def get_picknplace_robot_data():
MODEL_DIR = coop_assembly.get_data('models')
robot_urdf = os.path.join(MODEL_DIR, ROBOT_URDF)
robot_srdf = os.path.join(MODEL_DIR, ROBOT_SRDF)
workspace_urdf = os.path.join(MODEL_DIR, WS_URDF)
workspace_srdf = os.path.join(MODEL_DIR, WS_SRDF)
move_group = None
robot_model = RobotModel.from_urdf_file(robot_urdf)
robot_semantics = RobotSemantics.from_srdf_file(robot_srdf, robot_model)
robot = RobotClass(robot_model, semantics=robot_semantics)
base_link_name = robot.get_base_link_name(group=move_group)
# ee_link_name = robot.get_end_effector_link_name(group=move_group)
ee_link_name = None # set to None since end effector is not included in the robot URDF, but attached later
ik_joint_names = robot.get_configurable_joint_names(group=move_group)
disabled_self_collision_link_names = robot_semantics.get_disabled_collisions(
)
tool_root_link_name = robot.get_end_effector_link_name(group=move_group)
workspace_model = RobotModel.from_urdf_file(workspace_urdf)
workspace_semantics = RobotSemantics.from_srdf_file(
workspace_srdf, workspace_model)
workspace_robot_disabled_link_names = workspace_semantics.get_disabled_collisions(
)
workspace_robot_disabled_link_names = []
return (robot_urdf, base_link_name, tool_root_link_name, ee_link_name, ik_joint_names, disabled_self_collision_link_names), \
(workspace_urdf, workspace_robot_disabled_link_names)
def main():
parser = argparse.ArgumentParser()
# ur_picknplace_multiple_piece
parser.add_argument('-p',
'--problem',
default='ur_picknplace_single_piece',
help='The name of the problem to solve')
parser.add_argument('-rob',
'--robot',
default='ur3',
help='The type of UR robot to use.')
parser.add_argument('-m',
'--plan_transit',
action='store_false',
help='Plans motions between each picking and placing')
parser.add_argument('-v',
'--viewer',
action='store_true',
help='Enables the viewer during planning (slow!)')
parser.add_argument('-s',
'--save_result',
action='store_true',
help='save planning results as a json file')
parser.add_argument(
'-scale',
'--model_scale',
default=0.001,
help='model scale conversion to meter, default 0.001 (from millimeter)'
)
parser.add_argument('-vik',
'--view_ikfast',
action='store_true',
help='Visualize each ikfast solutions')
parser.add_argument('-tres',
'--transit_res',
default=0.01,
help='joint resolution (rad)')
parser.add_argument('-ros',
'--use_ros',
action='store_true',
help='use ros backend with moveit planners')
parser.add_argument('-cart_ts',
'--cartesian_time_step',
default=0.1,
help='cartesian time step in trajectory simulation')
parser.add_argument('-trans_ts',
'--transit_time_step',
default=0.01,
help='transition time step in trajectory simulation')
parser.add_argument('-per_conf_step',
'--per_conf_step',
action='store_true',
help='stepping each configuration in simulation')
args = parser.parse_args()
print('Arguments:', args)
VIZ = args.viewer
VIZ_IKFAST = args.view_ikfast
TRANSITION_JT_RESOLUTION = float(args.transit_res)
plan_transition = args.plan_transit
use_moveit_planner = args.use_ros
# sim settings
CART_TIME_STEP = args.cartesian_time_step
TRANSITION_TIME_STEP = args.transit_time_step
PER_CONF_STEP = args.per_conf_step
# transition motion planner settings
RRT_RESTARTS = 5
RRT_ITERATIONS = 40
# choreo pkg settings
choreo_problem_instance_dir = compas_fab.get('choreo_instances')
unit_geos, static_obstacles = load_assembly_package(
choreo_problem_instance_dir, args.problem, scale=args.model_scale)
result_save_path = os.path.join(
choreo_problem_instance_dir, 'results',
'choreo_result.json') if args.save_result else None
# urdf, end effector settings
if args.robot == 'ur3':
# urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur3.urdf')
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur3_collision_viz.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur3_moveit_config/config/ur3.srdf')
else:
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
ee_filename = compas_fab.get(
'universal_robot/ur_description/meshes/' +
'pychoreo_workshop_gripper/collision/victor_gripper_jaw03.obj')
