def parse_collision_mesh_from_path(dir_path, filename, scale=1e-3):
file_path = os.path.join(dir_path, filename)
obj_name = filename.split('.')[0]
if filename.endswith('.obj'):
mesh = Mesh.from_obj(file_path)
elif filename.endswith('.stl'):
mesh = Mesh.from_stl(file_path)
else:
return None
cm = CollisionMesh(mesh, obj_name)
cm.scale(scale)
return cm
def to_collision_meshes(self):
"""Creates a list of collision meshes from a :class:`compas_fab.backends.CollisionObject`
"""
collision_meshes = []
for mesh, pose in zip(self.meshes, self.mesh_poses):
pose = pose if isinstance(pose, Pose) else Pose(**pose)
pose.position = pose.position if isinstance(pose.position, Point) else Point(**pose.position)
pose.position.x = float(pose.position.x)
pose.position.y = float(pose.position.y)
pose.position.z = float(pose.position.z)
pose.orientation = pose.orientation if isinstance(pose.orientation, Quaternion) else Quaternion(**pose.orientation)
pose.orientation.x = float(pose.orientation.x)
pose.orientation.y = float(pose.orientation.y)
pose.orientation.z = float(pose.orientation.z)
pose.orientation.w = float(pose.orientation.w)
mesh = mesh if isinstance(mesh, Mesh) else Mesh(**mesh)
mesh.triangles = [t if isinstance(t, MeshTriangle) else MeshTriangle(**t) for t in mesh.triangles]
for triangle in mesh.triangles:
triangle.vertex_indices = [int(x) for x in triangle.vertex_indices]
mesh.vertices = [v if isinstance(v, Point) else Point(**v) for v in mesh.vertices]
for vertex in mesh.vertices:
vertex.x = float(vertex.x)
vertex.y = float(vertex.y)
vertex.z = float(vertex.z)
root_name = getattr(self.header, 'frame_id', None) or self.header['frame_id']
cm = CollisionMesh(mesh.mesh, self.id, pose.frame, root_name)
collision_meshes.append(cm)
return collision_meshes
def RunScript(self, scene, M, name, add, remove):
ok = False
if scene and M and name:
mesh = RhinoMesh.from_geometry(M).to_compas()
collision_mesh = CollisionMesh(mesh, name)
if add:
scene.add_collision_mesh(collision_mesh)
ok = True
if remove:
scene.remove_collision_mesh(name)
ok = True
return ok
def RunScript(self, scene, mesh, identifier, link_name, touch_links, add, remove):
attached_collision_mesh = None
if scene and mesh and identifier and link_name:
compas_mesh = RhinoMesh.from_geometry(mesh).to_compas()
collision_mesh = CollisionMesh(compas_mesh, identifier)
attached_collision_mesh = AttachedCollisionMesh(collision_mesh, link_name, touch_links)
if add:
scene.add_attached_collision_mesh(attached_collision_mesh)
if remove:
scene.remove_attached_collision_mesh(identifier)
scene.remove_collision_mesh(identifier)
return attached_collision_mesh
def move_and_placing_motion(element, start_configuration, tolerance_vector,
savelevel_vector, brick_acm):
"""Returns two trajectories to move and place an element.
"""
# settings for plan_motion
tolerance_position = 0.001
tolerance_axes = [math.radians(1)] * 3
target_frame = element.gripping_frame.copy()
target_frame.point += tolerance_vector
savelevel_target_frame = target_frame.copy()
savelevel_target_frame.point += savelevel_vector
# calulate a free-space motion to the savelevel_target_frame
savelevel_target_frame_tool0 = robot.from_attached_tool_to_tool0(
[savelevel_target_frame])[0]
goal_constraints = robot.constraints_from_frame(
savelevel_target_frame_tool0, tolerance_position, tolerance_axes)
trajectory2 = robot.plan_motion(goal_constraints,
start_configuration,
planner_id='RRT',
attached_collision_meshes=[brick_acm])
# calculate a cartesian motion to the target_frame
frames = [savelevel_target_frame, target_frame]
start_configuration = trajectory2.points[
-1] # as start configuration take last trajectory's end configuration
trajectory3 = robot.plan_cartesian_motion(
robot.from_attached_tool_to_tool0(frames),
start_configuration,
max_step=0.01,
attached_collision_meshes=[brick_acm])
assert (trajectory3.fraction == 1.)
# add the brick to the planning scene
brick = CollisionMesh(element.mesh, 'brick_wall')
scene.append_collision_mesh(brick)
time.sleep(0.5)
return trajectory2, trajectory3
import time
from compas.datastructures import Mesh
from compas.geometry import Box, Translation
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
brick = Box.from_width_height_depth(0.016, 0.012, 0.031)
brick.transform(Translation.from_vector([0, 0, brick.zsize / 2.]))
for i in range(5):
mesh = Mesh.from_shape(brick)
cm = CollisionMesh(mesh, 'brick_wall')
cm.frame.point.y += 0.5
cm.frame.point.z += brick.zsize * i
scene.append_collision_mesh(cm)
# sleep a bit before terminating the client
time.sleep(1)
import time
from compas.datastructures import Mesh
from compas.geometry import Box
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient() as client:
robot = client.load_robot()
scene = PlanningScene(robot)
assert robot.name == 'ur5_robot'
brick = Box.from_width_height_depth(0.11, 0.07, 0.25)
for i in range(5):
mesh = Mesh.from_vertices_and_faces(brick.vertices, brick.faces)
cm = CollisionMesh(mesh, 'brick')
cm.frame.point.y += 0.5
cm.frame.point.z += brick.zsize * i
scene.append_collision_mesh(cm)
# sleep a bit before removing the bricks
time.sleep(1)
scene.remove_collision_mesh('brick')
def main():
parser = argparse.ArgumentParser()
# ur_picknplace_multiple_piece
parser.add_argument('-p',
'--problem',
default='ur_picknplace_single_piece',
help='The name of the problem to solve')
parser.add_argument('-rob',
'--robot',
default='ur3',
help='The type of UR robot to use.')
parser.add_argument('-m',
'--plan_transit',
action='store_false',
help='Plans motions between each picking and placing')
parser.add_argument('-v',
'--viewer',
action='store_true',
help='Enables the viewer during planning (slow!)')
