void SetUp() {
RAVELOG_DEBUG("SetUp\n");
RobotBasePtr robot = GetRobot(*env);
robot->SetDOFValues(DblVec(robot->GetDOF(), 0));
Transform I; I.identity();
robot->SetTransform(I);
}
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));
}
}
}
void GetTaskTime(EnvironmentBasePtr _penv, std::vector<dReal> &vsolutionA, std::vector<dReal> &vsolutionB, TrajectoryBasePtr ptraj){
//thread::id get_id();
std::cout << "this thread ::" << boost::this_thread::get_id() << std::endl;
PlannerBasePtr planner = RaveCreatePlanner(_penv,"birrt");
//std::vector<dReal> vinitialconfig,vgoalconfig;
ptraj = RaveCreateTrajectory(_penv,"");
PlannerBase::PlannerParametersPtr params(new PlannerBase::PlannerParameters());
RobotBasePtr probot = _penv->GetRobot(robotname);
params->_nMaxIterations = 4000; // max iterations before failure
GraphHandlePtr pgraph;
{
EnvironmentMutex::scoped_lock lock(_penv->GetMutex()); // lock environment
params->SetRobotActiveJoints(probot); // set planning configuration space to current active dofs
//initial config
probot->SetActiveDOFValues(vsolutionA);
params->vinitialconfig.resize(probot->GetActiveDOF());
probot->GetActiveDOFValues(params->vinitialconfig);
//goal config
probot->SetActiveDOFValues(vsolutionB);
params->vgoalconfig.resize(probot->GetActiveDOF());
probot->GetActiveDOFValues(params->vgoalconfig);
//setting limits
vector<dReal> vlower,vupper;
probot->GetActiveDOFLimits(vlower,vupper);
//RAVELOG_INFO("starting to plan\n");
if( !planner->InitPlan(probot,params) ) {
//return ptraj;
}
// create a new output trajectory
if( !planner->PlanPath(ptraj) ) {
RAVELOG_WARN("plan failed \n");
//return NULL;
}
}
////RAVELOG_INFO(ss.str());
if (!! ptraj){
//std::cout << ptraj->GetDuration() << std::endl;
writeTrajectory(ptraj);
}
std::cout << "this thread ::" << boost::this_thread::get_id() << " has completed its work" << std::endl;
mtx__.lock();
completed_thread = boost::this_thread::get_id();
mtx__.unlock();
//return ptraj;
}
virtual bool isValid(const ob::State *state) const {
if (si_->satisfiesBounds(state) == false)
return false;
RobotBasePtr probot;
probot = si_->getStateSpace()->as<SuperBotStateSpace>()->_probot;
const ob::CompoundStateSpace::StateType *s =
state->as<ob::CompoundStateSpace::StateType>();
const double* q = s->as<ob::RealVectorStateSpace::StateType>(0)->values;
const double* qd = s->as<ob::RealVectorStateSpace::StateType>(1)->values;
std::vector<double> jointvalues;
for (int i = 0; i < int(probot->GetActiveDOF()); i++)
jointvalues.push_back(q[i]);
for (int i = int(probot->GetActiveDOF()); i < int(probot->GetDOF()); i++)
jointvalues.push_back(0.0);
{
EnvironmentMutex::scoped_lock lock(probot->GetEnv()->GetMutex());
probot->SetDOFValues(jointvalues, CLA_NOTHING);
if (probot->CheckSelfCollision())
return false;
if (probot->GetEnv()->CheckCollision(probot))
return false;
else
return true;
}
}
DensoControlSpace::DensoControlSpace(RobotBasePtr probot) :
oc::RealVectorControlSpace(ob::StateSpacePtr(new DensoStateSpace(probot)),
probot->GetActiveDOF()),
_probot(probot)
{
unsigned int ndof = _probot->GetActiveDOF();
if (_controlViaAcceleration)
{
std::vector<double> qddBounds;
_probot->GetDOFAccelerationLimits(qddBounds);
for (unsigned int i = 0; i < ndof; i++)
{
bounds_.setLow(i, -qddBounds[i]);
bounds_.setHigh(i, qddBounds[i]);
}
}
else
{
std::vector<double> qdBounds;
_probot->GetDOFVelocityLimits(qdBounds);
for (unsigned int i = 0; i < ndof; i++)
{
bounds_.setLow(i, -qdBounds[i]);
bounds_.setHigh(i, qdBounds[i]);
}
}
}
void ReadFile(RobotBasePtr& probot, const std::string& filename, const AttributesList& atts)
{
std::ifstream f(filename.c_str());
if( !f ) {
throw OPENRAVE_EXCEPTION_FORMAT("failed to read %s filename",filename,ORE_InvalidArguments);
}
f.seekg(0,ios::end);