# ee_sep_filename = compas_fab.get('universal_robot/ur_description/meshes/' +
# 'pychoreo_workshop_gripper/collision/victor_gripper_jaw03_rough_sep.obj')
# ee_decomp_file_dir = compas_fab.get('universal_robot/ur_description/meshes/' +
# 'pychoreo_workshop_gripper/collision/decomp')
# ee_decomp_file_prefix = 'victor_gripper_jaw03_decomp_'
# decomp_parts_num = 36
client = RosClient() if use_moveit_planner else None
# geometry file is not loaded here
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics, client=client)
group = robot.main_group_name
base_link_name = robot.get_base_link_name()
ee_link_name = robot.get_end_effector_link_name()
ik_joint_names = robot.get_configurable_joint_names()
# parse end effector mesh
# ee_meshes = [Mesh.from_obj(os.path.join(ee_decomp_file_dir, ee_decomp_file_prefix + str(i) + '.obj')) for i in range(decomp_parts_num)]
ee_meshes = [Mesh.from_obj(ee_filename)]
# ee_meshes = [Mesh.from_obj(ee_sep_filename)]
# define TCP transformation
tcp_tf = Translation([0.099, 0, 0]) # in meters
ur5_start_conf = [0, -1.65715, 1.71108, -1.62348, 0, 0]
if use_moveit_planner:
# TODO: attach end effector to the robot in planning scene
# https://github.com/compas-dev/compas_fab/issues/66
scene = PlanningScene(robot)
scene.remove_all_collision_objects()
client.set_joint_positions(group, ik_joint_names, ur5_start_conf)
else:
scene = None
# add static collision obstacles
co_dict = {}
for i, static_obs_mesh in enumerate(static_obstacles):
# offset the table a bit...
cm = CollisionMesh(static_obs_mesh,
'so_' + str(i),
frame=Frame.from_transformation(
Translation([0, 0, -0.02])))
if use_moveit_planner:
scene.add_collision_mesh(cm)
else:
co_dict[cm.id] = {}
co_dict[cm.id]['meshes'] = [cm.mesh]
co_dict[cm.id]['mesh_poses'] = [cm.frame]
if use_moveit_planner:
# See: https://github.com/compas-dev/compas_fab/issues/63#issuecomment-519525879
time.sleep(1)
co_dict = scene.get_collision_meshes_and_poses()
# ======================================================
# ======================================================
# start pybullet environment & load pybullet robot
connect(use_gui=VIZ)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename,
urdf_pkg_name,
planning_scene=scene,
ee_link_name=ee_link_name)
ee_attachs = attach_end_effector_geometry(ee_meshes, pb_robot,
ee_link_name)
# update current joint conf and attach end effector
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
pb_end_effector_link = link_from_name(pb_robot, ee_link_name)
if not use_moveit_planner:
set_joint_positions(pb_robot, pb_ik_joints, ur5_start_conf)
for e_at in ee_attachs:
e_at.assign()
# draw TCP frame in pybullet
if has_gui():
TCP_pb_pose = get_TCP_pose(pb_robot,
ee_link_name,
tcp_tf,
return_pb_pose=True)
handles = draw_pose(TCP_pb_pose, length=0.04)
# wait_for_user()
# deliver ros collision meshes to pybullet
static_obstacles_from_name = convert_meshes_and_poses_to_pybullet_bodies(
co_dict)
# for now...
for so_key, so_val in static_obstacles_from_name.items():
static_obstacles_from_name[so_key] = so_val[0]
for unit_name, unit_geo in unit_geos.items():
geo_bodies = []
for sub_id, mesh in enumerate(unit_geo.mesh):
geo_bodies.append(convert_mesh_to_pybullet_body(mesh))
unit_geo.pybullet_bodies = geo_bodies
# check collision between obstacles and element geometries
assert not sanity_check_collisions(unit_geos, static_obstacles_from_name)
# from random import shuffle
seq_assignment = list(range(len(unit_geos)))
# shuffle(seq_assignment)
element_seq = {seq_id: e_id for seq_id, e_id in enumerate(seq_assignment)}
# for key, val in element_seq.items():
# # element_seq[key] = 'e_' + str(val)
# element_seq[key] = val
if has_gui():
for e_id in element_seq.values():
# for e_body in brick_from_index[e_id].body: set_pose(e_body, brick_from_index[e_id].goal_pose)
handles.extend(
draw_pose(unit_geos[e_id].initial_pb_pose, length=0.02))
handles.extend(draw_pose(unit_geos[e_id].goal_pb_pose,
length=0.02))
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
print('pybullet env loaded.')
