def process_collision_geometry_for_cluster(self, cluster):
rospy.loginfo("adding cluster with %d points to collision map" %
len(cluster.points))
many_boxes = CollisionObject()
many_boxes.operation.operation = CollisionObjectOperation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points) / 100.0)
random_indices = range(len(cluster.points))
scipy.random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005] * 3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0, 0, 0, 1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
collision_name = self.get_next_object_name()
many_boxes.id = collision_name
self.object_in_map_pub.publish(many_boxes)
return collision_name
def _add_table_to_map(self, table, table_name):
co = CollisionObject()
co.id = table_name
if not co.id:
co.id = 'current_table'
co.header = table.pose.header
#we do NOT want a padded table
co.padding = -1
if len(table.convex_hull.vertices) > 0:
if self.table_thickness > 0:
table_z = range(0, int(1000*self.table_thickness/2.0), int(1000*TABLE_RESOLUTION))
table_z.append(1000.0*self.table_thickness/2.0)
sgnrng = [1.0, -1.0]
else:
table_z = [0]
sgnrng = [1.0]
for z in table_z:
for sgn in sgnrng:
co.shapes.append(table.convex_hull)
ps = tl.transform_pose_stamped(self._wi.world_frame, table.pose)
ps.pose.position.z += sgn*z/1000.0
co.poses.append(tl.transform_pose(table.pose.header.frame_id, ps.header.frame_id, ps.pose))
rospy.logdebug('Adding table as convex hull')
else:
bbox = Shape()
bbox.type = bbox.BOX
bbox.dimensions = [abs(table.x_max - table.x_min), abs(table.y_max - table.y_min), self.table_thickness]
co.shapes.append(bbox)
co.poses.append(table.pose.pose)
rospy.logdebug('Adding table as bounding box')
self._wi.add_object(co)
return co.id
def process_collision_geometry_for_table(self,
firsttable,
additional_tables=[]):
table_object = CollisionObject()
table_object.operation.operation = CollisionObjectOperation.ADD
table_object.header.frame_id = firsttable.pose.header.frame_id
table_object.header.stamp = rospy.Time.now()
#create a box for each table
for table in [
firsttable,
] + additional_tables:
object = Shape()
object.type = Shape.BOX
object.dimensions.append(math.fabs(table.x_max - table.x_min))
object.dimensions.append(math.fabs(table.y_max - table.y_min))
object.dimensions.append(0.01)
table_object.shapes.append(object)
#set the origin of the table object in the middle of the firsttable
table_mat = self.pose_to_mat(firsttable.pose.pose)
table_offset = scipy.matrix([
(firsttable.x_min + firsttable.x_max) / 2.0,
(firsttable.y_min + firsttable.y_max) / 2.0, 0.0
]).T
table_offset_mat = scipy.matrix(scipy.identity(4))
table_offset_mat[0:3, 3] = table_offset
table_center = table_mat * table_offset_mat
origin_pose = self.mat_to_pose(table_center)
table_object.poses.append(origin_pose)
table_object.id = "table"
self.object_in_map_pub.publish(table_object)
def add_collision_cluster(self, cluster, object_id):
'''
Adds a point cloud to the collision map as a single collision object composed of many small boxes.
**Args:**
**cluster (sensor_msg.msg.PointCloud):** The point cloud to add to the map
**object_id (string):** The name the point cloud should have in the map
'''
many_boxes = CollisionObject()
many_boxes.operation.operation = many_boxes.operation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points) / 100.0)
random_indices = range(len(cluster.points))
random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005] * 3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0, 0, 0, 1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
many_boxes.id = object_id
self._publish(many_boxes, self._collision_object_pub)
def add_collision_cluster(self, cluster, object_id):
'''
Adds a point cloud to the collision map as a single collision object composed of many small boxes.
**Args:**
**cluster (sensor_msg.msg.PointCloud):** The point cloud to add to the map
**object_id (string):** The name the point cloud should have in the map
'''
many_boxes = CollisionObject()
many_boxes.operation.operation = many_boxes.operation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points)/100.0)
random_indices = range(len(cluster.points))
random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005]*3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0,0,0,1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
many_boxes.id = object_id
self._publish(many_boxes, self._collision_object_pub)
def process_collision_geometry_for_table(self, firsttable, additional_tables = []):
table_object = CollisionObject()
table_object.operation.operation = CollisionObjectOperation.ADD
table_object.header.frame_id = firsttable.pose.header.frame_id
table_object.header.stamp = rospy.Time.now()
#create a box for each table
for table in [firsttable,]+additional_tables:
object = Shape()
object.type = Shape.BOX;
object.dimensions.append(math.fabs(table.x_max-table.x_min))
object.dimensions.append(math.fabs(table.y_max-table.y_min))
object.dimensions.append(0.01)
table_object.shapes.append(object)
#set the origin of the table object in the middle of the firsttable
table_mat = self.pose_to_mat(firsttable.pose.pose)
table_offset = scipy.matrix([(firsttable.x_min + firsttable.x_max)/2.0, (firsttable.y_min + firsttable.y_max)/2.0, 0.0]).T
table_offset_mat = scipy.matrix(scipy.identity(4))
table_offset_mat[0:3,3] = table_offset
table_center = table_mat * table_offset_mat
origin_pose = self.mat_to_pose(table_center)
table_object.poses.append(origin_pose)
table_object.id = "table"
self.object_in_map_pub.publish(table_object)
def process_collision_geometry_for_cluster(self, cluster):
rospy.loginfo("adding cluster with %d points to collision map"%len(cluster.points))
many_boxes = CollisionObject()
many_boxes.operation.operation = CollisionObjectOperation.ADD
many_boxes.header = cluster.header
many_boxes.header.stamp = rospy.Time.now()
num_to_use = int(len(cluster.points)/100.0)
random_indices = range(len(cluster.points))
scipy.random.shuffle(random_indices)
random_indices = random_indices[0:num_to_use]
for i in range(num_to_use):
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = [.005]*3
pose = Pose()
pose.position.x = cluster.points[random_indices[i]].x
pose.position.y = cluster.points[random_indices[i]].y
pose.position.z = cluster.points[random_indices[i]].z
pose.orientation = Quaternion(*[0,0,0,1])
many_boxes.shapes.append(shape)
many_boxes.poses.append(pose)
collision_name = self.get_next_object_name()
many_boxes.id = collision_name
self.object_in_map_pub.publish(many_boxes)
return collision_name
def make_gripper_obs(self):
'''
Creates a box obstacle from the dimensions of the gripper.
