def AddTriad(source_id,
frame_id,
scene_graph,
length=.25,
radius=0.01,
opacity=1.,
X_FT=RigidTransform(),
name="frame"):
"""
Adds illustration geometry representing the coordinate frame, with the
x-axis drawn in red, the y-axis in green and the z-axis in blue. The axes
point in +x, +y and +z directions, respectively.
Args:
source_id: The source registered with SceneGraph.
frame_id: A geometry::frame_id registered with scene_graph.
scene_graph: The SceneGraph with which we will register the geometry.
length: the length of each axis in meters.
radius: the radius of each axis in meters.
opacity: the opacity of the coordinate axes, between 0 and 1.
X_FT: a RigidTransform from the triad frame T to the frame_id frame F
name: the added geometry will have names name + " x-axis", etc.
"""
# x-axis
X_TG = RigidTransform(RotationMatrix.MakeYRotation(np.pi / 2),
[length / 2., 0, 0])
geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length),
name + " x-axis")
geom.set_illustration_properties(
MakePhongIllustrationProperties([1, 0, 0, opacity]))
scene_graph.RegisterGeometry(source_id, frame_id, geom)
# y-axis
X_TG = RigidTransform(RotationMatrix.MakeXRotation(np.pi / 2),
[0, length / 2., 0])
geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length),
name + " y-axis")
geom.set_illustration_properties(
MakePhongIllustrationProperties([0, 1, 0, opacity]))
scene_graph.RegisterGeometry(source_id, frame_id, geom)
# z-axis
X_TG = RigidTransform([0, 0, length / 2.])
geom = GeometryInstance(X_FT.multiply(X_TG), Cylinder(radius, length),
name + " z-axis")
geom.set_illustration_properties(
MakePhongIllustrationProperties([0, 0, 1, opacity]))
scene_graph.RegisterGeometry(source_id, frame_id, geom)
def test_X_WB(self):
"""Testing X_WB"""
f = self.notebook_locals['compute_X_WB']
# construct a test case
theta1, theta2, theta3 = np.pi / 3.0, np.pi / 6.0, np.pi / 4.0
R_WA = RotationMatrix.MakeXRotation(theta1)
R_AB = RotationMatrix.MakeZRotation(theta2)
R_CB = RotationMatrix.MakeYRotation(theta3)
X_WA = RigidTransform(R_WA, [0.1, 0.2, 0.5])
X_AB = RigidTransform(R_AB, [0.3, 0.4, 0.1])
X_CB = RigidTransform(R_CB, [0.5, 0.9, 0.7])
test_X_WB = f(X_WA, X_AB, X_CB)
true_X_WB = X_WA.multiply(X_AB)
test_result = test_X_WB.multiply(true_X_WB.inverse())
test_result = test_result.GetAsMatrix4()
self.assertTrue(np.allclose(test_result, np.eye(4)))
def plan_throw(
T_world_robotInitial,
T_world_gripperObject,
p_world_target, # np.array of shape (3,)
gripper_to_object_dist,
throw_height=0.5, # meters
prethrow_height=0.2,
prethrow_radius=0.4,
throw_angle=np.pi / 4.0,
meshcat=None,
throw_speed_adjustment_factor=1.0,
):
"""
only works with the "back portion" of the clutter station until we figure out how to move the bins around
motion moves along an arc from a "pre throw" to a "throw" position
"""
theta = 1.0 * np.arctan2(p_world_target[1], p_world_target[0])
print(f"theta={theta}")
T_world_prethrow = RigidTransform(
p=np.array([
prethrow_radius * np.cos(theta), prethrow_radius * np.sin(theta),
prethrow_height
]),
R=RotationMatrix.MakeXRotation(-np.pi / 2).multiply(
RotationMatrix.MakeYRotation((theta - np.pi / 2))))
throw_radius = throw_height - prethrow_height
T_world_throw = RigidTransform(
p=T_world_prethrow.translation() + np.array([
throw_radius * np.cos(theta), throw_radius * np.sin(theta),
throw_height - prethrow_height
]),
R=RotationMatrix.MakeXRotation(-np.pi / 2).multiply(
RotationMatrix.MakeYRotation((theta - np.pi / 2)).multiply(
RotationMatrix.MakeXRotation(-np.pi / 2))))
if meshcat:
visualize_transform(meshcat, "T_world_prethrow", T_world_prethrow)
visualize_transform(meshcat, "T_world_throw", T_world_throw)
p_world_object_at_launch = interpolatePosesArcMotion(
T_world_prethrow, T_world_throw, t=throw_angle /
(np.pi / 2.)).translation() + np.array([0, 0, -gripper_to_object_dist])
pdot_world_launch = interpolatePosesArcMotion_pdot(T_world_prethrow,
T_world_throw,
t=throw_angle /
(np.pi / 2.))
