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z1_gui.py
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import time
import threading
import numpy as np
import tkinter as tk
import pinocchio
from parser import Parameters
import adam_model
import meshcat
axes = ['x', 'y', 'z']
class ScaleJoints:
def __init__(self, master, name, nq, from_, to, tickinterval, length, command):
self.s = nq * [None]
for i in range(nq):
self.s[i] = tk.Scale(master, label=f'{name} {i + 1}', from_=from_[i], to=to[i], orient=tk.HORIZONTAL,
tickinterval=tickinterval, resolution=1e-3, length=length, command=command)
self.s[i].pack()
separator = tk.Frame(master, height=2, bd=1, relief=tk.SUNKEN)
separator.pack(fill=tk.X, padx=5, pady=5)
def get(self):
return [s.get() for s in self.s]
class PositionEE:
def __init__(self, master):
self.l = 3 * [None]
for i in range(3):
self.l[i] = tk.Label(master, text=f'Position {axes[i]}: 0.0')
self.l[i].pack()
scale_joints = None
position_ee = None
q = None
def update_ee(value):
global q
q = np.array(scale_joints.get())
pinocchio.forwardKinematics(rmodel_red, rdata, q)
pinocchio.updateFramePlacement(rmodel_red, rdata, frame_id)
ee_trasl = rdata.oMf[frame_id].translation
position_ee.l[0].config(text=f'Position {axes[0]}: {ee_trasl[0]:.3f}')
position_ee.l[1].config(text=f'Position {axes[1]}: {ee_trasl[1]:.3f}')
position_ee.l[2].config(text=f'Position {axes[2]}: {ee_trasl[2]:.3f}')
def create_gui():
global scale_joints, position_ee
master = tk.Tk(className='Z1 Robot GUI')
scale_joints = ScaleJoints(master, 'Joint', n_dofs,
rmodel_red.lowerPositionLimit,
rmodel_red.upperPositionLimit,
np.pi / 2, 300, update_ee)
position_ee = PositionEE(master)
master.mainloop()
def run_visualizer():
global q
i = 0
dt = 1e-3
display_n = 10
while True:
time_start = time.time()
if i % display_n == 0:
viz.display(q)
time_end = time.time()
time.sleep(max(0, dt - (time_end - time_start)))
params = Parameters('fr3')
n_dofs = 6
robot = adam_model.AdamModel(params,n_dofs=n_dofs)
description_dir = params.ROBOTS_DIR + 'fr3_description'
rmodel, collision, visual = pinocchio.buildModelsFromUrdf(description_dir + '/urdf/fr3.urdf',
package_dirs=params.ROOT_DIR)
geom = [collision, visual]
lockIDs = []
#lockNames = ['joint5', 'joint6', 'jointGripper']
lockNames = ['fr3_joint5', 'fr3_joint6', 'fr3_joint7', 'fr3_finger_joint1','fr3_finger_joint2']
lockNames = lockNames[(n_dofs-4):]
for name in lockNames:
lockIDs.append(rmodel.getJointId(name))
rmodel_red, geom_red = pinocchio.buildReducedModel(rmodel, geom, lockIDs, np.zeros(9))
rdata = rmodel_red.createData()
viz = pinocchio.visualize.MeshcatVisualizer(rmodel_red, geom_red[0], geom_red[1])
viz.initViewer(loadModel=True, open=True)
# viz.setCameraPosition(np.array([0.5, -0.5, 0.4]))
# viz.setCameraTarget(np.array([0., 1, 0.]))
viz.display(np.zeros(rmodel_red.nq))
frame_id = rmodel_red.getFrameId(params.frame_name)
box0 = meshcat.geometry.Box([2, 2, 1e-3])
viz.viewer['world/obstacle/floor0'].set_object(box0)
viz.viewer['world/obstacle/floor0'].set_property('color', [0, 0, 1, 0.5])
viz.viewer['world/obstacle/floor0'].set_property('visible', True)
T_floor = np.eye(4)
viz.viewer['world/obstacle/floor0'].set_transform(T_floor)
# box1 = meshcat.geometry.Box([2, 2, 1e-3])
# viz.viewer['world/obstacle/floor1'].set_object(box1)
# viz.viewer['world/obstacle/floor1'].set_property('color', [0, 0, 1, 0.5])
# viz.viewer['world/obstacle/floor1'].set_property('visible', True)
# T_floor = np.eye(4)
# T_floor[:3,3] = np.array([0,0,0.6])
# viz.viewer['world/obstacle/floor1'].set_transform(T_floor)
# box2 = meshcat.geometry.Box([1e-3, 2, 2])
# viz.viewer['world/obstacle/floor2'].set_object(box2)
# viz.viewer['world/obstacle/floor2'].set_property('color', [0, 0, 1, 0.5])
# viz.viewer['world/obstacle/floor2'].set_property('visible', True)
# T_floor = np.eye(4)
# T_floor[:3,3] = np.array([0.5,0,0])
# viz.viewer['world/obstacle/floor2'].set_transform(T_floor)
sphere = meshcat.geometry.Sphere(0.12)
viz.viewer['world/obstacle/sphere'].set_object(sphere)
viz.viewer['world/obstacle/sphere'].set_property('color',[1, 0, 0, 1])
viz.viewer['world/obstacle/sphere'].set_property('visible', True)
T_obs = np.eye(4)
T_obs[:3, 3] = np.array([0.6,0.,0.12])
viz.viewer['world/obstacle/sphere'].set_transform(T_obs)
# sphere2 = meshcat.geometry.Sphere(0.1)
# viz.viewer['world/obstacle/sphere2'].set_object(sphere2)
# viz.viewer['world/obstacle/sphere2'].set_property('color',[1, 0, 0, 1])
# viz.viewer['world/obstacle/sphere2'].set_property('visible', True)
# T_obs = np.eye(4)
# T_obs[:3, 3] = np.array([0.3,-0.35,0.25])
# viz.viewer['world/obstacle/sphere2'].set_transform(T_obs)
# sphere = meshcat.geometry.Sphere(0.05)
# viz.viewer['world/obstacle/sphere'].set_object(sphere)
# viz.viewer['world/obstacle/sphere'].set_property('color',[1, 0, 0, 1])
# viz.viewer['world/obstacle/sphere'].set_property('visible', True)
# T_obs = np.eye(4)
# T_obs[:3, 3] = np.array([0.,0.3,0.15])
# viz.viewer['world/obstacle/sphere'].set_transform(T_obs)
th_gui = threading.Thread(target=create_gui)
th_gui.start()
th_simu = threading.Thread(target=run_visualizer)
th_simu.start()