def time_plate_main():
rospy.loginfo('Reading file')
[result, goal, collision_objects, robot_state] = pickle.load(open(sys.argv[1], 'r'))
rospy.loginfo('Original starting state was\n'+str(robot_state))
markers = vt.robot_marker(robot_state, ns='robot_starting_state', a = 0.5)
pub = rospy.Publisher('/darrt_planning/robot_state_markers', MarkerArray)
for i in range(10):
rospy.loginfo('Publishing starting state!')
pub.publish(markers)
rospy.sleep(0.1)
wi = WorldInterface()
wi.reset(repopulate=False)
psi = get_planning_scene_interface()
psi.reset()
plate = None
for co in collision_objects:
wi.add_object(co)
if (co.id == goal.pickup_goal.collision_object_name):
plate = co
psi.reset()
ops = PoseStamped()
ops.header = copy.deepcopy(plate.header)
ops.pose = copy.deepcopy(plate.poses[0])
#the old pickup goal may have used base link to generate grasps
#i don't know what we do with things for which we need a point cloud
goal.pickup_goal = PickupGoal('right_arm', om.GraspableObject(reference_frame_id=ops.header.frame_id),
object_pose_stamped=ops, collision_object_name=goal.pickup_goal.collision_object_name,
collision_support_surface_name=goal.pickup_goal.collision_support_surface_name,
desired_grasps=plate_grasps(ops, ops.header.frame_id))
rospy.loginfo('Teleop to initial state. Ready to go?')
raw_input()
client = SimpleActionClient('/darrt_planning/darrt_action', DARRTAction)
client.wait_for_server()
goal.execute = False
goal.planning_time = 200
goal.tries = 10000
goal.debug_level = 1
goal.do_pause = False
goal.goal_bias = 0.2
# goal.place_goal.place_locations[0].pose.position.x = 1
# goal.place_goal.place_locations[0].pose.position.y = 1
# goal.place_goal.place_locations[0].pose.position.z = 0.86
average_time = 0.0
rospy.loginfo('First place goal is\n'+str(goal.place_goal.place_locations[0]))
rospy.loginfo('File: '+sys.argv[1]+', restart after '+str(goal.planning_time))
for i in range(NTRIALS):
rospy.loginfo('Sending goal')
client.send_goal_and_wait(goal)
rospy.loginfo('Returned')
result = client.get_result()
if result.error_code != result.SUCCESS:
rospy.logerr('Something went wrong! Error '+str(result.error_code)+'. We had '+str(i)+
' successful trials with an average time of '+str(average_time/float(i)))
return
average_time += result.planning_time
rospy.loginfo('TRIAL '+str(i)+': '+str(result.planning_time))
rospy.loginfo(str(NTRIALS)+' averaged '+str(average_time/float(NTRIALS))+' seconds to solve')
def main():
[result, goal, collision_objects,
robot_state] = pickle.load(open(sys.argv[1], 'r'))
wi = WorldInterface()
#set the planning scene up correctly
wi.reset(repopulate=False)
for co in collision_objects:
#for running easy version
if ('table' in co.id or co.id == 'plate'):
wi.add_object(co)
psi = get_planning_scene_interface()
psi.reset()
client = SimpleActionClient('/darrt_planning/darrt_action', DARRTAction)
client.wait_for_server()
average_time = 0
goal.planning_time = 30
goal.tries = 10000
goal.debug_level = 0
goal.do_pause = False
goal.goal_bias = 0.2
#i think that this does not work
#goal.robot_state = robot_state
goal.execute = False
rospy.loginfo('First place goal is\n' +
str(goal.place_goal.place_locations[0]))
rospy.loginfo('File: ' + sys.argv[1] + ', restart after ' +
str(goal.planning_time))
for i in range(NTRIALS):
rospy.loginfo('Sending goal')
client.send_goal_and_wait(goal)
rospy.loginfo('Returned')
result = client.get_result()
if result.error_code != result.SUCCESS:
rospy.logerr('Something went wrong! Error ' +
str(result.error_code) + '. We had ' + str(i) +
' successful trials with an average time of ' +
str(average_time / float(i)))
return
average_time += result.planning_time
