OpenRAVE Documentation

Source code for openravepy.examples.tutorial_iktranslation

#!/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 translational inverse kinematics for an arm with few joints.

.. examplepre-block:: tutorial_iktranslation
  :image-width: 640

Description
-----------

There are two different types of translation 3D IKs:

* **Translation3D** - Align the origin of the manipulation coordinate system with the desired world position

* **TranslationLocalGlobal6D** - Align a dynamically chosen position with respect ot the manipulation coordinate system with the desired world position. To see this in action, execute the example with:

.. code-block:: bash

  openrave.py --example tutorial_iktranslation --withlocal

.. examplepost-block:: tutorial_iktranslation
"""
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 iktype = IkParameterization.Type.Translation3D if not options.withlocal else IkParameterization.Type.TranslationLocalGlobal6D ikmodel = databases.inversekinematics.InverseKinematicsModel(robot, iktype=iktype,freeindices=robot.GetActiveManipulator().GetArmIndices()[3:]) if not ikmodel.load(): ikmodel.autogenerate() with env: robot2 = env.ReadRobotXMLFile(robot.GetXMLFilename()) env.Add(robot2) T = robot.GetTransform() T[0,3] -= 1 robot2.SetTransform(T) robot2.Enable(False) robot2.SetActiveManipulator(robot.GetActiveManipulator().GetName()) for link in robot2.GetLinks(): for geom in link.GetGeometries(): geom.SetTransparency(0.2) while True: with env: while True: target=ikmodel.manip.GetTransform()[0:3,3]+(random.rand(3)-0.5) if options.withlocal: localtarget = 0.5*(random.rand(3)-0.5) ikparam = IkParameterization([localtarget,target],IkParameterization.Type.TranslationLocalGlobal6D) else: localtarget = zeros(3) ikparam = IkParameterization(target,IkParameterization.Type.Translation3D) solutions = ikmodel.manip.FindIKSolutions(ikparam,IkFilterOptions.CheckEnvCollisions) if solutions is not None and len(solutions) > 0: # if found, then break break h=env.plot3(array([target]),10.0) T2 = robot2.GetActiveManipulator().GetTransform() h2=env.plot3(dot(T2[0:3,0:3],localtarget)+T2[0:3,3],15.0,[0,1,0]) for i in random.permutation(len(solutions))[0:min(80,len(solutions))]: with env: robot.SetDOFValues(solutions[i],ikmodel.manip.GetArmIndices()) T = ikmodel.manip.GetTransform() env.UpdatePublishedBodies() time.sleep(0.05) h=None h2=None
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/katanatable.env.xml', help='Scene file to load (default=%default)') parser.add_option('--manipname',action="store",type='string',dest='manipname',default='arm', help='name of manipulator to use (default=%default)') parser.add_option('--withlocal',action="store_true",dest='withlocal',default=False, help='If set, will use the TranslationLocalGlobal6D type to further specify the target point in the manipulator coordinate system') (options, leftargs) = parser.parse_args(args=args) OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)
if __name__ == "__main__": run()

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