def get_environment():
locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
locator = SimpleResourceLocator(locate_resource_fn)
env = Environment()
tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
urdf_path = FilesystemPath(
os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
srdf_path = FilesystemPath(
os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
assert env.init(urdf_path, srdf_path, locator)
manip_info = ManipulatorInfo()
manip_info.manipulator = "manipulator"
return env, manip_info
def get_environment():
locate_resource_fn = SimpleResourceLocatorFn(_locate_resource)
locator = SimpleResourceLocator(locate_resource_fn)
env = Environment()
tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
urdf_path = FilesystemPath(
os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.urdf"))
srdf_path = FilesystemPath(
os.path.join(tesseract_support, "urdf/lbr_iiwa_14_r820.srdf"))
assert env.init(urdf_path, srdf_path, locator)
manip_info = ManipulatorInfo()
manip_info.manipulator = "manipulator"
joint_names = env.getManipulatorManager().getFwdKinematicSolver(
"manipulator").getJointNames()
return env, manip_info, joint_names
os.path.normpath(url_match.group(1)))
except:
traceback.print_exc()
abb_irb2400_urdf_fname = FilesystemPath(
os.path.join(TESSERACT_SUPPORT_DIR, "urdf", "abb_irb2400.urdf"))
abb_irb2400_srdf_fname = FilesystemPath(
os.path.join(TESSERACT_SUPPORT_DIR, "urdf", "abb_irb2400.srdf"))
t_env = Environment()
# locator_fn must be kept alive by maintaining a reference
locator_fn = SimpleResourceLocatorFn(_locate_resource)
t_env.init(abb_irb2400_urdf_fname, abb_irb2400_srdf_fname,
SimpleResourceLocator(locator_fn))
manip_info = ManipulatorInfo()
manip_info.manipulator = "manipulator"
viewer = TesseractViewer()
viewer.update_environment(t_env, [0, 0, 0])
joint_names = ["joint_%d" % (i + 1) for i in range(6)]
viewer.update_joint_positions(joint_names, np.array([1, -.2, .01, .3, -.5, 1]))
viewer.start_serve_background()
t_env.setState(joint_names, np.ones(6) * 0.1)
def _locate_resource(url):
try:
url_match = re.match(r"^package:\/\/tesseract_support\/(.*)$",url)
if (url_match is None):
return ""
if not "TESSERACT_SUPPORT_DIR" in os.environ:
return ""
tesseract_support = os.environ["TESSERACT_SUPPORT_DIR"]
return os.path.join(tesseract_support, os.path.normpath(url_match.group(1)))
except:
traceback.print_exc()
t_env = Environment()
# locator_fn must be kept alive by maintaining a reference
locator_fn = SimpleResourceLocatorFn(_locate_resource)
t_env.init(shapes_urdf, SimpleResourceLocator(locator_fn))
viewer = TesseractViewer()
viewer.update_environment(t_env, [0,0,0])
viewer.start_serve_background()
if sys.version_info[0] < 3:
raw_input("press enter")
else:
input("press enter")
def GazeboModelResourceLocator():
locator_fn = SimpleResourceLocatorFn(GazeboModelResourceLocatorFn())
locator = SimpleResourceLocator(locator_fn)
locator_fn.__disown__()
return locator