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I'm struggling with OpenMaya here.
I want to be able to take transform information from a list of locators and plug these values to particles shapes.
The goal is to use this over 25000 locators, so I can't create a particle system for each instance. I really need to store position and rotation values to the particles themselves.
To do that I started to dive into OpenMaya... (╯°□°）╯︵ ┻━┻
Anyway, the problem I'm facing now is that my scene crashes every time I launch this script and I can't figure out what I did wrong. I think I'm pretty close, but crashing Maya is not considered a victory.
import pymel.core as pm
import maya.OpenMaya as om
import maya.OpenMayaFX as omfx
import random
### A short script to create the scene with bunch of locators with random pos rot
numOfLoc = 5 # this number will eventually be set 25000 when the script will work.
# create locators with random position location(for test)
def create_gazillion_locators(numOfLoc):
for i in range(0, numOfLoc):
# to create variation
tx = random.uniform(-10, 10)
ty = random.uniform(0, 5)
tz = random.uniform(-10, 10)
rx = random.uniform(0, 360)
ry = random.uniform(0, 360)
rz = random.uniform(0, 360)
pm.spaceLocator()
pm.move(tx, ty, tz)
pm.rotate(rx, ry, rz, ws=True)
# Select locators
def select_locators():
pm.select(cl=True)
loc_selection = pm.listRelatives(pm.ls(type = 'locator'), p=True)
pm.select(loc_selection, r=True)
return loc_selection
# delete the locators
def clean_the_scene():
#del locators (for testing purpiose)
sel = select_locators()
if sel is not None:
pm.delete(sel)
clean_the_scene()
create_gazillion_locators(numOfLoc)
### Actual script
# Found this on the internet. it seems to be more neat
class Vector(om.MVector):
def __str__(self):
return '{0}, {1}, {2}'.format(self.x, self.y, self.z)
def __repr__(self):
return '{0}, {1}, {2}'.format(self.x, self.y, self.z)
# OpenMaya treatment
sel = select_locators()
mSel = om.MSelectionList()
om.MGlobal.getActiveSelectionList(mSel)
mSel_iter = om.MItSelectionList(mSel)
mSel_DagPath = om.MDagPath()
# bvariables to store the transform in
pos_array = om.MVectorArray()
rot_array = om.MVectorArray()
mLoc = om.MObject()
# Main loop of selection iterator.
while not mSel_iter.isDone():
# Get list of selected
mSel_iter.getDagPath(mSel_DagPath)
mSel_iter.getDependNode(mLoc)
dep_node_name = om.MFnDependencyNode(mLoc).name()
transl = pm.getAttr('{}.translate'.format(dep_node_name))
rotate = pm.getAttr('{}.rotate'.format(dep_node_name))
print(dep_node_name)
print(Vector(transl[0], transl[1], transl[2]))
print(Vector(rotate[0], rotate[1], rotate[2]))
pos_array.append(Vector(transl[0], transl[1], transl[2]))
rot_array.append(Vector(rotate[0], rotate[1], rotate[2]))
mSel_iter.next()
# Up untill there it seems to work ok.
nparticles_transform, nparticles_shape = pm.nParticle(position = pos_array)
pm.setAttr('nucleus1.gravity', 0.0)
nparticles_shape.computeRotation.set(True)
pm.addAttr(nparticles_shape, ln = 'rotationPP', dt = 'vectorArray')
pm.addAttr(nparticles_shape, ln = 'rotationPP0', dt = 'vectorArray')
pm.particleInstancer(nparticles_shape, name = p_instancer, edit = True, rotation = "rotationPP")
particle_fn = omfx.MFnParticleSystem(nparticles_shape.__apimobject__())
particle_fn.setPerParticleAttribute('rotationPP', rot_array)
particle_fn.setPerParticleAttribute('rotationPP0', rot_array)
I read lots of things, went through the stack and google, I based my script on several other stuff I found/learnt (I listened to the OpenMaya course on Youtube by Chayan Vinayak)... But I've had a hard time understanding the OpenMaya documentation though.
