def get_grasp_plan(self, object_name, marker_num=None):
""" The grasp plan for the AR tracker is simply based on a fixed offset for each object
Params
---
object_name: The name of the object to be grasped. e.g. cup
marker_num: the associated marker for the object. If you would like
to override the parameter put in the dictionary
Returns
---
A tuple containing pregrasp pose and grasp pose
"""
if object_name not in self.object_dict and not marker_num:
raise ValueError(
"no marker assigned for marker {}".format(object_name))
if marker_num:
self.object_dict[object_name][0] = marker_num
ar_frame = "/ar_marker_{}".format(self.object_dict[object_name][0])
world_frame = "/world"
self.listener.waitForTransform(ar_frame, world_frame, rospy.Time(0),
rospy.Duration(4.0))
try:
(trans,
rot) = self.listener.lookupTransform(world_frame, ar_frame,
rospy.Time(0))
#break
except (tf.LookupException, tf.ConnectivityException,
tf.ExtrapolationException):
rospy.logerr(
"Did not get for AR tracker tf frame {}".format(ar_frame))
if object_name == "target":
hard_code_pose = Pose.load(
"grasp_hardcode") # opposite_grasp for non-flipping
else:
hard_code_pose = Pose.load(
"opposite_grasp") # opposite_grasp for non-flipping
print "z: ", hard_code_pose.position.z
rospy.loginfo("AR tracker translation: {}, rotation: {}".format(
trans, rot))
rospy.loginfo("Hardcoded pose {}".format(hard_code_pose))
cup_position = np.asarray(
[trans[0], trans[1], trans[2] + self.object_dict[object_name][1]])
#cup_position = np.asarray([trans[0], trans[1], (hard_code_pose.position.z+self.object_dict[object_name][1])])
grasp_pose = Pose(cup_position, hard_code_pose.orientation)
rospy.loginfo("found tracker positon {}".format(grasp_pose))
pre_grasp_pose = self._offset_hand(grasp_pose, offset_dist=0.1)
return pre_grasp_pose, grasp_pose
def test_trajopt(pose_input):
moveit_commander.roscpp_initialize(sys.argv)
jaco = JacoInterface()
start_pose = jaco.arm_group.get_current_pose()
if isinstance(pose_input, basestring):
pose = Pose.load(pose_input)
elif isinstance(pose_input, Pose):
pose = pose_input
else:
raise ValueError("plan only supports pose objects")
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = "world"
p.pose = pose.ros_message
traj = jaco.plan(start_pose, p)
jaco.execute(traj)
markers = jaco.planner.get_body_markers()
for m in markers:
jaco.marker_array_pub.publish(m)
moveit_commander.roscpp_shutdown()
def plan_config(self, config):
""" find a plan to the given robot configuration goal (joint goal)
params
---
config: The config of the robot (7,) numpy array
returns
--
nothing
"""
self.group.clear_pose_targets()
# self.group.forget_joint_values()
# self.group.get_current_joint_values
# self.group._g.set_joint_value_target_from_joint_state_message()
# header = std_msgs.msg.Header()
# robot_state = moveit_msgs.msg.RobotState()
# robot_state.joint_state.name = ['j2s7s300_joint_{}'.format(i) for i in range(1,8)]
# robot_state.joint_state.position = self.group.get_current_joint_values()
# rospy.loginfo("joint state message {}".format(robot_state.joint_state))
# self.group._g.set_joint_value_target_from_joint_state_message(robot_state.joint_state)
try:
self.group.set_joint_value_target(config)
except (MoveItCommanderException):
rospy.loginfo("Moveit Exception caught")
# bla = self.group.get_joints()
# rospy.loginfo("joints: {}".format(bla))
# print("joints,", str(bla))
# rospy.loginfo("active joints {}".format(self.group.get_variable_count()))
# joint_target = {}
# for i in range(1,8):
# joint_target["j2s7s300_joint_{}".format(i)] = 0
# print("joint_target",joint_target)
# self.group.set_joint_value_target(joint_target)
# rospy.loginfo("Planning to {}".format(pose))
self.group.set_start_state_to_current_state()
rospy.sleep(1)
self.solved_plan = self.group.plan(
) #automatically displays trajectory
if self.solved_plan is None:
rospy.logerr("Plan not solved")
return None
cur_joints = list(
self.solved_plan.joint_trajectory.points[-1].positions)
posefk = self.fk(cur_joints).pose_stamped[0].pose
final_pose_res = Pose(
[posefk.position.x, posefk.position.y, posefk.position.z], [
posefk.orientation.x, posefk.orientation.y,
posefk.orientation.z, posefk.orientation.w
])
rospy.loginfo("passed to function end!")
