from director import atlasdriver
from director import consoleapp
from PythonQt import QtCore, QtGui
from collections import namedtuple
atlasDriver = atlasdriver.init()
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
Button = namedtuple('Button', ['name', 'callback', 'color']);
buttons = [
Button('Reactive Recovery', atlasDriver.sendRecoveryTriggerOn, None)
]
for button in buttons:
qb = QtGui.QPushButton(button.name)
qb.connect('clicked()', button.callback)
qb.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding)
s = qb.styleSheet
s += "font: 36pt;"
if button.color:
s += "background-color: {:s}; color: white;".format(button.color)
qb.setStyleSheet(s)
l.addWidget(qb)
w.setWindowTitle('Atlas Recovery Button')
w.show()
w.resize(500,600)
def initAtlasDriver(self, robotSystem):
from director import atlasdriver
atlasDriver = atlasdriver.init(None)
return FieldContainer(atlasDriver=atlasDriver)
def initAtlasDriver(self, robotSystem):
from director import atlasdriver
atlasDriver = atlasdriver.init(None)
return FieldContainer(atlasDriver=atlasDriver)
def init(self, view=None, globalsDict=None):
view = view or applogic.getCurrentRenderView()
useRobotState = True
usePerception = True
useFootsteps = True
useHands = True
usePlanning = True
useAtlasDriver = True
useAtlasConvexHull = False
useWidgets = False
directorConfig = drcargs.getDirectorConfig()
neckPitchJoint = 'neck_ay'
colorMode = 'URDF Colors'
if 'colorMode' in directorConfig:
assert directorConfig['colorMode'] in ['URDF Colors', 'Solid Color', 'Textures']
colorMode = directorConfig['colorMode']
if useAtlasDriver:
atlasDriver = atlasdriver.init(None)
if useRobotState:
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, urdfFile=directorConfig['urdfConfig']['robotState'], parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True, colorMode=colorMode)
robotStateJointController.setPose('EST_ROBOT_STATE', robotStateJointController.getPose('q_nom'))
roboturdf.startModelPublisherListener([(robotStateModel, robotStateJointController)])
robotStateJointController.addLCMUpdater('EST_ROBOT_STATE')
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
if usePerception:
multisenseDriver, mapServerSource = perception.init(view)
def getNeckPitch():
return robotStateJointController.q[robotstate.getDrakePoseJointNames().index( neckPitchJoint )]
neckDriver = perception.NeckDriver(view, getNeckPitch)
def getSpindleAngleFunction():
if (robotStateJointController.lastRobotStateMessage):
if ('hokuyo_joint' in robotStateJointController.lastRobotStateMessage.joint_name):
index = robotStateJointController.lastRobotStateMessage.joint_name.index('hokuyo_joint')
return (float(robotStateJointController.lastRobotStateMessage.utime)/(1e6),
robotStateJointController.lastRobotStateMessage.joint_position[index])
return (0, 0)
spindleMonitor = perception.SpindleMonitor(getSpindleAngleFunction)
robotStateModel.connectModelChanged(spindleMonitor.onRobotStateChanged)
if useHands:
rHandDriver = handdriver.RobotiqHandDriver(side='right')
lHandDriver = handdriver.RobotiqHandDriver(side='left')
if useFootsteps:
footstepsDriver = footstepsdriver.FootstepsDriver(robotStateJointController)
irisDriver = irisdriver.IRISDriver(robotStateJointController, footstepsDriver.params)
raycastDriver = raycastdriver.RaycastDriver()
if usePlanning:
ikRobotModel, ikJointController = roboturdf.loadRobotModel('ik model', urdfFile=directorConfig['urdfConfig']['ik'], parent=None)
om.removeFromObjectModel(ikRobotModel)
ikJointController.addPose('q_end', ikJointController.getPose('q_nom'))
ikJointController.addPose('q_start', ikJointController.getPose('q_nom'))
if 'leftFootLink' in directorConfig:
ikServer = ik.AsyncIKCommunicator(directorConfig['urdfConfig']['ik'], directorConfig['fixedPointFile'], directorConfig['leftFootLink'], directorConfig['rightFootLink'], directorConfig['pelvisLink'])
else: # assume that robot has no feet e.g. fixed base arm
ikServer = ik.AsyncIKCommunicator(directorConfig['urdfConfig']['ik'], directorConfig['fixedPointFile'], '', '', '')
def startIkServer():
ikServer.startServerAsync()
ikServer.comm.writeCommandsToLogFile = True
#startIkServer()
