def start_once(self):
self.world = PyBulletWorld(
enable_gui=self.gui, path_to_data_folder=self.path_to_data_folder)
self.srv_update_world = rospy.Service('~update_world', UpdateWorld,
self.update_world_cb)
self.srv_viz_gui = rospy.Service('~enable_marker', SetBool,
self.enable_marker_cb)
self.pub_collision_marker = rospy.Publisher(
'~visualization_marker_array', MarkerArray, queue_size=1)
self.world.activate_viewer()
# TODO get robot description from god map
urdf = rospy.get_param('robot_description')
self.world.spawn_robot_from_urdf(self.robot_name, urdf)
def initialize_god_map():
god_map = GodMap()
blackboard = Blackboard
blackboard.god_map = god_map
god_map.safe_set_data(identifier.rosparam, rospy.get_param(rospy.get_name()))
god_map.safe_set_data(identifier.robot_description, rospy.get_param(u'robot_description'))
path_to_data_folder = god_map.safe_get_data(identifier.data_folder)
# fix path to data folder
if not path_to_data_folder.endswith(u'/'):
path_to_data_folder += u'/'
god_map.safe_set_data(identifier.data_folder, path_to_data_folder)
# fix nWSR
nWSR = god_map.safe_get_data(identifier.nWSR)
if nWSR == u'None':
nWSR = None
god_map.safe_set_data(identifier.nWSR, nWSR)
pbw.start_pybullet(god_map.safe_get_data(identifier.gui))
while not rospy.is_shutdown():
try:
controlled_joints = rospy.wait_for_message(u'/whole_body_controller/state',
JointTrajectoryControllerState,
timeout=5.0).joint_names
except ROSException as e:
logging.logerr(u'state topic not available')
logging.logerr(e)
else:
break
rospy.sleep(0.5)
joint_weight_symbols = process_joint_specific_params(identifier.joint_weights,
identifier.default_joint_weight_identifier, god_map)
process_joint_specific_params(identifier.collisions_distances, identifier.default_collision_distances, god_map)
joint_vel_symbols = process_joint_specific_params(identifier.joint_vel, identifier.default_joint_vel, god_map)
joint_acc_symbols = process_joint_specific_params(identifier.joint_acc, identifier.default_joint_acc, god_map)
world = PyBulletWorld(god_map.safe_get_data(identifier.gui),
blackboard.god_map.safe_get_data(identifier.data_folder))
god_map.safe_set_data(identifier.world, world)
robot = WorldObject(god_map.safe_get_data(identifier.robot_description),
None,
controlled_joints)
world.add_robot(robot, None, controlled_joints, joint_vel_symbols, joint_acc_symbols, joint_weight_symbols, True,
ignored_pairs=god_map.safe_get_data(identifier.ignored_self_collisions),
added_pairs=god_map.safe_get_data(identifier.added_self_collisions),
symengine_backend=god_map.safe_get_data(identifier.symengine_backend),
symengine_opt_level=god_map.safe_get_data(identifier.symengine_opt_level))
joint_position_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_controllable_joints(),
identifier.joint_states,
suffix=[u'position'])
joint_vel_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_controllable_joints(),
identifier.joint_states,
suffix=[u'velocity'])
world.robot.reinitialize(joint_position_symbols.joint_map, joint_vel_symbols.joint_map)
return god_map
def __init__(self):
super(TestPyBulletWorld, self).__init__()
self.world = PyBulletWorld()
self.world.activate_viewer()
class TestPyBulletWorld(RuleBasedStateMachine):
def __init__(self):
super(TestPyBulletWorld, self).__init__()
self.world = PyBulletWorld()
self.world.activate_viewer()
object_names = Bundle(u'object_names')
robot_names = Bundle(u'robot_names')
@invariant()
def keeping_track_of_bodies(self):
assert len(self.world.get_object_names()) + self.world.has_robot(
) == p.getNumBodies()
@rule(target=object_names,
name=variable_name(),
length=small_float(),
width=small_float(),
height=small_float(),
base_pose=transform())
def add_box(self, name, length, width, height, base_pose):
robot_existed = self.world.has_robot()
object_existed = name in self.world.get_object_names()
object = Box(name, length, width, height)
