def _add_table_to_map(self, table, table_name):
co = CollisionObject()
co.id = table_name
if not co.id:
co.id = 'current_table'
co.header = table.pose.header
#we do NOT want a padded table
co.padding = -1
if len(table.convex_hull.vertices) > 0:
if self.table_thickness > 0:
table_z = range(0, int(1000*self.table_thickness/2.0), int(1000*TABLE_RESOLUTION))
table_z.append(1000.0*self.table_thickness/2.0)
sgnrng = [1.0, -1.0]
else:
table_z = [0]
sgnrng = [1.0]
for z in table_z:
for sgn in sgnrng:
co.shapes.append(table.convex_hull)
ps = tl.transform_pose_stamped(self._wi.world_frame, table.pose)
ps.pose.position.z += sgn*z/1000.0
co.poses.append(tl.transform_pose(table.pose.header.frame_id, ps.header.frame_id, ps.pose))
rospy.logdebug('Adding table as convex hull')
else:
bbox = Shape()
bbox.type = bbox.BOX
bbox.dimensions = [abs(table.x_max - table.x_min), abs(table.y_max - table.y_min), self.table_thickness]
co.shapes.append(bbox)
co.poses.append(table.pose.pose)
rospy.logdebug('Adding table as bounding box')
self._wi.add_object(co)
return co.id
def process_collision_geometry_for_table(self,
firsttable,
additional_tables=[]):
table_object = CollisionObject()
table_object.operation.operation = CollisionObjectOperation.ADD
table_object.header.frame_id = firsttable.pose.header.frame_id
table_object.header.stamp = rospy.Time.now()
#create a box for each table
for table in [
firsttable,
] + additional_tables:
object = Shape()
object.type = Shape.BOX
object.dimensions.append(math.fabs(table.x_max - table.x_min))
object.dimensions.append(math.fabs(table.y_max - table.y_min))
object.dimensions.append(0.01)
table_object.shapes.append(object)
#set the origin of the table object in the middle of the firsttable
table_mat = self.pose_to_mat(firsttable.pose.pose)
table_offset = scipy.matrix([
(firsttable.x_min + firsttable.x_max) / 2.0,
(firsttable.y_min + firsttable.y_max) / 2.0, 0.0
]).T
table_offset_mat = scipy.matrix(scipy.identity(4))
table_offset_mat[0:3, 3] = table_offset
table_center = table_mat * table_offset_mat
origin_pose = self.mat_to_pose(table_center)
table_object.poses.append(origin_pose)
table_object.id = "table"
self.object_in_map_pub.publish(table_object)
def process_collision_geometry_for_cluster(self, cluster):
rospy.loginfo("adding cluster with %d points to collision map" %
len(cluster.points))
many_boxes = CollisionObject()
many_boxes.operation.operation = CollisionObjectOperation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points) / 100.0)
random_indices = range(len(cluster.points))
scipy.random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005] * 3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0, 0, 0, 1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
collision_name = self.get_next_object_name()
many_boxes.id = collision_name
self.object_in_map_pub.publish(many_boxes)
return collision_name
def _get_reset_object(self):
reset_object = CollisionObject()
reset_object.operation.operation = reset_object.operation.REMOVE
reset_object.header.frame_id = 'base_link'
reset_object.header.stamp = rospy.Time.now()
reset_object.id = 'all'
return reset_object
def add_collision_cluster(self, cluster, object_id):
'''
Adds a point cloud to the collision map as a single collision object composed of many small boxes.
**Args:**
**cluster (sensor_msg.msg.PointCloud):** The point cloud to add to the map
**object_id (string):** The name the point cloud should have in the map
'''
many_boxes = CollisionObject()
many_boxes.operation.operation = many_boxes.operation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points)/100.0)
random_indices = range(len(cluster.points))
random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005]*3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0,0,0,1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
many_boxes.id = object_id
self._publish(many_boxes, self._collision_object_pub)
def setUp(self):
rospy.init_node('test_motion_execution_buffer')
self.tf = TransformListener()
self.obj_pub = rospy.Publisher('collision_object',CollisionObject,latch=True)
self.move_arm_action_client = actionlib.SimpleActionClient("move_right_arm", MoveArmAction)
self.move_arm_action_client.wait_for_server()
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()
obj1.header.frame_id = "base_link"
obj1.id = "obj1";
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(1)]
obj1.shapes[0].type = Shape.CYLINDER
obj1.shapes[0].dimensions = [float() for _ in range(2)]
obj1.shapes[0].dimensions[0] = .1
obj1.shapes[0].dimensions[1] = 1.5
obj1.poses = [Pose() for _ in range(1)]
obj1.poses[0].position.x = .6
obj1.poses[0].position.y = -.6
obj1.poses[0].position.z = .75
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
self.obj_pub.publish(obj1)
rospy.sleep(2.0)
def process_collision_geometry_for_table(self, firsttable, additional_tables = []):
table_object = CollisionObject()
table_object.operation.operation = CollisionObjectOperation.ADD
table_object.header.frame_id = firsttable.pose.header.frame_id
table_object.header.stamp = rospy.Time.now()
#create a box for each table
for table in [firsttable,]+additional_tables:
object = Shape()
object.type = Shape.BOX;
object.dimensions.append(math.fabs(table.x_max-table.x_min))
object.dimensions.append(math.fabs(table.y_max-table.y_min))
object.dimensions.append(0.01)
table_object.shapes.append(object)
#set the origin of the table object in the middle of the firsttable
table_mat = self.pose_to_mat(firsttable.pose.pose)
table_offset = scipy.matrix([(firsttable.x_min + firsttable.x_max)/2.0, (firsttable.y_min + firsttable.y_max)/2.0, 0.0]).T
table_offset_mat = scipy.matrix(scipy.identity(4))
table_offset_mat[0:3,3] = table_offset
table_center = table_mat * table_offset_mat
origin_pose = self.mat_to_pose(table_center)
table_object.poses.append(origin_pose)
table_object.id = "table"
self.object_in_map_pub.publish(table_object)
def add_collision_cluster(self, cluster, object_id):
'''
Adds a point cloud to the collision map as a single collision object composed of many small boxes.
