def createGrasp(grasp_pose, allowed_touch_objects=[], pre_grasp_posture=None, grasp_posture=None, pre_grasp_approach=None, post_grasp_retreat=None, id_grasp="grasp_"):
"""Create a grasp for object in grasp_pose, allowing collisions with allowed_touch_objects list,
with pre_grasp_posture and grasp_posture as positions of the hand. Also id name id_grasp."""
grasp = Grasp()
grasp.id = id_grasp
# header = Header()
# header.frame_id = "base_link"
# header.stamp = rospy.Time.now()
# grasp_pose_msg = PoseStamped(header, grasp_pose)
grasp_pose_with_offset = add_offset_reem_hand(grasp_pose)
grasp.grasp_pose = grasp_pose_with_offset
if pre_grasp_posture == None:
grasp.pre_grasp_posture = getPreGraspPosture
else:
grasp.pre_grasp_posture = pre_grasp_posture
if grasp_posture == None:
grasp.grasp_posture = getGraspPosture
else:
grasp.grasp_posture = grasp_posture
grasp.allowed_touch_objects = allowed_touch_objects # ["table", "part"]
if pre_grasp_approach != None:
grasp.pre_grasp_approach = pre_grasp_approach
if post_grasp_retreat != None:
grasp.post_grasp_retreat = post_grasp_retreat
grasp.max_contact_force = 0
#grasp.grasp_quality = 0
return grasp
def create_grasp(grasp_pose, allowed_touch_objects=[], pre_grasp_posture=None, grasp_posture=None,
pre_grasp_approach=None, post_grasp_retreat=None, id_grasp="grasp_"):
grasp = Grasp()
grasp.id = id_grasp
grasp.grasp_pose = grasp_pose
if pre_grasp_posture is None:
grasp.pre_grasp_posture = get_grasp_posture(True)
else:
grasp.pre_grasp_posture = pre_grasp_posture
if grasp_posture is None:
grasp.grasp_posture = get_grasp_posture(False)
else:
grasp.grasp_posture = grasp_posture
grasp.allowed_touch_objects = allowed_touch_objects
if pre_grasp_approach is not None:
grasp.pre_grasp_approach = pre_grasp_approach
if post_grasp_retreat is not None:
grasp.post_grasp_retreat = post_grasp_retreat
grasp.max_contact_force = 0
return grasp
def make_grasps(self, pose_stamped, mega_angle=False):
# setup defaults for the grasp
g = Grasp()
g.pre_grasp_posture = self.make_gripper_posture(GRIPPER_OPEN)
g.grasp_posture = self.make_gripper_posture(GRIPPER_CLOSED)
g.pre_grasp_approach = self.make_gripper_translation(0.05, 0.1)
g.post_grasp_retreat = self.make_gripper_translation(0.05, 0.1, -1.0)
g.grasp_pose = pose_stamped
pitch_vals = [0, 0.2, -0.2, 0.4, -0.4]
#pitch_vals = [0]
yaw_vals = [-0.2, -0.1, 0, 0.1, 0.2]
#yaw_vals = [0]
if mega_angle:
pitch_vals += [0.78, -0.78, 0.3, -0.3, 0.5, -0.5, 0.6, -0.6]
# generate list of grasps
grasps = []
#for y in [-1.57, -0.78, 0, 0.78, 1.57]:
for y in yaw_vals:
for p in pitch_vals:
q = quaternion_from_euler(0, 1.57-p, y)
g.grasp_pose.pose.orientation.x = q[0]
g.grasp_pose.pose.orientation.y = q[1]
g.grasp_pose.pose.orientation.z = q[2]
g.grasp_pose.pose.orientation.w = q[3]
g.id = str(len(grasps))
g.allowed_touch_objects = ["part"]
g.max_contact_force = 0
#g.grasp_quality = 1.0 - abs(p/2.0)
grasps.append(copy.deepcopy(g))
return grasps
def make_grasps(self, initial_pose_stamped, allowed_touch_objects):
# Initialize the grasp object
g = Grasp()
# Set the pre-grasp and grasp postures appropriately
g.pre_grasp_posture = self.make_gripper_posture(GRIPPER_OPEN)
g.grasp_posture = self.make_gripper_posture(GRIPPER_CLOSED)
# Set the approach and retreat parameters as desired
g.pre_grasp_approach = self.make_gripper_translation(0.01, 0.2, [0.0, 1.0, 0.0])
g.post_grasp_retreat = self.make_gripper_translation(0.1, 0.2, [0.0, 0.0, 1.0])