return final_pose_res
def current_pose(self):
cur_pose = self.group.get_current_pose(self.eef_name)
position = [
cur_pose.pose.position.x, cur_pose.pose.position.y,
cur_pose.pose.position.z
]
orientation = [
cur_pose.pose.orientation.x, cur_pose.pose.orientation.y,
cur_pose.pose.orientation.z, cur_pose.pose.orientation.w
]
pose = Pose(position, orientation)
return pose
def plan_ik(self, pose_input):
""" find a plan to the position
Params
---
pose_input: The pose to plan to. `string` or `Pose`
Returns
---
1 if plan succeeded 0 otherwise
"""
if isinstance(pose_input, basestring):
pose = Pose.load(pose_input)
elif isinstance(pose_input, Pose):
pose = pose_input
else:
raise ValueError("plan only supports pose objects")
# self.group.clear_pose_targets()
# self.group.set_pose_target(pose.ros_message)
#debugging ik
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = "world"
p.pose = pose.ros_message
ik_config = self.ik(p)
rospy.loginfo("IK Config: {}".format(ik_config))
joints = list(ik_config.solution.joint_state.position[0:7])
# current_joints = self.group.get_current_joint_values()
# rospy.loginfo("current joints: {}".format(current_joints))
# rospy.loginfo("set joing arguments: {}".format(joints))
# header = std_msgs.msg.Header()
# robot_state = moveit_msgs.msg.RobotState()
# robot_state.joint_state.name = ['j2s7s300_joint_{}'.format(i) for i in range(1,8)]
# robot_state.joint_state.position = joints
# self.group.set_joint_value_target(robot_state.joint_state)
rospy.loginfo("ik joints:{}".format(joints))
final_pose_res = self.plan_config(joints)
# rospy.loginfo("Planning to {}".format(pose))
# self.group.set_start_state_to_current_state()
# rospy.sleep(1)
# self.solved_plan = self.group.plan() #automatically displays trajectory
# if self.solved_plan is None:
# rospy.logerr("Plan not solved")
# return None
# cur_joints = list(self.solved_plan.joint_trajectory.points[-1].positions)
# posefk = self.fk(cur_joints).pose_stamped[0].pose
# final_pose_res = Pose([posefk.position.x, posefk.position.y, posefk.position.z],[posefk.orientation.x, posefk.orientation.y, posefk.orientation.z, posefk.orientation.w])
return pose, final_pose_res
def plan(self, pose_input):
""" find a plan to the position using trajopt
Params
---
pose_input: The pose to plan to. `string` or `Pose`
Returns
---
1 if plan succeeded 0 otherwise
"""
if isinstance(pose_input, basestring):
pose = Pose.load(pose_input)
elif isinstance(pose_input, Pose):
pose = pose_input
else:
raise ValueError("plan only supports pose objects")
start_pose = self.jaco.arm_group.get_current_pose()
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = "world"
p.pose = pose.ros_message
self.solved_plan = self.jaco.plan(start_pose, p)
# markers = jaco.planner.get_body_markers()
# for m in markers:
# jaco.marker_array_pub.publish(m)
if self.solved_plan is None:
rospy.logerr("Plan not solved")
return None
cur_joints = list(
self.solved_plan.joint_trajectory.points[-1].positions)
posefk = self.fk(cur_joints).pose_stamped[0].pose
final_pose_res = Pose(
[posefk.position.x, posefk.position.y, posefk.position.z], [
posefk.orientation.x, posefk.orientation.y,
posefk.orientation.z, posefk.orientation.w
])
return pose, final_pose_res
def offset_hand(pose_input, unit_vector=[1, 0, 0], offset_dist=0.1):
""" Find the pre grasp pose by offsetting the hand backwards from its current position
grasp_pose: the pose of the grasp location
offset_dist: the amount to offset off the object
Returns
---
pre_grasp_pose: the offsetted pose of the object
"""
#use the unit z vector because thats the direction out of the hand
quat = pose_input.orientation[0:4]
quat_inv = tf.transformations.quaternion_inverse(quat)
direction = spacial_location.qv_mult(quat, unit_vector)
pre_grasp_position = pose_input.position - direction * offset_dist
pre_grasp_pose = Pose(pre_grasp_position, pose_input.orientation)
pose_input.show_position_marker(ident=1, label="grasp pose")
pre_grasp_pose.show_position_marker(ident=2, label="pregrasp pose")
# import pdb; pdb.set_trace()
return pre_grasp_pose
