def transformPlanToBDIFrame(self, plan):
if (self.pose_bdi is None):
# print "haven't received POSE_BDI"
return
# TODO: This transformation should be rewritten using the LOCAL_TO_LOCAL_BDI frame
# instead of using FK here
t_bodybdi = transformUtils.transformFromPose(self.pose_bdi.pos, self.pose_bdi.orientation)
t_bodybdi.PostMultiply()
current_pose = self.jointController.q
t_bodymain = transformUtils.transformFromPose( current_pose[0:3] , botpy.roll_pitch_yaw_to_quat(current_pose[3:6]) )
t_bodymain.PostMultiply()
# iterate and transform
self.bdi_plan = plan.decode( plan.encode() ) # decode and encode ensures deepcopy
for i, footstep in enumerate(self.bdi_plan.footsteps):
step = footstep.pos
t_step = transformUtils.frameFromPositionMessage(step)
t_body_to_step = vtk.vtkTransform()
t_body_to_step.DeepCopy(t_step)
t_body_to_step.PostMultiply()
t_body_to_step.Concatenate(t_bodymain.GetLinearInverse())
t_stepbdi = vtk.vtkTransform()
t_stepbdi.DeepCopy(t_body_to_step)
t_stepbdi.PostMultiply()
t_stepbdi.Concatenate(t_bodybdi)
footstep.pos = transformUtils.positionMessageFromFrame(t_stepbdi)
if (self.showBDIPlan is True):
self.drawBDIFootstepPlan()
def transformPlanToBDIFrame(self, plan):
if (self.pose_bdi is None):
# print "haven't received POSE_BDI"
return
# TODO: This transformation should be rewritten using the LOCAL_TO_LOCAL_BDI frame
# instead of using FK here
t_bodybdi = transformUtils.transformFromPose(self.pose_bdi.pos, self.pose_bdi.orientation)
t_bodybdi.PostMultiply()
current_pose = self.jointController.q
t_bodymain = transformUtils.transformFromPose( current_pose[0:3] , transformUtils.rollPitchYawToQuaternion(current_pose[3:6]) )
t_bodymain.PostMultiply()
# iterate and transform
self.bdi_plan = plan.decode( plan.encode() ) # decode and encode ensures deepcopy
for i, footstep in enumerate(self.bdi_plan.footsteps):
step = footstep.pos
t_step = transformUtils.frameFromPositionMessage(step)
t_body_to_step = vtk.vtkTransform()
t_body_to_step.DeepCopy(t_step)
t_body_to_step.PostMultiply()
t_body_to_step.Concatenate(t_bodymain.GetLinearInverse())
t_stepbdi = vtk.vtkTransform()
t_stepbdi.DeepCopy(t_body_to_step)
t_stepbdi.PostMultiply()
t_stepbdi.Concatenate(t_bodybdi)
footstep.pos = transformUtils.positionMessageFromFrame(t_stepbdi)
if (self.showBDIPlan is True):
self.drawBDIFootstepPlan()
def assignFrames(self):
# foot to box
self.footToBox = transformUtils.transformFromPose(np.array([-0.6436723 , 0.18848073, -1.13987699]),
np.array([ 0.99576385, 0. , 0. , -0.09194753]))
# self.palmToBox = transformUtils.transformFromPose(np.array([-0.13628039, -0.12582009, 0.33638863]), np.array([-0.69866187, 0.07267815, 0.70683338, 0.08352274]))
self.palmToBox = transformUtils.transformFromPose(np.array([-0.13516451, -0.12463758, 0.25173153]), np.array([-0.69867721, 0.07265162, 0.70682793, 0.08346358]))
pinchToBox = self.getPinchToPalmFrame()
pinchToBox.PostMultiply()
pinchToBox.Concatenate(self.palmToBox)
self.pinchToBox = pinchToBox
def assignFrames(self):
# foot to box
self.footToBox = transformUtils.transformFromPose(np.array([-0.6436723 , 0.18848073, -1.13987699]),
np.array([ 0.99576385, 0. , 0. , -0.09194753]))
# self.palmToBox = transformUtils.transformFromPose(np.array([-0.13628039, -0.12582009, 0.33638863]), np.array([-0.69866187, 0.07267815, 0.70683338, 0.08352274]))
self.palmToBox = transformUtils.transformFromPose(np.array([-0.13516451, -0.12463758, 0.25173153]), np.array([-0.69867721, 0.07265162, 0.70682793, 0.08346358]))
pinchToBox = self.getPinchToPalmFrame()
pinchToBox.PostMultiply()
pinchToBox.Concatenate(self.palmToBox)
self.pinchToBox = pinchToBox
def transformFromFootstep(self, footstep):
trans = footstep.pos.translation
trans = [trans.x, trans.y, trans.z]
quat = footstep.pos.rotation
quat = [quat.w, quat.x, quat.y, quat.z]
return transformUtils.transformFromPose(trans, quat)
def transformGeometry(polyDataList, geom):
t = transformUtils.transformFromPose(geom.position, geom.quaternion)
polyDataList = [
filterUtils.transformPolyData(polyData, t)
for polyData in polyDataList
]
return polyDataList
def transformFromFootstep(self, footstep):
trans = footstep.pos.translation
trans = [trans.x, trans.y, trans.z]
quat = footstep.pos.rotation
