def initialize_app(self):
app = Application(name="rm_isaac_bridge")
app.load(filename="packages/navsim/apps/navsim_tcp.subgraph.json", prefix="simulation")
if hasattr(self, 'arm'):
app = self.arm.connect_app(app)
if hasattr(self, 'camera'):
app = self.camera.connect_app(app)
if hasattr(self, 'effector'):
app = self.effector.connect_app(app)
self._app = app
def setup_app():
app = Application(name="composite_atlas", modules=["composite"])
atlas = app.add("atlas").add(app.registry.isaac.composite.CompositeAtlas)
atlas.config["cask"] = "packages/composite/tests/waypoints"
pub_node = app.add("pub")
pub = pub_node.add(app.registry.isaac.composite.CompositePublisher,
name="CompositePublisher")
pub.config.tick_period = "20Hz"
pub.config.atlas = "atlas/CompositeAtlas"
pub.config.path = ["cart", "dolly"]
return app, pub
def main():
app = Application(app_filename="apps/rm/realsense_gmap/realsense_gmap.app.json")
odometry = app.nodes["odometry"].add(Odometry, "Odometry")
app.connect(app.nodes["visual_odometry_tracker"]["StereoVisualOdometry"], "left_camera_pose", odometry, "pose")
app.connect(odometry, "odometry", app.nodes["gmapping"]["GMapping"], "odometry")
gmap = app.nodes['gmapping']["GMapping"]
pprint(gmap.config.get_config())
app.run()
def main():
app = Application(
app_filename=
"apps/rm/realsense_cartographer/realsense_cartographer.app.json")
pose_to_edge = app.nodes["pose_tree_injector"].add(PoseToEdge,
"PoseToEdge")
app.connect(app.nodes["visual_odometry_tracker"]["StereoVisualOdometry"],
"left_camera_pose", pose_to_edge, "pose")
app.connect(pose_to_edge, "edge",
app.nodes["pose_tree_injector"]["PoseMessageInjector"], "pose")
comp = app.nodes['visual_odometry_tracker']["StereoVisualOdometry"]
pprint(comp.config.get_config())
app.run()
def setup_app():
app = Application(name="follow_path", modules=["composite"])
atlas = app.add("atlas").add(app.registry.isaac.composite.CompositeAtlas)
atlas.config["cask"] = "packages/composite/tests/waypoints"
pub_node = app.add("pub")
pub = pub_node.add(app.registry.isaac.composite.CompositePublisher, name="CompositePublisher")
pub.config.tick_period = "20Hz"
pub.config.atlas = "atlas/CompositeAtlas"
pub.config.path = ["cart", "dolly"]
follow_node = app.add("follow")
follow = follow_node.add(app.registry.isaac.composite.FollowPath)
follow.config.tick_period = "10Hz"
follow.config.wait_time = 0.05
follow_node.add(app.registry.isaac.composite.CompositeMetric)
app.connect(pub, "path", follow, "path")
app.connect(follow, "goal", follow, "state")
return app, follow_node
dest='base_directory',
default='/tmp',
help='The directory in which log files will be stored')
parser.add_argument('--fps',
dest='fps',
type=int,
default=30,
help='The framerate at which to record')
parser.add_argument('--mode',
dest='mode',
choices=['720p', '640x480'],
default='720p',
help='The resolution of the camera images')
args, _ = parser.parse_known_args()
app = Application(name="record_realsense", modules=["realsense"])
if args.mode == '720p':
rows = 720
cols = 1280
elif args.mode == '640x480':
rows = 640
cols = 480
else:
raise ValueError('Not supported camera resolution')
# Create recorder node
recorder = app.add("recorder").add(app.registry.isaac.alice.Recorder)
recorder.config.base_directory = args.base_directory
# Create realsense camera codelet
from engine.pyalice import Application
app = Application(name = "mybot")
app.load_module('message_generators')
app.load_module('viewers')
app.load('packages/navsim/apps/navsim_tcp.subgraph.json', 'simulation')
node_view = app.add("viewer")
component_view = node_view.add(app.registry.isaac.viewers.ColorCameraViewer, 'ColorCameraViewer')
node_view = app.add("depth_viewer")
node_view.add(app.registry.isaac.viewers.DepthCameraViewer, 'DepthCameraViewer')
app.connect('simulation.interface/output', 'color', 'viewer/ColorCameraViewer', 'color_listener')
app.connect('simulation.interface/output', 'depth', 'depth_viewer/DepthCameraViewer', 'depth_listener')
app.run()
Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
'''
from engine.pyalice import Application
import argparse
import random
import sys
DEMOS = ["demo_1", "demo_2", "demo_3", "demo_4"]
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description='flatsim is a flat-world simulator for navigation')
parser.add_argument('--demo',
dest='demo',
help='The scenario which will be used for flatsim')