parser.add_argument('-s',
'--save_result',
action='store_true',
help='save planning results as a json file')
parser.add_argument(
'-scale',
'--model_scale',
default=0.001,
help='model scale conversion to meter, default 0.001 (from millimeter)'
)
parser.add_argument('-vik',
'--view_ikfast',
action='store_true',
help='Visualize each ikfast solutions')
parser.add_argument('-tres',
'--transit_res',
default=0.01,
help='joint resolution (rad)')
parser.add_argument('-ros',
'--use_ros',
action='store_true',
help='use ros backend with moveit planners')
parser.add_argument('-cart_ts',
'--cartesian_time_step',
default=0.1,
help='cartesian time step in trajectory simulation')
parser.add_argument('-trans_ts',
'--transit_time_step',
default=0.01,
help='transition time step in trajectory simulation')
parser.add_argument('-per_conf_step',
'--per_conf_step',
action='store_true',
help='stepping each configuration in simulation')
args = parser.parse_args()
print('Arguments:', args)
VIZ = args.viewer
VIZ_IKFAST = args.view_ikfast
TRANSITION_JT_RESOLUTION = float(args.transit_res)
plan_transition = args.plan_transit
use_moveit_planner = args.use_ros
# sim settings
CART_TIME_STEP = args.cartesian_time_step
TRANSITION_TIME_STEP = args.transit_time_step
PER_CONF_STEP = args.per_conf_step
# transition motion planner settings
RRT_RESTARTS = 5
RRT_ITERATIONS = 40
# choreo pkg settings
choreo_problem_instance_dir = compas_fab.get('choreo_instances')
unit_geos, static_obstacles = load_assembly_package(
choreo_problem_instance_dir, args.problem, scale=args.model_scale)
result_save_path = os.path.join(
choreo_problem_instance_dir, 'results',
'choreo_result.json') if args.save_result else None
# urdf, end effector settings
if args.robot == 'ur3':
# urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur3.urdf')
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur3_collision_viz.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur3_moveit_config/config/ur3.srdf')
else:
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
ee_filename = compas_fab.get(
'universal_robot/ur_description/meshes/' +
'pychoreo_workshop_gripper/collision/victor_gripper_jaw03.obj')
# ee_sep_filename = compas_fab.get('universal_robot/ur_description/meshes/' +
# 'pychoreo_workshop_gripper/collision/victor_gripper_jaw03_rough_sep.obj')
# ee_decomp_file_dir = compas_fab.get('universal_robot/ur_description/meshes/' +
# 'pychoreo_workshop_gripper/collision/decomp')
# ee_decomp_file_prefix = 'victor_gripper_jaw03_decomp_'
# decomp_parts_num = 36
client = RosClient() if use_moveit_planner else None
# geometry file is not loaded here
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics, client=client)
group = robot.main_group_name
base_link_name = robot.get_base_link_name()
ee_link_name = robot.get_end_effector_link_name()
ik_joint_names = robot.get_configurable_joint_names()
# parse end effector mesh
# ee_meshes = [Mesh.from_obj(os.path.join(ee_decomp_file_dir, ee_decomp_file_prefix + str(i) + '.obj')) for i in range(decomp_parts_num)]
ee_meshes = [Mesh.from_obj(ee_filename)]
# ee_meshes = [Mesh.from_obj(ee_sep_filename)]
# define TCP transformation
tcp_tf = Translation([0.099, 0, 0]) # in meters
ur5_start_conf = [0, -1.65715, 1.71108, -1.62348, 0, 0]
if use_moveit_planner:
# TODO: attach end effector to the robot in planning scene
# https://github.com/compas-dev/compas_fab/issues/66
scene = PlanningScene(robot)
scene.remove_all_collision_objects()
client.set_joint_positions(group, ik_joint_names, ur5_start_conf)
else:
scene = None
# add static collision obstacles
co_dict = {}
for i, static_obs_mesh in enumerate(static_obstacles):
# offset the table a bit...
cm = CollisionMesh(static_obs_mesh,
'so_' + str(i),
frame=Frame.from_transformation(
Translation([0, 0, -0.02])))
if use_moveit_planner:
scene.add_collision_mesh(cm)
else:
co_dict[cm.id] = {}
co_dict[cm.id]['meshes'] = [cm.mesh]
co_dict[cm.id]['mesh_poses'] = [cm.frame]
if use_moveit_planner:
# See: https://github.com/compas-dev/compas_fab/issues/63#issuecomment-519525879
time.sleep(1)
co_dict = scene.get_collision_meshes_and_poses()
# ======================================================
# ======================================================
# start pybullet environment & load pybullet robot
connect(use_gui=VIZ)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename,
urdf_pkg_name,
planning_scene=scene,
ee_link_name=ee_link_name)
ee_attachs = attach_end_effector_geometry(ee_meshes, pb_robot,
ee_link_name)
# update current joint conf and attach end effector
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
pb_end_effector_link = link_from_name(pb_robot, ee_link_name)
if not use_moveit_planner:
set_joint_positions(pb_robot, pb_ik_joints, ur5_start_conf)
for e_at in ee_attachs:
e_at.assign()
# draw TCP frame in pybullet
if has_gui():
TCP_pb_pose = get_TCP_pose(pb_robot,
ee_link_name,
tcp_tf,
return_pb_pose=True)
handles = draw_pose(TCP_pb_pose, length=0.04)
# wait_for_user()
# deliver ros collision meshes to pybullet
static_obstacles_from_name = convert_meshes_and_poses_to_pybullet_bodies(
co_dict)
# for now...
for so_key, so_val in static_obstacles_from_name.items():
static_obstacles_from_name[so_key] = so_val[0]
for unit_name, unit_geo in unit_geos.items():
geo_bodies = []
for sub_id, mesh in enumerate(unit_geo.mesh):
geo_bodies.append(convert_mesh_to_pybullet_body(mesh))
unit_geo.pybullet_bodies = geo_bodies
# check collision between obstacles and element geometries
assert not sanity_check_collisions(unit_geos, static_obstacles_from_name)
# from random import shuffle
seq_assignment = list(range(len(unit_geos)))
# shuffle(seq_assignment)
element_seq = {seq_id: e_id for seq_id, e_id in enumerate(seq_assignment)}
# for key, val in element_seq.items():
# # element_seq[key] = 'e_' + str(val)
# element_seq[key] = val
if has_gui():
for e_id in element_seq.values():
# for e_body in brick_from_index[e_id].body: set_pose(e_body, brick_from_index[e_id].goal_pose)
handles.extend(
draw_pose(unit_geos[e_id].initial_pb_pose, length=0.02))
handles.extend(draw_pose(unit_geos[e_id].goal_pb_pose,
length=0.02))
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
print('pybullet env loaded.')