# Set the first grasp pose to the input pose
g.grasp_pose = initial_pose_stamped
# Pitch angles to try
pitch_vals = [0, 0.1, -0.1, 0.2, -0.2, 0.3, -0.3]
# Yaw angles to try
yaw_vals = [0]
# A list to hold the grasps
grasps = []
# Generate a grasp for each pitch and yaw angle
for y in yaw_vals:
for p in pitch_vals:
# Create a quaternion from the Euler angles
# q = quaternion_from_euler(0, p, y)
# # Set the grasp pose orientation accordingly
# g.grasp_pose.pose.orientation.x = q[0]
# g.grasp_pose.pose.orientation.y = q[1]
# g.grasp_pose.pose.orientation.z = q[2]
# g.grasp_pose.pose.orientation.w = q[3]
q = quaternion_from_euler(0, 0, -1.57079633)
g.grasp_pose.pose.orientation.x = q[0]
g.grasp_pose.pose.orientation.y = q[1]
g.grasp_pose.pose.orientation.z = q[2]
g.grasp_pose.pose.orientation.w = q[3]
# Set and id for this grasp (simply needs to be unique)
g.id = str(len(grasps))
# Set the allowed touch objects to the input list
g.allowed_touch_objects = allowed_touch_objects
# Don't restrict contact force
g.max_contact_force = 0
# Degrade grasp quality for increasing pitch angles
g.grasp_quality = 1.0 - abs(p)
# Append the grasp to the list
grasps.append(deepcopy(g))
# Return the list
return grasps
def make_grasps(self, initial_pose, allow_touch_objects):
# initialise a grasp object
g = Grasp()
g.pre_grasp_posture = self.make_grab_posture(self.open_joint_values)
g.grasp_posture = self.make_grab_posture(self.closed_joint_values)
g.pre_grasp_approach = self.make_grab_translation(0.01, 0.1, [0.0, 0.0, 1.0])
g.post_grasp_retreat = self.make_grab_translation(0.1, 0.15, [0.0, 0.0, 1.0])
g.grasp_pose = initial_pose
# pitch_vals = [0, 0.1, -0.1, 0.2, -0.2, 0.4, -0.4]
#
# target_pose_arm_ref = self.tf_buffer.transform(initial_pose,'hand_iiwa_link_0')
# x = target_pose_arm_ref.pose.position.x
# y = target_pose_arm_ref.pose.position.y
# yaw_vals = [math.atan2(y,x) + inc for inc in [0, 0.1, -0.1]]
#
grasps = []
#
# for yaw in yaw_vals:
# for pitch in pitch_vals:
# q = quaternion_from_euler(0,pitch,yaw)
#
# g.grasp_pose.pose.orientation.x = q[0]
# g.grasp_pose.pose.orientation.y = q[1]
# g.grasp_pose.pose.orientation.z = q[2]
# g.grasp_pose.pose.orientation.w = q[3]
g.id = str(len(grasps))
g.allowed_touch_objects = allow_touch_objects
g.max_contact_force = 0
g.grasp_quality = 1.0 #- abs(pitch)
grasps.append(g)
return grasps
pos = JointTrajectoryPoint()
pos.positions.append(0.2)
pos.effort.append(0.0)
g.grasp_posture.points.append(pos)
# set the post-grasp retreat
g.post_grasp_retreat.direction.header.frame_id = "base_footprint"
g.post_grasp_retreat.direction.vector.x = 1
g.post_grasp_retreat.direction.vector.y = -1
g.post_grasp_retreat.direction.vector.z = 1
g.post_grasp_retreat.desired_distance = 0.35
g.post_grasp_retreat.min_distance = 0.01
g.allowed_touch_objects = ["table"]
g.max_contact_force = 0
# append the grasp to the list of grasps
grasps.append(g)
# pick the object
#robot.right_arm.pick("part", grasps)
result = False
n_attempts = 0
# repeat until will succeed
while result == False:
def make_grasps(self,
initial_pose_stamped,
allowed_touch_objects,
grasp_opening=[0]):
# Initialize the grasp object
g = Grasp()
# Set the pre-grasp and grasp postures appropriately;
# grasp_opening should be a bit smaller than target width
g.pre_grasp_posture = self.make_gripper_posture(self.gripper_opened)
g.grasp_posture = self.make_gripper_posture(grasp_opening)
# Set the approach and retreat parameters as desired
g.pre_grasp_approach = self.make_gripper_translation(