playbackRobotModel, playbackJointController = roboturdf.loadRobotModel('playback model', view, urdfFile=directorConfig['urdfConfig']['playback'], parent='planning', color=roboturdf.getRobotOrangeColor(), visible=False, colorMode=colorMode)
teleopRobotModel, teleopJointController = roboturdf.loadRobotModel('teleop model', view, urdfFile=directorConfig['urdfConfig']['teleop'], parent='planning', color=roboturdf.getRobotBlueColor(), visible=False, colorMode=colorMode)
if useAtlasConvexHull:
chullRobotModel, chullJointController = roboturdf.loadRobotModel('convex hull atlas', view, urdfFile=urdfConfig['chull'], parent='planning',
color=roboturdf.getRobotOrangeColor(), visible=False)
playbackJointController.models.append(chullRobotModel)
planPlayback = planplayback.PlanPlayback()
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = []
for side in ['left', 'right']:
if side in handFactory.defaultHandTypes:
handModels.append(handFactory.getLoader(side))
ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel, ikJointController, handModels)
manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner)
affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
affordanceitems.MeshAffordanceItem.getMeshManager().initLCM()
affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
segmentation.affordanceManager = affordanceManager
plannerPub = plannerPublisher.PlannerPublisher(ikPlanner,affordanceManager,ikRobotModel)
ikPlanner.setPublisher(plannerPub)
# This joint angle is mapped to the Multisense panel
neckPitchJoint = ikPlanner.neckPitchJoint
applogic.resetCamera(viewDirection=[-1,0,0], view=view)
if useWidgets:
playbackPanel = playbackpanel.PlaybackPanel(planPlayback, playbackRobotModel, playbackJointController,
robotStateModel, robotStateJointController, manipPlanner)
teleopPanel = teleoppanel.TeleopPanel(robotStateModel, robotStateJointController, teleopRobotModel, teleopJointController,
ikPlanner, manipPlanner, playbackPanel.setPlan, playbackPanel.hidePlan)
footstepsDriver.walkingPlanCallback = playbackPanel.setPlan
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
viewBehaviors = None
robotSystemArgs = dict(locals())
for arg in ['globalsDict', 'self']:
del robotSystemArgs[arg]
if globalsDict is not None:
globalsDict.update(robotSystemArgs)
robotSystem = FieldContainer(**robotSystemArgs)
robotSystem.viewBehaviors = robotviewbehaviors.RobotViewBehaviors(view, robotSystem)
return robotSystem
def init(self, view=None, globalsDict=None):
view = view or applogic.getCurrentRenderView()
useRobotState = True
usePerception = True
useFootsteps = True
useHands = True
usePlanning = True
useAtlasDriver = True
useAtlasConvexHull = False
useWidgets = False
directorConfig = drcargs.getDirectorConfig()
neckPitchJoint = 'neck_ay'
colorMode = 'URDF Colors'
if 'colorMode' in directorConfig:
assert directorConfig['colorMode'] in [
'URDF Colors', 'Solid Color', 'Textures'
]
colorMode = directorConfig['colorMode']
if useAtlasDriver:
atlasDriver = atlasdriver.init(None)
if useRobotState:
robotStateModel, robotStateJointController = roboturdf.loadRobotModel(
'robot state model',
view,
urdfFile=directorConfig['urdfConfig']['robotState'],
parent='sensors',
color=roboturdf.getRobotGrayColor(),
visible=True,
colorMode=colorMode)
robotStateJointController.setPose(
'EST_ROBOT_STATE', robotStateJointController.getPose('q_nom'))
roboturdf.startModelPublisherListener([
(robotStateModel, robotStateJointController)
])
robotStateJointController.addLCMUpdater('EST_ROBOT_STATE')
segmentationroutines.SegmentationContext.initWithRobot(
robotStateModel)
if usePerception:
multisenseDriver, mapServerSource = perception.init(view)
def getNeckPitch():
return robotStateJointController.q[
robotstate.getDrakePoseJointNames().index(neckPitchJoint)]
neckDriver = perception.NeckDriver(view, getNeckPitch)
def getSpindleAngleFunction():
if (robotStateJointController.lastRobotStateMessage):
if ('hokuyo_joint' in robotStateJointController.
lastRobotStateMessage.joint_name):
index = robotStateJointController.lastRobotStateMessage.joint_name.index(
'hokuyo_joint')
return (float(robotStateJointController.
lastRobotStateMessage.utime) / (1e6),
robotStateJointController.