# wait_for_user()
for h in handles:
remove_debug(h)
saved_world = WorldSaver()
ik_fn = ikfast_ur3.get_ik if args.robot == 'ur3' else ikfast_ur5.get_ik
tot_traj, graph_sizes = \
direct_ladder_graph_solve_picknplace(pb_robot, ik_joint_names, base_link_name, ee_link_name, ik_fn,
unit_geos, element_seq, static_obstacles_from_name,
tcp_transf=pb_pose_from_Transformation(tcp_tf),
ee_attachs=ee_attachs,
max_attempts=100, viz=VIZ_IKFAST, st_conf=ur5_start_conf)
picknplace_cart_plans = divide_nested_list_chunks(tot_traj, graph_sizes)
saved_world.restore()
print('Cartesian planning finished.')
# reset robot and parts for better visualization
set_joint_positions(pb_robot, pb_ik_joints, ur5_start_conf)
for ee in ee_attachs:
ee.assign()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
# if has_gui():
# wait_for_user()
def flatten_unit_geos_bodies(in_dict):
out_list = []
for ug in in_dict.values():
out_list.extend(ug.pybullet_bodies)
return out_list
if plan_transition:
print('Transition planning started.')
for seq_id, unit_picknplace in enumerate(picknplace_cart_plans):
print('----\ntransition seq#{}'.format(seq_id))
e_id = element_seq[seq_id]
if seq_id != 0:
tr_start_conf = picknplace_cart_plans[seq_id -
1]['place_retreat'][-1]
else:
tr_start_conf = ur5_start_conf
# obstacles=static_obstacles + cur_mo_list
place2pick_st_conf = list(tr_start_conf)
place2pick_goal_conf = list(
picknplace_cart_plans[seq_id]['pick_approach'][0])
# assert not client.is_joint_state_colliding(group, ik_joint_names, place2pick_st_conf)
# assert not client.is_joint_state_colliding(group, ik_joint_names, place2pick_goal_conf)
if use_moveit_planner:
# TODO: add collision objects
st_conf = Configuration.from_revolute_values(
place2pick_st_conf)
goal_conf = Configuration.from_revolute_values(
place2pick_goal_conf)
goal_constraints = robot.constraints_from_configuration(
goal_conf, [math.radians(1)] * 6, group)
place2pick_jt_traj = robot.plan_motion(goal_constraints,
st_conf,
group,
planner_id='RRTConnect')
place2pick_path = [
jt_pt['values']
for jt_pt in place2pick_jt_traj.to_data()['points']
]
else:
saved_world = WorldSaver()
set_joint_positions(pb_robot, pb_ik_joints, place2pick_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
place2pick_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
place2pick_goal_conf,
attachments=ee_attachs,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not place2pick_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find place2pick transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn_diagnosis(pb_robot, pb_ik_joints, \
obstacles=list(static_obstacles_from_name.values()) + flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs, self_collisions=True)
print('start pose:')
cfn(place2pick_st_conf)
print('end pose:')
cfn(place2pick_goal_conf)
saved_world.restore()
print('Diagnosis over')
pick2place_st_conf = picknplace_cart_plans[seq_id]['pick_retreat'][
-1]
pick2place_goal_conf = picknplace_cart_plans[seq_id][
'place_approach'][0]
if use_moveit_planner:
st_conf = Configuration.from_revolute_values(
picknplace_cart_plans[seq_id]['pick_retreat'][-1])
goal_conf = Configuration.from_revolute_values(
picknplace_cart_plans[seq_id]['place_approach'][0])
goal_constraints = robot.constraints_from_configuration(
goal_conf, [math.radians(1)] * 6, group)
pick2place_jt_traj = robot.plan_motion(goal_constraints,
st_conf,
group,
planner_id='RRTConnect')
pick2place_path = [
jt_pt['values']
for jt_pt in pick2place_jt_traj.to_data()['points']
]
else:
saved_world = WorldSaver()
# create attachement without needing to keep track of grasp...
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id]['pick_retreat'][0])
# attachs = [Attachment(robot, tool_link, invert(grasp.attach), e_body) for e_body in brick.body]
element_attachs = [create_attachment(pb_robot, pb_end_effector_link, e_body) \
for e_body in unit_geos[e_id].pybullet_bodies]
set_joint_positions(pb_robot, pb_ik_joints, pick2place_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
for e_a in element_attachs:
e_a.assign()
pick2place_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
pick2place_goal_conf,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs + element_attachs,
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not pick2place_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find pick2place transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn_diagnosis(pb_robot, pb_ik_joints,
obstacles=list(static_obstacles_from_name.values()) + flatten_unit_geos_bodies(unit_geos), \
attachments=ee_attachs + element_attachs, self_collisions=True)
print('start pose:')
cfn(pick2place_st_conf)
print('end pose:')
cfn(pick2place_goal_conf)
saved_world.restore()
print('Diagnosis over')
picknplace_cart_plans[seq_id]['place2pick'] = place2pick_path
picknplace_cart_plans[seq_id]['pick2place'] = pick2place_path
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
if seq_id == len(picknplace_cart_plans) - 1:
saved_world = WorldSaver()
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id]['place_retreat'][-1])
for ee_a in ee_attachs:
ee_a.assign()
return2idle_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
ur5_start_conf,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs,
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
picknplace_cart_plans[seq_id]['return2idle'] = return2idle_path
print('Transition planning finished.')