launch_speed_base = np.linalg.norm(pdot_world_launch)
launch_speed_required = get_launch_speed_required(
theta=throw_angle,
x=np.linalg.norm(p_world_target[:2]) -
np.linalg.norm(p_world_object_at_launch[:2]),
y=p_world_target[2] - p_world_object_at_launch[2])
total_throw_time = launch_speed_base / launch_speed_required / throw_speed_adjustment_factor
print(f"p_world_object_at_launch={p_world_object_at_launch}")
print(f"target={p_world_target}")
print(
f"dx={np.linalg.norm(p_world_target[:2]) - np.linalg.norm(p_world_object_at_launch[:2])}"
)
print(f"dy={p_world_target[2] - p_world_object_at_launch[2]}")
print(f"pdot_world_launch={pdot_world_launch}")
print(f"total_throw_time={total_throw_time}")
T_world_hackyWayPoint = RigidTransform(
p=[-.6, -0.0, 0.6],
R=RotationMatrix.MakeXRotation(
-np.pi / 2.0
), #R_WORLD_PRETHROW, #RotationMatrix.MakeXRotation(-np.pi/2.0),
)
# event timings (not all are relevant to pose and gripper)
# initial pose => prethrow => throw => yays
t_goToObj = 1.0
t_holdObj = 0.5
t_goToPreobj = 1.0
t_goToWaypoint = 1.0
t_goToPrethrow = 1.0
t_goToRelease = total_throw_time * throw_angle / (np.pi / 2.)
t_goToThrowEnd = total_throw_time * (1 - throw_angle / (np.pi / 2.))
t_throwEndHold = 3.0
ts = np.array([
t_goToObj, t_holdObj, t_goToPreobj, t_goToWaypoint, t_goToPrethrow,
t_goToRelease, t_goToThrowEnd, t_throwEndHold
])
cum_pose_ts = np.cumsum(ts)
print(cum_pose_ts)
# Create pose trajectory
t_lst = np.linspace(0, cum_pose_ts[-1], 1000)
pose_lst = []
for t in t_lst:
if t < cum_pose_ts[1]:
pose = interpolatePosesLinear(T_world_robotInitial,
T_world_gripperObject,
min(t / ts[0], 1.0))
elif t < cum_pose_ts[2]:
pose = interpolatePosesLinear(T_world_gripperObject,
T_world_robotInitial,
(t - cum_pose_ts[1]) / ts[2])
elif t < cum_pose_ts[3]:
pose = interpolatePosesLinear(T_world_robotInitial,
T_world_hackyWayPoint,
(t - cum_pose_ts[2]) / ts[3])
elif t <= cum_pose_ts[4]:
pose = interpolatePosesLinear(T_world_hackyWayPoint,
T_world_prethrow,
(t - cum_pose_ts[3]) / ts[4])
else:
pose = interpolatePosesArcMotion(
T_world_prethrow, T_world_throw,
min((t - cum_pose_ts[4]) / (ts[5] + ts[6]), 1.0))
pose_lst.append(pose)