try:
self.world.spawn_urdf_object(object, base_pose)
assert name in self.world.get_object_names()
except DuplicateNameException:
assert object_existed or robot_existed
return name
@rule(target=object_names,
name=variable_name(),
radius=small_float(),
base_pose=transform())
def add_sphere(self, name, radius, base_pose):
robot_existed = self.world.has_robot()
object_existed = self.world.has_object(name)
object = Sphere(name, radius)
try:
self.world.spawn_urdf_object(object, base_pose)
assert self.world.has_object(name)
except DuplicateNameException:
assert object_existed or robot_existed
return name
@rule(target=object_names,
name=variable_name(),
radius=small_float(),
length=small_float(),
base_pose=transform())
def add_cylinder(self, name, radius, length, base_pose):
robot_existed = self.world.has_robot()
object_existed = self.world.has_object(name)
object = Cylinder(name, radius, length)
try:
self.world.spawn_urdf_object(object, base_pose)
assert self.world.has_object(name)
except DuplicateNameException:
assert object_existed or robot_existed
return name
@rule(target=robot_names,
name=variable_name(),
robot_urdf=robot_urdfs(),
base_pose=transform())
def spawn_robot(self, name, robot_urdf, base_pose):
robot_existed = self.world.has_robot()
object_existed = self.world.has_object(name)
try:
self.world.spawn_robot_from_urdf_file(name, robot_urdf, base_pose)
assert self.world.has_robot()
assert self.world.get_robot().name == name
except RobotExistsException:
assert robot_existed
assert self.world.has_robot()
except DuplicateNameException:
assert object_existed
assert not self.world.has_robot()
return name
@rule()
def delete_robot(self):
self.world.delete_robot()
assert not self.world.has_robot()
assert self.world.get_robot() is None
@rule(name=object_names)
def delete_object(self, name):
object_existed = self.world.has_object(name)
try:
self.world.delete_object(name),
except UnknownBodyException:
assert not object_existed
assert not self.world.has_object(name)
@rule(remaining_objects=st.lists(object_names))
def delete_all_objects(self, remaining_objects):
old_objects = set(self.world.get_object_names())
self.world.delete_all_objects(remaining_objects)
for object_name in remaining_objects:
if object_name in old_objects:
assert self.world.has_object(object_name)
assert len(self.world.get_object_names()) == len(
old_objects.intersection(set(remaining_objects)))
@rule()
def clear_world(self):
self.world.clear_world()
assert 1 == p.getNumBodies()
def teardown(self):
self.world.deactivate_viewer()
def initialize_god_map():
god_map = GodMap()
blackboard = Blackboard
blackboard.god_map = god_map
load_config_file()
god_map.set_data(identifier.rosparam, rospy.get_param(rospy.get_name()))
god_map.set_data(identifier.robot_description, rospy.get_param(u'robot_description'))
path_to_data_folder = god_map.get_data(identifier.data_folder)
# fix path to data folder
if not path_to_data_folder.endswith(u'/'):
path_to_data_folder += u'/'
god_map.set_data(identifier.data_folder, path_to_data_folder)
# fix nWSR
nWSR = god_map.get_data(identifier.nWSR)
if nWSR == u'None':
nWSR = None
god_map.set_data(identifier.nWSR, nWSR)
pbw.start_pybullet(god_map.get_data(identifier.gui))
while not rospy.is_shutdown():
try:
controlled_joints = rospy.wait_for_message(u'/whole_body_controller/state',
JointTrajectoryControllerState,
timeout=5.0).joint_names
except ROSException as e:
logging.logerr(u'state topic not available')
logging.logerr(str(e))
else:
break
rospy.sleep(0.5)
joint_weight_symbols = process_joint_specific_params(identifier.joint_weight,
identifier.joint_weight_default,
identifier.joint_weight_override,
god_map)
process_joint_specific_params(identifier.self_collision_avoidance_distance,
identifier.self_collision_avoidance_default_threshold,
identifier.self_collision_avoidance_default_override,
god_map)