I had a look and there is no need to use any openmaya in this case if you need pymel anyway. I used cmds for the creation of the locators because it is a bit faster, so if execution speed is a problem, try to switch everything to cmds.
And I think there is no need to set the computeRotation because it's only used during simulation.
import pymel.core as pm
import maya.cmds as cmds
import random
numOfLoc = 5000
def c_create_gazillion_locators(num_of_loc):
for i in range(num_of_loc):
tx = random.uniform(-10, 10)
ty = random.uniform(0, 5)
tz = random.uniform(-10, 10)
rx = random.uniform(0, 360)
ry = random.uniform(0, 360)
rz = random.uniform(0, 360)
cmds.spaceLocator()
cmds.move(tx, ty, tz)
cmds.rotate(rx, ry, rz, ws=True)
create_gazillion_locators(numOfLoc)
locs = pm.ls(type="locator")
locs = pm.listRelatives(locs, p=True)
pos = []
rot = []
for loc in locs:
pos.append(loc.translate.get())
rot.append(loc.rotate.get())
nparticles_transform, nparticles_shape = pm.nParticle(position=pos)
pm.setAttr("nucleus1.gravity", 0.0)
pm.addAttr(nparticles_shape, ln="rotationPP", dt="vectorArray")
pm.addAttr(nparticles_shape, ln="rotationPP0", dt="vectorArray")
rpp= pm.Attribute(nparticles_shape+".rotationPP")
rpp0= pm.Attribute(nparticles_shape+".rotationPP0")
rpp.set(rot)
rpp0.set(rot)
I've made a couple of changes to make it work. I didn't check the particle setup though. In fact, the main problem is mixing two different APIs. Either stick to OpenMaya (or even OpenMaya v2.0) or PyMEL.
import pymel.core as pm
import maya.OpenMaya as om
import maya.OpenMayaFX as omfx
import random
### A short script to create the scene with bunch of locators with random pos rot
numOfLoc = 5 # this number will eventually be set 25000 when the script will work.
# create locators with random position location(for test)
def create_gazillion_locators(num_of_loc):
for i in range(num_of_loc):
# to create variation
tx = random.uniform(-10, 10)
ty = random.uniform(0, 5)
tz = random.uniform(-10, 10)
rx = random.uniform(0, 360)
ry = random.uniform(0, 360)
rz = random.uniform(0, 360)
pm.spaceLocator()
pm.move(tx, ty, tz)
pm.rotate(rx, ry, rz, ws=True)
# Select locators
def select_locators():
pm.select(cl=True)
loc_selection = pm.listRelatives(pm.ls(type="locator"), p=True)
pm.select(loc_selection, r=True)
return loc_selection
# delete the locators
def clean_the_scene():
# del locators (for testing purpiose)
sel = select_locators()
if sel is not None:
pm.delete(sel)
clean_the_scene()
create_gazillion_locators(numOfLoc)
### Actual script
# Found this on the internet. it seems to be more neat
class Vector(om.MVector):
def __str__(self):
return "{0}, {1}, {2}".format(self.x, self.y, self.z)
def __repr__(self):
return "{0}, {1}, {2}".format(self.x, self.y, self.z)
# OpenMaya treatment
sel = select_locators()
mSel = om.MSelectionList()
om.MGlobal.getActiveSelectionList(mSel)
mSel_iter = om.MItSelectionList(mSel)
mSel_DagPath = om.MDagPath()
# bvariables to store the transform in
pos_array = []
rot_array = om.MVectorArray()
mLoc = om.MObject()
# Main loop of selection iterator.
while not mSel_iter.isDone():
# Get list of selected
mSel_iter.getDagPath(mSel_DagPath)
mSel_iter.getDependNode(mLoc)
dep_node_name = om.MFnDependencyNode(mLoc).name()
transl = pm.getAttr("{}.translate".format(dep_node_name))
rotate = pm.getAttr("{}.rotate".format(dep_node_name))
print(dep_node_name)
print(Vector(transl[0], transl[1], transl[2]))
print(Vector(rotate[0], rotate[1], rotate[2]))
pos_array.append((transl[0], transl[1], transl[2]))
rot_array.append(Vector(rotate[0], rotate[1], rotate[2]))
mSel_iter.next()
