def place(self,
current_episode: Episode,
action_id: int,
action: Action,
action_frame: Affine,
image_frame: Affine,
place_bin=None):
place_bin = place_bin if place_bin else self.current_bin
self.move_to_safety(self.md)
md_approach_down = MotionData().with_dynamics(
0.22).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(
1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
if Config.release_in_other_bin:
self.move_to_release(self.md, target=action_approach_frame)
else:
self.robot.move_cartesian(Frames.gripper, action_approach_frame,
self.md)
self.robot.move_relative_cartesian(Frames.gripper,
action_approch_affine.inverse(),
md_approach_down)
if md_approach_down.did_break:
self.robot.recover_from_errors()
action.collision = True
self.robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001),
md_approach_up)
action.final_pose = RobotPose(
affine=(image_frame.inverse() *
self.robot.current_pose(Frames.gripper)))
action.pose.d = self.gripper.width()
self.gripper.release(action.pose.d + 0.01) # [m]
if Config.mode is not Mode.Perform:
self.move_to_safety(md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
self.robot.move_cartesian(Frames.camera, image_frame, self.md)
self.last_after_images = self.take_images(current_bin=place_bin)
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
def place(
robot: Robot,
gripper: Gripper,
current_episode: Episode,
current_bin: Bin,
action: Action,
action_frame: Affine,
grasp_action: Action,
image_frame: Affine,
camera: Camera,
saver: Saver,
md: MotionData
) -> None:
move_to_safety(robot, md)
md_approach_down = MotionData().with_dynamics(0.3).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
robot.move_cartesian(Frames.gripper, action_approach_frame, md)
robot.move_relative_cartesian(Frames.gripper, action_approch_affine.inverse(), md_approach_down)
if md_approach_down.did_break:
robot.recover_from_errors()
action.collision = True
robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001), md_approach_up)
action.final_pose = RobotPose(affine=(image_frame.inverse() * robot.current_pose(Frames.gripper)))
gripper.release(grasp_action.final_pose.d + 0.006) # [m]
if Config.mode is not Mode.Perform:
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images and Config.release_in_other_bin:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
def grasp(
robot: Robot,
gripper: Gripper,
current_episode: Episode,
current_bin: Bin,
action: Action,
action_frame: Affine,
image_frame: Affine,
camera: Camera,
saver: Saver,
md: MotionData
) -> None:
# md_approach_down = MotionData().with_dynamics(0.12).with_z_force_condition(7.0)
# md_approach_up = MotionData().with_dynamics(0.6).with_z_force_condition(20.0)
md_approach_down = MotionData().with_dynamics(0.3).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
try:
process_gripper = Process(target=gripper.move, args=(action.pose.d, ))
process_gripper.start()
robot.move_cartesian(Frames.gripper, action_approach_frame, md)
process_gripper.join()
except OSError:
gripper.move(0.08)
robot.move_cartesian(Frames.gripper, action_approach_frame, md)
robot.move_relative_cartesian(Frames.gripper, action_approch_affine.inverse(), md_approach_down)
if md_approach_down.did_break:
robot.recover_from_errors()
action.collision = True
robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001), md_approach_up)
action.final_pose = RobotPose(affine=(image_frame.inverse() * robot.current_pose(Frames.gripper)))
first_grasp_successful = gripper.clamp()
if first_grasp_successful:
logger.info('Grasp successful at first.')
robot.recover_from_errors()
# Change here
action_approch_affine = Affine(z=1.5*Config.approach_distance_from_pose)
move_up_success = robot.move_relative_cartesian(Frames.gripper, action_approch_affine, md_approach_up)
if move_up_success and not md_approach_up.did_break:
if Config.mode is Mode.Measure and Config.take_after_images and not Config.release_in_other_bin:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
if Config.file_objects:
raise Exception('File objects not implemented!')
if Config.release_during_grasp_action:
move_to_release_success = move_to_release(robot, current_bin, md)
if move_to_release_success:
if gripper.is_grasping():
action.reward = 1.0
action.final_pose.d = gripper.width()
if Config.mode is Mode.Perform:
gripper.release(action.final_pose.d + 0.002) # [m]
else:
gripper.release(action.pose.d + 0.002) # [m]
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images and Config.release_in_other_bin:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
else:
if Config.mode is not Mode.Perform:
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images and Config.release_in_other_bin:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
else:
gripper.release(action.pose.d + 0.002) # [m]
robot.recover_from_errors()
robot.move_relative_cartesian(Frames.gripper, action_approch_affine, md_approach_up)
move_to_safety_success = move_to_safety(robot, md_approach_up)
if not move_to_safety_success:
robot.recover_from_errors()
robot.recover_from_errors()
move_to_safety(robot, md_approach_up)
gripper.move(gripper.max_width)
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
else:
logger.info('Grasp not successful.')
