moved pr2 specific annotations to openrave_planning stack
This commit is contained in:
rdiankov
parent
697db704d3
commit
9de088ff75
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@ -1,368 +0,0 @@
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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import sys
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if __name__=="__main__":
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if len(sys.argv) < 2:
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print "Usage:\n\tannotate_pr2dae.py [collada file]\n\nAnnoates the PR2 with the OpenRAVE profile tags.\nThis file will be in existence until URDF can support the extra information providedhere"
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sys.exit(0)
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dae = open(sys.argv[1],'r').read()
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if dae.find('<extra type="collision">') < 0:
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index = dae.find('</kinematics_model>')
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dae = dae[:index] + """
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<extra type="collision">
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<technique profile="OpenRAVE">
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/br_caster_l_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/br_caster_r_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/fr_caster_l_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/fr_caster_r_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/fl_caster_l_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/fl_caster_r_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/bl_caster_l_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/bl_caster_r_wheel_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/l_shoulder_pan_link"/>
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<ignore_link_pair link0="kmodel0/base_link" link1="kmodel0/r_shoulder_pan_link"/>
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<ignore_link_pair link0="kmodel0/torso_lift_link" link1="kmodel0/l_shoulder_lift_link"/>
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<ignore_link_pair link0="kmodel0/torso_lift_link" link1="kmodel0/r_shoulder_lift_link"/>
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<ignore_link_pair link0="kmodel0/l_shoulder_pan_link" link1="kmodel0/l_upper_arm_roll_link"/>
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<ignore_link_pair link0="kmodel0/r_shoulder_pan_link" link1="kmodel0/r_upper_arm_roll_link"/>
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<ignore_link_pair link0="kmodel0/l_elbow_flex_link" link1="kmodel0/l_forearm_link"/>
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<ignore_link_pair link0="kmodel0/r_elbow_flex_link" link1="kmodel0/r_forearm_link"/>
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<ignore_link_pair link0="kmodel0/l_upper_arm_link" link1="kmodel0/l_forearm_roll_link"/>
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<ignore_link_pair link0="kmodel0/r_upper_arm_link" link1="kmodel0/r_forearm_roll_link"/>
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<ignore_link_pair link0="kmodel0/l_forearm_link" link1="kmodel0/l_gripper_palm_link"/>
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<ignore_link_pair link0="kmodel0/r_forearm_link" link1="kmodel0/r_gripper_palm_link"/>
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<ignore_link_pair link0="kmodel0/l_forearm_link" link1="kmodel0/l_wrist_roll_link"/>
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<ignore_link_pair link0="kmodel0/r_forearm_link" link1="kmodel0/r_wrist_roll_link"/>
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<ignore_link_pair link0="kmodel0/l_gripper_l_finger_link" link1="kmodel0/l_gripper_r_finger_link"/>
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<ignore_link_pair link0="kmodel0/r_gripper_l_finger_link" link1="kmodel0/r_gripper_r_finger_link"/>
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<ignore_link_pair link0="kmodel0/l_gripper_l_finger_tip_link" link1="kmodel0/l_gripper_r_finger_link"/>
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<ignore_link_pair link0="kmodel0/r_gripper_l_finger_tip_link" link1="kmodel0/r_gripper_r_finger_link"/>
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<ignore_link_pair link0="kmodel0/l_gripper_l_finger_link" link1="kmodel0/l_gripper_r_finger_tip_link"/>
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<ignore_link_pair link0="kmodel0/r_gripper_l_finger_link" link1="kmodel0/r_gripper_r_finger_tip_link"/>
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<ignore_link_pair link0="kmodel0/torso_lift_link" link1="kmodel0/head_tilt_link"/>
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</technique>
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</extra>
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""" + dae[index:]
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if dae.find('<extra type="library_sensors"') < 0:
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index = dae.find('<scene>')
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dae = dae[:index] + """
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<extra type="library_sensors" id="libsensors">
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<technique profile="OpenRAVE">
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<sensor type="base_laser2d" id="base_laser">
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<angle_range>-130 129.75</angle_range>
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<distance_range>0.023 60.0</distance_range>
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<angle_increment>0.25</angle_increment>
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<time_increment>1.73611115315e-05</time_increment>
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<measurement_time>0.05</measurement_time>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseLaser2D</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_laser2d" id="tilt_laser">
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<angle_range>-90 89.75</angle_range>
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<distance_range>0.023 10.0</distance_range>
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<angle_increment>0.25</angle_increment>
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<time_increment>1.73611115315e-05</time_increment>
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<measurement_time>0.025</measurement_time>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseLaser2D</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_pinhole_camera" id="high_def_sensor">
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<image_dimensions>2448 2050 3</image_dimensions>
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<format>uint8</format>
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<measurement_time>0.05</measurement_time>
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<intrinsic>2955 0 1224.5 0 2955 1025.5</intrinsic>
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<distortion>0 0 0 0 0</distortion>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseCamera</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_pinhole_camera" id="wide_l_stereo_camera_sensor">
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<image_dimensions>640 480 1</image_dimensions>
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<format>uint8</format>
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<measurement_time>0.04</measurement_time>
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<intrinsic>395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001</intrinsic>
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<distortion>0 0 0 0 0</distortion>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseCamera</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_pinhole_camera" id="wide_r_stereo_camera_sensor">
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<image_dimensions>640 480 1</image_dimensions>
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<format>uint8</format>
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<measurement_time>0.04</measurement_time>