rospy.loginfo('TRIAL ' + str(i) + ': ' + str(result.planning_time))
rospy.loginfo(
str(NTRIALS) + ' averaged ' + str(average_time / float(NTRIALS)) +
' seconds to solve')
class SimSetup:
def __init__(self,
world,
screenshot,
fake_walls=False,
box_plate=False,
real=False):
self.world = world
self.screenshot = screenshot
self.wi = WorldInterface()
self.psi = get_planning_scene_interface()
self.pose_pub = rospy.Publisher('/initialpose',
PoseWithCovarianceStamped)
self.arms = ArmTasks()
self.torso = Torso()
self.gripper = {
'right_arm': Gripper('right_arm'),
'left_arm': Gripper('left_arm')
}
self.box_plate = box_plate
self.real = real
self.fake_walls = fake_walls
def setup(self, arm):
self.wi.reset(repopulate=False)
self.set_robot_position()
goal = DARRTGoal()
goal.support_surfaces = self.add_tables()
if self.fake_walls:
self.add_walls()
#all the primitives
arm_transit = Primitive(name='ArmTransit', parameters=[arm])
base_transit = Primitive(name='BaseTransit', parameters=['pr2_base'])
approach = Primitive(name="Approach", parameters=[arm])
retreat = Primitive(name="Retreat", parameters=[arm])
rigid_transfer = Primitive(name="RigidTransfer", parameters=[arm])
push = Primitive(name="Push", parameters=[arm])
pickup = Primitive(name="Pickup", parameters=[arm])
uspat = Primitive(name="UseSpatula",
parameters=[arm],
numeric_parameters=[0.22, 0.2, 0.2])
strans = Primitive(name="SpatulaTransfer", parameters=[arm])
if self.world < 0:
obj = self.add_little_object()
spatula, grasps = self.add_spatula(arm)
block = self.add_block()
if self.world < -8:
self.add_barrier()
goal.objects = [obj, spatula, block]
rigid_transfer.parameters.append(spatula.collision_object.id)
push.parameters += [
obj.collision_object.id, arm[0] + '_end_effector'
]
uspat.parameters += [
spatula.collision_object.id, obj.collision_object.id,
block.collision_object.id
]
uspat.grasps = grasps
lift = Vector3(z=1.0)
uspat.directional_parameters.append(lift)
strans.parameters += [
spatula.collision_object.id, obj.collision_object.id
]
goal.primitives = [
arm_transit, base_transit, approach, retreat, rigid_transfer,
push, uspat, strans
]
goal.goals = [
Goal(obj.collision_object.id, self.get_goal_poses(), False)
]
self.psi.reset()
return goal
else:
rospy.loginfo('Old world set up is broken!')
return None
#this no longer works right
if self.world < 14:
obj = self.add_plate()
else:
obj = self.add_box()
if self.world > 7:
self.add_barrier()
self.psi.reset()
if self.world < 6 or self.world > 7:
ss_surface = ss_names[2]
#elif self.world == 12:
# ss_surface = ss_names[1]
else:
ss_surface = ss_names[0]
return World(obj, ss_surface, ss_names[1])
def set_robot_position(self):
#right now worlds 6 and above don't move the robot
if self.world > 15:
return
ps = PoseWithCovarianceStamped()
ps.pose.covariance = [0] * 36
ps.header.frame_id = '/map'
if abs(self.world) <= 2:
#easier start pose
ps.pose.pose.position.x = 2.7
ps.pose.pose.position.y = -2.5
ps.pose.pose.orientation.w = 1
elif self.world < 0 or abs(self.world) < 6 or abs(self.world) == 14:
ps.pose.pose.position.x = -1
ps.pose.pose.position.y = 0
ps.pose.pose.orientation.w = 1
elif abs(self.world) == 12:
ps.pose.pose.position.x = 0
ps.pose.pose.position.y = 1.5
ps.pose.pose.orientation.w = 1
else:
ps.pose.pose.position.x = 1
ps.pose.pose.position.y = 1
ps.pose.pose.orientation.z = -1.0 / np.sqrt(2.0)
ps.pose.pose.orientation.w = 1.0 / np.sqrt(2.0)
if not self.real:
self.pose_pub.publish(ps)
self.gripper['right_arm'].open()
self.torso.move(0.3)
self.arms.move_arm_to_side('left_arm')
if abs(self.world) < 4:
rospy.loginfo('Moving right arm to up position')
self.arms._arm_mover.move_to_goal(
'right_arm',
self.arms._arm_planners['right_arm'].
