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():
if attachedsensor.GetSensor().Supports(Sensor.Type.Camera):
attachedsensor.GetSensor().Configure(Sensor.ConfigureCommand.PowerOn)
attachedsensor.GetSensor().Configure(
Sensor.ConfigureCommand.RenderDataOn)
num_states = localizer.NX
num_ctrls = localizer.NU
num_measure = len(beacons) + 2
Q = np.mat(np.diag([1e-7] * num_states)) #arg
Q[arm.NX, arm.NX] = 1e-11
Q[arm.NX + 1, arm.NX + 1] = 1e-11
Q[arm.NX + 2, arm.NX + 2] = 1e-11
#Q[2,2] = 1e-8 # Gets out of hand if noise in theta or phi
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
T = 20
x0 = np.array([-0.5] * arm.NX)
du = np.array([0.0, 0.1, -0.02, -0.05, 0.04, 0.02, 0.1])
du = np.mat(du).T
"""
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
T = 20
x0 = np.array([-0.5] * arm.NX)
du = np.array([0.0, 0.1, -0.02, -0.05, 0.04, 0.02, 0.1])
du = np.mat(du).T