# Up untill there it seems to work ok.
nparticles_transform, nparticles_shape = pm.nParticle(position=pos_array)
pm.setAttr("nucleus1.gravity", 0.0)
nparticles_shape.computeRotation.set(True)
pm.addAttr(nparticles_shape, ln="rotationPP", dt="vectorArray")
pm.addAttr(nparticles_shape, ln="rotationPP0", dt="vectorArray")
# Create an instancer before trying to edit
instancer_node = pm.particleInstancer(nparticles_shape, name="p_instancer")
pm.particleInstancer(
nparticles_shape, name=instancer_node, edit=True, rotation="rotationPP"
)
particle_fn = omfx.MFnParticleSystem(nparticles_shape.__apimobject__())
particle_fn.setPerParticleAttribute("rotationPP", rot_array)
particle_fn.setPerParticleAttribute("rotationPP0", rot_array)
I have this function that generate the initial population for a genetic algorithm.
import random
def initial_pop(pop_size):
pop = list()
for i in range(pop_size):
aux = list()
for j in range(2):
signal = bin(random.randint(0, 1))[2:].zfill(1)
int_part = bin(random.randint(0, 2))[2:].zfill(2)
real_part = bin(random.randint(0, 5000))[2:].zfill(13)
x = ''.join([signal, int_part, real_part])
aux.append(x)
pop.append(aux)
return pop
population = initial_pop(5)
print(population)
The function returns something like this:
[['1001000001111101', '1100111001001010'], ['0000111110100111', '0011001000100011'], ['1000010101001101', '0000101001100011'], ['1100000011011010', '0011000010001110'], ['0100010101001010', '1001000010001110']]
And I have this function that make the crossover between parents:
def crossover(pai1, pai2, cross_rate):
p1x = pai1[0]
p1y = pai1[1]
p2x = pai2[0]
p2y = pai2[1]
if np.random.rand() < tx_cruzamento:
f1x = p1x[:PONTO_CRUZAMENTO_1] + p2x[PONTO_CRUZAMENTO_1:PONTO_CRUZAMENTO_2] + p1x[:PONTO_CRUZAMENTO_2]
f1y = p1y[:PONTO_CRUZAMENTO_1] + p2y[PONTO_CRUZAMENTO_1:PONTO_CRUZAMENTO_2] + p1y[:PONTO_CRUZAMENTO_2]
f2x = p2x[:PONTO_CRUZAMENTO_1] + p1x[PONTO_CRUZAMENTO_1:PONTO_CRUZAMENTO_2] + p2x[:PONTO_CRUZAMENTO_2]
f2y = p2y[:PONTO_CRUZAMENTO_1] + p1y[PONTO_CRUZAMENTO_1:PONTO_CRUZAMENTO_2] + p2y[:PONTO_CRUZAMENTO_2]
f1 = [f1x] + [f1y]
f2 = [f2x] + [f2y]
return [f1] + [f2]
else:
return [pai1] + [pai2]
The call for this function is:
children.append(crossover(selected[j], selected[j+1], CROSS_RATE))
However, this function return something like this:
[[['1100101011000010', '1101100011010000'], ['1010001010101010', '1010000010101000']], [['1010101011010010', '1010100011001100'], ['1100010000100001', '1011000111101000']], [['1100010011000010', '1101000111010000'], ['1100001011000100', '1011000010110001']]]
How do I format the output to look exactly like the first one? The one that generated the initial population? I tried everything ([f1] + [f2], [[f1]+[f2]], [f1, f2], etc)
The problem seems to be in how selected is defined. When I call your cross-over function like this:
crossover(population[0],population[1],0.3)
I get output which looks like:
[['0000110000101001', '1010100101111111'], ['0010101110111110', '0001001010110001'], ['0100100110000010', '0100111100011001'], ['0011000100010010', '0010110110111111'], ['0010010111000110', '0010010101111011']]
[['0000110000101001', '1010100101111111'], ['0010101110111110', '0001001010110001']]
which matches the form of your intended output.