# wait_for_user()
for h in handles:
remove_debug(h)
saved_world = WorldSaver()
ik_fn = ikfast_ur3.get_ik if args.robot == 'ur3' else ikfast_ur5.get_ik
tot_traj, graph_sizes = \
direct_ladder_graph_solve_picknplace(pb_robot, ik_joint_names, base_link_name, ee_link_name, ik_fn,
unit_geos, element_seq, static_obstacles_from_name,
tcp_transf=pb_pose_from_Transformation(tcp_tf),
ee_attachs=ee_attachs,
max_attempts=100, viz=VIZ_IKFAST, st_conf=ur5_start_conf)
picknplace_cart_plans = divide_nested_list_chunks(tot_traj, graph_sizes)
saved_world.restore()
print('Cartesian planning finished.')
# reset robot and parts for better visualization
set_joint_positions(pb_robot, pb_ik_joints, ur5_start_conf)
for ee in ee_attachs:
ee.assign()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
# if has_gui():
# wait_for_user()
def flatten_unit_geos_bodies(in_dict):
out_list = []
for ug in in_dict.values():
out_list.extend(ug.pybullet_bodies)
return out_list
if plan_transition:
print('Transition planning started.')
for seq_id, unit_picknplace in enumerate(picknplace_cart_plans):
print('----\ntransition seq#{}'.format(seq_id))
e_id = element_seq[seq_id]
if seq_id != 0:
tr_start_conf = picknplace_cart_plans[seq_id -
1]['place_retreat'][-1]
else:
tr_start_conf = ur5_start_conf
# obstacles=static_obstacles + cur_mo_list
place2pick_st_conf = list(tr_start_conf)
place2pick_goal_conf = list(
picknplace_cart_plans[seq_id]['pick_approach'][0])
# assert not client.is_joint_state_colliding(group, ik_joint_names, place2pick_st_conf)
# assert not client.is_joint_state_colliding(group, ik_joint_names, place2pick_goal_conf)
if use_moveit_planner:
# TODO: add collision objects
st_conf = Configuration.from_revolute_values(
place2pick_st_conf)
goal_conf = Configuration.from_revolute_values(
place2pick_goal_conf)
goal_constraints = robot.constraints_from_configuration(
goal_conf, [math.radians(1)] * 6, group)
place2pick_jt_traj = robot.plan_motion(goal_constraints,
st_conf,
group,
planner_id='RRTConnect')
place2pick_path = [
jt_pt['values']
for jt_pt in place2pick_jt_traj.to_data()['points']
]
else:
saved_world = WorldSaver()
set_joint_positions(pb_robot, pb_ik_joints, place2pick_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
place2pick_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
place2pick_goal_conf,
attachments=ee_attachs,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not place2pick_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find place2pick transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn_diagnosis(pb_robot, pb_ik_joints, \
obstacles=list(static_obstacles_from_name.values()) + flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs, self_collisions=True)
print('start pose:')
cfn(place2pick_st_conf)
print('end pose:')
cfn(place2pick_goal_conf)
saved_world.restore()
print('Diagnosis over')
pick2place_st_conf = picknplace_cart_plans[seq_id]['pick_retreat'][
-1]
pick2place_goal_conf = picknplace_cart_plans[seq_id][
'place_approach'][0]
if use_moveit_planner:
st_conf = Configuration.from_revolute_values(
picknplace_cart_plans[seq_id]['pick_retreat'][-1])
goal_conf = Configuration.from_revolute_values(
picknplace_cart_plans[seq_id]['place_approach'][0])
goal_constraints = robot.constraints_from_configuration(
goal_conf, [math.radians(1)] * 6, group)
pick2place_jt_traj = robot.plan_motion(goal_constraints,
st_conf,
group,
planner_id='RRTConnect')
pick2place_path = [
jt_pt['values']
for jt_pt in pick2place_jt_traj.to_data()['points']
]
else:
saved_world = WorldSaver()
