def __init__(self, radius):
swap_xz = trans_from_quat(
quat_from_angle_vector(math.pi / 2, [0, 1, 0]))
translate = trans_from_point(0, 0, radius)
self.origin_grasp = translate.dot(swap_xz)
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0.5, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def top_grasps(box):
(w, l, h) = get_box_dimensions(box)
origin = trans_from_point(0, 0, -h)
bottom = trans_from_point(0, 0, -h)
reflect = trans_from_quat(quat_from_axis_angle(0, -math.pi, 0))
for i in range(4):
rotate_z = trans_from_axis_angle(0, 0, i * math.pi / 2)
yield reflect.dot(origin).dot(bottom).dot(rotate_z)
def sample_grasp_traj(pose, grasp):
enable_all(all_bodies, False)
body1.Enable(True)
set_pose(body1, pose.value)
manip_trans = manip_from_pose_grasp(pose.value, grasp.value)
grasp_conf = solve_inverse_kinematics(manipulator, manip_trans)
if grasp_conf is None:
return
if DISABLE_MOTIONS:
yield [(Conf(grasp_conf), Traj([]))]
return
set_manipulator_conf(manipulator, grasp_conf)
robot.Grab(body1)
pregrasp_trans = manip_trans.dot(trans_from_point(*APPROACH_VECTOR))
pregrasp_conf = solve_inverse_kinematics(manipulator, pregrasp_trans)
if pregrasp_conf is None:
return
if has_mp():
path = mp_straight_line(robot, grasp_conf, pregrasp_conf)
else:
path = linear_motion_plan(robot, pregrasp_conf)
robot.Release(body1)
if path is None:
return
grasp_traj = Traj(path)
grasp_traj.pose = pose
grasp_traj.grasp = grasp
yield [(Conf(pregrasp_conf), grasp_traj)]
def side_grasps(box, under=True): # Convert to z then rotate around it?
(w, l, h) = get_box_dimensions(box)
origin = trans_from_point(0, 0, -h / 2)
for j in range(1 + under):
swap_xz = trans_from_axis_angle(0, -math.pi / 2 + j * math.pi, 0)
for i in range(4):
rotate_z = trans_from_axis_angle(0, 0, i * math.pi / 2)
yield swap_xz.dot(rotate_z).dot(origin)
def top_grasps(box): # Rotate around z axis
# returns gripper_from_obj
(w, l, h) = get_box_dimensions(box)
origin = trans_from_point(0, 0, -h)
reflect = trans_from_quat(quat_from_axis_angle(0, -math.pi, 0))
for i in range(4):
rotate_z = trans_from_axis_angle(0, 0, i * math.pi / 2)
yield reflect.dot(origin).dot(rotate_z)
def get_side_grasps(mesh, under=False):
w, l, h = np.max(mesh.vertices, axis=0) - \
np.min(mesh.vertices, axis=0)
for j in range(1 + under):
swap_xz = trans_from_quat(
quat_from_angle_vector(math.pi / 2 + j * math.pi, [0, 1, 0]))
if w < MAX_GRASP_WIDTH:
translate = trans_from_point(0, 0, l / 2 - GRASP_LENGTH)
for i in range(2):
rotate_z = trans_from_quat(
quat_from_angle_vector(math.pi / 2 + i * math.pi,
[1, 0, 0]))
yield translate.dot(rotate_z).dot(swap_xz), np.array([w])
if l < MAX_GRASP_WIDTH:
translate = trans_from_point(0, 0, w / 2 - GRASP_LENGTH)
for i in range(2):
rotate_z = trans_from_quat(
quat_from_angle_vector(i * math.pi, [1, 0, 0]))
yield translate.dot(rotate_z).dot(swap_xz), np.array([l])
def sample_edge_pose(surface, mesh):
world_from_surface = trans_from_pose(surface.pose)
radius = max(length(v[:2]) for v in mesh.vertices)
origin_from_base = trans_from_point(0, 0, np.min(mesh.vertices[:, 2]))
for point in sample_edge_point(surface.convex_hull, radius):
theta = random.uniform(0, 2 * np.pi)
surface_from_origin = trans_from_quat_point(quat_from_z_rot(theta),
point)
yield pose_from_trans(
world_from_surface.dot(surface_from_origin).dot(origin_from_base))
def get_top_grasps(mesh, under=False):
w, l, h = np.max(mesh.vertices, axis=0) - \
np.min(mesh.vertices, axis=0)
reflect_z = trans_from_quat(quat_from_angle_vector(math.pi, [0, 1, 0]))
translate = trans_from_point(0, 0, h / 2 - GRASP_LENGTH)
if w < MAX_GRASP_WIDTH:
for i in range(1 + under):
rotate_z = trans_from_quat(
quat_from_angle_vector(math.pi / 2 + i * math.pi, [0, 0, 1]))
