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 add_camera(self,
name,
pose,
camera_matrix,
max_depth=KINECT_DEPTH,
display=False):
cone = get_viewcone(depth=max_depth,
camera_matrix=camera_matrix,
color=apply_alpha(RED, 0.1),
mass=0,
collision=False)
set_pose(cone, pose)
if display:
kinect = load_pybullet(KINECT_URDF, fixed_base=True)
set_pose(kinect, pose)
set_color(kinect, BLACK)
self.add(name, kinect)
self.cameras[name] = Camera(cone, camera_matrix, max_depth)
draw_pose(pose)
step_simulation()
return name
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()