def main():
world_view_folder = "example_07_jogging"
world_view_client = WorldViewClient()
move_group = example_utils.get_move_group()
current_pose = move_group.get_end_effector().compute_pose(
move_group.get_current_joint_positions())
jogging_client = JoggingClient()
jogging_client.set_move_group_name(example_utils.get_move_group_name())
# register feedback function, to get alerted when an error occurs
jogging_client.register(feedback_function)
current_pose = move_group.get_end_effector().compute_pose(
move_group.get_current_joint_positions())
point_name = "TrackingPose"
# Write pose to World View, so the tracking begins with the current end effector pose
try:
world_view_client.add_pose(point_name, world_view_folder, current_pose)
except Xamla_ArgumentError:
world_view_client.update_pose(point_name, world_view_folder,
current_pose)
get_pose = lambda: world_view_client.get_pose(point_name, world_view_folder
)
#Begin tracking
jogging_client.toggle_tracking(True)
# Track for 20 seconds with a frequency of 50 Hz
track_point(time_amount=20,
frequency=50,
point_name=point_name,
get_pose=get_pose,
jogging_client=jogging_client)
# Stop tracking
jogging_client.toggle_tracking(False)
# Unregister the feedback function
jogging_client.unregister(feedback_function)
# Remove tracking pose
world_view_client.remove_element(point_name, world_view_folder)
world_view_folder = "example_03_shifting"
world_view_client = WorldViewClient()
# Read joint values from world view
joint_values_dict = world_view_client.query_joint_values(
"{}/jointValues".format(world_view_folder))
joint_values_list = list(joint_values_dict.values())
# Read names too to associate the joint values to the poses
names = list(map( lambda posix_path: posix_path.name, list(joint_values_dict.keys())))
# Create no names for joint values
new_names = list(map( lambda name: "shifted_joint_values_of_{}".format(name), names))
# Read poses from world view
reference_pose = world_view_client.get_pose("Reference",
"/{}/poses".format(world_view_folder))
shift_pose = world_view_client.get_pose("Shift",
"/{}/poses".format(world_view_folder))
# Create a pose defining the shift from the reference_poses view
# First undo translation and rotation of reference pose
# then translate and rotate by the shift pose
diff_pose = Pose( -reference_pose.translation, reference_pose.quaternion.inverse)\
.translate(shift_pose.translation).rotate(shift_pose.quaternion)
shifted_joint_values_list = main(joint_values_list, diff_pose)
# Save the shifted joint values to world view
print("Save the shifted joint values to world view")
try:
# delete folder if it already exists
world_view_client.remove_element("generated", world_view_folder)
print("Placing element {}".format(i + 1))
loop.run_until_complete(place(pre_place_jvs[i], place_jvs[i]))
finally:
loop.close()
if __name__ == '__main__':
# Called when running this script standalone
world_view_folder = "example_02_palletizing/example_pick_place_poses"
move_group = example_utils.get_move_group()
world_view_client = WorldViewClient()
# Read poses from world view
pose_1 = world_view_client.get_pose("Pose_1", world_view_folder)
pose_2 = world_view_client.get_pose("Pose_2", world_view_folder)
pose_3 = world_view_client.get_pose("Pose_3", world_view_folder)
# Read poses from world view
joint_values_1 = world_view_client.get_joint_values(
"JointValues_1", world_view_folder)
joint_values_2 = world_view_client.get_joint_values(
"JointValues_2", world_view_folder)
joint_values_3 = world_view_client.get_joint_values(
"JointValues_3", world_view_folder)
home = world_view_client.get_joint_values("Home", world_view_folder)
end_effector = example_utils.get_move_group().get_end_effector()
poses = [pose_1, pose_2, pose_3]
joint_values = [joint_values_1, joint_values_2, joint_values_3]
main(poses, joint_values, home)
def main():
# create entities which should be added to and manipulated in world view
joint_set1 = JointSet(['Joint1', 'Joint2', 'Joint3'])
joint_values1 = JointValues(joint_set1, [1.0, 2.0, 3.0])
joint_set2 = JointSet(['Joint1', 'Joint2'])
joint_values2 = JointValues(joint_set2, [19.0, 20.0])
joint_set3 = JointSet(['Joint1', 'Joint4'])
