def lin_rigid_tps_transform(tps_transform, lin_point):
lin_ag, trans_g, w_ng, x_na = tps_transform.lin_ag, tps_transform.trans_g, tps_transform.w_ng, tps_transform.x_na
# orientation part is gradient(f)
orien = tps.tps_grad(np.array([lin_point]), lin_ag, trans_g, w_ng, x_na)[0]
# translation part is f(a) - gradient(f)*a
trans = tps.tps_eval(np.array([lin_point]), lin_ag, trans_g, w_ng, x_na)[0] - np.dot(orien, lin_point)
linearized_transform = juc.trans_rot_to_hmat(trans, juc.mat2quat(orthogonalize3_cross(np.array([orien]))))
return linearized_transform
def transform_pose(xyz,quat,F):
x,y,z = xyz
xp, yp, zp = F.eval(np.r_[x],np.r_[y],np.r_[z]).T
jac = F.grad(np.r_[x],np.r_[y],np.r_[z])[0]
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
new_rot_mat_orth = np.linalg.qr(new_rot_mat)[0]
new_quat = conv.mat2quat(new_rot_mat_orth)
return np.r_[xp,yp,zp], new_quat
def transform_pose(xyz, quat, F):
x, y, z = xyz
xp, yp, zp = F.eval(np.r_[x], np.r_[y], np.r_[z]).T
jac = F.grad(np.r_[x], np.r_[y], np.r_[z])[0]
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
new_rot_mat_orth = np.linalg.qr(new_rot_mat)[0]
new_quat = conv.mat2quat(new_rot_mat_orth)
return np.r_[xp, yp, zp], new_quat
def get_warped_spec_pt_traj_mats(demo_spec_pt_traj_mats, demo_to_exp_target_transform):
demo_spec_pt_traj_xyzs, demo_spec_pt_traj_oriens = [], []
for demo_spec_pt_traj_mat in demo_spec_pt_traj_mats:
demo_spec_pt_traj_xyz, demo_spec_pt_traj_orien = juc.hmat_to_trans_rot(demo_spec_pt_traj_mat)
demo_spec_pt_traj_xyzs.append(demo_spec_pt_traj_xyz)
demo_spec_pt_traj_oriens.append(juc.quat2mat(demo_spec_pt_traj_orien))
warped_spec_pt_traj_xyzs, warped_spec_pt_traj_oriens = demo_to_exp_target_transform.transform_frames(np.array(demo_spec_pt_traj_xyzs), np.array(demo_spec_pt_traj_oriens))
warped_spec_pt_traj_mats = [juc.trans_rot_to_hmat(warped_spec_pt_traj_xyz, juc.mat2quat(warped_spec_pt_traj_orien)) for warped_spec_pt_traj_xyz, warped_spec_pt_traj_orien in zip(warped_spec_pt_traj_xyzs, warped_spec_pt_traj_oriens)]
return warped_spec_pt_traj_mats
def get_warped_spec_pt_traj_mats(demo_spec_pt_traj_mats, demo_to_exp_target_transform):
demo_spec_pt_traj_xyzs, demo_spec_pt_traj_oriens = [], []
for demo_spec_pt_traj_mat in demo_spec_pt_traj_mats:
demo_spec_pt_traj_xyz, demo_spec_pt_traj_orien = juc.hmat_to_trans_rot(demo_spec_pt_traj_mat)
demo_spec_pt_traj_xyzs.append(demo_spec_pt_traj_xyz)
demo_spec_pt_traj_oriens.append(juc.quat2mat(demo_spec_pt_traj_orien))
warped_spec_pt_traj_xyzs, warped_spec_pt_traj_oriens = demo_to_exp_target_transform.transform_frames(np.array(demo_spec_pt_traj_xyzs), np.array(demo_spec_pt_traj_oriens))
warped_spec_pt_traj_mats = [juc.trans_rot_to_hmat(warped_spec_pt_traj_xyz, juc.mat2quat(warped_spec_pt_traj_orien)) for warped_spec_pt_traj_xyz, warped_spec_pt_traj_orien in zip(warped_spec_pt_traj_xyzs, warped_spec_pt_traj_oriens)]
return warped_spec_pt_traj_mats
def transform_poses(pvec_n7, tps33): x_n, y_n, z_n = pvec_n7[:,:3].T quat_n4 = pvec_n7[:,3:7] xp_n, yp_n, zp_n = tps33.eval(x_n, y_n, z_n).T grad_n33 = tps33.grad(x_n, y_n, z_n) mats_n33 = [conv.quat2mat(quat) for quat in quat_n4] tmats_n33 = [np.dot(g,p) for (g,p) in zip(grad_n33, mats_n33)] tmats_n33 = [np.linalg.qr(mat)[0] for mat in tmats_n33] tquats_n4 = [conv.mat2quat(mat) for mat in tmats_n33] return np.c_[xp_n, yp_n, zp_n, tquats_n4]