quat = [quat.w, quat.x, quat.y, quat.z]
return transformUtils.transformFromPose(trans, quat)
def setPolyData(self, polyData):
if polyData.GetNumberOfPoints():
originPose = self.getProperty('Origin')
pos, quat = originPose[:3], originPose[3:]
t = transformUtils.transformFromPose(pos, quat)
polyData = filterUtils.transformPolyData(polyData, t.GetLinearInverse())
PolyDataItem.setPolyData(self, polyData)
def transformFromFootstep(self, footstep):
#print 'footstep (trans and quat) :'
trans = footstep.pos.translation
trans = [trans.x, trans.y, trans.z]
#print (trans)
quat = footstep.pos.rotation
quat = [quat.w, quat.x, quat.y, quat.z]
#print (quat)
return transformUtils.transformFromPose(trans, quat)
def getPinchToHandFrame(self):
pinchToHand = transformUtils.transformFromPose(
np.array([-1.22270636e-07, -3.11575498e-01, 0.00000000e+00]),
np.array([
3.26794897e-07, -2.42861455e-17, -1.85832253e-16,
1.00000000e+00
]))
return pinchToHand
def setPolyData(self, polyData):
if polyData.GetNumberOfPoints():
originPose = self.getProperty('Origin')
pos, quat = originPose[:3], originPose[3:]
t = transformUtils.transformFromPose(pos, quat)
polyData = filterUtils.transformPolyData(polyData,
t.GetLinearInverse())
PolyDataItem.setPolyData(self, polyData)
def onRobotStatus(self, msg):
x = msg.pose.translation.x
y = msg.pose.translation.y
z = msg.pose.translation.z
q1 = msg.pose.rotation.w
q2 = msg.pose.rotation.x
q3 = msg.pose.rotation.y
q4 = msg.pose.rotation.z
self.tf_robotStatus = transformUtils.transformFromPose([x,y,z], [q1,q2,q3,q4])
'''
def onICPCorrection(m):
t = transformUtils.transformFromPose(m.trans, m.quat)
_icpTransforms.append(t)
print 'appending icp transform %d' % len(_icpTransforms)
if len(_icpTransforms) == 1:
storeInitialTransform()
for func in _icpCallbacks:
func(t)
def onICPCorrection(m):
t = transformUtils.transformFromPose(m.trans, m.quat)
_icpTransforms.append(t)
print 'appending icp transform %d' % len(_icpTransforms)
if len(_icpTransforms) == 1:
storeInitialTransform()
for func in _icpCallbacks:
func(t)
def getPlanningFrame(self):
platformToWorld = self.platform.getChildFrame().transform
worldToPlatform = platformToWorld.GetLinearInverse()
f = self.robotSystem.footstepsDriver.getFeetMidPoint(self.robotSystem.robotStateModel)
footPosition = f.GetPosition()
footPosInPlatformFrame = worldToPlatform.TransformPoint(footPosition)
planFramePosInPlatformFrame = self.dimensions/2.0
planFramePosInPlatformFrame[1] = footPosInPlatformFrame[1]
planFramePosInWorld = platformToWorld.TransformPoint(planFramePosInPlatformFrame)
# now we want to find the homogeneous transform for the planning Frame
_,quat = transformUtils.poseFromTransform(platformToWorld)
self.planToWorld = transformUtils.transformFromPose(planFramePosInWorld,quat)
def testEuler():
'''
Test some euler conversions
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
mat = transformUtils.getNumpyFromTransform(frame)
rpy = transformUtils.rollPitchYawFromTransform(frame)
rpy2 = transformations.euler_from_matrix(mat)
print rpy
print rpy2
assert np.allclose(rpy, rpy2)
def getPlanningFrame(self):
platformToWorld = self.platform.getChildFrame().transform
worldToPlatform = platformToWorld.GetLinearInverse()
f = self.robotSystem.footstepsDriver.getFeetMidPoint(
self.robotSystem.robotStateModel)
footPosition = f.GetPosition()
footPosInPlatformFrame = worldToPlatform.TransformPoint(footPosition)
planFramePosInPlatformFrame = self.dimensions / 2.0
planFramePosInPlatformFrame[1] = footPosInPlatformFrame[1]
planFramePosInWorld = platformToWorld.TransformPoint(
planFramePosInPlatformFrame)
# now we want to find the homogeneous transform for the planning Frame
_, quat = transformUtils.poseFromTransform(platformToWorld)
self.planToWorld = transformUtils.transformFromPose(
planFramePosInWorld, quat)
def TargetReceived(self, data):
self.log( 'Target received (%.3f,%.3f,%.3f), (%.3f,%.3f,%.3f,%.3f)' % \
(data.trans[0], data.trans[1], data.trans[2], \
data.quat[0], data.quat[1], data.quat[2], data.quat[3]) )
if math.isnan(data.trans[0]):
self.log('Getting NaN target, stop')
return
self.TargetMsg = deepcopy(data)
targetToWorld = transformUtils.transformFromPose(self.TargetMsg.trans, self.TargetMsg.quat)
startPose = self.getPlanningStartPose()