**Args:**
**cluster (sensor_msg.msg.PointCloud):** The point cloud to add to the map
**object_id (string):** The name the point cloud should have in the map
'''
many_boxes = CollisionObject()
many_boxes.operation.operation = many_boxes.operation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points) / 100.0)
random_indices = range(len(cluster.points))
random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005] * 3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0, 0, 0, 1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
many_boxes.id = object_id
self._publish(many_boxes, self._collision_object_pub)
def process_collision_geometry_for_cluster(self, cluster):
rospy.loginfo("adding cluster with %d points to collision map"%len(cluster.points))
many_boxes = CollisionObject()
many_boxes.operation.operation = CollisionObjectOperation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points)/100.0)
random_indices = range(len(cluster.points))
scipy.random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005]*3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0,0,0,1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
collision_name = self.get_next_object_name()
many_boxes.id = collision_name
self.object_in_map_pub.publish(many_boxes)
return collision_name
def _get_reset_object(self):
reset_object = CollisionObject()
reset_object.operation.operation = reset_object.operation.REMOVE
reset_object.header.frame_id = 'base_link'
reset_object.header.stamp = rospy.Time.now()
reset_object.id = 'all'
return reset_object
def run (self):
coll_obj = CollisionObject()
coll_obj.operation.operation = CollisionObjectOperation.ADD
coll_obj.id = self.name_of_the_target_object
coll_obj.header = rospy.Header()
coll_obj.header.frame_id = self.frame_id
coll_obj.poses = [self.pose_of_the_target_object]
coll_obj.shapes = [self.shape]
coll_obj.padding = self.padding
pub = rospy.Publisher('/collision_object',CollisionObject,latch=True)
rospy.loginfo('Thread publishing on /collision_object topic (%s)',self.name_of_the_target_object)
while (rospy.is_shutdown() == False) and (self.end == False):
coll_obj.header.stamp = rospy.Time.now()
try:
pub.publish(coll_obj)
except Exception, e:
rospy.logerr("Error on publishing to /collision_object topic: %s", e)
return 0
rospy.logdebug('Thread is looping')
rospy.sleep(2)
def remove_collision_object(self, collision_name):
reset_object = CollisionObject()
reset_object.operation.operation = CollisionObjectOperation.REMOVE
reset_object.header.frame_id = "base_link"
reset_object.header.stamp = rospy.Time.now()
reset_object.id = collision_name
self.object_in_map_pub.publish(reset_object)
def remove_collision_object(self, collision_name):
reset_object = CollisionObject()
reset_object.operation.operation = CollisionObjectOperation.REMOVE
reset_object.header.frame_id = "base_link"
reset_object.header.stamp = rospy.Time.now()
reset_object.id = collision_name
self.object_in_map_pub.publish(reset_object)
def reset4_request_cb(userdata, request):
print "Creating empty request for environment_server"
empty_request = GetPlanningSceneRequest()
# I dont think this is needed anymore but as its working i dont want to touch it
col_obj = CollisionObject()
col_obj.operation.operation = CollisionObjectOperation.REMOVE
col_obj.id = "table" # die you bastard
empty_request.planning_scene_diff.collision_objects.append(col_obj)
return empty_request
def tearDown(self):
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()
obj1.header.frame_id = "base_link"
obj1.id = "all";
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.REMOVE
self.obj_pub.publish(obj1)
rospy.sleep(2.0)
def tearDown(self):
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()
obj1.header.frame_id = "base_link"
obj1.id = "all"
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.REMOVE
self.obj_pub.publish(obj1)
rospy.sleep(2.0)
def add_map_tables(wi):
(serving_table, dirty_table) = [add_map_table('serving_table', wi), add_map_table('dirty_table', wi)]
#little_table = add_map_table('little_table', wi)
st_base = CollisionObject()
st_base.header = serving_table.pose.header
st_base.id = "serving_table_base"
st_base.poses.append(copy.deepcopy(serving_table.pose.pose))
st_base.poses[0].position.z = 0.1
st_shape = Shape()
st_shape.type = Shape.CYLINDER
st_shape.dimensions = [0.3, 0.1]
st_base.shapes.append(st_shape)
wi.add_object(st_base)
def add_collision_box(self, box_pose, box_dims, frame_id, collision_name):
rospy.loginfo("adding box to collision map")
box = CollisionObject()
box.operation.operation = CollisionObjectOperation.ADD
box.header.frame_id = frame_id
box.header.stamp = rospy.Time.now()
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose)
box.id = collision_name
self.object_in_map_pub.publish(box)
def remove_collision_object(self, object_id):
'''
Removes a collision object from the map.
**Args:**
**object_id (string):** The ID of the object to remove
'''
reset_object = CollisionObject()
reset_object.operation.operation = reset_object.operation.REMOVE
reset_object.header.frame_id = 'base_link'
reset_object.header.stamp = rospy.Time.now()
reset_object.id = object_id
self._publish(reset_object, self._collision_object_pub)
def remove_collision_object(self, object_id):
'''
Removes a collision object from the map.