# convert to ros JointTrajectory
traj_json_data = []
traj_time_count = 0.0
for i, element_process in enumerate(picknplace_cart_plans):
e_proc_data = {}
for sub_proc_name, sub_process in element_process.items():
sub_process_jt_traj_list = []
for jt_sol in sub_process:
sub_process_jt_traj_list.append(
JointTrajectoryPoint(values=jt_sol,
types=[0] * 6,
time_from_start=Duration(
traj_time_count, 0)))
traj_time_count += 1.0 # meaningless timestamp
e_proc_data[sub_proc_name] = JointTrajectory(
trajectory_points=sub_process_jt_traj_list,
start_configuration=sub_process_jt_traj_list[0]).to_data()
traj_json_data.append(e_proc_data)
if result_save_path:
with open(result_save_path, 'w+') as outfile:
json.dump(traj_json_data, outfile, indent=4)
print('planned trajectories saved to {}'.format(result_save_path))
print('\n*************************\nplanning completed. Simulate?')
if has_gui():
wait_for_user()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
display_picknplace_trajectories(pb_robot, ik_joint_names, ee_link_name,
unit_geos, traj_json_data, \
ee_attachs=ee_attachs,
cartesian_time_step=CART_TIME_STEP, transition_time_step=TRANSITION_TIME_STEP, step_sim=True, per_conf_step=PER_CONF_STEP)
if use_moveit_planner: scene.remove_all_collision_objects()
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
scene.remove_collision_mesh('brick_wall')
# attach tool
robot.attach_tool(tool)
# add tool to scene
scene.add_attached_tool()
# create an attached collision mesh to the robot's end effector.
ee_link_name = robot.get_end_effector_link_name()
brick_acm = AttachedCollisionMesh(
CollisionMesh(element_tool0.mesh, 'brick'), ee_link_name)
# add the collision mesh to the scene
scene.add_attached_collision_mesh(brick_acm)
# ==========================================================================
# 1. Calculate a cartesian motion from the picking frame to the savelevel_picking_frame
frames = [picking_frame, savelevel_picking_frame]
start_configuration = picking_configuration
trajectory1 = robot.plan_cartesian_motion(
robot.from_attached_tool_to_tool0(frames),
start_configuration,
max_step=0.01,
attached_collision_meshes=[brick_acm])
assert (trajectory1.fraction == 1.)
def test_plan_motion(abb_irb4600_40_255_setup, itj_TC_g1_cms, itj_beam_cm,
column_obstacle_cm, base_plate_cm,
itj_tool_changer_grasp_transf, itj_gripper_grasp_transf,
itj_beam_grasp_transf, tool_type,
itj_tool_changer_urdf_path, itj_g1_urdf_path, viewer,
diagnosis):
# modified from https://github.com/yijiangh/pybullet_planning/blob/dev/tests/test_collisions.py
urdf_filename, semantics = abb_irb4600_40_255_setup
move_group = 'bare_arm'
ee_touched_link_names = ['link_6']
with PyChoreoClient(viewer=viewer) as client:
with LockRenderer():
robot = client.load_robot(urdf_filename)
robot.semantics = semantics
client.disabled_collisions = robot.semantics.disabled_collisions
if tool_type == 'static':
for _, ee_cm in itj_TC_g1_cms.items():
client.add_collision_mesh(ee_cm)
else:
client.add_tool_from_urdf('TC', itj_tool_changer_urdf_path)
client.add_tool_from_urdf('g1', itj_g1_urdf_path)
# * add static obstacles
client.add_collision_mesh(base_plate_cm)
client.add_collision_mesh(column_obstacle_cm)
ik_joint_names = robot.get_configurable_joint_names(group=move_group)
ik_joint_types = robot.get_joint_types_by_names(ik_joint_names)
flange_link_name = robot.get_end_effector_link_name(group=move_group)
tool0_tf = Transformation.from_frame(
client.get_link_frame_from_name(robot, flange_link_name))
tool0_from_tool_changer_base = itj_tool_changer_grasp_transf
tool0_from_gripper_base = itj_gripper_grasp_transf
client.set_object_frame(
'^{}'.format('TC'),
Frame.from_transformation(tool0_tf * tool0_from_tool_changer_base))
client.set_object_frame(
'^{}'.format('g1'),
Frame.from_transformation(tool0_tf * tool0_from_gripper_base))
names = client._get_collision_object_names('^{}'.format('g1')) + \
client._get_collision_object_names('^{}'.format('TC'))
for ee_name in names:
attach_options = {'robot': robot}
if tool_type == 'actuated':
attached_child_link_name = 'toolchanger_base' if 'TC' in ee_name else 'gripper_base'
attach_options.update(
{'attached_child_link_name': attached_child_link_name})
client.add_attached_collision_mesh(AttachedCollisionMesh(
CollisionMesh(None, ee_name),
flange_link_name,
touch_links=ee_touched_link_names),
options=attach_options)
#* attach beam
client.add_collision_mesh(itj_beam_cm)
tool0_tf = Transformation.from_frame(
client.get_link_frame_from_name(robot, flange_link_name))
tool0_from_beam_base = itj_beam_grasp_transf
client.set_object_frame(
'^{}$'.format('itj_beam_b2'),
Frame.from_transformation(tool0_tf * tool0_from_beam_base))
client.add_attached_collision_mesh(AttachedCollisionMesh(
CollisionMesh(None, 'itj_beam_b2'),
flange_link_name,
touch_links=[]),
options={'robot': robot})
wait_if_gui('beam attached.')
vals = [
-1.4660765716752369, -0.22689280275926285, 0.27925268031909273,
0.17453292519943295, 0.22689280275926285, -0.22689280275926285
]
start_conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
# client.set_robot_configuration(robot, start_conf)
# wait_if_gui()
# vals = [0.05235987755982989, -0.087266462599716474, -0.05235987755982989, 1.7104226669544429, 0.13962634015954636, -0.43633231299858238]
vals = [
0.034906585039886591, 0.68067840827778847, 0.15707963267948966,
-0.89011791851710809, -0.034906585039886591, -2.2514747350726849
]
end_conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
# client.set_robot_configuration(robot, end_conf)
# wait_if_gui()
plan_options = {'diagnosis': True, 'resolutions': 0.05}
goal_constraints = robot.constraints_from_configuration(
end_conf, [0.01], [0.01], group=move_group)
st_time = time.time()
trajectory = client.plan_motion(robot,
goal_constraints,
start_configuration=start_conf,
group=move_group,
options=plan_options)
print('Solving time: {}'.format(elapsed_time(st_time)))
if trajectory is None:
cprint('Client motion planner CANNOT find a plan!', 'red')
# assert False, 'Client motion planner CANNOT find a plan!'
# TODO warning
else:
cprint('Client motion planning find a plan!', 'green')
wait_if_gui('Start sim.')
time_step = 0.03
for traj_pt in trajectory.points:
client.set_robot_configuration(robot, traj_pt)
wait_for_duration(time_step)
wait_if_gui("Finished.")