0.01, 0.1, [1.0, 0.0, 0.0])
g.post_grasp_retreat = self.make_gripper_translation(
0.1, 0.15, [0.0, -1.0, 1.0])
# Set the first grasp pose to the input pose
g.grasp_pose = initial_pose_stamped
# Pitch angles to try
pitch_vals = [0, 0.1, -0.1, 0.2, -0.2, 0.4, -0.4]
# Yaw angles to try; given the limited dofs of turtlebot_arm, we must calculate the heading
# from arm base to the object to pick (first we must transform its pose to arm base frame)
target_pose_arm_ref = self.tf_listener.transformPose(
ARM_BASE_FRAME, initial_pose_stamped)
x = target_pose_arm_ref.pose.position.x
y = target_pose_arm_ref.pose.position.y
self.pick_yaw = atan2(
y,
x) # check in make_places method why we store the calculated yaw
yaw_vals = [self.pick_yaw]
# A list to hold the grasps
grasps = []
# Generate a grasp for each pitch and yaw angle
for yaw in yaw_vals:
for pitch in pitch_vals:
# Create a quaternion from the Euler angles
q = quaternion_from_euler(0, pitch, yaw)
# Set the grasp pose orientation accordingly
g.grasp_pose.pose.orientation.x = q[0]
g.grasp_pose.pose.orientation.y = q[1]
g.grasp_pose.pose.orientation.z = q[2]
g.grasp_pose.pose.orientation.w = q[3]
# Set and id for this grasp (simply needs to be unique)
g.id = str(len(grasps))
# Set the allowed touch objects to the input list
g.allowed_touch_objects = allowed_touch_objects
# Don't restrict contact force
g.max_contact_force = 0
# Degrade grasp quality for increasing pitch angles
g.grasp_quality = 1.0 - abs(pitch)
# Append the grasp to the list
grasps.append(deepcopy(g))
# Return the list
return grasps
def grasp_array(cls, msg, obj):
# for me...
for i in range(msg['_length_grasp']):
gsp = Grasp()
# direct descendants of grasp:
gsp.id = msg["%s_id" % i]
gsp.grasp_quality = msg["%s_grasp_quality" % i]
gsp.max_contact_force = msg["%s_max_contact_force" % i]
gsp.allowed_touch_objects = msg["%s_allowed_touch_objects" % i]
# descendants of pre_grasp_posture:
gsp.pre_grasp_posture.header = \
decode.header(msg, gsp.pre_grasp_posture.header, "%s_pre" % i)
gsp.pre_grasp_posture.joint_names = msg['%s_prejoint_names' % i]
for j in range(msg['%s_length_points1' % i]):
jtp1 = JointTrajectoryPoint()
jtp1 = decode.grasp_points(msg, jtp1, "%s_%s_pre" % (i, j))
gsp.pre_grasp_posture.points.append(jtp1)
# descendants of grasp_posture:
gsp.grasp_posture.header = \
decode.header(msg, gsp.grasp_posture.header, "%s_posture" % i)
gsp.grasp_posture.joint_names = msg["%s_joint_names" % i]
for j in range(msg['%s_length_points2' % i]):
jtp2 = JointTrajectoryPoint()
jtp2 = decode.grasp_points(msg, jtp2, "%s_%s_posture" % (i, j))
gsp.grasp_posture.points.append(jtp2)
# descendants of grasp_pose:
gsp.grasp_pose.header = \
decode.header(msg, gsp.grasp_pose.header, "%s_pose" % i)
gsp.grasp_pose.pose.position = \
decode.position(msg, gsp.grasp_pose.pose.position,
"%s_pose" % i)
gsp.grasp_pose.pose.orientation = \
decode.orientation(msg, gsp.grasp_pose.pose.orientation,
"%s_pose" % i)
# descendants of pre_grasp_approach:
gsp.pre_grasp_approach.direction.header = \
decode.header(msg, gsp.pre_grasp_approach.direction.header,
"%s_app" % i)
gsp.pre_grasp_approach.direction.vector = \
decode.vector(msg, gsp.pre_grasp_approach.direction.vector,
"%s_app" % i)
gsp.pre_grasp_approach.desired_distance = \
msg['%s_appdesired_distance' % i]
gsp.pre_grasp_approach.min_distance = msg['%s_appmin_distance' % i]