# create attachement without needing to keep track of grasp...
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id]['pick_retreat'][0])
# attachs = [Attachment(robot, tool_link, invert(grasp.attach), e_body) for e_body in brick.body]
element_attachs = [create_attachment(pb_robot, pb_end_effector_link, e_body) \
for e_body in unit_geos[e_id].pybullet_bodies]
set_joint_positions(pb_robot, pb_ik_joints, pick2place_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
for e_a in element_attachs:
e_a.assign()
pick2place_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
pick2place_goal_conf,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs + element_attachs,
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not pick2place_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find pick2place transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn_diagnosis(pb_robot, pb_ik_joints,
obstacles=list(static_obstacles_from_name.values()) + flatten_unit_geos_bodies(unit_geos), \
attachments=ee_attachs + element_attachs, self_collisions=True)
print('start pose:')
cfn(pick2place_st_conf)
print('end pose:')
cfn(pick2place_goal_conf)
saved_world.restore()
print('Diagnosis over')
picknplace_cart_plans[seq_id]['place2pick'] = place2pick_path
picknplace_cart_plans[seq_id]['pick2place'] = pick2place_path
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
if seq_id == len(picknplace_cart_plans) - 1:
saved_world = WorldSaver()
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id]['place_retreat'][-1])
for ee_a in ee_attachs:
ee_a.assign()
return2idle_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
ur5_start_conf,
obstacles=list(static_obstacles_from_name.values()) +
flatten_unit_geos_bodies(unit_geos),
attachments=ee_attachs,
self_collisions=True,
resolutions=[TRANSITION_JT_RESOLUTION] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
picknplace_cart_plans[seq_id]['return2idle'] = return2idle_path
print('Transition planning finished.')
# convert to ros JointTrajectory
traj_json_data = []
traj_time_count = 0.0
for i, element_process in enumerate(picknplace_cart_plans):
e_proc_data = {}
for sub_proc_name, sub_process in element_process.items():
sub_process_jt_traj_list = []
for jt_sol in sub_process:
sub_process_jt_traj_list.append(
JointTrajectoryPoint(values=jt_sol,
types=[0] * 6,
time_from_start=Duration(
traj_time_count, 0)))
traj_time_count += 1.0 # meaningless timestamp
e_proc_data[sub_proc_name] = JointTrajectory(
trajectory_points=sub_process_jt_traj_list,
start_configuration=sub_process_jt_traj_list[0]).to_data()
traj_json_data.append(e_proc_data)
if result_save_path:
with open(result_save_path, 'w+') as outfile:
json.dump(traj_json_data, outfile, indent=4)
print('planned trajectories saved to {}'.format(result_save_path))
print('\n*************************\nplanning completed. Simulate?')
if has_gui():
wait_for_user()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
display_picknplace_trajectories(pb_robot, ik_joint_names, ee_link_name,
unit_geos, traj_json_data, \
ee_attachs=ee_attachs,
cartesian_time_step=CART_TIME_STEP, transition_time_step=TRANSITION_TIME_STEP, step_sim=True, per_conf_step=PER_CONF_STEP)
if use_moveit_planner: scene.remove_all_collision_objects()
def sequenced_picknplace_plan(
assembly_json_path,
robot_model='ur3',
pick_from_same_rack=True,
customized_sequence=[],
from_seq_id=0,
to_seq_id=None,
num_cart_steps=10,
enable_viewer=True,
plan_transit=True,
transit_res=0.01,
view_ikfast=False,
tcp_tf_list=[1e-3 * 80.525, 0, 0],
robot_start_conf=[0, -1.65715, 1.71108, -1.62348, 0, 0],
scale=1,
result_save_path='',
sim_traj=True,
cart_ts=0.1,
trans_ts=0.01,
per_conf_step=False,
step_sim=False):
# parser.add_argument('-vik', '--view_ikfast', action='store_true', help='Visualize each ikfast solutions')
# parser.add_argument('-per_conf_step', '--per_conf_step', action='store_true', help='stepping each configuration in simulation')
# transition motion planner settings
RRT_RESTARTS = 5
RRT_ITERATIONS = 40
# rescaling
# TODO: this should be done when the Assembly object is made
unit_geos, static_obstacles = load_assembly_package(assembly_json_path,
scale=scale)
# urdf, end effector settings
if robot_model == 'ur3':
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur3.urdf')
# urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur3_collision_viz.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur3_moveit_config/config/ur3.srdf')
else:
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
ee_filename = compas_fab.get(
'universal_robot/ur_description/meshes/' +
'dms_2019_gripper/collision/190907_Gripper_05.obj')
# geometry file is not loaded here
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics)
base_link_name = robot.get_base_link_name()
ee_link_name = robot.get_end_effector_link_name()
ik_joint_names = robot.get_configurable_joint_names()
disabled_link_names = semantics.get_disabled_collisions()
# parse end effector mesh
ee_meshes = [Mesh.from_obj(ee_filename)]
tcp_tf = Translation(tcp_tf_list)
# add static collision obstacles
co_dict = {}
for i, static_obs_mesh in enumerate(static_obstacles):
cm = CollisionMesh(static_obs_mesh, 'so_' + str(i))
co_dict[cm.id] = {}
co_dict[cm.id]['meshes'] = [cm.mesh]
co_dict[cm.id]['mesh_poses'] = [cm.frame]
# ======================================================
# ======================================================
# start pybullet environment & load pybullet robot
connect(use_gui=enable_viewer)
camera_base_pt = (0, 0, 0)
camera_pt = np.array(camera_base_pt) + np.array([1, 0, 0.5])
set_camera_pose(tuple(camera_pt), camera_base_pt)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename,
urdf_pkg_name,
ee_link_name=ee_link_name)
ee_attachs = attach_end_effector_geometry(ee_meshes, pb_robot,
ee_link_name)
# update current joint conf and attach end effector
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
pb_end_effector_link = link_from_name(pb_robot, ee_link_name)
set_joint_positions(pb_robot, pb_ik_joints, robot_start_conf)
for e_at in ee_attachs:
e_at.assign()
# draw TCP frame in pybullet
handles = []
if has_gui() and view_ikfast:
TCP_pb_pose = get_TCP_pose(pb_robot,
ee_link_name,
tcp_tf,
return_pb_pose=True)
handles = draw_pose(TCP_pb_pose, length=0.04)
# wait_for_user()
# deliver ros collision meshes to pybullet
so_lists_from_name = convert_meshes_and_poses_to_pybullet_bodies(co_dict)
static_obstacles_from_name = {}
for so_key, so_val in so_lists_from_name.items():
for so_i, so_item in enumerate(so_val):
static_obstacles_from_name[so_key + '_' + str(so_i)] = so_item
for unit_name, unit_geo in unit_geos.items():
geo_bodies = []
for sub_id, mesh in enumerate(unit_geo.mesh):
geo_bodies.append(convert_mesh_to_pybullet_body(mesh))
unit_geo.pybullet_bodies = geo_bodies
# check collision between obstacles and element geometries
assert not sanity_check_collisions(unit_geos, static_obstacles_from_name)
# from random import shuffle
seq_assignment = customized_sequence or list(range(len(unit_geos)))
element_seq = {seq_id: e_id for seq_id, e_id in enumerate(seq_assignment)}
to_seq_id = to_seq_id or len(element_seq) - 1
assert 0 <= from_seq_id and from_seq_id < len(element_seq)
assert from_seq_id <= to_seq_id and to_seq_id < len(element_seq)
if has_gui():
for e_id in element_seq.values():
handles.extend(
draw_pose(unit_geos[e_id].initial_pb_pose, length=0.02))
handles.extend(draw_pose(unit_geos[e_id].goal_pb_pose,
length=0.02))
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
print('pybullet env loaded.')
# wait_for_user()
for h in handles:
remove_debug(h)
saved_world = WorldSaver()
ik_fn = ikfast_ur3.get_ik if robot_model == 'ur3' else ikfast_ur5.get_ik
tot_traj, graph_sizes = \
direct_ladder_graph_solve_picknplace(pb_robot, ik_joint_names, base_link_name, ee_link_name, ik_fn,
unit_geos, element_seq, static_obstacles_from_name,
from_seq_id=from_seq_id, to_seq_id=to_seq_id,
pick_from_same_rack=pick_from_same_rack,
tcp_transf=pb_pose_from_Transformation(tcp_tf),
ee_attachs=ee_attachs, disabled_collision_link_names=disabled_link_names, viz=view_ikfast, st_conf=robot_start_conf,
num_cart_steps=num_cart_steps)
picknplace_cart_plans = divide_nested_list_chunks(tot_traj, graph_sizes)
saved_world.restore()
print('Cartesian planning finished.')
# reset robot and parts for better visualization
set_joint_positions(pb_robot, pb_ik_joints, robot_start_conf)
for ee in ee_attachs:
ee.assign()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
def flatten_unit_geos_bodies(in_dict):
out_list = []
for ug in in_dict.values():
out_list.extend(ug.pybullet_bodies)
return out_list
if plan_transit:
print('Transition planning started.')
