def parse_robot(robot_json):
pose = parse_pose(robot_json)
if robot_json['name'] == 'pr2':
with HideOutput(True):
robot_id = load_model(DRAKE_PR2_URDF, fixed_base=True)
set_group_conf(robot_id, 'base', base_values_from_pose(pose))
else:
# TODO: set the z?
#set_pose(robot_id, pose)
raise NotImplementedError(robot_json['name'])
for joint, values in robot_json['conf'].items():
[value] = values
if has_joint(robot_id, joint):
set_joint_position(robot_id, joint_from_name(robot_id, joint),
value)
else:
print('Robot {} lacks joint {}'.format(robot_json['name'], joint))
if robot_json['name'] == 'pr2':
set_group_conf(robot_id, 'torso', [0.2])
set_group_conf(robot_id, 'left_arm', REST_LEFT_ARM)
set_group_conf(robot_id, 'right_arm',
rightarm_from_leftarm(REST_LEFT_ARM))
return robot_id
def move_to_initial_config(ros_world,
open_grippers={},
timeout=5.0,
blocking=True):
for arm, is_open in open_grippers.items():
if is_open:
ros_world.controller.open_gripper(get_arm_prefix(arm),
blocking=False)
else:
ros_world.controller.close_gripper(get_arm_prefix(arm),
blocking=False)
ros_world.controller.command_torso(TORSO_POSITION,
timeout=timeout,
blocking=False)
ros_world.controller.command_head(angles=HEAD_CONF,
timeout=timeout,
blocking=False)
ros_world.controller.command_arm('l',
LEFT_ARM_CONF,
timeout=timeout,
blocking=False)
ros_world.controller.command_arm('r',
rightarm_from_leftarm(LEFT_ARM_CONF),
timeout=timeout,
blocking=blocking)
def main():
connect(use_gui=True)
with HideOutput():
pr2 = load_model(
"models/drake/pr2_description/urdf/pr2_simplified.urdf")
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['left_arm']),
REST_LEFT_ARM)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['right_arm']),
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['torso']),
[0.2])
dump_body(pr2)
block = load_model(BLOCK_URDF, fixed_base=False)
set_point(block, [2, 0.5, 1])
target_point = point_from_pose(get_pose(block))
# head_link = link_from_name(pr2, HEAD_LINK)
head_joints = joints_from_names(pr2, PR2_GROUPS['head'])
head_link = head_joints[-1]
#max_detect_distance = 2.5
max_register_distance = 1.0
distance_range = (max_register_distance / 2, max_register_distance)
base_generator = visible_base_generator(pr2, target_point, distance_range)
base_joints = joints_from_names(pr2, PR2_GROUPS['base'])
for i in range(5):
base_conf = next(base_generator)
set_joint_positions(pr2, base_joints, base_conf)
p.addUserDebugLine(point_from_pose(get_link_pose(pr2, head_link)),
target_point,
lineColorRGB=(1, 0, 0)) # addUserDebugText
p.addUserDebugLine(point_from_pose(
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME))),
target_point,
lineColorRGB=(0, 0, 1)) # addUserDebugText
# head_conf = sub_inverse_kinematics(pr2, head_joints[0], HEAD_LINK, )
head_conf = inverse_visibility(pr2, target_point)
set_joint_positions(pr2, head_joints, head_conf)
print(get_detections(pr2))
# TODO: does this detect the robot sometimes?
detect_mesh, z = get_detection_cone(pr2, block)
detect_cone = create_mesh(detect_mesh, color=(0, 1, 0, 0.5))
set_pose(detect_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
view_cone = get_viewcone(depth=2.5, color=(1, 0, 0, 0.25))
set_pose(view_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
wait_for_user()
remove_body(detect_cone)
remove_body(view_cone)
disconnect()
def main(use_pr2_drake=True):
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
table_path = "models/table_collision/table.urdf"
table = load_pybullet(table_path, fixed_base=True)
set_quat(table, quat_from_euler(Euler(yaw=PI / 2)))
# table/table.urdf, table_square/table_square.urdf, cube.urdf, block.urdf, door.urdf
obstacles = [plane, table]
pr2_urdf = DRAKE_PR2_URDF if use_pr2_drake else PR2_URDF
with HideOutput():
pr2 = load_model(pr2_urdf, fixed_base=True) # TODO: suppress warnings?
dump_body(pr2)
z = base_aligned_z(pr2)
print(z)
#z = stable_z_on_aabb(pr2, AABB(np.zeros(3), np.zeros(3)))
print(z)
set_point(pr2, Point(z=z))
print(get_aabb(pr2))
wait_if_gui()
base_start = (-2, -2, 0)
base_goal = (2, 2, 0)
arm_start = SIDE_HOLDING_LEFT_ARM
#arm_start = TOP_HOLDING_LEFT_ARM
#arm_start = REST_LEFT_ARM
arm_goal = TOP_HOLDING_LEFT_ARM
#arm_goal = SIDE_HOLDING_LEFT_ARM
left_joints = joints_from_names(pr2, PR2_GROUPS['left_arm'])
right_joints = joints_from_names(pr2, PR2_GROUPS['right_arm'])
torso_joints = joints_from_names(pr2, PR2_GROUPS['torso'])
set_joint_positions(pr2, left_joints, arm_start)
set_joint_positions(pr2, right_joints,
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, torso_joints, [0.2])
open_arm(pr2, 'left')
# test_ikfast(pr2)
add_line(base_start, base_goal, color=RED)
print(base_start, base_goal)
if use_pr2_drake:
test_drake_base_motion(pr2, base_start, base_goal, obstacles=obstacles)
else:
test_base_motion(pr2, base_start, base_goal, obstacles=obstacles)
test_arm_motion(pr2, left_joints, arm_goal)
# test_arm_control(pr2, left_joints, arm_start)
wait_if_gui('Finish?')