# descendants of post_grasp_retreat:
gsp.post_grasp_retreat.direction.header = \
decode.header(msg, gsp.post_grasp_retreat.direction.header,
"%s_ret" % i)
gsp.post_grasp_retreat.direction.vector = \
decode.vector(msg, gsp.post_grasp_retreat.direction.vector,
"%s_ret" % i)
gsp.post_grasp_retreat.desired_distance = \
msg['%s_retdesired_distance' % i]
gsp.post_grasp_retreat.min_distance = msg['%s_retmin_distance' % i]
# descendants of post_place_retreat
gsp.post_place_retreat.direction.header = \
decode.header(msg, gsp.post_place_retreat.direction.header,
'%s_place' % i)
gsp.post_place_retreat.direction.vector = \
decode.vector(msg, gsp.post_place_retreat.direction.vector,
'%s_place' % i)
gsp.post_place_retreat.desired_distance = \
msg['%s_pldesired_distance' % i]
gsp.post_place_retreat.min_distance = msg['%s_plmin_distance' % i]
# append Grasp to GraspArray:
obj.grasps.append(gsp)
return(obj)
def create_grasp_2(self, pose, grasp_id):
"""
:type pose: Pose
pose of the gripper for the grasp
:type grasp_id: str
name for the grasp
:rtype: Grasp
"""
g = Grasp()
g.id = grasp_id
pre_grasp_posture = JointTrajectory()
pre_grasp_posture.header.frame_id = self._grasp_postures_frame_id
pre_grasp_posture.joint_names = [
name for name in self._gripper_joint_names.split()
]
jtpoint = JointTrajectoryPoint()
jtpoint.positions = [
float(pos) for pos in self._gripper_pre_grasp_positions.split()
]
jtpoint.time_from_start = rospy.Duration(self._time_pre_grasp_posture)
pre_grasp_posture.points.append(jtpoint)
grasp_posture = copy.deepcopy(pre_grasp_posture)
grasp_posture.points[0].time_from_start = rospy.Duration(
self._time_pre_grasp_posture + self._time_grasp_posture)
jtpoint2 = JointTrajectoryPoint()
jtpoint2.positions = [
float(pos) for pos in self._gripper_grasp_positions.split()
]
jtpoint2.time_from_start = rospy.Duration(
self._time_pre_grasp_posture + self._time_grasp_posture +
self._time_grasp_posture_final)
grasp_posture.points.append(jtpoint2)
g.pre_grasp_posture = pre_grasp_posture
g.grasp_posture = grasp_posture
header = Header()
header.frame_id = self._grasp_pose_frame_id
fixed_pose = copy.deepcopy(pose)
g.grasp_pose = PoseStamped(header, fixed_pose)
g.grasp_quality = self._grasp_quality
g.pre_grasp_approach = GripperTranslation()
g.pre_grasp_approach.direction.vector.x = self._pre_grasp_direction_x # NOQA
g.pre_grasp_approach.direction.vector.y = self._pre_grasp_direction_y # NOQA
g.pre_grasp_approach.direction.vector.z = self._pre_grasp_direction_z # NOQA
g.pre_grasp_approach.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.pre_grasp_approach.desired_distance = self._grasp_desired_distance # NOQA
g.pre_grasp_approach.min_distance = self._grasp_min_distance
g.post_grasp_retreat = GripperTranslation()
g.post_grasp_retreat.direction.vector.x = self._post_grasp_direction_x # NOQA
g.post_grasp_retreat.direction.vector.y = self._post_grasp_direction_y # NOQA
g.post_grasp_retreat.direction.vector.z = self._post_grasp_direction_z # NOQA
g.post_grasp_retreat.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.post_grasp_retreat.desired_distance = 0.13 # NOQA
g.post_grasp_retreat.min_distance = self._grasp_min_distance
g.max_contact_force = self._max_contact_force
g.allowed_touch_objects = self._allowed_touch_objects
return g
# generate list of grasps
grasps = []
for h in height_vals:
for p in pitch_vals:
q = quaternion_from_euler(0.0, -p, aim_yaw)
g.grasp_pose.pose.position.x = aim_x
g.grasp_pose.pose.position.y = aim_y
