def fitObjectsOnShelf(polyData, maxHeight = 0.25): # find the shelf plane: polyDataWithoutFront, _ = segmentation.removeMajorPlane(polyData, distanceThreshold=0.02) polyDataPlaneFit, origin, normal = segmentation.applyPlaneFit(polyDataWithoutFront, expectedNormal=np.array([0.0,0.0,1.0]), perpendicularAxis=np.array([0.0,0.0,1.0]), returnOrigin=True) vis.updatePolyData(polyDataPlaneFit, 'polyDataPlaneFit', parent='segmentation', visible=False) shelfSurfacePoints = segmentation.thresholdPoints(polyDataPlaneFit, 'dist_to_plane', [-0.01, 0.01]) shelfCenter = segmentation.computeCentroid(shelfSurfacePoints) shelfFrame = transformUtils.getTransformFromOriginAndNormal(shelfCenter, normal, normalAxis=2) vis.showFrame(shelfFrame, 'shelfFrame', parent='segmentation', scale=0.15 , visible=False) # find the points near to the shelf plane and find objects on it: points = vnp.getNumpyFromVtk(polyData, 'Points') dist = np.dot(points - origin, normal) vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane') shelfPoints = segmentation.thresholdPoints(polyData, 'dist_to_plane', [-0.01, maxHeight]) vis.updatePolyData(shelfPoints, 'shelf', parent='segmentation', visible=False) data = segmentation.segmentTableScene(shelfPoints, shelfCenter, filterClustering = False ) vis.showClusterObjects(data.clusters + [data.table], parent='segmentation') # remove the points that we considered from the orginal cloud dists = vnp.getNumpyFromVtk(polyData, 'dist_to_plane') diffShelf = ( ((dists > maxHeight) + (dists < -0.01))) + 0.1 -0.1 vnp.addNumpyToVtk(polyData, diffShelf, 'diff_shelf') polyData = segmentation.thresholdPoints(polyData, 'diff_shelf', [1, 1]) vis.updatePolyData(polyData, 'rest', parent='segmentation', visible=False) return polyData
def removePlaneAndBeyond(polyData, expectedNormal=[1,0,0], filterRange=[-np.inf, -0.03], whichAxis=1, whichAxisLetter='y', percentile = 95): yvalues = vnp.getNumpyFromVtk(polyData, 'Points')[:, whichAxis] backY = np.percentile(yvalues, percentile) if ( percentile > 50): searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [backY - 0.1, np.inf]) else: searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [-np.inf, backY + 0.1]) vis.updatePolyData(searchRegion, 'search region', parent="segmentation", colorByName=whichAxisLetter, visible=False) # find the plane of the back wall, remove it and the points behind it: _, origin, normal = segmentation.applyPlaneFit(searchRegion, distanceThreshold=0.02, expectedNormal=expectedNormal, perpendicularAxis=expectedNormal, returnOrigin=True) points = vnp.getNumpyFromVtk(polyData, 'Points') dist = np.dot(points - origin, normal) vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane') backFrame = transformUtils.getTransformFromOriginAndNormal(origin, normal, normalAxis=2) vis.updateFrame(backFrame, 'back frame', parent='segmentation', scale=0.15 , visible=False) vis.updatePolyData(polyData, 'dist to back', parent='segmentation', visible=False) polyData = segmentation.thresholdPoints(polyData, 'dist_to_plane', filterRange) vis.updatePolyData(polyData, 'back off and all', parent='segmentation', visible=False) return polyData
def removePlaneAndBeyond(polyData, expectedNormal=[1, 0, 0], filterRange=[-np.inf, -0.03], whichAxis=1, whichAxisLetter='y', percentile=95): yvalues = vnp.getNumpyFromVtk(polyData, 'Points')[:, whichAxis] backY = np.percentile(yvalues, percentile) if (percentile > 50): searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [backY - 0.1, np.inf]) else: searchRegion = segmentation.thresholdPoints(polyData, whichAxisLetter, [-np.inf, backY + 0.1]) vis.updatePolyData(searchRegion, 'search region', parent="segmentation", colorByName=whichAxisLetter, visible=False) # find the plane of the back wall, remove it and the points behind it: _, origin, normal = segmentation.applyPlaneFit( searchRegion, distanceThreshold=0.02, expectedNormal=expectedNormal, perpendicularAxis=expectedNormal, returnOrigin=True) points = vnp.getNumpyFromVtk(polyData, 'Points') dist = np.dot(points - origin, normal) vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane') backFrame = transformUtils.getTransformFromOriginAndNormal(origin, normal, normalAxis=2) vis.updateFrame(backFrame, 'back frame', parent='segmentation', scale=0.15, visible=False) vis.updatePolyData(polyData, 'dist to back', parent='segmentation', visible=False) polyData = segmentation.thresholdPoints(polyData, 'dist_to_plane', filterRange) vis.updatePolyData(polyData, 'back off and all', parent='segmentation', visible=False) return polyData