**Args:**
**object_id (string):** The ID of the object to remove
'''
reset_object = CollisionObject()
reset_object.operation.operation = reset_object.operation.REMOVE
reset_object.header.frame_id = 'base_link'
reset_object.header.stamp = rospy.Time.now()
reset_object.id = object_id
self._publish(reset_object, self._collision_object_pub)
def add_collision_box(self, box_pose, box_dims, frame_id, collision_name):
rospy.loginfo("adding box to collision map")
box = CollisionObject()
box.operation.operation = CollisionObjectOperation.ADD
box.header.frame_id = frame_id
box.header.stamp = rospy.Time.now()
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose)
box.id = collision_name
self.object_in_map_pub.publish(box)
def add_map_table(name, wi):
table = rospy.get_param('wg-sushi-tables/'+name)
upper_left = Point(x = table['upper_left']['x'], y = table['upper_left']['y'],
z = table['upper_left']['z'])
lower_left = Point(x = table['lower_left']['x'], y = table['lower_left']['y'],
z = table['lower_left']['z'])
upper_right = Point(x = table['upper_right']['x'], y = table['upper_right']['y'],
z = table['upper_right']['z'])
lower_right = Point(x = table['lower_right']['x'], y = table['lower_right']['y'],
z = table['lower_right']['z'])
table_object = CollisionObject()
table_object.header.frame_id = wi.world_frame
table_object.id = name
table_pose = Pose()
table_pose.position.x = (upper_left.x+upper_right.x+lower_left.x+lower_right.x)/4.0
table_pose.position.y = (upper_left.y+upper_right.y+lower_left.y+lower_right.y)/4.0
table_pose.position.z = (upper_left.z+upper_right.z+lower_left.z+lower_right.z)/4.0
table_pose.orientation.w = 1.0
table_shape = Shape()
table_shape.type = Shape.MESH
table_shape.vertices = [gt.inverse_transform_point(lower_left, table_pose),
gt.inverse_transform_point(upper_left, table_pose),
gt.inverse_transform_point(upper_right, table_pose),
gt.inverse_transform_point(lower_right, table_pose)]
table_shape.triangles = [0, 1, 2, 2, 3, 0]
table_object.shapes.append(table_shape)
table_upper_pose = copy.deepcopy(table_pose)
table_upper_pose.position.z += 0.02
table_object.poses.append(table_pose)
table_object.poses.append(table_upper_pose)
table_object.shapes.append(table_shape)
table_lower_pose = copy.deepcopy(table_pose)
table_lower_pose.position.z -= 0.02
table_object.poses.append(table_lower_pose)
table_object.shapes.append(table_shape)
if name == 'dirty_table':
#kind of a hack =D
for i in range(5):
table_lower_pose = copy.deepcopy(table_lower_pose)
table_lower_pose.position.z -= 0.02
table_object.poses.append(table_lower_pose)
table_object.shapes.append(table_shape)
wi.add_object(table_object)
table = Table()
table.pose.header = table_object.header
table.pose.pose = table_object.poses[0]
table.convex_hull = table_object.shapes[0]
return table
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)
def __build_object_from_box(self, box_msg, object_id):
msg = CollisionObject()
msg.header.frame_id = box_msg.pose.header.frame_id
msg.header.stamp = rospy.Time.now()
msg.id = object_id
msg.operation.operation = msg.operation.ADD
shape = Shape()
shape.type = shape.BOX
scale = 1.0
shape.dimensions = [scale*box_msg.box_dims.x,
scale*box_msg.box_dims.y,
scale*box_msg.box_dims.z]
msg.shapes.append(shape)
msg.poses.append(box_msg.pose.pose)
return msg
def __build_object_from_box(self, box_msg, object_id):
msg = CollisionObject()
msg.header.frame_id = box_msg.pose.header.frame_id
msg.header.stamp = rospy.Time.now()
msg.id = object_id
msg.operation.operation = msg.operation.ADD
shape = Shape()
shape.type = shape.BOX
scale = 1.0
shape.dimensions = [
scale * box_msg.box_dims.x, scale * box_msg.box_dims.y,
scale * box_msg.box_dims.z
]
msg.shapes.append(shape)
msg.poses.append(box_msg.pose.pose)
return msg
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 get_virtual_table(height = 0.42):
table_msg = CollisionObject()
table_msg.id = "table"
table_msg.operation.operation = CollisionObjectOperation.ADD
table_msg.header.stamp = rospy.get_rostime()
table_msg.header.frame_id = "base_footprint"
side_box = Shape()
side_box.type = Shape.BOX
side_box.dimensions = [ 3.0, 1.0, height ]
front_box = Shape()
front_box.type = Shape.BOX
front_box.dimensions = [ 1.0, 3.0, height ]
pose = Pose()
pose.position.x = 0.0
pose.position.y = 0.0
pose.position.z = height / 2
pose.orientation.x = 0
pose.orientation.y = 0
pose.orientation.z = 0
pose.orientation.w = 1
l_side_pose = copy.deepcopy(pose)
l_side_pose.position.y = 0.85
r_side_pose = copy.deepcopy(pose)
r_side_pose.position.y = -0.85
front_pose = copy.deepcopy(pose)
front_pose.position.x = 0.85
table_msg.shapes = [ side_box, side_box, front_box ]
table_msg.poses = [ l_side_pose, r_side_pose, front_pose ]
return table_msg
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 setUp(self):
rospy.init_node('test_motion_execution_buffer')
self.tf = TransformListener()
self.obj_pub = rospy.Publisher('collision_object',
CollisionObject,
latch=True)
self.move_arm_action_client = actionlib.SimpleActionClient(
"move_right_arm", MoveArmAction)
self.move_arm_action_client.wait_for_server()
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()
obj1.header.frame_id = "base_link"
obj1.id = "obj1"
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(1)]
obj1.shapes[0].type = Shape.CYLINDER
obj1.shapes[0].dimensions = [float() for _ in range(2)]
obj1.shapes[0].dimensions[0] = .1
obj1.shapes[0].dimensions[1] = 1.5
obj1.poses = [Pose() for _ in range(1)]
obj1.poses[0].position.x = .6
obj1.poses[0].position.y = -.6
obj1.poses[0].position.z = .75
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
self.obj_pub.publish(obj1)
rospy.sleep(2.0)
def add_collision_box(self, box_pose_stamped, box_dims, object_id):
'''
Adds a box to the map as a collision object.
