def _getNode(self, op):
n = None
if self.myname in conf.cassandra_nodes:
n = cassandra.Cassandra(self.myname)
self._doOperation(n, op)
if self.myname in conf.swift_nodes:
n = swift.Swift(self.myname, True)
self._doOperation(n, op)
if self.myname in conf.proxy_nodes:
n = swift.Swift(self.myname, False)
self._doOperation(n, op)
if self.myname in conf.other_nodes:
n = other.Other(self.myname)
self._doOperation(n, op)
def storageBackend(script):
if len(script.args) <= 1:
logger.error(
"Storage backend must be specified, either 'swift', 's3', 'noop', or 'disk'"
)
sys.exit(1)
if script.args[1].lower() == "disk":
import disk
return disk.Disk(script.options.bucket, script.options.noop)
if script.args[1].lower() == "noop":
import noop
return noop.NoOP(script.options.bucket, script.options.noop)
if script.args[1].lower() == "s3":
import s3
if len(script.args) > 2:
region = script.args[2]
else:
region = "us-east-1"
return s3.S3(script.options.bucket, script.options.sse_c_key, region,
script.options.noop)
if script.args[1].lower() == "swift":
import swift
return swift.Swift(script.options.bucket, script.options.noop)
logger.error(
"Invalid storage backend, must be 'swift', 's3', 'noop', or 'disk'")
sys.exit(1)
def storageBackend(script):
if len(script.args) <= 1:
logger.error("Storage backend must be specified, either 'swift' or 's3'")
sys.exit(1)
if script.args[1].lower() == "noop":
import noop
return noop.NoOP(script.options.bucket, script.options.noop)
if script.args[1].lower() == "s3":
import s3
return s3.S3(script.options.bucket,
script.options.keyprefix,
script.options.noop)
if script.args[1].lower() == "swift":
import swift
return swift.Swift(script.options.bucket, script.options.noop)
logger.error("Invalid storage backend, must be 'swift', 's3', or 'noop'")
sys.exit(1)
def storageBackend(script):
if len(script.args) <= 1:
logger.error(
"Storage backend must be specified, either: disk, gcs, noop, s3, or swift"
)
sys.exit(1)
if script.args[1].lower() == "disk":
import disk
return disk.Disk(script.options.bucket, script.options.noop)
if script.args[1].lower() == "noop":
import noop
return noop.NoOP(script.options.bucket, script.options.noop)
if script.args[1].lower() == "s3":
import s3
s3args = {"region": "us-east-1"}
for i in script.args[2:]:
fields = i.split("=")
if len(fields) > 1:
gcsargs[fields[0]] = fields[1]
else:
gcsargs["region"] = fields[0]
return s3.S3(script.options.bucket, s3args["region"],
script.options.noop)
if script.args[1].lower() == "swift":
import swift
return swift.Swift(script.options.bucket, script.options.noop)
if script.args[1].lower() == "gcs":
import gcs
gcsargs = {"project": "", "region": "us"}
for i in script.args[2:]:
fields = i.split("=")
if len(fields) > 1:
gcsargs[fields[0]] = fields[1]
else:
gcsargs["region"] = fields[0]
return gcs.GCS(script.options.bucket, gcsargs["project"],
gcsargs["region"], script.options.noop)
logger.error(
"Invalid storage backend, must be: disk, gcs, noop, s3, or swift")
sys.exit(1)
T = robot.fkine(robot.qz)
print(T)
# IK
T = SE3(0.7, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
sol = robot.ikine_LMS(T) # solve IK, ignore additional outputs
print(sol.q) # display joint angles
# FK shows that desired end-effector pose was achieved
print(robot.fkine(sol.q))
qtraj = rtb.jtraj(robot.qz, sol.q, 50)
robot.plot(qtraj.q, movie="panda1.gif")
# URDF + Swift version
dt = 0.050 # simulation timestep in seconds
robot = rtb.models.URDF.Panda()
print(robot)
env = swift.Swift() # instantiate 3D browser-based visualizer
env.launch("chrome") # activate it
env.add(robot) # add robot to the 3D scene
env.start_recording("panda2", 1 / dt)
for qk in qtraj.q: # for each joint configuration on trajectory
robot.q = qk # update the robot state
env.step() # update visualization
env.stop_recording()
# ffmpeg -i panda2.webm -vf "scale=iw*.5:ih*.5" panda2.gif
@author Jesse Haviland
"""
import swift
from math import pi
import roboticstoolbox as rtb
from spatialgeometry import Mesh
from spatialmath import SO3, SE3
import numpy as np
# TODO
# rotate the rings according to the rotation axis, so that the axles
# point the right way
# Launch the simulator Swift
env = swift.Swift()
env.launch()
path = rtb.path_to_datafile('data')
g1 = Mesh(filename=str(path / 'gimbal-ring1.stl'),
color=[34, 143, 201],
scale=(1. / 3, ) * 3)
g2 = Mesh(filename=str(path / 'gimbal-ring2.stl'),
color=[31, 184, 72],
scale=(1.1 / 3, ) * 3)
g3 = Mesh(filename=str(path / 'gimbal-ring3.stl'),
color=[240, 103, 103],
scale=(1.1**2 / 3, ) * 3)