g.grasp_pose.pose.position.z = aim_z - h
g.grasp_pose.pose.orientation.x = q[0]
g.grasp_pose.pose.orientation.y = q[1]
g.grasp_pose.pose.orientation.z = q[2]
g.grasp_pose.pose.orientation.w = q[3]
g.id = str(len(grasps))
print g.id
#g.grasp_quality = 1.0 - abs(p/2.0)
g.allowed_touch_objects = ["target"]
grasps.append(copy.deepcopy(g))
debugging_pose.poses.append(
copy.deepcopy(
Pose(g.grasp_pose.pose.position,
g.grasp_pose.pose.orientation)))
debugging_pose.header.frame_id = robot.get_planning_frame()
debugging_pose.header.stamp = rospy.Time.now()
debugging_pose_pub.publish(debugging_pose)
# robot.onine_arm.pick("target", grasps)
#https://groups.google.com/forum/#!topic/moveit-users/7hzzICsfLOQ
#https://groups.google.com/forum/#!msg/moveit-users/_M0mf-R7AvI/CGdh10TrAxMJ
g.grasp_posture.joint_names = ["joint6"]
pos = JointTrajectoryPoint()
pos.positions.append(0.2)
pos.effort.append(0.0)
g.grasp_posture.points.append(pos)
# set the post-grasp retreat
g.post_grasp_retreat.direction.header.frame_id = "base_cylinder"
g.post_grasp_retreat.direction.vector.x = 0.0
g.post_grasp_retreat.direction.vector.y = 0.0
g.post_grasp_retreat.direction.vector.z = 1.0
g.post_grasp_retreat.desired_distance = 0.25
g.post_grasp_retreat.min_distance = 0.01
g.allowed_touch_objects = ["table", "part"]
g.max_contact_force = 0
# append the grasp to the list of grasps
grasps.append(g)
rospy.sleep(2)
# pick the object
right_arm.pick("part", grasps)
rospy.spin()
roscpp_shutdown()
g.grasp_pose = tar_pose
g.pre_grasp_approach.direction.vector.z = 1
g.pre_grasp_approach.direction.header.frame_id = 'endeff'
g.pre_grasp_approach.min_distance = 0.04
g.pre_grasp_approach.desired_distance = 0.10
g.post_grasp_retreat.direction.vector.z = -1
g.post_grasp_retreat.direction.header.frame_id = 'endeff'
g.post_grasp_retreat.min_distance = 0.04
g.post_grasp_retreat.desired_distance = 0.10
g.grasp_posture = make_gripper_posture(0)
g.allowed_touch_objects = ["part"]
grasps = []
grasps.append(copy.deepcopy(g))
p = PlaceLocation()
p.post_place_posture = make_gripper_posture(-1.1158)
p.place_pose.header.frame_id = 'world'
p.place_pose.pose.position.x = -0.13341
p.place_pose.pose.position.y = 0.12294
p.place_pose.pose.position.z = 0.099833
p.place_pose.pose.orientation.x = 0
p.place_pose.pose.orientation.y = 0
p.place_pose.pose.orientation.z = 0
def generate_grasp_msgs(self, selected_grasps):
self.grasps = []
formatted_grasps = []
self.grasps_cartesian = []
formatted_grasps_cartesian = []
tot_grasps = len(selected_grasps)
cont = 0
filtered_orientation = 0
for i in range(0, len(selected_grasps)):
z_axis_unit = (0, 0, -1)
ap_axis = (selected_grasps[i].approach.x,
selected_grasps[i].approach.y,
selected_grasps[i].approach.z)
angle = numpy.dot(z_axis_unit, ap_axis)
if (angle >= 0):
# filter it out, because grasp coming from below the ground
filtered_orientation += 1
print(
repr(filtered_orientation) +
" Grasp filtered because coming from underneath the ground"
)
continue
tf_listener_.waitForTransform('/arm_camera_depth_optical_frame',
'/summit_xl_base_footprint',
rospy.Time(), rospy.Duration(2.0))
g = Grasp()
g.id = "dupa"
gp = PoseStamped()
gp.header.frame_id = "arm_camera_depth_optical_frame"
org_q = self.trans_matrix_to_quaternion(selected_grasps[i])
quat = org_q
gp.pose.position.x = selected_grasps[
i].surface.x + self.grasp_offset * selected_grasps[i].approach.x
gp.pose.position.y = selected_grasps[
i].surface.y + self.grasp_offset * selected_grasps[i].approach.y
