def tip_to_wrist(self, tip_poses):
"""
Transform a pose from the Yumi Gelslim tip to the
wrist joint
Args:
tip_poses (dict): Dictionary of PoseStamped values
corresponding to each arm, keyed by 'right' and
'left'
Returns:
dict: Keyed by 'right' and 'left', values are PoseStamped
"""
tip_to_wrist = util.list2pose_stamped(self.cfg.TIP_TO_WRIST_TF, '')
world_to_world = util.unit_pose()
wrist_left = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses['left'],
"yumi_body")
wrist_right = util.convert_reference_frame(tip_to_wrist,
world_to_world,
tip_poses['right'],
"yumi_body")
wrist_poses = {}
wrist_poses['right'] = wrist_right
wrist_poses['left'] = wrist_left
return wrist_poses
def wrist_to_tip(self, wrist_poses):
"""
Transform a pose from the Yumi wrist joint to the
Gelslim tip to the
Args:
wrist_poses (dict): Dictionary of PoseStamped values
corresponding to each arm, keyed by 'right' and
'left'
Returns:
dict: Keyed by 'right' and 'left', values are PoseStamped
"""
wrist_to_tip = util.list2pose_stamped(self.cfg.WRIST_TO_TIP_TF, '')
tip_left = util.convert_reference_frame(wrist_to_tip, util.unit_pose(),
wrist_poses['left'],
"yumi_body")
tip_right = util.convert_reference_frame(wrist_to_tip,
util.unit_pose(),
wrist_poses['right'],
"yumi_body")
tip_poses = {}
tip_poses['right'] = tip_right
tip_poses['left'] = tip_left
return tip_poses
def get_joint_poses(tip_poses, robot, cfg, nullspace=True):
tip_to_wrist = util.list2pose_stamped(cfg.TIP_TO_WRIST_TF, '')
world_to_world = util.unit_pose()
r_joints, l_joints = None, None
wrist_left = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses[0], "yumi_body")
wrist_right = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses[1], "yumi_body")
wrist_left = util.pose_stamped2list(wrist_left)
wrist_right = util.pose_stamped2list(wrist_right)
# r_joints = robot._accurate_ik(
# wrist_right[0:3],
# wrist_right[3:],
# arm='right',
# nullspace=nullspace)[:7]
# l_joints = robot._accurate_ik(
# wrist_left[0:3],
# wrist_left[3:],
# arm='left',
# nullspace=nullspace)[7:]
r_joints = robot.compute_ik(wrist_right[0:3],
wrist_right[3:],
arm='right',
nullspace=nullspace)[:7]
l_joints = robot.compute_ik(wrist_left[0:3],
wrist_left[3:],
arm='left',
nullspace=nullspace)[7 + 2:-2]
return r_joints, l_joints, wrist_right, wrist_left
def pulling_planning(object,
object_pose1_world,
object_pose2_world,
palm_pose_l_object,
palm_pose_r_object,
arm='r',
N=60):
primitive_name = 'pulling'
if arm == 'r':
palm_rel_object = palm_pose_r_object
pose_l_nominal_world = util.convert_reference_frame(
palm_pose_l_object, util.unit_pose(), object_pose1_world,
"yumi_body")
else:
palm_rel_object = palm_pose_l_object
pose_r_nominal_world = util.convert_reference_frame(
palm_pose_r_object, util.unit_pose(), object_pose1_world,
"yumi_body")
#1. convert to planar poses
palm_poses_list = []
for counter, pose in enumerate([object_pose1_world, object_pose2_world]):
# 4. compute gripper pose from object pose
robot_pose = util.convert_reference_frame(palm_rel_object,
util.unit_pose(), pose,
"yumi_body")
# 5. append values
if arm == "r":