'''
obs = Shape()
obs.type = 1
obs.dimensions = [0.10, 0.10, 0.10]
return obs
def add_plate(self):
plate = CollisionObject()
plate.header.frame_id = self.wi.world_frame
plate.operation.operation = plate.operation.ADD
plate.id = "plate"
shape = Shape()
shape.type = shape.CYLINDER
shape.dimensions = [0.15, 0.04]
if self.box_plate:
shape.type = shape.BOX
shape.dimensions = [0.3, 0.3, 0.04]
pose = Pose()
if self.world < 6 or self.world == 8 or self.world == 9 or self.world == 12:
pose.position.x = 3.1
pose.position.y = -3.2
pose.position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[
1] / 2.0
elif self.world == 6:
pose.position.x = 0.6 #0.894692#0.5
pose.position.y = -0.3 #-0.468198#-0.2
pose.position.z = CENTER_TABLE_HEIGHT + shape.dimensions[1] / 2.0
# elif self.world == 12:
# pose.position.x = -1.3
# pose.position.y = 2
# pose.position.z = DOOR_TABLE_HEIGHT + 0.02 + shape.dimensions[1]/2.0
else:
pose.position.x = 0.5 #0.894692#0.5
pose.position.y = 0.1
pose.position.z = CENTER_TABLE_HEIGHT + 0.02 + shape.dimensions[
1] / 2.0
pose.orientation.w = 1.0
plate.shapes.append(shape)
plate.poses.append(pose)
self.wi.add_object(plate)
return plate
def _get_bounding_box_collision_object(self, box):
#we don't try to extend the box down to the table...
#so hopefully we detected all the way down
co = CollisionObject()
co.header = box.pose.header
shape = Shape()
shape.type = shape.BOX
shape.dimensions.append(box.box_dims.x)
shape.dimensions.append(box.box_dims.y)
shape.dimensions.append(box.box_dims.z)
co.shapes.append(shape)
co.poses.append(box.pose.pose)
return co
def get_virtual_table(height = 0.42):
table_msg = CollisionObject()
table_msg.id = "table"
table_msg.operation.operation = CollisionObjectOperation.ADD
table_msg.header.stamp = rospy.get_rostime()
table_msg.header.frame_id = "base_footprint"
side_box = Shape()
side_box.type = Shape.BOX
side_box.dimensions = [ 3.0, 1.0, height ]
front_box = Shape()
front_box.type = Shape.BOX
front_box.dimensions = [ 1.0, 3.0, height ]
pose = Pose()
pose.position.x = 0.0
pose.position.y = 0.0
pose.position.z = height / 2
pose.orientation.x = 0
pose.orientation.y = 0
pose.orientation.z = 0
pose.orientation.w = 1
l_side_pose = copy.deepcopy(pose)
l_side_pose.position.y = 0.85
r_side_pose = copy.deepcopy(pose)
r_side_pose.position.y = -0.85
front_pose = copy.deepcopy(pose)
front_pose.position.x = 0.85
table_msg.shapes = [ side_box, side_box, front_box ]
table_msg.poses = [ l_side_pose, r_side_pose, front_pose ]
return table_msg
def add_map_tables(wi):
(serving_table, dirty_table) = [add_map_table('serving_table', wi), add_map_table('dirty_table', wi)]
#little_table = add_map_table('little_table', wi)
st_base = CollisionObject()
st_base.header = serving_table.pose.header
st_base.id = "serving_table_base"
st_base.poses.append(copy.deepcopy(serving_table.pose.pose))
st_base.poses[0].position.z = 0.1
st_shape = Shape()
st_shape.type = Shape.CYLINDER
st_shape.dimensions = [0.3, 0.1]
st_base.shapes.append(st_shape)
wi.add_object(st_base)
def add_collision_box(self, box_pose, box_dims, frame_id, collision_name):
rospy.loginfo("adding box to collision map")
box = CollisionObject()
box.operation.operation = CollisionObjectOperation.ADD
box.header.frame_id = frame_id
box.header.stamp = rospy.Time.now()
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose)
box.id = collision_name
self.object_in_map_pub.publish(box)
def add_collision_box(self, box_pose, box_dims, frame_id, collision_name):
rospy.loginfo("adding box to collision map")
box = CollisionObject()
box.operation.operation = CollisionObjectOperation.ADD
box.header.frame_id = frame_id
box.header.stamp = rospy.Time.now()
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose)
box.id = collision_name
self.object_in_map_pub.publish(box)
def add_map_table(name, wi):
table = rospy.get_param('wg-sushi-tables/'+name)
upper_left = Point(x = table['upper_left']['x'], y = table['upper_left']['y'],
z = table['upper_left']['z'])
lower_left = Point(x = table['lower_left']['x'], y = table['lower_left']['y'],
z = table['lower_left']['z'])
upper_right = Point(x = table['upper_right']['x'], y = table['upper_right']['y'],
z = table['upper_right']['z'])
lower_right = Point(x = table['lower_right']['x'], y = table['lower_right']['y'],
z = table['lower_right']['z'])
table_object = CollisionObject()
table_object.header.frame_id = wi.world_frame
table_object.id = name
table_pose = Pose()
