I am trying to implement a path planning algorithm in V-Rep. In Tools -> Calculation Module Properties -> Path Planning, V-Rep recommends to use the OMPL plugin for path planning. I couldn't find any information (In V-Rep as well as OMPL's websites) regarding where to get the plugin. Where might I get it and how can I use it in V-Rep?
The OMPL plugin is integrated on Vrep, at least in latest versions (>3.3.0), so you doesn't need to download anything.
They sugest some scenarios as example, like the "motionPlanningDemo1" or "scenes/6DoFHolonomicPathPlanning.ttt".
One basic guide:
1) Create a task, simExtOMPL_createTask()
2) Define the State Space, simExtOMPL_createStateSpace()
3) Associate the State Space to the task previously created, simExtOMPL_setStateSpace()
4) Choose the algorithm you want, simExtOMPL_setAlgorithm()
5) Define the colisions, simExtOMPL_setColisionPairs()
6) Define the inictial state, simExtOMPL_setStartState()
7) Define the final state, simExtOMPL_setGoal()
8) Calculate the path, simExtOMPL_compute()
For documentations about Path Planning using OMPL, please see the chapter Path and motion planning on Vrep documentation.
Related
I have an enumerand of around 150 entries, which I need to get into IBM Rhapsody.
Doing this by hand is clearly lengthy and error prone. I have google extensively but found only things that tell me how to edit the generated code -- not go the other way.
The question is: How is this done? And if there is no way -- please someone post that as an answer.
David,
I would jump into the Java API (plugin subsystem) and do it that way. If you haven't learned how to use the API, there is a bit of a learning curve. There are two ways to go about it: Implement a Java (or your favorite JVM language--I use Scala) app that realizes the Rhapsody Plugin framework and then you choose to package it up and deploy it so that it gets loaded when you load your model, or, if it is a one off job, do everything up to the point of packaging it up and then run it from within your IDE and you are done. If you are comfortable with Scala, I can post some code.
So what I did in the end was I edited the relevant .sbs file, used a small python program to generate the items I required, and then update the length of the array accordingly.
all_the_literals = ["enum_name = 0x4e", enum_name2 = 0xF2", ... ,]
for field1, waste, field1_value in map(lambda x: x.split(" "),
all_the_literals):
literal_string = f""" {{ IEnumerationLiteral
- _id = GUID {uuid.uuid4()};
- _name = \"{field1}\";
- codeUpdateCGTime = 5.16.2022::19:24:18;
- _modifiedTimeWeak = 5.16.2022::19:24:18;
- _value = \"{field1_value}\";
}}"""
print(literal_string)
Note the above "code" snippet purely prints the items, which you then copy-paste into the relevant field in the sbs file. YMMV -- this was the correct format for an enum in Rhapsody (and note how I fudged the update time, but it worked successfully, so you'll need to do the same if you use this answer).
Also note it's probably better to use bauhaus9's answer, but I definitely didn't have time for it.
Consider the following code:
mt.resolve().getQualifiedSignature();
Here mt is of type MethodDeclaration, and it might come from a MethodCallExpr.
Now in order it to work accurately, I need to set the following:
CombinedTypeSolver combinedTypeSolver = new CombinedTypeSolver();
combinedTypeSolver.add(new ReflectionTypeSolver());
combinedTypeSolver.add(new JavaParserTypeSolver(new File("src/java1/")));
combinedTypeSolver.add(new JavaParserTypeSolver(new File("src/java2/
")));
This is easy, except I have two issues considering my scenario.
1) I can not set the root source directories manually. I need to find them automatically.
2) I can not give path like the above, because I am using jGit to checkout to different commits. So the paths are not fixed and might vary based on the different checkout commits. So the path should be accessed using JGit tree.
Any help would be highly appreciated.
I am new to the plugin development of BimClientServerLib.
I have to create a plugin/service where i just need the 3D view and get all the information, so that if i push some information like simulate Door_1 it should be highlighted in the 3D View.I have used the [BimServerClientLib] to check in the project and retrieve some information like get all levels or get all detectors with existing BimViews as 3D viewer and the BIMServerClientLib as a separate Java service.Also, if i use the BimViews which is in Java script how do i push information with the service in Java.
