def init(self, view=None, globalsDict=None):
view = view or applogic.getCurrentRenderView()
useRobotState = True
usePerception = True
useFootsteps = True
useHands = True
usePlanning = True
useAtlasDriver = True
useAtlasConvexHull = False
useWidgets = False
directorConfig = self.getDirectorConfig()
neckPitchJoint = 'neck_ay'
if useAtlasDriver:
atlasDriver = atlasdriver.init(None)
if useRobotState:
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, urdfFile=directorConfig['urdfConfig']['robotState'], parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
robotStateJointController.setPose('EST_ROBOT_STATE', robotStateJointController.getPose('q_nom'))
roboturdf.startModelPublisherListener([(robotStateModel, robotStateJointController)])
robotStateJointController.addLCMUpdater('EST_ROBOT_STATE')
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
if usePerception:
multisenseDriver, mapServerSource = perception.init(view)
def getNeckPitch():
return robotStateJointController.q[robotstate.getDrakePoseJointNames().index( neckPitchJoint )]
neckDriver = perception.NeckDriver(view, getNeckPitch)
def getSpindleAngleFunction():
if (robotStateJointController.lastRobotStateMessage):
if ('hokuyo_joint' in robotStateJointController.lastRobotStateMessage.joint_name):
index = robotStateJointController.lastRobotStateMessage.joint_name.index('hokuyo_joint')
return (float(robotStateJointController.lastRobotStateMessage.utime)/(1e6),
robotStateJointController.lastRobotStateMessage.joint_position[index])
return (0, 0)
spindleMonitor = perception.SpindleMonitor(getSpindleAngleFunction)
robotStateModel.connectModelChanged(spindleMonitor.onRobotStateChanged)
if useHands:
rHandDriver = handdriver.RobotiqHandDriver(side='right')
lHandDriver = handdriver.RobotiqHandDriver(side='left')
if useFootsteps:
footstepsDriver = footstepsdriver.FootstepsDriver(robotStateJointController)
irisDriver = irisdriver.IRISDriver(robotStateJointController, footstepsDriver.params)
raycastDriver = raycastdriver.RaycastDriver()
if usePlanning:
ikRobotModel, ikJointController = roboturdf.loadRobotModel('ik model', urdfFile=directorConfig['urdfConfig']['ik'], parent=None)
om.removeFromObjectModel(ikRobotModel)
ikJointController.addPose('q_end', ikJointController.getPose('q_nom'))
ikJointController.addPose('q_start', ikJointController.getPose('q_nom'))
if 'leftFootLink' in directorConfig:
ikServer = ik.AsyncIKCommunicator(directorConfig['urdfConfig']['ik'], directorConfig['fixedPointFile'], directorConfig['leftFootLink'], directorConfig['rightFootLink'], directorConfig['pelvisLink'])
else: # assume that robot has no feet e.g. fixed base arm
ikServer = ik.AsyncIKCommunicator(directorConfig['urdfConfig']['ik'], directorConfig['fixedPointFile'], '', '', '')
def startIkServer():
ikServer.startServerAsync()
ikServer.comm.writeCommandsToLogFile = True
#startIkServer()
playbackRobotModel, playbackJointController = roboturdf.loadRobotModel('playback model', view, urdfFile=directorConfig['urdfConfig']['playback'], parent='planning', color=roboturdf.getRobotBlueColor(), visible=False)
teleopRobotModel, teleopJointController = roboturdf.loadRobotModel('teleop model', view, urdfFile=directorConfig['urdfConfig']['teleop'], parent='planning', color=roboturdf.getRobotBlueColor(), visible=False)
if useAtlasConvexHull:
chullRobotModel, chullJointController = roboturdf.loadRobotModel('convex hull atlas', view, urdfFile=urdfConfig['chull'], parent='planning',
color=roboturdf.getRobotOrangeColor(), visible=False)
playbackJointController.models.append(chullRobotModel)
planPlayback = planplayback.PlanPlayback()
if (roboturdf.numberOfHands == 1):
