virtual void demothread(int argc, char ** argv) {
string scenefilename = "data/pa10grasp2.env.xml";
penv->Load(scenefilename);
vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
RobotBasePtr probot = vrobots.at(0);
// find a manipulator chain to move
for(size_t i = 0; i < probot->GetManipulators().size(); ++i) {
if( probot->GetManipulators()[i]->GetName().find("arm") != string::npos ) {
probot->SetActiveManipulator(probot->GetManipulators()[i]);
break;
}
}
RobotBase::ManipulatorPtr pmanip = probot->GetActiveManipulator();
// load inverse kinematics using ikfast
ModuleBasePtr pikfast = RaveCreateModule(penv,"ikfast");
penv->Add(pikfast,true,"");
stringstream ssin,ssout;
vector<dReal> vsolution;
ssin << "LoadIKFastSolver " << probot->GetName() << " " << (int)IKP_Transform6D;
if( !pikfast->SendCommand(ssout,ssin) ) {
RAVELOG_ERROR("failed to load iksolver\n");
}
if( !pmanip->GetIkSolver()) {
throw OPENRAVE_EXCEPTION_FORMAT0("need ik solver",ORE_Assert);
}
ModuleBasePtr pbasemanip = RaveCreateModule(penv,"basemanipulation"); // create the module
penv->Add(pbasemanip,true,probot->GetName()); // load the module
while(IsOk()) {
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
// find a new manipulator position and feed that into the planner. If valid, robot will move to it safely.
Transform t = pmanip->GetEndEffectorTransform();
t.trans += Vector(RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f);
t.rot = quatMultiply(t.rot,quatFromAxisAngle(Vector(RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f,RaveRandomFloat()-0.5f)*0.2f));
ssin.str("");
ssin.clear();
ssin << "MoveToHandPosition pose " << t;
// start the planner and run the robot
RAVELOG_INFO("%s\n",ssin.str().c_str());
if( !pbasemanip->SendCommand(ssout,ssin) ) {
continue;
}
}
// unlock the environment and wait for the robot to finish
while(!probot->GetController()->IsDone() && IsOk()) {
boost::this_thread::sleep(boost::posix_time::milliseconds(1));
}
}
}
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();
}