palm_poses_list.append([pose_l_nominal_world, robot_pose])
else:
palm_poses_list.append([robot_pose, pose_r_nominal_world])
#interpolate poses
object_pose_world_list = util.interpolate_pose(
pose_initial=object_pose1_world, pose_final=object_pose2_world, N=N)
palm_pose_l_world_list = util.interpolate_pose(
pose_initial=palm_poses_list[0][0],
pose_final=palm_poses_list[-1][0],
N=N)
palm_pose_r_world_list = util.interpolate_pose(
pose_initial=palm_poses_list[0][1],
pose_final=palm_poses_list[-1][1],
N=N)
poses_array = np.vstack((np.array(palm_pose_l_world_list),
np.array(palm_pose_r_world_list))).transpose()
palm_poses_list = list(poses_array)
#5. return final plan
plan_dict = {}
plan_dict['palm_poses_world'] = palm_poses_list
plan_dict['palm_pose_l_world'] = palm_pose_l_world_list
plan_dict['palm_pose_r_world'] = palm_pose_r_world_list
plan_dict['primitive'] = primitive_name
plan_dict['object_poses_world'] = object_pose_world_list
plan_dict['name'] = 'pull'
plan_dict['t'] = list(np.linspace(0, 1, num=N, endpoint=False))
plan_dict['N'] = N
return [plan_dict]
def get_wrist_to_tip(wrist_poses, cfg):
"""
[summary]
Args:
tip_poses ([type]): [description]
cfg ([type]): [description]
Returns:
[type]: [description]
"""
wrist_to_tip = util.list2pose_stamped(cfg.WRIST_TO_TIP_TF, '')
tip_left = util.convert_reference_frame(wrist_to_tip, util.unit_pose(),
wrist_poses['left'], "yumi_body")
tip_right = util.convert_reference_frame(wrist_to_tip, util.unit_pose(),
wrist_poses['right'], "yumi_body")
tip_poses = {}
tip_poses['right'] = tip_right
tip_poses['left'] = tip_left
return tip_poses
def update_yumi_cart(poses):
wrist_to_tip = util.list2pose_stamped(
[0.0, 0.071399, -0.14344421, 0.0, 0.0, 0.0, 1.0], '')
world_to_world = util.unit_pose()
wrist_left = util.convert_reference_frame(wrist_to_tip, world_to_world,
poses[0], "yumi_body")
wrist_right = util.convert_reference_frame(wrist_to_tip, world_to_world,
poses[1], "yumi_body")
visualize_object(
wrist_left,
filepath=
"package://config/descriptions/meshes/mpalm/mpalms_all_coarse.stl",
name="/gripper_left",
color=(0., 1., 0., 1.),
frame_id="/yumi_body")
visualize_object(
wrist_right,
filepath=
"package://config/descriptions/meshes/mpalm/mpalms_all_coarse.stl",
name="/gripper_right",
color=(0., 0., 1., 1.),
frame_id="/yumi_body")
def get_tip_to_wrist(tip_poses, cfg):
"""
[summary]
Args:
tip_poses ([type]): [description]
cfg ([type]): [description]
Returns:
[type]: [description]
"""
tip_to_wrist = util.list2pose_stamped(cfg.TIP_TO_WRIST_TF, '')
world_to_world = util.unit_pose()
wrist_left = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses['left'], "yumi_body")
wrist_right = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses['right'], "yumi_body")
wrist_poses = {}
wrist_poses['right'] = wrist_right
wrist_poses['left'] = wrist_left
return wrist_poses
def get_joint_poses(tip_poses, robot, cfg, nullspace=True):
"""
[summary]
Args:
tip_poses ([type]): [description]
robot ([type]): [description]
cfg ([type]): [description]
nullspace (bool, optional): [description]. Defaults to True.
