def placeHandModel(displayPoint, view, side='left'): obj, _ = vis.findPickedObject(displayPoint, view) if isinstance(obj, vis.FrameItem): _, handFrame = handFactory.placeHandModelWithTransform(obj.transform, view, side=side, parent=obj.parent()) handFrame.frameSync = vis.FrameSync() handFrame.frameSync.addFrame(obj) handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True) return pickedPoint, prop, _, normal = vis.pickPoint(displayPoint, view, pickType='cells', tolerance=0.0, returnNormal=True) obj = vis.getObjectByProp(prop) if not obj: return yaxis = -normal zaxis = [0,0,1] xaxis = np.cross(yaxis, zaxis) xaxis /= np.linalg.norm(xaxis) zaxis = np.cross(xaxis, yaxis) zaxis /= np.linalg.norm(zaxis) t = transformUtils.getTransformFromAxes(-zaxis, yaxis, xaxis) t.PostMultiply() t.Translate(pickedPoint) handObj, handFrame = handFactory.placeHandModelWithTransform(t, view, side=side, parent=obj) syncFrame = getChildFrame(obj) if syncFrame: handFrame.frameSync = vis.FrameSync() handFrame.frameSync.addFrame(handFrame, ignoreIncoming=True) handFrame.frameSync.addFrame(syncFrame)
def __init__(self): pose = transformUtils.poseFromTransform(vtk.vtkTransform()) self.pointcloud = ioUtils.readPolyData(ddapp.getDRCBaseDir() + '/software/models/rehearsal_pointcloud.vtp') self.pointcloudPD = vis.showPolyData(self.pointcloud, 'coursemodel', parent=None) segmentation.makeMovable(self.pointcloudPD, transformUtils.transformFromPose(array([0, 0, 0]), array([ 1.0, 0. , 0. , 0.0]))) self.originFrame = self.pointcloudPD.getChildFrame() t = transformUtils.transformFromPose(array([-4.39364111, -0.51507392, -0.73125563]), array([ 0.93821625, 0. , 0. , -0.34604951])) self.valveWalkFrame = vis.updateFrame(t, 'ValveWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-3.31840048, 0.36408685, -0.67413123]), array([ 0.93449475, 0. , 0. , -0.35597691])) self.drillPreWalkFrame = vis.updateFrame(t, 'DrillPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-2.24553758, -0.52990939, -0.73255338]), array([ 0.93697004, 0. , 0. , -0.34940972])) self.drillWalkFrame = vis.updateFrame(t, 'DrillWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-2.51306835, -0.92994004, -0.74173541 ]), array([-0.40456572, 0. , 0. , 0.91450893])) self.drillWallWalkFarthestSafeFrame = vis.updateFrame(t, 'DrillWallWalkFarthestSafe', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-2.5314524 , -0.27401861, -0.71302976]), array([ 0.98691519, 0. , 0. , -0.16124022])) self.drillWallWalkBackFrame = vis.updateFrame(t, 'DrillWallWalkBack', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-1.16122318, 0.04723203, -0.67493468]), array([ 0.93163145, 0. , 0. , -0.36340451])) self.surprisePreWalkFrame = vis.updateFrame(t, 'SurprisePreWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-0.5176186 , -1.00151554, -0.70650799]), array([ 0.84226497, 0. , 0. , -0.53906374])) self.surpriseWalkFrame = vis.updateFrame(t, 'SurpriseWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([-0.69100097, -0.43713269, -0.68495922]), array([ 0.98625075, 0. , 0. , -0.16525575])) self.surpriseWalkBackFrame = vis.updateFrame(t, 'SurpriseWalkBack', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([ 0.65827322, -0.08028796, -0.77370834]), array([ 0.94399977, 0. , 0. , -0.3299461 ])) self.terrainPreWalkFrame = vis.updateFrame(t, 'TerrainPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD) t = transformUtils.transformFromPose(array([ 5.47126425, -0.09790393, -0.70504679]), array([ 1., 0., 0., 0.])) self.stairsPreWalkFrame = vis.updateFrame(t, 'StairsPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD) self.frameSync = vis.FrameSync() self.frameSync.addFrame(self.originFrame) self.frameSync.addFrame(self.pointcloudPD.getChildFrame(), ignoreIncoming=True) self.frameSync.addFrame(self.valveWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.drillPreWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.drillWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.drillWallWalkFarthestSafeFrame, ignoreIncoming=True) self.frameSync.addFrame(self.drillWallWalkBackFrame, ignoreIncoming=True) self.frameSync.addFrame(self.surprisePreWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.surpriseWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.surpriseWalkBackFrame, ignoreIncoming=True) self.frameSync.addFrame(self.terrainPreWalkFrame, ignoreIncoming=True) self.frameSync.addFrame(self.stairsPreWalkFrame, ignoreIncoming=True)