gripper.release(gripper.width() + 0.002) # [m]
robot.recover_from_errors()
move_up_successful = robot.move_relative_cartesian(Frames.gripper, action_approch_affine, md_approach_up)
if md_approach_up.did_break or not move_up_successful:
gripper.release(action.pose.d) # [m]
robot.recover_from_errors()
robot.move_relative_cartesian(Frames.gripper, action_approch_affine, md_approach_up)
move_to_safety(robot, md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
robot.move_cartesian(Frames.camera, image_frame, md)
saver.save_image(take_images(current_bin, camera, robot), current_episode.id, 'after', action=action)
def grasp(self, current_episode: Episode, action_id: int, action: Action,
action_frame: Affine, image_frame: Affine):
md_approach_down = MotionData().with_dynamics(
0.3).with_z_force_condition(7.0)
md_approach_up = MotionData().with_dynamics(
1.0).with_z_force_condition(20.0)
action_approch_affine = Affine(z=Config.approach_distance_from_pose)
action_approach_frame = action_frame * action_approch_affine
try:
process_gripper = Process(target=self.gripper.move,
args=(action.pose.d, ))
process_gripper.start()
self.robot.move_cartesian(Frames.gripper, action_approach_frame,
self.md)
process_gripper.join()
except OSError:
self.gripper.move(0.08)
self.robot.move_cartesian(Frames.gripper, action_approach_frame,
self.md)
self.robot.move_relative_cartesian(Frames.gripper,
action_approch_affine.inverse(),
md_approach_down)
if md_approach_down.did_break:
self.robot.recover_from_errors()
action.collision = True
self.robot.move_relative_cartesian(Frames.gripper, Affine(z=0.001),
md_approach_up)
action.final_pose = RobotPose(
affine=(image_frame.inverse() *
self.robot.current_pose(Frames.gripper)))
first_grasp_successful = self.gripper.clamp()
if first_grasp_successful:
logger.info('Grasp successful at first.')
self.robot.recover_from_errors()
action_approch_affine = Affine(
z=Config.approach_distance_from_pose)
move_up_success = self.robot.move_relative_cartesian(
Frames.gripper, action_approch_affine, md_approach_up)
if move_up_success and not md_approach_up.did_break:
if Config.mode is Mode.Measure and Config.take_after_images and not Config.release_in_other_bin:
self.robot.move_cartesian(Frames.camera, image_frame,
self.md)
self.last_after_images = self.take_images()
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
if Config.release_during_grasp_action:
move_to_release_success = self.move_to_release(self.md)
if move_to_release_success:
if self.gripper.is_grasping():
action.reward = 1.0
action.final_pose.d = self.gripper.width()
if Config.mode is Mode.Perform:
self.gripper.release(action.final_pose.d +
0.005) # [m]
else:
self.gripper.release(action.pose.d + 0.005) # [m]
self.move_to_safety(md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images and Config.release_in_other_bin:
self.robot.move_cartesian(Frames.camera,
image_frame, self.md)
self.last_after_images = self.take_images()
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
else:
if Config.mode is not Mode.Perform:
self.move_to_safety(md_approach_up)
if self.gripper.is_grasping():
action.reward = 1.0
action.final_pose.d = self.gripper.width()
if Config.mode is Mode.Measure and Config.take_after_images:
self.robot.move_cartesian(Frames.camera, image_frame,
self.md)
self.last_after_images = self.take_images()
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
else:
self.gripper.release(action.pose.d + 0.002) # [m]
self.robot.recover_from_errors()
self.robot.move_relative_cartesian(Frames.gripper,
action_approch_affine,
md_approach_up)
move_to_safety_success = self.move_to_safety(md_approach_up)
if not move_to_safety_success:
self.robot.recover_from_errors()
self.robot.recover_from_errors()
self.move_to_safety(md_approach_up)
self.gripper.move(self.gripper.max_width)
self.move_to_safety(md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
self.robot.move_cartesian(Frames.camera, image_frame,
self.md)
self.last_after_images = self.take_images()
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)
else:
logger.info('Grasp not successful.')
self.gripper.release(self.gripper.width() + 0.002) # [m]
self.robot.recover_from_errors()
move_up_successful = self.robot.move_relative_cartesian(
Frames.gripper, action_approch_affine, md_approach_up)
if md_approach_up.did_break or not move_up_successful:
self.gripper.release(action.pose.d) # [m]
self.robot.recover_from_errors()
self.robot.move_relative_cartesian(Frames.gripper,
action_approch_affine,
md_approach_up)
self.move_to_safety(md_approach_up)
if Config.mode is Mode.Measure and Config.take_after_images:
self.robot.move_cartesian(Frames.camera, image_frame, self.md)
self.last_after_images = self.take_images()
self.saver.save_image(self.last_after_images,
current_episode.id,
action_id,
'after',
action=action)