This suggests that the problem lies with code that you didn't show. Alternatively, crossover needs to do some preprocessing to extract the data that it needs from that which is passed to it. If this isn't the case, you really need to provide the missing details that would allow others to replicate the problem.
I am following a Python for Maya tutorial from: https://github.com/gyassa4/MayaPyth/blob/master/gear_builder.py
After I run the code it only run first def() which creates a Gear with teeth=10. However, it won't run the second def() which changes the number of gears' teeth as instructed in def changeTeeth(constructor, extrude, teeth=25, length=1).Do I need a Class to run multiple defs()?
import maya.cmds as cmds
def createGear(teeth=10, length=1):
spans = teeth * 2
transform, constructor = cmds.polyPipe(subdivisionsAxis=spans)
sideFaces = range(spans * 2, spans * 3, 2)
cmds.select(clear=True)
for face in sideFaces:
cmds.select('%s.f[%s]' % (transform, face), add = True)
extrude = cmds.polyExtrudeFacet(localTranslateZ = length)[0]
return transform, constructor, extrude
createGear()
def changeTeeth(constructor, extrude, teeth=25, length=1):
spans = teeth * 3
cmds.polyPipe(constructor, edit=True, subdivisionsAxis=spans)
sideFaces = range(spans * 2, spans * 3, 5)
faceNames = []
for face in sideFaces:
faceName = 'f[%s]' % (face)
faceNames.append(faceName)
cmds.setAttr('%s.inputComponents' % (extrude),
len(faceNames),*faceNames,type="componentList")
cmds.polyExtrudeFacet(contructor, extrude, edit=True, ltz=length)
createGear()
this is running the first def
changeTeeth(constructor = "objname",
extrude = "extrudename")
put this at the end will run the second one
Note that two of the arguments are mandatory as you have assigned default values to :
teeth=25, length=1
I have created a PyQt5 GUI in my main.py file which is in a main app folder. In the file for the interface, a button initiates a new class called Calculation (in the file entry.py) passing in the values of several inputs on the page and in this class the startCalculation() method is called. In this method, the different variables are passed to methods in imported python files, then the result of those calculation is returned and passed to the next calculation in another python file. These returns are in the form of arrays containing values (for the y axis which is then displayed using numpy and plotly).
When I run the app and click on the button in the main interface, the app starts loading (rainbow animation on Mac) and it says it is not responding. It is not a problem with the class itself as a normal print test works in the startCalculation() method, but the function from the imported file causes this to happen. Also, no errors are given in the terminal.
The following is code in the PyQt interface file (main.py)
from app import entry
def startButton(self):
massaTotale = float(self.lineEdit.text())
dragCoefficient = float(self.lineEdit_5.text())
liftCoefficient = float(self.lineEdit_6.text())
powerAvionics = float(self.lineEdit_3.text())
powerPayload = float(self.lineEdit_4.text())
airSpeed = float(self.lineEdit_8.text())
valoreUnico = float(self.valoreUnicoEdit.text())
engineEfficiency = float(self.lineEdit_9.text())
turbolenceCoeff = float(self.lineEdit_10.text())
dayOfYear = float(self.day_LineEdit.text())
latitude = float(self.latitude_LineEdit.text())
sunsetHourAngle = float(self.sunsetHourAngle_LineEdit.text())
declination = float(self.declination_LineEdit.text())
newCaluclation = entry.Calculation(massaTotale, dragCoefficient, liftCoefficient, powerAvionics, powerPayload, airSpeed, valoreUnico, engineEfficiency, turbolenceCoeff, dayOfYear, latitude, sunsetHourAngle, declination)
newCaluclation.startCalculation()
And this is the code in the class calling the function in the external file
from app.mainFunctions import pLevel
#constructor method
def __init__(self, massaTotale, dragCoefficient, liftCoefficient, powerAvionics, powerPayload, airSpeed, valoreUnico, efficiencyEngine, turbolenceCoeff, dayOfYear, latitude, sunsetHourAngle, declination):