args, _ = parser.parse_known_args()
demo = args.demo if args.demo is not None else random.choice(DEMOS)
app = Application(name="flatsim")
app.load("packages/flatsim/apps/flatsim.subgraph.json", prefix="flatsim")
app.load("packages/flatsim/apps/{}.json".format(demo))
app.run()
def main(args):
app = Application(name="detect_net_inference")
# Load subgraph and get interface node
app.load("packages/detect_net/apps/detect_net_inference.subgraph.json",
prefix="detect_net_inference")
detect_net_inferface = app.nodes["detect_net_inference.subgraph"]\
.components["interface"]
# Load configuration
app.load(args.config)
# Configure detection model
detection_model = app.nodes["detect_net_inference.tensor_r_t_inference"]\
.components["isaac.ml.TensorRTInference"]
if args.detection_model_file_path is not None:
detection_model.config.model_file_path = args.detection_model_file_path
if args.etlt_password is not None:
detection_model.config.etlt_password = args.etlt_password
# Configure detection decoder
decoder = app.nodes["detect_net_inference.detection_decoder"]\
.components["isaac.detect_net.DetectNetDecoder"]
decoder.config.output_scale = [args.rows, args.cols]
if args.confidence_threshold is not None:
decoder.config.confidence_threshold = args.confidence_threshold
if args.nms_threshold is not None:
decoder.config.non_maximum_suppression_threshold = args.nms_threshold
if args.mode == 'cask':
# Load replay subgraph and configure interface node
app.load("packages/record_replay/apps/replay.subgraph.json",
prefix="replay")
replay_interface = app.nodes["replay.interface"].components["output"]
replay_interface.config.cask_directory = args.cask_directory
# Connect the output of the replay subgraph to the detection subgraph
app.connect(replay_interface, "color", detect_net_inferface, "image")
elif args.mode == 'sim':
# Load simulation subgraph and get interface node
app.load("packages/navsim/apps/navsim_training.subgraph.json",\
prefix="simulation")
simulation_interface = app.nodes["simulation.interface"].components[
"output"]
# Connect the output of the simulation with user-specified channel to the detection subgraph
app.connect(simulation_interface, args.image_channel,
detect_net_inferface, "image")
elif args.mode == 'realsense':
app.load_module('realsense')
# Create and configure realsense camera codelet
camera = app.add("camera").add(app.registry.isaac.RealsenseCamera)
camera.config.rows = args.rows
camera.config.cols = args.cols
camera.config.color_framerate = args.fps
camera.config.depth_framerate = args.fps
camera.config.enable_ir_stereo = False
# Connect the output of the camera node to the detection subgraph
app.connect(camera, "color", detect_net_inferface, "image")
elif args.mode == 'v4l':
app.load_module('sensors:v4l2_camera')
# Create and configure V4L camera codelet
camera = app.add("camera").add(app.registry.isaac.V4L2Camera)
camera.config.device_id = 0
camera.config.rows = args.rows
camera.config.cols = args.cols
camera.config.rate_hz = args.fps
# Connect the output of the camera node to the detection subgraph
app.connect(camera, "frame", detect_net_inferface, "image")
elif args.mode == 'image':
app.load_module('message_generators')
# Create feeder node
feeder = app.add("feeder").add(
app.registry.isaac.message_generators.ImageLoader)
feeder.config.color_glob_pattern = args.image_directory
feeder.config.tick_period = "1Hz"
feeder.config.focal_length = [args.focal_length, args.focal_length]
feeder.config.optical_center = [
args.optical_center_rows, args.optical_center_cols
]
feeder.config.distortion_coefficients = [0.01, 0.01, 0.01, 0.01, 0.01]
# Connect the output of the image feeder node to the detection subgraph
app.connect(feeder, "color", detect_net_inferface, "image")
else:
raise ValueError('Not supported mode {}'.format(args.mode))
app.run()
parser.add_argument(
"--mission_host",
help=
"The ip address or hostname of the host to connect to and receive missions from",
default="localhost")
parser.add_argument("--mission_port",
help="The TCP port to connect to the mission server",
type=int,
default=9998)
args = parser.parse_args()
# Create and start the app
more_jsons = args.map_json
more_jsons += ",packages/navsim/robots/str4.json"
app = Application(
app_filename="packages/cart_delivery/apps/cart_delivery.app.json",
more_jsons=more_jsons)
app.load("packages/cart_delivery/apps/navigation.config.json",