handToWorld= self.ikPlanner.getLinkFrameAtPose( 'l_hand_face', startPose)
goalFrame = vis.updateFrame(handToWorld, 'OriginalFrame', parent='Pfgrasp', visible=True, scale=0.25)
goalFrame2 = vis.updateFrame(targetToWorld, 'PeterFrame', parent='Pfgrasp', visible=True, scale=0.25)
handToWorld_XYZ = handToWorld.GetPosition()
targetToWorld_XYZ = targetToWorld.GetPosition()
dist = sqrt( (handToWorld_XYZ[0]-targetToWorld_XYZ[0])**2 + (handToWorld_XYZ[1]-targetToWorld_XYZ[1])**2 + (handToWorld_XYZ[2]-targetToWorld_XYZ[2])**2 )
self.log( "dist %.3f" % dist )
threshold = float(self.ui.criterionEdit.text)
if(dist < threshold):
#easygui.msgbox("The correction movement is less than 0.015, you can go grasp it", title="Done")
self.log("The correction movement is %.3f less than %.3f, you can go grasp it" % (dist, threshold))
if self.autoMode: self.guardedMoveForwardAndGraspHoldRetreat()
else:
#print "startPose", startPose
#print "targetToWorld", targetToWorld
#print "graspingHand", self.graspingHand
constraintSet = self.ikPlanner.planEndEffectorGoal(startPose, self.graspingHand, targetToWorld, lockBase=False, lockBack=True)
endPose, info = constraintSet.runIk()
if info > 10:
self.log("in Target received: Bad movement")
return
graspPlan = constraintSet.runIkTraj()
if self.autoMode:
self.manipPlanner.commitManipPlan(graspPlan)
self.waitForPlanExecution(graspPlan)
self.runoneiter()
def testTransform():
'''
test transformFromPose --> getAxesFromTransform is same as quat --> matrix
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
axes = transformUtils.getAxesFromTransform(frame)
mat = transformUtils.getNumpyFromTransform(frame)
assert np.allclose(mat[:3, :3], np.array(axes).transpose())
mat2 = transformations.quaternion_matrix(quat)
mat2[:3, 3] = pos
print mat
print mat2
assert np.allclose(mat, mat2)
def __init__(self):
pose = transformUtils.poseFromTransform(vtk.vtkTransform())
self.pointcloud = ioUtils.readPolyData(ddapp.getDRCBaseDir() + '/software/models/rehearsal_pointcloud.vtp')
self.pointcloudPD = vis.showPolyData(self.pointcloud, 'coursemodel', parent=None)
segmentation.makeMovable(self.pointcloudPD, transformUtils.transformFromPose(array([0, 0, 0]), array([ 1.0, 0. , 0. , 0.0])))
self.originFrame = self.pointcloudPD.getChildFrame()
t = transformUtils.transformFromPose(array([-4.39364111, -0.51507392, -0.73125563]), array([ 0.93821625, 0. , 0. , -0.34604951]))
self.valveWalkFrame = vis.updateFrame(t, 'ValveWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-3.31840048, 0.36408685, -0.67413123]), array([ 0.93449475, 0. , 0. , -0.35597691]))
self.drillPreWalkFrame = vis.updateFrame(t, 'DrillPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-2.24553758, -0.52990939, -0.73255338]), array([ 0.93697004, 0. , 0. , -0.34940972]))
self.drillWalkFrame = vis.updateFrame(t, 'DrillWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-2.51306835, -0.92994004, -0.74173541 ]), array([-0.40456572, 0. , 0. , 0.91450893]))
self.drillWallWalkFarthestSafeFrame = vis.updateFrame(t, 'DrillWallWalkFarthestSafe', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-2.5314524 , -0.27401861, -0.71302976]), array([ 0.98691519, 0. , 0. , -0.16124022]))
self.drillWallWalkBackFrame = vis.updateFrame(t, 'DrillWallWalkBack', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-1.16122318, 0.04723203, -0.67493468]), array([ 0.93163145, 0. , 0. , -0.36340451]))
self.surprisePreWalkFrame = vis.updateFrame(t, 'SurprisePreWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-0.5176186 , -1.00151554, -0.70650799]), array([ 0.84226497, 0. , 0. , -0.53906374]))
self.surpriseWalkFrame = vis.updateFrame(t, 'SurpriseWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([-0.69100097, -0.43713269, -0.68495922]), array([ 0.98625075, 0. , 0. , -0.16525575]))
self.surpriseWalkBackFrame = vis.updateFrame(t, 'SurpriseWalkBack', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([ 0.65827322, -0.08028796, -0.77370834]), array([ 0.94399977, 0. , 0. , -0.3299461 ]))
self.terrainPreWalkFrame = vis.updateFrame(t, 'TerrainPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
t = transformUtils.transformFromPose(array([ 5.47126425, -0.09790393, -0.70504679]), array([ 1., 0., 0., 0.]))