table_pose.position.x = (upper_left.x+upper_right.x+lower_left.x+lower_right.x)/4.0
table_pose.position.y = (upper_left.y+upper_right.y+lower_left.y+lower_right.y)/4.0
table_pose.position.z = (upper_left.z+upper_right.z+lower_left.z+lower_right.z)/4.0
table_pose.orientation.w = 1.0
table_shape = Shape()
table_shape.type = Shape.MESH
table_shape.vertices = [gt.inverse_transform_point(lower_left, table_pose),
gt.inverse_transform_point(upper_left, table_pose),
gt.inverse_transform_point(upper_right, table_pose),
gt.inverse_transform_point(lower_right, table_pose)]
table_shape.triangles = [0, 1, 2, 2, 3, 0]
table_object.shapes.append(table_shape)
table_upper_pose = copy.deepcopy(table_pose)
table_upper_pose.position.z += 0.02
table_object.poses.append(table_pose)
table_object.poses.append(table_upper_pose)
table_object.shapes.append(table_shape)
table_lower_pose = copy.deepcopy(table_pose)
table_lower_pose.position.z -= 0.02
table_object.poses.append(table_lower_pose)
table_object.shapes.append(table_shape)
if name == 'dirty_table':
#kind of a hack =D
for i in range(5):
table_lower_pose = copy.deepcopy(table_lower_pose)
table_lower_pose.position.z -= 0.02
table_object.poses.append(table_lower_pose)
table_object.shapes.append(table_shape)
wi.add_object(table_object)
table = Table()
table.pose.header = table_object.header
table.pose.pose = table_object.poses[0]
table.convex_hull = table_object.shapes[0]
return table
def __build_object_from_box(self, box_msg, object_id):
msg = CollisionObject()
msg.header.frame_id = box_msg.pose.header.frame_id
msg.header.stamp = rospy.Time.now()
msg.id = object_id
msg.operation.operation = msg.operation.ADD
shape = Shape()
shape.type = shape.BOX
scale = 1.0
shape.dimensions = [scale*box_msg.box_dims.x,
scale*box_msg.box_dims.y,
scale*box_msg.box_dims.z]
msg.shapes.append(shape)
msg.poses.append(box_msg.pose.pose)
return msg
def add_barrier(self):
box = CollisionObject()
box.header.frame_id = self.wi.world_frame
box.operation.operation = box.operation.ADD
box.id = "barrier1"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 2, 1]
box.shapes.append(shape)
pose = Pose()
pose.position.x = 1
pose.position.y = -1.5
pose.position.z = 0
pose.orientation.w = 1.0
box.poses.append(pose)
self.wi.add_object(box)
def build_allowed_contact_specification(self, box_pose, box_dimensions):
msg = AllowedContactSpecification()
msg.name = "grasping_object_region"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = box_dimensions
msg.shape = shape
msg.pose_stamped = box_pose
msg.link_names = [
"r_gripper_palm_link", "r_gripper_l_finger_link",
"r_gripper_r_finger_link", "r_gripper_l_finger_tip_link",
"r_gripper_r_finger_tip_link", "l_gripper_palm_link",
"l_gripper_l_finger_link", "l_gripper_r_finger_link",
"l_gripper_l_finger_tip_link", "l_gripper_r_finger_tip_link"
]
return msg
def __build_object_from_box(self, box_msg, object_id):
msg = CollisionObject()
msg.header.frame_id = box_msg.pose.header.frame_id
msg.header.stamp = rospy.Time.now()
msg.id = object_id
msg.operation.operation = msg.operation.ADD
shape = Shape()
shape.type = shape.BOX
scale = 1.0
shape.dimensions = [
scale * box_msg.box_dims.x, scale * box_msg.box_dims.y,
scale * box_msg.box_dims.z
]
msg.shapes.append(shape)
msg.poses.append(box_msg.pose.pose)
return msg
def build_allowed_contact_specification(self, box_pose, box_dimensions):
msg = AllowedContactSpecification()
msg.name = "grasping_object_region"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = box_dimensions
msg.shape = shape
msg.pose_stamped = box_pose
msg.link_names = ["r_gripper_palm_link",
"r_gripper_l_finger_link",
"r_gripper_r_finger_link",
"r_gripper_l_finger_tip_link",
"r_gripper_r_finger_tip_link",
"l_gripper_palm_link",
"l_gripper_l_finger_link",
"l_gripper_r_finger_link",
"l_gripper_l_finger_tip_link",
"l_gripper_r_finger_tip_link"]
return msg
def add_box(self):
box = CollisionObject()
box.header.frame_id = self.wi.world_frame
box.operation.operation = box.operation.ADD
box.id = "box"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.05, 0.15]
pose = Pose()
pose.position.x = 3.1
pose.position.y = -3.2
pose.position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[2] / 2.0
pose.orientation.w = 1.0
box.shapes.append(shape)
box.poses.append(pose)
self.wi.add_object(box)
return box
def add_collision_box(self, box_pose_stamped, box_dims, object_id):
'''
Adds a box to the map as a collision object.
