def __init__(self, objname, markerid=5):
self.markerid = markerid
self.objname = objname
self.gdb = db.GraspDB(database="nxt",
user="******",
password="******")
self.robot = nxtsim.NxtRobot()
self.rgthnd = sck918.Sck918(jawwidth=50,
hndcolor=(0.5, 0.5, 0.5, 1),
ftsensoroffset=0)
self.lfthnd = sck918.Sck918(jawwidth=50,
hndcolor=(0.5, 0.5, 0.5, 1),
ftsensoroffset=0)
self.robotmesh = nxtsimmesh.NxtMesh(rgthand=self.rgthnd,
lfthand=self.lfthnd)
self.robotball = nxtsimball.NxtBall()
self.robotik = nxtik
self.env = bldgfsettingnear.Env()
self.env.reparentTo(base.render)
self.objcm = self.env.loadobj(objname)
self.groove = self.env.loadobj("tenonhole_new_115.STL")
self.groove.setPos(595, 0, 973 - 76 + 75 + 80)
self.groove.setRPY(0, 90, -90)
self.groove.setColor(0, 0, 1, 0.4)
# self.groove.showLocalFrame()
self.groove.reparentTo(base.render)
self.obstaclecmlist = self.env.getstationaryobslist()
# for obstaclecdcm in self.obstaclecmlist:
# obstaclecdcm.showcn()
self.robot.goinitpose()
# self.rgtwatchpos = [400.0, -200.0, 1200.0]
# self.rgtwatchrotmat = [[0.09141122, -0.76823672, 0.63360582],
# [-0.99509199, -0.04625775, 0.08747659],
# [-0.03789355, -0.63849242, -0.76869468]]
# self.rgtwatchjs = self.robot.numik(self.rgtwatchpos, self.rgtwatchrotmat, "rgt")
#
# self.robot.movearmfk(self.rgtwatchjs, armname="rgt")
self.rbtmnp = self.robotmesh.genmnp(self.robot,
self.rgthnd.jawwidthopen,
self.lfthnd.jawwidthopen)
self.rbtmnp.reparentTo(base.render)
# uncomment the following commands to actuate the robot
self.nxtu = nxturx.NxtRobot(host="10.0.1.114:15005")
self.nxtu.goInitial()
# self.nxtu = nxturx.NxtCon()
# self.nxtu.setJointAnglesOfGroup('rarm', self.robot.initjnts[3:9], 5.0)
# self.nxtu.setJointAnglesOfGroup('larm', self.robot.initjnts[9:15], 5.0)
self.hc = hndcam.HndCam(rgtcamid=0, lftcamid=1)
# goallist, a list of 4x4 h**o numpy mat
self.goallist = []
self.objrenderlist = []
self.startobjcm = None
self.rbtmnpani = [None, None]
self.objmnpani = [None]
def __init__(self, objname, markerid=5):
self.markerid = markerid
self.objname = objname
self.gdb = db.GraspDB(database="nxt",
user="******",
password="******")
self.robot = nxtsim.NxtRobot()
self.rgthnd = rtq85nm.newHand(hndid="rgt", ftsensoroffset=0)
self.lfthnd = rtq85nm.newHand(hndid="lft", ftsensoroffset=0)
self.robotmesh = nxtsimmesh.NxtMesh(rgthand=self.rgthnd,
lfthand=self.lfthnd)
self.robotball = nxtsimball.NxtBall()
self.robotik = nxtik
self.env = bldgfsettingnear.Env()
self.env.reparentTo(base.render)
self.objcm = self.env.loadobj(objname)
self.obstaclecmlist = self.env.getstationaryobslist()
for obstaclecdcm in self.obstaclecmlist:
obstaclecdcm.showcn()
self.robot.goinitpose()
