int ORCEnvironmentGetRobots(void* env, void** robots)
{
EnvironmentBasePtr penv = GetEnvironment(env);
std::vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
if( !robots ) {
return static_cast<int>(vrobots.size());
}
for(size_t i = 0; i < vrobots.size(); ++i) {
robots[i] = new InterfaceBasePtr(vrobots[i]);
}
return vrobots.size();
}
int main() {
RaveInitialize(false, OpenRAVE::Level_Debug);
env = RaveCreateEnvironment();
env->StopSimulation();
// bool success = env->Load("data/pr2test2.env.xml");
{
bool success = env->Load("/home/joschu/Proj/drc/gfe.xml");
FAIL_IF_FALSE(success);
}
{
bool success = env->Load("/home/joschu/Proj/trajopt/data/test2.env.xml");
FAIL_IF_FALSE(success);
}
vector<RobotBasePtr> robots;
env->GetRobots(robots);
RobotBasePtr robot = robots[0];
vector<RobotBase::ManipulatorPtr> manips = robot->GetManipulators();
cc = CollisionChecker::GetOrCreate(*env);
viewer.reset(new OSGViewer(env));
env->AddViewer(viewer);
ManipulatorControl mc(manips[manips.size()-1], viewer);
DriveControl dc(robot, viewer);
StatePrinter sp(robot);
viewer->AddKeyCallback('a', boost::bind(&StatePrinter::PrintAll, &sp));
viewer->AddKeyCallback('q', &PlotCollisionGeometry);
viewer->AddKeyCallback('=', boost::bind(&AdjustTransparency, .05));
viewer->AddKeyCallback('-', boost::bind(&AdjustTransparency, -.05));
viewer->Idle();
env.reset();
viewer.reset();
RaveDestroy();
}
int main(int argc, char ** argv)
{
//int interval = 1000000000; // 1hz (1.0 sec)
//int interval = 500000000; // 2hz (0.5 sec)
//int interval = 10000000; // 100 hz (0.01 sec)
int interval = 40000000; // 25 hz (0.04 sec)
// At this point an explanation is necessary for the following arrays
//
// jointNames is the order makeTraj python code saves the joint values in plain text format
string jointNames[] = {"RHY", "RHR", "RHP", "RKP", "RAP", "RAR", "LHY", "LHR", "LHP", "LKP", "LAP", "LAR", "RSP", "RSR", "RSY", "REP", "RWY", "RWR", "RWP", "LSP", "LSR", "LSY", "LEP", "LWY", "LWR", "LWP", "NKY", "NK1", "NK2", "HPY", "rightThumbKnuckle1", "rightIndexKnuckle1", "rightMiddleKnuckle1", "rightRingKnuckle1", "rightPinkyKnuckle1", "leftThumbKnuckle1", "leftIndexKnuckle1", "leftMiddleKnuckle1", "leftRingKnuckle1", "leftPinkyKnuckle1"};
// openRAVE Joint Indices keeps the mapping between the order given above and hubo's joint index in openRAVE. (E.g. RHY's index in openRAVE is 1, RHR's is 3 and so on). A -1 means that the joint name does not exist in openRAVE but it exists on the real robot. (E.g. RWR)
int openRAVEJointIndices[] = {1, 3, 5, 7, 9, 11, 2, 4, 6, 8, 10, 12, 13, 15, 17, 19, 21, -1, 23, 14, 16, 18, 20, 22, -1, 24, -1, -1, -1, 0, 41, 29, 32, 35, 38, 56, 44, 47, 50, 53};
// hubo_ref Joint Indices keeps the mapping between openRAVE joint Indices and the order hubo-read-trajectory writes in ach channel. (E.g. RHY is the 26th element of H.ref[] array).