**Args:**
**box_pose_stamped (geometry_msgs.msg.PoseStamped):** The pose of the box.
**box_dims (tuple of 3 doubles):** The dimensions of the box as (x_dimension, y_dimension, z_dimension)
**object_id (string):** The ID the box should have in the collision map
'''
box = CollisionObject()
box.operation.operation = box.operation.ADD
box.header = box_pose_stamped.header
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose_stamped.pose)
box.id = object_id
self._publish(box, self._collision_object_pub)
return box
def add_collision_box(self, box_pose_stamped, box_dims, object_id):
'''
Adds a box to the map as a collision object.
**Args:**
**box_pose_stamped (geometry_msgs.msg.PoseStamped):** The pose of the box.
**box_dims (tuple of 3 doubles):** The dimensions of the box as (x_dimension, y_dimension, z_dimension)
**object_id (string):** The ID the box should have in the collision map
'''
box = CollisionObject()
box.operation.operation = box.operation.ADD
box.header = box_pose_stamped.header
shape = Shape()
shape.type = Shape.BOX
shape.dimensions = box_dims
box.shapes.append(shape)
box.poses.append(box_pose_stamped.pose)
box.id = object_id
self._publish(box, self._collision_object_pub)
return box
def add_block(self):
block = CollisionObject()
block.header.frame_id = self.wi.world_frame
block.operation.operation = block.operation.ADD
block.id = "block"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.1, 0.13]
pose = Pose()
pose.orientation.w = 1.0
block.shapes.append(shape)
block.poses.append(pose)
block_p = copy.deepcopy(block)
block_p.poses[0].position.x = 2.9
block_p.poses[0].position.y = -3.5
block_p.poses[
0].position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[2] / 2.0
self.wi.add_object(block_p)
return ObjectType(type="FixedObject",
collision_object=block,
parameters=['far_table'])
def get_virtual_gloves():
r_glove = AttachedCollisionObject()
r_glove.object.header.stamp = rospy.get_rostime()
r_glove.object.header.frame_id = '/r_gripper_palm_link'
r_glove.link_name = 'r_gripper_palm_link'
r_glove.object.id = 'r_gripper_glove'
r_glove.object.operation.operation = CollisionObjectOperation.ADD
glove_shape = Shape()
glove_shape.type = Shape.BOX
glove_shape.dimensions = [ 0.25, 0.18, 0.1 ]
glove_pose = Pose()
glove_pose.orientation.w = 1
glove_pose.position.x = 0.1
# Pose will be zero
r_glove.touch_links = ['r_end_effector',
'r_wrist_roll_link',
'r_wrist_flex_link',
'r_forearm_link']
r_glove.object.shapes.append(glove_shape)
r_glove.object.poses.append(glove_pose)
l_glove = copy.deepcopy(r_glove)
l_glove.object.id = 'l_gripper_glove'
l_glove.object.header.frame_id = '/l_gripper_palm_link'
l_glove.link_name = 'l_gripper_palm_link'
l_glove.touch_links = ['l_end_effector',
'l_wrist_roll_link',
'l_wrist_flex_link',
'l_forearm_link']
return r_glove, l_glove
def add_little_object(self):
little_obj = CollisionObject()
little_obj.header.frame_id = self.wi.world_frame
little_obj.operation.operation = little_obj.operation.ADD
little_obj.id = "little_obj"
shape = Shape()
shape.type = shape.CYLINDER
shape.dimensions = [0.05, 0.02]
pose = Pose()
pose.orientation.w = 1.0
little_obj.shapes.append(shape)
little_obj.poses.append(pose)
little_obj_p = copy.deepcopy(little_obj)
little_obj_p.poses[0].position.x = 3.1
little_obj_p.poses[0].position.y = -3.2
little_obj_p.poses[
0].position.z = FAR_TABLE_HEIGHT + 0.02 + shape.dimensions[1] / 2.0
self.wi.add_object(little_obj_p)
return ObjectType(type="RoundObject",
collision_object=little_obj,
parameters=['far_corner'])
import roslib
roslib.load_manifest('usarsim_tools')
import rospy
from arm_navigation_msgs.msg import CollisionObjectOperation, CollisionObject, Shape
from geometry_msgs.msg import Pose
from visualization_msgs.msg import Marker
import copy
rospy.init_node("collision_add")
table1 = CollisionObject()
table2 = CollisionObject()
cShape = Shape()
cShape.type = Shape.BOX
cShape.dimensions = (3.968, 2.880, 1.088)
table1.poses.append(Pose())
table1.poses[0].position.x = 1.468
table1.poses[0].position.y = 1.108
table1.poses[0].position.z = .8
#cPose.position.x = -4.416
#cPose.position.y = 0.992
#cPose.position.z = .8
table1.poses[0].orientation.x = 0.0
table1.poses[0].orientation.y = 0.0
table1.poses[0].orientation.z = 0.0
table1.poses[0].orientation.w = 1.0
table2.poses.append(Pose())
def add_walls(self):
window_wall = CollisionObject()
window_wall.header.frame_id = self.wi.world_frame