joint_positions_to_joint_state(
self.arms.side_joint_trajectory['right_arm'][1]),
try_hard=True)
else:
self.arms.move_arm_to_side('right_arm')
def add_tables(self):
if self.screenshot:
return ['', '', '']
table = CollisionObject()
table.header.frame_id = self.wi.world_frame
table.operation.operation = table.operation.ADD
shape = Shape()
shape.type = shape.MESH
#center table
shape.vertices = [
Point(x=-0.2, y=-0.4, z=CENTER_TABLE_HEIGHT),
Point(x=0.97, y=-0.6, z=CENTER_TABLE_HEIGHT),
Point(x=1.0, y=0.25, z=CENTER_TABLE_HEIGHT),
Point(x=-0.25, y=0.3, z=CENTER_TABLE_HEIGHT)
]
shape.triangles = [0, 1, 2, 2, 3, 0]
pose = Pose()
pose.orientation.w = 1.0
poseb = copy.deepcopy(pose)
poseb.position.z = -0.02
poset = copy.deepcopy(pose)
poset.position.z = 0.02
table.shapes.append(shape)
table.shapes.append(shape)
table.shapes.append(shape)
table.poses.append(poset)
table.poses.append(pose)
table.poses.append(poseb)
table.id = 'center_table'
self.wi.add_object(table)
#table near the door
table.id = 'door_table'
shape.vertices = [
Point(x=-2.4, y=1.84, z=DOOR_TABLE_HEIGHT),
Point(x=-1.15, y=1.75, z=DOOR_TABLE_HEIGHT),
Point(x=-1.15, y=2.5, z=DOOR_TABLE_HEIGHT),
Point(x=-2.4, y=2.5, z=DOOR_TABLE_HEIGHT)
]
self.wi.add_object(table)
#table in far corner
table.id = 'far_corner'
shape.vertices = [
Point(x=3, y=-2.7, z=FAR_TABLE_HEIGHT),
Point(x=2.4, y=-3.8, z=FAR_TABLE_HEIGHT),
Point(x=3.2, y=-4.3, z=FAR_TABLE_HEIGHT),
Point(x=3.8, y=-3.2, z=FAR_TABLE_HEIGHT)
]
self.wi.add_object(table)
if self.fake_walls:
#these are the table feet
foot = CollisionObject()
foot.header.frame_id = self.wi.world_frame
foot.operation.operation = foot.operation.ADD
foot.id = "far_corner_foot"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.5, FAR_TABLE_HEIGHT / 2.0]
pose = Pose()
pose.position.x = 3
pose.position.y = -3.4
pose.position.z = shape.dimensions[2] / 2.0
angle = 0.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
foot.shapes.append(shape)
foot.poses.append(pose)
self.wi.add_object(foot)
foot.id = "center_table_foot1"
shape.dimensions = [0.1, 0.75, 0.3]
pose.position.x = 0.9
pose.position.y = -0.1
pose.position.z = shape.dimensions[2] / 2.0
angle = 0
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
self.wi.add_object(foot)
foot.id = "center_table_foot2"
pose.position.x = -0.2
self.wi.add_object(foot)
foot.id = "door_table_foot"
pose.position.x = -1.25
pose.position.y = 2.1
self.wi.add_object(foot)
return ['center_table', 'door_table', 'far_corner']
def add_walls(self):
window_wall = CollisionObject()
window_wall.header.frame_id = self.wi.world_frame
window_wall.operation.operation = window_wall.operation.ADD
window_wall.id = "window_wall"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [8, 0.1, 2.5]
pose = Pose()
pose.position.x = 0
pose.position.y = -2.63
pose.position.z = shape.dimensions[2] / 2.0 - 0.1
angle = np.pi / 6.25
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.shapes.append(shape)
window_wall.poses.append(pose)
self.wi.add_object(window_wall)
shape.dimensions[0] = shape.dimensions[1]
shape.dimensions[1] = 5
pose.position.x = -2.45
pose.position.y = 1
angle = 0.05
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "door_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = shape.dimensions[0]
