def initialize_app(self):
app = Application(name="rm_isaac_bridge")
# app.load(filename="packages/navsim/apps/navsim_tcp.subgraph.json", prefix="simulation")
app.load(filename="packages/ros_bridge/apps/ros_to_perception.subgraph.json", prefix="ros_perception")
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 setUpClass(cls):
ip = args.robotip
robot = args.robot
cls.app = Application(name="tool_io_test")
if robot == "e-series":
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json",
prefix="ur")
elif robot == "cb3":
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json",
prefix="ur")
else: # default to eseries
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json",
prefix="ur")
ur_driver = cls.app.nodes["ur.universal_robots"]["UniversalRobots"]
ur_driver.config.robot_ip = ip
ur_driver.config.headless_mode = True
cls.app.start()
io_names = ["tool_digital_out_0", "tool_digital_out_1"]
cls.io_parser = [[x, "none", 1] for x in io_names]
def setUpClass(cls):
ip = args.robotip
robot = args.robot
cls.app = Application(name="trajectory_test")
if robot == "e-series":
cls.app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur")
elif robot == "cb3":
cls.app.load("packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json", prefix="ur")
else: # default to eseries
cls.app.load("packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json", prefix="ur")
cls.ur_controller = cls.app.nodes["ur.controller"]["ScaledMultiJointController"]
cls.ur_controller.config.control_mode = "joint position"
cls.ur_driver = cls.app.nodes["ur.universal_robots"]["UniversalRobots"]
cls.ur_driver.config.control_mode = "joint position"
cls.ur_driver.config.robot_ip = ip
cls.ur_driver.config.headless_mode = True
planner = cls.app.nodes["ur.local_plan"]["MultiJointLqrPlanner"]
planner.config.speed_max = [2, 2, 2, 2, 2, 2]
planner.config.speed_min = [-2,-2,-2,-2,-2,-2]
planner.config.acceleration_max = [2, 2, 2, 2, 2, 2]
planner.config.acceleration_min = [-2, -2, -2, -2, -2, -2]
cls.app.start()
cls.joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
cls.position_parser = [[x, "position", 1] for x in cls.joint_names]
cls.init_robot(cls)
cls.joint_values = [[0.0 for i in range(6)]]
cls.joint_values.append([-1.0 for i in range(6)])
def setUpClass(cls):
ip = args.robotip
robot = args.robot
cls.app = Application(name="external_control_test")
if robot == "e-series":
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json",
prefix="ur")
elif robot == "cb3":
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_cb3_robot.subgraph.json",
prefix="ur")
else: # default to eseries
cls.app.load(
"packages/universal_robots/ur_robot_driver/apps/ur_eseries_robot.subgraph.json",
prefix="ur")
ur_controller = cls.app.nodes["ur.controller"][
"ScaledMultiJointController"]
ur_controller.config.control_mode = "joint position"
ur_driver = cls.app.nodes["ur.universal_robots"]["UniversalRobots"]
ur_driver.config.control_mode = "joint position"
ur_driver.config.robot_ip = ip
cls.app.start()
cls.joint_names = [
'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'
]
cls.position_parser = [[x, "position", 1] for x in cls.joint_names]
cls.init_robot(cls)
def execute_impl(self):
if not self.verbose:
set_severity(severity.ERROR)
app = Application(name="sensor_cert")
if not self.verbose:
app.logger.setLevel(logging.ERROR)
# need to explicitly load websight node
app.load_module("packages/sight")
app.load_module("packages/viewers")
for k, v in self.get_websight_config().items():
app.nodes["websight"].components["WebsightServer"].config[k] = v
app.load_module("packages/sensor_certification/evaluators")
# Load design under test (dut)
app.load_module(self.module_spec["module_name"])
app.add("dut", [self.module_spec["codelet"]])
# Load dut specific config
component_name = self.module_spec["codelet"].split("::")[-1]
for key, value in self.sensor_drv_config.items():
app.nodes["dut"].components[component_name].config[key] = value
# Load evaluator
app.add("evaluator", [self.get_evaluator()])
evaluator_name = self.get_evaluator().split("::")[-1]
# Connect dut to evaluator
for src, dest in self.get_links():
app.connect(app.nodes["dut"].components[component_name], src,
app.nodes["evaluator"].components[evaluator_name],
dest)
# Configure evaluator config to match parameters
eval_config = app.nodes["evaluator"].components[evaluator_name].config
for key, value in self.get_evaluator_config().items():
eval_config[key] = value
# Add any extra setup to the app
self.extra_app_setup(app)
# Create report directory
try:
os.mkdir(self.report_dir)
except FileExistsError:
pass
eval_config["report_directory"] = self.report_dir
# Load additional evaluator config from the tolerances
for tolerance in self.tolerances:
config_name = self.get_tolerance_map()[tolerance.name]
eval_config[config_name] = tolerance.tolerance
try:
app.start()
self.do_setup(app)
app.nodes["evaluator"].components[evaluator_name].config[
"setup_done"] = True
status = app.wait_for_node("evaluator")
finally:
app.stop()
self.detailed_report = app.nodes["evaluator"].components[
evaluator_name].config["report"]
if status == Status.Success:
return True
else:
return False
def main(args):
# Read CVAT XML file
cvat_xml_path = args.cvat_xml
if os.path.exists(cvat_xml_path):
tree = et.parse(cvat_xml_path)
else:
print("Please provide a valid XML file from CVAT.")