process_joint_specific_params(identifier.external_collision_avoidance_distance,
identifier.external_collision_avoidance_default_threshold,
identifier.external_collision_avoidance_default_override,
god_map)
# TODO add checks to test if joints listed as linear are actually linear
joint_velocity_linear_limit_symbols = process_joint_specific_params(identifier.joint_velocity_linear_limit,
identifier.joint_velocity_linear_limit_default,
identifier.joint_velocity_linear_limit_override,
god_map)
joint_velocity_angular_limit_symbols = process_joint_specific_params(identifier.joint_velocity_angular_limit,
identifier.joint_velocity_angular_limit_default,
identifier.joint_velocity_angular_limit_override,
god_map)
joint_acceleration_linear_limit_symbols = process_joint_specific_params(identifier.joint_acceleration_linear_limit,
identifier.joint_acceleration_linear_limit_default,
identifier.joint_acceleration_linear_limit_override,
god_map)
joint_acceleration_angular_limit_symbols = process_joint_specific_params(
identifier.joint_acceleration_angular_limit,
identifier.joint_acceleration_angular_limit_default,
identifier.joint_acceleration_angular_limit_override,
god_map)
world = PyBulletWorld(False, blackboard.god_map.get_data(identifier.data_folder))
god_map.set_data(identifier.world, world)
robot = WorldObject(god_map.get_data(identifier.robot_description),
None,
controlled_joints)
world.add_robot(robot, None, controlled_joints,
ignored_pairs=god_map.get_data(identifier.ignored_self_collisions),
added_pairs=god_map.get_data(identifier.added_self_collisions))
joint_position_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_movable_joints(),
identifier.joint_states,
suffix=[u'position'])
joint_vel_symbols = JointStatesInput(blackboard.god_map.to_symbol, world.robot.get_movable_joints(),
identifier.joint_states,
suffix=[u'velocity'])
world.robot.update_joint_symbols(joint_position_symbols.joint_map, joint_vel_symbols.joint_map,
joint_weight_symbols,
joint_velocity_linear_limit_symbols, joint_velocity_angular_limit_symbols,
joint_acceleration_linear_limit_symbols, joint_acceleration_angular_limit_symbols)
world.robot.init_self_collision_matrix()
return god_map
class PyBulletPlugin(PluginBase):
def __init__(self,
js_identifier,
collision_identifier,
closest_point_identifier,
collision_goal_identifier,
controllable_links_identifier,
robot_description_identifier,
map_frame,
root_link,
default_collision_avoidance_distance,
path_to_data_folder='',
gui=False,
marker=False,
enable_self_collision=True):
self.collision_goal_identifier = collision_goal_identifier
self.controllable_links_identifier = controllable_links_identifier
self.path_to_data_folder = path_to_data_folder
self.js_identifier = js_identifier
self.collision_identifier = collision_identifier
self.closest_point_identifier = closest_point_identifier
self.default_collision_avoidance_distance = default_collision_avoidance_distance
self.robot_description_identifier = robot_description_identifier
self.enable_self_collision = enable_self_collision
self.map_frame = map_frame
self.robot_root = root_link
self.robot_name = 'pr2'
self.global_reference_frame_name = 'map'
self.marker = marker
self.gui = gui
self.lock = Lock()
self.object_js_subs = {
} # JointState subscribers for articulated world objects
self.object_joint_states = {
} # JointStates messages for articulated world objects
super(PyBulletPlugin, self).__init__()
def copy(self):
cp = self.__class__(
js_identifier=self.js_identifier,
collision_identifier=self.collision_identifier,
closest_point_identifier=self.closest_point_identifier,
collision_goal_identifier=self.collision_goal_identifier,
controllable_links_identifier=self.controllable_links_identifier,
map_frame=self.map_frame,
root_link=self.robot_root,
path_to_data_folder=self.path_to_data_folder,
gui=self.gui,
default_collision_avoidance_distance=self.