self.stairsPreWalkFrame = vis.updateFrame(t, 'StairsPreWalk', scale=0.2,visible=True, parent=self.pointcloudPD)
self.frameSync = vis.FrameSync()
self.frameSync.addFrame(self.originFrame)
self.frameSync.addFrame(self.pointcloudPD.getChildFrame(), ignoreIncoming=True)
self.frameSync.addFrame(self.valveWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillPreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillWallWalkFarthestSafeFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillWallWalkBackFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.surprisePreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.surpriseWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.surpriseWalkBackFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.terrainPreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.stairsPreWalkFrame, ignoreIncoming=True)
def drawFootstepPlan(self, msg, folder, left_color=None, right_color=None, alpha=1.0):
for step in folder.children():
om.removeFromObjectModel(step)
allTransforms = []
volFolder = getWalkingVolumesFolder()
map(om.removeFromObjectModel, volFolder.children())
slicesFolder = getTerrainSlicesFolder()
map(om.removeFromObjectModel, slicesFolder.children())
for i, footstep in enumerate(msg.footsteps):
trans = footstep.pos.translation
trans = [trans.x, trans.y, trans.z]
quat = footstep.pos.rotation
quat = [quat.w, quat.x, quat.y, quat.z]
footstepTransform = transformUtils.transformFromPose(trans, quat)
allTransforms.append(footstepTransform)
if i < 2:
continue
if footstep.is_right_foot:
mesh = getRightFootMesh()
if (right_color is None):
color = getRightFootColor()
else:
color = right_color
else:
mesh = getLeftFootMesh()
if (left_color is None):
color = getLeftFootColor()
else:
color = left_color
# add gradual shading to steps to indicate destination
frac = float(i)/ float(msg.num_steps-1)
this_color = [0,0,0]
this_color[0] = 0.25*color[0] + 0.75*frac*color[0]
this_color[1] = 0.25*color[1] + 0.75*frac*color[1]
this_color[2] = 0.25*color[2] + 0.75*frac*color[2]
if self.show_contact_slices:
self.drawContactVolumes(footstepTransform, color)
contact_pts_left, contact_pts_right = FootstepsDriver.getContactPts()
if footstep.is_right_foot:
sole_offset = np.mean(contact_pts_right, axis=0)
else:
sole_offset = np.mean(contact_pts_left, axis=0)
t_sole_prev = transformUtils.frameFromPositionMessage(msg.footsteps[i-2].pos)
t_sole_prev.PreMultiply()
t_sole_prev.Translate(sole_offset)
t_sole = transformUtils.copyFrame(footstepTransform)
t_sole.Translate(sole_offset)
yaw = np.arctan2(t_sole.GetPosition()[1] - t_sole_prev.GetPosition()[1],
t_sole.GetPosition()[0] - t_sole_prev.GetPosition()[0])
T_terrain_to_world = transformUtils.frameFromPositionAndRPY([t_sole_prev.GetPosition()[0], t_sole_prev.GetPosition()[1], 0],
[0, 0, math.degrees(yaw)])
path_dist = np.array(footstep.terrain_path_dist)
height = np.array(footstep.terrain_height)
# if np.any(height >= trans[2]):
terrain_pts_in_local = np.vstack((path_dist, np.zeros(len(footstep.terrain_path_dist)), height))
d = DebugData()
for j in range(terrain_pts_in_local.shape[1]-1):
d.addLine(terrain_pts_in_local[:,j], terrain_pts_in_local[:,j+1], radius=0.01)
obj = vis.showPolyData(d.getPolyData(), 'terrain slice', parent=slicesFolder, visible=slicesFolder.getProperty('Visible'), color=[.8,.8,.3])
obj.actor.SetUserTransform(T_terrain_to_world)
renderInfeasibility = False
if renderInfeasibility and footstep.infeasibility > 1e-6:
d = DebugData()
start = allTransforms[i-1].GetPosition()
end = footstepTransform.GetPosition()
d.addArrow(start, end, 0.02, 0.005,
startHead=True,
endHead=True)
vis.showPolyData(d.getPolyData(), 'infeasibility %d -> %d' % (i-2, i-1), parent=folder, color=[1, 0.2, 0.2])
stepName = 'step %d' % (i-1)
obj = vis.showPolyData(mesh, stepName, color=this_color, alpha=alpha, parent=folder)
obj.setIcon(om.Icons.Feet)
frameObj = vis.showFrame(footstepTransform, stepName + ' frame', parent=obj, scale=0.3, visible=False)
obj.actor.SetUserTransform(footstepTransform)
obj.addProperty('Support Contact Groups', footstep.params.support_contact_groups, attributes=om.PropertyAttributes(enumNames=['Whole Foot', 'Front 2/3', 'Back 2/3']))
obj.properties.setPropertyIndex('Support Contact Groups', 0)
obj.footstep_index = i
obj.footstep_property_callback = obj.properties.connectPropertyChanged(functools.partial(self.onFootstepPropertyChanged, obj))
self.drawContactPts(obj, footstep, color=this_color)
def __init__(self):
pose = transformUtils.poseFromTransform(vtk.vtkTransform())
self.pointcloud = ioUtils.readPolyData(
ddapp.getDRCBaseDir() +
'/software/models/rehearsal_pointcloud.vtp')
self.pointcloudPD = vis.showPolyData(self.pointcloud,
'coursemodel',
parent=None)
segmentation.makeMovable(
self.pointcloudPD,
transformUtils.transformFromPose(array([0, 0, 0]),