window_wall.operation.operation = window_wall.operation.ADD
window_wall.id = "window_wall"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [8, 0.1, 2.5]
pose = Pose()
pose.position.x = 0
pose.position.y = -2.63
pose.position.z = shape.dimensions[2] / 2.0 - 0.1
angle = np.pi / 6.25
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.shapes.append(shape)
window_wall.poses.append(pose)
self.wi.add_object(window_wall)
shape.dimensions[0] = shape.dimensions[1]
shape.dimensions[1] = 5
pose.position.x = -2.45
pose.position.y = 1
angle = 0.05
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "door_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = shape.dimensions[0]
shape.dimensions[0] = 8
pose.position.x = 0
pose.position.y = 2.3
angle = 0.1
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "cabinet_wall"
self.wi.add_object(window_wall)
shape.dimensions[0] = shape.dimensions[1]
shape.dimensions[1] = 3
pose.position.x = 4
pose.position.y = -3
angle = 0.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "banner_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = 4
shape.dimensions[2] = 1
pose.position.x = 3.25
pose.position.y = 0.65
pose.position.z = shape.dimensions[2] / 2.0 - 0.05
angle = 0
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "computer_wall"
self.wi.add_object(window_wall)
shape.dimensions[1] = shape.dimensions[0]
shape.dimensions[0] = 1.8
pose.position.x = 3.9
pose.position.y = -1.6
angle = np.pi / 5.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
window_wall.id = "nook_wall"
self.wi.add_object(window_wall)
def add_spatula(self, arm):
spatula = CollisionObject()
spatula.id = "spatula"
spatula.header.frame_id = self.wi.world_frame
spatula.operation.operation = spatula.operation.ADD
paddle = Shape()
handle = Shape()
paddle.type = paddle.BOX
paddle.dimensions = [0.11, 0.12, 0.005]
handle.type = handle.CYLINDER
handle.dimensions = [0.02, 0.24]
paddle_pose = Pose()
handle_pose = Pose()
paddle_pose.position.y = paddle.dimensions[1] / 2.0
paddle_pose.orientation.w = 1.0
angle = np.pi / 5.0
handle_pose.position.y = -1.0 * handle.dimensions[1] / 2.0 * np.sin(
np.pi / 2.0 - angle)
handle_pose.position.z = handle.dimensions[1] / 2.0 * np.cos(
np.pi / 2.0 - angle)
handle_pose.orientation.x = np.sin((np.pi / 2.0 - angle) / 2.0)
handle_pose.orientation.w = np.cos((np.pi / 2.0 - angle) / 2.0)
spatula.shapes = [paddle, handle]
spatula.poses = [paddle_pose, handle_pose]
#this is the grasp transformation
pos_on_handle = handle.dimensions[1] - 0.1
inv_grasp = Transform()
grasp = RigidGrasp()
#really should be calculating this...
inv_grasp.translation.y = GRIPPER_LENGTH
inv_grasp.translation.z = pos_on_handle / 2.0
#flip 90 degrees
inv_grasp.rotation.z = np.sin(-1.0 * np.pi / 4.0)
inv_grasp.rotation.w = np.cos(-1.0 * np.pi / 4.0)
g = gt.transform_pose(transform_to_pose(inv_grasp), handle_pose)
origin = Pose()
origin.orientation.w = 1.0
grasp.transform = pose_to_transform(
gt.inverse_transform_pose(origin, g))
grasp.touch_links = [arm[0] + '_end_effector']
grasp.attach_link = arm[0] + '_gripper_r_finger_tip_link'
grasp.min_approach_distance = 0
grasp.desired_approach_distance = 0.15
grasp.min_distance_from_surface = -1
spat_p = copy.deepcopy(spatula)
wtrans = Pose()
wtrans.orientation.x = np.sin(angle / 2.0)
wtrans.orientation.w = np.cos(angle / 2.0)
if self.world == -1:
wtrans.position.x = 3
wtrans.position.y = -2.8
wtrans.position.z = FAR_TABLE_HEIGHT + 0.02 + handle.dimensions[0]
ss = ['far_corner']
elif self.world == -2 or self.world == -7 or self.world == -9 or self.world == -5:
wtrans.position.x = -1.7
wtrans.position.y = 2
wtrans.position.z = DOOR_TABLE_HEIGHT + 0.02 + handle.dimensions[0]
ss = ['door_table']
else:
wtrans.position.x = 0.6
wtrans.position.y = -0.3
wtrans.position.z = CENTER_TABLE_HEIGHT + 0.02 + handle.dimensions[
0]
ss = ['center_table']
if self.world == -4 or self.world == -5:
wtrans.position.y = 0
rot = Quaternion()
rot.z = np.sin(np.pi / 2.0)
rot.w = np.cos(np.pi / 2.0)
wtrans.orientation = gt.multiply_quaternions(
rot, wtrans.orientation)
if self.world == -5:
wtrans.position.x = 0
for i in range(len(spat_p.poses)):
spat_p.poses[i] = gt.transform_pose(spat_p.poses[i], wtrans)
self.wi.add_object(spat_p)
return ObjectType(type="SpatulaObject",
collision_object=spatula,
parameters=ss,
numeric_parameters=paddle.dimensions +
handle.dimensions + [angle]), [grasp]
def add_tables(self):
if self.screenshot:
return ['', '', '']