Have a look at BIMSurfer. Download the project into any server (like tomcat), then navigate to the index.html. They have two examples, local one without a BIMServer and another with a connection to BIMServer.
You can adjust their BIMServer example to load your project and for highlighting a specific element, you can the provided library methods (available on the BIMSurfer github main page).
bimSurfer.setSelection({ids: ["object3", "object2", "object4", "object6"], selected: true });
Goodluck.
I am working on AEM 5.6 to 6.2 upgrade project. There are some nodes in aem 5.6 environment which contains invalid character(as per JCR naming convention like rte[2] is one of the node name which doesn't follow the naming convention)but somehow we are able to replicate those nodes in 5.6 environment. After upgrade it to aem 6.2,it seems like JCR is more restricted and won't allow the nodes to replicate if it is having invalid characters.
Getting the below error in aem 6.2: error:
com.day.cq.replication.ReplicationException: Repository error during node import: Cannot create a new node using a name including an index
Is there any way we can configure AEM 6.2 to stop checking JCR node names?or any other solution?
JCR 2 does not allow [ as a valid character therefore you won't get an easy workaround for this. It's one of the limitations just like the same-named-sibling.
My recommendation will be to modify these nodes before the upgrade/migration to 6.2. This can be complicated and costly for business but 6.2 won't allow it.
As a background [ was allowed in older version due to twisted support for grammar syntax for same-named-siblings.
Assuming that these are all content nodes as nothing out-of-the-box in AEM 5.x follows this naming convention.
Some ways to fix it:
Write a custom servlet to query and rename the paths across all references. You will have to test your content for these renames.
Use Groovy console (https://github.com/OlsonDigital/aem-groovy-console) to rename the nodes.
In either case, you will need to modify the nodes before the migration as the structure is not oak compliant therefore you cannot use crx2oak commit hooks also. This can be done with both in-place upgrade and side-by-side migration. This is similar to the problem with same named siblings that must be corrected before the migration.
Some efficiency techniques that might help:
Write queries to find invalid node names on top-level nodes like /content/mysite-a, /content/mysite-b etc. Don't run root level queries on /content as it might downgrade to
traversal and halt the execution.
Ensure that all references are updated in same commit. If you are using custom servlet, call session.save() only after updating all the node names and it's corresponding references.
As i mention in the comment this replication failure causes because of the oak workspace restriction as the code snippet below
//handle index
if (oakName.contains("["))
{ throw new RepositoryException("Cannot create a new node using a name including an index");
}
and i feel you can't escape this constraint as it it required by the repository to maintain consistency
you can find nodes that ends with '[', by below query
SELECT [jcr:path] FROM [nt:base] WHERE ISDESCENDANTNODE('/content/path/') AND [jcr:path] like '%\['
and to modify the JCR/CRX nodes you can use CURL or SlingPostServlet method
Some helpful posts are blow.
https://github.com/paulrohrbeck/aem-links/blob/master/curl_cheatsheet.md
http://sling.apache.org/site/manipulating-content-the-slingpostservlet-servletspost.html
Can you try migrating using a tool like oak-upgrade and let us know if you are still facing this issue.
The tool is robust and you have the flexibility to configure specific sub-trees for migration using this tool.
We're running a Zope server with an eventually large-ish number of Plone (4) sites. Every now and then, an extension product update comes along and requires a re-install to pick up changes in the profile settings, e.g. new content types.
Manually, this would mean clicking through to every Plone site's portal_quickinstaller, tick the products, press update. This is not very feasible if we're talking about dozens of sites, so I'm trying to automate this. Essentially so far, I have the following living as a Script(Python) in the Zope root:
a = context.restrictedTraverse('/')
p = a['Plone']
print p.getSiteManager()
qi = p.restrictedTraverse('portal_quickinstaller')
print qi
qi.reinstallProducts('LinguaPlone')
(Simplified; in reality I have a longer list instead of the single Plone instance, and I might want to reinstall a longer list of products.)