def computeGraspPlan(self, targetFrame, graspToHandFrame, inLine=False, ikParameters=None): startPose = self.getPlanningStartPose() endPose, constraintSet = self.computeGraspPose(startPose, targetFrame) if ikParameters: constraintSet.ikParameters = ikParameters constraintSet.ikParameters.usePointwise = False if inLine: handLinkName = self.ikPlanner.getHandLink(self.graspingHand) graspToHand = graspToHandFrame handToWorld1 = self.ikPlanner.getLinkFrameAtPose( handLinkName, startPose) handToWorld2 = self.ikPlanner.getLinkFrameAtPose( handLinkName, endPose) handToWorld1 = transformUtils.concatenateTransforms( [graspToHand, handToWorld1]) handToWorld2 = transformUtils.concatenateTransforms( [graspToHand, handToWorld2]) motionVector = np.array(handToWorld2.GetPosition()) - np.array( handToWorld1.GetPosition()) motionTargetFrame = transformUtils.getTransformFromOriginAndNormal( np.array(handToWorld2.GetPosition()), motionVector) #vis.updateFrame(motionTargetFrame, 'motion target frame', scale=0.1) #d = DebugData() #d.addLine(np.array(handToWorld2.GetPosition()), np.array(handToWorld2.GetPosition()) - motionVector) #vis.updatePolyData(d.getPolyData(), 'motion vector', visible=False) p = self.ikPlanner.createLinePositionConstraint( handLinkName, graspToHand, motionTargetFrame, lineAxis=2, bounds=[-np.linalg.norm(motionVector), 0.001], positionTolerance=0.001) p.tspan = np.linspace(0, 1, 5) constraintSet.constraints.append(p) newPlan = constraintSet.runIkTraj() else: newPlan = self.ikPlanner.computePostureGoal(startPose, endPose) return newPlan
def fitObjectsOnShelf(polyData, maxHeight=0.25): # find the shelf plane: polyDataWithoutFront, _ = segmentation.removeMajorPlane( polyData, distanceThreshold=0.02) polyDataPlaneFit, origin, normal = segmentation.applyPlaneFit( polyDataWithoutFront, expectedNormal=np.array([0.0, 0.0, 1.0]), perpendicularAxis=np.array([0.0, 0.0, 1.0]), returnOrigin=True) vis.updatePolyData(polyDataPlaneFit, 'polyDataPlaneFit', parent='segmentation', visible=False) shelfSurfacePoints = segmentation.thresholdPoints(polyDataPlaneFit, 'dist_to_plane', [-0.01, 0.01]) shelfCenter = segmentation.computeCentroid(shelfSurfacePoints) shelfFrame = transformUtils.getTransformFromOriginAndNormal(shelfCenter, normal, normalAxis=2) vis.showFrame(shelfFrame, 'shelfFrame', parent='segmentation', scale=0.15, visible=False) # find the points near to the shelf plane and find objects on it: points = vnp.getNumpyFromVtk(polyData, 'Points') dist = np.dot(points - origin, normal) vnp.addNumpyToVtk(polyData, dist, 'dist_to_plane') shelfPoints = segmentation.thresholdPoints(polyData, 'dist_to_plane', [-0.01, maxHeight]) vis.updatePolyData(shelfPoints, 'shelf', parent='segmentation', visible=False) data = segmentation.segmentTableScene(shelfPoints, shelfCenter, filterClustering=False) vis.showClusterObjects(data.clusters + [data.table], parent='segmentation') # remove the points that we considered from the orginal cloud dists = vnp.getNumpyFromVtk(polyData, 'dist_to_plane') diffShelf = (((dists > maxHeight) + (dists < -0.01))) + 0.1 - 0.1 vnp.addNumpyToVtk(polyData, diffShelf, 'diff_shelf') polyData = segmentation.thresholdPoints(polyData, 'diff_shelf', [1, 1]) vis.updatePolyData(polyData, 'rest', parent='segmentation', visible=False) return polyData
def computeGraspPlan(self, targetFrame, graspToHandFrame, inLine=False, ikParameters=None): startPose = self.getPlanningStartPose() endPose, constraintSet = self.computeGraspPose(startPose, targetFrame) if ikParameters: constraintSet.ikParameters = ikParameters constraintSet.ikParameters.usePointwise = False if inLine: handLinkName = self.ikPlanner.getHandLink(self.graspingHand) graspToHand = graspToHandFrame handToWorld1 = self.ikPlanner.getLinkFrameAtPose(handLinkName, startPose) handToWorld2 = self.ikPlanner.getLinkFrameAtPose(handLinkName, endPose) handToWorld1 = transformUtils.concatenateTransforms([graspToHand, handToWorld1]) handToWorld2 = transformUtils.concatenateTransforms([graspToHand, handToWorld2]) motionVector = np.array(handToWorld2.GetPosition()) - np.array(handToWorld1.GetPosition()) motionTargetFrame = transformUtils.getTransformFromOriginAndNormal(np.array(handToWorld2.GetPosition()), motionVector) #vis.updateFrame(motionTargetFrame, 'motion target frame', scale=0.1) #d = DebugData() #d.addLine(np.array(handToWorld2.GetPosition()), np.array(handToWorld2.GetPosition()) - motionVector) #vis.updatePolyData(d.getPolyData(), 'motion vector', visible=False) p = self.ikPlanner.createLinePositionConstraint(handLinkName, graspToHand, motionTargetFrame, lineAxis=2, bounds=[-np.linalg.norm(motionVector), 0.001], positionTolerance=0.001) p.tspan = np.linspace(0, 1, 5) constraintSet.constraints.append(p) newPlan = constraintSet.runIkTraj() else: newPlan = self.ikPlanner.computePostureGoal(startPose, endPose) return newPlan