gp.pose.position.z = selected_grasps[
i].surface.z + self.grasp_offset * selected_grasps[i].approach.z
gp.pose.orientation.x = float(quat.elements[1])
gp.pose.orientation.y = float(quat.elements[2])
gp.pose.orientation.z = float(quat.elements[3])
gp.pose.orientation.w = float(quat.elements[0])
translated_pose = tf_listener_.transformPose(
"summit_xl_base_footprint", gp)
g.grasp_pose = translated_pose
g.pre_grasp_approach.direction.header.frame_id = "arm_ee_link"
g.pre_grasp_approach.direction.vector.x = 1.0
g.pre_grasp_approach.min_distance = 0.06
g.pre_grasp_approach.desired_distance = 0.1
#g.allowed_touch_objects = ["<octomap>", "obj"]
g.allowed_touch_objects = ["obj"]
#g.max_contact_force = 0.0
g.grasp_quality = selected_grasps[0].score.data
formatted_grasps.append(g)
# Add config for cartesian pick
gp_cartesian = PoseStamped()
gp_cartesian.header.frame_id = "arm_camera_depth_optical_frame"
gp_cartesian.pose.position.x = selected_grasps[
i].surface.x + self.grasp_offset_cartesian * selected_grasps[
i].approach.x
gp_cartesian.pose.position.y = selected_grasps[
i].surface.y + self.grasp_offset_cartesian * selected_grasps[
i].approach.y
gp_cartesian.pose.position.z = selected_grasps[
i].surface.z + self.grasp_offset_cartesian * selected_grasps[
i].approach.z
gp_cartesian.pose.orientation.x = float(quat.elements[1])
gp_cartesian.pose.orientation.y = float(quat.elements[2])
gp_cartesian.pose.orientation.z = float(quat.elements[3])
gp_cartesian.pose.orientation.w = float(quat.elements[0])
translated_pose = tf_listener_.transformPose(
"summit_xl_base_footprint", gp_cartesian)
g_cartesian = Grasp()
g_cartesian.id = "cart"
g_cartesian.grasp_pose = translated_pose
g_cartesian.allowed_touch_objects = ["obj"]
formatted_grasps_cartesian.append(g_cartesian)
# sort grasps using z (get higher grasps first)
formatted_grasps.sort(
key=lambda grasp: grasp.grasp_pose.pose.position.z, reverse=True)
formatted_grasps_cartesian.sort(
key=lambda grasp: grasp.grasp_pose.pose.position.z, reverse=True)
return formatted_grasps, formatted_grasps_cartesian
pos = JointTrajectoryPoint()
pos.positions.append(0.2)
pos.effort.append(0.0)
g.grasp_posture.points.append(pos)
# set the post-grasp retreat
g.post_grasp_retreat.direction.header.frame_id = "base_footprint"
g.post_grasp_retreat.direction.vector.x = 1
g.post_grasp_retreat.direction.vector.y = -1
g.post_grasp_retreat.direction.vector.z = 1
g.post_grasp_retreat.desired_distance = 0.35
g.post_grasp_retreat.min_distance = 0.01
g.allowed_touch_objects = ["table"]
g.max_contact_force = 0
# append the grasp to the list of grasps
grasps.append(g)
# pick the object
#robot.right_arm.pick("part", grasps)
result = False
n_attempts = 0
# repeat until will succeed
while result == False:
def make_grasps(self, initial_pose_stamped, allowed_touch_objects):
# Initialize the grasp object
g = Grasp()
# Set the pre-grasp and grasp postures appropriately
g.pre_grasp_posture = self.make_gripper_posture(GRIPPER_OPEN)
g.grasp_posture = self.make_gripper_posture(GRIPPER_GRASP)
# Set the approach and retreat parameters as desired
g.pre_grasp_approach = self.make_gripper_translation(
0.1, 0.1, [0, 1, 0])
g.post_grasp_retreat = self.make_gripper_translation(
0.1, 0.15, [1, 0, 0])
# Set the first grasp pose to the input pose
g.grasp_pose = initial_pose_stamped
ideal_roll = 0
ideal_pitch = 0
ideal_yaw = 0
step_size = 0.1
idx = 0.1
idx_roll = ideal_roll + idx
idx_pitch = ideal_pitch + idx