shape.dimensions[0] = 8
pose.position.x = 0
pose.position.y = 2.3
angle = 0.1
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "cabinet_wall"
self.wi.add_object(window_wall)
shape.dimensions[0] = shape.dimensions[1]
shape.dimensions[1] = 3
pose.position.x = 4
pose.position.y = -3
angle = 0.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "banner_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = 4
shape.dimensions[2] = 1
pose.position.x = 3.25
pose.position.y = 0.65
pose.position.z = shape.dimensions[2] / 2.0 - 0.05
angle = 0
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "computer_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = shape.dimensions[0]
shape.dimensions[0] = 1.8
pose.position.x = 3.9
pose.position.y = -1.6
angle = np.pi / 5.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "nook_wall"
self.wi.add_object(window_wall)
def add_little_object(self):
little_obj = CollisionObject()
little_obj.header.frame_id = self.wi.world_frame
little_obj.operation.operation = little_obj.operation.ADD
little_obj.id = "little_obj"
shape = Shape()
shape.type = shape.CYLINDER
shape.dimensions = [0.05, 0.02]
pose = Pose()
pose.orientation.w = 1.0
little_obj.shapes.append(shape)
little_obj.poses.append(pose)
little_obj_p = copy.deepcopy(little_obj)
little_obj_p.poses[0].position.x = 3.1
little_obj_p.poses[0].position.y = -3.2
little_obj_p.poses[
0].position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[1] / 2.0
self.wi.add_object(little_obj_p)
return ObjectType(type="RoundObject",
collision_object=little_obj,
parameters=['far_corner'])
def add_block(self):
block = CollisionObject()
block.header.frame_id = self.wi.world_frame
block.operation.operation = block.operation.ADD
block.id = "block"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.1, 0.13]
pose = Pose()
pose.orientation.w = 1.0
block.shapes.append(shape)
block.poses.append(pose)
block_p = copy.deepcopy(block)
block_p.poses[0].position.x = 2.9
block_p.poses[0].position.y = -3.5
block_p.poses[
0].position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[2] / 2.0
self.wi.add_object(block_p)
return ObjectType(type="FixedObject",
collision_object=block,
parameters=['far_table'])
def add_spatula(self, arm):
spatula = CollisionObject()
spatula.id = "spatula"
spatula.header.frame_id = self.wi.world_frame
spatula.operation.operation = spatula.operation.ADD
paddle = Shape()
handle = Shape()
paddle.type = paddle.BOX
paddle.dimensions = [0.11, 0.12, 0.005]
handle.type = handle.CYLINDER
handle.dimensions = [0.02, 0.24]
paddle_pose = Pose()
handle_pose = Pose()
paddle_pose.position.y = paddle.dimensions[1] / 2.0
paddle_pose.orientation.w = 1.0
angle = np.pi / 5.0
handle_pose.position.y = -1.0 * handle.dimensions[1] / 2.0 * np.sin(
np.pi / 2.0 - angle)
handle_pose.position.z = handle.dimensions[1] / 2.0 * np.cos(
np.pi / 2.0 - angle)
handle_pose.orientation.x = np.sin((np.pi / 2.0 - angle) / 2.0)
handle_pose.orientation.w = np.cos((np.pi / 2.0 - angle) / 2.0)
spatula.shapes = [paddle, handle]
spatula.poses = [paddle_pose, handle_pose]
#this is the grasp transformation
pos_on_handle = handle.dimensions[1] - 0.1
inv_grasp = Transform()
grasp = RigidGrasp()
#really should be calculating this...
