def calculate_grasp_position_list(collision_object, transform_func):
"""
Calculates grasp positions for a composition of collision objects.
:param collision_object: object composition to be grapsed
:type: CollisionObject
:param transform_func(object, frame_id): transform function
:return: list of graps positions
:type: [PoseStamped]
"""
grasp_positions = []
for i in range(0, len(collision_object.primitives)):
co = CollisionObject()
co.id = collision_object.id
co.primitives.append(collision_object.primitives[i])
co.header = collision_object.header
co.primitive_poses.append(collision_object.primitive_poses[i])
temp = calculate_grasp_position(co, transform_func, False, 4)
for j in range(0, len(temp)):
tmp_pose = transform_func(co, "/" + collision_object.id).primitive_poses[0].position
temp[j].pose.position = add_point(temp[j].pose.position, tmp_pose)
grasp_positions.extend(temp)
return grasp_positions
def to_collision_object(self):
"""
:return: the map as a collision object
:type: CollisionObject
"""
co = CollisionObject()
co.header.frame_id = "/odom_combined"
co.id = "map"
primitive = SolidPrimitive()
primitive.type = SolidPrimitive.BOX
primitive.dimensions.append(self.cell_size)
primitive.dimensions.append(self.cell_size)
primitive.dimensions.append(2)
for x in range(0, len(self.field)):
for y in range(0, len(self.field[x])):
if self.field[x][y].is_free() or self.field[x][y].is_object():
continue
if self.field[x][y].is_obstacle():
primitive.dimensions[primitive.BOX_Z] = self.get_cell_by_index(x, y).highest_z * 2
else:
primitive.dimensions[primitive.BOX_Z] = self.get_average_z_of_surrounded_obstacles(x, y) * 2
primitive.dimensions[primitive.BOX_Z] += 0.02
co.primitives.append(deepcopy(primitive))
pose = Pose()
(pose.position.x, pose.position.y) = self.index_to_coordinates(x, y)
pose.orientation.w = 1
co.primitive_poses.append(pose)
return co
def test2_1(self):
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = "muh"
co.header.frame_id = "/odom_combined"
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions.append(0.3)
cylinder.dimensions.append(0.03)
co.primitives = [cylinder]
co.primitive_poses = [Pose()]
co.primitive_poses[0].position = Point(1.2185, 0, 0)
co.primitive_poses[0].orientation = Quaternion(0, 0, 0, 1)
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions.append(0.1)
box.dimensions.append(0.1)
box.dimensions.append(0.1)
co.primitives.append(box)
co.primitive_poses.append(Pose())
co.primitive_poses[1].position = Point(1.1185, 0, 0)
co.primitive_poses[1].orientation = Quaternion(0, 0, 0, 1)
co.primitives.append(box)
co.primitive_poses.append(Pose())
co.primitive_poses[2].position = Point(0, 0, 0)
co.primitive_poses[2].orientation = Quaternion(0, 0, 0, 1)
p = PoseStamped()
p.header.frame_id = "/odom_combined"
p.pose.position = Point(1, 0, 0)
p.pose.orientation = euler_to_quaternion(0, 0, 0)
self.assertEqual(get_grasped_part(co, get_fingertip(p))[1], 0)
def make_box(name, pose, size):
"""
Creates a box collision object.
:param name: name of the box
:type: str
:param pose: position of the box
:type: PoseStamped
:param size: box size
:type: [float(x), float(y), float(z)]
:return: box collision object
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions = list(size)
co.primitives = [box]
co.primitive_poses = [pose.pose]
return co
def make_cylinder(name, pose, size):
"""
Creates a cylinder collision object.
:param name: name of the cylinder
:type: str
:param pose: position of the cylinder
:type: PoseStamped
:param size: cylinder size
:type: [float(height), float(radius)]
:return: cylinder collisionobject
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions = list(size)
co.primitives = [cylinder]
co.primitive_poses = [pose.pose]
return co
def make_cylinder(name, pose, size):
"""
Creates a cylinder collision object.
:param name: name of the cylinder
:type: str
:param pose: position of the cylinder
:type: PoseStamped
:param size: cylinder size
:type: [float(height), float(radius)]
:return: cylinder collisionobject
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions = list(size)
co.primitives = [cylinder]
co.primitive_poses = [pose.pose]
return co
def make_box(name, pose, size):
"""
Creates a box collision object.
:param name: name of the box
:type: str
:param pose: position of the box
:type: PoseStamped
:param size: box size
:type: [float(x), float(y), float(z)]
:return: box collision object
:type: CollisionObject
"""
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions = list(size)
co.primitives = [box]
co.primitive_poses = [pose.pose]
return co
def test2_1(self):
co = CollisionObject()
co.operation = CollisionObject.ADD
co.id = "muh"
co.header.frame_id = "/odom_combined"
cylinder = SolidPrimitive()
cylinder.type = SolidPrimitive.CYLINDER
cylinder.dimensions.append(0.3)
cylinder.dimensions.append(0.03)
co.primitives = [cylinder]
co.primitive_poses = [Pose()]
co.primitive_poses[0].position = Point(1.2185, 0,0)
co.primitive_poses[0].orientation = Quaternion(0,0,0,1)
box = SolidPrimitive()
box.type = SolidPrimitive.BOX
box.dimensions.append(0.1)
box.dimensions.append(0.1)
box.dimensions.append(0.1)
co.primitives.append(box)
co.primitive_poses.append(Pose())
co.primitive_poses[1].position = Point(1.1185, 0,0)
co.primitive_poses[1].orientation = Quaternion(0,0,0,1)
co.primitives.append(box)
co.primitive_poses.append(Pose())
co.primitive_poses[2].position = Point(0, 0,0)
co.primitive_poses[2].orientation = Quaternion(0,0,0,1)
p = PoseStamped()
p.header.frame_id = "/odom_combined"
p.pose.position = Point(1,0,0)
p.pose.orientation = euler_to_quaternion(0,0,0)
self.assertEqual(get_grasped_part(co, get_fingertip(p))[1], 0)
def to_collision_object(self):
"""
:return: the map as a collision object
:type: CollisionObject
"""
co = CollisionObject()
co.header.frame_id = "/odom_combined"
co.id = "map"
primitive = SolidPrimitive()
primitive.type = SolidPrimitive.BOX
primitive.dimensions.append(self.cell_size)
primitive.dimensions.append(self.cell_size)
primitive.dimensions.append(2)
for x in range(0, len(self.field)):
for y in range(0, len(self.field[x])):
if self.field[x][y].is_free() or self.field[x][y].is_object():
continue
if self.field[x][y].is_obstacle():
primitive.dimensions[
primitive.BOX_Z] = self.get_cell_by_index(
x, y).highest_z * 2
else:
primitive.dimensions[
primitive.
BOX_Z] = self.get_average_z_of_surrounded_obstacles(
x, y) * 2
primitive.dimensions[primitive.BOX_Z] += 0.02
co.primitives.append(deepcopy(primitive))
pose = Pose()
(pose.position.x,
pose.position.y) = self.index_to_coordinates(x, y)
pose.orientation.w = 1
co.primitive_poses.append(pose)
return co