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = [handFactory.getLoader(side) for side in ['left']]
elif (roboturdf.numberOfHands == 2):
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = [handFactory.getLoader(side) for side in ['left', 'right']]
else:
handFactory = None
handModels = []
ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel, ikJointController, handModels)
manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner)
affordanceManager = affordancemanager.AffordanceObjectModelManager(view)
affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
segmentation.affordanceManager = affordanceManager
plannerPub = plannerPublisher.PlannerPublisher(ikPlanner,affordanceManager)
ikPlanner.setPublisher(plannerPub)
# This joint angle is mapped to the Multisense panel
neckPitchJoint = ikPlanner.neckPitchJoint
applogic.resetCamera(viewDirection=[-1,0,0], view=view)
if useWidgets:
playbackPanel = playbackpanel.PlaybackPanel(planPlayback, playbackRobotModel, playbackJointController,
robotStateModel, robotStateJointController, manipPlanner)
teleopPanel = teleoppanel.TeleopPanel(robotStateModel, robotStateJointController, teleopRobotModel, teleopJointController,
ikPlanner, manipPlanner, playbackPanel.setPlan, playbackPanel.hidePlan)
footstepsDriver.walkingPlanCallback = playbackPanel.setPlan
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
robotSystemArgs = dict(locals())
for arg in ['globalsDict', 'self']:
del robotSystemArgs[arg]
if globalsDict is not None:
globalsDict.update(robotSystemArgs)
robotSystem = FieldContainer(**robotSystemArgs)
viewbehaviors.ViewBehaviors.addRobotBehaviors(robotSystem)
return robotSystem
from ddapp import segmentation
from ddapp import segmentationroutines
from ddapp import applogic
from ddapp import visualization as vis
from ddapp import roboturdf
app = ConsoleApp()
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
segmentation.initAffordanceManager(view)
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-sparse-stereo.pcd'))
vis.showPolyData(polyData, 'pointcloud snapshot original', colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud( polyData )
vis.showPolyData(polyData, 'pointcloud snapshot')
# fit valve and lever
segmentation.segmentValveWallAuto(.2, mode='valve', removeGroundMethod=segmentation.removeGroundSimple )
if app.getTestingInteractiveEnabled():
v = applogic.getCurrentView()
from ddapp import applogic
from ddapp import visualization as vis
from ddapp import roboturdf
app = ConsoleApp()
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
robotStateModel, robotStateJointController = roboturdf.loadRobotModel(
'robot state model',
view,
parent='sensors',
color=roboturdf.getRobotGrayColor(),
visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(
os.path.join(dataDir, 'valve/valve-sparse-stereo.pcd'))
vis.showPolyData(polyData,
'pointcloud snapshot original',
colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud(polyData)
vis.showPolyData(polyData, 'pointcloud snapshot')
# fit valve and lever
segmentation.segmentValveWallAuto(
self.linkName = linkName
self.pickedPoint = pickedPoint
def onMousePress(self, displayPoint, modifiers=None):
print self.linkName, self.pickedPoint
###########################
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
view.show()
view.resize(1080, 768)
robotModel, jointController = roboturdf.loadRobotModel('robot model', view, parent='scene', color=roboturdf.getRobotGrayColor(), visible=True)
robotModel.addToView(view)
widget = LinkWidget(view, robotModel)
widget.start()
app.viewOptions.setProperty('Gradient background', False)
app.viewOptions.setProperty('Background color', [1,1,1])