# Create gripper trajectory.
gripper_times_lst = np.array([
0., t_goToObj, t_holdObj, t_goToPreobj, t_goToWaypoint, t_goToPrethrow,
t_goToRelease, t_goToThrowEnd, t_throwEndHold
])
gripper_cumulative_times_lst = np.cumsum(gripper_times_lst)
GRIPPER_OPEN = 0.5
GRIPPER_CLOSED = 0.0
gripper_knots = np.array([
GRIPPER_OPEN, GRIPPER_OPEN, GRIPPER_CLOSED, GRIPPER_CLOSED,
GRIPPER_CLOSED, GRIPPER_CLOSED, GRIPPER_CLOSED, GRIPPER_OPEN,
GRIPPER_CLOSED
]).reshape(1, gripper_times_lst.shape[0])
g_traj = PiecewisePolynomial.FirstOrderHold(gripper_cumulative_times_lst,
gripper_knots)
return t_lst, pose_lst, g_traj
def plan_prethrow_pose(
T_world_robotInitial,
p_world_target, # np.array of shape (3,)
gripper_to_object_dist,
throw_height=0.5, # meters
prethrow_height=0.2,
prethrow_radius=0.4,
throw_angle=np.pi / 4.0,
meshcat=None,
throw_speed_adjustment_factor=1.0,
):
"""
only works with the "back portion" of the clutter station until we figure out how to move the bins around
motion moves along an arc from a "pre throw" to a "throw" position
"""
theta = 1.0 * np.arctan2(p_world_target[1], p_world_target[0])
print(f"theta={theta}")
T_world_prethrow = RigidTransform(
p=np.array([
prethrow_radius * np.cos(theta), prethrow_radius * np.sin(theta),
prethrow_height
]),
R=RotationMatrix.MakeXRotation(-np.pi / 2).multiply(
RotationMatrix.MakeYRotation((theta - np.pi / 2))))
throw_radius = throw_height - prethrow_height
T_world_throw = RigidTransform(
p=T_world_prethrow.translation() + np.array([
throw_radius * np.cos(theta), throw_radius * np.sin(theta),
throw_height - prethrow_height
]),
R=RotationMatrix.MakeXRotation(-np.pi / 2).multiply(
RotationMatrix.MakeYRotation((theta - np.pi / 2)).multiply(
RotationMatrix.MakeXRotation(-np.pi / 2))))
if meshcat:
visualize_transform(meshcat, "T_world_prethrow", T_world_prethrow)
visualize_transform(meshcat, "T_world_throw", T_world_throw)
p_world_object_at_launch = interpolatePosesArcMotion(
T_world_prethrow, T_world_throw, t=throw_angle /
(np.pi / 2.)).translation() + np.array([0, 0, -gripper_to_object_dist])
pdot_world_launch = interpolatePosesArcMotion_pdot(T_world_prethrow,
T_world_throw,
t=throw_angle /
(np.pi / 2.))
launch_speed_base = np.linalg.norm(pdot_world_launch)
launch_speed_required = get_launch_speed_required(
theta=throw_angle,
x=np.linalg.norm(p_world_target[:2]) -
np.linalg.norm(p_world_object_at_launch[:2]),
y=p_world_target[2] - p_world_object_at_launch[2])
total_throw_time = launch_speed_base / launch_speed_required / throw_speed_adjustment_factor
# print(f"p_world_object_at_launch={p_world_object_at_launch}")
# print(f"target={p_world_target}")
# print(f"dx={np.linalg.norm(p_world_target[:2]) - np.linalg.norm(p_world_object_at_launch[:2])}")
# print(f"dy={p_world_target[2] - p_world_object_at_launch[2]}")
# print(f"pdot_world_launch={pdot_world_launch}")
# print(f"total_throw_time={total_throw_time}")
return T_world_prethrow, T_world_throw