prefix=args.demo_subgraph_name)
app.load(
"packages/cart_delivery/apps/detection_pose_estimation.config.json",
prefix=args.demo_subgraph_name)
if args.pose2_planner:
app.load("packages/cart_delivery/apps/pose2_planner.config.json",
prefix=args.demo_subgraph_name)
if args.mission_robot_name:
# Load the mission subgraph and set the config based on the input parameters
app.load("packages/behavior_tree/apps/missions.graph.json")
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"host"] = args.mission_host
app.nodes["tcp_client"].components["JsonTcpClient"].config[
'''
Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
'''
from engine.pyalice import Application, Node
if __name__ == '__main__':
app = Application(name="svo_realsense",
modules=[
'perception:stereo_visual_odometry',
'realsense',
'utils',
"viewers",
])
camera = app.add('camera').add(app.registry.isaac.RealsenseCamera)
camera.config.align_to_color = False
camera.config.auto_exposure_priority = False
camera.config.enable_color = False
camera.config.cols = 640
camera.config.rows = 360
camera.config.enable_depth = False
camera.config.enable_depth_laser = False
camera.config.enable_ir_stereo = True
camera.config.ir_framerate = 30
"--mission_host",
help=
"The ip address or hostname of the host to connect to and receive missions from",
default="localhost")
parser.add_argument("--mission_port",
help="The TCP port to connect to the mission server",
type=int,
default=9998)
args = parser.parse_args()
# Create and start the app
more_jsons = args.map_json + "," + args.robot_json
if args.more:
more_jsons += "," + args.more
app_path = "apps/navsim/navsim_navigate.app.json"
app = Application(app_filename=app_path, more_jsons=more_jsons)
if args.mission_robot_name:
# Load the mission subgraph and set the config based on the input parameters
app.load("packages/behavior_tree/apps/missions.graph.json")
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"host"] = args.mission_host
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"port"] = args.mission_port
app.nodes["mission_control"].components["NodeGroup"].config["node_names"] = \
["goals.goal_behavior"]
app.nodes["robot_name"].components["JsonMockup"].config["json_mock"] = \
{"text":args.mission_robot_name}
run_on_start = app.nodes["goals.run_on_start"]
# Change the start behavior to the mission behavior
nodes = run_on_start.components["NodeGroup"].config["node_names"]
# get kinematic file and joints
kinematic_file = "apps/assets/kinematic_trees/{}.kinematic.json".format(
args.arm)
joints = []
with open(kinematic_file, 'r') as fd:
kt = json.load(fd)
for link in kt['links']:
if 'motor' in link and link['motor']['type'] != 'constant':
joints.append(link['name'])
# create composite atlas
create_composite_atlas(args.cask, args.arm, joints)
# Create and start the app
app = Application(name="Shuffle Box")
# load bebavior subgraph. this contains the sequency behavior to move the arm between
# waypoints and control suction on/off
app.load("apps/samples/manipulation/shuffle_box_behavior.subgraph.json",
prefix="behavior")
behavior_interface = app.nodes["behavior.interface"]["subgraph"]
app.nodes["behavior.atlas"]["CompositeAtlas"].config.cask = args.cask
app.load("packages/planner/apps/multi_joint_lqr_control.subgraph.json",
prefix="lqr")
# load multi joint lqr control subgraph
lqr_interface = app.nodes["lqr.subgraph"]["interface"]
kinematic_tree = app.nodes["lqr.kinematic_tree"]["KinematicTree"]
lqr_planner = app.nodes["lqr.local_plan"]["MultiJointLqrPlanner"]
app.connect(behavior_interface, "joint_target", lqr_interface,
"joint_target")
default='1280x720',
help='Camera resolution')
parser.add_argument(
'--framerate',
dest='framerate',
action='store',
type=int,
default=60,
help='Camera framerate')
parser.add_argument(
'--device_id', dest='device_id', action='store', type=int, help='Camera device id')
args = parser.parse_args()
# Create april_tag_python application
app = Application(
name="april_tags_python",
modules=[
"//packages/perception:april_tags", "realsense", "sensors:v4l2_camera", "viewers", "zed"
])
# Setup camera node
camera = None
if args.camera == "zed":
camera = app.add('input_images').add(app.registry.isaac.ZedCamera)
camera.config.resolution = args.resolution
camera.config.tick_period = '{tick_period}Hz'.format(tick_period=args.framerate)
camera_out_channel = "left_camera_rgb"
elif args.camera == "realsense":