return
# Get image cask UUID that these labels are associated with
image_cask_uuid = cvat_xml_path.split('/')[-1].split('.')[0]
# Start application to record
app = Application()
# Add a dummy node to publish the constructed Detections2 messages from
app.add("node")
message_ledger = app.nodes["node"].components["MessageLedger"]
# Load record subgraph and configure
app.load("packages/cask/apps/record.subgraph.json", prefix="record")
record_interface = app.nodes["record.interface"].components["input"]
record_interface.config.base_directory = args.base_directory_gt
# Connect output of dummy node to recorder
app.connect(message_ledger, 'in', record_interface, 'bounding_boxes')
app.start()
# Loop through each image element in the XML tree
count = 0
for image in tree.findall("./image"):
# "Name" attribute corresponds to the image filepath that was input to the CVAT labeling
# tool. Convention is: <image_cask_uuid>/<channel>/<acqtime>.png
image_uuid, channel, png = image.attrib['name'].split('/')
# Check that the image_uuid corresponds to the one specified by the XML filename
if (image_uuid != image_cask_uuid): continue
# Extract the acquisition time
acqtime = int(png.lstrip('0').split('.')[0])
# S the detections of interest for this image
all_ground_truth_bboxes = image.findall("./box")
sliced_ground_truth_boxes = slice_detections(all_ground_truth_bboxes,
args.slice_mode)
num_sliced_ground_truth_boxes = len(sliced_ground_truth_boxes)
# Build Detections2Proto message
detections2 = Message.create_message_builder('Detections2Proto')
detections2.acqtime = acqtime
detections2.uuid = str(uuid.uuid1())
predictions = detections2.proto.init('predictions',
num_sliced_ground_truth_boxes)
bounding_boxes = detections2.proto.init('boundingBoxes',
num_sliced_ground_truth_boxes)
# Populate the Detections2Proto and PredictionProto messages per sliced boudning box
for i in range(num_sliced_ground_truth_boxes):
box = sliced_ground_truth_boxes[i]
row = {
a.attrib['name']: a.text
for a in box.findall("./attribute")
}
row.update(box.attrib)
prediction = predictions[i]
prediction.label = row['label']
prediction.confidence = 1.0
bbox = bounding_boxes[i]
bbox.min.y = float(row['xtl'])
bbox.min.x = float(row['ytl'])
bbox.max.y = float(row['xbr'])
bbox.max.x = float(row['ybr'])
# Publish the message to the node being recorded
app.publish('node', 'MessageLedger', 'in', detections2)
recv_msg = app.receive('node', 'MessageLedger', 'in')
count += 1
time.sleep(0.1) #sleep to make sure we don't lose any messages
app.stop()
print("Wrote " + str(count) + " messages")
# Write metadata to JSON data per output cask. The metadata servers to associate
# corresponding image and ground truth casks. As per RACI evaluation workflow
# and data management, image casks and ground truth casks are stored in separate
# directories.
if args.raci_metadata:
# Populate ground truth cask metadata
ground_truth_metadata_json = {}
ground_truth_metadata_json["Image_Cask_File"] = image_cask_uuid
ground_truth_metadata_json["Data_Source"] = "ground_truth"
# Write ground truth cask metadata
ground_truth_metadata_path = os.path.join(args.base_directory_gt,
app.uuid + "_md.json")
with open(ground_truth_metadata_path, 'w') as f:
json.dump(ground_truth_metadata_json, f, indent=2)