def get_nonlinear_path(self,
position: List[float],
euler: List[float] = None,
quaternion: List[float] = None,
ignore_collisions=False,
trials=100,
max_configs=60,
trials_per_goal=6,
algorithm=Algos.SBL) -> ArmConfigurationPath:
"""Gets a non-linear (planned) configuration path given a target pose.
A path is generated by finding several configs for a pose, and ranking
them according to the distance in configuration space (smaller is
better).
Must specify either rotation in euler or quaternions, but not both!
:param position: The x, y, z position of the target.
:param euler: The x, y, z orientation of the target (in radians).
:param quaternion: A list containing the quaternion (x,y,z,w).
:param ignore_collisions: If collision checking should be disabled.
:param trials: The maximum number of attempts to reach max_configs
:param max_configs: The maximum number of configurations we want to
generate before ranking them.
:param trials_per_goal: The number of paths per config we want to trial.
:param algorithm: The algorithm for path planning to use.
:raises: ConfigurationPathError if no path could be created.
:return: A non-linear path in the arm configuration space.
"""
if not ((euler is None) ^ (quaternion is None)):
raise ConfigurationPathError(
'Specify either euler or quaternion values, but not both.')
prev_pose = self._ik_target.get_pose()
self._ik_target.set_position(position)
if euler is not None:
self._ik_target.set_orientation(euler)
elif quaternion is not None:
self._ik_target.set_quaternion(quaternion)
handles = [j.get_handle() for j in self.joints]
# Despite verbosity being set to 0, OMPL spits out a lot of text
with utils.suppress_std_out_and_err():
_, ret_floats, _, _ = utils.script_call(
'getNonlinearPath@PyRep',
PYREP_SCRIPT_TYPE,
ints=[
self._ik_group, self._collision_collection,
int(ignore_collisions), trials, max_configs,
trials_per_goal
] + handles,
strings=[algorithm.value])
self._ik_target.set_pose(prev_pose)
if len(ret_floats) == 0:
raise ConfigurationPathError('Could not create path.')
return ArmConfigurationPath(self, ret_floats)
def get_configs_for_tip_pose(
self,
position: Union[List[float], np.ndarray],
euler: Union[List[float], np.ndarray] = None,
quaternion: Union[List[float], np.ndarray] = None,
ignore_collisions=False,
trials=300,
max_configs=60,
relative_to: Object = None) -> List[List[float]]:
"""Gets a valid joint configuration for a desired end effector pose.
Must specify either rotation in euler or quaternions, but not both!
:param position: The x, y, z position of the target.
:param euler: The x, y, z orientation of the target (in radians).
:param quaternion: A list containing the quaternion (x,y,z,w).
:param ignore_collisions: If collision checking should be disabled.
:param trials: The maximum number of attempts to reach max_configs
:param max_configs: The maximum number of configurations we want to
generate before ranking them.
:param relative_to: Indicates relative to which reference frame we want
the target pose. Specify None to retrieve the absolute pose,
or an Object relative to whose reference frame we want the pose.
:raises: ConfigurationError if no joint configuration could be found.
:return: A list of valid joint configurations for the desired
end effector pose.
"""
if not ((euler is None) ^ (quaternion is None)):
raise ConfigurationPathError(
'Specify either euler or quaternion values, but not both.')
prev_pose = self._ik_target.get_pose()
self._ik_target.set_position(position, relative_to)
if euler is not None:
self._ik_target.set_orientation(euler, relative_to)
elif quaternion is not None:
self._ik_target.set_quaternion(quaternion, relative_to)
handles = [j.get_handle() for j in self.joints]
# Despite verbosity being set to 0, OMPL spits out a lot of text
with utils.suppress_std_out_and_err():
_, ret_floats, _, _ = utils.script_call(
'findSeveralCollisionFreeConfigsAndCheckApproach@PyRep',
PYREP_SCRIPT_TYPE,
ints=[
self._ik_group, self._collision_collection,
int(ignore_collisions), trials, max_configs
] + handles)
self._ik_target.set_pose(prev_pose)
if len(ret_floats) == 0:
raise ConfigurationError(
'Could not find a valid joint configuration for desired end effector pose.'
)
num_configs = int(len(ret_floats) / len(handles))
return [[
ret_floats[len(handles) * i + j] for j in range(len(handles))
] for i in range(num_configs)]
def get_nonlinear_path_points(self, position: List[float],
angle=0,
boundaries=2,
path_pts=600,
ignore_collisions=False,
algorithm=Algos.RRTConnect) -> List[List[float]]:
"""Gets a non-linear (planned) configuration path given a target pose.
:param position: The x, y, z position of the target.
:param angle: The z orientation of the target (in radians).