inv_grasp.translation.y = GRIPPER_LENGTH
inv_grasp.translation.z = pos_on_handle / 2.0
#flip 90 degrees
inv_grasp.rotation.z = np.sin(-1.0 * np.pi / 4.0)
inv_grasp.rotation.w = np.cos(-1.0 * np.pi / 4.0)
g = gt.transform_pose(transform_to_pose(inv_grasp), handle_pose)
origin = Pose()
origin.orientation.w = 1.0
grasp.transform = pose_to_transform(
gt.inverse_transform_pose(origin, g))
grasp.touch_links = [arm[0] + '_end_effector']
grasp.attach_link = arm[0] + '_gripper_r_finger_tip_link'
grasp.min_approach_distance = 0
grasp.desired_approach_distance = 0.15
grasp.min_distance_from_surface = -1
spat_p = copy.deepcopy(spatula)
wtrans = Pose()
wtrans.orientation.x = np.sin(angle / 2.0)
wtrans.orientation.w = np.cos(angle / 2.0)
if self.world == -1:
wtrans.position.x = 3
wtrans.position.y = -2.8
wtrans.position.z = FAR_TABLE_HEIGHT + 0.02 + handle.dimensions[0]
ss = ['far_corner']
elif self.world == -2 or self.world == -7 or self.world == -9 or self.world == -5:
wtrans.position.x = -1.7
wtrans.position.y = 2
wtrans.position.z = DOOR_TABLE_HEIGHT + 0.02 + handle.dimensions[0]
ss = ['door_table']
else:
wtrans.position.x = 0.6
wtrans.position.y = -0.3
wtrans.position.z = CENTER_TABLE_HEIGHT + 0.02 + handle.dimensions[
0]
ss = ['center_table']
if self.world == -4 or self.world == -5:
wtrans.position.y = 0
rot = Quaternion()
rot.z = np.sin(np.pi / 2.0)
rot.w = np.cos(np.pi / 2.0)
wtrans.orientation = gt.multiply_quaternions(
rot, wtrans.orientation)
if self.world == -5:
wtrans.position.x = 0
for i in range(len(spat_p.poses)):
spat_p.poses[i] = gt.transform_pose(spat_p.poses[i], wtrans)
self.wi.add_object(spat_p)
return ObjectType(type="SpatulaObject",
collision_object=spatula,
parameters=ss,
numeric_parameters=paddle.dimensions +
handle.dimensions + [angle]), [grasp]
def add_plate(self):
plate = CollisionObject()
plate.header.frame_id = self.wi.world_frame
plate.operation.operation = plate.operation.ADD
plate.id = "plate"
shape = Shape()
shape.type = shape.CYLINDER
shape.dimensions = [0.15, 0.04]
if self.box_plate:
shape.type = shape.BOX
shape.dimensions = [0.3, 0.3, 0.04]
pose = Pose()
if self.world < 6 or self.world == 8 or self.world == 9 or self.world == 12:
pose.position.x = 3.1
pose.position.y = -3.2
pose.position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[
1] / 2.0
elif self.world == 6:
pose.position.x = 0.6 #0.894692#0.5
pose.position.y = -0.3 #-0.468198#-0.2
pose.position.z = CENTER_TABLE_HEIGHT + shape.dimensions[1] / 2.0
# elif self.world == 12:
# pose.position.x = -1.3
# pose.position.y = 2
# pose.position.z = DOOR_TABLE_HEIGHT + 0.02 + shape.dimensions[1]/2.0
else:
pose.position.x = 0.5 #0.894692#0.5
pose.position.y = 0.1
pose.position.z = CENTER_TABLE_HEIGHT + 0.02 + shape.dimensions[
1] / 2.0
pose.orientation.w = 1.0
plate.shapes.append(shape)
plate.poses.append(pose)
self.wi.add_object(plate)
return plate
def add_box(self):
box = CollisionObject()
box.header.frame_id = self.wi.world_frame
box.operation.operation = box.operation.ADD
box.id = "box"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.05, 0.15]
pose = Pose()
pose.position.x = 3.1
pose.position.y = -3.2
pose.position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[2] / 2.0
pose.orientation.w = 1.0
box.shapes.append(shape)
box.poses.append(pose)
self.wi.add_object(box)
return box
def add_barrier(self):
box = CollisionObject()
box.header.frame_id = self.wi.world_frame
box.operation.operation = box.operation.ADD
box.id = "barrier1"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 2, 1]
box.shapes.append(shape)
pose = Pose()
pose.position.x = 1
pose.position.y = -1.5
pose.position.z = 0
pose.orientation.w = 1.0
box.poses.append(pose)
self.wi.add_object(box)
# if self.world != 12:
# box.id = "barrier2"
# box.shapes[0].dimensions = [1, 0.1, 1]
# box.poses[0].position.x = 1.5
# box.poses[0].position.y = 0
# self.wi.add_object(box)
def get_goal_poses(self):
place_pose_stamped = PoseStamped()
place_pose_stamped.header.frame_id = self.wi.world_frame
if abs(self.world) < 0 or (self.world == -5 or abs(self.world) % 2 == 0
and abs(self.world) != 12
and abs(self.world) != 4):
#easiest goal
x = 1
y = -2
z = 0.85
else:
#slightly harder goal
x = -1
y = 1
z = 0.85
if abs(self.world) == 12:
x = 0
y = -1
z - 0.85
if abs(self.world) == 14:
x = 0
y = 1
z = 0.85
place_pose_stamped.pose.position.x = x
place_pose_stamped.pose.position.y = y
place_pose_stamped.pose.position.z = z
place_pose_stamped.pose.orientation.w = 1.0
return [place_pose_stamped]