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<intrinsic>395.71449999999999 0.0 335.86279000000002 0.0 395.71449999999999 245.62557000000001</intrinsic>
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<distortion>0 0 0 0 0</distortion>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseCamera</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_stereo_camera" id="wide_stereo_camera_sensor">
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<instance_sensor url="#wide_l_stereo_camera_sensor">
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<rectification>0.99956000000000012 0.0027200000000000002 -0.029390000000000003 -0.0027700000000000003 0.99999000000000005 -0.0016800000000000001 0.029390000000000003 0.0017600000000000001 0.99957000000000007</rectification>
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</instance_sensor>
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<instance_sensor url="#wide_r_stereo_camera_sensor">
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<rectification>0.99941000000000013 0.0035200000000000001 -0.034260000000000006 -0.0034600000000000004 0.99999000000000005 0.0017800000000000001 0.034270000000000002 -0.0016600000000000002 0.99941000000000013</rectification>
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</instance_sensor>
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</sensor>
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<sensor type="base_pinhole_camera" id="l_forearm_cam_sensor">
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<image_dimensions>640 480 1</image_dimensions>
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<format>uint8</format>
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<measurement_time>0.04</measurement_time>
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<intrinsic>426.35142000000002 0.0 313.91464000000002 0.0 426.51092999999997 238.27394000000001</intrinsic>
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<distortion>0 0 0 0 0</distortion>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseCamera</interface>
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</technique>
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</interface_type>
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</sensor>
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<sensor type="base_pinhole_camera" id="r_forearm_cam_sensor">
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<image_dimensions>640 480 1</image_dimensions>
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<format>uint8</format>
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<measurement_time>0.04</measurement_time>
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<intrinsic>430.5514 0.0 320.85068000000001 0.0 429.22170999999997 240.4314</intrinsic>
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<distortion>0 0 0 0 0</distortion>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>BaseCamera</interface>
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</technique>
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</interface_type>
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</sensor>
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</technique>
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</extra>
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""" + dae[index:]
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manipulators = [('leftarm',"""
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<extra type="manipulator" name="leftarm">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/torso_lift_link"/>
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<frame_tip link="kmodel0/l_gripper_palm_link">
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<translate>0.18 0 0</translate>
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<rotate>0 1 0 90</rotate>
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</frame_tip>
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<gripper_axis axis="kmodel0/l_gripper_l_finger_joint/axis0">
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<closingdirection>
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<float>-1</float>
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</closingdirection>
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</gripper_axis>
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<iksolver type="Transform6D">
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<free_axis axis="kmodel0/l_upper_arm_roll_joint/axis0"/>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_leftarm</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('leftarm_torso',"""
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<extra type="manipulator" name="leftarm_torso">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/base_link"/>
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<frame_tip link="kmodel0/l_gripper_palm_link">
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<translate>0.18 0 0</translate>
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<rotate>0 1 0 90</rotate>
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</frame_tip>
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<gripper_axis axis="kmodel0/l_gripper_l_finger_joint/axis0">
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<closingdirection>
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<float>-1</float>
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</closingdirection>
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</gripper_axis>
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<iksolver type="Transform6D">
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<free_axis axis="kmodel0/torso_lift_joint/axis0"/>
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<free_axis axis="kmodel0/l_upper_arm_roll_joint/axis0"/>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_leftarm_torso</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('rightarm',"""
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<extra type="manipulator" name="rightarm">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/torso_lift_link"/>
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<frame_tip link="kmodel0/r_gripper_palm_link">
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<translate>0.18 0 0</translate>
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<rotate>0 1 0 90</rotate>
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</frame_tip>
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<gripper_axis axis="kmodel0/r_gripper_l_finger_joint/axis0">
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<closingdirection>
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<float>-1</float>
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</closingdirection>
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</gripper_axis>
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<iksolver type="Transform6D">
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<free_axis axis="kmodel0/r_upper_arm_roll_joint/axis0"/>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_rightarm</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('rightarm_torso',"""
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<extra type="manipulator" name="rightarm_torso">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/base_link"/>
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<frame_tip link="kmodel0/r_gripper_palm_link">
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<translate>0.18 0 0</translate>
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<rotate>0 1 0 90</rotate>
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</frame_tip>
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<gripper_axis axis="kmodel0/r_gripper_l_finger_joint/axis0">
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<closingdirection>
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<float>-1</float>
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</closingdirection>
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</gripper_axis>
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<iksolver type="Transform6D">
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<free_axis axis="kmodel0/torso_lift_joint/axis0"/>
