def main():
    world_view_folder = "example_07_jogging"

    world_view_client = WorldViewClient()
    move_group = example_utils.get_move_group()
    current_pose = move_group.get_end_effector().compute_pose(
        move_group.get_current_joint_positions())

    jogging_client = JoggingClient()
    jogging_client.set_move_group_name(example_utils.get_move_group_name())
    # register feedback function, to get alerted when an error occurs
    jogging_client.register(feedback_function)

    current_pose = move_group.get_end_effector().compute_pose(
        move_group.get_current_joint_positions())

    point_name = "TrackingPose"
    # Write pose to World View, so the tracking begins with the current end effector pose
    try:
        world_view_client.add_pose(point_name, world_view_folder, current_pose)
    except Xamla_ArgumentError:
        world_view_client.update_pose(point_name, world_view_folder,
                                      current_pose)

    get_pose = lambda: world_view_client.get_pose(point_name, world_view_folder
                                                  )

    #Begin tracking
    jogging_client.toggle_tracking(True)
    # Track for 20 seconds with a frequency of 50 Hz
    track_point(time_amount=20,
                frequency=50,
                point_name=point_name,
                get_pose=get_pose,
                jogging_client=jogging_client)

    # Stop tracking
    jogging_client.toggle_tracking(False)
    # Unregister the feedback function
    jogging_client.unregister(feedback_function)

    # Remove tracking pose
    world_view_client.remove_element(point_name, world_view_folder)
예제 #2
0
def main():
    # create entities which should be added to and manipulated in world view
    joint_set1 = JointSet(['Joint1', 'Joint2', 'Joint3'])

    joint_values1 = JointValues(joint_set1, [1.0, 2.0, 3.0])

    joint_set2 = JointSet(['Joint1', 'Joint2'])
    joint_values2 = JointValues(joint_set2, [19.0, 20.0])

    joint_set3 = JointSet(['Joint1', 'Joint4'])
    joint_values3 = JointValues(joint_set3, [100.0, 30.0])

    t1 = [0.502522, 0.2580, 0.3670]
    q1 = Quaternion(w=0.304389, x=0.5272, y=0.68704, z=0.39666)

    t2 = [0.23795, 0.46845, 0.44505]
    q2 = Quaternion(w=0.212097, x=0.470916, y=0.720915, z=0.462096)

    t3 = [0.6089578, 0.3406782, 0.208865]
    q3 = Quaternion(w=0.231852, x=0.33222, y=0.746109, z=0.528387)

    pose1 = Pose(t1, q1, 'world')
    pose2 = Pose(t2, q2, 'world')
    pose3 = Pose(t3, q3, 'world')

    cartesian_path1 = CartesianPath([pose1, pose2, pose3])

    sphere = CollisionPrimitive.create_sphere(0.1, pose2)
    cylinder = CollisionPrimitive.create_cylinder(0.4, 0.05, pose2)
    box = CollisionPrimitive.create_box(0.2, 0.2, 0.1, pose1)

    plane = CollisionPrimitive.create_plane(1.0, 1.0, 1.0, 1.0, pose3)
    cone = CollisionPrimitive.create_cone(0.2, 0.2, pose3)

    collision_object1 = CollisionObject([box])
    collision_object2 = CollisionObject([sphere, cylinder])
    collision_object3 = CollisionObject([plane, cone])

    # create a instance of WorldViewClient to get access to rosvita world view
    world_view_client = WorldViewClient()

    print('---------------- add folder --------------')
    # add folder test at WorldView root
    world_view_client.add_folder('test', '')
    # add folder test at WorldView root/test
    world_view_client.add_folder('joint_values', '/test')

    world_view_client.add_folder('poses', '/test')

    world_view_client.add_folder('cartesian_paths', '/test')

    world_view_client.add_folder('collision_objects', '/test')

