Re: Camera sensor status affects the robot trajectory following?!

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Re: Camera sensor status affects the robot trajectory following?!

Rosen Diankov
Administrator
hi moslem,

awesome!
the simulation time is not tied to real-time exactly, it tries to keep
up. A camera 'snapshot' is supposed to be instantaneous, but it takes
30+ ms, this is compensated for by slowing down the simulation time.

you can try increasing the simulation time step (check out
StartSimulation function)

rosen,


2010/6/10 Moslem Kazemi <[hidden email]>:

> Hi Rosen,
> I managed to bring up a text server through a python script and now I can
> communicate with orave through the tcp/ip python client, all thanks to your
> help!
> I noticed that whenever I power on the camera sensor, the robot trajectory
> following is slowed down quite noticeably ..... Same trajectory without the
> sensor being on is executed much faster and almost according to the timing
> provided along with the trajectory .... Is it supposed to be this way?
> Thanks,
> --Moslem.
>
> --
> Moslem Kazemi, Ph.D. candidate
> Robotics: Motion Planning, Hardware, and Control
> Smart Systems: Design and Integration
> Simon Fraser University
> http://sites.google.com/site/moslemk/
>

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Re: Camera sensor status affects the robot trajectory following?!

Moslem Kazemi
I thought the camera is taking snapshots when it is asked for by sending robot_sensordata! So, from what you are saying, the camera starts sending snapshots as soon as it is powered on?

--Moslem.

On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov <[hidden email]> wrote:
hi moslem,

awesome!
the simulation time is not tied to real-time exactly, it tries to keep
up. A camera 'snapshot' is supposed to be instantaneous, but it takes
30+ ms, this is compensated for by slowing down the simulation time.

you can try increasing the simulation time step (check out
StartSimulation function)

rosen,


2010/6/10 Moslem Kazemi <[hidden email]>:
> Hi Rosen,
> I managed to bring up a text server through a python script and now I can
> communicate with orave through the tcp/ip python client, all thanks to your
> help!
> I noticed that whenever I power on the camera sensor, the robot trajectory
> following is slowed down quite noticeably ..... Same trajectory without the
> sensor being on is executed much faster and almost according to the timing
> provided along with the trajectory .... Is it supposed to be this way?
> Thanks,
> --Moslem.
>
> --
> Moslem Kazemi, Ph.D. candidate
> Robotics: Motion Planning, Hardware, and Control
> Smart Systems: Design and Integration
> Simon Fraser University
> http://sites.google.com/site/moslemk/
>



--
Moslem Kazemi, Ph.D. candidate
http://sites.google.com/site/moslemk/

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Re: Camera sensor status affects the robot trajectory following?!

Rosen Diankov
Administrator
Yes, that is correct. The framerate parameter controls how many times
a second it samples the environment.
rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:

> I thought the camera is taking snapshots when it is asked for by sending
> robot_sensordata! So, from what you are saying, the camera starts sending
> snapshots as soon as it is powered on?
> --Moslem.
>
> On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> hi moslem,
>>
>> awesome!
>> the simulation time is not tied to real-time exactly, it tries to keep
>> up. A camera 'snapshot' is supposed to be instantaneous, but it takes
>> 30+ ms, this is compensated for by slowing down the simulation time.
>>
>> you can try increasing the simulation time step (check out
>> StartSimulation function)
>>
>> rosen,
>>
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > Hi Rosen,
>> > I managed to bring up a text server through a python script and now I
>> > can
>> > communicate with orave through the tcp/ip python client, all thanks to
>> > your
>> > help!
>> > I noticed that whenever I power on the camera sensor, the robot
>> > trajectory
>> > following is slowed down quite noticeably ..... Same trajectory without
>> > the
>> > sensor being on is executed much faster and almost according to the
>> > timing
>> > provided along with the trajectory .... Is it supposed to be this way?
>> > Thanks,
>> > --Moslem.
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > Robotics: Motion Planning, Hardware, and Control
>> > Smart Systems: Design and Integration
>> > Simon Fraser University
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>

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Re: Camera sensor status affects the robot trajectory following?!