disconnect()
def update_world(world, target_body, camera_point=VIEWER_POINT):
pr2 = world.perception.pr2
with ClientSaver(world.perception.client):
open_arm(pr2, LEFT_ARM)
open_arm(pr2, RIGHT_ARM)
set_group_conf(pr2, 'torso', [TORSO_POSITION])
set_group_conf(pr2, arm_from_arm('left'), WIDE_LEFT_ARM)
set_group_conf(pr2, arm_from_arm('right'), rightarm_from_leftarm(WIDE_LEFT_ARM))
target_point = get_point(target_body)
head_conf = inverse_visibility(pr2, target_point, head_name=CAMERA_OPTICAL_FRAME) # Must come after torso
set_group_conf(pr2, 'head', head_conf)
set_camera_pose(camera_point, target_point=target_point)
def main(use_pr2_drake=False):
connect(use_gui=True)
add_data_path()
plane = p.loadURDF("plane.urdf")
#table_path = "table/table.urdf"
# table_path = "models/table_collision/table.urdf"
# table = p.loadURDF(table_path, 0, 0, 0, 0, 0, 0.707107, 0.707107)
# table_square/table_square.urdf, cube.urdf, block.urdf, door.urdf
pr2_urdf = DRAKE_PR2_URDF if use_pr2_drake else PR2_URDF
with HideOutput():
pr2 = load_model(pr2_urdf, fixed_base=True) # TODO: suppress warnings?
dump_body(pr2)
base_start = (-2, -2, 0)
base_goal = (2, 2, 0)
arm_start = SIDE_HOLDING_LEFT_ARM
#arm_start = TOP_HOLDING_LEFT_ARM
#arm_start = REST_LEFT_ARM
arm_goal = TOP_HOLDING_LEFT_ARM
#arm_goal = SIDE_HOLDING_LEFT_ARM
left_joints = joints_from_names(pr2, PR2_GROUPS['left_arm'])
right_joints = joints_from_names(pr2, PR2_GROUPS['right_arm'])
torso_joints = joints_from_names(pr2, PR2_GROUPS['torso'])
set_joint_positions(pr2, left_joints, arm_start)
set_joint_positions(pr2, right_joints,
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, torso_joints, [0.2])
open_arm(pr2, 'left')
# test_ikfast(pr2)
p.addUserDebugLine(base_start, base_goal,
lineColorRGB=(1, 0, 0)) # addUserDebugText
print(base_start, base_goal)
if use_pr2_drake:
test_drake_base_motion(pr2, base_start, base_goal)
else:
test_base_motion(pr2, base_start, base_goal)
test_arm_motion(pr2, left_joints, arm_goal)
# test_arm_control(pr2, left_joints, arm_start)
user_input('Finish?')
disconnect()
def main():
# TODO: update this example
connect(use_gui=True)
with HideOutput():
pr2 = load_model(DRAKE_PR2_URDF)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['left_arm']),
REST_LEFT_ARM)
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['right_arm']),
rightarm_from_leftarm(REST_LEFT_ARM))
set_joint_positions(pr2, joints_from_names(pr2, PR2_GROUPS['torso']),
[0.2])
dump_body(pr2)
block = load_model(BLOCK_URDF, fixed_base=False)
set_point(block, [2, 0.5, 1])
target_point = point_from_pose(get_pose(block))
draw_point(target_point)
head_joints = joints_from_names(pr2, PR2_GROUPS['head'])
#head_link = child_link_from_joint(head_joints[-1])
#head_name = get_link_name(pr2, head_link)
head_name = 'high_def_optical_frame' # HEAD_LINK_NAME | high_def_optical_frame | high_def_frame
head_link = link_from_name(pr2, head_name)
#max_detect_distance = 2.5
max_register_distance = 1.0
distance_range = (max_register_distance / 2, max_register_distance)
base_generator = visible_base_generator(pr2, target_point, distance_range)
base_joints = joints_from_names(pr2, PR2_GROUPS['base'])
for i in range(5):
base_conf = next(base_generator)
set_joint_positions(pr2, base_joints, base_conf)
handles = [
add_line(point_from_pose(get_link_pose(pr2, head_link)),
target_point,
color=RED),
add_line(point_from_pose(
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME))),
target_point,
color=BLUE),
]
# head_conf = sub_inverse_kinematics(pr2, head_joints[0], HEAD_LINK, )
head_conf = inverse_visibility(pr2,
target_point,
head_name=head_name,
head_joints=head_joints)
assert head_conf is not None
set_joint_positions(pr2, head_joints, head_conf)
print(get_detections(pr2))
# TODO: does this detect the robot sometimes?
detect_mesh, z = get_detection_cone(pr2, block)
detect_cone = create_mesh(detect_mesh, color=(0, 1, 0, 0.5))
set_pose(detect_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
view_cone = get_viewcone(depth=2.5, color=(1, 0, 0, 0.25))
set_pose(view_cone,
get_link_pose(pr2, link_from_name(pr2, HEAD_LINK_NAME)))
wait_if_gui()
remove_body(detect_cone)
remove_body(view_cone)
disconnect()
