示例#1
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    parser.add_argument('-p',
                        '--perception-sim',
                        action='store_true',
                        help='simulate perception')
    parser.add_argument('--debug',
                        action='store_true',
                        help='enable debug logging')
    args = parser.parse_args()

    openravepy.RaveInitialize(True)
    openravepy.misc.InitOpenRAVELogging()

    if args.debug:
        openravepy.RaveSetDebugLevel(openravepy.DebugLevel.Debug)

    wampy_args = {
        'sim': args.sim,
        'attach_viewer': args.viewer,
        'robot_xml': args.robot_xml,
        'env_path': args.env_xml,
        'segway_sim': args.segway_sim,
        'perception_sim': args.perception_sim
    }
    if args.sim and not args.segway_sim:
        wampy_args['segway_sim'] = args.sim

    env, robot = wampy.initialize(**wampy_args)

    import IPython
    IPython.embed()
示例#2
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import os
import sys  # exit()
import openravepy
import prpy
import prpy.planning
import wampy
import roslib
import rospy
import numpy
from tf import transformations  # rotation_matrix(), concatenate_matrices()

# Initialize OpenRAVE robot of type wampy.wamrobot.WAMRobot:
#env, robot = wampy.initialize(sim=True, attach_viewer=True)
#env, robot = wampy.initialize(sim=True, attach_viewer='qtcoin')
env, robot = wampy.initialize(sim=True, attach_viewer='rviz')
#env, robot = wampy.initialize(robot_xml=robot_file, sim=True,
#                              attach_viewer='interactivemarker

manipulator = robot.GetManipulator('arm')

# Set 7 DOF of the arm active
robot.SetActiveDOFs(manipulator.GetArmIndices())
robot.SetActiveManipulator(manipulator)

# Find the pr_ordata package, which contains some object models
from catkin.find_in_workspaces import find_in_workspaces
package_name = 'pr_ordata'
directory = 'data/objects'
objects_path = find_in_workspaces(search_dirs=['share'],
                                  project=package_name,
示例#3
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import os
import sys # exit()
import openravepy
import prpy
import prpy.planning
import wampy
import roslib
import rospy
import numpy
from tf import transformations # rotation_matrix(), concatenate_matrices()

# Initialize OpenRAVE robot of type wampy.wamrobot.WAMRobot:
#env, robot = wampy.initialize(sim=True, attach_viewer=True)
#env, robot = wampy.initialize(sim=True, attach_viewer='qtcoin')
env, robot = wampy.initialize(sim=True, attach_viewer='rviz')
#env, robot = wampy.initialize(robot_xml=robot_file, sim=True,
#                              attach_viewer='interactivemarker

manipulator = robot.GetManipulator('arm')

# Set 7 DOF of the arm active
robot.SetActiveDOFs( manipulator.GetArmIndices() )
robot.SetActiveManipulator( manipulator )

# Find the pr_ordata package, which contains some object models
from catkin.find_in_workspaces import find_in_workspaces
package_name = 'pr_ordata'
directory = 'data/objects'
objects_path = find_in_workspaces(
    search_dirs=['share'],
示例#4
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                        help='robot XML file; defaults to WAM robot')
    parser.add_argument('--env-xml', type=str,
                        help='environment XML file; defaults to an empty environment')
    parser.add_argument('-b', '--segway-sim', action='store_true',
                        help='simulate base')
    parser.add_argument('-p', '--perception-sim', action='store_true',
                        help='simulate perception')
    parser.add_argument('--debug', action='store_true',
                        help='enable debug logging')
    args = parser.parse_args()

    openravepy.RaveInitialize(True)
    openravepy.misc.InitOpenRAVELogging()

    if args.debug:
        openravepy.RaveSetDebugLevel(openravepy.DebugLevel.Debug)

    wampy_args = {'sim':args.sim,
                   'attach_viewer':args.viewer,
                   'robot_xml':args.robot_xml,
                   'env_path':args.env_xml,
                   'segway_sim':args.segway_sim,
                   'perception_sim': args.perception_sim}
    if args.sim and not args.segway_sim:
        wampy_args['segway_sim'] = args.sim
    
    env, robot = wampy.initialize(**wampy_args)

    import IPython
    IPython.embed()
示例#5
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    project=package_name,
    path=directory,
    first_match_only=True)
if len(robots_path) == 0:
    print('Can\'t find directory %s/%s' % (package_name, directory))
    sys.exit()
else:
    robots_path = robots_path[0]

# Use robot model of the Barett WAM arm
robot_file = os.path.join(robots_path, 'barrettwam.robot.xml')

# Initialize OpenRAVE robot of type wampy.wamrobot.WAMRobot:
#env, robot = wampy.initialize(sim=True, attach_viewer=True)
#env, robot = wampy.initialize(sim=True, attach_viewer='qtcoin')
env, robot = wampy.initialize(robot_xml=robot_file, sim=True,
                              attach_viewer='rviz')
#env, robot = wampy.initialize(robot_xml=robot_file, sim=True,
#                              attach_viewer='interactivemarker

manipulator = robot.GetManipulator('arm')

# Set 7 DOF of the arm active
robot.SetActiveDOFs( manipulator.GetArmIndices() )
robot.SetActiveManipulator( manipulator )

# By default, the base is not at the world origin
# so we move the robot to the origin
trans = numpy.array([[1., 0., 0., 0.0],
                     [0., 1., 0., 0.0],
                     [0., 0., 1., 0.0],
                     [0., 0., 0., 1.]])