def localizeOrderBin(self):
order_bin_xform = (so3.identity(),[0.57,0,-0.87])
resource.setDirectory("resources/")
return resource.get("calibrated_order_bin.xform",type="RigidTransform",default=order_bin_xform,doedit=False)
T = numpy.array([[ 1, 0, 0, 0.57 ],
[ 0, 1, 0, 0 ],
[ 0, 0, 1, -0.87 ],
[ 0, 0, 0, 1 ]])
return (list(T[:3, :3].T.flat), list(T[:3, 3].flat))
def localizeShelf(self):
#distance away
shelf_xform = ([0,1,0,-1,0,0,0,0,1],[1.1,-0.055,-.9])
resource.setDirectory("resources/")
return resource.get("calibrated_shelf.xform",type="RigidTransform",default=shelf_xform,doedit=False)
T = numpy.array([[ 0, -1, 0, 1.1 ], # distance from front of robot
[ 1, 0, 0, -0.055 ], # left/right
[ 0, 0, 1, -0.9 ], # height
[ 0, 0, 0, 1 ]])
return (list(T[:3, :3].T.flat), list(T[:3, 3].flat))
left_gripper_link_name = 'left_gripper'
right_gripper_link_name = 'right_gripper'
left_arm_geometry_indices = [15,16,17,18,19,21,22,23,30,31]
right_arm_geometry_indices = [35,36,37,38,39,41,42,43,50,51]
left_hand_link_start = 54
right_hand_link_start = 54+gripper.numDofs
left_hand_geometry_indices = range(54,54+gripper.numDofs)
right_hand_geometry_indices = range(54+gripper.numDofs,54+gripper.numDofs*2)
#indices of the left and right arms in the Baxter robot file
left_arm_link_names = ['left_upper_shoulder','left_lower_shoulder','left_upper_elbow','left_lower_elbow','left_upper_forearm','left_lower_forearm','left_wrist']
right_arm_link_names = ['right_upper_shoulder','right_lower_shoulder','right_upper_elbow','right_lower_elbow','right_upper_forearm','right_lower_forearm','right_wrist']
#local transformations (rotation, translation pairs) of the grasp center
resource.setDirectory("resources/reflex")
left_gripper_center_xform = resource.get("left_gripper_center.xform",
type='RigidTransform',
description="Left gripper center",
world="klampt_models/"+klampt_model_name,
frame=left_gripper_link_name)
right_gripper_center_xform = resource.get("right_gripper_center.xform",
type='RigidTransform',
default=left_gripper_center_xform,
description="Right gripper center",
world="klampt_models/"+klampt_model_name,
frame=right_gripper_link_name)
#resting configuration
rest_config = resource.get("baxter_rest.config",type="Config",description="Rest configuration",world="klampt_models/"+klampt_model_name)
world = WorldModel()
world.readFile(os.path.join('../klampt_models/',grippermodule.klampt_model_name))
robot = world.robot(0)
#load the items and spawn one in the world
apc.load_item(objectname,gripper=grippername)
item = apc.item_info[objectname]
item.geometry = apc.load_item_geometry(item)
itemposed = apc.ItemInBin(item,'blah')
itemposed.xform = se3.identity()
apc.spawn_item_in_world(itemposed,world)
#set the directory
print "Resouce directory is",os.path.join('../resources/',os.path.splitext(grippermodule.klampt_model_name)[0])
resource.setDirectory(os.path.join('../resources/',os.path.splitext(grippermodule.klampt_model_name)[0]))
#edit the default configurations
default_open_config = resource.get('default_open.config',
description='Default hand open configuration',
doedit='auto',
world=world)
default_closed_config = resource.get('default_closed.config',
description='Default hand closed configuration',
doedit='auto',
world=world)
def editNewGrasp(item,object,name=None,openClose=1):
global world,robot
global default_open_config,default_close_config
from klampt import resource
from klampt import *
print """resourcetest.py: This program gives an example of how to use the
resource module."""
worldfile = "../../data/athlete_plane.xml"
robotname = 'athlete'
world = WorldModel()
world.readFile(worldfile)
#look in resources/athlete/
resource.setDirectory('resources/' + robotname)
config = resource.get("resourcetest1.config",
description="First config, always edited",
doedit=True,
editor='visual',
world=world)
print "Config 1:", config
config = resource.get("resourcetest1.config",
description="Trying this again...",
editor='visual',
world=world)
print "Config 2:", config
config = resource.get("resourcetest2.config",
description="Another configuration",
editor='visual',
world=world)
#indices of the left and right grippers in the Baxter robot file
left_gripper_link_name = 'left_gripper'
right_gripper_link_name = 'right_gripper'
left_arm_geometry_indices = [15,16,17,18,19,21,22,23,30,31]
right_arm_geometry_indices = [35,36,37,38,39,41,42,43,50,51]
left_hand_geometry_indices = [54,55,56]
right_hand_geometry_indices = [57,58,59]
#indices of the left and right arms in the Baxter robot file
left_arm_link_names = ['left_upper_shoulder','left_lower_shoulder','left_upper_elbow','left_lower_elbow','left_upper_forearm','left_lower_forearm','left_wrist']
right_arm_link_names = ['right_upper_shoulder','right_lower_shoulder','right_upper_elbow','right_lower_elbow','right_upper_forearm','right_lower_forearm','right_wrist']
#local transformations (rotation, translation pairs) of the grasp center
resource.setDirectory("../resources/rethink_electric_gripper")
left_gripper_center_xform = resource.get("left_gripper_center.xform",
type='RigidTransform',
description="Left gripper center",
world="../klampt_models/"+klampt_model_name,
frame=left_gripper_link_name)
right_gripper_center_xform = resource.get("right_gripper_center.xform",
type='RigidTransform',
default=left_gripper_center_xform,
description="Right gripper center",
world="../klampt_models/"+klampt_model_name,
frame=right_gripper_link_name)
#resting configuration
rest_config = resource.get("baxter_rest.config",type="Config",description="Rest configuration",world="../klampt_models/"+klampt_model_name)
from klampt import resource
from klampt import *
print """resourcetest.py: This program gives an example of how to use the
resource module."""
