def start():
RaveInitialize()
kitchen_env = os.path.dirname(__file__) + "/resources/kitchen.env.xml"
env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(kitchen_env) # load a model
ssRave = interpeter_extended()
ssRave.addVariable('kitchen', env)
## Example 1: Generate a map from the enitre environment
expr = "SELECT obj FROM kitchen AS OccupancyGrid ( z_pos=0.22, grid_size=0.025 );"
print "query:", expr
prog = SelectScript.compile(expr)
map = ssRave.eval(prog)
# plot the map
plt.imshow(map.astype(numpy.float), cmap=plt.cm.gray)
plt.show()
## Example 2: Generate a map from all objects that are close to roomba
expr = "roomba = SELECT obj FROM kitchen WHERE id(this)=='roomba_625x' AS value;"
expr += "SELECT obj FROM kitchen WHERE distance(roomba, this) <= 1.6 AS OccupancyGrid (z_pos=0.22, grid_size=0.025 );"
print "query:", expr
prog = SelectScript.compile(expr)
map = ssRave.eval(prog)
plt.imshow(map.astype(numpy.float), cmap=plt.cm.gray)
plt.show()
def start():
kitchen_env = "resources/kitchen.env.xml"
env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(kitchen_env) # load a model
ssRave = interpeter_extended()
ssRave.addVariable('kitchen', env)
## Example 1: Generate a map from the enitre environment
expr = """SELECT above(a.this, b.this),
below(a.this, b.this),
isEnabled(a.this),
volume(a.this),
position(a.this),
isRobot(a.this),
isKinbody(a.this)
FROM a=kitchen, b=kitchen
WHERE not (isSensor(a.this) or isSensor(b.this))
AS prolog;"""
print "query:", expr
prog = SelectScript.compile(expr)
prolog = Prolog()
for result in ssRave.eval(prog):
print result
prolog.assertz(result)
print list(prolog.query("above(table, X)"))
print list(prolog.query("volume(Obj, V), V > 1.0"))
print list(prolog.query("position(_, P)"))
def start():
global env
kitchen_env = os.path.dirname(__file__) + "/resources/kitchen.env.xml"
env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(kitchen_env) # load a model
ssRave = ssRAVE()
ssRave.addVariable('env', env)
ssRave.addVariable('kitchen', env)
robot1 = env.GetRobot('barrett_4918')
robot2 = env.GetRobot('roomba_625x')
for sensor in env.GetSensors():
sensor.Configure(Sensor.ConfigureCommand.PowerOn)
#sensor.Configure(Sensor.ConfigureCommand.RenderDataOn)
nav1 = SimpleNavigationPlanning(robot1)
nav2 = SimpleNavigationPlanning(robot2)
expr = "measure{5} = select obj(env.this) \
from env=kitchen, env2=kitchen \
where isSensor(env.this) and \
isRobot(env2.this) and \
isSensing(env.this, env2.this) \
as list; \
[getTime(), measure{-2}];"
prog = SelectScript.compile(expr)
ssRave.addTrigger('test', prog, 0.5, callback)
start_new_thread(nav1.performNavigationPlanning, ())
start_new_thread(nav2.performNavigationPlanning, ())
def start():
kitchen_env = "resources/kitchen.env.xml"
env = Environment() # create the environment
env.Load(kitchen_env) # load a model
#env.SetViewer('qtcoin') # start the viewer
ssRave = ssRAVE()
# add the environment as variable to the interpreter
ssRave.addVariable('kitchen', env)
# ssRave.addVariable('durability', [5, "Feb", 2014])
#thread.start_new_thread( switch, (env.GetSensors(),) )
## Example 1: Query for information about sensors and robots
expr = "SELECT id, to(position(this),'pos'), type FROM kitchen WHERE isSensor(this) or isRobot(this) AS dict;"
print "query 1:", expr, "\nresults:"
prog = SelectScript.compile(expr)
for result in ssRave.eval(prog):
print result
## Example 2: Query for the object with id table and store it in a variable
expr = "table = SELECT obj FROM kitchen WHERE id(this) == 'table' as value;"
print "\nquery 2:", expr, "\nresult:",
prog = SelectScript.compile(expr)
print ssRave.eval(prog)
## Example 3: Query for all objects that are on the table and store them in a list
ssRave.addFunction('on', on)
expr = "objects_on_table = SELECT obj FROM kitchen WHERE on(table, this) AS list;"
print "\nquery 3:", expr, "\nresults:"
prog = SelectScript.compile(expr)
for result in ssRave.eval(prog):
print result
## Example 4: Query for all objects not on the table
expr = "SELECT obj FROM kitchen WHERE not on(table, this) or on(table, this) AS list;"
print "\nquery 4:", expr, "\nresults:"
prog = SelectScript.compile(expr)
for result in ssRave.eval(prog):
print result
expr = "SELECT volume(this), id FROM kitchen WHERE not on(table, this) or on(table, this) GROUP BY volume(this) AS dict;"
print "\nquery 5:", expr, "\nresults:"
prog = SelectScript.compile(expr)
result = ssRave.eval(prog)
print result
def start():
kitchen_env = os.path.dirname(__file__) + "/resources/kitchen.env.xml"
env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(kitchen_env) # load a model
ssRave = ssRAVE()
ssRave.addVariable('kitchen', env)
# sensor_ids = ['barrett_4918_laser_scaner', 'roomba_625x_webcam_a40f', 'roomba_625x_dist1', 'roomba_625x_dist2', 'roomba_625x_dist3', 'roomba_625x_dist4']
# for ID in sensor_ids:
# env.GetSensor(ID).Configure(Sensor.ConfigureCommand.PowerOn)
# env.GetSensor(ID).Configure(Sensor.ConfigureCommand.RenderDataOn)
## Example:
ssRave.addFunction('on', on)
robot = env.GetRobot("barrett_4918")
ssRave.addVariable('robot', robot)
expr = "sink = SELECT obj FROM kitchen WHERE id(this) == 'sink' AS value;"