yield translate.dot(rotate_z).dot(reflect_z), np.array([w])
if l < MAX_GRASP_WIDTH:
for i in range(1 + under):
rotate_z = trans_from_quat(
quat_from_angle_vector(i * math.pi, [0, 0, 1]))
yield translate.dot(rotate_z).dot(reflect_z), np.array([l])
def get_prepush_setting(mesh, under=False):
######## write
w, l, h = np.max(mesh.vertices, axis=0) - \
np.min(mesh.vertices, axis=0)
for j in range(1 + under):
swap_xz = trans_from_quat(
quat_from_angle_vector(math.pi / 2 + j * math.pi, [0, 1, 0]))
# if w < MAX_GRASP_WIDTH:
# translate = trans_from_point(0, 0, -2*l)
# for i in range(2):
# rotate_z = trans_from_quat(quat_from_angle_vector(math.pi / 2 + i * math.pi, [1, 0, 0]))
# yield translate.dot(rotate_z).dot(swap_xz), np.array([w])
if l < MAX_GRASP_WIDTH:
translate = trans_from_point(0, 0, l + GRASP_LENGTH)
for i in range(2):
rotate_z = trans_from_quat(
quat_from_angle_vector(i * math.pi, [1, 0, 0]))
yield translate.dot(rotate_z).dot(swap_xz), np.array([l])
def sample_grasp_traj(obj, pose, grasp):
enable_all(bodies, False)
body = bodies[obj]
body.Enable(True)
set_pose(body, pose.value)
set_manipulator_conf(manipulator, carry_config)
manip_tform = manip_from_pose_grasp(pose.value, grasp.value)
for base_tform in islice(random_inverse_reachability(ir_model, manip_tform), max_failures):
set_trans(robot, base_tform)
if env.CheckCollision(robot) or robot.CheckSelfCollision():
continue
approach_robot_conf = robot.GetConfigurationValues()
grasp_manip_conf = solve_inverse_kinematics(
manipulator, manip_tform)
if grasp_manip_conf is None:
continue
set_manipulator_conf(manipulator, grasp_manip_conf)
grasp_robot_conf = robot.GetConfigurationValues()
if DISABLE_MOTIONS:
path = [approach_robot_conf,
grasp_robot_conf, approach_robot_conf]
yield [(Conf(approach_robot_conf), make_traj(path, obj, pose, grasp))]
return
robot.Grab(body)
pregrasp_tform = manip_tform.dot(
trans_from_point(*APPROACH_VECTOR))
pregrasp_conf = solve_inverse_kinematics(
manipulator, pregrasp_tform)
if pregrasp_conf is None:
continue
path = linear_motion_plan(robot, pregrasp_conf)
robot.Release(body)
if path is None:
continue
yield [(Conf(approach_robot_conf), make_traj(path, obj, pose, grasp))]
return
def sample_grasp_traj(
pose, grasp
): # Sample pregrasp config and motion plan that performs a grasp
enable_all(all_bodies, False)
body1.Enable(True)
set_pose(body1, pose.value)
manip_trans = manip_from_pose_grasp(pose.value, grasp.value)
grasp_conf = solve_inverse_kinematics(
manipulator, manip_trans) # Grasp configuration
if grasp_conf is None:
return
if DISABLE_MOTIONS:
yield [(Conf(grasp_conf), Traj([]))]
return
set_manipulator_conf(manipulator, grasp_conf)
robot.Grab(body1)
pregrasp_trans = manip_trans.dot(trans_from_point(*APPROACH_VECTOR))
pregrasp_conf = solve_inverse_kinematics(
manipulator, pregrasp_trans) # Pre-grasp configuration
if pregrasp_conf is None:
return
# Trajectory from grasp configuration to pregrasp
if has_mp():
path = mp_straight_line(robot, grasp_conf, pregrasp_conf)
else:
path = linear_motion_plan(robot, pregrasp_conf)
#grasp_traj = vector_traj_helper(env, robot, approach_vector)
#grasp_traj = workspace_traj_helper(base_manip, approach_vector)
robot.Release(body1)
if path is None:
return
grasp_traj = Traj(path)
grasp_traj.pose = pose
grasp_traj.grasp = grasp
yield [(Conf(pregrasp_conf), grasp_traj)]
def cylinder_contact(radius, height, base_offset=0.01): # base_offset=0.01
swap_xz = trans_from_quat(quat_from_angle_vector(-math.pi, [0, 1, 0]))
translate = trans_from_point(-radius, 0, -height / 2 + base_offset)
return translate.dot(swap_xz)
def __init__(self, height):
bottom = trans_from_point(0, 0, -height / 2)
reflect = trans_from_quat(quat_from_axis_angle(0, -math.pi, 0))
self.origin_grasp = reflect.dot(bottom)