idx_yaw = ideal_yaw + idx
roll_vals = []
pitch_vals = []
yaw_vals = []
while idx >= -0.1:
roll_vals.append(idx_roll)
pitch_vals.append(idx_pitch)
yaw_vals.append(idx_yaw)
idx -= step_size
idx_roll -= step_size
idx_pitch -= step_size
idx_yaw -= step_size
# A list to hold the grasps
grasps = []
print "Generating Poses"
# Generate a grasp for each roll pitch and yaw angle
for r in roll_vals:
for y in yaw_vals:
for p in pitch_vals:
# Create a quaternion from the Euler angles
q = quaternion_from_euler(r, p, y)
# Set the grasp pose orientation accordingly
g.grasp_pose.pose.orientation.x = q[0]
g.grasp_pose.pose.orientation.y = q[1]
g.grasp_pose.pose.orientation.z = q[2]
g.grasp_pose.pose.orientation.w = q[3]
# Set and id for this grasp (simply needs to be unique)
g.id = str(len(grasps))
# Set the allowed touch objects to the input list
g.allowed_touch_objects = allowed_touch_objects
# Don't restrict contact force
g.max_contact_force = 0
# Degrade grasp quality for increasing pitch angles
g.grasp_quality = 1.0 - abs(p)
# Append the grasp to the list
grasps.append(deepcopy(g))
print "Generated " + g.id + " poses"
# Return the list
return grasps
def create_grasp(self, pose, grasp_id):
"""
:type pose: Pose
pose of the gripper for the grasp
:type grasp_id: str
name for the grasp
:rtype: Grasp
"""
g = Grasp()
g.id = grasp_id
pre_grasp_posture = JointTrajectory()
pre_grasp_posture.header.frame_id = self._grasp_postures_frame_id
pre_grasp_posture.joint_names = [
name for name in self._gripper_joint_names.split()]
jtpoint = JointTrajectoryPoint()
jtpoint.positions = [
float(pos) for pos in self._gripper_pre_grasp_positions.split()]
jtpoint.time_from_start = rospy.Duration(self._time_pre_grasp_posture)
pre_grasp_posture.points.append(jtpoint)
grasp_posture = copy.deepcopy(pre_grasp_posture)
grasp_posture.points[0].time_from_start = rospy.Duration(
self._time_pre_grasp_posture + self._time_grasp_posture)
jtpoint2 = JointTrajectoryPoint()
jtpoint2.positions = [
float(pos) for pos in self._gripper_grasp_positions.split()]
jtpoint2.time_from_start = rospy.Duration(
self._time_pre_grasp_posture +
self._time_grasp_posture + self._time_grasp_posture_final)
grasp_posture.points.append(jtpoint2)
g.pre_grasp_posture = pre_grasp_posture
g.grasp_posture = grasp_posture
header = Header()
header.frame_id = self._grasp_pose_frame_id # base_footprint
q = [pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w]
# Fix orientation from gripper_link to parent_link (tool_link)
fix_tool_to_gripper_rotation_q = quaternion_from_euler(
math.radians(self._fix_tool_frame_to_grasping_frame_roll),
math.radians(self._fix_tool_frame_to_grasping_frame_pitch),
math.radians(self._fix_tool_frame_to_grasping_frame_yaw)
)
q = quaternion_multiply(q, fix_tool_to_gripper_rotation_q)
fixed_pose = copy.deepcopy(pose)
fixed_pose.orientation = Quaternion(*q)
g.grasp_pose = PoseStamped(header, fixed_pose)
g.grasp_quality = self._grasp_quality
g.pre_grasp_approach = GripperTranslation()
g.pre_grasp_approach.direction.vector.x = self._pre_grasp_direction_x # NOQA
g.pre_grasp_approach.direction.vector.y = self._pre_grasp_direction_y # NOQA
g.pre_grasp_approach.direction.vector.z = self._pre_grasp_direction_z # NOQA
g.pre_grasp_approach.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.pre_grasp_approach.desired_distance = self._grasp_desired_distance # NOQA
g.pre_grasp_approach.min_distance = self._grasp_min_distance