def transform_poses(xyzs,quats,F):
x,y,z = xyzs.T
xyzp = F.eval(x,y,z)
jacs = F.grad(x,y,z)
new_quats = []
for (quat,jac) in zip(quats,jacs):
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
q,r = np.linalg.qr(new_rot_mat.T)
new_rot_mat_orth = np.sign(np.diag(r))[:,None]* q.T
new_quat = conv.mat2quat(new_rot_mat_orth)
new_quats.append(new_quat)
return xyzp, np.array(new_quats)
def transform_poses(xyzs, quats, F):
x, y, z = xyzs.T
xyzp = F.eval(x, y, z)
jacs = F.grad(x, y, z)
new_quats = []
for (quat, jac) in zip(quats, jacs):
old_rot_mat = conv.quat2mat(quat)
new_rot_mat = np.dot(jac, old_rot_mat)
q, r = np.linalg.qr(new_rot_mat.T)
new_rot_mat_orth = np.sign(np.diag(r))[:, None] * q.T
new_quat = conv.mat2quat(new_rot_mat_orth)
new_quats.append(new_quat)
return xyzp, np.array(new_quats)
def get_chessboard_pose(im,shape_cb,size,cam_matrix):
width_cb,height_cb = shape_cb
xs,ys = np.meshgrid(range(0,width_cb),range(0,height_cb))
xys = size*np.c_[xs.flat,ys.flat,np.zeros(xs.size)]
print xys
height_im,width_im = im.shape[:2]
cx = width_im/2-.5
cy = height_im/2-.5
dist_coeffs = np.zeros(5)
corners = cv2.findChessboardCorners(im,(width_cb,height_cb))[1]
if corners is None:
raise ValueError
else:
rod,trans = cv2.solvePnP(np.array(xys),np.array(corners),cam_matrix,dist_coeffs)
quat = conversions.mat2quat(conversions.rod2mat(rod))
return trans,quat,corners
def apply_tps_transform_to_hmat(tps_transform, hmat):
xyz, quat = juc.hmat_to_trans_rot(hmat)
warped_xyz, warped_mat = tps_transform.transform_frames(np.array([xyz]), np.array([juc.quat2mat(quat)]))
return juc.trans_rot_to_hmat(warped_xyz[0], juc.mat2quat(warped_mat[0]))
def make_traj_multi_stage_do_work(current_stage_info, cur_exp_clouds, clouds_frame_id, stage_num, prev_stage_info, prev_exp_clouds, verb_data_accessor, to_gripper_frame_func=None):
arms_used = current_stage_info.arms_used
verb_stage_data = verb_data_accessor.get_demo_data(current_stage_info.stage_name)
if stage_num == 0:
# don't do any extra transformation for the first stage
prev_demo_to_exp_grip_transform_lin_rigid = np.identity(4)
# no special point translation for first stage since no tool yet
special_point_translation = np.identity(4)
elif stage_num > 0:
# make sure that the tool stage only uses one arm (the one with the tool)
assert arms_used in ['r', 'l']
prev_stage_data = verb_data_accessor.get_demo_data(prev_stage_info.stage_name)
prev_demo_pc = prev_stage_data["object_clouds"][prev_stage_info.item]["xyz"]
prev_exp_pc = prev_exp_clouds[0]
prev_demo_pc_down = voxel_downsample(prev_demo_pc, .02)
prev_exp_pc_down = voxel_downsample(prev_exp_pc, .02)
gripper_data_key = "%s_gripper_tool_frame" % (arms_used)
# transform point cloud in base frame to gripper frame
# assume right hand has the tool for now
# use the last pose of the gripper in the stage to figure out the point cloud of the tool in the gripper frame when the tool was grabbed
prev_demo_gripper_pos = prev_stage_data[gripper_data_key]["position"][-1]
prev_demo_gripper_orien = prev_stage_data[gripper_data_key]["orientation"][-1]