# load settings (shared by GH)
settings_file = os.path.join(DATA, "settings.json")
with open(settings_file, 'r') as f:
data = json.load(f)
# define brick dimensions
width, length, height = data['brick_dimensions']
# define target frame
target_frame = Frame([-0.26, -0.28, height], [1, 0, 0], [0, 1, 0])
# Move brick to target frame
element = Element.from_data(data['brick'])
element.transform(
Transformation.from_frame_to_frame(element.frame, target_frame))
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
# create a CollisionMesh from the element and add it to the scene
brick = CollisionMesh(element.mesh, 'brick_wall')
scene.append_collision_mesh(brick)
time.sleep(2)
# Remove elements from scene
# scene.remove_collision_mesh(brick.id)
# time.sleep(1)
def sequenced_picknplace_plan(
assembly_json_path,
robot_model='ur3',
pick_from_same_rack=True,
customized_sequence=[],
from_seq_id=0,
to_seq_id=None,
num_cart_steps=10,
enable_viewer=True,
plan_transit=True,
transit_res=0.01,
view_ikfast=False,
tcp_tf_list=[1e-3 * 80.525, 0, 0],
robot_start_conf=[0, -1.65715, 1.71108, -1.62348, 0, 0],
scale=1,
result_save_path='',
sim_traj=True,
cart_ts=0.1,
trans_ts=0.01,
per_conf_step=False,
step_sim=False):
# parser.add_argument('-vik', '--view_ikfast', action='store_true', help='Visualize each ikfast solutions')
# parser.add_argument('-per_conf_step', '--per_conf_step', action='store_true', help='stepping each configuration in simulation')
# transition motion planner settings
RRT_RESTARTS = 5
RRT_ITERATIONS = 40
# rescaling
# TODO: this should be done when the Assembly object is made
unit_geos, static_obstacles = load_assembly_package(assembly_json_path,
scale=scale)
# urdf, end effector settings
if robot_model == 'ur3':
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur3.urdf')
# urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur3_collision_viz.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur3_moveit_config/config/ur3.srdf')
else:
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
ee_filename = compas_fab.get(
'universal_robot/ur_description/meshes/' +
'dms_2019_gripper/collision/190907_Gripper_05.obj')
# geometry file is not loaded here
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics)
base_link_name = robot.get_base_link_name()
ee_link_name = robot.get_end_effector_link_name()
ik_joint_names = robot.get_configurable_joint_names()
disabled_link_names = semantics.get_disabled_collisions()
# parse end effector mesh
ee_meshes = [Mesh.from_obj(ee_filename)]
tcp_tf = Translation(tcp_tf_list)
# add static collision obstacles
co_dict = {}
for i, static_obs_mesh in enumerate(static_obstacles):
cm = CollisionMesh(static_obs_mesh, 'so_' + str(i))
co_dict[cm.id] = {}
co_dict[cm.id]['meshes'] = [cm.mesh]
co_dict[cm.id]['mesh_poses'] = [cm.frame]
# ======================================================
# ======================================================
# start pybullet environment & load pybullet robot
connect(use_gui=enable_viewer)
camera_base_pt = (0, 0, 0)
camera_pt = np.array(camera_base_pt) + np.array([1, 0, 0.5])
set_camera_pose(tuple(camera_pt), camera_base_pt)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename,
urdf_pkg_name,
ee_link_name=ee_link_name)
ee_attachs = attach_end_effector_geometry(ee_meshes, pb_robot,
ee_link_name)
# update current joint conf and attach end effector
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
pb_end_effector_link = link_from_name(pb_robot, ee_link_name)
set_joint_positions(pb_robot, pb_ik_joints, robot_start_conf)
for e_at in ee_attachs:
e_at.assign()
# draw TCP frame in pybullet
handles = []
if has_gui() and view_ikfast:
TCP_pb_pose = get_TCP_pose(pb_robot,
ee_link_name,
tcp_tf,
return_pb_pose=True)
handles = draw_pose(TCP_pb_pose, length=0.04)
# wait_for_user()
# deliver ros collision meshes to pybullet
so_lists_from_name = convert_meshes_and_poses_to_pybullet_bodies(co_dict)
static_obstacles_from_name = {}
for so_key, so_val in so_lists_from_name.items():
for so_i, so_item in enumerate(so_val):
static_obstacles_from_name[so_key + '_' + str(so_i)] = so_item
for unit_name, unit_geo in unit_geos.items():
geo_bodies = []
for sub_id, mesh in enumerate(unit_geo.mesh):
geo_bodies.append(convert_mesh_to_pybullet_body(mesh))
unit_geo.pybullet_bodies = geo_bodies
# check collision between obstacles and element geometries
assert not sanity_check_collisions(unit_geos, static_obstacles_from_name)
# from random import shuffle
seq_assignment = customized_sequence or list(range(len(unit_geos)))
element_seq = {seq_id: e_id for seq_id, e_id in enumerate(seq_assignment)}
to_seq_id = to_seq_id or len(element_seq) - 1
assert 0 <= from_seq_id and from_seq_id < len(element_seq)
assert from_seq_id <= to_seq_id and to_seq_id < len(element_seq)
if has_gui():
for e_id in element_seq.values():
handles.extend(
draw_pose(unit_geos[e_id].initial_pb_pose, length=0.02))
handles.extend(draw_pose(unit_geos[e_id].goal_pb_pose,
length=0.02))
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
print('pybullet env loaded.')