array([1.0, 0., 0., 0.0])))
self.originFrame = self.pointcloudPD.getChildFrame()
t = transformUtils.transformFromPose(
array([-4.39364111, -0.51507392, -0.73125563]),
array([0.93821625, 0., 0., -0.34604951]))
self.valveWalkFrame = vis.updateFrame(t,
'ValveWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-3.31840048, 0.36408685, -0.67413123]),
array([0.93449475, 0., 0., -0.35597691]))
self.drillPreWalkFrame = vis.updateFrame(t,
'DrillPreWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-2.24553758, -0.52990939, -0.73255338]),
array([0.93697004, 0., 0., -0.34940972]))
self.drillWalkFrame = vis.updateFrame(t,
'DrillWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-2.51306835, -0.92994004, -0.74173541]),
array([-0.40456572, 0., 0., 0.91450893]))
self.drillWallWalkFarthestSafeFrame = vis.updateFrame(
t,
'DrillWallWalkFarthestSafe',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-2.5314524, -0.27401861, -0.71302976]),
array([0.98691519, 0., 0., -0.16124022]))
self.drillWallWalkBackFrame = vis.updateFrame(t,
'DrillWallWalkBack',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-1.16122318, 0.04723203, -0.67493468]),
array([0.93163145, 0., 0., -0.36340451]))
self.surprisePreWalkFrame = vis.updateFrame(t,
'SurprisePreWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-0.5176186, -1.00151554, -0.70650799]),
array([0.84226497, 0., 0., -0.53906374]))
self.surpriseWalkFrame = vis.updateFrame(t,
'SurpriseWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([-0.69100097, -0.43713269, -0.68495922]),
array([0.98625075, 0., 0., -0.16525575]))
self.surpriseWalkBackFrame = vis.updateFrame(t,
'SurpriseWalkBack',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([0.65827322, -0.08028796, -0.77370834]),
array([0.94399977, 0., 0., -0.3299461]))
self.terrainPreWalkFrame = vis.updateFrame(t,
'TerrainPreWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
t = transformUtils.transformFromPose(
array([5.47126425, -0.09790393, -0.70504679]),
array([1., 0., 0., 0.]))
self.stairsPreWalkFrame = vis.updateFrame(t,
'StairsPreWalk',
scale=0.2,
visible=True,
parent=self.pointcloudPD)
self.frameSync = vis.FrameSync()
self.frameSync.addFrame(self.originFrame)
self.frameSync.addFrame(self.pointcloudPD.getChildFrame(),
ignoreIncoming=True)
self.frameSync.addFrame(self.valveWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillPreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.drillWallWalkFarthestSafeFrame,
ignoreIncoming=True)
self.frameSync.addFrame(self.drillWallWalkBackFrame,
ignoreIncoming=True)
self.frameSync.addFrame(self.surprisePreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.surpriseWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.surpriseWalkBackFrame,
ignoreIncoming=True)
self.frameSync.addFrame(self.terrainPreWalkFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.stairsPreWalkFrame, ignoreIncoming=True)
def onBDIPose(self, m):
t = transformUtils.transformFromPose(m.pos, m.orientation)
if self.timer.elapsed() > 1.0:
self.transforms.append((self.timer.now(), t))
self.timer.reset()
def __init__(self):
self.aprilTagSubsciber = lcmUtils.addSubscriber('APRIL_TAG_TO_CAMERA_LEFT', lcmbotcore.rigid_transform_t, self.onAprilTag)
pose = transformUtils.poseFromTransform(vtk.vtkTransform())
desc = dict(classname='MeshAffordanceItem', Name='polaris',
Filename='software/models/polaris/polaris_cropped.vtp', pose=pose)
self.pointcloudAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc)
self.originFrame = self.pointcloudAffordance.getChildFrame()
self.originToAprilTransform = transformUtils.transformFromPose(np.array([-0.038508 , -0.00282131, -0.01000079]),
np.array([ 9.99997498e-01, -2.10472556e-03, -1.33815696e-04, 7.46246794e-04])) # offset for . . . who knows why
# t = transformUtils.transformFromPose(np.array([ 0.14376024, 0.95920689, 0.36655712]), np.array([ 0.28745842, 0.90741428, -0.28822068, 0.10438304]))
t = transformUtils.transformFromPose(np.array([ 0.10873244, 0.93162364, 0.40509084]),
np.array([ 0.32997378, 0.88498408, -0.31780588, 0.08318602]))
self.leftFootEgressStartFrame = vis.updateFrame(t, 'left foot start', scale=0.2,visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([ 0.265, 0.874, 0.274]),
np.array([ 0.35290731, 0.93443693, -0.04181263, 0.02314636]))
self.leftFootEgressMidFrame = vis.updateFrame(t, 'left foot mid', scale=0.2,visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([ 0.54339115, 0.89436275, 0.26681047]),
np.array([ 0.34635985, 0.93680077, -0.04152008, 0.02674412]))
self.leftFootEgressOutsideFrame = vis.updateFrame(t, 'left foot outside', scale=0.2,visible=True, parent=self.pointcloudAffordance)