default_collision_avoidance_distance,
robot_description_identifier=self.robot_description_identifier,
enable_self_collision=self.enable_self_collision)
cp.world = self.world
cp.marker = self.marker
# cp.srv = self.srv
# cp.viz_gui = self.viz_gui
cp.pub_collision_marker = self.pub_collision_marker
return cp
def start_once(self):
self.world = PyBulletWorld(
enable_gui=self.gui, path_to_data_folder=self.path_to_data_folder)
self.srv_update_world = rospy.Service('~update_world', UpdateWorld,
self.update_world_cb)
self.srv_viz_gui = rospy.Service('~enable_marker', SetBool,
self.enable_marker_cb)
self.pub_collision_marker = rospy.Publisher(
'~visualization_marker_array', MarkerArray, queue_size=1)
self.world.activate_viewer()
# TODO get robot description from god map
urdf = rospy.get_param('robot_description')
self.world.spawn_robot_from_urdf(self.robot_name, urdf)
def enable_marker_cb(self, setbool):
"""
:type setbool: std_srvs.srv._SetBool.SetBoolRequest
:rtype: SetBoolResponse
"""
# TODO test me
self.marker = setbool.data
return SetBoolResponse()
def update_world_cb(self, req):
"""
Callback function of the ROS service to update the internal giskard world.
:param req: Service request as received from the service client.
:type req: UpdateWorldRequest
:return: Service response, reporting back any runtime errors that occurred.
:rtype UpdateWorldResponse
"""
# TODO block or queue updates while planning
with self.lock:
try:
if req.operation is UpdateWorldRequest.ADD:
if req.rigidly_attached:
self.attach_object(req)
else:
self.add_object(req)
elif req.operation is UpdateWorldRequest.REMOVE:
self.remove_object(req.body.name)
# TODO implement alter
elif req.operation is UpdateWorldRequest.REMOVE_ALL:
self.clear_world()
else:
return UpdateWorldResponse(
UpdateWorldResponse.INVALID_OPERATION,
u'Received invalid operation code: {}'.format(
req.operation))
self.publish_object_as_marker(req)
return UpdateWorldResponse()
except CorruptShapeException as e:
return UpdateWorldResponse(
UpdateWorldResponse.CORRUPT_SHAPE_ERROR, str(e))
except UnknownBodyException as e:
return UpdateWorldResponse(
UpdateWorldResponse.MISSING_BODY_ERROR, str(e))
except DuplicateNameException as e:
return UpdateWorldResponse(
UpdateWorldResponse.DUPLICATE_BODY_ERROR, str(e))
except UnsupportedOptionException as e:
return UpdateWorldResponse(
UpdateWorldResponse.UNSUPPORTED_OPTIONS, str(e))
except Exception as e:
traceback.print_exc()
return UpdateWorldResponse(
UpdateWorldResponse.UNSUPPORTED_OPTIONS,
u'{}: {}'.format(e.__class__.__name__, str(e)))
def add_object(self, req):
"""
:type req: UpdateWorldRequest
"""
world_body = req.body
global_pose = from_pose_msg(
transform_pose(self.global_reference_frame_name, req.pose).pose)
if world_body.type is WorldBody.URDF_BODY:
#TODO test me
self.world.spawn_object_from_urdf_str(world_body.name,
world_body.urdf, global_pose)
else:
self.world.spawn_urdf_object(world_body_to_urdf_object(world_body),
global_pose)
# SUB-CASE: If it is an articulated object, open up a joint state subscriber
if world_body.joint_state_topic:
callback = (lambda msg: self.object_js_cb(world_body.name, msg))
self.object_js_subs[world_body.name] = \
rospy.Subscriber(world_body.joint_state_topic, JointState, callback, queue_size=1)
def attach_object(self, req):
"""
:type req: UpdateWorldResponse
"""
if req.body.type is WorldBody.URDF_BODY:
raise UnsupportedOptionException(
u'Attaching URDF bodies to robots is not supported.')
self.world.attach_object(world_body_to_urdf_object(req.body),
req.pose.header.frame_id,
from_pose_msg(req.pose.pose))
def remove_object(self, name):
if self.world.has_object(name):
self.world.delete_object(name)
if self.object_js_subs.has_key(name):
self.object_js_subs[name].unregister()
del (self.object_js_subs[name])
try:
del (self.object_joint_states[name])
except:
pass
elif self.world.get_robot().has_attached_object(name):
self.world.get_robot().detach_object(name)
else:
raise UnknownBodyException(
u'Cannot delete unknown object {}'.format(name))
def publish_object_as_marker(self, req):
try:
ma = to_marker(req)
self.pub_collision_marker.publish(ma)
except:
pass
def clear_world(self):
self.pub_collision_marker.publish(
MarkerArray([Marker(action=Marker.DELETEALL)]))
for object_name in self.world.get_object_names():
if object_name != u'plane': #TODO get rid of this hard coded special case
self.remove_object(object_name)
self.world.get_robot().detach_all_objects()
def update(self):
"""
Computes closest point info for all robot links and safes it to the god map.
