tutorial_iklookat Module
Shows how to use lookat inverse kinematics to maintain line of sight with a moving object.
Running the Example:
openrave.py --example tutorial_iklookat
Command-line
Usage: openrave.py [options]
Shows how to use different IK solutions for arms with few joints.
Options:
-h, --help show this help message and exit
--scene=SCENE Scene file to load (default=data/pr2test1.env.xml)
--manipname=MANIPNAME
name of manipulator to use (default=head_torso)
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code
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)
Class Definitions
-
openravepy.examples.tutorial_iklookat.main(env, options)[source]
Main example code.
-
openravepy.examples.tutorial_iklookat.run(*args, **kwargs)[source]
Command-line execution of the example.
Parameters: | args – arguments for script to parse, if not specified will use sys.argv |