# pose = [np.array([-0.78962299, 0.44284877, -0.29539116]), np.array([ 0.54812954, 0.44571517, -0.46063251, 0.53731713])] #old location
# pose = [np.array([-0.78594663, 0.42026626, -0.23248139]), np.array([ 0.54812954, 0.44571517, -0.46063251, 0.53731713])] # updated location
pose = [np.array([-0.78594663, 0.42026626, -0.23248139]), np.array([ 0.53047159, 0.46554963, -0.48086192, 0.52022615])] # update orientation
desc = dict(classname='CapsuleRingAffordanceItem', Name='Steering Wheel', uuid=newUUID(), pose=pose,
Color=[1, 0, 0], Radius=float(0.18), Segments=20)
self.steeringWheelAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc)
pose = [np.array([-0.05907324, 0.80460545, 0.45439687]), np.array([ 0.14288327, 0.685944 , -0.703969 , 0.11615873])]
desc = dict(classname='BoxAffordanceItem', Name='pedal', Dimensions=[0.12, 0.33, 0.04], pose=pose, Color=[0,1,0])
self.pedalAffordance = segmentation.affordanceManager.newAffordanceFromDescription(desc)
# t = transformUtils.transformFromPose(np.array([ 0.04045136, 0.96565326, 0.25810111]),
# np.array([ 0.26484648, 0.88360091, -0.37065556, -0.10825996]))
# t = transformUtils.transformFromPose(np.array([ -4.34908919e-04, 9.24901627e-01, 2.65614116e-01]),
# np.array([ 0.25022251, 0.913271 , -0.32136359, -0.00708626]))
t = transformUtils.transformFromPose(np.array([ 0.0384547 , 0.89273742, 0.24140762]),
np.array([ 0.26331831, 0.915796 , -0.28055337, 0.11519963]))
self.leftFootPedalSwingFrame = vis.updateFrame(t,'left foot pedal swing', scale=0.2, visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([-0.9012598 , -0.05709763, 0.34897024]),
np.array([ 0.03879584, 0.98950919, 0.03820214, 0.13381721]))
self.leftFootDrivingFrame = vis.updateFrame(t,'left foot driving', scale=0.2, visible=True, parent=self.pointcloudAffordance)
# t = transformUtils.transformFromPose(np.array([-0.12702725, 0.92068409, 0.27209386]),
# np.array([ 0.2062255 , 0.92155886, -0.30781119, 0.11598529]))
# t = transformUtils.transformFromPose(np.array([-0.14940375, 0.90347275, 0.23812658]),
# np.array([ 0.27150909, 0.91398724, -0.28877386, 0.0867167 ]))
# t = transformUtils.transformFromPose(np.array([-0.17331227, 0.87879312, 0.25645152]),
# np.array([ 0.26344489, 0.91567196, -0.28089824, 0.11505581]))
# self.leftFootDrivingKneeInFrame = vis.updateFrame(t,'left foot driving knee in', scale=0.2, visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([-0.12702725, 0.92068409, 0.27209386]),
np.array([ 0.2062255 , 0.92155886, -0.30781119, 0.11598529]))
self.leftFootDrivingKneeInFrame = vis.updateFrame(t,'left foot driving knee in', scale=0.2, visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([-0.13194951, 0.89871423, 0.24956246]),
np.array([ 0.21589082, 0.91727326, -0.30088849, 0.14651633]))
self.leftFootOnPedal = vis.updateFrame(t,'left foot on pedal', scale=0.2, visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([ 0.17712239, 0.87619935, 0.27001509]),
np.array([ 0.33484372, 0.88280787, -0.31946488, 0.08044963]))
self.leftFootUpFrame = vis.updateFrame(t,'left foot up frame', scale=0.2, visible=True, parent=self.pointcloudAffordance)
t = transformUtils.transformFromPose(np.array([ 0.47214939, -0.04856998, 0.01375837]),
np.array([ 6.10521653e-03, 4.18621358e-04, 4.65520611e-01,
8.85015882e-01]))
self.rightHandGrabFrame = vis.updateFrame(t,'right hand grab bar', scale=0.2, visible=True, parent=self.pointcloudAffordance)
self.frameSync = vis.FrameSync()
self.frameSync.addFrame(self.originFrame)
self.frameSync.addFrame(self.pointcloudAffordance.getChildFrame(), ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootEgressStartFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootEgressMidFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootEgressOutsideFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.steeringWheelAffordance.getChildFrame(), ignoreIncoming=True)
self.frameSync.addFrame(self.pedalAffordance.getChildFrame(), ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootPedalSwingFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootDrivingFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootDrivingKneeInFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootOnPedal, ignoreIncoming=True)
self.frameSync.addFrame(self.leftFootUpFrame, ignoreIncoming=True)
self.frameSync.addFrame(self.rightHandGrabFrame, ignoreIncoming=True)
def setTransform(self, pos, quat):
trans = transformUtils.transformFromPose(pos, quat)
self.transform.SetMatrix(trans.GetMatrix())
self.transform.Modified()
def drawFootstepPlan(self, msg, folder, left_color=None, right_color=None, alpha=1.0):
for step in folder.children():
om.removeFromObjectModel(step)
allTransforms = []
volFolder = getWalkingVolumesFolder()
map(om.removeFromObjectModel, volFolder.children())
slicesFolder = getTerrainSlicesFolder()
map(om.removeFromObjectModel, slicesFolder.children())
for i, footstep in enumerate(msg.footsteps):
trans = footstep.pos.translation
