def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
self.config = drcargs.getDirectorConfig()
jointGroups = self.config['teleopJointGroups']
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
self.config = drcargs.getDirectorConfig()
jointGroups = self.config['teleopJointGroups']
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def testPlanConstraints():
# this is required for now, makes it avoid communication with matlab
# inside the call to ikPlanner.addPose
ikPlanner.pushToMatlab = False
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
robotsystem.create(view, globals())
testPlanConstraints()
#app.start()
from director import robotsystem
from director import robotposegui
from director.consoleapp import ConsoleApp
from director import ikplanner
from director import playbackpanel
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
robotSystem = robotsystem.create(view)
testPlanning = True
if testPlanning:
robotSystem.startIkServer() # launches matlab server
playbackPanel = playbackpanel.PlaybackPanel(
robotSystem.planPlayback, robotSystem.playbackRobotModel,
robotSystem.playbackJointController, robotSystem.robotStateModel,
robotSystem.robotStateJointController, robotSystem.manipPlanner)
robotSystem.ikPlanner.addPostureGoalListener(
robotSystem.robotStateJointController)
robotSystem.manipPlanner.connectPlanReceived(playbackPanel.setPlan)
playbackPanel.widget.show()
jc = robotSystem.robotStateJointController
pose = robotSystem.ikPlanner.getMergedPostureFromDatabase(
from director.uuidutil import newUUID
from director import geometryencoder
from director import sceneloader
import drc as lcmdrc
import os
import json
from director.utime import getUtime
app = ConsoleApp()
app.setupGlobals(globals())
app.showPythonConsole()
view = app.createView()
view.show()
robotsystem.create(view, globals())
def affordanceFromDescription(desc):
affordanceManager.collection.updateDescription(desc)
return affordanceManager.getAffordanceById(desc['uuid'])
def newBox():
desc = dict(classname='BoxAffordanceItem', Name='test box', Dimensions=[0.5, 0.2, 0.1], uuid=newUUID(), pose=((0.5,0.0,1.0), (1,0,0,0)))
return affordanceFromDescription(desc)
def newSphere():
desc = dict(classname='SphereAffordanceItem', Name='test sphere', Radius=0.2, uuid=newUUID(), pose=((0.5,0.0,1.0), (1,0,0,0)))
return affordanceFromDescription(desc)
def newCylinder():
toolBar = applogic.findToolBar('Main Toolbar')
app.app.addToolBarAction(toolBar,
'Gripper Open',
icon='',
callback=gripperOpen)
app.app.addToolBarAction(toolBar,
'Gripper Close',
icon='',
callback=gripperClose)
# create a default mainwindow app
app = mainwindowapp.construct(globalsDict=globals())
# load a minimal robot system with ik planning
robotSystem = robotsystem.create(app.view, planningOnly=True)
# add the teleop and playback panels to the mainwindow
app.app.addWidgetToDock(robotSystem.teleopPanel.widget,
QtCore.Qt.RightDockWidgetArea)
app.app.addWidgetToDock(robotSystem.playbackPanel.widget,
QtCore.Qt.BottomDockWidgetArea)
setupToolbar()
# show sim time in the status bar
infoLabel = KukaSimInfoLabel(app.mainWindow.statusBar())
# use pydrake ik backend
ikPlanner = robotSystem.ikPlanner
if ikPlanner.planningMode == 'pydrake':
actionhandlers.init() quit = app.quit exit = quit view = app.getDRCView() camera = view.camera() tree = app.getMainWindow().objectTree() orbit = cameracontrol.OrbitController(view) showPolyData = segmentation.showPolyData updatePolyData = segmentation.updatePolyData ############################################################################### robotSystem = robotsystem.create(view) globals().update(dict(robotSystem)) useIk = True useRobotState = True usePerception = True useGrid = True useSpreadsheet = True useFootsteps = True useHands = True usePlanning = True useHumanoidDRCDemos = True useAtlasDriver = True useLCMGL = True useOctomap = True
view.forceRender()
print '%d samples/sec' % (sampleCount / elapsed), '%d total samples' % totalSampleCount
startTime = timeNow
sampleCount = 0
if app.getTestingEnabled():
assert badSampleCount == 0
app.quit()
app = ConsoleApp()
app.setupGlobals(globals())
view = app.createView()
view.show()
robotSystem = robotsystem.create(view, planningOnly=True)
view.resetCamera()
if robotSystem.ikPlanner.planningMode == 'pydrake':
robotSystem.ikPlanner.plannerPub._setupLocalServer()
runTest()
elif robotSystem.ikPlanner.planningMode == 'matlabdrake':
robotSystem.ikServer.connectStartupCompleted(onMatlabStartup)
robotSystem.startIkServer()
app.start(enableAutomaticQuit=False)
# after the app starts, runTest() will be called by onMatlabStartup
selector = RobotSelector()
# To hide the selector if there is only one robot we actually need to hide the action that is created by the
# toolbar's addwidget
selectorAction = app.getMainWindow().toolBar().addWidget(selector)
# If this is a single robot configuration, we expect modelName as a top level key. Otherwise it will be a second
# level one.
robotSystems = []
for (
_,
robotConfig,
) in drcargs.DirectorConfig.getDefaultInstance().robotConfigs.iteritems():
print("Loading config for robot with name {}".format(
robotConfig["robotName"]))
robotSystems.append(
robotsystem.create(view, robotName=robotConfig["robotName"]))
# If there is only one robot, the selector should not be shown
if len(robotSystems) == 1:
selectorAction.setVisible(False)
# When there is only one robot we do not want to prefix topics
robotSystems[0]._add_fields(rosPrefix="", single=True)
else:
for robotSystem in robotSystems:
# With multiple robots, prefix the topics with the robot names
robotSystem._add_fields(rosPrefix=robotSystem.robotName, single=False)
# Before going through all the robot systems, we do some setup which is universal and not linked to any specific robot
useLightColorScheme = True
sceneRoot = om.getOrCreateContainer("scene")