# wait_for_user()
for h in handles:
remove_debug(h)
saved_world = WorldSaver()
ik_fn = ikfast_ur3.get_ik if robot_model == 'ur3' else ikfast_ur5.get_ik
tot_traj, graph_sizes = \
direct_ladder_graph_solve_picknplace(pb_robot, ik_joint_names, base_link_name, ee_link_name, ik_fn,
unit_geos, element_seq, static_obstacles_from_name,
from_seq_id=from_seq_id, to_seq_id=to_seq_id,
pick_from_same_rack=pick_from_same_rack,
tcp_transf=pb_pose_from_Transformation(tcp_tf),
ee_attachs=ee_attachs, disabled_collision_link_names=disabled_link_names, viz=view_ikfast, st_conf=robot_start_conf,
num_cart_steps=num_cart_steps)
picknplace_cart_plans = divide_nested_list_chunks(tot_traj, graph_sizes)
saved_world.restore()
print('Cartesian planning finished.')
# reset robot and parts for better visualization
set_joint_positions(pb_robot, pb_ik_joints, robot_start_conf)
for ee in ee_attachs:
ee.assign()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
def flatten_unit_geos_bodies(in_dict):
out_list = []
for ug in in_dict.values():
out_list.extend(ug.pybullet_bodies)
return out_list
if plan_transit:
print('Transition planning started.')
disabled_collision_links = [(link_from_name(pb_robot, pair[0]), link_from_name(pb_robot, pair[1])) \
for pair in disabled_link_names]
for seq_id in range(0, from_seq_id):
e_id = element_seq[seq_id]
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
for seq_id in range(from_seq_id, to_seq_id + 1):
e_id = element_seq[seq_id]
print('----\ntransition seq#{} element #{}'.format(seq_id, e_id))
if seq_id != from_seq_id:
tr_start_conf = picknplace_cart_plans[
seq_id - 1 - from_seq_id]['place_retreat'][-1]
else:
tr_start_conf = robot_start_conf
place2pick_st_conf = list(tr_start_conf)
assert picknplace_cart_plans[seq_id - from_seq_id][
'pick_approach'], 'pick approach not found in sequence {} (element id: {})!'.format(
seq_id, e_id)
place2pick_goal_conf = list(
picknplace_cart_plans[seq_id -
from_seq_id]['pick_approach'][0])
saved_world = WorldSaver()
set_joint_positions(pb_robot, pb_ik_joints, place2pick_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
built_obstacles = []
ignored_pairs = []
if pick_from_same_rack:
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id)})
# if seq_id > 0:
# ignored_pairs = list(product([ee_attach.child for ee_attach in ee_attachs], unit_geos[element_seq[seq_id-1]].pybullet_bodies))
else:
built_obstacles = flatten_unit_geos_bodies(unit_geos)
place2pick_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
place2pick_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
place2pick_goal_conf,
attachments=ee_attachs,
obstacles=place2pick_obstacles,
disabled_collisions=disabled_collision_links,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
ignored_pairs=ignored_pairs)
saved_world.restore()
if not place2pick_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find place2pick transition'.format(
seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints, \
obstacles=place2pick_obstacles,
attachments=ee_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(place2pick_st_conf)
print('end pose:')
cfn(place2pick_goal_conf)
saved_world.restore()
print('Diagnosis over')
assert picknplace_cart_plans[seq_id - from_seq_id][
'pick_retreat'], 'pick retreat not found! in sequence {} (element id: {})!'.format(
seq_id, e_id)
assert picknplace_cart_plans[seq_id - from_seq_id][
'place_approach'], 'place approach not found! in sequence {} (element id: {})!'.format(
seq_id, e_id)
pick2place_st_conf = picknplace_cart_plans[
seq_id - from_seq_id]['pick_retreat'][-1]
pick2place_goal_conf = picknplace_cart_plans[
seq_id - from_seq_id]['place_approach'][0]
saved_world = WorldSaver()
# create attachement without needing to keep track of grasp...
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id - from_seq_id]['pick_retreat'][0])
# attachs = [Attachment(robot, tool_link, invert(grasp.attach), e_body) for e_body in brick.body]
element_attachs = [create_attachment(pb_robot, pb_end_effector_link, e_body) \
for e_body in unit_geos[e_id].pybullet_bodies]
set_joint_positions(pb_robot, pb_ik_joints, pick2place_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
for e_a in element_attachs:
e_a.assign()
built_obstacles = []
if pick_from_same_rack:
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id)})
else:
built_obstacles = flatten_unit_geos_bodies(unit_geos)
pick2place_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
pick2place_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
pick2place_goal_conf,
disabled_collisions=disabled_collision_links,
obstacles=pick2place_obstacles,
attachments=ee_attachs + element_attachs,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not pick2place_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find pick2place transition'.format(
seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints,
obstacles=pick2place_obstacles, \
attachments=ee_attachs + element_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(pick2place_st_conf)
print('end pose:')
cfn(pick2place_goal_conf)
saved_world.restore()
print('Diagnosis over')
picknplace_cart_plans[seq_id -
from_seq_id]['place2pick'] = place2pick_path
picknplace_cart_plans[seq_id -
from_seq_id]['pick2place'] = pick2place_path
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
if seq_id == to_seq_id:
saved_world = WorldSaver()
return2idle_st_conf = picknplace_cart_plans[
seq_id - from_seq_id]['place_retreat'][-1]
return2idle_goal_conf = robot_start_conf
set_joint_positions(pb_robot, pb_ik_joints,
return2idle_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id+1)})
return2idle_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
return2idle_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
return2idle_goal_conf,
disabled_collisions=disabled_collision_links,
obstacles=return2idle_obstacles,
attachments=ee_attachs,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
if not return2idle_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find return2idle transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints, \
obstacles=return2idle_obstacles,
attachments=ee_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(return2idle_st_conf)
print('end pose:')
cfn(return2idle_goal_conf)
saved_world.restore()
print('Diagnosis over')
saved_world.restore()
picknplace_cart_plans[
seq_id - from_seq_id]['return2idle'] = return2idle_path
print('Transition planning finished.')