table = CollisionObject()
table.header.frame_id = self.wi.world_frame
table.operation.operation = table.operation.ADD
shape = Shape()
shape.type = shape.MESH
#center table
shape.vertices = [
Point(x=-0.2, y=-0.4, z=CENTER_TABLE_HEIGHT),
Point(x=0.97, y=-0.6, z=CENTER_TABLE_HEIGHT),
Point(x=1.0, y=0.25, z=CENTER_TABLE_HEIGHT),
Point(x=-0.25, y=0.3, z=CENTER_TABLE_HEIGHT)
]
shape.triangles = [0, 1, 2, 2, 3, 0]
pose = Pose()
pose.orientation.w = 1.0
poseb = copy.deepcopy(pose)
poseb.position.z = -0.02
poset = copy.deepcopy(pose)
poset.position.z = 0.02
table.shapes.append(shape)
table.shapes.append(shape)
table.shapes.append(shape)
table.poses.append(poset)
table.poses.append(pose)
table.poses.append(poseb)
table.id = 'center_table'
self.wi.add_object(table)
#table near the door
table.id = 'door_table'
shape.vertices = [
Point(x=-2.4, y=1.84, z=DOOR_TABLE_HEIGHT),
Point(x=-1.15, y=1.75, z=DOOR_TABLE_HEIGHT),
Point(x=-1.15, y=2.5, z=DOOR_TABLE_HEIGHT),
Point(x=-2.4, y=2.5, z=DOOR_TABLE_HEIGHT)
]
self.wi.add_object(table)
#table in far corner
table.id = 'far_corner'
shape.vertices = [
Point(x=3, y=-2.7, z=FAR_TABLE_HEIGHT),
Point(x=2.4, y=-3.8, z=FAR_TABLE_HEIGHT),
Point(x=3.2, y=-4.3, z=FAR_TABLE_HEIGHT),
Point(x=3.8, y=-3.2, z=FAR_TABLE_HEIGHT)
]
self.wi.add_object(table)
if self.fake_walls:
#these are the table feet
foot = CollisionObject()
foot.header.frame_id = self.wi.world_frame
foot.operation.operation = foot.operation.ADD
foot.id = "far_corner_foot"
shape = Shape()
shape.type = shape.BOX
shape.dimensions = [0.1, 0.5, FAR_TABLE_HEIGHT / 2.0]
pose = Pose()
pose.position.x = 3
pose.position.y = -3.4
pose.position.z = shape.dimensions[2] / 2.0
angle = 0.5
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
foot.shapes.append(shape)
foot.poses.append(pose)
self.wi.add_object(foot)
foot.id = "center_table_foot1"
shape.dimensions = [0.1, 0.75, 0.3]
pose.position.x = 0.9
pose.position.y = -0.1
pose.position.z = shape.dimensions[2] / 2.0
angle = 0
pose.orientation.z = np.cos(angle / 2.0)
pose.orientation.w = np.sin(angle / 2.0)
self.wi.add_object(foot)
foot.id = "center_table_foot2"
pose.position.x = -0.2
self.wi.add_object(foot)
foot.id = "door_table_foot"
pose.position.x = -1.25
pose.position.y = 2.1
self.wi.add_object(foot)
return ['center_table', 'door_table', 'far_corner']
def pick(self,pickup_goal):
#prepare result
pickresult = PickupResult()
#get grasps for the object
# fill up a grasp planning request
grasp_planning_req = GraspPlanningRequest()
grasp_planning_req.arm_name = pickup_goal.arm_name
grasp_planning_req.target = pickup_goal.target
object_to_attach = pickup_goal.collision_object_name
# call grasp planning service
grasp_planning_res = self.grasp_planning_service_.call(grasp_planning_req)
#print grasp_planning_res
# process grasp planning result
if (grasp_planning_res.error_code.value != grasp_planning_res.error_code.SUCCESS):
rospy.logerr("No grasp found for this object, we will generate some, but only when the node is ready for that !")
pickresult.manipulation_result.value = ManipulationResult.UNFEASIBLE
return pickresult
else:
rospy.loginfo("Got "+ str(len(grasp_planning_res.grasps)) +" grasps for this object")
# for each grasp, generate rotational symmetric grasps around the object (this is already in the DB for the CokeCan but should be removed and done online)
#for each grasp, check path from pre-grasp pose to grasp pose first and then check motion to pre-grasp pose
motion_plan_res=GetMotionPlanResponse()
grasp_to_execute_=Grasp()
for index, grasp in enumerate(grasp_planning_res.grasps):
# extract grasp_pose
grasp_pose_ = PoseStamped()
grasp_pose_.header.frame_id = "/world";
grasp_pose_.pose = grasp.grasp_pose
grasp_pose_.pose.position.y=grasp_pose_.pose.position.y-0.01 #-0.01 in sim, +0.03 in real #cheating here
# copy the grasp_pose as a pre-grasp_pose
pre_grasp_pose_ = copy.deepcopy(grasp_pose_)
# add desired_approach_distance along the approach vector. above the object to plan pre-grasp pose
# currently add this to Z because approach vector needs to be computed somehow first (TODO)
pre_grasp_pose_.pose.position.z = pre_grasp_pose_.pose.position.z + 0.05
# for distance from 0 (grasp_pose) to desired_approach distance (pre_grasp_pose) test IK/Collision and save result
# decompose this in X steps depending on distance to do and max speed
interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(pre_grasp_pose_, grasp_pose_, False)