# self.rgtwatchpos = [400.0, -200.0, 1200.0]
# self.rgtwatchrotmat = [[0.09141122, -0.76823672, 0.63360582],
# [-0.99509199, -0.04625775, 0.08747659],
# [-0.03789355, -0.63849242, -0.76869468]]
# self.rgtwatchjs = self.robot.numik(self.rgtwatchpos, self.rgtwatchrotmat, "rgt")
#
# self.robot.movearmfk(self.rgtwatchjs, armname="rgt")
self.rbtmnp = self.robotmesh.genmnp(self.robot,
self.rgthnd.jawwidthopen,
self.lfthnd.jawwidthopen)
self.rbtmnp.reparentTo(base.render)
# uncomment the following commands to actuate the robot
# self.ur3u = ur3urx.Ur3DualUrx()
# self.ur3u.movejntssgl(self.robot.initjnts[3:9], 'rgt')
# self.ur3u.movejntssgl(self.robot.initjnts[9:15], 'lft')
# self.ur3u.movejntssgl(self.rgtwatchjs, 'rgt')
self.hc = cameras.HndCam(rgtcamid=0, lftcamid=1)
# goallist, a list of 4x4 h**o numpy mat
self.goallist = []
self.objrenderlist = []
self.startobjcm = None
self.rbtmnpani = [None, None]
self.objmnpani = [None]
base = pandactrl.World(camp=[2700, 300, 2700], lookatp=[0, 0, 1000])
env = Env()
env.reparentTo(base.render)
objcm = env.loadobj("bunnysim.stl")
objcm.setColor(.2, .5, 0, 1)
objcm.setPos(400, -200, 1200)
objcm.reparentTo(base.render)
objcm.showcn()
obscmlist = env.getstationaryobslist()
for obscm in obscmlist:
obscm.showcn()
objpos = np.array([400, -300, 1200])
objrot = rm.rodrigues([0, 1, 0], 45)
objcm2 = env.loadobj("housing.stl")
objcm2.setColor(1, .5, 0, 1)
env.addchangableobs(base.render, objcm2, objpos, objrot)
robotsim = robotsim.NxtRobot()
rgthnd = rtq85nm.newHand(hndid="rgt", ftsensoroffset=0)
lfthnd = rtq85nm.newHand(hndid="lft", ftsensoroffset=0)
robotmeshgen = robotmesh.NxtMesh(rgthand=rgthnd, lfthand=lfthnd)
robotmesh = robotmeshgen.genmnp(robotsim, toggleendcoord=False)
robotmesh.reparentTo(base.render)
base.pggen.plotAxis(base.render, spos=Vec3(400, -300, 900))
base.pggen.plotAxis(base.render, spos=Vec3(300, 0, 1300))
base.run()
robot.goinitpose()
if isselfcollided:
return True
else:
return False
if __name__ == '__main__':
import robotsim.nextage.nxtplot as nxtplot
base = pandactrl.World()
robot = nxt.NxtRobot()
handpkg = rtq85nm
robotmesh = nxtmesh.NxtMesh(handpkg)
robotball = nxtball.NxtBall()
# cdchecker = cdck.CollisionChecker(robotmesh)
cdchecker = cdck.CollisionCheckerBall(robotball)
start = [50.0, 0.0, -143.0, 0.0, 0.0, 0.0]
goal = [-15.0, 0.0, -143.0, 0.0, 0.0, 0.0]
# plot init and goal
robot.movearmfk(armjnts=start, armid='rgt')
robotmesh.genmnp(robot).reparentTo(base.render)
robot.movearmfk(armjnts=goal, armid='rgt')
robotmesh.genmnp(robot).reparentTo(base.render)
jointlimits = [[robot.rgtarm[1]['rngmin'], robot.rgtarm[1]['rngmax']],
[robot.rgtarm[2]['rngmin'], robot.rgtarm[2]['rngmax']],
[robot.rgtarm[3]['rngmin'], robot.rgtarm[3]['rngmax']],
# obscm.showcn()
# load obj collision model using env
objcm = env.loadobj("bunnysim.stl")