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def __init__(self, origin_grasp):
self.origin_grasp = origin_grasp
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def sample_push_traj_fn(ir_model,
bodies,
surfaces,
carry_arm_conf,
max_failures=200):
arm = ir_model.manip
robot = ir_model.robot
pregrasp_vector = 0.1 * normalize(np.array([1, 0, -1]))
gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
# TODO: include pregrasp here
def sample_grasp_traj(obj, pose, pose2):
enable_all(bodies, False)
body = bodies[obj]
#body.Enable(True) # TODO: fix this
set_pose(body, pose.value)
# TODO: check if on the same surface
point = point_from_pose(pose.value)
point2 = point_from_pose(pose2.value)
distance = length(point2 - point)
if (distance <= 0.0) or (0.6 <= distance):
return
direction = normalize(point2 - point)
orientation = quat_from_angle_vector(angle_from_vector(direction),
[0, 0, 1])
#rotate_direction = trans_from_quat_point(orientation, unit_point())
steps = int(math.ceil(distance / PUSH_MAX_DISTANCE) + 1)
distances = np.linspace(0., distance, steps)
points = [point + d * direction for d in distances]
poses = [pose_from_quat_point(orientation, point) for point in points]
pose_objects = [pose] + map(Pose, poses[1:-1]) + [pose2]
print distance, steps, distances, len(poses)
radius, height = get_mesh_radius(body), get_mesh_height(body)
contact = cylinder_contact(radius, height)
pushes = []
# TODO: I could do all trajectories after all pushes planned
for i in xrange(len(poses) - 1):
p1, p2 = poses[i:i + 2]
# TODO: choose midpoint for base
ir_world_from_gripper = manip_from_pose_grasp(p1, contact)
set_manipulator_conf(arm, carry_arm_conf)
for world_from_base in islice(
random_inverse_reachability(ir_model,
ir_world_from_gripper),
max_failures):
set_trans(robot, world_from_base)
set_manipulator_conf(arm, carry_arm_conf)
if check_collision(robot):
continue
q = Conf(robot.GetConfigurationValues())
push_arm_confs = []
approach_paths = []
for p in (p1, p2):
# TODO: make sure I have the +x push conf
world_from_gripper = manip_from_pose_grasp(p, contact)
set_manipulator_conf(arm, carry_arm_conf)
grasp_arm_conf = solve_inverse_kinematics(
arm, world_from_gripper, collisions=False)
if grasp_arm_conf is None:
break
push_arm_confs.append(grasp_arm_conf)
set_manipulator_conf(arm, grasp_arm_conf)
pregrasp_arm_conf = solve_inverse_kinematics(
arm,
world_from_gripper.dot(gripper_from_pregrasp),
collisions=False)
if pregrasp_arm_conf is None:
break
#if DISABLE_MOTIONS:
if True:
approach_paths.append([
carry_arm_conf, pregrasp_arm_conf, grasp_arm_conf
])
continue
"""
set_manipulator_conf(arm, pregrasp_arm_conf)
grasp_path = plan_straight_path(robot, grasp_arm_conf, pregrasp_arm_conf)
# robot.Release(body)
if grasp_path is None:
continue
pregrasp_path = plan_path(base_manip, pregrasp_arm_conf, carry_arm_conf)
if pregrasp_path is None:
continue
t = Prehensile(full_from_active(robot, grasp_path + pregrasp_path[1:]), obj, pose, grasp)
yield [(q, t)]
reset_env()
return
"""
else:
# Start and end may have different orientations
pq1, pq2 = push_arm_confs
push_path = plan_straight_path(robot, pq1, pq2)
# TODO: make sure the straight path is actually straight
if push_path is None:
continue
po1, po2 = pose_objects[i:i + 2]
ap1, ap2 = approach_paths
m = Push(
full_from_active(robot, ap1),
full_from_active(robot, push_arm_confs),
#full_from_active(robot, push_path),
full_from_active(robot, ap2[::-1]),
obj,
po1,
po2,
contact)
pushes.append(PushMotion(obj, po1, po2, q, m))
break
else:
print 'Failure', len(pushes)
return
print 'Success', len(pushes)
yield pushes
# TODO: I need to return individual pushes (not just noes that worked on the trajectory)
return sample_grasp_traj