disabled_collision_links = [(link_from_name(pb_robot, pair[0]), link_from_name(pb_robot, pair[1])) \
for pair in disabled_link_names]
for seq_id in range(0, from_seq_id):
e_id = element_seq[seq_id]
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
for seq_id in range(from_seq_id, to_seq_id + 1):
e_id = element_seq[seq_id]
print('----\ntransition seq#{} element #{}'.format(seq_id, e_id))
if seq_id != from_seq_id:
tr_start_conf = picknplace_cart_plans[
seq_id - 1 - from_seq_id]['place_retreat'][-1]
else:
tr_start_conf = robot_start_conf
place2pick_st_conf = list(tr_start_conf)
assert picknplace_cart_plans[seq_id - from_seq_id][
'pick_approach'], 'pick approach not found in sequence {} (element id: {})!'.format(
seq_id, e_id)
place2pick_goal_conf = list(
picknplace_cart_plans[seq_id -
from_seq_id]['pick_approach'][0])
saved_world = WorldSaver()
set_joint_positions(pb_robot, pb_ik_joints, place2pick_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
built_obstacles = []
ignored_pairs = []
if pick_from_same_rack:
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id)})
# if seq_id > 0:
# ignored_pairs = list(product([ee_attach.child for ee_attach in ee_attachs], unit_geos[element_seq[seq_id-1]].pybullet_bodies))
else:
built_obstacles = flatten_unit_geos_bodies(unit_geos)
place2pick_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
place2pick_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
place2pick_goal_conf,
attachments=ee_attachs,
obstacles=place2pick_obstacles,
disabled_collisions=disabled_collision_links,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
ignored_pairs=ignored_pairs)
saved_world.restore()
if not place2pick_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find place2pick transition'.format(
seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints, \
obstacles=place2pick_obstacles,
attachments=ee_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(place2pick_st_conf)
print('end pose:')
cfn(place2pick_goal_conf)
saved_world.restore()
print('Diagnosis over')
assert picknplace_cart_plans[seq_id - from_seq_id][
'pick_retreat'], 'pick retreat not found! in sequence {} (element id: {})!'.format(
seq_id, e_id)
assert picknplace_cart_plans[seq_id - from_seq_id][
'place_approach'], 'place approach not found! in sequence {} (element id: {})!'.format(
seq_id, e_id)
pick2place_st_conf = picknplace_cart_plans[
seq_id - from_seq_id]['pick_retreat'][-1]
pick2place_goal_conf = picknplace_cart_plans[
seq_id - from_seq_id]['place_approach'][0]
saved_world = WorldSaver()
# create attachement without needing to keep track of grasp...
set_joint_positions(
pb_robot, pb_ik_joints,
picknplace_cart_plans[seq_id - from_seq_id]['pick_retreat'][0])
# attachs = [Attachment(robot, tool_link, invert(grasp.attach), e_body) for e_body in brick.body]
element_attachs = [create_attachment(pb_robot, pb_end_effector_link, e_body) \
for e_body in unit_geos[e_id].pybullet_bodies]
set_joint_positions(pb_robot, pb_ik_joints, pick2place_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
for e_a in element_attachs:
e_a.assign()
built_obstacles = []
if pick_from_same_rack:
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id)})
else:
built_obstacles = flatten_unit_geos_bodies(unit_geos)
pick2place_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
pick2place_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
pick2place_goal_conf,
disabled_collisions=disabled_collision_links,
obstacles=pick2place_obstacles,
attachments=ee_attachs + element_attachs,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
saved_world.restore()
if not pick2place_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find pick2place transition'.format(
seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints,
obstacles=pick2place_obstacles, \
attachments=ee_attachs + element_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(pick2place_st_conf)
print('end pose:')
cfn(pick2place_goal_conf)
saved_world.restore()
print('Diagnosis over')
picknplace_cart_plans[seq_id -
from_seq_id]['place2pick'] = place2pick_path
picknplace_cart_plans[seq_id -
from_seq_id]['pick2place'] = pick2place_path
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].goal_pb_pose)
if seq_id == to_seq_id:
saved_world = WorldSaver()
return2idle_st_conf = picknplace_cart_plans[
seq_id - from_seq_id]['place_retreat'][-1]
return2idle_goal_conf = robot_start_conf
set_joint_positions(pb_robot, pb_ik_joints,
return2idle_st_conf)
for ee_a in ee_attachs:
ee_a.assign()
built_obstacles = flatten_unit_geos_bodies({element_seq[prev_seq_id] : \
unit_geos[element_seq[prev_seq_id]] for prev_seq_id in range(seq_id+1)})
return2idle_obstacles = list(
static_obstacles_from_name.values()) + built_obstacles
return2idle_path = plan_joint_motion(
pb_robot,
pb_ik_joints,
return2idle_goal_conf,
disabled_collisions=disabled_collision_links,
obstacles=return2idle_obstacles,
attachments=ee_attachs,
self_collisions=True,
resolutions=[transit_res] * len(pb_ik_joints),
restarts=RRT_RESTARTS,
iterations=RRT_ITERATIONS,
)
if not return2idle_path:
saved_world = WorldSaver()
print('****\nseq #{} cannot find return2idle transition'.
format(seq_id))
print('Diagnosis...')
cfn = get_collision_fn(pb_robot, pb_ik_joints, \
obstacles=return2idle_obstacles,
attachments=ee_attachs, self_collisions=True, diagnosis=True)
print('start pose:')
cfn(return2idle_st_conf)
print('end pose:')
cfn(return2idle_goal_conf)
saved_world.restore()
print('Diagnosis over')
saved_world.restore()
picknplace_cart_plans[
seq_id - from_seq_id]['return2idle'] = return2idle_path
print('Transition planning finished.')
