def initialize_app(self):
app = Application(name="rm_isaac_bridge")
app.load(filename="packages/navsim/apps/navsim_tcp.subgraph.json", prefix="simulation")
if hasattr(self, 'arm'):
app = self.arm.connect_app(app)
if hasattr(self, 'camera'):
app = self.camera.connect_app(app)
if hasattr(self, 'effector'):
app = self.effector.connect_app(app)
self._app = app
def main(args):
app = Application(name="detect_net_inference")
# Load subgraph and get interface node
app.load("packages/detect_net/apps/detect_net_inference.subgraph.json",
prefix="detect_net_inference")
detect_net_inferface = app.nodes["detect_net_inference.subgraph"]\
.components["interface"]
# Load configuration
app.load(args.config)
# Configure detection model
detection_model = app.nodes["detect_net_inference.tensor_r_t_inference"]\
.components["isaac.ml.TensorRTInference"]
if args.detection_model_file_path is not None:
detection_model.config.model_file_path = args.detection_model_file_path
if args.etlt_password is not None:
detection_model.config.etlt_password = args.etlt_password
# Configure detection decoder
decoder = app.nodes["detect_net_inference.detection_decoder"]\
.components["isaac.detect_net.DetectNetDecoder"]
decoder.config.output_scale = [args.rows, args.cols]
if args.confidence_threshold is not None:
decoder.config.confidence_threshold = args.confidence_threshold
if args.nms_threshold is not None:
decoder.config.non_maximum_suppression_threshold = args.nms_threshold
if args.mode == 'cask':
# Load replay subgraph and configure interface node
app.load("packages/record_replay/apps/replay.subgraph.json",
prefix="replay")
replay_interface = app.nodes["replay.interface"].components["output"]
replay_interface.config.cask_directory = args.cask_directory
# Connect the output of the replay subgraph to the detection subgraph
app.connect(replay_interface, "color", detect_net_inferface, "image")
elif args.mode == 'sim':
# Load simulation subgraph and get interface node
app.load("packages/navsim/apps/navsim_training.subgraph.json",\
prefix="simulation")
simulation_interface = app.nodes["simulation.interface"].components[
"output"]
# Connect the output of the simulation with user-specified channel to the detection subgraph
app.connect(simulation_interface, args.image_channel,
detect_net_inferface, "image")
elif args.mode == 'realsense':
app.load_module('realsense')
# Create and configure realsense camera codelet
camera = app.add("camera").add(app.registry.isaac.RealsenseCamera)
camera.config.rows = args.rows
camera.config.cols = args.cols
camera.config.color_framerate = args.fps
camera.config.depth_framerate = args.fps
camera.config.enable_ir_stereo = False
# Connect the output of the camera node to the detection subgraph
app.connect(camera, "color", detect_net_inferface, "image")
elif args.mode == 'v4l':
app.load_module('sensors:v4l2_camera')
# Create and configure V4L camera codelet
camera = app.add("camera").add(app.registry.isaac.V4L2Camera)
camera.config.device_id = 0
camera.config.rows = args.rows
camera.config.cols = args.cols
camera.config.rate_hz = args.fps
# Connect the output of the camera node to the detection subgraph
app.connect(camera, "frame", detect_net_inferface, "image")
elif args.mode == 'image':
app.load_module('message_generators')
# Create feeder node
feeder = app.add("feeder").add(
app.registry.isaac.message_generators.ImageLoader)
feeder.config.color_glob_pattern = args.image_directory
feeder.config.tick_period = "1Hz"
feeder.config.focal_length = [args.focal_length, args.focal_length]
feeder.config.optical_center = [
args.optical_center_rows, args.optical_center_cols
]
feeder.config.distortion_coefficients = [0.01, 0.01, 0.01, 0.01, 0.01]
# Connect the output of the image feeder node to the detection subgraph
app.connect(feeder, "color", detect_net_inferface, "image")
else:
raise ValueError('Not supported mode {}'.format(args.mode))
app.run()
Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
'''
from engine.pyalice import Application
import argparse
import random
import sys
DEMOS = ["demo_1", "demo_2", "demo_3", "demo_4"]
if __name__ == '__main__':
parser = argparse.ArgumentParser(
description='flatsim is a flat-world simulator for navigation')
parser.add_argument('--demo',
dest='demo',
help='The scenario which will be used for flatsim')
args, _ = parser.parse_known_args()
demo = args.demo if args.demo is not None else random.choice(DEMOS)
app = Application(name="flatsim")
app.load("packages/flatsim/apps/flatsim.subgraph.json", prefix="flatsim")
app.load("packages/flatsim/apps/{}.json".format(demo))
app.run()
app.registry.isaac.utils.ColorCameraProtoSplitter)
splitter_left.config.only_pinhole = False