# calculate plevel
self.totM = massaTotale
self.vair = airSpeed
self.cl = liftCoefficient
self.cd = dragCoefficient
self.efficiencyEngine = efficiencyEngine
self.valoreUnico = valoreUnico
self.powerAvionics = powerAvionics
self.powerPayload = powerPayload
self.turbolenceCoeff = turbolenceCoeff
self.day_of_year = dayOfYear
self.latitude = latitude
self.sunset_hour_angle = sunsetHourAngle
self.declination = declination
#starting the calculation
def startCalculation(self):
self.x_values, self.pLevel_values = pLevel.calculate_pLevel(self.valoreUnico, self.cd, self.cl, self.totM)
'''
self.pEngine_values = pEngine.calculate_pEngine(self.x_values, self.pLevel_values, self.efficiencyEngine, self.turbolenceCoeff)
self.pOut_values = pOut.calculate_pOut(self.x_values, self.pEngine_values, self.powerAvionics, self.powerPayload)
self.I_loctime = I_loctime.calculate_I_loctime(self.day_of_year, self.latitude, self.sunset_hour_angle, self.declination)
self.asm_values = area_Solar_Module.calculate_asm(self.x_values, self.pOut_values, self.I_loctime)
'''
The pLevel.py file has the following code in it and should return the array of values to pass to the second function in the entry Calculation class file.
import math
import numpy as np
import plotly as py
import plotly.graph_objs as go
import ipywidgets as widgets
import plotly.io as pio
import sys
sys.dont_write_bytecode = True
py.offline.init_notebook_mode(connected=True)
pio.renderers.default = "browser"
# calculating pLevel
x_values = []
y_values = []
layoutPLevel = go.Layout(
title="pLevel",
yaxis=dict(
title='pLevel'
),
xaxis=dict(
title='Surface Area Wing'
)
)
def calculate_pLevel(valoreUnico, cd, cl, totM):
x_values = []
count = 0
while (count < 5):
x_values.append(count)
count = count + 0.01
y_values = []
iteration = 0
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
else:
if (valoreUnico == 0.0):
# nessun dato per valoreUnico dato, utilizza i due valori separati
y_value = firstPart(cd, cl) * math.sqrt(secondPart(x_value, totM))
y_values.append(y_value)
else:
y_value = valoreUnico * \
math.sqrt(secondPart(x_value, totM))
y_values.append(y_value)
iteration = iteration + 1
else:
yNpArray = np.array(y_values)
xNpArray = np.array(x_values)
tracePLevel = go.Scatter(
x=xNpArray,
y=yNpArray,
mode='lines',
name='pLevel',
line=dict(
shape='spline'
)
)
figPLevel = go.Figure(data=[tracePLevel], layout=layoutPLevel)
figPLevel.show()
return x_values, y_values
def firstPart(cd, cl):
return (cd / cl**(3/2))
def secondPart(x_value, totM):
return (2*(totM * 9.81)**3) / (1.225 * x_value)
The structure of the files is as follows:
-app
-- __main__.py
-- entry.py
-- __init__.py
-- mainFunctions
--- pLevel.py
--- __init__.py
The loop for the x_values in the pLevel function was not adding one to the iteration so the loop went on forever. I just did not notice my error.
Instead of being
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
It should be
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
iteration = iteration+1
These days I have tried to generate an application using the pythonapp template from the Github project Jumpstarter(https://github.com/aldebaran/robot-jumpstarter) to do the localization of Pepper. My basic idea is to combine the LandmarkDetector module in the generated app „Lokalisierung“(Localization of German).
You can read the whole code of "LandmarkDetector.py","main.py" and"MainLandmarkDetection.py" here:
"LandmarkDetector.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Demonstrates a way to localize the robot with
ALLandMarkDetection"""
import qi
import time
import sys
import argparse
import math
import almath
class LandmarkDetector(object):
"""
We first instantiate a proxy to the ALLandMarkDetection module
Note that this module should be loaded on the robot's naoqi.
The module output its results in ALMemory in a variable
called "LandmarkDetected".
We then read this ALMemory value and check whether we get
interesting things.