def plan(self, pose_input):
""" find a plan to the position
Params
---
pose_input: The pose to plan to. `string` or `Pose`
Returns
---
1 if plan succeeded 0 otherwise
"""
if isinstance(pose_input, basestring):
pose = Pose.load(pose_input)
elif isinstance(pose_input, Pose):
pose = pose_input
else:
raise ValueError("plan only supports pose objects")
self.group.clear_pose_targets()
self.group.set_pose_target(pose.ros_message)
rospy.loginfo("Planning to {}".format(pose))
self.group.set_start_state_to_current_state()
rospy.sleep(1)
self.solved_plan = self.group.plan(
) #automatically displays trajectory
if self.solved_plan is None:
rospy.logerr("Plan not solved")
return None
print("Points len ", len(self.solved_plan.joint_trajectory.points))
cur_joints = list(
self.solved_plan.joint_trajectory.points[-1].positions)
posefk = self.fk(cur_joints).pose_stamped[0].pose
final_pose_res = Pose(
[posefk.position.x, posefk.position.y, posefk.position.z], [
posefk.orientation.x, posefk.orientation.y,
posefk.orientation.z, posefk.orientation.w
])
return pose, final_pose_res
def _offset_hand(self, grasp_pose, offset_dist=0.1):
""" Find the pre grasp pose by offsetting the hand backwards from its current position
grasp_pose: the pose of the grasp location
offset_dist: the amount to offset off the object
Returns
---
pre_grasp_pose: the offsetted pose of the object
"""
#use the unit z vector because thats the direction out of the hand
unit_z_vector = np.asarray([0, 0, 1])
direction = spacial_location.qv_mult(grasp_pose.orientation[0:4],
unit_z_vector)
#print "direction", direction
print "grasp_pose.position: ", grasp_pose.position
grasp_pose.show_position_marker(ident=1, label="grasp pose")
pre_grasp_position = grasp_pose.position - direction * offset_dist
pre_grasp_pose = Pose(pre_grasp_position, grasp_pose.orientation)
pre_grasp_pose.show_position_marker(ident=2, label="pregrasp pose")
return pre_grasp_pose
def test_offset_hand():
rospy.sleep(5)
grasp_pose = Pose([0.5, 0.5, 0.5], [0, 0, 0, 1])
planner = ARTrackPlanner()
planner._offset_hand(grasp_pose)
class GQCNNPlanner(GraspPlanner):
""" pass an image to the GQCNN
"""
def __init__(self, camera_intrinsics, config):
# wait for Grasp Planning Service and create Service Proxy
rospy.loginfo("Waiting for GQCNN to spin up")
rospy.wait_for_service('plan_gqcnn_grasp')
self.plan_grasp = rospy.ServiceProxy('plan_gqcnn_grasp',
GQCNNGraspPlanner)
rospy.loginfo("GQCNN service Initialized")
self.config = config
# get camera intrinsics
self.camera_intrinsics = camera_intrinsics
self.listener = tf.TransformListener()
def _bbox_to_msg(self, bbox):
"""
Params
---
bbox: numpy array [minX, minY, maxX, maxY] in pixels around the image
Returns
---
a bondingBox message type
"""
boundingBox = BoundingBox()
boundingBox.minX = bbox[0]
boundingBox.minY = bbox[1]
boundingBox.maxX = bbox[2]
boundingBox.maxY = bbox[3]
return boundingBox
def _get_new_pose(self, pose_stamped, target_frame="/world"):
""" Transform a pose from its frame to the desired frame
Params
----
pose_stamped: A ros stamped pose with its reference frame specified
target_frame: The desired frame of the robot
Returns
----
pose_world_stamped: The pose in the world frame
"""
self.listener.waitForTransform(target_frame,
self.camera_intrinsics.frame,
rospy.Time(0), rospy.Duration(4.0))
try:
pose_world_stamped = self.listener.transformPose(
target_frame, pose_stamped)
except (tf.LookupException, tf.ConnectivityException,
tf.ExtrapolationException):
rospy.logerr(
"tf was not able to find a transformation between the world frame and the grasp point"
)
return False
return pose_world_stamped
def _get_transformation(self, from_frame, to_frame="world"):
target_frame = to_frame
source_frame = from_frame
self.listener.waitForTransform(target_frame, source_frame,
rospy.Time(0), rospy.Duration(4.0))
try:
pos, quat_out = self.listener.lookupTransform(
target_frame, source_frame, rospy.Time(0))
except (tf.LookupException, tf.ConnectivityException,
tf.ExtrapolationException):
rospy.logerr(
"tf was not able to find a transformation from {} to {}".