g.post_grasp_retreat = GripperTranslation()
g.post_grasp_retreat.direction.vector.x = self._post_grasp_direction_x # NOQA
g.post_grasp_retreat.direction.vector.y = self._post_grasp_direction_y # NOQA
g.post_grasp_retreat.direction.vector.z = self._post_grasp_direction_z # NOQA
g.post_grasp_retreat.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.post_grasp_retreat.desired_distance = self._grasp_desired_distance # NOQA
g.post_grasp_retreat.min_distance = self._grasp_min_distance
g.max_contact_force = self._max_contact_force
g.allowed_touch_objects = self._allowed_touch_objects
return g
def create_grasp(self, pose, grasp_id):
"""
:type pose: Pose
pose of the gripper for the grasp
:type grasp_id: str
name for the grasp
:rtype: Grasp
"""
g = Grasp()
g.id = grasp_id
pre_grasp_posture = JointTrajectory()
pre_grasp_posture.header.frame_id = self._grasp_postures_frame_id
pre_grasp_posture.joint_names = [
name for name in self._gripper_joint_names.split()
]
jtpoint = JointTrajectoryPoint()
jtpoint.positions = [
float(pos) for pos in self._gripper_pre_grasp_positions.split()
]
jtpoint.time_from_start = rospy.Duration(self._time_pre_grasp_posture)
pre_grasp_posture.points.append(jtpoint)
grasp_posture = copy.deepcopy(pre_grasp_posture)
grasp_posture.points[0].time_from_start = rospy.Duration(
self._time_pre_grasp_posture + self._time_grasp_posture)
jtpoint2 = JointTrajectoryPoint()
jtpoint2.positions = [
float(pos) for pos in self._gripper_grasp_positions.split()
]
jtpoint2.time_from_start = rospy.Duration(
self._time_pre_grasp_posture + self._time_grasp_posture +
self._time_grasp_posture_final)
grasp_posture.points.append(jtpoint2)
g.pre_grasp_posture = pre_grasp_posture
g.grasp_posture = grasp_posture
header = Header()
header.frame_id = self._grasp_pose_frame_id
q = [
pose.orientation.x, pose.orientation.y, pose.orientation.z,
pose.orientation.w
]
# Fix orientation from gripper_link to parent_link (tool_link)
fix_tool_to_gripper_rotation_q = quaternion_from_euler(
math.radians(self._fix_tool_frame_to_grasping_frame_roll),
math.radians(self._fix_tool_frame_to_grasping_frame_pitch),
math.radians(self._fix_tool_frame_to_grasping_frame_yaw))
q = quaternion_multiply(q, fix_tool_to_gripper_rotation_q)
fixed_pose = copy.deepcopy(pose)
fixed_pose.orientation = Quaternion(*q)
g.grasp_pose = PoseStamped(header, fixed_pose)
g.grasp_quality = self._grasp_quality
g.pre_grasp_approach = GripperTranslation()
g.pre_grasp_approach.direction.vector.x = self._pre_grasp_direction_x # NOQA
g.pre_grasp_approach.direction.vector.y = self._pre_grasp_direction_y # NOQA
g.pre_grasp_approach.direction.vector.z = self._pre_grasp_direction_z # NOQA
g.pre_grasp_approach.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.pre_grasp_approach.desired_distance = self._grasp_desired_distance # NOQA
g.pre_grasp_approach.min_distance = self._grasp_min_distance
g.post_grasp_retreat = GripperTranslation()
g.post_grasp_retreat.direction.vector.x = self._post_grasp_direction_x # NOQA
g.post_grasp_retreat.direction.vector.y = self._post_grasp_direction_y # NOQA
g.post_grasp_retreat.direction.vector.z = self._post_grasp_direction_z # NOQA
g.post_grasp_retreat.direction.header.frame_id = self._grasp_postures_frame_id # NOQA
g.post_grasp_retreat.desired_distance = 0.13 # NOQA
g.post_grasp_retreat.min_distance = self._grasp_min_distance
g.max_contact_force = self._max_contact_force
g.allowed_touch_objects = self._allowed_touch_objects
return g