def graspAffordance(self, affordanceName, side): if affordanceName in self.frameSyncs: return affordanceFrame = self.getAffordanceFrame(affordanceName) #linkName = 'l_hand' if side == 'left' else 'r_hand' linkName = self.ikPlanner.getHandLink(side) linkFrame = self.updateLinkFrame(self.robotModel, linkName) frameSync = vis.FrameSync() frameSync.addFrame(linkFrame) frameSync.addFrame(affordanceFrame, ignoreIncoming=True) self.frameSyncs[affordanceName] = frameSync
def run(self): inputFrame = self.getInputFrame() translation = self.properties.getProperty('Translation') rpy = self.properties.getProperty('Rotation') offset = transformUtils.frameFromPositionAndRPY(translation, rpy) offset.PostMultiply() offset.Concatenate(transformUtils.copyFrame(inputFrame.transform)) outputFrame = vis.updateFrame( offset, self.properties.getProperty('Frame output name'), scale=0.2, parent=inputFrame.parent()) if not hasattr(inputFrame, 'frameSync'): inputFrame.frameSync = vis.FrameSync() inputFrame.frameSync.addFrame(inputFrame) inputFrame.frameSync.addFrame(outputFrame, ignoreIncoming=True)
def findBoardAffordance(self): self.affordance = om.findObjectByName('board') self.frame = om.findObjectByName('board frame') self.boardLength = self.affordance.params.get('zwidth') # so as not to grasp at the tips: graspLength = self.boardLength / 2 - 0.05 if self.b.val: self.graspLeftHandFrameXYZ = [-0.045, 0.0, -graspLength] self.graspLeftHandFrameRPY = [0, -90, -90] self.graspRightHandFrameXYZ = [-0.045, 0.0, graspLength] self.graspRightHandFrameRPY = [0, -90, -90] else: self.graspLeftHandFrameXYZ = [-0.045, 0.0, -graspLength] self.graspLeftHandFrameRPY = [0, 90, -90] self.graspRightHandFrameXYZ = [-0.045, 0.0, graspLength] self.graspRightHandFrameRPY = [0, 90, -90] self.relativeStanceXYZ = [-0.6, -graspLength, 0.0] self.relativeAsymmetricStanceXYZ = [-0.6, -2 * graspLength, 0.0] self.relativeStanceRPY = [0, 0, 0] self.reachDepth = 0.12 # depth to reach to before going for grasp self.computeBoardGraspFrames() self.computeBoardReachFrames() self.computeBoardStanceFrame() self.frameSync = vis.FrameSync() self.frameSync.addFrame(self.frame) self.frameSync.addFrame(self.graspLeftFrame) self.frameSync.addFrame(self.graspRightFrame) self.frameSync.addFrame(self.reachLeftFrame) self.frameSync.addFrame(self.reachRightFrame) self.frameSync.addFrame(self.stanceFrame)
def __init__(self): self.aprilTagSubsciber = lcmUtils.addSubscriber('APRIL_TAG_TO_CAMERA_LEFT', lcmbotcore.rigid_transform_t, self.onAprilTag) pose = transformUtils.poseFromTransform(vtk.vtkTransform()) desc = dict(classname='MeshAffordanceItem', Name='polaris', Filename='software/models/polaris/polaris_cropped.vtp', pose=pose) self.pointcloudAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc) self.originFrame = self.pointcloudAffordance.getChildFrame() self.originToAprilTransform = transformUtils.transformFromPose(np.array([-0.038508 , -0.00282131, -0.01000079]), np.array([ 9.99997498e-01, -2.10472556e-03, -1.33815696e-04, 7.46246794e-04])) # offset for . . . who knows why # t = transformUtils.transformFromPose(np.array([ 0.14376024, 0.95920689, 0.36655712]), np.array([ 0.28745842, 0.90741428, -0.28822068, 0.10438304])) t = transformUtils.transformFromPose(np.array([ 0.10873244, 0.93162364, 0.40509084]), np.array([ 0.32997378, 