After that we get the related position of the landmark compared to robot.
"""
def __init__(self, app):
"""
Initialisation of qi framework and event detection.
"""
super(LandmarkDetector, self).__init__()
app.start()
session = app.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("LandmarkDetector", 500, 0.0 )
print "self.landmark_detection.subscribe(LandmarkDetector, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 #in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == [] : # empty value when the landmark disappears
self.got_landmark = False
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
#stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / ( 2 * math.tan( angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform *cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 12, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting LandmarkDetector"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping LandmarkDetector"
self.landmark_detection.unsubscribe("LandmarkDetector")
#stop
sys.exit(0)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="10.0.0.10",
help="Robot IP address. On robot or Local Naoqi: use
'10.0.0.10'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
try:
# Initialize qi framework.
connection_url = "tcp://" + args.ip + ":" + str(args.port)
app = qi.Application(["LandmarkDetector", "--qi-url=" + connection_url])
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
landmark_detector = LandmarkDetector(app)
landmark_detector.run()
"main.py":
""" A sample showing how to make a Python script as an app. """
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics"
author = 'YOURNAME'
email = 'YOUREMAIL#aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage"
APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
def on_touched(self, *args):
"Callback for tablet touched."
if args:
self.events.disconnect("ALTabletService.onTouchDown")
self.logger.info("Tablet touched: " + str(args))
self.s.ALTextToSpeech.say("Yay!")
self.stop()
def on_start(self):
"Ask to be touched, waits, and exits."
# Two ways of waiting for events
# 1) block until it's called
self.s.ALTextToSpeech.say("Touch my forehead.")
self.logger.warning("Listening for touch...")
while not self.events.wait_for("FrontTactilTouched"):
pass
# 2) explicitly connect a callback
if self.s.ALTabletService:
self.events.connect("ALTabletService.onTouchDown", self.on_touched)
self.s.ALTextToSpeech.say("okay, now touch my tablet.")
# (this allows to simltaneously speak and watch an event)
else:
self.s.ALTextToSpeech.say("touch my tablet ... oh. " + \
"I don't haave one.")
self.stop()
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
"MainLandmarkDetection.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""A sample showing how to make a Python script as an app to localize
the robot with ALLandMarkDetection"""
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics"
author = 'YOURNAME'
email = 'YOUREMAIL#aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
import time
import sys
import math
import almath
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage"
APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
self.qiapp.start()
session = qiapp.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("Activity", 500, 0.0)
print "self.landmark_detection.subscribe(Activity, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 # in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == []: # empty value when the landmark disappears
self.got_landmark = False
# self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
# stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
# self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / (2 * math.tan(angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform * cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 20, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting Activity"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping Activity"
self.landmark_detection.unsubscribe("Activity")
# stop
sys.exit(0)
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
landmark_detector = Activity()
landmark_detector.run()
This is how it worked in cmd.exe:
And I have a question to the parameter by ”landmark_detector = Activity()” in line 157 at almost the end of the program because of the Error in the image, which I should pass. After reading the answers to the similar question here by StackoverflowPython: TypeError: __init__() takes exactly 2 arguments (1 given), I am still confused. I think it should be a value which is given to the "qiapp", but what value?
Best regards,
Frederik
Actually, when you call
stk.runner.run_activity(Activity)
... it will instantiate that activity object for you, with the right parameters, you don't need to landmark_detector = Activity() etc. in MainLandmarkDetector.py
And if this object has a method called on_start, that method will be called once everything is ready (so you may only need to rename your run() method to on_start()
Note also that instead of calling sys.stop(), you can just call self.stop() or self.qiapp.stop() (which is a bit cleaner in terms of letting the cleanup code in on_stop to be called, if you need to unsubscribe to things etc.)
See here for some documentation on stk.runner.
Note also that instead of doing
self.motion_service = session.service("ALMotion")
(...)
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
you can directly do
transform = self.s.ALMotion.getTransform(self.currentCamera, 2, True)
... which (in my opinion) makes it easier to see what is being done exactly (and reduces the number of variables).