if args.debug:
openravepy.RaveSetDebugLevel(openravepy.DebugLevel.Debug)
env = openravepy.Environment()
env.SetViewer('qtcoin')
env.GetViewer().SetName('Homework 2 Viewer')
# First setup the environment and the robot
visualize = args.visualize
if args.robot == 'herb':
robot = HerbRobot(env, args.manip)
planning_env = HerbEnvironment(robot)
visualize = False
elif args.robot == 'simple':
robot = SimpleRobot(env)
planning_env = SimpleEnvironment(robot)
else:
print 'Unknown robot option: %s' % args.robot
exit(0)
# Next setup the planner
if args.planner == 'rrt':
planner = RRTPlanner(planning_env, visualize=visualize)
elif args.planner == 'rrtconnect':
planner = RRTConnectPlanner(planning_env, visualize=visualize)
else:
print 'Unknown planner option: %s' % args.planner
exit(0)
main(robot, planning_env, planner)
robot.irmodel = openravepy.databases.inversereachability.InverseReachabilityModel(
robot)
if not robot.irmodel.load():
print "irmodel didnt' load. "
robot.irmodel.autogenerate()
# add a table and move the robot into place
table = env.ReadKinBodyXMLFile('models/objects/table.kinbody.xml')
env.Add(table)
# Create environments for planning the arm and base
resolution = [args.hres, args.hres, args.tres]
herb = HerbRobot(env, robot, args.manip)
arm_env = HerbEnvironment(herb, table, [0.1] * 7)
herb_base = SimpleRobot(env, robot)
base_env = SimpleEnvironment(herb_base, table, resolution)
base_planner = AStarPlanner(base_env, visualize=False)
arm_planner = AStarPlanner(arm_env, visualize=False)
# TODO: Here initialize your arm planner
table_pose = numpy.array([[0, 0, -1, 0.7], [-1, 0, 0, 0], [0, 1, 0, 0],
[0, 0, 0, 1]])
table.SetTransform(table_pose)
# set a bottle on the table
bottle = herb.robot.GetEnv().ReadKinBodyXMLFile(
'models/objects/fuze_bottle.kinbody.xml')
herb.robot.GetEnv().Add(bottle)
table_aabb = table.ComputeAABB()
robot.SetActiveDOFValues(left_relaxed)
robot.controller = openravepy.RaveCreateController(robot.GetEnv(), 'IdealController')
# add a table and move the robot into place
table = env.ReadKinBodyXMLFile('models/objects/table.kinbody.xml')
env.Add(table)
table_pose = numpy.array([[ 0, 0, -1, 0.7],
[-1, 0, 0, 0],
[ 0, 1, 0, 0],
[ 0, 0, 0, 1]])
table.SetTransform(table_pose)
resolution = [0.1, 0.1, numpy.pi/4.]
herb_base = SimpleRobot(env, robot)
base_env = SimpleEnvironment(herb_base, resolution)
# raw_input('Move robot to start config and press enter')
sid = base_env.discrete_env.ConfigurationToNodeId(herb_base.GetCurrentConfiguration())
start_config = base_env.discrete_env.NodeIdToConfiguration(sid)
herb_base.SetCurrentConfiguration(start_config)
tstart = robot.GetTransform()
hstart = openravepy.misc.DrawAxes(env, tstart)
hstart.SetShow(True)
# raw_input('Move robot to goal config and press enter')
gid = base_env.discrete_env.ConfigurationToNodeId(herb_base.GetCurrentConfiguration())
goal_config = numpy.array([-0.1,-0.1,0])
robot.SetActiveDOFs(left_manip.GetArmIndices())
robot.SetActiveDOFValues(left_relaxed)
robot.controller = openravepy.RaveCreateController(robot.GetEnv(),
'IdealController')
# add a table and move the robot into place
table = env.ReadKinBodyXMLFile('models/objects/table.kinbody.xml')
env.Add(table)
table_pose = numpy.array([[0, 0, -1, 0.7], [-1, 0, 0, 0], [0, 1, 0, 0],
[0, 0, 0, 1]])
table.SetTransform(table_pose)
resolution = [0.1, 0.1, numpy.pi / 16.]
herb_base = SimpleRobot(env, robot)
base_env = SimpleEnvironment(herb_base, resolution)
raw_input('Move robot to start config and press enter')
sid = base_env.discrete_env.ConfigurationToNodeId(
herb_base.GetCurrentConfiguration())
start_config = base_env.discrete_env.NodeIdToConfiguration(sid)
herb_base.SetCurrentConfiguration(start_config)
tstart = robot.GetTransform()
hstart = openravepy.misc.DrawAxes(env, tstart)
hstart.SetShow(True)
raw_input('Move robot to goal config and press enter')
gid = base_env.discrete_env.ConfigurationToNodeId(
herb_base.GetCurrentConfiguration())
i = 0
while i < ORDER_WAIT_TIME:
remote_order = self.trader.getRemoteOrder(new_order)
if remote_order is not None:
self.trader.saveOrder(remote_order)
if remote_order.status == Order.PARR_COMPLETED or remote_order.status == Order.COMPLETED:
logging.info("Sell Order success")
return
time.sleep(1)
i += 1
logging.info("Sell Order timeout")
self.trader.cancelOrderById(new_order.id)
if __name__ == '__main__':
from SimpleRobot import SimpleRobot
from pymongo import MongoClient
from CNBTC_Trader import Trader
from SimpleStrategy import SimpleStrategy
from Market import Market
client = MongoClient("mongodb://115.28.4.59:27017")
market = Market(client.trans.cnbtc, client.depths.cnbtc, client.trans_stat.cnbtc_min,
client.trans_stat.cnbtc_hr, client.trans_stat.cnbtc_index)
trader = Trader(client.order.cnbtc, client.balance.cnbtc)
strategy = SimpleStrategy(market)
robot = SimpleRobot(market, trader, strategy)
robot.run()
i = 0
while i < ORDER_WAIT_TIME:
remote_order = self.trader.getRemoteOrder(new_order)
if remote_order is not None:
self.trader.saveOrder(remote_order)
if remote_order.status == Order.PARR_COMPLETED or remote_order.status == Order.COMPLETED:
logging.info("Sell Order success")
return
time.sleep(1)
i += 1
logging.info("Sell Order timeout")
self.trader.cancelOrderById(new_order.id)
if __name__ == '__main__':
from SimpleRobot import SimpleRobot
from pymongo import MongoClient
from CNBTC_Trader import Trader
from SimpleStrategy import SimpleStrategy
from Market import Market
client = MongoClient("mongodb://115.28.4.59:27017")
market = Market(client.trans.cnbtc, client.depths.cnbtc,
client.trans_stat.cnbtc_min, client.trans_stat.cnbtc_hr,
client.trans_stat.cnbtc_index)
trader = Trader(client.order.cnbtc, client.balance.cnbtc)
strategy = SimpleStrategy(market)
robot = SimpleRobot(market, trader, strategy)
robot.run()