expr += "table = SELECT obj FROM kitchen WHERE id(this) == 'table' as value;"
expr += "cleanUp = SELECT obj FROM kitchen WHERE on(table, this) AND distance(robot, this) < 1.3 AS list;"
prog = SelectScript.compile(expr)
print ssRave.eval(prog)
## start grasping
grasp = GraspPlanning(robot)
grasp.graspables = []
for object in ssRave.callVariable('cleanUp'):
destination = grasp.setRandomDestinations([object],
ssRave.callVariable('sink'),
randomize=True,
preserverotation=False)
gModel = databases.grasping.GraspingModel(robot=robot, target=object)
if not gModel.load():
gModel.autogenerate()
destination = [x.tolist() for x in destination[0]]
grasp.graspables.append([gModel, destination])
grasp.performGraspPlanning(withreplacement=True)
def start():
kitchen_env = "resources/kitchen.env.xml"
env = Environment() # create the environment
#env.SetViewer('qtcoin') # start the viewer
env.Load(kitchen_env) # load a model
ssRaveX = interpeter_extended()
ssRaveX.addVariable('kitchen', env)
## Example 1: Query for information about sensors and robots
expr = "roomba = SELECT obj FROM kitchen WHERE id(this)=='roomba_625x' AS value;"
expr += "SELECT obj FROM kitchen WHERE distance(roomba, this) <= 1.6 AS environment;"
print "query:", expr
prog = SelectScript.compile(expr)
newEnv = ssRaveX.eval(prog)
#env.Reset()
env = newEnv
newEnv.SetViewer('qtcoin') # start the viewer
def callbackPush(output):
for elem in output:
[x, y, z] = elem['pos']
odeBody = elem['obj'].getBody()
odeBody.addForce(
(cmp(x, 0) * 4 - x, cmp(y, 0) * 4 - y, cmp(z, 0) * 4 - z))
############################################################
sim = my_ode_sim(0.005, dx=11)
sim.setParam(seed=18,
gravity=(0, 0, 0),
bounce=0.3,
Mu=500,
minmaxForce=10000,
probExplode=0.1,
probInsert=0.5)
sim.ssODE.addFunction('color', color)
expr = """SELECT obj, pos FROM space
WHERE color(this)==[1,1,1] AND distance([0,0,0], this) < 4
AS dict;"""
prog = SelectScript.compile(expr)
sim.addCallback(prog, callbackPush)
sim.start()
####################################################################################
problem1 = """# Basic nested functions iterating over all combinations, not very effective
moves = [[0,1], [0,2], [1,0], [1,2], [2,0], [2,1]];
SELECT mov1.this, mov2.this, mov3.this, mov4.this, mov5.this, mov6.this, mov7.this
FROM mov1=moves, mov2=moves, mov3=moves, mov4=moves, mov5=moves, mov6=moves, mov7=moves
WHERE [[],[],["c","b","a"]] == move( mov7.this,
move( mov6.this,
move( mov5.this,
move( mov4.this,
move( mov3.this,
move( mov2.this,
move( mov1.this, [["c","b","a"],[],[]] )))))))
AS list; """
bytecode = SelectScript.compile(problem1)
t_start = time()
result = ss.eval(bytecode)
t_end = time()
print "----------------------------------------------------------------------------"
print problem1
print "----------------------------------------------------------------------------"
print "time:", t_end - t_start
print "result:", result
# time: 10.0932531357
# result: [[0, 2], [0, 1], [2, 1], [0, 2], [1, 0], [1, 2], [0, 2]]
####################################################################################
####################################################################################
problem2 = """# Basic recursive query
import SelectScript
import SelectScript.Interpreter
ss = SelectScript.Interpreter()
problem = """# if is like in functional programming, and the last statement within
# the then or else-part defines the return value... every part is segregated
# with a semi-colon
b = IF ( 2<3;
a=1., 2.; # then
a=2., 1.);# else
a/b;
"""
bytecode = SelectScript.compile(problem)
print "----------------------------------------------------------------------------"
print problem
print "----------------------------------------------------------------------------"
print "result:", ss.eval(bytecode)
# result: 0.5
####################################################################################
####################################################################################
problem = """# the opposite way ...
b = IF ( 2>3;
a=1., 2.; # then
a=2., 1.);# else
a/b;
"""
bytecode = SelectScript.compile(problem)
print "----------------------------------------------------------------------------"
print problem
print "----------------------------------------------------------------------------"
gravity=(0, 0, 0),
bounce=0.3,
Mu=500,
minmaxForce=10000,
probExplode=0.1,
probInsert=0.5)
ssODE = ssODE()
ssODE.addVariable('space', sim.space[0])
start_new_thread(sim.start, ()) #
##################################################################
wait(10)
expr = "SELECT id(this, space), mass, velocity FROM space WHERE isSphere(this) AS dict;"
prog = SelectScript.compile(expr) # generate byte-code
result = ssODE.eval(prog)
print "------------------------------- Example 1 -------------------------------"
print "expr = \"", expr, '"'
print "prog = SelectScript.compile(expr)"
#print prog
print "result = ssODE.eval(prog)"
for result in ssODE.eval(prog):
print result
##################################################################
wait(10)
expr = "SELECT id(this, space), type, volume FROM space WHERE isSphere(this) AS dict;"
prog = SelectScript.compile(expr) # generate byte-code