# check the result (depending on number of steps etc...)
if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS):
number_of_interpolated_steps=0
# check if one approach trajectory is feasible
for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes):
if traj_error_code.val!=1:
rospy.logerr("One unfeasible approach-phase step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val))
break
else:
number_of_interpolated_steps=interpolation_index
# if trajectory is feasible then plan reach motion to pre-grasp pose
if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points):
rospy.loginfo("Grasp number "+str(index)+" approach is possible, checking motion plan to pre-grasp")
#print interpolated_motion_plan_res
# check and plan motion to this pre_grasp_pose
motion_plan_res = self.plan.plan_arm_motion( pickup_goal.arm_name, "jointspace", pre_grasp_pose_ )
#if this pre-grasp pose is successful do not test others
if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS):
rospy.loginfo("Grasp number "+str(index)+" is possible, executing it")
# copy the grasp to execute for the following steps
grasp_to_execute_ = copy.deepcopy(grasp)
break
else:
rospy.logerr("Grasp number "+str(index)+" approach is impossible")
#print interpolated_motion_plan_res
else:
rospy.logerr("Grasp number "+str(index)+" approach is impossible")
#print interpolated_motion_plan_res
# execution part
if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS):
#put hand in pre-grasp posture
if self.pre_grasp_exec(grasp_to_execute_)<0:
#QMessageBox.warning(self, "Warning",
# "Pre-grasp action failed: ")
pickresult.manipulation_result.value = ManipulationResult.FAILED
return pickresult
#go there
# filter the trajectory
filtered_traj = self.filter_traj_(motion_plan_res)
self.display_traj_( filtered_traj )
# reach pregrasp pose
if self.send_traj_( filtered_traj )<0:
#QMessageBox.warning(self, "Warning",
# "Reach trajectory execution failed: ")
pickresult.manipulation_result.value = ManipulationResult.FAILED
return pickresult
#time.sleep(20) # TODO use actionlib here
time.sleep(self.simdelay) # TODO use actionlib here
# approach
if self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory )<0:
#QMessageBox.warning(self, "Warning",
# "Approach trajectory execution failed: ")
pickresult.manipulation_result.value = ManipulationResult.FAILED
return pickresult
time.sleep(self.simdelay) # TODO use actionlib here
#grasp
if self.grasp_exec(grasp_to_execute_)<0:
#QMessageBox.warning(self, "Warning",
# "Grasp action failed: ")
pickresult.manipulation_result.value = ManipulationResult.FAILED
return pickresult
time.sleep(self.simdelay) # TODO use actionlib here
#attach the collision object to the hand (should be cleaned-up)
rospy.loginfo("Now we attach the object")
att_object = AttachedCollisionObject()
att_object.link_name = "palm"
att_object.object.id = object_to_attach
att_object.object.operation.operation = CollisionObjectOperation.ATTACH_AND_REMOVE_AS_OBJECT
att_object.object.header.frame_id = "palm"
att_object.object.header.stamp = rospy.Time.now()
object = Shape()
object.type = Shape.CYLINDER
object.dimensions.append(.03)
object.dimensions.append(0.1)
pose = Pose()
pose.position.x = 0.0
pose.position.y = -0.06
pose.position.z = 0.06
pose.orientation.x = 0
pose.orientation.y = 0
pose.orientation.z = 0
pose.orientation.w = 1
att_object.object.shapes.append(object)
att_object.object.poses.append(pose);
att_object.touch_links= ["ffdistal","mfdistal","rfdistal","lfdistal","thdistal","ffmiddle","mfmiddle","rfmiddle","lfmiddle","thmiddle","ffproximal","mfproximal","rfproximal","lfproximal","thproximal","palm","lfmetacarpal","thbase"]
self.att_object_in_map_pub_.publish(att_object)
rospy.loginfo("Attach object published")
else:
rospy.logerr("None of the grasps tested is possible")
pickresult.manipulation_result.value = ManipulationResult.UNFEASIBLE
return pickresult
pickresult.manipulation_result.value = ManipulationResult.SUCCESS
pickresult.grasp= grasp_to_execute_
return pickresult
def place(self,place_goal):
placeresult = PlaceResult()
target_pose_to_execute_ = PoseStamped()
#for location, check path from approach pose to release pose first and then check motion to approach pose
motion_plan_res=GetMotionPlanResponse()
object_to_attach = place_goal.collision_object_name
# get current hand pose
self.listener.waitForTransform('/world', '/palm', rospy.Time(), rospy.Duration(1.0))
try:
(trans,rot) = self.listener.lookupTransform('/world', '/palm', rospy.Time())
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
rospy.logerr("Cannot get current palm pose")
placeresult.manipulation_result.value = ManipulationResult.ERROR
return placeresult
current_pose_= PoseStamped()
current_pose_.header.frame_id = "/world"
current_pose_.pose.position = Point(trans[0],trans[1],trans[2])
current_pose_.pose.orientation = Quaternion(rot[0],rot[1],rot[2],rot[3])
# for each place location
for index, target_pose_ in enumerate(place_goal.place_locations):
#compute straight trajectory to approach distance
target_approach_pose_= PoseStamped()
target_approach_pose_.header.frame_id = "/world"
target_approach_pose_.pose.position = Point(target_pose_.pose.position.x,target_pose_.pose.position.y,target_pose_.pose.position.z+place_goal.approach.desired_distance)
target_approach_pose_.pose.orientation = Quaternion(target_pose_.pose.orientation.x,target_pose_.pose.orientation.y,target_pose_.pose.orientation.z,target_pose_.pose.orientation.w) #keep same orientation for the first test
# for distance from 0 (release_pose) to desired_approach distance (approach_pose) test IK/Collision and save result
# decompose this in X steps depending on distance to do and max speed
interpolated_motion_plan_res = self.plan.get_interpolated_ik_motion_plan(target_approach_pose_, target_pose_, False)