# convert to ros JointTrajectory
traj_json_data = []
traj_time_count = 0.0
for i, element_process in enumerate(picknplace_cart_plans):
e_proc_data = {}
for sub_proc_name, sub_process in element_process.items():
sub_process_jt_traj_list = []
if not sub_process:
continue
for jt_sol in sub_process:
sub_process_jt_traj_list.append(
JointTrajectoryPoint(values=jt_sol,
types=[0] * 6,
time_from_start=Duration(
traj_time_count, 0)))
traj_time_count += 1.0 # meaningless timestamp
e_proc_data[sub_proc_name] = JointTrajectory(
trajectory_points=sub_process_jt_traj_list,
start_configuration=sub_process_jt_traj_list[0]).to_data()
traj_json_data.append(e_proc_data)
if result_save_path:
if not os.path.exists(os.path.dirname(result_save_path)):
os.mkdir(os.path.dirname(result_save_path))
with open(result_save_path, 'w+') as outfile:
json.dump(traj_json_data, outfile)
print('planned trajectories saved to {}'.format(result_save_path))
print('\n*************************\nplanning completed.')
if sim_traj and has_gui():
# if has_gui():
# wait_for_user()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
display_picknplace_trajectories(pb_robot, ik_joint_names, ee_link_name,
unit_geos, traj_json_data, \
element_seq=element_seq,
from_seq_id=from_seq_id, to_seq_id=to_seq_id,
ee_attachs=ee_attachs,
cartesian_time_step=cart_ts,
transition_time_step=trans_ts, step_sim=step_sim, per_conf_step=per_conf_step)
return traj_json_data
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
scene.remove_collision_mesh('brick_wall')
time.sleep(0.5)
# attach tool
robot.attach_tool(tool)
# add tool to scene
scene.add_attached_tool()
# create an attached collision mesh to the robot's end effector.
ee_link_name = robot.get_end_effector_link_name()
brick_acm = AttachedCollisionMesh(
CollisionMesh(element_tool0.mesh, 'brick'), ee_link_name)
# add the collision mesh to the scene
scene.add_attached_collision_mesh(brick_acm)
# compute 'pick' cartesian motion
trajectory1 = calculate_picking_motion(start_configuration, picking_frame,
tolerance_vector, savelevel_vector)
assert (trajectory1.fraction == 1.)
start_configuration = trajectory1.points[-1]
for key in assembly.network.vertices():
elem = assembly.element(key)
trajectory2, trajectory3 = move_and_placing_motion(
elem, start_configuration, tolerance_vector, savelevel_vector,
brick_acm)
assert (trajectory3.fraction == 1.)
def test_collision_checker(abb_irb4600_40_255_setup, itj_TC_g1_cms,
itj_beam_cm, column_obstacle_cm, base_plate_cm,
itj_tool_changer_grasp_transf,
itj_gripper_grasp_transf, itj_beam_grasp_transf,
tool_type, itj_tool_changer_urdf_path,
itj_g1_urdf_path, viewer, diagnosis):
# modified from https://github.com/yijiangh/pybullet_planning/blob/dev/tests/test_collisions.py
urdf_filename, semantics = abb_irb4600_40_255_setup
move_group = 'bare_arm'
ee_touched_link_names = ['link_6']
with PyChoreoClient(viewer=viewer) as client:
with LockRenderer():
robot = client.load_robot(urdf_filename)
robot.semantics = semantics
client.disabled_collisions = robot.semantics.disabled_collisions
if tool_type == 'static':
for _, ee_cm in itj_TC_g1_cms.items():
client.add_collision_mesh(ee_cm)
else:
client.add_tool_from_urdf('TC', itj_tool_changer_urdf_path)
client.add_tool_from_urdf('g1', itj_g1_urdf_path)
# * add static obstacles
client.add_collision_mesh(base_plate_cm)
client.add_collision_mesh(column_obstacle_cm)
ik_joint_names = robot.get_configurable_joint_names(group=move_group)
ik_joint_types = robot.get_joint_types_by_names(ik_joint_names)
flange_link_name = robot.get_end_effector_link_name(group=move_group)
tool0_tf = Transformation.from_frame(
client.get_link_frame_from_name(robot, flange_link_name))
tool0_from_tool_changer_base = itj_tool_changer_grasp_transf
tool0_from_gripper_base = itj_gripper_grasp_transf
client.set_object_frame(
'^{}'.format('TC'),
Frame.from_transformation(tool0_tf * tool0_from_tool_changer_base))
client.set_object_frame(
'^{}'.format('g1'),
Frame.from_transformation(tool0_tf * tool0_from_gripper_base))
names = client._get_collision_object_names('^{}'.format('g1')) + \
client._get_collision_object_names('^{}'.format('TC'))
for ee_name in names:
attach_options = {'robot': robot}
if tool_type == 'actuated':
attached_child_link_name = 'toolchanger_base' if 'TC' in ee_name else 'gripper_base'
attach_options.update(
{'attached_child_link_name': attached_child_link_name})
client.add_attached_collision_mesh(AttachedCollisionMesh(
CollisionMesh(None, ee_name),
flange_link_name,
touch_links=ee_touched_link_names),
options=attach_options)
# client._print_object_summary()
# wait_if_gui('EE attached.')
if tool_type == 'actuated':
# lower 0.0008 upper 0.01
tool_bodies = client._get_bodies('^{}'.format('itj_PG500'))
tool_conf = Configuration(
values=[0.01, 0.01],
types=[Joint.PRISMATIC, Joint.PRISMATIC],
joint_names=['joint_gripper_jaw_l', 'joint_gripper_jaw_r'])
for b in tool_bodies:
client._set_body_configuration(b, tool_conf)
wait_if_gui('Open')
tool_conf = Configuration(
values=[0.0008, 0.0008],
types=[Joint.PRISMATIC, Joint.PRISMATIC],
joint_names=['joint_gripper_jaw_l', 'joint_gripper_jaw_r'])
for b in tool_bodies:
client._set_body_configuration(b, tool_conf)
wait_if_gui('Close')
cprint('safe start conf', 'green')
conf = Configuration(values=[0.] * 6,
types=ik_joint_types,
joint_names=ik_joint_names)
assert not client.check_collisions(
robot, conf, options={'diagnosis': diagnosis})
cprint('joint over limit', 'cyan')
conf = Configuration(values=[0., 0., 1.5, 0, 0, 0],
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('attached gripper-obstacle collision - column', 'cyan')
vals = [
-0.33161255787892263, -0.43633231299858238, 0.43633231299858238,
-1.0471975511965976, 0.087266462599716474, 0.0
]
# conf = Configuration(values=vals, types=ik_joint_types, joint_names=ik_joint_names)
# client.set_robot_configuration(robot, conf)
# wait_if_gui()
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
#* attach beam
client.add_collision_mesh(itj_beam_cm)
tool0_tf = Transformation.from_frame(
client.get_link_frame_from_name(robot, flange_link_name))
tool0_from_beam_base = itj_beam_grasp_transf
client.set_object_frame(
'^{}$'.format('itj_beam_b2'),
Frame.from_transformation(tool0_tf * tool0_from_beam_base))
client.add_attached_collision_mesh(AttachedCollisionMesh(
CollisionMesh(None, 'itj_beam_b2'),
flange_link_name,
touch_links=[]),
options={'robot': robot})