worldfile = "../../data/athlete_plane.xml"
robotname = 'athlete'
world = WorldModel()
world.readFile(worldfile)
#look in resources/athlete/
resource.setDirectory('resources/'+robotname)
config = resource.get("resourcetest1.config",description="First config, always edited",doedit=True,editor='visual',world=world)
print "Config 1:",config
config = resource.get("resourcetest1.config",description="Trying this again...",editor='visual',world=world)
print "Config 2:",config
config = resource.get("resourcetest2.config",description="Another configuration",editor='visual',world=world)
print "Config 3:",config
if config != None:
config[3] += 1.0
resource.set("resourcetest3_high.config",config)
world.robot(0).setConfig(config)
#testing transform editor
xform = resource.get(name=None,type='RigidTransform',frame=world.robot(0).getLink(5).getTransform(),world=world)
if not visualization.shown():
break
visualization.lock()
q = world.robot(0).getConfig()
q[9] = -1.0
world.robot(0).setConfig(q)
visualization.unlock()
time.sleep(1.0)
if not visualization.shown():
break
print "Hiding visualization window"
visualization.show(False)
"""
# look in resources/athlete/
resource.setDirectory("resources/" + robotname)
config1 = resource.get(
"resourcetest1.config", description="First config, always edited", doedit=True, editor="visual", world=world
)
print "Config 1:", config1
config2 = resource.get("resourcetest1.config", description="Trying this again...", editor="visual", world=world)
print "Config 2:", config2
config3 = resource.get("resourcetest2.config", description="Another configuration", editor="visual", world=world)
print "Config 3:", config3
if config3 != None:
config3hi = config3[:]
config3hi[3] += 1.0
resource.set("resourcetest3_high.config", config3hi)
"left_upper_forearm",
"left_lower_forearm",
"left_wrist",
]
right_arm_link_names = [
"right_upper_shoulder",
"right_lower_shoulder",
"right_upper_elbow",
"right_lower_elbow",
"right_upper_forearm",
"right_lower_forearm",
"right_wrist",
]
# local transformations (rotation, translation pairs) of the grasp center
resource.setDirectory("resources/reflex")
left_gripper_center_xform = resource.get(
"left_gripper_center.xform",
type="RigidTransform",
description="Left gripper center",
world="klampt_models/" + klampt_model_name,
frame=left_gripper_link_name,
)
right_gripper_center_xform = resource.get(
"right_gripper_center.xform",
type="RigidTransform",
description="Right gripper center",
world="klampt_models/" + klampt_model_name,
frame=right_gripper_link_name,
)
54 + gripper.numDofs * 2)
#indices of the left and right arms in the Baxter robot file
left_arm_link_names = [
'left_upper_shoulder', 'left_lower_shoulder', 'left_upper_elbow',
'left_lower_elbow', 'left_upper_forearm', 'left_lower_forearm',
'left_wrist'
]
right_arm_link_names = [
'right_upper_shoulder', 'right_lower_shoulder', 'right_upper_elbow',
'right_lower_elbow', 'right_upper_forearm', 'right_lower_forearm',
'right_wrist'
]
#local transformations (rotation, translation pairs) of the grasp center
resource.setDirectory("resources/reflex")
left_gripper_center_xform = resource.get("left_gripper_center.xform",
type='RigidTransform',
description="Left gripper center",
world="klampt_models/" +
klampt_model_name,
frame=left_gripper_link_name)
right_gripper_center_xform = resource.get("right_gripper_center.xform",
type='RigidTransform',
default=left_gripper_center_xform,
description="Right gripper center",
world="klampt_models/" +
klampt_model_name,
frame=right_gripper_link_name)
#resting configuration
#indices of the left and right grippers in the Baxter robot file
left_gripper_link_name = 'left_gripper'
right_gripper_link_name = 'right_gripper'
left_arm_geometry_indices = [15,16,17,18,19,21,22,23,30,31]
right_arm_geometry_indices = [35,36,37,38,39,41,42,43,50,51]
left_hand_geometry_indices = [54,55,56]
right_hand_geometry_indices = [57,58,59]
#indices of the left and right arms in the Baxter robot file
left_arm_link_names = ['left_upper_shoulder','left_lower_shoulder','left_upper_elbow','left_lower_elbow','left_upper_forearm','left_lower_forearm','left_wrist']
right_arm_link_names = ['right_upper_shoulder','right_lower_shoulder','right_upper_elbow','right_lower_elbow','right_upper_forearm','right_lower_forearm','right_wrist']
#local transformations (rotation, translation pairs) of the grasp center
resource.setDirectory("resources/rethink_electric_gripper")
package_root = os.path.join(os.path.expanduser("~"),"ece590-s2015")
klampt_model_path = os.path.join(package_root,"klampt_models")
resource.setDirectory(package_root)
left_gripper_center_xform = resource.get("left_gripper_center.xform",
type='RigidTransform',
description="Left gripper center",
world=os.path.join(klampt_model_path,klampt_model_name),
frame=left_gripper_link_name)
right_gripper_center_xform = resource.get("right_gripper_center.xform",
type='RigidTransform',
default=left_gripper_center_xform,
description="Right gripper center",
world=os.path.join(klampt_model_path,klampt_model_name),
frame=right_gripper_link_name)