# check the result (depending on number of steps etc...)
if (interpolated_motion_plan_res.error_code.val == interpolated_motion_plan_res.error_code.SUCCESS):
number_of_interpolated_steps=0
# check if one approach trajectory is feasible
for interpolation_index, traj_error_code in enumerate(interpolated_motion_plan_res.trajectory_error_codes):
if traj_error_code.val!=1:
rospy.logerr("One unfeasible approach-phase step found at "+str(interpolation_index)+ "with val " + str(traj_error_code.val))
break
else:
number_of_interpolated_steps=interpolation_index
# if trajectory is feasible then plan reach motion to approach pose
if number_of_interpolated_steps+1==len(interpolated_motion_plan_res.trajectory.joint_trajectory.points):
rospy.loginfo("Place pose number "+str(index)+" approach is possible, checking motion plan to approach pose")
#print interpolated_motion_plan_res
# check and plan motion to this approach pose
motion_plan_res = self.plan.plan_arm_motion( place_goal.arm_name, "jointspace" ,target_approach_pose_)#,object_to_attach)
#if this approach pose is successful do not test others
if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS):
rospy.loginfo("Place pose number "+str(index)+" is possible, executing it")
# copy the pose to execute for the following steps
target_pose_to_execute_ = copy.deepcopy(target_pose_)
break
else:
rospy.logerr("Place pose number "+str(index)+" approach is impossible")
#print interpolated_motion_plan_res
else:
rospy.logerr("Place pose number "+str(index)+" approach is impossible")
#print interpolated_motion_plan_res
# execution part
if (motion_plan_res.error_code.val == motion_plan_res.error_code.SUCCESS):
#go there
# filter the trajectory
filtered_traj = self.filter_traj_(motion_plan_res)
self.display_traj_( filtered_traj )
# reach approach pose
if self.send_traj_( filtered_traj )<0:
#QMessageBox.warning(self, "Warning",
# "Reach trajectory execution failed: ")
placeresult.manipulation_result.value = ManipulationResult.FAILED
return placeresult
time.sleep(self.simdelay) # TODO use actionlib here
# approach
if self.send_traj_( interpolated_motion_plan_res.trajectory.joint_trajectory )<0:
#QMessageBox.warning(self, "Warning",
# "Approach trajectory execution failed: ")
placeresult.manipulation_result.value = ManipulationResult.FAILED
return placeresult
time.sleep(self.simdelay) # TODO use actionlib here
#put hand in pre-grasp posture (to gently release)
if self.pre_grasp_exec(place_goal.grasp)<0:
#QMessageBox.warning(self, "Warning",
# "Release action failed: ")
placeresult.manipulation_result.value = ManipulationResult.FAILED
return placeresult
time.sleep(self.simdelay) # TODO use actionlib here
#detach the object from the hand
rospy.loginfo("Now we detach the attached object")
att_object = AttachedCollisionObject()
att_object.link_name = "palm"
att_object.object.id = object_to_attach
att_object.object.operation.operation = CollisionObjectOperation.DETACH_AND_ADD_AS_OBJECT
att_object.object.header.frame_id = "palm"
att_object.object.header.stamp = rospy.Time.now()
object = Shape()
object.type = Shape.CYLINDER
object.dimensions.append(.03)
object.dimensions.append(0.1)
pose = Pose()
pose.position.x = 0.0
pose.position.y = -0.06
pose.position.z = 0.06
pose.orientation.x = 0
pose.orientation.y = 0
pose.orientation.z = 0
pose.orientation.w = 1
att_object.object.shapes.append(object)
att_object.object.poses.append(pose);
self.att_object_in_map_pub_.publish(att_object)
rospy.loginfo("Attached object to be detached published")
else:
rospy.logerr("None of the place pose tested is possible")
placeresult.manipulation_result.value = ManipulationResult.UNFEASIBLE
return placeresult
placeresult.manipulation_result.value = ManipulationResult.SUCCESS
placeresult.place_location= target_pose_to_execute_
return placeresult
def get_obj():
attached_obj = AttachedCollisionObject()
obj = CollisionObject()
shape = Shape()
pose = Pose()
vert = Point()
verts = []
in_verts = True
in_position = True
f = open('test.txt', 'r')
for line in f:
fields = line.split(':')
fields = [fields[i].strip() for i in range(len(fields))]
# print fields
if fields[0] == "frame_id":
obj.header.frame_id = fields[1]
elif fields[0] == "id":
obj.id = fields[1]
elif fields[0] == "operation" and fields[1] != "":
obj.operation.operation = int(fields[1])
elif fields[0] == "type":
shape.type = int(fields[1])
elif fields[0] == "triangles":
array = fields[1][1:-2]
ind = array.split(',')
inds = [int(i) for i in ind]
shape.triangles = inds
elif fields[0] == "x" and in_verts:
vert = Point()
vert.x = float(fields[1])
elif fields[0] == "y" and in_verts:
vert.y = float(fields[1])
elif fields[0] == "z" and in_verts:
vert.z = float(fields[1])
verts.append(vert)
elif fields[0] == "poses":
in_verts = False
elif fields[0] == "x" and in_position:
pose.position.x = float(fields[1])
elif fields[0] == "y" and in_position:
pose.position.y = float(fields[1])
elif fields[0] == "z" and in_position:
pose.position.z = float(fields[1])
in_position = False
elif fields[0] == "x" and not in_position:
pose.orientation.x = float(fields[1])
elif fields[0] == "y" and not in_position:
pose.orientation.y = float(fields[1])
elif fields[0] == "z" and not in_position:
pose.orientation.z = float(fields[1])
elif fields[0] == "w":
pose.orientation.w = float(fields[1])
obj.id = "graspable_object_1001"
shape.vertices = verts
obj.shapes = [shape]
obj.poses = [pose]
attached_obj.object = obj
return attached_obj
def make_gripper_obs(self):
obs = Shape()
obs.type = 1
obs.dimensions = [0.10, 0.10, 0.10]
return obs