std::vector<char> filedata(static_cast<size_t>(f.tellg())+1, 0); // need a null-terminator
f.seekg(0,ios::beg);
f.read(&filedata[0], filedata.size());
Read(probot,filedata,atts);
probot->__struri = filename;
#if defined(HAVE_BOOST_FILESYSTEM) && BOOST_VERSION >= 103600 // stem() was introduced in 1.36
boost::filesystem::path bfpath(filename);
#if defined(BOOST_FILESYSTEM_VERSION) && BOOST_FILESYSTEM_VERSION >= 3
probot->SetName(utils::ConvertToOpenRAVEName(bfpath.stem().string()));
#else
probot->SetName(utils::ConvertToOpenRAVEName(bfpath.stem()));
#endif
#endif
}
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();
}
void Read(RobotBasePtr& probot, const std::vector<char>& data,const AttributesList& atts)
{
_ProcessAtts(atts);
if( !probot ) {
probot = RaveCreateRobot(_penv,_bodytype);
}
probot->SetName(_bodyname);
Assimp::XFileParserOpenRAVE parser(data);
_Read(probot,parser.GetImportedData());
if( probot->GetName().size() == 0 ) {
probot->SetName("robot");
}
// add manipulators
FOREACH(itmanip,_listendeffectors) {
RobotBase::ManipulatorInfo manipinfo;
manipinfo._name = itmanip->first->_info._name;
manipinfo._sEffectorLinkName = itmanip->first->GetName();
manipinfo._sBaseLinkName = probot->GetLinks().at(0)->GetName();
manipinfo._tLocalTool = itmanip->second;
manipinfo._vdirection=Vector(1,0,0);
probot->_vecManipulators.push_back(RobotBase::ManipulatorPtr(new RobotBase::Manipulator(probot,manipinfo)));
}
virtual void demothread(int argc, char ** argv) {
string scenefilename = "data/lab1.env.xml";
penv->Load(scenefilename);
vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
RobotBasePtr probot = vrobots.at(0);
std::vector<dReal> q;
while(IsOk()) {
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
TrajectoryBasePtr traj = RaveCreateTrajectory(penv,"");
traj->Init(probot->GetActiveConfigurationSpecification());
probot->GetActiveDOFValues(q); // get current values
traj->Insert(0,q);
q[RaveRandomInt()%probot->GetDOF()] += 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->SetDOFValues(q);
if( penv->CheckCollision(RobotBaseConstPtr(probot)) ) {
continue; // robot in collision at final point, so reject
}
}
traj->Insert(1,q);
planningutils::SmoothActiveDOFTrajectory(traj,probot);
probot->GetController()->SetPath(traj);
// setting through the robot is also possible: probot->SetMotion(traj);
}
// 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(int argc, char ** argv)
{
if( argc < 3 ) {
RAVELOG_INFO("ikloader robot iktype\n");
return 1;
}
string robotname = argv[1];
string iktype = argv[2];
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
{
// lock the environment to prevent changes
EnvironmentMutex::scoped_lock lock(penv->GetMutex());
// load the scene
RobotBasePtr probot = penv->ReadRobotXMLFile(robotname);
if( !probot ) {
penv->Destroy();
return 2;
}
penv->Add(probot);
ModuleBasePtr pikfast = RaveCreateModule(penv,"ikfast");
penv->Add(pikfast,true,"");
stringstream ssin,ssout;
ssin << "LoadIKFastSolver " << probot->GetName() << " " << iktype;
// if necessary, add free inc for degrees of freedom
//ssin << " " << 0.04f;
// get the active manipulator
RobotBase::ManipulatorPtr pmanip = probot->GetActiveManipulator();
if( !pikfast->SendCommand(ssout,ssin) ) {
RAVELOG_ERROR("failed to load iksolver\n");
penv->Destroy();
return 1;
}
RAVELOG_INFO("testing random ik\n");
while(1) {
Transform trans;
trans.rot = quatFromAxisAngle(Vector(RaveRandomFloat()-0.5,RaveRandomFloat()-0.5,RaveRandomFloat()-0.5));
trans.trans = Vector(RaveRandomFloat()-0.5,RaveRandomFloat()-0.5,RaveRandomFloat()-0.5)*2;
vector<dReal> vsolution;
if( pmanip->FindIKSolution(IkParameterization(trans),vsolution,IKFO_CheckEnvCollisions) ) {
stringstream ss; ss << "solution is: ";
for(size_t i = 0; i < vsolution.size(); ++i) {