format(from_frame, to_frame))
return False
#import pdb; pdb.set_trace()
quat = [
quat_out[3], quat_out[0], quat_out[1], quat_out[2]
] #the quaternion of ros has a different representation than other sys
return RigidTransform(quat, pos, from_frame, to_frame)
def get_grasp_plan(self, bounding_box, color_image, depth_image):
""" finds the highest quality score grasp associated with the object
"""
#grab frames for depth image and color image
rospy.loginfo("grabbing frames")
boundingBox = self._bbox_to_msg(bounding_box)
pyplot.figure()
pyplot.subplot(2, 2, 1)
pyplot.title("color image")
pyplot.imshow(color_image.data)
pyplot.subplot(2, 2, 2)
pyplot.title("depth image")
pyplot.imshow(depth_image.data)
# inpaint to remove holes
inpainted_color_image = color_image.inpaint(
self.config["inpaint_rescale_factor"]
) #TODO make rescale factor in config
inpainted_depth_image = depth_image.inpaint(
self.config["inpaint_rescale_factor"])
pyplot.subplot(2, 2, 3)
pyplot.title("inpaint color")
pyplot.imshow(inpainted_color_image.data)
pyplot.subplot(2, 2, 4)
pyplot.title("inpaint depth")
pyplot.imshow(inpainted_depth_image.data)
pyplot.show()
try:
rospy.loginfo("Sending grasp plan request to gqcnn server")
planned_grasp_data = self.plan_grasp(inpainted_color_image.rosmsg,
inpainted_depth_image.rosmsg,
self.camera_intrinsics.rosmsg,
boundingBox)
planned_grasp_pose_msg = planned_grasp_data.grasp.pose
grasp_succes_prob = planned_grasp_data.grasp.grasp_success_prob
grasp = planned_grasp_data.grasp
rospy.loginfo("Grasp service request response: {}".format(
planned_grasp_data))
except rospy.ServiceException, e:
rospy.logerr("Service call failed: \n %s" % e)
rotation_quaternion = np.asarray([
grasp.pose.orientation.w, grasp.pose.orientation.x,
grasp.pose.orientation.y, grasp.pose.orientation.z
])
translation = np.asarray([
grasp.pose.position.x, grasp.pose.position.y, grasp.pose.position.z
])
T_grasp_camera = RigidTransform(rotation_quaternion, translation,
"grasp", self.camera_intrinsics.frame)
T_world_camera = self._get_transformation(
self.camera_intrinsics.frame
) #TODO this should be a rigidbody.getfromtransform call
rotation = np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]])
translation = np.array([0, 0, 0])
T_grasp_gripper = RigidTransform(rotation,
translation,
from_frame="gripper",
to_frame="grasp")
T_grasp_world = T_world_camera * T_grasp_camera * T_grasp_gripper
# import pdb; pdb.set_trace()
t_quat = [
T_grasp_world.quaternion[1], T_grasp_world.quaternion[2],
T_grasp_world.quaternion[3], T_grasp_world.quaternion[0]
]
grasp_pose_world = Pose(T_grasp_world.position, t_quat, frame="/world")
print("Get pre grasp pose")
pre_grasp_pose = offset_hand(grasp_pose_world, unit_vector=[0, 0, 1])
return pre_grasp_pose, grasp_pose_world
def test_offset_hand():
rospy.sleep(5)
quat = tf.transformations.random_quaternion()
print quat
grasp_pose = Pose([0.5, 0.5, 0.5], quat)
offset_hand(grasp_pose)