def randomQ(arm):
(lower, upper) = arm.GetJointLimits()
dofs = numpy.zeros(len(lower))
lower[0] = -math.pi / 2.0
upper[0] = math.pi / 2.0
for i in xrange(len(lower)):
dofs[i] = random.uniform(lower[i], upper[i])
return dofs
if __name__ == '__main__':
rospy.init_node("path_testing")
realarm = ArmInterface()
q0 = realarm.convertToList(realarm.joint_angles())
startq = realarm.joint_angles()
while True:
# Rather than peturbing pose, perturb q as a hack
delta_q = numpy.random.rand(7) * 0.2
q1_seed = numpy.add(q0, delta_q)
raw_input("seed")
realarm.move_to_joint_positions(realarm.convertToDict(q1_seed))
p1 = realarm.endpoint_pose()
raw_input("q0")
realarm.move_to_joint_positions(realarm.convertToDict(q0))
p0 = realarm.endpoint_pose()
raw_input("p1")
def main(args):
NOISE = 0.00005
# get a bunch of random blocks
blocks = load_blocks(fname=args.blocks_file, num_blocks=10, remove_ixs=[1])
agent = PandaAgent(blocks,
NOISE,
use_platform=False,
teleport=False,
use_action_server=False,
use_vision=False,
real=True)
agent.step_simulation(T=1, vis_frames=True, lifeTime=0.)
agent.plan()
fixed = [f for f in agent.fixed if f is not None]
grasps_fn = get_grasp_gen(agent.robot,
add_slanted_grasps=False,
add_orthogonal_grasps=True)
path_planner = get_free_motion_gen(agent.robot, fixed)
ik_fn = get_ik_fn(agent.robot,
fixed,
approach_frame='gripper',
backoff_frame='global',
use_wrist_camera=False)
from franka_interface import ArmInterface
arm = ArmInterface()
#arm.move_to_neutral()
start_q = arm.convertToList(arm.joint_angles())
start_q = pb_robot.vobj.BodyConf(agent.robot, start_q)
body = agent.pddl_blocks[args.id]
pose = pb_robot.vobj.BodyPose(body, body.get_base_link_pose())
for g in grasps_fn(body):
grasp = g[0]
# Check that the grasp points straight down.
obj_worldF = pb_robot.geometry.tform_from_pose(pose.pose)
grasp_worldF = np.dot(obj_worldF, grasp.grasp_objF)
grasp_worldR = grasp_worldF[:3, :3]
e_x, e_y, e_z = np.eye(3)
is_top_grasp = grasp_worldR[:, 2].dot(-e_z) > 0.999
if not is_top_grasp: continue
print('Getting IK...')
approach_q = ik_fn(body, pose, grasp, return_grasp_q=True)[0]
print('Planning move to path')
command1 = path_planner(start_q, approach_q)
print('Planning return home')
command2 = path_planner(approach_q, start_q)
agent.execute()
input('Ready to execute?')
command1[0][0].simulate(timestep=0.25)
input('Move back in sim?')
command2[0][0].simulate(timestep=0.25)
input('Move to position on real robot?')
command1[0][0].execute(realRobot=arm)
input('Reset position on real robot?')
command2[0][0].execute(realRobot=arm)
break