def __init__(self, env, use_ros, unmovable_objects=set()):
self.env = env
self.robot = self.env.GetRobots()[0]
self.manip = self.robot.GetActiveManipulator()
self.traj_cache = {}
self.use_ros = use_ros
self.unmovable_objects = unmovable_objects
self.grasp_pose_generator = GraspPoseGenerator(self.env)
self.traj_generator = TrajectoryGenerator(self.env)
self.grasp_trajectory_generator = GraspTrajectoryGenerator(self.env,
unmovable_objects)
if self.use_ros:
self.pr2 = PlannerPR2(self.robot)
class ObjectMover(object):
def __init__(self, env, use_ros, unmovable_objects=set()):
self.env = env
self.robot = self.env.GetRobots()[0]
self.manip = self.robot.GetActiveManipulator()
self.traj_cache = {}
self.use_ros = use_ros
self.unmovable_objects = unmovable_objects
self.grasp_pose_generator = GraspPoseGenerator(self.env)
self.traj_generator = TrajectoryGenerator(self.env)
self.grasp_trajectory_generator = GraspTrajectoryGenerator(self.env,
unmovable_objects)
if self.use_ros:
self.pr2 = PlannerPR2(self.robot)
def clear_cache(self):
self.traj_cache = {}
def pickup(self, obj):
if self.use_ros:
self.pr2.rgrip.open()
# always start at same place
joints = [-1.2, 0.2, -0.8, -1.8, -3.0, -0.3, 3.0]
traj, _ = self.traj_generator.traj_from_joints(joints)
self._execute_traj(traj)
# trajectory to grasp
traj = self._get_grasping_trajectory(obj)
self._execute_traj(traj)
# close gripper
self.robot.Grab(obj)
utils.exclude_robot_grabbed_collisions(self.robot, obj)
if self.use_ros:
self.pr2.rgrip.close()
# lift object
# link = self.robot.GetLink('r_gripper_tool_frame')
# mat = link.GetTransform()
# mat[2][3] += 0.010
# pose = openravepy.poseFromMatrix(mat).tolist()
# pos = pose[4:7]
# rot = pose[:4]
# traj, _ = self.traj_generator.plan(pos, rot, n_steps=2,
# collisionfree=False)
# self._execute_traj(traj)
def drop(self, obj, table):
pos1 = [0.4, -0.7, 1.1]
rot_z = [0.7071, 0, 0, -0.7071]
rot_x = [0, 1, 0, 0]
rot = openravepy.quatMult(rot_z, rot_x).tolist()
traj1, _ = self.traj_generator.traj_from_pose(pos1, rot)
with self.env:
# saving values
orig_values = self.robot.GetDOFValues(
self.robot.GetManipulator('rightarm').GetArmIndices())
self.robot.SetDOFValues(traj1[-1],
self.robot.GetManipulator('rightarm').GetArmIndices())
pos2 = [0.0, -0.7, 1.0]
traj2, _ = self.traj_generator.traj_from_pose(pos2, rot)
# reset
self.robot.SetDOFValues(orig_values,
self.robot.GetManipulator('rightarm').GetArmIndices())
self._execute_traj(traj1.tolist() + traj2.tolist())
# open gripper
self.robot.Release(obj)
if self.use_ros:
self.pr2.rgrip.open()
# transforming the object
T = obj.GetTransform()
rot_angle = (np.pi / 2., 0., 0) #got this from the model
rot_mat = openravepy.rotationMatrixFromAxisAngle(rot_angle)
T[:3, :3] = rot_mat
_, _, _, _, z = utils.get_object_limits(table)
T[2, 3] = z
obj.SetTransform(T)
def _execute_traj(self, traj):
traj_obj = utils.array_to_traj(self.robot, traj)
print("Executing trajectory...")
utils.run_trajectory(self.robot, traj)
if self.use_ros:
raw_input("Press enter to run trajectory on PR2")
self.pr2.rarm.follow_joint_trajectory(traj)
self.pr2.join_all() # Doesn't work in sim for some reason..
#raw_input("Press enter when real PR2 is done moving...") # temporary fix for above
print("Trajectory execution complete!")
def _get_grasping_trajectory(self, obj_to_grasp):
"""
Finds a valid grasping trajectory or raises an ObjectMoveError
if a valid trajectory cannot be found
Parameters:
obj_to_grasp: Object for which to compute a grasping trajectory
Returns:
An OpenRave trajectory object
"""
obj_name = obj_to_grasp.GetName()
traj = self.traj_cache.get(obj_name, None)
if traj is not None:
print "Using existing traj in cache!"
return traj
grasp_pose_list = self.grasp_pose_generator.generate_poses(obj_to_grasp)
print "Trying to find a collision-free trajectory..."
traj, _ = self.grasp_trajectory_generator.generate_grasping_traj(
obj_to_grasp, grasp_pose_list)
if traj is not None:
print "Found a collision-free trajectory!!"
return traj
print "No collision-free trajectory found!"
print "Trying to find any trajectory..."
traj, collisions = self.grasp_trajectory_generator.generate_grasping_traj(
obj_to_grasp, grasp_pose_list, collisionfree=False)
if traj is not None:
print "Trajectory found with collisions: {}".format(collisions)
self.traj_cache[obj_name] = traj
e = ObjectMoveError()
e.collision_list = [obj.GetName() for obj in collisions]
raise e
print "Object cannot be moved!"
raise