prev_demo_gripper_to_base_transform = juc.trans_rot_to_hmat(prev_demo_gripper_pos, prev_demo_gripper_orien)
prev_demo_base_to_gripper_transform = np.linalg.inv(prev_demo_gripper_to_base_transform)
prev_demo_pc_in_gripper_frame = np.array([apply_transform(prev_demo_base_to_gripper_transform, point) for point in prev_demo_pc_down])
# get the new point cloud in the new gripper frame
# prev_exp_pc_in_gripper_frame = [apply_transform(prev_exp_base_to_gripper_transform, point) for point in prev_exp_pc_down]
if to_gripper_frame_func is None:
prev_exp_pc_in_gripper_frame = to_gripper_frame_tf_listener(prev_exp_pc_down, gripper_data_key)
else:
prev_exp_pc_in_gripper_frame = to_gripper_frame_func(prev_exp_pc_down, gripper_data_key)
# get the transformation from the new point cloud to the old point cloud for the previous stage
prev_demo_to_exp_grip_transform = get_tps_transform(prev_demo_pc_in_gripper_frame, prev_exp_pc_in_gripper_frame)
# transforms gripper trajectory point into special point trajectory point
if prev_stage_info.special_point is None:
# if there is no special point, linearize at origin
prev_demo_to_exp_grip_transform_lin_rigid = lin_rigid_tps_transform(prev_demo_to_exp_grip_transform, np.zeros(3))
# don't do a special point translation if there is no specified special point
special_point_translation = np.identity(4)
else:
prev_demo_to_exp_grip_transform_lin_rigid = lin_rigid_tps_transform(prev_demo_to_exp_grip_transform, np.array(prev_stage_info.special_point))
# translation from gripper pose in world frame to special point pose in world frame
special_point_translation = jut.translation_matrix(np.array(prev_stage_info.special_point))
if arms_used != 'b':
arms_used_list = [arms_used]
else:
arms_used_list = ['r', 'l']
warped_stage_data = group_to_dict(verb_stage_data) # deep copy it
resp = MakeTrajectoryResponse()
traj = resp.traj
traj.arms_used = arms_used
for arm in arms_used_list:
gripper_data_key = "%s_gripper_tool_frame" % (arm)
# find the special point trajectory before the target transformation
cur_demo_gripper_traj_xyzs = verb_stage_data[gripper_data_key]["position"]
cur_demo_gripper_traj_oriens = verb_stage_data[gripper_data_key]["orientation"]
cur_demo_gripper_traj_mats = [juc.trans_rot_to_hmat(trans, orien) for (trans, orien) in zip(cur_demo_gripper_traj_xyzs, cur_demo_gripper_traj_oriens)]
cur_mid_spec_pt_traj_mats = [np.dot(gripper_mat, special_point_translation) for gripper_mat in cur_demo_gripper_traj_mats]
# find the transformation from the new special point to the gripper frame
cur_exp_inv_special_point_transformation = np.linalg.inv(np.dot(prev_demo_to_exp_grip_transform_lin_rigid, special_point_translation))
# save the demo special point traj for plotting
plot_spec_pt_traj = []
for gripper_mat in cur_demo_gripper_traj_mats:
spec_pt_xyz, spec_pt_orien = juc.hmat_to_trans_rot(np.dot(gripper_mat, special_point_translation))
plot_spec_pt_traj.append(spec_pt_xyz)
print 'grip transform:'
print prev_demo_to_exp_grip_transform_lin_rigid
print 'special point translation:'
print special_point_translation
print 'inverse special point translation:'
print cur_exp_inv_special_point_transformation
# find the target transformation for the experiment scene
demo_object_clouds = [verb_stage_data["object_clouds"][obj_name]["xyz"] for obj_name in verb_stage_data["object_clouds"].keys()]