# another example -- load obj collision model independently
# this_dir, this_filename = os.path.split(__file__)
# objname = "tool_motordriver.stl"
# objpath = os.path.join(this_dir, "objects", objname)
# objcm = cm.CollisionModel(objpath)
robot = nxt.NxtRobot()
robotball = nxtball.NxtBall()
rgthnd = rtq85.Rtq85(jawwidth=85, ftsensoroffset=0)
lfthnd = rtq85.Rtq85(jawwidth=85, ftsensoroffset=0)
robotmesh = nxtmesh.NxtMesh(rgthand=rgthnd, lfthand=lfthnd)
robotnp = robotmesh.genmnp(robot, jawwidthrgt=85.0, jawwidthlft=0.0)
# robotnp.reparentTo(base.render)
armname = 'rgt'
smoother = sm.Smoother()
robot.goinitpose()
# robotnp = robotmesh.genmnp(robot, jawwidthrgt = 85.0, jawwidthlft=0.0)
# robotnp.reparentTo(base.render)
# base.run()
starttreesamplerate = 25
endtreesamplerate = 30
objstpos = np.array([354.5617667638, -256.0889005661, 1090.5])
objstrot = np.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]).T
objgpos = np.array([304.5617667638, -277.1026725769, 1101.0])
if __name__ == "__main__":
base = pandactrl.World(camp=[3500, -300, 1500], lookatp=[0, 0, 1000])
env = bldgfsettingnear.Env(base)
env.reparentTo(base.render)
objpos_lft = []
objrot_lft = []
objpos_rgt = []
objrot_rgt = []
nxtrobot = nxt.NxtRobot()
robotball = nxtball.NxtBall()
lfthand = rtq85.Rtq85(jawwidth=85, ftsensoroffset=0)
rgthand = rtq85.Rtq85(jawwidth=85, ftsensoroffset=0)
robotmesh = nxtmesh.NxtMesh(lfthand=lfthand, rgthand=rgthand)
nxtmesh = robotmesh.genmnp(nxtrobot, jawwidthrgt=85.0, jawwidthlft=0.0, togglejntscoord=False)
# nxtmesh.reparentTo(base.render)
armname = 'rgt'
nxtball = nxtball.NxtBall()
cdchecker = cdck.CollisionCheckerBall(nxtball)
ctcallback = ctcb.CtCallback(base, nxtrobot, cdchecker, ctchecker=None, armname=armname)
smoother = sm.Smoother()
starttreesamplerate = 25
endtreesamplerate = 30
pandamat4 = Mat4()
pandamat4.setRow(3, Vec3(0, 0, 250))
nxtrobot.goinitpose()
#robot hand and arm
hndfa = rtq85.Robotiq85Factory()
rgthnd = hndfa.genHand()
lfthnd = hndfa.genHand()
rbt = robot.Ur3DualRobot(rgthnd=rgthnd, lfthnd=lfthnd)
rbtmg = robotmesh.Ur3DualMesh()
#human hand and arm
hhdfa = hhdw.HHdwFactory()
rgthmhnd = hhdfa.genHand(ftsensoroffset=0, armname="rgt")
lfthmhnd = hhdfa.genHand(ftsensoroffset=0, armname="lft")
hmn = human.NxtRobot(rgthnd=rgthmhnd,
lfthnd=lfthmhnd,
position=[1100, 0, 200],
rotmat=rm.rodrigues([0, 0, 1], 180))
hmnmg = humanmesh.NxtMesh()
#build the cabinet
cabinet = buildCabinet(base, isrendercoord=True)
cabinet.reparentTo(base.render)
cabinetpose = cabinet.getMat()
cabinetposenp4 = base.pg.mat4ToNp(cabinetpose)
__this_dir, _ = os.path.split(__file__)
largeboardpath = os.path.join(__this_dir, "objects", "largeboard.stl")
middleboardpath = os.path.join(__this_dir, "objects", "middleboard.stl")
smallboardpath = os.path.join(__this_dir, "objects", "smallboard.stl")
# the boards
largeboard0 = cm.CollisionModel(largeboardpath,
radius=3,