ss << vsolution[i] << " ";
}
ss << endl;
RAVELOG_INFO(ss.str());
}
else {
// could fail due to collisions, etc
}
}
}
RaveDestroy(); // destroy
return 0;
}
btTransform getKinectToWorld(RobotBasePtr robot) {
return util::toBtTransform(robot->GetLink("camera_rgb_optical_frame")->GetTransform());
}
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;
}
TEST(continuous_collisions, boxes) {
EnvironmentBasePtr env = RaveCreateEnvironment();
ASSERT_TRUE(env->Load(data_dir() + "/box.xml"));
ASSERT_TRUE(env->Load(data_dir() + "/boxbot.xml"));
KinBodyPtr box = env->GetKinBody("box");
RobotBasePtr boxbot = env->GetRobot("boxbot");
CollisionCheckerPtr checker = CreateCollisionChecker(env);
{
RobotAndDOFPtr rad(new RobotAndDOF(boxbot, IntVec(), DOF_X | DOF_Y, Vector()));
TrajArray traj(2,2);
traj << -1.9,0, 0,1.9;
vector<Collision> collisions;
checker->ContinuousCheckTrajectory(traj, rad, collisions);
ASSERT_EQ(collisions.size(), 1);
Collision col = collisions[0];
Vector robot_normal = (float)(col.linkA == boxbot->GetLinks()[0].get() ? 1. : -1.) * col.normalB2A;
EXPECT_VECTOR_NEAR(robot_normal, Vector(-1, 0, 0), 1e-4);
}
#define TRAJ_TEST_BOILERPLATE\
RobotAndDOFPtr rad(new RobotAndDOF(boxbot, IntVec(), DOF_X | DOF_Y, Vector()));\
vector<Collision> collisions;\
checker->CastVsAll(*rad, rad->GetRobot()->GetLinks(), toDblVec(traj.row(0)), toDblVec(traj.row(1)), collisions);\
ASSERT_EQ(collisions.size(), 1);\
Collision col = collisions[0];\
Vector robot_normal = (float)(col.linkA == boxbot->GetLinks()[0].get() ? 1. : -1.) * col.normalB2A;
{
TrajArray traj(2,2);
traj << -1.9,0, 0,1.9;
TRAJ_TEST_BOILERPLATE
EXPECT_VECTOR_NEAR(robot_normal, Vector(-1/sqrtf(2), 1/sqrtf(2), 0), 1e-4);
EXPECT_NEAR(col.time, .5, 1e-1);
}
{
TrajArray traj(2,2);
traj << 0, .9, 0,2;
TRAJ_TEST_BOILERPLATE
EXPECT_VECTOR_NEAR(robot_normal, Vector(0,1,0), 1e-4);
EXPECT_NEAR(col.time, 0, 1e-6);
}
{
TrajArray traj(2,2);
traj << 0,2, 0,.9;
TRAJ_TEST_BOILERPLATE
EXPECT_VECTOR_NEAR(robot_normal, Vector(0,1,0), 1e-4);
EXPECT_NEAR(col.time, 1, 1e-6);
}
{
RobotAndDOFPtr rad(new RobotAndDOF(boxbot, IntVec(), DOF_X | DOF_Y | DOF_Z, Vector()));
vector<Collision> collisions;
vector<DblVec> multi_joints;
multi_joints.push_back(toDblVec(Eigen::Vector3d(0,1.9,5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(-1.9,0,5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(0,-2,5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(2,0,5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(0,1.8,-5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(-1.9,0,-5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(0,-2,-5)));
multi_joints.push_back(toDblVec(Eigen::Vector3d(2,0,-5)));
checker->MultiCastVsAll(*rad, rad->GetRobot()->GetLinks(), multi_joints, collisions);
ASSERT_EQ(collisions.size(), 1);
Collision col = collisions[0];
Vector robot_normal = (float)(col.linkA == boxbot->GetLinks()[0].get() ? 1. : -1.) * col.normalB2A;
EXPECT_VECTOR_NEAR(robot_normal, Vector(1/sqrtf(2), -1/sqrtf(2), 0), 1e-4);
}
}
int main()
{
traj.clear();
unsigned int mainthreadsleft = numThreads;
// boost::shared_ptr<boost::thread> ( new boost::thread(boost::bind( &track_threads )));
Ta.trans = transA;
Ta.rot = quatA;
Tb.trans = transB;
Tb.rot = quatB;
std::string scenefilename = "scenes/test6dof.mujin.zae";
std::string viewername = "qtcoin";
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
Transform robot_t;
RaveVector< dReal > transR(c, d, 0);
robot_t.trans = transR;
//boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
penv->Load(scenefilename);
RobotBasePtr probot = penv->GetRobot("RV-4F");
//removing floor for collision checking
EnvironmentBasePtr pclondedenv = penv->CloneSelf(Clone_Bodies);
pclondedenv->Remove( pclondedenv->GetKinBody("floor"));