"""
with self.lock:
# TODO only update urdf if it has changed
self.god_map.set_data([self.robot_description_identifier],
self.world.get_robot().get_urdf())
js = self.god_map.get_data([self.js_identifier])
if js is not None:
self.world.set_robot_joint_state(js)
for object_name, object_joint_state in self.object_joint_states.items(
):
self.world.get_object(object_name).set_joint_state(
object_joint_state)
# TODO we can look up the transform outside of this loop
p = lookup_transform(self.map_frame, self.robot_root)
self.world.get_robot().set_base_pose(position=[
p.pose.position.x, p.pose.position.y, p.pose.position.z
],
orientation=[
p.pose.orientation.x,
p.pose.orientation.y,
p.pose.orientation.z,
p.pose.orientation.w
])
# TODO not necessary to parse collision goals every time
collision_goals = self.god_map.get_data(
[self.collision_goal_identifier])
collision_matrix = self.collision_goals_to_collision_matrix(
collision_goals)
collisions = self.world.check_collisions(
collision_matrix,
enable_self_collision=self.enable_self_collision)
closest_point = self.collisions_to_closest_point(
collisions, collision_matrix)
if self.marker:
self.publish_cpi_markers(closest_point)
self.god_map.set_data([self.closest_point_identifier],
closest_point)
def collision_goals_to_collision_matrix(self, collision_goals):
"""
:param collision_goals: list of CollisionEntry
:type collision_goals: list
:return: dict mapping (robot_link, body_b, link_b) -> min allowed distance
:rtype: dict
"""
if collision_goals is None:
collision_goals = []
min_allowed_distance = dict()
if len([
x for x in collision_goals if x.type in [
CollisionEntry.AVOID_ALL_COLLISIONS,
CollisionEntry.ALLOW_ALL_COLLISIONS
]
]) == 0:
# add avoid all collision if there is no other avoid or allow all
collision_goals.insert(
0,
CollisionEntry(
type=CollisionEntry.AVOID_ALL_COLLISIONS,
min_dist=self.default_collision_avoidance_distance))
controllable_links = self.god_map.get_data(
[self.controllable_links_identifier])
for collision_entry in collision_goals: # type: CollisionEntry
# check if msg got properly filled
if collision_entry.body_b == u'' and collision_entry.link_b != u'':
raise PhysicsWorldException(
u'body_b is empty but link_b is not')
# if robot link is empty, use all robot links
if collision_entry.robot_link == u'':
robot_links = set(self.world.get_robot().get_link_names())
elif collision_entry.robot_link in self.world.get_robot(
).get_link_names():
# TODO this check is linear but could be constant
robot_links = {collision_entry.robot_link}
else:
raise UnknownBodyException(u'robot_link \'{}\' unknown'.format(
collision_entry.robot_link))
# remove all non controllable links
# TODO make pybullet robot know which links are controllable
# TODO on first look controllable links are none
if controllable_links is not None:
robot_links.intersection_update(controllable_links)
# if body_b is empty, use all objects
if collision_entry.body_b == u'':
bodies_b = self.world.get_object_names()
elif self.world.has_object(collision_entry.body_b):
bodies_b = [collision_entry.body_b]
else:
raise UnknownBodyException(u'body_b \'{}\' unknown'.format(
collision_entry.body_b))
for body_b in bodies_b:
# if link_b is empty, use all links from body_b
if collision_entry.link_b == u'': # empty link b means every link from body b
links_b = self.world.get_object(body_b).get_link_names()
elif collision_entry.link_b in self.world.get_object(
body_b).get_link_names():
links_b = [collision_entry.link_b]
else:
raise UnknownBodyException(u'link_b \'{}\' unknown'.format(
collision_entry.link_b))
for robot_link, link_b in product(robot_links, links_b):
key = (robot_link, body_b, link_b)
if collision_entry.type == CollisionEntry.ALLOW_COLLISION or \