# convert to ros JointTrajectory
traj_json_data = []
traj_time_count = 0.0
for i, element_process in enumerate(picknplace_cart_plans):
e_proc_data = {}
for sub_proc_name, sub_process in element_process.items():
sub_process_jt_traj_list = []
if not sub_process:
continue
for jt_sol in sub_process:
sub_process_jt_traj_list.append(
JointTrajectoryPoint(values=jt_sol,
types=[0] * 6,
time_from_start=Duration(
traj_time_count, 0)))
traj_time_count += 1.0 # meaningless timestamp
e_proc_data[sub_proc_name] = JointTrajectory(
trajectory_points=sub_process_jt_traj_list,
start_configuration=sub_process_jt_traj_list[0]).to_data()
traj_json_data.append(e_proc_data)
if result_save_path:
if not os.path.exists(os.path.dirname(result_save_path)):
os.mkdir(os.path.dirname(result_save_path))
with open(result_save_path, 'w+') as outfile:
json.dump(traj_json_data, outfile)
print('planned trajectories saved to {}'.format(result_save_path))
print('\n*************************\nplanning completed.')
if sim_traj and has_gui():
# if has_gui():
# wait_for_user()
for e_id in element_seq.values():
for e_body in unit_geos[e_id].pybullet_bodies:
set_pose(e_body, unit_geos[e_id].initial_pb_pose)
display_picknplace_trajectories(pb_robot, ik_joint_names, ee_link_name,
unit_geos, traj_json_data, \
element_seq=element_seq,
from_seq_id=from_seq_id, to_seq_id=to_seq_id,
ee_attachs=ee_attachs,
cartesian_time_step=cart_ts,
transition_time_step=trans_ts, step_sim=step_sim, per_conf_step=per_conf_step)
return traj_json_data
def single_place_check(seq_id,
assembly_json_path,
customized_sequence=[],
num_cart_steps=10,
robot_model='ur3',
enable_viewer=True,
view_ikfast=False,
tcp_tf_list=[1e-3 * 80.525, 0, 0],
scale=1,
diagnosis=False,
viz_time_gap=0.5):
# # rescaling
# # TODO: this should be done when the Assembly object is made
unit_geos, static_obstacle_meshes = load_assembly_package(
assembly_json_path, scale=scale)
assert seq_id < len(unit_geos)
if customized_sequence:
unit_geo = unit_geos[customized_sequence[seq_id]]
else:
unit_geo = unit_geos[seq_id]
# urdf, end effector settings
if robot_model == 'ur3':
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur3.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur3_moveit_config/config/ur3.srdf')
else:
urdf_filename = compas_fab.get(
'universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get(
'universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
ee_filename = compas_fab.get(
'universal_robot/ur_description/meshes/' +
'dms_2019_gripper/collision/190907_Gripper_05.obj')
# geometry file is not loaded here
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics)
base_link_name = robot.get_base_link_name()
ee_link_name = robot.get_end_effector_link_name()
ik_joint_names = robot.get_configurable_joint_names()
disabled_link_names = semantics.get_disabled_collisions()
# parse end effector mesh
ee_meshes = [Mesh.from_obj(ee_filename)]
tcp_tf = Translation(tcp_tf_list)
# ======================================================
# ======================================================
# start pybullet environment & load pybullet robot
connect(use_gui=enable_viewer)
camera_base_pt = (0, 0, 0)
camera_pt = np.array(camera_base_pt) + np.array([1, 0, 0.5])
set_camera_pose(tuple(camera_pt), camera_base_pt)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename,
urdf_pkg_name,
ee_link_name=ee_link_name)
ee_attachs = attach_end_effector_geometry(ee_meshes, pb_robot,
ee_link_name)
# update current joint conf and attach end effector
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
pb_end_effector_link = link_from_name(pb_robot, ee_link_name)
robot_start_conf = [0, -1.65715, 1.71108, -1.62348, 0, 0]