joint_values3 = JointValues(joint_set3, [100.0, 30.0])
t1 = [0.502522, 0.2580, 0.3670]
q1 = Quaternion(w=0.304389, x=0.5272, y=0.68704, z=0.39666)
t2 = [0.23795, 0.46845, 0.44505]
q2 = Quaternion(w=0.212097, x=0.470916, y=0.720915, z=0.462096)
t3 = [0.6089578, 0.3406782, 0.208865]
q3 = Quaternion(w=0.231852, x=0.33222, y=0.746109, z=0.528387)
pose1 = Pose(t1, q1, 'world')
pose2 = Pose(t2, q2, 'world')
pose3 = Pose(t3, q3, 'world')
cartesian_path1 = CartesianPath([pose1, pose2, pose3])
sphere = CollisionPrimitive.create_sphere(0.1, pose2)
cylinder = CollisionPrimitive.create_cylinder(0.4, 0.05, pose2)
box = CollisionPrimitive.create_box(0.2, 0.2, 0.1, pose1)
plane = CollisionPrimitive.create_plane(1.0, 1.0, 1.0, 1.0, pose3)
cone = CollisionPrimitive.create_cone(0.2, 0.2, pose3)
collision_object1 = CollisionObject([box])
collision_object2 = CollisionObject([sphere, cylinder])
collision_object3 = CollisionObject([plane, cone])
# create a instance of WorldViewClient to get access to rosvita world view
world_view_client = WorldViewClient()
print('---------------- add folder --------------')
# add folder test at WorldView root
world_view_client.add_folder('test', '')
# add folder test at WorldView root/test
world_view_client.add_folder('joint_values', '/test')
world_view_client.add_folder('poses', '/test')
world_view_client.add_folder('cartesian_paths', '/test')
world_view_client.add_folder('collision_objects', '/test')
print('---------------- add joint values --------------')
world_view_client.add_joint_values('joint_values1', 'test/joint_values',
joint_values1)
world_view_client.add_joint_values('joint_values2', 'test/joint_values',
joint_values2)
world_view_client.add_joint_values('joint_values3', 'test/joint_values',
joint_values3)
world_view_client.add_joint_values('test', 'test/joint_values',
joint_values3)
print('---------------- update joint values --------------')
world_view_client.update_joint_values('joint_values1', 'test/joint_values',
joint_values2)
world_view_client.update_joint_values('joint_values2', 'test/joint_values',
joint_values3)
world_view_client.update_joint_values('joint_values3', 'test/joint_values',
joint_values1)
print('---------------- get joint values --------------')
get_value = world_view_client.get_joint_values('joint_values1',
'test/joint_values')
print('joint_values1 is: ' + str(get_value))
print('---------------- query joint values --------------')
# query all values which start with t under test/joint_values
queried_values = world_view_client.query_joint_values(
'test/joint_values', 't')
print('---------------- add poses --------------')
world_view_client.add_pose('pose1', 'test/poses', pose1)
world_view_client.add_pose('pose2', 'test/poses', pose2)
world_view_client.add_pose('pose3', 'test/poses', pose3)
world_view_client.add_pose('test', 'test/poses', pose3)
print('---------------- update pose --------------')
world_view_client.update_pose('pose1', 'test/poses', pose2)
world_view_client.update_pose('pose2', 'test/poses', pose3)
world_view_client.update_pose('pose3', 'test/poses', pose1)
print('---------------- get pose --------------')
get_value = world_view_client.get_pose('pose1', 'test/poses')
print('pose1 is: ' + str(get_value))
print('---------------- query poses --------------')
# query all poses which start with t under test/pose
queried_values = world_view_client.query_poses('test/poses', 't')
print('---------------- add cartesian path --------------')
world_view_client.add_cartesian_path('cartesian_path1',
'test/cartesian_paths',
cartesian_path1)
world_view_client.add_cartesian_path('test1', 'test/cartesian_paths',
cartesian_path1)
print('---------------- update cartesian path --------------')
world_view_client.update_cartesian_path('cartesian_path1',
'test/cartesian_paths',
cartesian_path1)
print('---------------- get cartesian path --------------')
get_value = world_view_client.get_cartesian_path('cartesian_path1',
'test/cartesian_paths')
print('cartesian_path1 is: ' + str(get_value))
print('---------------- query cartesian paths --------------')
# query all cartesian_paths which start with t under test/cartesian_path
queried_values = world_view_client.query_cartesian_paths(
'test/cartesian_paths', 't')