trans = [trans.x, trans.y, trans.z]
quat = footstep.pos.rotation
quat = [quat.w, quat.x, quat.y, quat.z]
footstepTransform = transformUtils.transformFromPose(trans, quat)
allTransforms.append(footstepTransform)
if i < 2:
continue
if footstep.is_right_foot:
mesh = getRightFootMesh()
if (right_color is None):
color = getRightFootColor()
else:
color = right_color
else:
mesh = getLeftFootMesh()
if (left_color is None):
color = getLeftFootColor()
else:
color = left_color
# add gradual shading to steps to indicate destination
frac = float(i)/ float(msg.num_steps-1)
this_color = [0,0,0]
this_color[0] = 0.25*color[0] + 0.75*frac*color[0]
this_color[1] = 0.25*color[1] + 0.75*frac*color[1]
this_color[2] = 0.25*color[2] + 0.75*frac*color[2]
if self.show_contact_slices:
self.drawContactVolumes(footstepTransform, color)
contact_pts_left, contact_pts_right = FootstepsDriver.getContactPts()
if footstep.is_right_foot:
sole_offset = np.mean(contact_pts_right, axis=0)
else:
sole_offset = np.mean(contact_pts_left, axis=0)
t_sole_prev = transformUtils.frameFromPositionMessage(msg.footsteps[i-2].pos)
t_sole_prev.PreMultiply()
t_sole_prev.Translate(sole_offset)
t_sole = transformUtils.copyFrame(footstepTransform)
t_sole.Translate(sole_offset)
yaw = np.arctan2(t_sole.GetPosition()[1] - t_sole_prev.GetPosition()[1],
t_sole.GetPosition()[0] - t_sole_prev.GetPosition()[0])
T_terrain_to_world = transformUtils.frameFromPositionAndRPY([t_sole_prev.GetPosition()[0], t_sole_prev.GetPosition()[1], 0],
[0, 0, math.degrees(yaw)])
path_dist = np.array(footstep.terrain_path_dist)
height = np.array(footstep.terrain_height)
# if np.any(height >= trans[2]):
terrain_pts_in_local = np.vstack((path_dist, np.zeros(len(footstep.terrain_path_dist)), height))
d = DebugData()
for j in range(terrain_pts_in_local.shape[1]-1):
d.addLine(terrain_pts_in_local[:,j], terrain_pts_in_local[:,j+1], radius=0.01)
obj = vis.showPolyData(d.getPolyData(), 'terrain slice', parent=slicesFolder, visible=slicesFolder.getProperty('Visible'), color=[.8,.8,.3])
obj.actor.SetUserTransform(T_terrain_to_world)
renderInfeasibility = False
if renderInfeasibility and footstep.infeasibility > 1e-6:
d = DebugData()
start = allTransforms[i-1].GetPosition()
end = footstepTransform.GetPosition()
d.addArrow(start, end, 0.02, 0.005,
startHead=True,
endHead=True)
vis.showPolyData(d.getPolyData(), 'infeasibility %d -> %d' % (i-2, i-1), parent=folder, color=[1, 0.2, 0.2])
stepName = 'step %d' % (i-1)
obj = vis.showPolyData(mesh, stepName, color=this_color, alpha=alpha, parent=folder)
obj.setIcon(om.Icons.Feet)
frameObj = vis.showFrame(footstepTransform, stepName + ' frame', parent=obj, scale=0.3, visible=False)
obj.actor.SetUserTransform(footstepTransform)
obj.addProperty('Support Contact Groups', footstep.params.support_contact_groups, attributes=om.PropertyAttributes(enumNames=['Whole Foot', 'Front 2/3', 'Back 2/3']))
obj.properties.setPropertyIndex('Support Contact Groups', 0)
obj.footstep_index = i
obj.footstep_property_callback = obj.properties.connectPropertyChanged(functools.partial(self.onFootstepPropertyChanged, obj))
self.drawContactPts(obj, footstep, color=this_color)
def onBDIPose(self, m):
t = transformUtils.transformFromPose(m.pos, m.orientation)
if self.timer.elapsed() > 1.0:
self.transforms.append((self.timer.now(), t))
self.timer.reset()
def onFootstepStatus(self, msg):
#print "got message"
import ipab
#print msg.actual_foot_position_in_world[0], msg.actual_foot_position_in_world[1], msg.actual_foot_position_in_world[2]
#print msg.actual_foot_orientation_in_world[0], msg.actual_foot_orientation_in_world[1], msg.actual_foot_orientation_in_world[2], msg.actual_foot_orientation_in_world[3]
#print msg.LEFT
#print msg.RIGHT
x = msg.actual_foot_position_in_world[0]
y = msg.actual_foot_position_in_world[1]
z = msg.actual_foot_position_in_world[2]
q1 = msg.actual_foot_orientation_in_world[0]
q2 = msg.actual_foot_orientation_in_world[1]
q3 = msg.actual_foot_orientation_in_world[2]
q4 = msg.actual_foot_orientation_in_world[3]
if msg.status == 1:
tf_footStatus = transformUtils.transformFromPose([x,y,z], [q1,q2,q3,q4])
self.transforms_series[:] = []
self.transforms_series.append(tf_footStatus)
self.transforms_series.append(self.tf_robotStatus.GetInverse())
tf_foot_robot = transformUtils.concatenateTransforms(self.transforms_series)
self.footstep_index = self.footstep_index + 1
# Check what foot is in contact
#print 'self.footstep_index'
#print self.footstep_index
[robot_pos, robot_ori] = transformUtils.poseFromTransform(self.tf_robotStatus)
[current_pos, current_ori] = transformUtils.poseFromTransform(tf_foot_robot)
if (current_pos[1] > 0):
current_left = True
else:
current_left = False
#print 'current:'
#print (current_pos)
#print 'robot:'
#print (robot_pos)
#print 'Left?'