**Args:**
**box_pose_stamped (geometry_msgs.msg.PoseStamped):** The pose of the box.
**box_dims (tuple of 3 doubles):** The dimensions of the box as (x_dimension, y_dimension, z_dimension)
**object_id (string):** The ID the box should have in the collision map
'''
box = CollisionObject()
box.operation.operation = box.operation.ADD
box.header = box_pose_stamped.header
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose_stamped.pose)
box.id = object_id
self._publish(box, self._collision_object_pub)
return box
def add_collision_box(self, box_pose_stamped, box_dims, object_id):
'''
Adds a box to the map as a collision object.
**Args:**
**box_pose_stamped (geometry_msgs.msg.PoseStamped):** The pose of the box.
**box_dims (tuple of 3 doubles):** The dimensions of the box as (x_dimension, y_dimension, z_dimension)
**object_id (string):** The ID the box should have in the collision map
'''
box = CollisionObject()
box.operation.operation = box.operation.ADD
box.header = box_pose_stamped.header
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose_stamped.pose)
box.id = object_id
self._publish(box, self._collision_object_pub)
return box
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 reset_collision_map(self):
#remove all objects
reset_object = CollisionObject()
reset_object.operation.operation = CollisionObjectOperation.REMOVE
reset_object.header.frame_id = "base_link"
reset_object.header.stamp = rospy.Time.now()
reset_object.id = "all"
self.object_in_map_pub.publish(reset_object)
#and all attached objects
reset_attached_objects = AttachedCollisionObject()
reset_attached_objects.link_name = "all"
reset_attached_objects.object.header.frame_id = "base_link"
reset_attached_objects.object.header.stamp = rospy.Time.now()
reset_attached_objects.object = reset_object
self.attached_object_pub.publish(reset_attached_objects)
#and clear the octomap
self.clear_octomap()
rospy.loginfo("collision objects reset")
self.object_in_map_current_id = 0.
return 1
def reset_collision_map(self):
#remove all objects
reset_object = CollisionObject()
reset_object.operation.operation = CollisionObjectOperation.REMOVE
reset_object.header.frame_id = "base_link"
reset_object.header.stamp = rospy.Time.now()
reset_object.id = "all"
self.object_in_map_pub.publish(reset_object)
#and all attached objects
reset_attached_objects = AttachedCollisionObject()
reset_attached_objects.link_name = "all"
reset_attached_objects.object.header.frame_id = "base_link"
reset_attached_objects.object.header.stamp = rospy.Time.now()
reset_attached_objects.object = reset_object
self.attached_object_pub.publish(reset_attached_objects)
#and clear the octomap
self.clear_octomap()
rospy.loginfo("collision objects reset")
self.object_in_map_current_id = 0.
return 1
def test_add_convert_objects():
obj_pub = rospy.Publisher('collision_object',CollisionObject)
att_pub = rospy.Publisher('attached_collision_object',AttachedCollisionObject)
rospy.init_node('test_collision_objects')
#let everything settle down
rospy.sleep(5.)
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()
obj1.header.frame_id = "base_link"
obj1.id = "obj1";
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(1)]
obj1.shapes[0].type = Shape.BOX
obj1.shapes[0].dimensions = [float() for _ in range(3)]
obj1.shapes[0].dimensions[0] = .1
obj1.shapes[0].dimensions[1] = .1
obj1.shapes[0].dimensions[2] = .75
obj1.poses = [Pose() for _ in range(1)]
obj1.poses[0].position.x = .6
obj1.poses[0].position.y = -.6
obj1.poses[0].position.z = .375
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
att_obj = AttachedCollisionObject()
att_obj.link_name = "r_gripper_palm_link"
att_obj.touch_links = ['r_gripper_palm_link', 'r_gripper_r_finger_link', 'r_gripper_l_finger_link',
'r_gripper_r_finger_tip_link', 'r_gripper_l_finger_tip_link', 'r_wrist_roll_link', 'r_wrist_flex_link', 'r_forearm_link', 'r_gripper_motor_accelerometer_link']
obj2 = CollisionObject()
obj2.header.stamp = rospy.Time.now()
obj2.header.frame_id = "r_gripper_palm_link"
obj2.id = "obj2";
obj2.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj2.shapes = [Shape() for _ in range(1)]
obj2.shapes[0].type = Shape.CYLINDER
obj2.shapes[0].dimensions = [float() for _ in range(2)]
obj2.shapes[0].dimensions[0] = .025
obj2.shapes[0].dimensions[1] = .5
obj2.poses = [Pose() for _ in range(1)]
obj2.poses[0].position.x = .12
obj2.poses[0].position.y = 0
obj2.poses[0].position.z = 0
obj2.poses[0].orientation.x = 0
obj2.poses[0].orientation.y = 0
obj2.poses[0].orientation.z = 0
obj2.poses[0].orientation.w = 1
att_obj.object = obj2
r = rospy.Rate(.1)
while(True):
obj1.header.stamp = rospy.Time.now()
obj_pub.publish(obj1)
att_obj.object.header.stamp = rospy.Time.now()
att_pub.publish(att_obj)
r.sleep()
def setUp(self):
self.tf = TransformListener()
self.move_arm_action_client = actionlib.SimpleActionClient(
"move_right_arm", MoveArmAction)
obj_pub = rospy.Publisher('collision_object', CollisionObject)
rospy.init_node('test_motion_execution_buffer')
#let everything settle down
rospy.sleep(5.)