Moslem Kazemi
Any chance you would add an option, so it scans the environment as requested and not based on the framerate?
I have chosen 1 as the framerate and still it slows down the simulation by a great deal. In fact I do not notice any difference between 1 or 30 fps!
--moslem.

On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov <[hidden email]> wrote:
Yes, that is correct. The framerate parameter controls how many times
a second it samples the environment.
rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:
> I thought the camera is taking snapshots when it is asked for by sending
> robot_sensordata! So, from what you are saying, the camera starts sending
> snapshots as soon as it is powered on?
> --Moslem.
>
> On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> hi moslem,
>>
>> awesome!
>> the simulation time is not tied to real-time exactly, it tries to keep
>> up. A camera 'snapshot' is supposed to be instantaneous, but it takes
>> 30+ ms, this is compensated for by slowing down the simulation time.
>>
>> you can try increasing the simulation time step (check out
>> StartSimulation function)
>>
>> rosen,
>>
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > Hi Rosen,
>> > I managed to bring up a text server through a python script and now I
>> > can
>> > communicate with orave through the tcp/ip python client, all thanks to
>> > your
>> > help!
>> > I noticed that whenever I power on the camera sensor, the robot
>> > trajectory
>> > following is slowed down quite noticeably ..... Same trajectory without
>> > the
>> > sensor being on is executed much faster and almost according to the
>> > timing
>> > provided along with the trajectory .... Is it supposed to be this way?
>> > Thanks,
>> > --Moslem.
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > Robotics: Motion Planning, Hardware, and Control
>> > Smart Systems: Design and Integration
>> > Simon Fraser University
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>



--
Moslem Kazemi, Ph.D. candidate
http://sites.google.com/site/moslemk/

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Re: Camera sensor status affects the robot trajectory following?!

Rosen Diankov
Administrator
If you don't see a difference, perhaps you should confirm that the
camera is really taking snapshots at 1fps (maybe there's a bug there).

And there is already an option to turn on/off the sensor. Just send it
a 'power 0' command.

rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:

> Any chance you would add an option, so it scans the environment as requested
> and not based on the framerate?
> I have chosen 1 as the framerate and still it slows down the simulation by a
> great deal. In fact I do not notice any difference between 1 or 30 fps!
> --moslem.
>
> On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> Yes, that is correct. The framerate parameter controls how many times
>> a second it samples the environment.
>> rosen,
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > I thought the camera is taking snapshots when it is asked for by sending
>> > robot_sensordata! So, from what you are saying, the camera starts
>> > sending
>> > snapshots as soon as it is powered on?
>> > --Moslem.
>> >
>> > On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> hi moslem,
>> >>
>> >> awesome!
>> >> the simulation time is not tied to real-time exactly, it tries to keep
>> >> up. A camera 'snapshot' is supposed to be instantaneous, but it takes
>> >> 30+ ms, this is compensated for by slowing down the simulation time.
>> >>
>> >> you can try increasing the simulation time step (check out
>> >> StartSimulation function)
>> >>
>> >> rosen,
>> >>
>> >>
>> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> > Hi Rosen,
>> >> > I managed to bring up a text server through a python script and now I
>> >> > can
>> >> > communicate with orave through the tcp/ip python client, all thanks
>> >> > to
>> >> > your
>> >> > help!
>> >> > I noticed that whenever I power on the camera sensor, the robot
>> >> > trajectory
>> >> > following is slowed down quite noticeably ..... Same trajectory
>> >> > without
>> >> > the
>> >> > sensor being on is executed much faster and almost according to the
>> >> > timing
>> >> > provided along with the trajectory .... Is it supposed to be this
>> >> > way?
>> >> > Thanks,
>> >> > --Moslem.
>> >> >
>> >> > --
>> >> > Moslem Kazemi, Ph.D. candidate
>> >> > Robotics: Motion Planning, Hardware, and Control
>> >> > Smart Systems: Design and Integration
>> >> > Simon Fraser University
>> >> > http://sites.google.com/site/moslemk/
>> >> >
>> >
>> >
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>

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Re: Camera sensor status affects the robot trajectory following?!

Moslem Kazemi
Thanks, Rosen! Yes, actually turning on/off the camera for each snapshot was a solution that I just tried and it works fine! :)
Still, I do not see any difference between 1 and 30 fps ... I think there is a bug there ....