    print('---------------- add joint values --------------')
    world_view_client.add_joint_values('joint_values1', 'test/joint_values',
                                       joint_values1)
    world_view_client.add_joint_values('joint_values2', 'test/joint_values',
                                       joint_values2)
    world_view_client.add_joint_values('joint_values3', 'test/joint_values',
                                       joint_values3)
    world_view_client.add_joint_values('test', 'test/joint_values',
                                       joint_values3)

    print('---------------- update joint values --------------')
    world_view_client.update_joint_values('joint_values1', 'test/joint_values',
                                          joint_values2)
    world_view_client.update_joint_values('joint_values2', 'test/joint_values',
                                          joint_values3)
    world_view_client.update_joint_values('joint_values3', 'test/joint_values',
                                          joint_values1)

    print('---------------- get joint values --------------')

    get_value = world_view_client.get_joint_values('joint_values1',
                                                   'test/joint_values')
    print('joint_values1 is: ' + str(get_value))

    print('---------------- query joint values --------------')
    # query all values which start with t under test/joint_values
    queried_values = world_view_client.query_joint_values(
        'test/joint_values', 't')

    print('---------------- add poses --------------')
    world_view_client.add_pose('pose1', 'test/poses', pose1)
    world_view_client.add_pose('pose2', 'test/poses', pose2)
    world_view_client.add_pose('pose3', 'test/poses', pose3)
    world_view_client.add_pose('test', 'test/poses', pose3)

    print('---------------- update pose --------------')
    world_view_client.update_pose('pose1', 'test/poses', pose2)
    world_view_client.update_pose('pose2', 'test/poses', pose3)
    world_view_client.update_pose('pose3', 'test/poses', pose1)

    print('---------------- get pose --------------')

    get_value = world_view_client.get_pose('pose1', 'test/poses')
    print('pose1 is: ' + str(get_value))

    print('---------------- query poses --------------')
    # query all poses which start with t under test/pose
    queried_values = world_view_client.query_poses('test/poses', 't')

    print('---------------- add cartesian path --------------')
    world_view_client.add_cartesian_path('cartesian_path1',
                                         'test/cartesian_paths',
                                         cartesian_path1)
    world_view_client.add_cartesian_path('test1', 'test/cartesian_paths',
                                         cartesian_path1)

    print('---------------- update cartesian path --------------')
    world_view_client.update_cartesian_path('cartesian_path1',
                                            'test/cartesian_paths',
                                            cartesian_path1)

    print('---------------- get cartesian path --------------')

    get_value = world_view_client.get_cartesian_path('cartesian_path1',
                                                     'test/cartesian_paths')
    print('cartesian_path1 is: ' + str(get_value))

    print('---------------- query cartesian paths --------------')
    # query all cartesian_paths which start with t under test/cartesian_path
    queried_values = world_view_client.query_cartesian_paths(
        'test/cartesian_paths', 't')

    for v in queried_values:
        print(str(v))

    print('---------------- add collision object --------------')
    world_view_client.add_collision_object('collision_object1',
                                           'test/collision_objects',
                                           collision_object1)
    world_view_client.add_collision_object('collision_object2',
                                           'test/collision_objects',
                                           collision_object2)
    world_view_client.add_collision_object('collision_object3',
                                           'test/collision_objects',
                                           collision_object3)
    world_view_client.add_collision_object('test1', 'test/collision_objects',
                                           collision_object1)

    print('---------------- update collision object --------------')
    world_view_client.update_collision_object('collision_object1',
                                              'test/collision_objects',
                                              collision_object1)

    print('---------------- get collision object --------------')

    get_value = world_view_client.get_collision_object(
        'collision_object1', 'test/collision_objects')
    print('collision_object1 is: ' + str(get_value))

    print('---------------- query collision object --------------')
    # query all collision_objects which start with t under test/collision_object
    queried_values = world_view_client.query_collision_objects(
        'test/collision_objects', 't')

    for v in queried_values:
        print(str(v))

    input('Press enter to clean up')

    print('----------------- remove folder test ---------------')
    world_view_client.remove_element('test', '')