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now() - rospy.Duration(.1)
obj1.header.frame_id = "base_footprint"
obj1.id = "obj2"
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(4)]
obj1.poses = [Pose() for _ in range(4)]
obj1.shapes[0].type = Shape.BOX
obj1.shapes[0].dimensions = [float() for _ in range(3)]
obj1.shapes[0].dimensions[0] = .5
obj1.shapes[0].dimensions[1] = 1.0
obj1.shapes[0].dimensions[2] = .2
obj1.poses[0].position.x = .95
obj1.poses[0].position.y = -.25
obj1.poses[0].position.z = .62
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
obj1.shapes[1].type = Shape.BOX
obj1.shapes[1].dimensions = [float() for _ in range(3)]
obj1.shapes[1].dimensions[0] = .5
obj1.shapes[1].dimensions[1] = 1.0
obj1.shapes[1].dimensions[2] = .2
obj1.poses[1].position.x = .95
obj1.poses[1].position.y = -.25
obj1.poses[1].position.z = .92
obj1.poses[1].orientation.x = 0
obj1.poses[1].orientation.y = 0
obj1.poses[1].orientation.z = 0
obj1.poses[1].orientation.w = 1
obj1.shapes[2].type = Shape.BOX
obj1.shapes[2].dimensions = [float() for _ in range(3)]
obj1.shapes[2].dimensions[0] = .2
obj1.shapes[2].dimensions[1] = .1
obj1.shapes[2].dimensions[2] = .2
obj1.poses[2].position.x = .8
obj1.poses[2].position.y = -.5
obj1.poses[2].position.z = .78
obj1.poses[2].orientation.x = 0
obj1.poses[2].orientation.y = 0
obj1.poses[2].orientation.z = 0
obj1.poses[2].orientation.w = 1
obj1.shapes[3].type = Shape.BOX
obj1.shapes[3].dimensions = [float() for _ in range(3)]
obj1.shapes[3].dimensions[0] = .2
obj1.shapes[3].dimensions[1] = .1
obj1.shapes[3].dimensions[2] = .2
obj1.poses[3].position.x = .8
obj1.poses[3].position.y = .18
obj1.poses[3].position.z = .78
obj1.poses[3].orientation.x = 0
obj1.poses[3].orientation.y = 0
obj1.poses[3].orientation.z = 0
obj1.poses[3].orientation.w = 1
obj_pub.publish(obj1)
rospy.sleep(5.0)
def setUp(self):
self.tf = TransformListener()
self.move_arm_action_client = actionlib.SimpleActionClient(
"move_right_arm", MoveArmAction)
att_pub = rospy.Publisher('attached_collision_object',
AttachedCollisionObject)
obj_pub = rospy.Publisher('collision_object', CollisionObject)
rospy.init_node('test_motion_execution_buffer')
#let everything settle down
rospy.sleep(5.)
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now() - rospy.Duration(.1)
obj1.header.frame_id = "base_footprint"
obj1.id = "obj2"
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(3)]
obj1.poses = [Pose() for _ in range(3)]
obj1.shapes[0].type = Shape.BOX
obj1.shapes[0].dimensions = [float() for _ in range(3)]
obj1.shapes[0].dimensions[0] = .5
obj1.shapes[0].dimensions[1] = 1.0
obj1.shapes[0].dimensions[2] = .2
obj1.poses[0].position.x = .95
obj1.poses[0].position.y = -.25
obj1.poses[0].position.z = .62
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
obj1.shapes[2].type = Shape.BOX
obj1.shapes[2].dimensions = [float() for _ in range(3)]
obj1.shapes[2].dimensions[0] = .5
obj1.shapes[2].dimensions[1] = .1
obj1.shapes[2].dimensions[2] = 1.0
obj1.poses[2].position.x = .95
obj1.poses[2].position.y = -.14
obj1.poses[2].position.z = 1.2
obj1.poses[2].orientation.x = 0
obj1.poses[2].orientation.y = 0
obj1.poses[2].orientation.z = 0
obj1.poses[2].orientation.w = 1
obj1.shapes[1].type = Shape.BOX
obj1.shapes[1].dimensions = [float() for _ in range(3)]
obj1.shapes[1].dimensions[0] = .5
obj1.shapes[1].dimensions[1] = .1
obj1.shapes[1].dimensions[2] = 1.0
obj1.poses[1].position.x = .95
obj1.poses[1].position.y = .12
obj1.poses[1].position.z = 1.2
obj1.poses[1].orientation.x = 0
obj1.poses[1].orientation.y = 0
obj1.poses[1].orientation.z = 0
obj1.poses[1].orientation.w = 1
obj_pub.publish(obj1)
att_object = AttachedCollisionObject()
att_object.object.header.stamp = rospy.Time.now()
att_object.object.header.frame_id = "r_gripper_r_finger_tip_link"
att_object.link_name = "r_gripper_r_finger_tip_link"
att_object.object.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
att_object.object = CollisionObject()
att_object.object.header.stamp = rospy.Time.now()
att_object.object.header.frame_id = "r_gripper_r_finger_tip_link"
att_object.object.id = "pole"
att_object.object.shapes = [Shape() for _ in range(1)]
att_object.object.shapes[0].type = Shape.CYLINDER
att_object.object.shapes[0].dimensions = [float() for _ in range(2)]
att_object.object.shapes[0].dimensions[0] = .02
att_object.object.shapes[0].dimensions[1] = .1
att_object.object.poses = [Pose() for _ in range(1)]
att_object.object.poses[0].position.x = -.02
att_object.object.poses[0].position.y = .04
att_object.object.poses[0].position.z = 0
att_object.object.poses[0].orientation.x = 0
att_object.object.poses[0].orientation.y = 0
att_object.object.poses[0].orientation.z = 0
att_object.object.poses[0].orientation.w = 1
att_pub.publish(att_object)
rospy.sleep(5.0)
table1.poses[0].orientation.z = 0.0 table1.poses[0].orientation.w = 1.0 table2.poses.append(Pose()) table2.poses[0].position.x = -4.416 table2.poses[0].position.y = 0.992 table2.poses[0].position.z = .8 table2.poses[0].orientation.x = 0.0 table2.poses[0].orientation.y = 0.0 table2.poses[0].orientation.z = 0.0 table2.poses[0].orientation.w = 1.0 table1.shapes.append(cShape) table2.shapes.append(cShape) table1.id = "table1_collide" table1.header.frame_id = "/odom" table1.header.stamp = rospy.Time.now() table1.operation.operation = CollisionObjectOperation.ADD table2.id = "table2_collide" table2.header.frame_id = "/odom" table2.header.stamp = rospy.Time.now() table2.operation.operation = CollisionObjectOperation.ADD marker1 = Marker() marker1.pose = table1.poses[0] marker1.lifetime = rospy.Duration() marker1.action = Marker.ADD marker1.type = Marker.CUBE marker1.scale.x = cShape.dimensions[0]