set_joint_positions(pb_robot, pb_ik_joints, robot_start_conf)
for e_at in ee_attachs:
e_at.assign()
# viz handles
handles = []
# convert mesh into pybullet bodies
# TODO: this conversion should be moved into UnitGeometry
geo_bodies = []
for mesh in unit_geo.mesh:
geo_bodies.append(convert_mesh_to_pybullet_body(mesh))
unit_geo.pybullet_bodies = geo_bodies
static_obstacles = []
for so_mesh in static_obstacle_meshes:
static_obstacles.append(convert_mesh_to_pybullet_body(so_mesh))
if customized_sequence:
assembled_element_ids = [
customized_sequence[seq_iter] for seq_iter in range(seq_id)
]
else:
assembled_element_ids = list(range(seq_id))
print('assembled_ids: ', assembled_element_ids)
for prev_e_id in assembled_element_ids:
other_unit_geo = unit_geos[prev_e_id]
print('other unit geo: ', other_unit_geo)
for _, mesh in enumerate(other_unit_geo.mesh):
pb_e = convert_mesh_to_pybullet_body(mesh)
set_pose(pb_e, other_unit_geo.goal_pb_pose)
static_obstacles.append(pb_e)
# check collision between obstacles and element geometries
# assert not sanity_check_collisions([unit_geo], static_obstacles_from_name)
ik_fn = ikfast_ur3.get_ik if robot_model == 'ur3' else ikfast_ur5.get_ik
return quick_check_place_feasibility(
pb_robot,
ik_joint_names,
base_link_name,
ee_link_name,
ik_fn,
unit_geo,
num_cart_steps=num_cart_steps,
static_obstacles=static_obstacles,
self_collisions=True,
mount_link_from_tcp_pose=pb_pose_from_Transformation(tcp_tf),
ee_attachs=ee_attachs,
viz=view_ikfast,
disabled_collision_link_names=disabled_link_names,
diagnosis=diagnosis,
viz_time_gap=viz_time_gap)
def test_ikfast_inverse_kinematics():
urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
srdf_filename = compas_fab.get('universal_robot/ur5_moveit_config/config/ur5.srdf')
urdf_pkg_name = 'ur_description'
model = RobotModel.from_urdf_file(urdf_filename)
semantics = RobotSemantics.from_srdf_file(srdf_filename, model)
robot = RobotClass(model, semantics=semantics)
base_link_name = robot.get_base_link_name()
ik_joint_names = robot.get_configurable_joint_names()
ik_tool_link_name = robot.get_end_effector_link_name()
connect(use_gui=False)
pb_robot = create_pb_robot_from_ros_urdf(urdf_filename, urdf_pkg_name)
pb_ik_joints = joints_from_names(pb_robot, ik_joint_names)
max_attempts = 20
EPS = 1e-3
sample_fn = get_sample_fn(pb_robot, pb_ik_joints)
for i in range(max_attempts):
# randomly sample within joint limits
conf = sample_fn()
# sanity joint limit violation check
assert not violates_limits(pb_robot, pb_ik_joints, conf)
# ikfast's FK
fk_fn = ikfast_ur5.get_fk
ikfast_FK_pb_pose = get_ik_tool_link_pose(fk_fn, pb_robot, ik_joint_names, base_link_name, conf)
if has_gui():
print('test round #{}: ground truth conf: {}'.format(i, conf))
handles = draw_pose(ikfast_FK_pb_pose, length=0.04)
set_joint_positions(pb_robot, pb_ik_joints, conf)
wait_for_user()
# ikfast's IK
ik_fn = ikfast_ur5.get_ik
ik_sols = sample_tool_ik(ik_fn, pb_robot, ik_joint_names, base_link_name,
ikfast_FK_pb_pose, get_all=True)
# TODO: UR robot or in general joint w/ domain over 4 pi
# needs specialized distance function
q_selected = sample_tool_ik(ik_fn, pb_robot, ik_joint_names, base_link_name,
ikfast_FK_pb_pose, nearby_conf=True)
qsol = best_sol(ik_sols, conf, [1.]*6)
print('q selected: {}'.format(q_selected))
print('q best: {}'.format(qsol))
if has_gui():
set_joint_positions(pb_robot, pb_ik_joints, qsol)
wait_for_user()
for h in handles : remove_debug(h)
if qsol is None:
qsol = [999.]*6
diff = np.sum(np.abs(np.array(qsol) - np.array(conf)))
if diff > EPS:
print(np.array(ik_sols))
print('Best q:{}'.format(qsol))
print('Actual:{}'.format(np.array(conf)))
print('Diff: {}'.format(conf - qsol))
print('Difdiv:{}'.format((conf - qsol)/np.pi))
assert False