0.88498408, -0.31780588, 0.08318602])) self.leftFootEgressStartFrame = vis.updateFrame(t, 'left foot start', scale=0.2,visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([ 0.265, 0.874, 0.274]), np.array([ 0.35290731, 0.93443693, -0.04181263, 0.02314636])) self.leftFootEgressMidFrame = vis.updateFrame(t, 'left foot mid', scale=0.2,visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([ 0.54339115, 0.89436275, 0.26681047]), np.array([ 0.34635985, 0.93680077, -0.04152008, 0.02674412])) self.leftFootEgressOutsideFrame = vis.updateFrame(t, 'left foot outside', scale=0.2,visible=True, parent=self.pointcloudAffordance) # pose = [np.array([-0.78962299, 0.44284877, -0.29539116]), np.array([ 0.54812954, 0.44571517, -0.46063251, 0.53731713])] #old location # pose = [np.array([-0.78594663, 0.42026626, -0.23248139]), np.array([ 0.54812954, 0.44571517, -0.46063251, 0.53731713])] # updated location pose = [np.array([-0.78594663, 0.42026626, -0.23248139]), np.array([ 0.53047159, 0.46554963, -0.48086192, 0.52022615])] # update orientation desc = dict(classname='CapsuleRingAffordanceItem', Name='Steering Wheel', uuid=newUUID(), pose=pose, Color=[1, 0, 0], Radius=float(0.18), Segments=20) self.steeringWheelAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc) pose = [np.array([-0.05907324, 0.80460545, 0.45439687]), np.array([ 0.14288327, 0.685944 , -0.703969 , 0.11615873])] desc = dict(classname='BoxAffordanceItem', Name='pedal', Dimensions=[0.12, 0.33, 0.04], pose=pose, Color=[0,1,0]) self.pedalAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc) # t = transformUtils.transformFromPose(np.array([ 0.04045136, 0.96565326, 0.25810111]), # np.array([ 0.26484648, 0.88360091, -0.37065556, -0.10825996])) # t = transformUtils.transformFromPose(np.array([ -4.34908919e-04, 9.24901627e-01, 2.65614116e-01]), # np.array([ 0.25022251, 0.913271 , -0.32136359, -0.00708626])) t = transformUtils.transformFromPose(np.array([ 0.0384547 , 0.89273742, 0.24140762]), np.array([ 0.26331831, 0.915796 , -0.28055337, 0.11519963])) self.leftFootPedalSwingFrame = vis.updateFrame(t,'left foot pedal swing', scale=0.2, visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([-0.9012598 , -0.05709763, 0.34897024]), np.array([ 0.03879584, 0.98950919, 0.03820214, 0.13381721])) self.leftFootDrivingFrame = vis.updateFrame(t,'left foot driving', scale=0.2, visible=True, parent=self.pointcloudAffordance) # t = transformUtils.transformFromPose(np.array([-0.12702725, 0.92068409, 0.27209386]), # np.array([ 0.2062255 , 0.92155886, -0.30781119, 0.11598529])) # t = transformUtils.transformFromPose(np.array([-0.14940375, 0.90347275, 0.23812658]), # np.array([ 0.27150909, 0.91398724, -0.28877386, 0.0867167 ])) # t = transformUtils.transformFromPose(np.array([-0.17331227, 0.87879312, 0.25645152]), # np.array([ 0.26344489, 0.91567196, -0.28089824, 0.11505581])) # self.leftFootDrivingKneeInFrame = vis.updateFrame(t,'left foot driving knee in', scale=0.2, visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([-0.12702725, 0.92068409, 0.27209386]), np.array([ 0.2062255 , 0.92155886, -0.30781119, 0.11598529])) self.leftFootDrivingKneeInFrame = vis.updateFrame(t,'left foot driving knee in', scale=0.2, visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([-0.13194951, 0.89871423, 0.24956246]), np.array([ 0.21589082, 0.91727326, -0.30088849, 0.14651633])) self.leftFootOnPedal = vis.updateFrame(t,'left foot on pedal', scale=0.2, visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([ 0.17712239, 0.87619935, 0.27001509]), np.array([ 0.33484372, 0.88280787, -0.31946488, 0.08044963])) self.leftFootUpFrame = vis.updateFrame(t,'left foot up frame', scale=0.2, visible=True, parent=self.pointcloudAffordance) t = transformUtils.transformFromPose(np.array([ 0.47214939, -0.04856998, 0.01375837]), np.array([ 6.10521653e-03, 4.18621358e-04, 4.65520611e-01, 