This fails with the following:
Module Products.CMFQuickInstallerTool.QuickInstallerTool, line 613, in uninstallProducts
Module Products.CMFQuickInstallerTool.InstalledProduct, line 272, in uninstall
Module Products.CMFQuickInstallerTool.InstalledProduct, line 351, in _cascadeRemove
AttributeError: 'BaseGlobalComponents' object has no attribute 'objectItems'
From my debugging attempts so far, the BaseGlobalComponents is the Zope SiteManager returned by the zope.component.getSiteManager. How do I convince quickinstaller to pick up the right one, i.e. the one from the Plone Site it's living in?
Alternatively, how would I go about automating re-installing products in a way that will remain vaguely feasible for larger installations? (ETA: I'm aware this is not the kind of thing you do automatically with a cronjob, but updates of inhouse-developed products can't be avoided, I'm afraid.)
Here's how to change the active local site manager. You won't be able to do this in Restricted Python, so you'll need to turn your Python script into an External Method or browser view.
from zope.app.component.hooks import setHooks, setSite
setHooks()
setSite(site)
The setHooks call only needs to be done once. In Zope 2.12 these calls should be imported instead from zope.site.hooks and in Zope 2.13 from zope.component.hooks.
Keep in mind that calling reinstallProducts is not appropriate for all add-on products, and not recommended unless you've carefully checked what reinstalling does and are sure it won't cause problems. Some products provide upgrade steps that run actions more selectively.
Disclaimer: are you sure you want to do this? Automatically reinstalling and upgrading products to the latest version, blindly and without any testing on a staging instance, is asking for trouble.
Anyway, you can do such a thing using XML-RPC and a little tweaking. This is how you install a product on a live running instance using XML-RPC:
>>> import xmlrpclib
>>> proxy = xmlrpclib.ServerProxy(
"http://admin:passwd#localhost:8080/Plone/portal_quickinstaller"
)
>>> proxy.getProductVersion('Marshall')
'2.0'
>>> proxy.isProductInstalled('Marshall')
'False'
>>> proxy.installProduct('Marshall')
'Registry installed sucessfully.\n'
>>> proxy.isProductInstalled('Marshall')
'True'
To reinstall you need subclass Products.CMFQuickInstallerTool.QuickInstallerTool.py and provide you custom QuickInstallerTool with a method that has the keyword argument "reinstall" set as 'True' by default; something like:
442c442
< swallowExceptions=None, reinstall=False,
---
> swallowExceptions=None, reinstall=True,
452,457c452,457
< if self.isProductInstalled(p):
< prod = self._getOb(p)
< msg = ('This product is already installed, '
< 'please uninstall before reinstalling it.')
< prod.log(msg)
< return msg
---
> #if self.isProductInstalled(p):
> # prod = self._getOb(p)
> # msg = ('This product is already installed, '
> # 'please uninstall before reinstalling it.')
> # prod.log(msg)
> # return msg
Even better: provide your own method for gathering information about versions and reinstalling a product, compatible with the XML-RPC protocol (as you cannot pass keyword arguments).
There might be cleaner ways of doing this via XML-RPC, but portal_quickinstaller is not meant to be used in this way and there may be caveats. Use with caution.
I have got this python script in the Zope root of an instance with 7 Plone Sites. Looks pretty much the same as what you have. It might be that it only works on this Plone 2.5 site (yes, old), but I think it should work on 3.x and 4.x as well. Maybe an an innocent looking difference (that I am overlooking) causes the error in your script; maybe the restrictedTraverses that you do trip it up. (Script edited for clarity.)
SITES = ['site-1', 'site-2']
for site in SITES:
print "Reinstalling LinguaPlone in %s." % site
portal = context[site]
qi = portal.portal_quickinstaller
qi.reinstallProducts(['LinguaPlone'])
First don't do a reinstall it can break your website in many cases.
Next you have to consider that add-ons may provide an upgrade step (usually they will). Use the quickinstaller api to achieve this in PythonScript. It is good but it can also be achieved with a script on the file system. Check the examples here: http://svn.plone.org/svn/plone/plone.org/Products.PloneOrg/trunk/scripts/
Another solution can be to use the Selenium IDE to record the quickinstaller stuff in one site and make a copy paste the results of that tests to run it on another website (very weird isn't it ?)