int hubo_refJointIndices[] = {26, 27, 28, 29, 30, 31, 19, 20, 21, 22, 23, 24, 11, 12, 13, 14, 15, 16, 17, 4, 5, 6, 7, 8, 9, 10, 1, 2, 3, 0, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41};
/* Joint Numbers/Index values */
string viewername = "qtcoin";
string scenefilename = "../../../openHubo/huboplus/";
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
int i = 1;
bool vflag = false; // verbose mode flag
bool Vflag = false; // extra verbose mode flag
bool cflag = false; // self colision flag
bool fflag = false; // ref vs. ref-filter channel flag
/* For Viewer */
if(argc <= i ){
printf("Loading Headless\n");
}
while(argc > i) {
if(strcmp(argv[i], "-g") == 0) {
//RaveSetDebugLevel(Level_Debug);
boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
}
else {
printf("Loading Headless\n");
}
if(strcmp(argv[i], "-v") == 0) {
vflag = true;
printf("Entering Verbose Mode");
}
else {
vflag = false;
}
if(strcmp(argv[i], "-V") == 0) {
Vflag = true;
printf("Entering Extra Verbose Mode");
}
if(strcmp(argv[i], "-f") == 0) {
fflag = true;
printf("listening to filtered channel.");
}
if(strcmp(argv[i], "-m") == 0) {
i++;
string hubomodel;
hubomodel = argv[i];
scenefilename.append(hubomodel);
scenefilename.append(".robot.xml");
cout<<"Loading model "<<scenefilename<<endl;
}
i++;
}
vector<dReal> vsetvalues;
// parse the command line options
// load the scene
if( !penv->Load(scenefilename) ) {
return 2;
}
// Wait until the robot model appears
usleep(1000000);
/* timing */
struct timespec t;
/* hubo ACH Channel */
struct hubo_ref H;
memset( &H, 0, sizeof(H));
int r;
if(fflag){
r = ach_open(&chan_num, HUBO_CHAN_REF_FILTER_NAME, NULL);
}
else{
r = ach_open(&chan_num, HUBO_CHAN_REF_NAME, NULL);
}
size_t fs;
/* read first set of data */
r = ach_get( &chan_num, &H, sizeof(H), &fs, NULL, ACH_O_LAST );
assert( sizeof(H) == fs );
int contactpoints = 0;
bool runflag = true;
while(runflag) {
{
// lock the environment to prevent data from changing
EnvironmentMutex::scoped_lock lock(penv->GetMutex());
//vector<KinBodyPtr> vbodies;
vector<RobotBasePtr> vbodies;
//penv->GetBodies(vbodies);
penv->GetRobots(vbodies);
// get the first body
if( vbodies.size() == 0 ) {
RAVELOG_ERROR("no bodies loaded\n");
return -3;
}
//KinBodyPtr pbody = vbodies.at(0);
RobotBasePtr pbody = vbodies.at(0);
vector<dReal> values;
pbody->GetDOFValues(values);
// set new values
for(int i = 0; i < (int)vsetvalues.size() && i < (int)values.size(); ++i) {
values[i] = vsetvalues[i];
}
pbody->Enable(true);
//pbody->SetVisible(true);
//CollisionReportPtr report(new CollisionReport());
//bool runflag = true;
//while(runflag) {
/* Wait until next shot */
clock_nanosleep(0,TIMER_ABSTIME,&t, NULL);
/* Get updated joint info here */
r = ach_get( &chan_num, &H, sizeof(H), &fs, NULL, ACH_O_LAST );
assert( sizeof(H) == fs );
/* set all joints from ach */
int len = (int)(sizeof(openRAVEJointIndices)/sizeof(openRAVEJointIndices[0]));
/* set all joints from ach */
for( int ii = 0; ii < (int)values.size() ; ii++ ) {
values[ii] = 0.0;
}
for( int ii = 0; ii < len; ii++){
if(openRAVEJointIndices[ii] != -1){
values[openRAVEJointIndices[ii]] = H.ref[hubo_refJointIndices[ii]];
}
}
// values[RSY] = -1.0;
// values[REB] = 1.0;
pbody->SetDOFValues(values,true);
// penv->GetCollisionChecker()->SetCollisionOptions(CO_Contacts);
// if( pbody->CheckSelfCollision(report) ) {
// cflag = true;
// if(vflag | Vflag){
// RAVELOG_INFO("body not in collision\n");
// }
// if(Vflag) {
// contactpoints = (int)report->contacts.size();
// stringstream ss;
// ss << "body in self-collision "
// << (!!report->plink1 ? report->plink1->GetName() : "") << ":"
// << (!!report->plink2 ? report->plink2->GetName() : "") << " at "
// << contactpoints << "contacts" << endl;
// for(int i = 0; i < contactpoints; ++i) {
// CollisionReport::CONTACT& c = report->contacts[i];
// ss << "contact" << i << ": pos=("
// << c.pos.x << ", " << c.pos.y << ", " << c.pos.z << "), norm=("
// << c.norm.x << ", " << c.norm.y << ", " << c.norm.z << ")" << endl;
// }
// RAVELOG_INFOA(ss.str());
// }
// }
// else {
// cflag = false;
// if(vflag | Vflag) {
// RAVELOG_INFO("body not in collision\n");
// }
// }
// get the transformations of all the links
vector<Transform> vlinktransforms;
pbody->GetLinkTransformations(vlinktransforms);
//boost::this_thread::sleep(boost::posix_time::milliseconds(2000));
// boost::this_thread::sleep(boost::posix_time::milliseconds(1));
t.tv_nsec+=interval;
tsnorm(&t);
// runflag = false;
//pbody->Enable(true);
//pbody->SetVisible(true);
usleep(10000);
pbody->SimulationStep(0.01);
penv->StepSimulation(0.01);
}
}
pause();
RaveDestroy(); // destroy
return contactpoints;
}
int main(int argc, char ** argv)
{
string scenefilename = "data/diffdrive_arm.env.xml";
string viewername = "qtcoin";
RaveInitialize(true);
EnvironmentBasePtr penv = RaveCreateEnvironment();
penv->SetDebugLevel(Level_Debug);
boost::thread thviewer(boost::bind(SetViewer,penv,viewername)); // create the viewer
usleep(400000); // wait for the viewer to init
penv->Load(scenefilename);
// attach a physics engine
penv->SetPhysicsEngine(RaveCreatePhysicsEngine(penv,"ode"));
penv->GetPhysicsEngine()->SetGravity(Vector(0,0,-9.8));
vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
RobotBasePtr probot = vrobots.at(0);
std::vector<dReal> q;
vector<int> wheelindices, restindices;
ControllerBasePtr wheelcontroller, armcontroller;
// create the controllers, make sure to lock environment!