def get_obj():
attached_obj = AttachedCollisionObject()
obj = CollisionObject()
shape = Shape()
pose = Pose()
vert = Point()
verts = []
in_verts = True
in_position = True
f = open('test.txt', 'r')
for line in f:
fields = line.split(':')
fields = [fields[i].strip() for i in range(len(fields))]
# print fields
if fields[0] == "frame_id":
obj.header.frame_id = fields[1]
elif fields[0] == "id":
obj.id = fields[1]
elif fields[0] == "operation" and fields[1] != "":
obj.operation.operation = int(fields[1])
elif fields[0] == "type":
shape.type = int(fields[1])
elif fields[0] == "triangles":
array = fields[1][1:-2]
ind = array.split(',')
inds = [int(i) for i in ind]
shape.triangles = inds
elif fields[0] == "x" and in_verts:
vert = Point()
vert.x = float(fields[1])
elif fields[0] == "y" and in_verts:
vert.y = float(fields[1])
elif fields[0] == "z" and in_verts:
vert.z = float(fields[1])
verts.append(vert)
elif fields[0] == "poses":
in_verts = False
elif fields[0] == "x" and in_position:
pose.position.x = float(fields[1])
elif fields[0] == "y" and in_position:
pose.position.y = float(fields[1])
elif fields[0] == "z" and in_position:
pose.position.z = float(fields[1])
in_position = False
elif fields[0] == "x" and not in_position:
pose.orientation.x = float(fields[1])
elif fields[0] == "y" and not in_position:
pose.orientation.y = float(fields[1])
elif fields[0] == "z" and not in_position:
pose.orientation.z = float(fields[1])
elif fields[0] == "w":
pose.orientation.w = float(fields[1])
obj.id = "graspable_object_1001"
shape.vertices = verts
obj.shapes = [shape]
obj.poses = [pose]
attached_obj.object = obj
return attached_obj
def testAllowedNotAllowedInitialContact(self):
#adding object in collision with base
obj2 = CollisionObject()
obj2.header.stamp = rospy.Time.now()
obj2.header.frame_id = "base_link"
obj2.id = "base_object"
obj2.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj2.shapes = [Shape() for _ in range(1)]
obj2.shapes[0].type = Shape.BOX
obj2.shapes[0].dimensions = [float() for _ in range(3)]
obj2.shapes[0].dimensions[0] = .1
obj2.shapes[0].dimensions[1] = .1
obj2.shapes[0].dimensions[2] = .1
obj2.poses = [Pose() for _ in range(1)]
obj2.poses[0].position.x = 0
obj2.poses[0].position.y = 0
obj2.poses[0].position.z = 0
obj2.poses[0].orientation.x = 0
obj2.poses[0].orientation.y = 0
obj2.poses[0].orientation.z = 0
obj2.poses[0].orientation.w = 1
self.obj_pub.publish(obj2)
rospy.sleep(5.)
joint_names = ['%s_%s' % ('r', j) for j in ['shoulder_pan_joint', 'shoulder_lift_joint', 'upper_arm_roll_joint', 'elbow_flex_joint', 'forearm_roll_joint', 'wrist_flex_joint', 'wrist_roll_joint']]
goal = MoveArmGoal()
goal.motion_plan_request.goal_constraints.joint_constraints = [JointConstraint() for i in range(len(joint_names))]
goal.motion_plan_request.group_name = "right_arm"
goal.motion_plan_request.num_planning_attempts = 1
goal.motion_plan_request.allowed_planning_time = rospy.Duration(5.)
goal.motion_plan_request.planner_id = ""
goal.planner_service_name = "ompl_planning/plan_kinematic_path"
goal.motion_plan_request.goal_constraints.joint_constraints = [JointConstraint() for i in range(len(joint_names))]
for i in range(len(joint_names)):
goal.motion_plan_request.goal_constraints.joint_constraints[i].joint_name = joint_names[i]
goal.motion_plan_request.goal_constraints.joint_constraints[i].position = 0.0
goal.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above = 0.08
goal.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below = 0.08
goal.motion_plan_request.goal_constraints.joint_constraints[0].position = -2.0
goal.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2
goal.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.2
self.move_arm_action_client.send_goal(goal)
r = rospy.Rate(10)
while True:
cur_state = self.move_arm_action_client.get_state()
if(cur_state != actionlib_msgs.msg.GoalStatus.ACTIVE and
cur_state != actionlib_msgs.msg.GoalStatus.PENDING):
break
#should still have succeedeed
final_state = self.move_arm_action_client.get_state()
self.failIf(final_state != actionlib_msgs.msg.GoalStatus.SUCCEEDED)
# but we can still overwrite
coll = CollisionOperation()
coll.object1 = "base_link"
coll.object2 = coll.COLLISION_SET_OBJECTS
coll.operation = coll.ENABLE
goal.motion_plan_request.ordered_collision_operations.collision_operations.append(coll)
goal.motion_plan_request.goal_constraints.joint_constraints[0].position = 0.0
goal.motion_plan_request.goal_constraints.joint_constraints[3].position = -0.2
goal.motion_plan_request.goal_constraints.joint_constraints[5].position = -0.2
self.move_arm_action_client.send_goal(goal)
r = rospy.Rate(10)
while True:
cur_state = self.move_arm_action_client.get_state()
if(cur_state != actionlib_msgs.msg.GoalStatus.ACTIVE and
cur_state != actionlib_msgs.msg.GoalStatus.PENDING):
break
#should still have succeedeed
final_state = self.move_arm_action_client.get_state()
self.failIf(final_state == actionlib_msgs.msg.GoalStatus.SUCCEEDED)
def setUp(self):
self.tf = TransformListener()
self.move_arm_action_client = actionlib.SimpleActionClient("move_right_arm", MoveArmAction)
obj_pub = rospy.Publisher('collision_object',CollisionObject)
rospy.init_node('test_motion_execution_buffer')
#let everything settle down
rospy.sleep(5.)
