def initRobotState(self, robotSystem): from director import roboturdf robotStateModel, robotStateJointController = roboturdf.loadRobotModel( 'robot state model', robotSystem.view, urdfFile=robotSystem.directorConfig['urdfConfig']['robotState'], color=roboturdf.getRobotGrayColor(), colorMode=robotSystem.directorConfig['colorMode'], parent='sensors', visible=True) robotStateJointController.setPose('EST_ROBOT_STATE', robotStateJointController.getPose('q_nom')) roboturdf.startModelPublisherListener([(robotStateModel, robotStateJointController)]) robotStateJointController.addLCMUpdater('EST_ROBOT_STATE') return FieldContainer(robotStateModel=robotStateModel, robotStateJointController=robotStateJointController)
def initRobotState(self, robotSystem): from director import roboturdf from director import objectmodel as om robotStateModel, robotStateJointController = roboturdf.loadRobotModel( "robot state model", robotSystem.view, color=roboturdf.getRobotGrayColor(), colorMode=robotSystem.directorConfig["colorMode"], parent=om.getOrCreateContainer( "sensors", om.getOrCreateContainer(robotSystem.robotName)), visible=True, robotName=robotSystem.robotName, ) # robotStateJointController.setPose('EST_ROBOT_STATE', robotStateJointController.getPose('q_nom')) # roboturdf.startModelPublisherListener([(robotStateModel, robotStateJointController)]) return FieldContainer( robotStateModel=robotStateModel, robotStateJointController=robotStateJointController, )
from director.consoleapp import ConsoleApp from director import ioUtils from director import segmentation from director import segmentationroutines from director import applogic from director import visualization as vis from director 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) # Move robot to near to table: robotStateJointController.q [5] = math.radians(120) robotStateJointController.q[0] = -1.5 robotStateJointController.q[1] = 2 robotStateJointController.q[2] = 0.95 robotStateJointController.push() # load poly data dataDir = app.getTestingDataDirectory() polyData = ioUtils.readPolyData(os.path.join(dataDir, 'tabletop/table-and-bin-scene.vtp')) vis.showPolyData(polyData, 'pointcloud snapshot') #segmentation.segmentTableScene(polyData, [-1.58661389, 2.91242337, 0.79958105] )
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 = drcargs.getDirectorConfig() neckPitchJoint = 'neck_ay' colorMode = 'URDF Colors' if 'colorMode' in directorConfig: assert directorConfig['colorMode'] in ['URDF Colors', 'Solid Color', 'Textures'] colorMode = directorConfig['colorMode'] 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, colorMode=colorMode) 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.getRobotOrangeColor(), visible=False, colorMode=colorMode) teleopRobotModel, teleopJointController = roboturdf.loadRobotModel('teleop model', view, urdfFile=directorConfig['urdfConfig']['teleop'], parent='planning', color=roboturdf.getRobotBlueColor(), visible=False, colorMode=colorMode) 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() handFactory = roboturdf.HandFactory(robotStateModel) handModels = [] for side in ['left', 'right']: if side in handFactory.defaultHandTypes: handModels.append(handFactory.getLoader(side)) ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel, ikJointController, handModels) manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner) affordanceManager = affordancemanager.AffordanceObjectModelManager(view) affordanceitems.MeshAffordanceItem.getMeshManager().initLCM() affordanceitems.MeshAffordanceItem.getMeshManager().collection.sendEchoRequest() affordanceManager.collection.sendEchoRequest() segmentation.affordanceManager = affordanceManager plannerPub = plannerPublisher.PlannerPublisher(ikPlanner,affordanceManager,ikRobotModel) 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) viewBehaviors = None robotSystemArgs = dict(locals()) for arg in ['globalsDict', 'self']: del robotSystemArgs[arg] if globalsDict is not None: globalsDict.update(robotSystemArgs) robotSystem = FieldContainer(**robotSystemArgs) robotSystem.viewBehaviors = robotviewbehaviors.RobotViewBehaviors(view, robotSystem) return robotSystem
from director import applogic from director import visualization as vis from director 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) # Move robot to near to table: robotStateJointController.q[5] = math.radians(120) robotStateJointController.q[0] = -1.5 robotStateJointController.q[1] = 2 robotStateJointController.q[2] = 0.95 robotStateJointController.push() # load poly data dataDir = app.getTestingDataDirectory() polyData = ioUtils.readPolyData( os.path.join(dataDir, 'tabletop/table-and-bin-scene.vtp')) vis.showPolyData(polyData, 'pointcloud snapshot')
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 director import segmentation from director import segmentationroutines from director import applogic from director import visualization as vis from director 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()
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 = drcargs.getDirectorConfig() neckPitchJoint = 'neck_ay' colorMode = 'URDF Colors' if 'colorMode' in directorConfig: assert directorConfig['colorMode'] in [ 'URDF Colors', 'Solid Color', 'Textures' ] colorMode = directorConfig['colorMode'] 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, colorMode=colorMode) 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.getRobotOrangeColor(), visible=False, colorMode=colorMode) teleopRobotModel, teleopJointController = roboturdf.loadRobotModel( 'teleop model', view, urdfFile=directorConfig['urdfConfig']['teleop'], parent='planning', color=roboturdf.getRobotBlueColor(), visible=False, colorMode=colorMode) 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() handFactory = roboturdf.HandFactory(robotStateModel) handModels = [] for side in ['left', 'right']: if side in handFactory.defaultHandTypes: handModels.append(handFactory.getLoader(side)) ikPlanner = ikplanner.IKPlanner(ikServer, ikRobotModel, ikJointController, handModels) manipPlanner = robotplanlistener.ManipulationPlanDriver(ikPlanner) affordanceManager = affordancemanager.AffordanceObjectModelManager( view) affordanceitems.MeshAffordanceItem.getMeshManager().initLCM() affordanceitems.MeshAffordanceItem.getMeshManager( ).collection.sendEchoRequest() affordanceManager.collection.sendEchoRequest() segmentation.affordanceManager = affordanceManager plannerPub = plannerPublisher.PlannerPublisher( ikPlanner, affordanceManager, ikRobotModel) 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) viewBehaviors = None robotSystemArgs = dict(locals()) for arg in ['globalsDict', 'self']: del robotSystemArgs[arg] if globalsDict is not None: globalsDict.update(robotSystemArgs) robotSystem = FieldContainer(**robotSystemArgs) robotSystem.viewBehaviors = robotviewbehaviors.RobotViewBehaviors( view, robotSystem) return robotSystem