8.85015882e-01])) self.rightHandGrabFrame = vis.updateFrame(t,'right hand grab bar', scale=0.2, visible=True, parent=self.pointcloudAffordance) self.frameSync = vis.FrameSync() self.frameSync.addFrame(self.originFrame) self.frameSync.addFrame(self.pointcloudAffordance.getChildFrame(), ignoreIncoming=True) self.frameSync.addFrame(self.leftFootEgressStartFrame, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootEgressMidFrame, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootEgressOutsideFrame, ignoreIncoming=True) self.frameSync.addFrame(self.steeringWheelAffordance.getChildFrame(), ignoreIncoming=True) self.frameSync.addFrame(self.pedalAffordance.getChildFrame(), ignoreIncoming=True) self.frameSync.addFrame(self.leftFootPedalSwingFrame, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootDrivingFrame, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootDrivingKneeInFrame, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootOnPedal, ignoreIncoming=True) self.frameSync.addFrame(self.leftFootUpFrame, ignoreIncoming=True) self.frameSync.addFrame(self.rightHandGrabFrame, ignoreIncoming=True)
def reachToFrame(frameObj, side, collisionObj): goalFrame = teleoppanel.panel.endEffectorTeleop.newReachTeleop(frameObj.transform, side, collisionObj) goalFrame.frameSync = vis.FrameSync() goalFrame.frameSync.addFrame(goalFrame, ignoreIncoming=True) goalFrame.frameSync.addFrame(frameObj)
def main(): om.init(QtGui.QTreeWidget(), PythonQt.dd.ddPropertiesPanel()) # create a frame t1 = vtk.vtkTransform() f1 = vis.FrameItem('frame 1', t1, view=None) om.addToObjectModel(f1) # test object model lookup assert om.findObjectByName('frame 1') assert om.findObjectByName('frame 2') is None # test reference cleanup f1Ref = weakref.ref(f1) assert f1Ref() is f1 om.removeFromObjectModel(f1) del f1 assert f1Ref() is None # add frame again f1 = vis.FrameItem('frame 1', t1, view=None) om.addToObjectModel(f1) # create second frame t2 = vtk.vtkTransform() f2 = vis.FrameItem('frame 2', t2, view=None) om.addToObjectModel(f2) # test transform reference is input transform assert f2.transform is t2 # test frame sync frameSync = vis.FrameSync() frameSync.addFrame(f1) frameSync.addFrame(f2) t1.Translate(10,0,0) t1.Modified() assert t2.GetPosition() == (10.0, 0.0, 0.0) # test frame sync cleanup f1Ref = weakref.ref(f1) assert f1Ref() is f1 assert len(frameSync.frames) == 2 om.removeFromObjectModel(f1) del f1 assert f1Ref() is None assert len(frameSync.frames) == 2 t2.Translate(10,0,0) t2.Modified() assert t2.GetPosition() == (20.0, 0.0, 0.0) assert len(frameSync.frames) == 1 # add frame again f1 = vis.FrameItem('frame 1', t1, view=None) om.addToObjectModel(f1) frameSync.addFrame(f1) t1.Translate(0,5,0) t1.Modified() assert t1.GetPosition() == (10.0, 5.0, 0.0) assert t2.GetPosition() == (20.0, 5.0, 0.0) frameSync.removeFrame(f1) t1.Translate(0,5,0) t1.Modified() assert t1.GetPosition() == (10.0, 10.0, 0.0) assert t2.GetPosition() == (20.0, 5.0, 0.0) # this has to be wrapped in a function, otherwise the exception # handling holds a reference to the FrameSync object which breaks # the delete test at the end def testException(fs): try: fs.removeFrame('test') except KeyError: pass else: assert False testException(frameSync) # test cleanup f1Ref = weakref.ref(f1) om.removeFromObjectModel(f1) del f1 assert f1Ref() is None t1Ref = weakref.ref(t1) del t1 assert t1Ref() is None # add frame again t1 = vtk.vtkTransform() f1 = vis.FrameItem('frame 1', t1, view=None) om.addToObjectModel(f1) frameSync.addFrame(f1) t1.Translate(0,0,10) t1.Modified() assert t2.GetPosition() == (20.0, 5.0, 10.0) # verify FrameSync object can be deleted frameSyncRef = weakref.ref(frameSync) del frameSync assert frameSyncRef() is None # verify frames are no longer synced after FrameSync is deleted t1.Translate(0,0,10) t1.Modified() assert t2.GetPosition() == (20.0, 5.0, 10.0) sys.exit(0)