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()-rospy.Duration(.1)
obj1.header.frame_id = "base_footprint"
obj1.id = "obj2";
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(4)]
obj1.poses = [Pose() for _ in range(4)]
obj1.shapes[0].type = Shape.BOX
obj1.shapes[0].dimensions = [float() for _ in range(3)]
obj1.shapes[0].dimensions[0] = .5
obj1.shapes[0].dimensions[1] = 1.0
obj1.shapes[0].dimensions[2] = .2
obj1.poses[0].position.x = .95
obj1.poses[0].position.y = -.25
obj1.poses[0].position.z = .62
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
obj1.shapes[1].type = Shape.BOX
obj1.shapes[1].dimensions = [float() for _ in range(3)]
obj1.shapes[1].dimensions[0] = .5
obj1.shapes[1].dimensions[1] = 1.0
obj1.shapes[1].dimensions[2] = .2
obj1.poses[1].position.x = .95
obj1.poses[1].position.y = -.25
obj1.poses[1].position.z = .92
obj1.poses[1].orientation.x = 0
obj1.poses[1].orientation.y = 0
obj1.poses[1].orientation.z = 0
obj1.poses[1].orientation.w = 1
obj1.shapes[2].type = Shape.BOX
obj1.shapes[2].dimensions = [float() for _ in range(3)]
obj1.shapes[2].dimensions[0] = .2
obj1.shapes[2].dimensions[1] = .1
obj1.shapes[2].dimensions[2] = .2
obj1.poses[2].position.x = .8
obj1.poses[2].position.y = -.5
obj1.poses[2].position.z = .78
obj1.poses[2].orientation.x = 0
obj1.poses[2].orientation.y = 0
obj1.poses[2].orientation.z = 0
obj1.poses[2].orientation.w = 1
obj1.shapes[3].type = Shape.BOX
obj1.shapes[3].dimensions = [float() for _ in range(3)]
obj1.shapes[3].dimensions[0] = .2
obj1.shapes[3].dimensions[1] = .1
obj1.shapes[3].dimensions[2] = .2
obj1.poses[3].position.x = .8
obj1.poses[3].position.y = .18
obj1.poses[3].position.z = .78
obj1.poses[3].orientation.x = 0
obj1.poses[3].orientation.y = 0
obj1.poses[3].orientation.z = 0
obj1.poses[3].orientation.w = 1
obj_pub.publish(obj1)
rospy.sleep(5.0)
def setUp(self):
self.tf = TransformListener()
self.move_arm_action_client = actionlib.SimpleActionClient("move_right_arm", MoveArmAction)
att_pub = rospy.Publisher('attached_collision_object', AttachedCollisionObject)
obj_pub = rospy.Publisher('collision_object',CollisionObject)
rospy.init_node('test_motion_execution_buffer')
#let everything settle down
rospy.sleep(5.)
obj1 = CollisionObject()
obj1.header.stamp = rospy.Time.now()-rospy.Duration(.1)
obj1.header.frame_id = "base_footprint"
obj1.id = "obj2";
obj1.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj1.shapes = [Shape() for _ in range(3)]
obj1.poses = [Pose() for _ in range(3)]
obj1.shapes[0].type = Shape.BOX
obj1.shapes[0].dimensions = [float() for _ in range(3)]
obj1.shapes[0].dimensions[0] = .5
obj1.shapes[0].dimensions[1] = 1.0
obj1.shapes[0].dimensions[2] = .2
obj1.poses[0].position.x = .95
obj1.poses[0].position.y = -.25
obj1.poses[0].position.z = .62
obj1.poses[0].orientation.x = 0
obj1.poses[0].orientation.y = 0
obj1.poses[0].orientation.z = 0
obj1.poses[0].orientation.w = 1
obj1.shapes[2].type = Shape.BOX
obj1.shapes[2].dimensions = [float() for _ in range(3)]
obj1.shapes[2].dimensions[0] = .5
obj1.shapes[2].dimensions[1] = .1
obj1.shapes[2].dimensions[2] = 1.0
obj1.poses[2].position.x = .95
obj1.poses[2].position.y = -.14
obj1.poses[2].position.z = 1.2
obj1.poses[2].orientation.x = 0
obj1.poses[2].orientation.y = 0
obj1.poses[2].orientation.z = 0
obj1.poses[2].orientation.w = 1
obj1.shapes[1].type = Shape.BOX
obj1.shapes[1].dimensions = [float() for _ in range(3)]
obj1.shapes[1].dimensions[0] = .5
obj1.shapes[1].dimensions[1] = .1
obj1.shapes[1].dimensions[2] = 1.0
obj1.poses[1].position.x = .95
obj1.poses[1].position.y = .12
obj1.poses[1].position.z = 1.2
obj1.poses[1].orientation.x = 0
obj1.poses[1].orientation.y = 0
obj1.poses[1].orientation.z = 0
obj1.poses[1].orientation.w = 1
obj_pub.publish(obj1)
att_object = AttachedCollisionObject()
att_object.object.header.stamp = rospy.Time.now()
att_object.object.header.frame_id = "r_gripper_r_finger_tip_link"
att_object.link_name = "r_gripper_r_finger_tip_link"
att_object.object.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
att_object.object = CollisionObject();
att_object.object.header.stamp = rospy.Time.now()
att_object.object.header.frame_id = "r_gripper_r_finger_tip_link"
att_object.object.id = "pole"
att_object.object.shapes = [Shape() for _ in range(1)]