RobotBasePtr probot_clone = pclondedenv->GetRobot("RV-4F");
unsigned int tot = ((( abs(a) + abs(c) )/discretization_x )+1) * (((( abs(b) + abs(d) )/discretization_y )+1) * (( abs( z )/discretization_z )+1));
unsigned int tot_o = tot;
for (unsigned int i = 0 ; i <= (( abs(a) + abs(c) )/discretization_x );i++) {
for (unsigned int j = 0 ; j <= (( abs(b) + abs(d) )/discretization_y ); j++) {
for (unsigned int k = 0 ; k <= ( abs( z )/discretization_z ) ; k++) {
////std::cout << transR[0] << ";" << transR[1] << ";" << transR[2] << std::endl;
//boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
robot_t.trans = transR;
probot->SetTransform(robot_t);
probot_clone->SetTransform(robot_t);
if( pclondedenv->CheckCollision(RobotBaseConstPtr(probot_clone)) ){
//std::cout << "Robot in collision with the environment" << std::endl;
}
else {
do_task(Ta, Tb, penv,3);
}
tot -= 1;
std::cout << tot << "/" << tot_o << std::endl;
transR[2] = transR[2]+ discretization_z;
}
transR[2] = 0;
transR[1] = transR[1] + discretization_y;
robot_t.trans = transR;
}
transR[2] = 0;
transR[1] = c;
transR[0] = transR[0] + discretization_x;
robot_t.trans = transR;
}
//thviewer.join(); // wait for the viewer thread to exit
RaveDestroy(); // make sure to destroy the OpenRAVE runtime
penv->Destroy(); // destroy
return 0;
}
virtual void demothread(int argc, char ** argv) {
string scenefilename = "/home/yo/asibot/main/app/ravebot/models/asibot_kitchen_wheelchair.env.xml";
penv->Load(scenefilename);
vector<RobotBasePtr> vrobots;
penv->GetRobots(vrobots);
KinBodyPtr objPtr = penv->GetKinBody("asibot");
if(objPtr) {
if(vrobots.at(1)->Grab(objPtr)) printf("[success] object asibot exists and grabbed.\n");
else printf("[warning] object asibot exists but not grabbed.\n");
} else printf("[fail] object asibot does not exist.\n");
printf("begin wait\n");
sleep(5);
printf("end wait\n");
RobotBasePtr probot = vrobots.at(1);
vector<dReal> v(2);
/* vector<int> vindices(probot->GetDOF());
for(size_t i = 0; i < vindices.size(); ++i) {
vindices[i] = i;
}
probot->SetActiveDOFs(vindices);*/
vector<int> vindices; // send it empty instead
//probot->SetActiveDOFs(vindices,DOF_X|DOF_Y|DOF_RotationAxis,Vector(0,0,1));
probot->SetActiveDOFs(vindices,DOF_X|DOF_Y,Vector(0,0,1));
ModuleBasePtr pbasemanip = RaveCreateModule(penv,"basemanipulation"); // create the module
penv->Add(pbasemanip,true,probot->GetName()); // load the module
int iteracion = 0;
while(IsOk()) {
{
EnvironmentMutex::scoped_lock lock(penv->GetMutex()); // lock environment
// find a set of free joint values for the robot
{
RobotBase::RobotStateSaver saver(probot); // save the state
while(1) {
Transform T = probot->GetTransform();
if(iteracion%2) {
v[0] = T.trans.x;
v[1] = T.trans.y+1;
//v[2] = T.trans.z;
iteracion++;
} else {
v[0] = T.trans.x;
v[1] = T.trans.y-0.5;
//v[2] = T.trans.z;
iteracion++;
}
if(iteracion==5) vrobots.at(1)->Release(objPtr);
probot->SetActiveDOFValues(v);
if( !penv->CheckCollision(probot) && !probot->CheckSelfCollision() ) {
break;
}
}
// robot state is restored
}
stringstream cmdin,cmdout;
cmdin << "MoveActiveJoints maxiter 2000 maxtries 1 goal ";
for(size_t i = 0; i < v.size(); ++i) {
cmdin << v[i] << " ";
}
// start the planner and run the robot
RAVELOG_INFO("%s\n",cmdin.str().c_str());
if( !pbasemanip->SendCommand(cmdout,cmdin) ) {
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));
}
}
}
void initialize_robot(RobotBasePtr robot, const Vector2d& start) {
robot->SetDOFValues(toDblVec(start));
}
SuperBotSetup::SuperBotSetup(RobotBasePtr probot) : oc::SimpleSetup(oc::ControlSpacePtr(new SuperBotControlSpace(probot))) {
std::cout << "Planning for the first " << probot->GetActiveDOF() << " DOFs\n";
initialize(probot);
}
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;
}