app.viewOptions.setProperty('Orientation widget', False)
app.gridObj.setProperty('Color', [0,0,0])
app.gridObj.setProperty('Surface Mode', 'Surface with edges')
app.start()
from ddapp import ioUtils
from ddapp import segmentation
from ddapp import segmentationroutines
from ddapp import applogic
from ddapp import visualization as vis
from ddapp import roboturdf
app = ConsoleApp()
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
segmentation.initAffordanceManager(view)
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# Move robot to near to valve wall:
# 0degrees
#robotStateJointController.q[5] = math.radians(120)
#robotStateJointController.q[0] = 0
#robotStateJointController.q[1] = 0
# 30,60,90
robotStateJointController.q [5] = math.radians(-120)
robotStateJointController.q [0] = 1
robotStateJointController.q [1] = 1
robotStateJointController.q[2] = 0.85
robotStateJointController.push()
from ddapp.consoleapp import ConsoleApp
from ddapp import visualization as vis
from ddapp import roboturdf
app = ConsoleApp()
view = app.createView()
robotStateModel, robotStateJointController = roboturdf.loadRobotModel(
"robot state model", view, parent="sensors", color=roboturdf.getRobotGrayColor(), visible=True
)
robotStateModel.addToView(view)
if app.getTestingInteractiveEnabled():
view.show()
app.start()
self.linkName = linkName
self.pickedPoint = pickedPoint
def onMousePress(self, displayPoint, modifiers=None):
print self.linkName, self.pickedPoint
###########################
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
view.show()
view.resize(1080, 768)
robotModel, jointController = roboturdf.loadRobotModel('robot model', view, parent='scene', color=roboturdf.getRobotGrayColor(), visible=True)
robotModel.addToView(view)
widget = LinkWidget(view, robotModel)
widget.start()
app.viewOptions.setProperty('Gradient background', False)
app.viewOptions.setProperty('Background color', [1,1,1])
app.viewOptions.setProperty('Orientation widget', False)
app.gridObj.setProperty('Color', [0,0,0])
app.gridObj.setProperty('Surface Mode', 'Surface with edges')
app.start()
def init(self, view=None, globalsDict=None):
view = view or applogic.getCurrentRenderView()
useRobotState = True
usePerception = True
useFootsteps = True
useHands = True
usePlanning = True
useAtlasDriver = True
useAtlasConvexHull = False
useWidgets = False
directorConfig = self.getDirectorConfig()
neckPitchJoint = 'neck_ay'
if useAtlasDriver:
atlasDriver = atlasdriver.init(None)
if useRobotState:
robotStateModel, robotStateJointController = roboturdf.loadRobotModel(
'robot state model',
view,
urdfFile=directorConfig['urdfConfig']['robotState'],
parent='sensors',
color=roboturdf.getRobotGrayColor(),
visible=True)
robotStateJointController.setPose(
'EST_ROBOT_STATE', robotStateJointController.getPose('q_nom'))
roboturdf.startModelPublisherListener([
(robotStateModel, robotStateJointController)
])
robotStateJointController.addLCMUpdater('EST_ROBOT_STATE')
segmentationroutines.SegmentationContext.initWithRobot(
robotStateModel)
if usePerception:
multisenseDriver, mapServerSource = perception.init(view)
def getNeckPitch():
return robotStateJointController.q[
robotstate.getDrakePoseJointNames().index(neckPitchJoint)]
neckDriver = perception.NeckDriver(view, getNeckPitch)
def getSpindleAngleFunction():
if (robotStateJointController.lastRobotStateMessage):
if ('hokuyo_joint' in robotStateJointController.
lastRobotStateMessage.joint_name):
index = robotStateJointController.lastRobotStateMessage.joint_name.index(
'hokuyo_joint')
return (float(robotStateJointController.
lastRobotStateMessage.utime) / (1e6),
robotStateJointController.