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
MultiControllerPtr multi(new MultiController(penv));
vector<int> dofindices(probot->GetDOF());
for(int i = 0; i < probot->GetDOF(); ++i) {
dofindices[i] = i;
}
probot->SetController(multi,dofindices,1); // control everything
// set the velocity controller on all joints that have 'wheel' in their description
for(std::vector<KinBody::JointPtr>::const_iterator itjoint = probot->GetJoints().begin(); itjoint != probot->GetJoints().end(); ++itjoint) {
if( (*itjoint)->GetName().find("wheel") != string::npos ) {
for(int i = 0; i < (*itjoint)->GetDOF(); ++i) {
wheelindices.push_back((*itjoint)->GetDOFIndex()+i);
}
}
else {
for(int i = 0; i < (*itjoint)->GetDOF(); ++i) {
restindices.push_back((*itjoint)->GetDOFIndex()+i);
}
}
}
if(wheelindices.size() > 0 ) {
wheelcontroller = RaveCreateController(penv,"odevelocity");
multi->AttachController(wheelcontroller,wheelindices,0);
}
if( restindices.size() > 0 ) {
armcontroller = RaveCreateController(penv,"idealcontroller");
multi->AttachController(armcontroller,restindices,0);
}
else {
RAVELOG_WARN("robot needs to have wheels and arm for demo to work\n");
}
}
while(1) {
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
if( !!armcontroller ) {
// set a trajectory on the arm and velocity on the wheels
TrajectoryBasePtr traj = RaveCreateTrajectory(penv,"");
probot->SetActiveDOFs(restindices);
ConfigurationSpecification spec = probot->GetActiveConfigurationSpecification();
int timeoffset = spec.AddDeltaTime();
traj->Init(spec);
probot->GetActiveDOFValues(q); // get current values
vector<dReal> vdata(spec.GetDOF(),0);
std::copy(q.begin(),q.end(),vdata.begin());
traj->Insert(0,vdata);
for(int i = 0; i < 4; ++i) {
q.at(RaveRandomInt()%restindices.size()) += RaveRandomFloat()-0.5; // move a random axis
}
// check for collisions
{
RobotBase::RobotStateSaver saver(probot); // add a state saver so robot is not moved permenantly
probot->SetActiveDOFValues(q);
if( probot->CheckSelfCollision() ) { // don't check env collisions since we have physics enabled
continue; // robot in collision at final point, so reject
}
}
std::copy(q.begin(),q.end(),vdata.begin());
vdata.at(timeoffset) = 2; // trajectory takes 2s
traj->Insert(1,vdata);
planningutils::RetimeActiveDOFTrajectory(traj,probot,true);
armcontroller->SetPath(traj);
}
if( !!wheelcontroller ) {
stringstream sout,ss; ss << "setvelocity ";
for(size_t i = 0; i < wheelindices.size(); ++i) {
ss << 2*(RaveRandomFloat()-0.5) << " ";
}
if( !wheelcontroller->SendCommand(sout,ss) ) {
RAVELOG_WARN("failed to send velocity command\n");
}
}
}
// unlock the environment and wait for the arm controller to finish (wheel controller will never finish)
if( !armcontroller ) {
usleep(2000000);
}
else {
while(!armcontroller->IsDone()) {
usleep(1000);
}
}
}
thviewer.join(); // wait for the viewer thread to exit
penv->Destroy(); // destroy
return 0;
}