splitter_right = app.add('camera_splitter_right').add(
app.registry.isaac.utils.ColorCameraProtoSplitter)
splitter_right.config.only_pinhole = False
tracker = app.add('tracker').add(app.registry.isaac.StereoVisualOdometry)
tracker.config.horizontal_stereo_camera = True
tracker.config.process_imu_readings = False
tracker.config.lhs_camera_frame = "left_ir_camera"
tracker.config.rhs_camera_frame = "right_ir_camera"
viewer = app.add('viewers').add(
app.registry.isaac.viewers.ColorCameraViewer)
viewer.config.reduce_scale = 2
app.connect(camera, "left_ir", splitter_left, "color_camera")
app.connect(splitter_left, "image", tracker, "left_image")
app.connect(splitter_left, "intrinsics", tracker, "left_intrinsics")
app.connect(camera, "right_ir", splitter_right, "color_camera")
app.connect(splitter_right, "image", tracker, "right_image")
app.connect(splitter_right, "intrinsics", tracker, "right_intrinsics")
app.connect(camera, "left_ir", viewer, "color_listener")
app.load("apps/samples/stereo_vo/svo_realsense.config.json")
app.run()
help=
"The ip address or hostname of the host to connect to and receive missions from",
default="localhost")
parser.add_argument("--mission_port",
help="The TCP port to connect to the mission server",
type=int,
default=9998)
args = parser.parse_args()
# Create and start the app
more_jsons = args.map_json
more_jsons += ",packages/navsim/robots/str4.json"
app = Application(
app_filename="packages/cart_delivery/apps/cart_delivery.app.json",
more_jsons=more_jsons)
app.load("packages/cart_delivery/apps/navigation.config.json",
prefix=args.demo_subgraph_name)
app.load(
"packages/cart_delivery/apps/detection_pose_estimation.config.json",
prefix=args.demo_subgraph_name)
if args.pose2_planner:
app.load("packages/cart_delivery/apps/pose2_planner.config.json",
prefix=args.demo_subgraph_name)
if args.mission_robot_name:
# Load the mission subgraph and set the config based on the input parameters
app.load("packages/behavior_tree/apps/missions.graph.json")
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"host"] = args.mission_host
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"port"] = args.mission_port
app.nodes["mission_control"].components["NodeGroup"].config["node_names"] = \
[args.demo_subgraph_name + ".sequence_behavior"]
parser.add_argument("--mission_port",
help="The TCP port to connect to the mission server",
type=int,
default=9998)
args = parser.parse_args()
# Create and start the app
more_jsons = args.map_json + "," + args.robot_json
if args.more:
more_jsons += "," + args.more
app_path = "apps/navsim/navsim_navigate.app.json"
app = Application(app_filename=app_path, more_jsons=more_jsons)
if args.mission_robot_name:
# Load the mission subgraph and set the config based on the input parameters
app.load("packages/behavior_tree/apps/missions.graph.json")
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"host"] = args.mission_host
app.nodes["tcp_client"].components["JsonTcpClient"].config[
"port"] = args.mission_port
app.nodes["mission_control"].components["NodeGroup"].config["node_names"] = \
["goals.goal_behavior"]
app.nodes["robot_name"].components["JsonMockup"].config["json_mock"] = \
{"text":args.mission_robot_name}
run_on_start = app.nodes["goals.run_on_start"]
# Change the start behavior to the mission behavior
nodes = run_on_start.components["NodeGroup"].config["node_names"]
run_on_start.components["NodeGroup"].config["node_names"] = nodes + [
"mission_control"
]
run_on_start.components["SwitchBehavior"].config[
splitter_right.config.only_pinhole = False
tracker = app.add('tracker').add(app.registry.isaac.StereoVisualOdometry)
tracker.config.horizontal_stereo_camera = True
tracker.config.process_imu_readings = args.imu
tracker.config.lhs_camera_frame = "zed_left_camera"
tracker.config.rhs_camera_frame = "zed_right_camera"
tracker.config.imu_frame = "zed_imu"
if (args.imu):
camera_imu_reader = app.nodes['camera'].add(app.registry.isaac.zed.ZedImuReader)
camera_imu_reader.config.tick_period = "300Hz"
app.connect(camera_imu_reader, "imu_raw", tracker, "imu")
viewer = app.add('viewers').add(app.registry.isaac.viewers.ColorCameraViewer)
viewer.config.reduce_scale = 2
app.connect(camera, "left_camera_gray", splitter_left, "color_camera")
app.connect(splitter_left, "image", tracker, "left_image")
app.connect(splitter_left, "intrinsics", tracker, "left_intrinsics")
app.connect(camera, "right_camera_gray", splitter_right, "color_camera")
app.connect(splitter_right, "image", tracker, "right_image")
app.connect(splitter_right, "intrinsics", tracker, "right_intrinsics")
app.connect(camera, "left_camera_gray", viewer, "color_listener")
app.load("apps/samples/stereo_vo/svo_zed.config.json")