:param boundaries: A float defining the path search in x and y direction
[[-boundaries,boundaries],[-boundaries,boundaries]].
:param path_pts: number of sampled points returned from the computed path
:param ignore_collisions: If collision checking should be disabled.
:param algorithm: Algorithm used to compute path
:raises: ConfigurationPathError if no path could be created.
:return: A non-linear path (x,y,angle) in the xy configuration space.
"""
# Base dummy required to be parent of the robot tree
# self.base_ref.set_parent(None)
# self.set_parent(self.base_ref)
# Missing the dist1 for intermediate target
self.target_base.set_position([position[0], position[1], self.target_z])
self.target_base.set_orientation([0, 0, angle])
handle_base = self.get_handle()
handle_target_base = self.target_base.get_handle()
# Despite verbosity being set to 0, OMPL spits out a lot of text
with utils.suppress_std_out_and_err():
_, ret_floats, _, _ = utils.script_call(
'getNonlinearPathMobile@PyRep', PYREP_SCRIPT_TYPE,
ints=[handle_base, handle_target_base,
self._collision_collection,
int(ignore_collisions), path_pts], floats=[boundaries],
strings=[algorithm.value])
if len(ret_floats) == 0:
raise ConfigurationPathError('Could not create path.')
path = []
for i in range(0, len(ret_floats) // 3):
inst = ret_floats[3 * i:3 * i + 3]
if i > 0:
dist_change = sqrt((inst[0] - prev_inst[0]) ** 2 + (
inst[1] - prev_inst[1]) ** 2)
else:
dist_change = 0
inst.append(dist_change)
path.append(inst)
prev_inst = inst
return path
def get_linear_path(self,
position: Union[List[float], np.ndarray],
euler: Union[List[float], np.ndarray] = None,
quaternion: Union[List[float], np.ndarray] = None,
steps=50,
ignore_collisions=False,
relative_to: Object = None) -> ArmConfigurationPath:
"""Gets a linear configuration path given a target pose.
Generates a path that drives a robot from its current configuration
to its target dummy in a straight line (i.e. shortest path in Cartesian
space).
Must specify either rotation in euler or quaternions, but not both!
:param position: The x, y, z position of the target.
:param euler: The x, y, z orientation of the target (in radians).
:param quaternion: A list containing the quaternion (x,y,z,w).
:param steps: The desired number of path points. Each path point
contains a robot configuration. A minimum of two path points is
required. If the target pose distance is large, a larger number
of steps leads to better results for this function.
:param ignore_collisions: If collision checking should be disabled.
:param relative_to: Indicates relative to which reference frame we want
the target pose. Specify None to retrieve the absolute pose,
or an Object relative to whose reference frame we want the pose.
:raises: ConfigurationPathError if no path could be created.
:return: A linear path in the arm configuration space.
"""
if not ((euler is None) ^ (quaternion is None)):
raise ConfigurationPathError(
'Specify either euler or quaternion values, but not both.')
prev_pose = self._ik_target.get_pose()
self._ik_target.set_position(position, relative_to)
if euler is not None:
self._ik_target.set_orientation(euler, relative_to)
elif quaternion is not None:
self._ik_target.set_quaternion(quaternion, relative_to)
handles = [j.get_handle() for j in self.joints]
# Despite verbosity being set to 0, OMPL spits out a lot of text
with utils.suppress_std_out_and_err():
_, ret_floats, _, _ = utils.script_call(
'getLinearPath@PyRep',
PYREP_SCRIPT_TYPE,
ints=[
steps, self._ik_group, self._collision_collection,
int(ignore_collisions)
] + handles)
self._ik_target.set_pose(prev_pose)
if len(ret_floats) == 0:
raise ConfigurationPathError('Could not create path.')
return ArmConfigurationPath(self, ret_floats)
def init(self, display=False):
if self._pyrep is not None:
self.finalize()
with suppress_std_out_and_err():
self._pyrep = PyRep()
# TODO: TTT_FILE should be defined by robot, but now robot depends on launched pyrep
self._pyrep.launch(join(DIR_PATH, TTT_FILE), headless=not display)
self._pyrep.set_simulation_timestep(0.005)
# TODO: Load arm and gripper from name
self._robot = Robot(Panda(), PandaGripper())
self._scene = Scene(self._pyrep, self._robot, self._obs_config)
self._set_arm_control_action()
# Str comparison because sometimes class comparison doesn't work.
if self._task is not None:
self._task.unload()
self._task = self._get_class_by_name(self._task_name, tasks)(self._pyrep, self._robot)
self._scene.load(self._task)
self._pyrep.start()
def finalize(self):
with suppress_std_out_and_err():
self._pyrep.shutdown()
self._pyrep = None
