def create_apriltag_object():
"""Create an apriltag world object that can be added through a mutation request."""
# Set the acquisition time for the additional april tag in robot time using a function to
# get google.protobuf.Timestamp of the current system time.
time_now = now_timestamp()
# The apriltag id for the object we want to add.
tag_id = 308
# Set the frame names used for the two variants of the apriltag (filtered, raw)
frame_name_fiducial = "fiducial_" + str(tag_id)
frame_name_fiducial_filtered = "filtered_fiducial_" + str(tag_id)
# Make the april tag (slightly offset from the first tag detection) as a world object. Create the
# different edges necessary to create an expressive tree. The root node will be the world frame.
default_a_tform_b = geom.SE3Pose(position=geom.Vec3(x=.2, y=.2, z=.2),
rotation=geom.Quaternion(x=.1, y=.1, z=.1, w=.1))
# Create a map between the child frame name and the parent frame name/SE3Pose parent_tform_child
edges = {}
# Create an edge for the raw fiducial detection in the world.
vision_tform_fiducial = update_frame(tf=default_a_tform_b, position_change=(0, 0, -.2),
rotation_change=(0, 0, 0, 0))
edges = add_edge_to_tree(edges, vision_tform_fiducial, VISION_FRAME_NAME, frame_name_fiducial)
# Create a edge for the filtered version of the fiducial in the world.
vision_tform_filtered_fiducial = update_frame(tf=default_a_tform_b, position_change=(0, 0, -.2),
rotation_change=(0, 0, 0, 0))
edges = add_edge_to_tree(edges, vision_tform_filtered_fiducial, VISION_FRAME_NAME,
frame_name_fiducial_filtered)
# Create the transform to express vision_tform_odom
vision_tform_odom = update_frame(tf=default_a_tform_b, position_change=(0, 0, -.2),
rotation_change=(0, 0, 0, 0))
edges = add_edge_to_tree(edges, vision_tform_odom, VISION_FRAME_NAME, ODOM_FRAME_NAME)
# Can also add custom frames into the frame tree snapshot as long as they keep the tree structure,
# so the parent_frame must also be in the tree.
vision_tform_special_frame = update_frame(tf=default_a_tform_b, position_change=(0, 0, -.2),
rotation_change=(0, 0, 0, 0))
edges = add_edge_to_tree(edges, vision_tform_special_frame, VISION_FRAME_NAME,
"my_special_frame")
snapshot = geom.FrameTreeSnapshot(child_to_parent_edge_map=edges)
# Create the specific properties for the apriltag including the frame names for the transforms
# describing the apriltag's position.
tag_prop = world_object_pb2.AprilTagProperties(
tag_id=tag_id, dimensions=geom.Vec2(x=.2, y=.2), frame_name_fiducial=frame_name_fiducial,
frame_name_fiducial_filtered=frame_name_fiducial_filtered)
#Create the complete world object with transform information and the apriltag properties.
wo_obj_to_add = world_object_pb2.WorldObject(id=21, transforms_snapshot=snapshot,
acquisition_time=time_now,
apriltag_properties=tag_prop)
return wo_obj_to_add
def main(argv):
"""An example using the API to apply mutations to world objects."""
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
options = parser.parse_args(argv)
# Create robot object with a world object client.
sdk = bosdyn.client.create_standard_sdk('WorldObjectClient')
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Time sync is necessary so that time-based filter requests can be converted.
robot.time_sync.wait_for_sync()
# Create the world object client.
world_object_client = robot.ensure_client(
WorldObjectClient.default_service_name)
# List all world objects in the scene.
world_objects = world_object_client.list_world_objects().world_objects
print("Current World objects' ids " +
str([obj.id for obj in world_objects]))
# If there are any world objects in Spot's perception scene, then attempt to mutate one.
# This should fail and return a STATUS_NO_PERMISSION since a client cannot mutate
# objects that they did not add into the scene.
if len(world_objects) > 0:
obj_to_mutate = world_objects[0]
# Attempt to delete the object.
delete_req = make_delete_world_object_req(obj_to_mutate)
status = world_object_client.mutate_world_objects(delete_req).status
assert (status == world_object_pb2.MutateWorldObjectResponse.