# wait_if_gui('beam attached.')
cprint('attached beam-robot body self collision', 'cyan')
vals = [
0.73303828583761843, -0.59341194567807209, 0.54105206811824214,
-0.17453292519943295, 1.064650843716541, 1.7278759594743862
]
conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('attached beam-obstacle collision - column', 'cyan')
vals = [
0.087266462599716474, -0.19198621771937624, 0.20943951023931956,
0.069813170079773182, 1.2740903539558606, 0.069813170079773182
]
conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('attached beam-obstacle collision - ground', 'cyan')
vals = [
-0.017453292519943295, 0.6108652381980153, 0.20943951023931956,
1.7627825445142729, 1.2740903539558606, 0.069813170079773182
]
conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('robot link-obstacle collision - column', 'cyan')
vals = [
-0.41887902047863912, 0.20943951023931956, 0.20943951023931956,
1.7627825445142729, 1.2740903539558606, 0.069813170079773182
]
conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('robot link-obstacle collision - ground', 'cyan')
vals = [
0.33161255787892263, 1.4660765716752369, 0.27925268031909273,
0.17453292519943295, 0.22689280275926285, 0.54105206811824214
]
conf = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert client.check_collisions(robot,
conf,
options={'diagnosis': diagnosis})
cprint('Sweeping collision', 'cyan')
vals = [
-0.12217304763960307, -0.73303828583761843, 0.83775804095727824,
-2.4609142453120048, 1.2391837689159739, -0.85521133347722145
]
conf1 = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert not client.check_collisions(
robot, conf1, options={'diagnosis': diagnosis})
# wait_if_gui()
vals = [
-0.12217304763960307, -0.73303828583761843, 0.83775804095727824,
-2.4958208303518914, -1.5533430342749532, -0.85521133347722145
]
conf2 = Configuration(values=vals,
types=ik_joint_types,
joint_names=ik_joint_names)
assert not client.check_collisions(
robot, conf2, options={'diagnosis': diagnosis})
# wait_if_gui()
assert client.check_sweeping_collisions(robot,
conf1,
conf2,
options={
'diagnosis': diagnosis,
'line_width': 3.0
})
wait_if_gui("Finished.")
import time
from compas.datastructures import Mesh
import compas_fab
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient('localhost') as client:
robot = client.load_robot()
scene = PlanningScene(robot)
mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl'))
cm = CollisionMesh(mesh, 'floor')
scene.add_collision_mesh(cm)
# sleep a bit before terminating the client
#time.sleep(1)
#scene.remove_collision_mesh('floor')
filepath = os.path.join(DATA, '048_flemish_bond.json')
# load from existing if calculation failed at one point...
clear_planning_scene = True
if os.path.isfile(PATH_TO):
assembly = Assembly.from_json(PATH_TO)
clear_planning_scene = False
else:
assembly = Assembly.from_json(filepath)
# create an attached collision mesh to be attached to the robot's end effector.
T = Transformation.from_frame_to_frame(brick.gripping_frame, tool.frame)
brick_tool0 = brick.transformed(T)
attached_brick_mesh = AttachedCollisionMesh(
CollisionMesh(brick_tool0.mesh, 'brick'), 'ee_link')
# ==============================================================================
# From here on: fill in code, whereever you see this dots ...
def plan_picking_motion(robot, picking_frame, savelevel_picking_frame,
start_configuration, attached_brick_mesh):
"""Returns a cartesian trajectory to pick an element.
Parameters
----------
robot : :class:`compas.robots.Robot`
picking_frame : :class:`Frame`
save_level_picking_frame : :class:`Frame`
start_configuration : :class:`Configuration`
import time
from compas.datastructures import Mesh
import compas_fab
from compas_fab.backends import RosClient
from compas_fab.robots import CollisionMesh
from compas_fab.robots import PlanningScene
with RosClient() as client:
robot = client.load_robot()
scene = PlanningScene(robot)
assert robot.name == 'ur5'
# create collision object
mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
cm = CollisionMesh(mesh, 'tip')
# attach it to the end-effector
group = robot.main_group_name
scene.attach_collision_mesh_to_robot_end_effector(cm, group=group)
# sleep a bit before removing the tip
time.sleep(1)
scene.reset()
with open(settings_file, 'r') as f:
data = json.load(f)
# load Element
element0 = Element.from_data(data['element0'])
# picking frame
picking_frame = Frame.from_data(data['picking_frame'])
picking_configuration = Configuration.from_data(data['picking_configuration'])
# little tolerance to not 'crash' into collision objects
tolerance_vector = Vector.from_data(data['tolerance_vector'])
safelevel_vector = Vector.from_data(data['safelevel_vector'])
safelevel_picking_frame = picking_frame.copy()
safelevel_picking_frame.point += safelevel_vector
picking_frame.point += tolerance_vector
# collision_meshes
scene_collision_meshes = [
CollisionMesh(Mesh.from_data(m), name)
for m, name in zip(data['collision_meshes'], data['collision_names'])
]
# load assembly from file or from existing if calculation failed at one point...
filepath = os.path.join(DATA, "assembly.json")
if LOAD_FROM_EXISTING and os.path.isfile(PATH_TO):
assembly = Assembly.from_json(PATH_TO)
else:
assembly = Assembly.from_json(filepath)
# create an attached collision mesh to be attached to the robot's end effector.
T = Transformation.from_frame_to_frame(element0._tool_frame, tool.frame)
element0_tool0 = element0.transformed(T)
attached_element_mesh = AttachedCollisionMesh(