OpenRAVE Documentation

Source code for openravepy.examples.tutorial_iklookat

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# Copyright (C) 2009-2011 Rosen Diankov (rosen.diankov@gmail.com)
# 
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#     http://www.apache.org/licenses/LICENSE-2.0
# 
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Shows how to use lookat inverse kinematics to maintain line of sight with a moving object.

.. examplepre-block:: tutorial_iklookat

.. examplepost-block:: tutorial_iklookat
"""
from __future__ import with_statement # for python 2.5
__author__ = 'Rosen Diankov'

import time
import openravepy
if not __openravepy_build_doc__:
    from openravepy import *
    from numpy import *

[docs]def main(env,options): "Main example code." env.Load(options.scene) robot = env.GetRobots()[0] robot.SetActiveManipulator(options.manipname) # generate the ik solver ikmodel = databases.inversekinematics.InverseKinematicsModel(robot, iktype=IkParameterization.Type.Lookat3D) if not ikmodel.load(): ikmodel.autogenerate() while True: with env: # move the robot in a random collision-free position and call the IK while True: target=ikmodel.manip.GetTransform()[0:3,3]+(random.rand(3)-0.5) solutions = ikmodel.manip.FindIKSolutions(IkParameterization(target,IkParameterization.Type.Lookat3D),IkFilterOptions.CheckEnvCollisions) if len(solutions) > 0: break h=env.plot3(array([target]),20.0) for i in random.permutation(len(solutions))[0:min(100,len(solutions))]: with env: robot.SetDOFValues(solutions[i],ikmodel.manip.GetArmIndices()) T = ikmodel.manip.GetTransform() globaldir = numpy.dot(T[0:3,0:3],ikmodel.manip.GetDirection()) dist = linalg.norm(T[0:3,3]-target)+0.4 hray = env.drawlinelist(array([T[0:3,3], T[0:3,3]+dist*globaldir]),5,colors=[0.1,0.1,1]) env.UpdatePublishedBodies() time.sleep(0.1)
from optparse import OptionParser from openravepy.misc import OpenRAVEGlobalArguments @openravepy.with_destroy
[docs]def run(args=None): """Command-line execution of the example. :param args: arguments for script to parse, if not specified will use sys.argv """ parser = OptionParser(description='Shows how to use different IK solutions for arms with few joints.') OpenRAVEGlobalArguments.addOptions(parser) parser.add_option('--scene',action="store",type='string',dest='scene',default='data/pr2test1.env.xml', help='Scene file to load (default=%default)') parser.add_option('--manipname',action="store",type='string',dest='manipname',default='head_torso', help='name of manipulator to use (default=%default)') (options, leftargs) = parser.parse_args(args=args) OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
if __name__ == "__main__": run()

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