if len(demo_object_clouds) > 1:
raise Exception("i don't know what to do with multiple object clouds")
x_nd = voxel_downsample(demo_object_clouds[0], .02)
y_md = voxel_downsample(cur_exp_clouds[0], .02)
# transformation from old target object to new target object in world frame
cur_demo_to_exp_transform = get_tps_transform(x_nd, y_md)
# apply the target warping transformation to the special point trajectory
cur_mid_spec_pt_traj_xyzs, cur_mid_spec_pt_traj_oriens = [], []
for cur_mid_spec_pt_traj_mat in cur_mid_spec_pt_traj_mats:
cur_mid_spec_pt_traj_xyz, cur_mid_spec_pt_traj_orien = juc.hmat_to_trans_rot(cur_mid_spec_pt_traj_mat)
cur_mid_spec_pt_traj_xyzs.append(cur_mid_spec_pt_traj_xyz)
cur_mid_spec_pt_traj_oriens.append(juc.quat2mat(cur_mid_spec_pt_traj_orien))
cur_exp_spec_pt_traj_xyzs, cur_exp_spec_pt_traj_oriens = cur_demo_to_exp_transform.transform_frames(np.array(cur_mid_spec_pt_traj_xyzs), np.array(cur_mid_spec_pt_traj_oriens))
plot_warped_spec_pt_traj = cur_exp_spec_pt_traj_xyzs #save the special point traj for plotting
cur_exp_spec_pt_traj_mats = [juc.trans_rot_to_hmat(cur_exp_spec_pt_traj_xyz, mat2quat(cur_exp_spec_pt_traj_orien)) for cur_exp_spec_pt_traj_xyz, cur_exp_spec_pt_traj_orien in zip(cur_exp_spec_pt_traj_xyzs, cur_exp_spec_pt_traj_oriens)]
# transform the warped special point trajectory back to a gripper trajectory in the experiment
cur_exp_gripper_traj_mats = [np.dot(spec_pt_mat, cur_exp_inv_special_point_transformation) for spec_pt_mat in cur_exp_spec_pt_traj_mats]
warped_stage_data[gripper_data_key]["position"] = []
warped_stage_data[gripper_data_key]["orientation"] = []
for exp_traj_mat in cur_exp_gripper_traj_mats:
warped_pos, warped_orien = juc.hmat_to_trans_rot(exp_traj_mat)
warped_stage_data[gripper_data_key]["position"].append(warped_pos)
warped_stage_data[gripper_data_key]["orientation"].append(warped_orien)
if arm == 'r':
traj.r_gripper_poses.poses = xyzs_quats_to_poses(warped_stage_data[gripper_data_key]["position"], warped_stage_data[gripper_data_key]["orientation"])
print "poses: ", len(traj.r_gripper_poses.poses)
traj.r_gripper_angles = warped_stage_data["r_gripper_joint"]
traj.r_gripper_poses.header.frame_id = clouds_frame_id
elif arm == 'l':
traj.l_gripper_poses.poses = xyzs_quats_to_poses(warped_stage_data[gripper_data_key]["position"], warped_stage_data[gripper_data_key]["orientation"])
print "poses: ", len(traj.l_gripper_poses.poses)
traj.l_gripper_angles = warped_stage_data["l_gripper_joint"]
traj.l_gripper_poses.header.frame_id = clouds_frame_id
Globals.handles = []
plot_original_and_warped_demo_and_spec_pt(verb_stage_data, warped_stage_data, plot_spec_pt_traj, plot_warped_spec_pt_traj, traj)
pose_array = conversions.array_to_pose_array(y_md, 'base_footprint')
Globals.handles.append(Globals.rviz.draw_curve(pose_array, rgba = (0,0,1,1),width=.01,type=Marker.CUBE_LIST))
return resp
def apply_tps_transform_to_hmat(tps_transform, hmat):
xyz, quat = juc.hmat_to_trans_rot(hmat)
warped_xyz, warped_mat = tps_transform.transform_frames(np.array([xyz]), np.array([juc.quat2mat(quat)]))
return juc.trans_rot_to_hmat(warped_xyz[0], juc.mat2quat(warped_mat[0]))