app.run()
kinematic_file = "apps/assets/kinematic_trees/ur10.kinematic.json"
joints = []
with open(kinematic_file, 'r') as fd:
kt = json.load(fd)
for link in kt['links']:
if 'motor' in link and link['motor']['type'] != 'constant':
joints.append(link['name'])
# create composite atlas
create_composite_atlas(args.cask, joints)
# Create and start the app
app = Application(name="Shuffle Box Hardware")
# load bebavior subgraph. this contains the sequency behavior to move the arm between
# waypoints and control suction on/off
app.load("apps/samples/manipulation/shuffle_box_behavior.subgraph.json", prefix="behavior")
behavior_interface = app.nodes["behavior.interface"]["subgraph"]
app.nodes["behavior.atlas"]["CompositeAtlas"].config.cask = args.cask
app.load("packages/planner/apps/multi_joint_lqr_control.subgraph.json", prefix="lqr")
# load multi joint lqr control subgraph
lqr_interface = app.nodes["lqr.subgraph"]["interface"]
kinematic_tree = app.nodes["lqr.kinematic_tree"]["KinematicTree"]
lqr_planner = app.nodes["lqr.local_plan"]["MultiJointLqrPlanner"]
app.connect(behavior_interface, "joint_target", lqr_interface, "joint_target")
kinematic_tree.config.kinematic_file = kinematic_file
lqr_planner.config.speed_min = [-1.0] * len(joints)
lqr_planner.config.speed_max = [1.0] * len(joints)
lqr_planner.config.acceleration_min = [-1.0] * len(joints)
lqr_planner.config.acceleration_max = [1.0] * len(joints)
args.arm)
joints = []
with open(kinematic_file, 'r') as fd:
kt = json.load(fd)
for link in kt['links']:
if 'motor' in link and link['motor']['type'] != 'constant':
joints.append(link['name'])
# create composite atlas
create_composite_atlas(args.cask, args.arm, joints)
# Create and start the app
app = Application(name="Shuffle Box")
# load bebavior subgraph. this contains the sequency behavior to move the arm between
# waypoints and control suction on/off
app.load("apps/samples/manipulation/shuffle_box_behavior.subgraph.json",
prefix="behavior")
behavior_interface = app.nodes["behavior.interface"]["subgraph"]
app.nodes["behavior.atlas"]["CompositeAtlas"].config.cask = args.cask
app.load("packages/planner/apps/multi_joint_lqr_control.subgraph.json",
prefix="lqr")
# load multi joint lqr control subgraph
lqr_interface = app.nodes["lqr.subgraph"]["interface"]
kinematic_tree = app.nodes["lqr.kinematic_tree"]["KinematicTree"]
lqr_planner = app.nodes["lqr.local_plan"]["MultiJointLqrPlanner"]
app.connect(behavior_interface, "joint_target", lqr_interface,
"joint_target")
kinematic_tree.config.kinematic_file = kinematic_file
lqr_planner.config.speed_min = [-1.5] + [-1.0] * (len(joints) - 1)
lqr_planner.config.speed_max = [1.5] + [1.0] * (len(joints) - 1)
lqr_planner.config.acceleration_min = [-1.5] + [-1.0] * (len(joints) - 1)
[int(arg) for arg in args.resolution.split('x')])
camera.config.color_framerate = args.framerate
camera_out_channel = "color"
elif args.camera == "v4l2":
camera = app.add('input_images').add(app.registry.isaac.V4L2Camera)
if args.device_id == None:
raise ValueError('Could not set None. Please provide device id')
camera.config.device_id = args.device_id
camera.config.cols, camera.config.rows = tuple(
[int(arg) for arg in args.resolution.split('x')])
camera.config.rate_hz = args.framerate
camera_out_channel = "frame"
else:
raise ValueError('Not supported Camera type {}'.format(args.camera))
# Setup april tag node
tags_detection = app.add('april_tags_detection').add(
app.registry.isaac.perception.AprilTagsDetection)
tags_detection.config.max_tags = 50
fiducials_viewer = app.nodes['april_tags_detection'].add(
app.registry.isaac.viewers.FiducialsViewer)
# Setup viewer node
viewer = app.add('image_viewers').add(app.registry.isaac.viewers.ColorCameraViewer)
# Connect message channels
app.connect(camera, camera_out_channel, tags_detection, "image")
app.connect(tags_detection, "april_tags", fiducials_viewer, "fiducials")
app.connect(camera, camera_out_channel, viewer, "color_listener")
app.load("apps/samples/april_tags/april_tags_python.config.json")
app.run()
from engine.pyalice import Application
app = Application(name = "mybot")
app.load_module('message_generators')
app.load_module('viewers')
app.load('packages/navsim/apps/navsim_tcp.subgraph.json', 'simulation')
node_view = app.add("viewer")
component_view = node_view.add(app.registry.isaac.viewers.ColorCameraViewer, 'ColorCameraViewer')
node_view = app.add("depth_viewer")
node_view.add(app.registry.isaac.viewers.DepthCameraViewer, 'DepthCameraViewer')
app.connect('simulation.interface/output', 'color', 'viewer/ColorCameraViewer', 'color_listener')
app.connect('simulation.interface/output', 'depth', 'depth_viewer/DepthCameraViewer', 'depth_listener')
app.run()