lastRobotStateMessage.joint_position[index])
return (0, 0)
spindleMonitor = perception.SpindleMonitor(getSpindleAngleFunction)
robotStateModel.connectModelChanged(
spindleMonitor.onRobotStateChanged)
if useHands:
rHandDriver = handdriver.RobotiqHandDriver(side='right')
lHandDriver = handdriver.RobotiqHandDriver(side='left')
if useFootsteps:
footstepsDriver = footstepsdriver.FootstepsDriver(
robotStateJointController)
irisDriver = irisdriver.IRISDriver(robotStateJointController,
footstepsDriver.params)
raycastDriver = raycastdriver.RaycastDriver()
if usePlanning:
ikRobotModel, ikJointController = roboturdf.loadRobotModel(
'ik model',
urdfFile=directorConfig['urdfConfig']['ik'],
parent=None)
om.removeFromObjectModel(ikRobotModel)
ikJointController.addPose('q_end',
ikJointController.getPose('q_nom'))
ikJointController.addPose('q_start',
ikJointController.getPose('q_nom'))
if 'leftFootLink' in directorConfig:
ikServer = ik.AsyncIKCommunicator(
directorConfig['urdfConfig']['ik'],
directorConfig['fixedPointFile'],
directorConfig['leftFootLink'],
directorConfig['rightFootLink'],
directorConfig['pelvisLink'])
else: # assume that robot has no feet e.g. fixed base arm
ikServer = ik.AsyncIKCommunicator(
directorConfig['urdfConfig']['ik'],
directorConfig['fixedPointFile'], '', '', '')
def startIkServer():
ikServer.startServerAsync()
ikServer.comm.writeCommandsToLogFile = True
#startIkServer()
playbackRobotModel, playbackJointController = roboturdf.loadRobotModel(
'playback model',
view,
urdfFile=directorConfig['urdfConfig']['playback'],
parent='planning',
color=roboturdf.getRobotOrangeColor(),
visible=False,
colorMode=colorMode)
teleopRobotModel, teleopJointController = roboturdf.loadRobotModel(
'teleop model',
view,
urdfFile=directorConfig['urdfConfig']['teleop'],
parent='planning',
color=roboturdf.getRobotBlueColor(),
visible=False,
colorMode=colorMode)
if useAtlasConvexHull:
chullRobotModel, chullJointController = roboturdf.loadRobotModel(
'convex hull atlas',
view,
urdfFile=urdfConfig['chull'],
parent='planning',
color=roboturdf.getRobotOrangeColor(),
visible=False)
playbackJointController.models.append(chullRobotModel)
planPlayback = planplayback.PlanPlayback()
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = []
for side in ['left', 'right']:
if side in handFactory.defaultHandTypes:
handModels.append(handFactory.getLoader(side))
ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel,
ikJointController, handModels)
manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner)
affordanceManager = affordancemanager.AffordanceObjectModelManager(
view)
affordanceitems.MeshAffordanceItem.getMeshManager().initLCM()
affordanceitems.MeshAffordanceItem.getMeshManager(
).collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
segmentation.affordanceManager = affordanceManager
plannerPub = plannerPublisher.PlannerPublisher(
ikPlanner, affordanceManager, ikRobotModel)
ikPlanner.setPublisher(plannerPub)
# This joint angle is mapped to the Multisense panel
neckPitchJoint = ikPlanner.neckPitchJoint
applogic.resetCamera(viewDirection=[-1, 0, 0], view=view)
if useWidgets:
playbackPanel = playbackpanel.PlaybackPanel(
planPlayback, playbackRobotModel, playbackJointController,
robotStateModel, robotStateJointController, manipPlanner)
teleopPanel = teleoppanel.TeleopPanel(
robotStateModel, robotStateJointController, teleopRobotModel,
teleopJointController, ikPlanner, manipPlanner,
playbackPanel.setPlan, playbackPanel.hidePlan)
footstepsDriver.walkingPlanCallback = playbackPanel.setPlan
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
viewBehaviors = None
robotSystemArgs = dict(locals())
for arg in ['globalsDict', 'self']:
del robotSystemArgs[arg]
if globalsDict is not None:
globalsDict.update(robotSystemArgs)
robotSystem = FieldContainer(**robotSystemArgs)
robotSystem.viewBehaviors = robotviewbehaviors.RobotViewBehaviors(
view, robotSystem)
return robotSystem
from director.consoleapp import ConsoleApp
from director import atlasdriver
from director import consoleapp
from director.timercallback import TimerCallback
from director import robotsystem
from PythonQt import QtCore, QtGui
from collections import namedtuple
import time, math
FPS = 4
LABEL_DEFAULT_STYLE_SHEET = "font: 36pt; border-style: outset; border-width: 2px; border-color: black;"
TITLE_DEFAULT_STYLE_SHEET = "font: 24pt"
atlasDriver = atlasdriver.init()
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
robotsystem.create(view, globals())
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
def wrapInVTitledItem(name, items):
box = QtGui.QGroupBox(name)
box.setAlignment(QtCore.Qt.AlignCenter)
boxLayout = QtGui.QVBoxLayout(box)
for item in items:
boxLayout.addWidget(item)
return box
def main():
atlasdriver.init()
panel = atlasdriverpanel.AtlasDriverPanel(atlasdriver.driver)
panel.widget.show()
ConsoleApp.start()
def main():
atlasdriver.init()
panel = atlasdriverpanel.AtlasDriverPanel(atlasdriver.driver)
panel.widget.show()
ConsoleApp.start()