By the way, do I need to do any cleanup to shutdown the textserver after/before closing the openrave?
Thanks,
--Moslem.

On Thu, Jun 10, 2010 at 11:22 AM, Rosen Diankov <[hidden email]> wrote:
If you don't see a difference, perhaps you should confirm that the
camera is really taking snapshots at 1fps (maybe there's a bug there).

And there is already an option to turn on/off the sensor. Just send it
a 'power 0' command.

rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:
> Any chance you would add an option, so it scans the environment as requested
> and not based on the framerate?
> I have chosen 1 as the framerate and still it slows down the simulation by a
> great deal. In fact I do not notice any difference between 1 or 30 fps!
> --moslem.
>
> On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> Yes, that is correct. The framerate parameter controls how many times
>> a second it samples the environment.
>> rosen,
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > I thought the camera is taking snapshots when it is asked for by sending
>> > robot_sensordata! So, from what you are saying, the camera starts
>> > sending
>> > snapshots as soon as it is powered on?
>> > --Moslem.
>> >
>> > On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> hi moslem,
>> >>
>> >> awesome!
>> >> the simulation time is not tied to real-time exactly, it tries to keep
>> >> up. A camera 'snapshot' is supposed to be instantaneous, but it takes
>> >> 30+ ms, this is compensated for by slowing down the simulation time.
>> >>
>> >> you can try increasing the simulation time step (check out
>> >> StartSimulation function)
>> >>
>> >> rosen,
>> >>
>> >>
>> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> > Hi Rosen,
>> >> > I managed to bring up a text server through a python script and now I
>> >> > can
>> >> > communicate with orave through the tcp/ip python client, all thanks
>> >> > to
>> >> > your
>> >> > help!
>> >> > I noticed that whenever I power on the camera sensor, the robot
>> >> > trajectory
>> >> > following is slowed down quite noticeably ..... Same trajectory
>> >> > without
>> >> > the
>> >> > sensor being on is executed much faster and almost according to the
>> >> > timing
>> >> > provided along with the trajectory .... Is it supposed to be this
>> >> > way?
>> >> > Thanks,
>> >> > --Moslem.
>> >> >
>> >> > --
>> >> > Moslem Kazemi, Ph.D. candidate
>> >> > Robotics: Motion Planning, Hardware, and Control
>> >> > Smart Systems: Design and Integration
>> >> > Simon Fraser University
>> >> > http://sites.google.com/site/moslemk/
>> >> >
>> >
>> >
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>



--
Moslem Kazemi, Ph.D. candidate
http://sites.google.com/site/moslemk/

------------------------------------------------------------------------------
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Re: Camera sensor status affects the robot trajectory following?!

Rosen Diankov
Administrator
Hi Moslem,

You are right, the framerate was being ignored. Please update to r1513

You can shutdown the textserver by removing the problem using
env.RemoveProblem; it will do its own cleanup.

rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:

> Thanks, Rosen! Yes, actually turning on/off the camera for each snapshot was
> a solution that I just tried and it works fine! :)
> Still, I do not see any difference between 1 and 30 fps ... I think there is
> a bug there ....
>
> By the way, do I need to do any cleanup to shutdown the textserver
> after/before closing the openrave?
> Thanks,
> --Moslem.
>
> On Thu, Jun 10, 2010 at 11:22 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> If you don't see a difference, perhaps you should confirm that the
>> camera is really taking snapshots at 1fps (maybe there's a bug there).
>>
>> And there is already an option to turn on/off the sensor. Just send it
>> a 'power 0' command.
>>
>> rosen,
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > Any chance you would add an option, so it scans the environment as
>> > requested
>> > and not based on the framerate?
>> > I have chosen 1 as the framerate and still it slows down the simulation
>> > by a
>> > great deal. In fact I do not notice any difference between 1 or 30 fps!
>> > --moslem.
>> >
>> > On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> Yes, that is correct. The framerate parameter controls how many times
>> >> a second it samples the environment.
>> >> rosen,
>> >>
>> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> > I thought the camera is taking snapshots when it is asked for by
>> >> > sending
>> >> > robot_sensordata! So, from what you are saying, the camera starts
>> >> > sending
>> >> > snapshots as soon as it is powered on?
>> >> > --Moslem.
>> >> >
>> >> > On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov
>> >> > <[hidden email]>
>> >> > wrote:
>> >> >>
>> >> >> hi moslem,
>> >> >>
>> >> >> awesome!
>> >> >> the simulation time is not tied to real-time exactly, it tries to
>> >> >> keep
>> >> >> up. A camera 'snapshot' is supposed to be instantaneous, but it
>> >> >> takes
>> >> >> 30+ ms, this is compensated for by slowing down the simulation time.
>> >> >>
>> >> >> you can try increasing the simulation time step (check out
>> >> >> StartSimulation function)
>> >> >>
>> >> >> rosen,
>> >> >>
>> >> >>
>> >> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> >> > Hi Rosen,
>> >> >> > I managed to bring up a text server through a python script and
>> >> >> > now I
>> >> >> > can
>> >> >> > communicate with orave through the tcp/ip python client, all
>> >> >> > thanks
>> >> >> > to
>> >> >> > your
>> >> >> > help!
>> >> >> > I noticed that whenever I power on the camera sensor, the robot
>> >> >> > trajectory
>> >> >> > following is slowed down quite noticeably ..... Same trajectory
>> >> >> > without
>> >> >> > the
>> >> >> > sensor being on is executed much faster and almost according to
>> >> >> > the
>> >> >> > timing
>> >> >> > provided along with the trajectory .... Is it supposed to be this
>> >> >> > way?
>> >> >> > Thanks,
>> >> >> > --Moslem.
>> >> >> >
>> >> >> > --
>> >> >> > Moslem Kazemi, Ph.D. candidate
>> >> >> > Robotics: Motion Planning, Hardware, and Control
>> >> >> > Smart Systems: Design and Integration
>> >> >> > Simon Fraser University
>> >> >> > http://sites.google.com/site/moslemk/
>> >> >> >
>> >> >
>> >> >
>> >> >
>> >> > --
>> >> > Moslem Kazemi, Ph.D. candidate
>> >> > http://sites.google.com/site/moslemk/
>> >> >
>> >
>> >
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>

------------------------------------------------------------------------------
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Re: Camera sensor status affects the robot trajectory following?!

Moslem Kazemi
Thank, rosen!

What is the exact syntax to call the RemoveProblem? is this right: env.RemoveProblem(renv, 'textserver') or env.RemoveProblem('textserver') ... neither works! and generally, where I could find out about the syntax of all other python commands?

Thanks,
--Moslem.

On Thu, Jun 10, 2010 at 12:45 PM, Rosen Diankov <[hidden email]> wrote:
Hi Moslem,

You are right, the framerate was being ignored. Please update to r1513

You can shutdown the textserver by removing the problem using
env.RemoveProblem; it will do its own cleanup.

rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:
> Thanks, Rosen! Yes, actually turning on/off the camera for each snapshot was
> a solution that I just tried and it works fine! :)
> Still, I do not see any difference between 1 and 30 fps ... I think there is
> a bug there ....
>
> By the way, do I need to do any cleanup to shutdown the textserver
> after/before closing the openrave?
> Thanks,
> --Moslem.
>
> On Thu, Jun 10, 2010 at 11:22 AM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> If you don't see a difference, perhaps you should confirm that the
>> camera is really taking snapshots at 1fps (maybe there's a bug there).
>>
>> And there is already an option to turn on/off the sensor. Just send it
>> a 'power 0' command.
>>
>> rosen,
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > Any chance you would add an option, so it scans the environment as
>> > requested
>> > and not based on the framerate?
>> > I have chosen 1 as the framerate and still it slows down the simulation
>> > by a
>> > great deal. In fact I do not notice any difference between 1 or 30 fps!
>> > --moslem.
>> >
>> > On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> Yes, that is correct. The framerate parameter controls how many times
>> >> a second it samples the environment.
>> >> rosen,
>> >>
>> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> > I thought the camera is taking snapshots when it is asked for by
>> >> > sending
>> >> > robot_sensordata! So, from what you are saying, the camera starts
>> >> > sending
>> >> > snapshots as soon as it is powered on?
>> >> > --Moslem.
>> >> >
>> >> > On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov
>> >> > <[hidden email]>
>> >> > wrote:
>> >> >>
>> >> >> hi moslem,
>> >> >>
>> >> >> awesome!
>> >> >> the simulation time is not tied to real-time exactly, it tries to
>> >> >> keep
>> >> >> up. A camera 'snapshot' is supposed to be instantaneous, but it
>> >> >> takes
>> >> >> 30+ ms, this is compensated for by slowing down the simulation time.
>> >> >>
>> >> >> you can try increasing the simulation time step (check out
>> >> >> StartSimulation function)
>> >> >>
>> >> >> rosen,
>> >> >>
>> >> >>
>> >> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> >> > Hi Rosen,
>> >> >> > I managed to bring up a text server through a python script and
>> >> >> > now I
>> >> >> > can
>> >> >> > communicate with orave through the tcp/ip python client, all
>> >> >> > thanks
>> >> >> > to
>> >> >> > your
>> >> >> > help!
>> >> >> > I noticed that whenever I power on the camera sensor, the robot
>> >> >> > trajectory
>> >> >> > following is slowed down quite noticeably ..... Same trajectory
>> >> >> > without
>> >> >> > the
>> >> >> > sensor being on is executed much faster and almost according to
>> >> >> > the
>> >> >> > timing
>> >> >> > provided along with the trajectory .... Is it supposed to be this
>> >> >> > way?
>> >> >> > Thanks,
>> >> >> > --Moslem.
>> >> >> >
>> >> >> > --
>> >> >> > Moslem Kazemi, Ph.D. candidate
>> >> >> > Robotics: Motion Planning, Hardware, and Control
>> >> >> > Smart Systems: Design and Integration
>> >> >> > Simon Fraser University
>> >> >> > http://sites.google.com/site/moslemk/
>> >> >> >
>> >> >
>> >> >
>> >> >
>> >> > --
>> >> > Moslem Kazemi, Ph.D. candidate
>> >> > http://sites.google.com/site/moslemk/
>> >> >
>> >
>> >
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>



--
Moslem Kazemi, Ph.D. candidate
http://sites.google.com/site/moslemk/

------------------------------------------------------------------------------
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Re: Camera sensor status affects the robot trajectory following?!

Rosen Diankov
Administrator
hi moslem,

when you load the problem, it looks something like:

p=env.CreateProblem('textserver')
env.LoadProblem(p,'4765')

when you want to remove it, do:
env.RemoveProblem(p)

you can get a list of loaded problems in the environment with:
env.GetLoadedProblems()


You can use the 'help' command to find the arguments of all functions:

help env.LoadProblem
help env
help Environment.CreateProblem

rosen,

2010/6/10 Moslem Kazemi <[hidden email]>:

> Thank, rosen!
> What is the exact syntax to call the RemoveProblem? is this right:
> env.RemoveProblem(renv, 'textserver') or env.RemoveProblem('textserver') ...
> neither works! and generally, where I could find out about the syntax of all
> other python commands?
> Thanks,
> --Moslem.
> On Thu, Jun 10, 2010 at 12:45 PM, Rosen Diankov <[hidden email]>
> wrote:
>>
>> Hi Moslem,
>>
>> You are right, the framerate was being ignored. Please update to r1513
>>
>> You can shutdown the textserver by removing the problem using
>> env.RemoveProblem; it will do its own cleanup.
>>
>> rosen,
>>
>> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> > Thanks, Rosen! Yes, actually turning on/off the camera for each snapshot
>> > was
>> > a solution that I just tried and it works fine! :)
>> > Still, I do not see any difference between 1 and 30 fps ... I think
>> > there is
>> > a bug there ....
>> >
>> > By the way, do I need to do any cleanup to shutdown the textserver
>> > after/before closing the openrave?
>> > Thanks,
>> > --Moslem.
>> >
>> > On Thu, Jun 10, 2010 at 11:22 AM, Rosen Diankov
>> > <[hidden email]>
>> > wrote:
>> >>
>> >> If you don't see a difference, perhaps you should confirm that the
>> >> camera is really taking snapshots at 1fps (maybe there's a bug there).
>> >>
>> >> And there is already an option to turn on/off the sensor. Just send it
>> >> a 'power 0' command.
>> >>
>> >> rosen,
>> >>
>> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> > Any chance you would add an option, so it scans the environment as
>> >> > requested
>> >> > and not based on the framerate?
>> >> > I have chosen 1 as the framerate and still it slows down the
>> >> > simulation
>> >> > by a
>> >> > great deal. In fact I do not notice any difference between 1 or 30
>> >> > fps!
>> >> > --moslem.
>> >> >
>> >> > On Thu, Jun 10, 2010 at 11:10 AM, Rosen Diankov
>> >> > <[hidden email]>
>> >> > wrote:
>> >> >>
>> >> >> Yes, that is correct. The framerate parameter controls how many
>> >> >> times
>> >> >> a second it samples the environment.
>> >> >> rosen,
>> >> >>
>> >> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> >> > I thought the camera is taking snapshots when it is asked for by
>> >> >> > sending
>> >> >> > robot_sensordata! So, from what you are saying, the camera starts
>> >> >> > sending
>> >> >> > snapshots as soon as it is powered on?
>> >> >> > --Moslem.
>> >> >> >
>> >> >> > On Thu, Jun 10, 2010 at 10:58 AM, Rosen Diankov
>> >> >> > <[hidden email]>
>> >> >> > wrote:
>> >> >> >>
>> >> >> >> hi moslem,
>> >> >> >>
>> >> >> >> awesome!
>> >> >> >> the simulation time is not tied to real-time exactly, it tries to
>> >> >> >> keep
>> >> >> >> up. A camera 'snapshot' is supposed to be instantaneous, but it
>> >> >> >> takes
>> >> >> >> 30+ ms, this is compensated for by slowing down the simulation
>> >> >> >> time.
>> >> >> >>
>> >> >> >> you can try increasing the simulation time step (check out
>> >> >> >> StartSimulation function)
>> >> >> >>
>> >> >> >> rosen,
>> >> >> >>
>> >> >> >>
>> >> >> >> 2010/6/10 Moslem Kazemi <[hidden email]>:
>> >> >> >> > Hi Rosen,
>> >> >> >> > I managed to bring up a text server through a python script and
>> >> >> >> > now I
>> >> >> >> > can
>> >> >> >> > communicate with orave through the tcp/ip python client, all
>> >> >> >> > thanks
>> >> >> >> > to
>> >> >> >> > your
>> >> >> >> > help!
>> >> >> >> > I noticed that whenever I power on the camera sensor, the robot
>> >> >> >> > trajectory
>> >> >> >> > following is slowed down quite noticeably ..... Same trajectory
>> >> >> >> > without
>> >> >> >> > the
>> >> >> >> > sensor being on is executed much faster and almost according to
>> >> >> >> > the
>> >> >> >> > timing
>> >> >> >> > provided along with the trajectory .... Is it supposed to be
>> >> >> >> > this
>> >> >> >> > way?
>> >> >> >> > Thanks,
>> >> >> >> > --Moslem.
>> >> >> >> >
>> >> >> >> > --
>> >> >> >> > Moslem Kazemi, Ph.D. candidate
>> >> >> >> > Robotics: Motion Planning, Hardware, and Control
>> >> >> >> > Smart Systems: Design and Integration
>> >> >> >> > Simon Fraser University
>> >> >> >> > http://sites.google.com/site/moslemk/
>> >> >> >> >
>> >> >> >
>> >> >> >
>> >> >> >
>> >> >> > --
>> >> >> > Moslem Kazemi, Ph.D. candidate
>> >> >> > http://sites.google.com/site/moslemk/
>> >> >> >
>> >> >
>> >> >
>> >> >
>> >> > --
>> >> > Moslem Kazemi, Ph.D. candidate
>> >> > http://sites.google.com/site/moslemk/
>> >> >
>> >
>> >
>> >
>> > --
>> > Moslem Kazemi, Ph.D. candidate
>> > http://sites.google.com/site/moslemk/
>> >
>
>
>
> --
> Moslem Kazemi, Ph.D. candidate
> http://sites.google.com/site/moslemk/
>

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