att_object.object.shapes[0].type = Shape.CYLINDER
att_object.object.shapes[0].dimensions = [float() for _ in range(2)]
att_object.object.shapes[0].dimensions[0] = .02
att_object.object.shapes[0].dimensions[1] = .1
att_object.object.poses = [Pose() for _ in range(1)]
att_object.object.poses[0].position.x = -.02
att_object.object.poses[0].position.y = .04
att_object.object.poses[0].position.z = 0
att_object.object.poses[0].orientation.x = 0
att_object.object.poses[0].orientation.y = 0
att_object.object.poses[0].orientation.z = 0
att_object.object.poses[0].orientation.w = 1
att_pub.publish(att_object)
rospy.sleep(5.0)
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_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 testAllowedNotAllowedInitialContact(self):
#adding object in collision with base
obj2 = CollisionObject()
obj2.header.stamp = rospy.Time.now()
obj2.header.frame_id = "base_link"
obj2.id = "base_object"
obj2.operation.operation = arm_navigation_msgs.msg.CollisionObjectOperation.ADD
obj2.shapes = [Shape() for _ in range(1)]
obj2.shapes[0].type = Shape.BOX
obj2.shapes[0].dimensions = [float() for _ in range(3)]
obj2.shapes[0].dimensions[0] = .1
obj2.shapes[0].dimensions[1] = .1
obj2.shapes[0].dimensions[2] = .1
obj2.poses = [Pose() for _ in range(1)]
obj2.poses[0].position.x = 0
obj2.poses[0].position.y = 0
obj2.poses[0].position.z = 0
obj2.poses[0].orientation.x = 0
obj2.poses[0].orientation.y = 0
obj2.poses[0].orientation.z = 0
obj2.poses[0].orientation.w = 1
self.obj_pub.publish(obj2)
rospy.sleep(5.)
joint_names = [
'%s_%s' % ('r', j) for j in [
'shoulder_pan_joint', 'shoulder_lift_joint',
'upper_arm_roll_joint', 'elbow_flex_joint',
'forearm_roll_joint', 'wrist_flex_joint', 'wrist_roll_joint'
]
]
goal = MoveArmGoal()
goal.motion_plan_request.goal_constraints.joint_constraints = [
JointConstraint() for i in range(len(joint_names))
]
goal.motion_plan_request.group_name = "right_arm"
goal.motion_plan_request.num_planning_attempts = 1
goal.motion_plan_request.allowed_planning_time = rospy.Duration(5.)
goal.motion_plan_request.planner_id = ""
goal.planner_service_name = "ompl_planning/plan_kinematic_path"
goal.motion_plan_request.goal_constraints.joint_constraints = [
JointConstraint() for i in range(len(joint_names))
]
for i in range(len(joint_names)):
goal.motion_plan_request.goal_constraints.joint_constraints[
i].joint_name = joint_names[i]
goal.motion_plan_request.goal_constraints.joint_constraints[
i].position = 0.0
goal.motion_plan_request.goal_constraints.joint_constraints[
i].tolerance_above = 0.08
goal.motion_plan_request.goal_constraints.joint_constraints[
i].tolerance_below = 0.08
goal.motion_plan_request.goal_constraints.joint_constraints[
0].position = -2.0
goal.motion_plan_request.goal_constraints.joint_constraints[
3].position = -0.2
goal.motion_plan_request.goal_constraints.joint_constraints[
5].position = -0.2
self.move_arm_action_client.send_goal(goal)
r = rospy.Rate(10)
while True:
cur_state = self.move_arm_action_client.get_state()
if (cur_state != actionlib_msgs.msg.GoalStatus.ACTIVE
and cur_state != actionlib_msgs.msg.GoalStatus.PENDING):
break
#should still have succeedeed
final_state = self.move_arm_action_client.get_state()
self.failIf(final_state != actionlib_msgs.msg.GoalStatus.SUCCEEDED)
# but we can still overwrite
coll = CollisionOperation()
coll.object1 = "base_link"
coll.object2 = coll.COLLISION_SET_OBJECTS
coll.operation = coll.ENABLE
goal.motion_plan_request.ordered_collision_operations.collision_operations.append(
coll)
goal.motion_plan_request.goal_constraints.joint_constraints[
0].position = 0.0
goal.motion_plan_request.goal_constraints.joint_constraints[
3].position = -0.2
goal.motion_plan_request.goal_constraints.joint_constraints[
5].position = -0.2
self.move_arm_action_client.send_goal(goal)
r = rospy.Rate(10)
while True:
cur_state = self.move_arm_action_client.get_state()
if (cur_state != actionlib_msgs.msg.GoalStatus.ACTIVE
and cur_state != actionlib_msgs.msg.GoalStatus.PENDING):
break
#should still have succeedeed
final_state = self.move_arm_action_client.get_state()
self.failIf(final_state == actionlib_msgs.msg.GoalStatus.SUCCEEDED)
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]
