retrained xarm7 bimanual

djrakita · Dec 11, 2023 · 389be79 · 389be79
1 parent 98055c7
commit 389be79
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Showing 3 changed files with 18 additions and 6 deletions.
diff --git a/optima_refactor/crates/optima_bevy/src/optima_bevy_utils/robotics.rs b/optima_refactor/crates/optima_bevy/src/optima_bevy_utils/robotics.rs
@@ -11,10 +11,10 @@ use bevy_prototype_debug_lines::DebugLines;
 use optima_3d_spatial::optima_3d_pose::{O3DPose, O3DPoseCategory};
 use optima_3d_spatial::optima_3d_rotation::O3DRotation;
 use optima_3d_spatial::optima_3d_vec::O3DVec;
-use optima_bevy_egui::{OEguiButton, OEguiCheckbox, OEguiContainerTrait, OEguiEngineWrapper, OEguiSelector, OEguiSelectorMode, OEguiSelectorResponse, OEguiSidePanel, OEguiSlider, OEguiTopBottomPanel, OEguiWidgetTrait};
+use optima_bevy_egui::{OEguiButton, OEguiCheckbox, OEguiContainerTrait, OEguiEngineWrapper, OEguiSelector, OEguiSelectorMode, OEguiSidePanel, OEguiSlider, OEguiTopBottomPanel, OEguiWidgetTrait};
 use optima_interpolation::InterpolatorTrait;
 use optima_linalg::{OLinalgCategory, OVec};
-use optima_proximity::pair_group_queries::{OPairGroupQryTrait, ParryDistanceGroupArgs, ParryDistanceGroupQry, ParryDistanceGroupSequenceFilter, ParryDistanceGroupSequenceFilterArgs, ParryIntersectGroupArgs, ParryIntersectGroupQry, ParryIntersectGroupSequenceFilter, ParryIntersectGroupSequenceFilterArgs, ParryPairSelector, ProximityLossFunctionHinge, ToParryProximityOutputTrait};
+use optima_proximity::pair_group_queries::{OPairGroupQryTrait, ParryDistanceGroupArgs, ParryDistanceGroupQry, ParryIntersectGroupArgs, ParryIntersectGroupQry, ParryPairSelector, ProximityLossFunctionHinge, ToParryProximityOutputTrait};
 use optima_proximity::pair_queries::{ParryDisMode, ParryShapeRep};
 use optima_robotics::robot::{FKResult, ORobot, SaveRobot};
 use optima_robotics::robot_set::ORobotSet;

diff --git a/optima_refactor/crates/optima_robotics/src/robot.rs b/optima_refactor/crates/optima_robotics/src/robot.rs
@@ -122,7 +122,7 @@ impl<T: AD, C: O3DPoseCategory + 'static, L: OLinalgCategory + 'static> ORobot<T
             None => {
                 match &self.robot_type {
                     RobotType::Robot => { self.robot_name.clone() }
-                    RobotType::RobotSet => { panic!("robot set must be provided a save name.") }
+                    RobotType::RobotSet => { self.robot_name.clone() }
                 }
             }
             Some(name) => { name.to_string() }

diff --git a/optima_refactor/src/bin/test3.rs b/optima_refactor/src/bin/test3.rs
@@ -1,9 +1,21 @@
+use nalgebra::Isometry3;
 use optima_bevy::optima_bevy_utils::robotics::BevyRoboticsTrait;
 use optima_robotics::robot::{ORobotDefault};
 use optima_robotics::robot::SaveRobot::Save;
+use optima_robotics::robot_set::ORobotSetDefault;
+use optima_robotics::robotics_components::{OJointLimit, OJointType};
+use optima_robotics::robotics_traits::AsRobotTrait;
 
 fn main() {
-    let mut robot = ORobotDefault::from_urdf("panda");
-    robot.preprocess(Save(None));
-    robot.bevy_self_collision_visualization();
+    let mut r = ORobotDefault::load_from_saved_robot("xarm7_bimanual");
+    // let r2 = r1.clone();
+
+    // let mut r = ORobotSetDefault::new_empty();
+    // r.add_robot(r1, 0, 0, &Isometry3::identity(), [0.0; 3], OJointType::Fixed, OJointLimit::default());
+    // r.add_robot(r2, 0, 0, &Isometry3::translation(0.9, 0.0, 0.0), [0.0; 3], OJointType::Fixed, OJointLimit::default());
+
+    // let mut r = r.as_robot().clone();
+    // r.preprocess(Save(Some("xarm7_bimanual")));
+
+    r.bevy_self_collision_visualization();
 }