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<free_axis axis="kmodel0/r_upper_arm_roll_joint/axis0"/>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_rightarm_torso</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('head',"""
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<extra type="manipulator" name="head">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/torso_lift_link"/>
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<frame_tip link="kmodel0/wide_stereo_optical_frame"/>
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<iksolver type="Lookat3D">
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_head</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('head_torso',"""
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<extra type="manipulator" name="head_torso">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/base_link"/>
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<frame_tip link="kmodel0/wide_stereo_optical_frame"/>
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<iksolver type="Lookat3D">
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<free_axis axis="kmodel0/torso_lift_joint/axis0"/>
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<interface_type>
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<technique profile="OpenRAVE">
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<interface>ikfast_pr2_head_torso</interface>
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</technique>
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</interface_type>
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</iksolver>
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</technique>
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</extra>
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"""),
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('rightarm_camera',"""
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<extra type="manipulator" name="rightarm_camera">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/torso_lift_link"/>
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<frame_tip link="kmodel0/r_forearm_cam_optical_frame">
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</frame_tip>
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<iksolver type="Ray4D">
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</iksolver>
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</technique>
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</extra>
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"""),
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('leftarm_camera',"""
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<extra type="manipulator" name="leftarm_camera">
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<technique profile="OpenRAVE">
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<frame_origin link="kmodel0/torso_lift_link"/>
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<frame_tip link="kmodel0/l_forearm_cam_optical_frame">
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</frame_tip>
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<iksolver type="Ray4D">
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</iksolver>
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</technique>
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</extra>
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""")]
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sensors = [('base_laser',"""
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<extra type="attach_sensor" name="base_laser">
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<technique profile="OpenRAVE">
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<instance_sensor url="#base_laser"/>
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<frame_origin link="kmodel0/base_laser_link"/>
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</technique>
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</extra>
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"""),
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('tilt_laser',"""
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<extra type="attach_sensor" name="tilt_laser">
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<technique profile="OpenRAVE">
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<instance_sensor url="#tilt_laser"/>
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<frame_origin link="kmodel0/laser_tilt_link"/>
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</technique>
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</extra>
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"""),
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('l_forearm_cam_optical_sensor',"""
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<extra type="attach_sensor" name="l_forearm_cam_optical_sensor">
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<technique profile="OpenRAVE">
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<instance_sensor url="#l_forearm_cam_sensor"/>
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<frame_origin link="kmodel0/l_forearm_cam_optical_frame"/>
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</technique>
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</extra>
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"""),
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('r_forearm_cam_optical_sensor',"""
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<extra type="attach_sensor" name="r_forearm_cam_optical_sensor">
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<technique profile="OpenRAVE">
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<instance_sensor url="#l_forearm_cam_sensor"/>
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<frame_origin link="kmodel0/r_forearm_cam_optical_frame"/>
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</technique>
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</extra>
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"""),
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('narrow_stereo_optical_sensor',"""
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<extra type="attach_sensor" name="narrow_stereo_optical_sensor">
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<technique profile="OpenRAVE">
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<instance_sensor url="#narrow_stereo_camera_sensor"/>
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<frame_origin link="kmodel0/narrow_stereo_optical_frame"/>
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</technique>
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</extra>
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"""),
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('wide_stereo_optical_sensor',"""
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<extra type="attach_sensor" name="wide_stereo_optical_sensor">
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<technique profile="OpenRAVE">
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<instance_sensor url="#wide_stereo_camera_sensor"/>
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<frame_origin link="kmodel0/wide_stereo_optical_frame"/>
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</technique>
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</extra>
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""")]
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for name,xml in manipulators:
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if dae.find('<extra type="manipulator" name="%s">'%name) < 0:
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index = dae.find('</motion>')+9
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dae = dae[:index] + xml + dae[index:]
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for name,xml in sensors:
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if dae.find('<extra type="attach_sensor" name="%s">'%name) < 0:
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index = dae.find('</motion>')+9
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dae = dae[:index] + xml + dae[index:]
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open(sys.argv[1],'w').write(dae)
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