env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(os.getcwd() + '/data/wam_scene.env.xml') # load a scene
beacons = [Beacon(np.mat(np.array([-1.3, 0.4, 2.0])).T)]
beacons.append(Beacon(np.mat(np.array([-0.0, 0.2, 1.0])).T))
#beacons = [Beacon(np.mat(np.array([0.0, 2.0, 2.0])).T)]
mug_pos = np.mat(np.array([0.0, 1.0, 0.8])).T
mug = env.GetKinBody('mug2')
mugTransform = mug.GetTransform()
mugTransform[0, 3] = mug_pos[0]
mugTransform[1, 3] = mug_pos[1]
mugTransform[2, 3] = mug_pos[2]
mug.SetTransform(mugTransform)
s = SuperRaveEnv(rave_env=env, beacons=beacons)
s.draw()
robot = env.GetRobots()[0] # get the first robot
arm = BarretWAM(robot, env)
arm.attach_sensor(BeaconSensor3D(decay_coeff=25), lambda x: arm.traj_pos(x))
localizer = RaveLocalizerBot(arm, mug_pos)
localizer.attach_sensor(
OpenRAVECamera(KK=np.mat(
np.array([(640.0, 0.0, 320.0), (0.0, 480.0, 240.0), (0.0, 0.0,
1.0)]))),
lambda x: localizer.camera_obj_state(x))
s.add_robot(localizer)
for attachedsensor in robot.GetAttachedSensors():
"""
def waitrobot(robot):
while not robot.GetController().IsDone():
time.sleep(0.01)
"""
env = Environment() # create the environment
env.SetViewer("qtcoin") # start the viewer
env.Load(os.getcwd() + "/data/wam_scene.env.xml") # load a scene
beacons = [Beacon(np.mat(np.array([-1.3, 0.4, 2.0])).T)]
beacons.append(Beacon(np.mat(np.array([-0.0, 0.2, 1.0])).T))
# beacons = [Beacon(np.mat(np.array([0.0, 2.0, 2.0])).T)]
s = SuperRaveEnv(rave_env=env, beacons=beacons)
s.draw()
robot = env.GetRobots()[0] # get the first robot
arm = BarretWAM(robot, env)
arm.attach_sensor(BeaconSensor3D(decay_coeff=25), lambda x: arm.traj_pos(x))
s.add_robot(arm)
num_states = arm.NX
num_ctrls = arm.NU
num_measure = len(beacons) # arg/make part of robot observe
Q = np.mat(np.diag([1e-7] * num_states)) # arg
# Q[2,2] = 1e-8 # Gets out of hand if noise in theta or phi
R = np.mat(np.diag([1e-5] * num_measure)) # arg
# R[3,3] = 5e-7
import struct
import _Getch
"""
def waitrobot(robot):
while not robot.GetController().IsDone():
time.sleep(0.01)
"""
env = Environment() # create the environment
env.SetViewer('qtcoin') # start the viewer
env.Load(os.getcwd() + '/data/wam_scene.env.xml') # load a scene
beacons = [Beacon(np.mat(np.array([-1.3, 0.4, 2.0])).T)]
beacons.append(Beacon(np.mat(np.array([-0.0, 0.2, 1.0])).T))
#beacons = [Beacon(np.mat(np.array([0.0, 2.0, 2.0])).T)]
s = SuperRaveEnv(rave_env=env, beacons=beacons)
s.draw()
robot = env.GetRobots()[0] # get the first robot
arm = BarretWAM(robot, env)
arm.attach_sensor(BeaconSensor3D(decay_coeff=25), lambda x: arm.traj_pos(x))
s.add_robot(arm)
num_states = arm.NX
num_ctrls = arm.NU
num_measure = len(beacons) #arg/make part of robot observe
Q = np.mat(np.diag([1e-7] * num_states)) #arg
#Q[2,2] = 1e-8 # Gets out of hand if noise in theta or phi
R = np.mat(np.diag([1e-5] * num_measure)) #arg
#R[3,3] = 5e-7