lastRobotStateMessage.joint_position[index])
return (0, 0)
spindleMonitor = perception.SpindleMonitor(getSpindleAngleFunction)
robotStateModel.connectModelChanged(
spindleMonitor.onRobotStateChanged)
if useHands:
rHandDriver = handdriver.RobotiqHandDriver(side='right')
lHandDriver = handdriver.RobotiqHandDriver(side='left')
if useFootsteps:
footstepsDriver = footstepsdriver.FootstepsDriver(
robotStateJointController)
irisDriver = irisdriver.IRISDriver(robotStateJointController,
footstepsDriver.params)
raycastDriver = raycastdriver.RaycastDriver()
if usePlanning:
ikRobotModel, ikJointController = roboturdf.loadRobotModel(
'ik model',
urdfFile=directorConfig['urdfConfig']['ik'],
parent=None)
om.removeFromObjectModel(ikRobotModel)
ikJointController.addPose('q_end',
ikJointController.getPose('q_nom'))
ikJointController.addPose('q_start',
ikJointController.getPose('q_nom'))
if 'leftFootLink' in directorConfig:
ikServer = ik.AsyncIKCommunicator(
directorConfig['urdfConfig']['ik'],
directorConfig['fixedPointFile'],
directorConfig['leftFootLink'],
directorConfig['rightFootLink'],
directorConfig['pelvisLink'])
else: # assume that robot has no feet e.g. fixed base arm
ikServer = ik.AsyncIKCommunicator(
directorConfig['urdfConfig']['ik'],
directorConfig['fixedPointFile'], '', '', '')
def startIkServer():
ikServer.startServerAsync()
ikServer.comm.writeCommandsToLogFile = True
#startIkServer()
playbackRobotModel, playbackJointController = roboturdf.loadRobotModel(
'playback model',
view,
urdfFile=directorConfig['urdfConfig']['playback'],
parent='planning',
color=roboturdf.getRobotBlueColor(),
visible=False)
teleopRobotModel, teleopJointController = roboturdf.loadRobotModel(
'teleop model',
view,
urdfFile=directorConfig['urdfConfig']['teleop'],
parent='planning',
color=roboturdf.getRobotBlueColor(),
visible=False)
if useAtlasConvexHull:
chullRobotModel, chullJointController = roboturdf.loadRobotModel(
'convex hull atlas',
view,
urdfFile=urdfConfig['chull'],
parent='planning',
color=roboturdf.getRobotOrangeColor(),
visible=False)
playbackJointController.models.append(chullRobotModel)
planPlayback = planplayback.PlanPlayback()
if (roboturdf.numberOfHands == 1):
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = [handFactory.getLoader(side) for side in ['left']]
elif (roboturdf.numberOfHands == 2):
handFactory = roboturdf.HandFactory(robotStateModel)
handModels = [
handFactory.getLoader(side) for side in ['left', 'right']
]
else:
handFactory = None
handModels = []
ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel,
ikJointController, handModels)
manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner)
affordanceManager = affordancemanager.AffordanceObjectModelManager(
view)
affordanceitems.MeshAffordanceItem.getMeshManager(
).collection.sendEchoRequest()
affordanceManager.collection.sendEchoRequest()
segmentation.affordanceManager = affordanceManager
plannerPub = plannerPublisher.PlannerPublisher(
ikPlanner, affordanceManager)
ikPlanner.setPublisher(plannerPub)
# This joint angle is mapped to the Multisense panel
neckPitchJoint = ikPlanner.neckPitchJoint
applogic.resetCamera(viewDirection=[-1, 0, 0], view=view)
if useWidgets:
playbackPanel = playbackpanel.PlaybackPanel(
planPlayback, playbackRobotModel, playbackJointController,
robotStateModel, robotStateJointController, manipPlanner)
teleopPanel = teleoppanel.TeleopPanel(
robotStateModel, robotStateJointController, teleopRobotModel,
teleopJointController, ikPlanner, manipPlanner,
playbackPanel.setPlan, playbackPanel.hidePlan)
footstepsDriver.walkingPlanCallback = playbackPanel.setPlan
manipPlanner.connectPlanReceived(playbackPanel.setPlan)
robotSystemArgs = dict(locals())
for arg in ['globalsDict', 'self']:
del robotSystemArgs[arg]
if globalsDict is not None:
globalsDict.update(robotSystemArgs)
robotSystem = FieldContainer(**robotSystemArgs)
viewbehaviors.ViewBehaviors.addRobotBehaviors(robotSystem)
return robotSystem
