = None
self.rbtmnpani = [None, None]
self.objmnpani = [None]