STATUS_NO_PERMISSION)
# Attempt to change the object.
for edge in obj_to_mutate.transforms_snapshot.child_to_parent_edge_map:
obj_to_mutate.transforms_snapshot.child_to_parent_edge_map[
edge].parent_tform_child.position.x = 1.0
change_req = make_change_world_object_req(obj_to_mutate)
status = world_object_client.mutate_world_objects(change_req).status
assert (status == world_object_pb2.MutateWorldObjectResponse.
STATUS_NO_PERMISSION)
# Request to add the new april tag detection to the world object service.
wo_obj_to_add = create_apriltag_object()
add_apriltag = make_add_world_object_req(wo_obj_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_apriltag)
# Get the world object ID set by the service, so that we can make additional changes to this object.
added_apriltag_world_obj_id = resp.mutated_object_id
# List all world objects in the scene after the mutation was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object IDs after object addition: " +
str([obj.apriltag_properties.tag_id for obj in world_objects]))
for world_obj in world_objects:
if world_obj.id == added_apriltag_world_obj_id:
# Look for the custom frame that was included in the add-request, where the child frame name was "my_special_frame"
full_snapshot = world_obj.transforms_snapshot
for edge in full_snapshot.child_to_parent_edge_map:
if edge == "my_special_frame":
print(
"The world object includes the custom frame vision_tform_my_special_frame!"
)
# Request to change an existing apriltag's dimensions. This will succeed because it is changing
# an object that was added by a client program. We are using the ID returned by the service to
# change the correct apriltag.
time_now = now_timestamp()
tag_prop_modified = world_object_pb2.AprilTagProperties(
tag_id=308, dimensions=geom.Vec2(x=.35, y=.35))
wo_obj_to_change = world_object_pb2.WorldObject(
id=added_apriltag_world_obj_id,
name="world_obj_apriltag",
transforms_snapshot=wo_obj_to_add.transforms_snapshot,
acquisition_time=time_now,
apriltag_properties=tag_prop_modified)
print("World object X dimension of apriltag size before change: " +
str([obj.apriltag_properties.dimensions.x for obj in world_objects]))
change_apriltag = make_change_world_object_req(wo_obj_to_change)
resp = world_object_client.mutate_world_objects(
mutation_req=change_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
# List all world objects in the scene after the mutation was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object X dimension of apriltag size after change: " +
str([obj.apriltag_properties.dimensions.x for obj in world_objects]))
# Add a apriltag and then delete it. This will succeed because it is deleting an object added by
# a client program and not specific to Spot's perception
add_apriltag = make_add_world_object_req(wo_obj_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
apriltag_to_delete_id = resp.mutated_object_id
# Update the list of world object's after adding a apriltag
world_objects = world_object_client.list_world_objects().world_objects
# Delete the april tag that was just added. This will succeed because it is changing an object that was
# just added by a client program (and not an object Spot's perception system detected). The world object
# can be identified by the ID returned from the service after the mutation request succeeded.
wo_obj_to_delete = world_object_pb2.WorldObject(id=apriltag_to_delete_id)
delete_apriltag = make_delete_world_object_req(wo_obj_to_delete)
resp = world_object_client.mutate_world_objects(
mutation_req=delete_apriltag)
assert (
resp.status == world_object_pb2.MutateWorldObjectResponse.STATUS_OK)
# List all world objects in the scene after the deletion was applied.
world_objects = world_object_client.list_world_objects().world_objects
print("World object IDs after object deletion: " +
str([obj.apriltag_properties.tag_id for obj in world_objects]))
# Add a drawable object into the perception scene with a custom frame and unique name.
sphere_to_add = create_drawable_sphere_object()
add_sphere = make_add_world_object_req(sphere_to_add)
resp = world_object_client.mutate_world_objects(mutation_req=add_sphere)
# Get the world object ID set by the service.
sphere_id = resp.mutated_object_id
# List all world objects in the scene after the mutation was applied. Find the sphere in the list
# and see the transforms added into the frame tree snapshot by Spot in addition to the custom frame.
world_objects = world_object_client.list_world_objects().world_objects
for world_obj in world_objects:
if world_obj.id == sphere_id:
print("Found sphere named " + world_obj.name)
full_snapshot = world_obj.transforms_snapshot
for edge in full_snapshot.child_to_parent_edge_map:
print("Child frame name: " + edge + ". Parent frame name: " +
full_snapshot.child_to_parent_edge_map[edge].
parent_frame_name)
return True