#print current_left
# I want to take the first status for the LEFT foot
if self.new_status and current_left:
# left foot in contact (reached left single support)
self.footStatus.append(Footstep(tf_footStatus, 0))
self.new_first_double_supp = True
self.new_status = False
# right foot expected pose (from planning)
if self.footstep_index+1 < len(self.planned_footsteps):
if (self.planned_footsteps[self.footstep_index+1].is_right_foot):
self.footStatus.append(self.planned_footsteps[self.footstep_index+1])
else:
self.footStatus.append(self.planned_footsteps[self.footstep_index])
else:
self.footStatus.append(self.footStatus_right[len(self.footStatus_right)-1])
elif not current_left:
# right foot in contact
self.footStatus_right.append(Footstep(tf_footStatus, 1))
else:
self.new_status = True
if (len(self.footStatus) > 0 and self.new_first_double_supp):
t1 = self.footStatus[len(self.footStatus)-2].transform
t2 = self.footStatus[len(self.footStatus)-1].transform
#print 't1 and t2:'
#print (transformUtils.poseFromTransform(t1))
#print (transformUtils.poseFromTransform(t2))
#print 'list lenght:'
#print (len(self.footStatus))
self.new_first_double_supp = False
if self.footStatus[len(self.footStatus)-2].is_right_foot:
t1, t2 = t2, t1
pose = self.getNextDoubleSupportPose(t1, t2)
self.displayExpectedPose(pose)
standingFootName = self.ikPlanner.rightFootLink if self.footStatus[len(self.footStatus)-2].is_right_foot else self.ikPlanner.leftFootLink
self.makeReplanRequest(standingFootName, removeFirstLeftStep = False, nextDoubleSupportPose=pose)
def getPinchToHandFrame(self):
pinchToHand = transformUtils.transformFromPose(np.array([ -1.22270636e-07, -3.11575498e-01, 0.00000000e+00]), np.array([ 3.26794897e-07, -2.42861455e-17, -1.85832253e-16,
1.00000000e+00]))
return pinchToHand
def TargetReceived(self, data):
self.log( 'Target received (%.3f,%.3f,%.3f), (%.3f,%.3f,%.3f,%.3f)' % \
(data.trans[0], data.trans[1], data.trans[2], \
data.quat[0], data.quat[1], data.quat[2], data.quat[3]) )
if math.isnan(data.trans[0]):
self.log('Getting NaN target, stop')
return
self.TargetMsg = deepcopy(data)
targetToWorld = transformUtils.transformFromPose(
self.TargetMsg.trans, self.TargetMsg.quat)
startPose = self.getPlanningStartPose()
handToWorld = self.ikPlanner.getLinkFrameAtPose(
'l_hand_face', startPose)
goalFrame = vis.updateFrame(handToWorld,
'OriginalFrame',
parent='Pfgrasp',
visible=True,
scale=0.25)
goalFrame2 = vis.updateFrame(targetToWorld,
'PeterFrame',
parent='Pfgrasp',
visible=True,
scale=0.25)
handToWorld_XYZ = handToWorld.GetPosition()
targetToWorld_XYZ = targetToWorld.GetPosition()
dist = sqrt((handToWorld_XYZ[0] - targetToWorld_XYZ[0])**2 +
(handToWorld_XYZ[1] - targetToWorld_XYZ[1])**2 +
(handToWorld_XYZ[2] - targetToWorld_XYZ[2])**2)
self.log("dist %.3f" % dist)
threshold = float(self.ui.criterionEdit.text)
if (dist < threshold):
#easygui.msgbox("The correction movement is less than 0.015, you can go grasp it", title="Done")
self.log(
"The correction movement is %.3f less than %.3f, you can go grasp it"
% (dist, threshold))
if self.autoMode: self.guardedMoveForwardAndGraspHoldRetreat()
else:
#print "startPose", startPose
#print "targetToWorld", targetToWorld
#print "graspingHand", self.graspingHand
constraintSet = self.ikPlanner.planEndEffectorGoal(
startPose,
self.graspingHand,
targetToWorld,
lockBase=False,
lockBack=True)
endPose, info = constraintSet.runIk()
if info > 10:
self.log("in Target received: Bad movement")
return
graspPlan = constraintSet.runIkTraj()
if self.autoMode:
self.manipPlanner.commitManipPlan(graspPlan)
self.waitForPlanExecution(graspPlan)
self.runoneiter()
def repositionFromDescription(self, desc):
position, quat = desc['pose']
t = transformUtils.transformFromPose(position, quat)
self.getChildFrame().copyFrame(t)
def transformGeometry(polyDataList, geom):
t = transformUtils.transformFromPose(geom.position, geom.quaternion)
polyDataList = [filterUtils.transformPolyData(polyData, t) for polyData in polyDataList]
return polyDataList
def repositionFromDescription(self, desc):
position, quat = desc['pose']
t = transformUtils.transformFromPose(position, quat)
self.getChildFrame().copyFrame(t)