for v in queried_values:
print(str(v))
print('---------------- add collision object --------------')
world_view_client.add_collision_object('collision_object1',
'test/collision_objects',
collision_object1)
world_view_client.add_collision_object('collision_object2',
'test/collision_objects',
collision_object2)
world_view_client.add_collision_object('collision_object3',
'test/collision_objects',
collision_object3)
world_view_client.add_collision_object('test1', 'test/collision_objects',
collision_object1)
print('---------------- update collision object --------------')
world_view_client.update_collision_object('collision_object1',
'test/collision_objects',
collision_object1)
print('---------------- get collision object --------------')
get_value = world_view_client.get_collision_object(
'collision_object1', 'test/collision_objects')
print('collision_object1 is: ' + str(get_value))
print('---------------- query collision object --------------')
# query all collision_objects which start with t under test/collision_object
queried_values = world_view_client.query_collision_objects(
'test/collision_objects', 't')
for v in queried_values:
print(str(v))
input('Press enter to clean up')
print('----------------- remove folder test ---------------')
world_view_client.remove_element('test', '')
def main(xSize: int, ySize: int, xStepSize: float , yStepSize: float):
"""
The parameter for this function describes the size of the grid.
To manipulate orientation and position, one can alter the Pose named "GridPose"
in the folder "example_02_palletizing" of the world view.
Parameters
----------
xSize : int
Number of elements of the grid in x-direction
ySize : int
Number of elements of the grid in y-direction
xStepSize : float
The distance between the poses in x-direction
yStepSize : float
The distance between the poses in y-direction
"""
world_view_folder = "example_02_palletizing"
# Create move group instance targeting the right arm of the robot
move_group = example_utils.get_move_group()
# Get the gripper attached at the right arm
wsg_gripper = example_utils.get_gripper(move_group)
# Create a instance of WorldViewClient to get access to rosvita world view
world_view_client = WorldViewClient()
# Generate the folders used by this example in world vew
generate_folders(world_view_client)
# Get the pose of the position which defines the location and rotation of the grid
pose = world_view_client.get_pose("GridPose", world_view_folder)
jv_home = world_view_client.get_joint_values("Home", world_view_folder)
# Get the target place poses
poses = example_02_1_generate_grid.main(pose, xSize, ySize, xStepSize, yStepSize)
rotation = pose.quaternion
# Calculate the orthogonal vector of the plane we want to span
# Since we use [1,0,0] and [0,1,0] vectors to span the grid relatively to the
# pose orientation, [0,0,1] is orthogonal to the grid
orthogonal = rotation.rotate(np.array([0,0,1]))
# For visualization and possible collisions, add some boxes below the positions
# we want to visit
getBoxPose = lambda pose : Pose(pose.translation + (orthogonal * (0.02)), pose.quaternion)
boxPoses = list(map(getBoxPose, poses))
boxes = example_02_2_create_collision_boxes.main(boxPoses, (xStepSize*0.9, yStepSize*0.9, 0.01))
world_view_client.add_collision_object("collision_matrix",
"/{}/generated/collision_objects".format(world_view_folder),
boxes)
# Now calculate the pre place poses, which hover over the desired place poses
# Since we want to access every pose in the grid "from above", we apply a
# translation orthogonal to the place poses for the pre place poses
#func = lambda pose : Pose(pose.translation + (orthogonal * (-0.1)), pose.quaternion)
func = lambda pose : Pose(pose.translation + (pose.quaternion.rotate(np.array([0,0,1])) * (-0.1)), pose.quaternion)
pre_place_poses = list(map( func , poses))
# Now that we have all the poses we want to visit, we should find the
# corresponding joint values
pre_place_jvs = calculate_pre_place_joint_values(pre_place_poses,
jv_home,
move_group,
world_view_client,
world_view_folder)
example_02_4_pick_place_poses.main(poses, pre_place_jvs, jv_home, move_group)
world_view_client.remove_element("generated", world_view_folder)