camera = app.add('input_images').add(app.registry.isaac.RealsenseCamera)
camera.config.cols, camera.config.rows = tuple(
[int(arg) for arg in args.resolution.split('x')])
camera.config.color_framerate = args.framerate
camera_out_channel = "color"
type=float,
default=3.0,
help='The framerate at which to record')
parser.add_argument('--rows',
dest='rows',
type=int,
default=720,
help='The vertical resolution of the camera images')
parser.add_argument('--cols',
dest='cols',
type=int,
default=1280,
help='The horizontal resolution of the camera images')
args, _ = parser.parse_known_args()
app = Application(name="record_dummy", modules=["message_generators"])
# Create recorder node
recorder = app.add("recorder").add(app.registry.isaac.alice.Recorder)
recorder.config.base_directory = args.base_directory
# Create dummy camera codelet
camera = app.add("cam").add(
app.registry.isaac.message_generators.CameraGenerator)
camera.config.rows = args.rows
camera.config.cols = args.cols
camera.config.tick_period = str(args.fps) + "Hz"
app.connect(camera, "color_left", recorder, "color")
app.connect(camera, "depth", recorder, "depth")
app.run()
args = parser.parse_args()
# get kinematic file and joints
kinematic_file = "apps/assets/kinematic_trees/ur10.kinematic.json"
joints = []
with open(kinematic_file, 'r') as fd:
kt = json.load(fd)
for link in kt['links']:
if 'motor' in link and link['motor']['type'] != 'constant':
joints.append(link['name'])
# create composite atlas
create_composite_atlas(args.cask, joints)
# Create and start the app
app = Application(name="Shuffle Box Hardware")
# load bebavior subgraph. this contains the sequency behavior to move the arm between
# waypoints and control suction on/off
app.load("apps/samples/manipulation/shuffle_box_behavior.subgraph.json", prefix="behavior")
behavior_interface = app.nodes["behavior.interface"]["subgraph"]
app.nodes["behavior.atlas"]["CompositeAtlas"].config.cask = args.cask
app.load("packages/planner/apps/multi_joint_lqr_control.subgraph.json", prefix="lqr")
# load multi joint lqr control subgraph
lqr_interface = app.nodes["lqr.subgraph"]["interface"]
kinematic_tree = app.nodes["lqr.kinematic_tree"]["KinematicTree"]
lqr_planner = app.nodes["lqr.local_plan"]["MultiJointLqrPlanner"]
app.connect(behavior_interface, "joint_target", lqr_interface, "joint_target")
kinematic_tree.config.kinematic_file = kinematic_file
lqr_planner.config.speed_min = [-1.0] * len(joints)
lqr_planner.config.speed_max = [1.0] * len(joints)
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description='Demonstrates the Stereo Visual Odometry tracking'
' using the live stereo image feed obtained from the ZED (Mini) camera.')
parser.add_argument('--imu',
dest='imu',
action='store_true',
help='Enables the support for the on-board camera IMU.')
parser.add_argument('--no-imu',
dest='imu',
action='store_false',
help='Disables the support for the on-board camera IMU.')
parser.set_defaults(imu=False)
args = parser.parse_args()
app = Application(name="svo_zed",
modules=["perception:stereo_visual_odometry", "utils", "viewers", "zed"])
camera = app.add('camera').add(app.registry.isaac.ZedCamera)
camera.config.enable_factory_rectification = True
camera.config.enable_imu = args.imu
camera.config.resolution = "672x376"
camera.config.gray_scale = True
camera.config.rgb = False
camera.config.tick_period = "60Hz"
splitter_left = app.add('camera_splitter_left').add(
app.registry.isaac.utils.ColorCameraProtoSplitter)
splitter_left.config.only_pinhole = False
splitter_right = app.add('camera_splitter_right').add(
app.registry.isaac.utils.ColorCameraProtoSplitter)
'''
Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
'''
from engine.pyalice import Application, Node
import xsense_imu
if __name__ == '__main__':
app = Application(app_filename="packages/xsense_imu/svo_realsense_xsens_imu.config.json")
camera = app.add('camera').add(app.registry.isaac.RealsenseCamera)
camera.config.align_to_color = False
camera.config.auto_exposure_priority = False
camera.config.enable_color = False
camera.config.cols = 640
camera.config.rows = 360
camera.config.enable_depth = False
camera.config.enable_depth_laser = False
camera.config.enable_ir_stereo = True
camera.config.ir_framerate = 30
splitter_left = app.add('camera_splitter_left').add(
app.registry.isaac.utils.ColorCameraProtoSplitter)
splitter_left.config.only_pinhole = False