collision_entry.type == CollisionEntry.ALLOW_ALL_COLLISIONS:
if key in min_allowed_distance:
del min_allowed_distance[key]
elif collision_entry.type == CollisionEntry.AVOID_COLLISION or \
collision_entry.type == CollisionEntry.AVOID_ALL_COLLISIONS:
min_allowed_distance[key] = collision_entry.min_dist
return min_allowed_distance
def collisions_to_closest_point(self, collisions, min_allowed_distance):
"""
:param collisions: (robot_link, body_b, link_b) -> ContactInfo
:type collisions: dict
:param min_allowed_distance: (robot_link, body_b, link_b) -> min allowed distance
:type min_allowed_distance: dict
:return: robot_link -> ClosestPointInfo of closest thing
:rtype: dict
"""
closest_point = keydefaultdict(lambda k: ClosestPointInfo((10, 0, 0), (
0, 0, 0), 1e9, self.default_collision_avoidance_distance, k, '',
(1, 0, 0)))
for key, collision_info in collisions.items(
): # type: ((str, str, str), ContactInfo)
if collision_info is None:
continue
link1 = key[0]
a_in_robot_root = msg_to_list(
transform_point(
self.robot_root,
to_point_stamped(self.map_frame,
collision_info.position_on_a)))
b_in_robot_root = msg_to_list(
transform_point(
self.robot_root,
to_point_stamped(self.map_frame,
collision_info.position_on_b)))
n_in_robot_root = msg_to_list(
transform_vector(
self.robot_root,
to_vector3_stamped(self.map_frame,
collision_info.contact_normal_on_b)))
try:
cpi = ClosestPointInfo(a_in_robot_root, b_in_robot_root,
collision_info.contact_distance,
min_allowed_distance[key], key[0],
u'{} - {}'.format(key[1], key[2]),
n_in_robot_root)
except KeyError:
continue
if link1 in closest_point:
closest_point[link1] = min(closest_point[link1],
cpi,
key=lambda x: x.contact_distance)
else:
closest_point[link1] = cpi
return closest_point
def stop(self):
self.clear_world()
self.srv_update_world.shutdown()
self.srv_viz_gui.shutdown()
self.pub_collision_marker.unregister()
self.world.deactivate_viewer()
def publish_cpi_markers(self, closest_point_infos):
"""
Publishes a string for each ClosestPointInfo in the dict. If the distance is below the threshold, the string
is colored red. If it is below threshold*2 it is yellow. If it is below threshold*3 it is green.
Otherwise no string will be published.
:type closest_point_infos: dict
"""
m = Marker()
m.header.frame_id = self.robot_root
m.action = Marker.ADD
m.type = Marker.LINE_LIST
m.id = 1337
# TODO make namespace parameter
m.ns = u'pybullet collisions'
m.scale = Vector3(0.003, 0, 0)
if len(closest_point_infos) > 0:
for collision_info in closest_point_infos.values(
): # type: ClosestPointInfo
red_threshold = collision_info.min_dist
yellow_threshold = collision_info.min_dist * 2
green_threshold = collision_info.min_dist * 3
if collision_info.contact_distance < green_threshold:
m.points.append(Point(*collision_info.position_on_a))
m.points.append(Point(*collision_info.position_on_b))
m.colors.append(ColorRGBA(0, 1, 0, 1))
m.colors.append(ColorRGBA(0, 1, 0, 1))
if collision_info.contact_distance < yellow_threshold:
m.colors[-2] = ColorRGBA(1, 1, 0, 1)
m.colors[-1] = ColorRGBA(1, 1, 0, 1)
if collision_info.contact_distance < red_threshold:
m.colors[-2] = ColorRGBA(1, 0, 0, 1)
m.colors[-1] = ColorRGBA(1, 0, 0, 1)
else:
m.action = Marker.DELETE
ma = MarkerArray()
ma.markers.append(m)
self.pub_collision_marker.publish(ma)
def object_js_cb(self, object_name, msg):
"""
Callback message for ROS Subscriber on JointState to get states of articulated objects into world.
:param object_name: Name of the object for which the Joint State message is.
:type object_name: str
:param msg: Current state of the articulated object that shall be set in the world.
:type msg: JointState
"""
self.object_joint_states[object_name] = to_joint_state_dict(msg)