Returns:
[type]: [description]
"""
tip_to_wrist = util.list2pose_stamped(cfg.TIP_TO_WRIST_TF, '')
world_to_world = util.unit_pose()
r_joints, l_joints = None, None
wrist_left = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses[0], "yumi_body")
wrist_right = util.convert_reference_frame(tip_to_wrist, world_to_world,
tip_poses[1], "yumi_body")
wrist_left = util.pose_stamped2list(wrist_left)
wrist_right = util.pose_stamped2list(wrist_right)
r_joints = robot.arm.compute_ik(wrist_right[0:3],
wrist_right[3:],
arm='right',
ns=nullspace)
l_joints = robot.arm.compute_ik(wrist_left[0:3],
wrist_left[3:],
arm='left',
ns=nullspace)
return r_joints, l_joints, wrist_right, wrist_left
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
signal.signal(signal.SIGINT, signal_handler)
data = {}
data['saved_data'] = []
data['metadata'] = {}
# parent1, child1 = Pipe()
# parent2, child2 = Pipe()
# work_queue = Queue()
# result_queue = Queue()
# p1 = Process(target=worker_yumi, args=(child1, work_queue, result_queue, cfg, args))
# p2 = Process(target=worker_yumi, args=(child2, work_queue, result_queue, cfg, args))
# p1.start()
# p2.start()
# parent1.send("RESET")
# parent2.send("RESET")
# print("started workers")
# time.sleep(15.0)
# embed()
# # setup yumi
# data_seed = 1
data_seed = args.np_seed
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={'gui': args.visualize},
arm_cfg={'self_collision': False,
'seed': data_seed})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(
yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha*K,
rollingFriction=args.rolling
)
p.changeDynamics(
yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha*K,
rollingFriction=args.rolling
)
dynamics_info = {}
dynamics_info['contactDamping'] = alpha*K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
yumi_gs = YumiCamsGS(
yumi_ar,
cfg,
exec_thread=False,
sim_step_repeat=args.step_repeat)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
if args.object:
obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
goal_obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'_trans.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, goal_obj_id, r_gel_id, -1, enableCollision=False)
p.setCollisionFilterPair(obj_id, goal_obj_id, -1, -1, enableCollision=False)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, obj_id, r_gel_id, -1, enableCollision=True)
p.setCollisionFilterPair(yumi_ar.arm.robot_id, obj_id, 27, -1, enableCollision=True)
yumi_ar.pb_client.reset_body(
obj_id,
cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
yumi_ar.pb_client.reset_body(
goal_obj_id,
cfg.OBJECT_POSE_3[:3],
cfg.OBJECT_POSE_3[3:])
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
example_args['N'] = 60
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + args.object_name + '_experiments.stl'
exp_single = SingleArmPrimitives(
cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file)
if primitive_name == 'grasp' or primitive_name == 'pivot':
exp_double = DualArmPrimitives(
cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
mesh_file)
exp_running = exp_double
else:
exp_running = exp_single
# setup macro_planner
action_planner = ClosedLoopMacroActions(
cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file
)
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_setup_cfg
data['metadata']['step_repeat'] = args.step_repeat
delta_z_height = 0.95
with open(args.config_package_path+'descriptions/urdf/'+args.object_name+'.urdf', 'rb') as f:
urdf_txt = f.read()
data['metadata']['object_urdf'] = urdf_txt
data['metadata']['delta_z_height'] = delta_z_height
data['metadata']['step_repeat'] = args.step_repeat
data['metadata']['seed'] = data_seed
metadata = data['metadata']
if args.multi:
cuboid_sampler = CuboidSampler(
'/root/catkin_ws/src/primitives/objects/cuboids/nominal_cuboid.stl',
pb_client=yumi_ar.pb_client)
cuboid_fname_template = '/root/catkin_ws/src/primitives/objects/cuboids/'
cuboid_manager = MultiBlockManager(
cuboid_fname_template,
cuboid_sampler,
robot_id=yumi_ar.arm.robot_id,
table_id=27,
r_gel_id=r_gel_id,
l_gel_id=l_gel_id)
yumi_ar.pb_client.remove_body(obj_id)
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
action_planner.update_object(obj_id, mesh_file)
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(
trans_box_lock,
goal_obj_id,
action_planner.pb_client,
cfg.OBJECT_POSE_3)
pickle_path = os.path.join(
args.data_dir,
primitive_name,
args.experiment_name
)
if not os.path.exists(pickle_path):
os.makedirs(pickle_path)
data_manager = DataManager(pickle_path)
if args.save_data:
with open(os.path.join(pickle_path, 'metadata.pkl'), 'wb') as mdata_f:
pickle.dump(metadata, mdata_f)
if args.debug:
if args.multi:
cuboid_sampler.delete_cuboid(obj_id, goal_obj_id, sphere_ids)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
goal_viz.update_goal_obj(goal_obj_id)
p.changeDynamics(
obj_id,
-1,
lateralFriction=0.4
)
action_planner.update_object(obj_id, mesh_file)
exp_running.initialize_object(obj_id, cuboid_fname)
print('Reset multi block!')
else:
cuboid_fname = '/root/catkin_ws/src/config/descriptions/meshes/objects/cuboids/realsense_box_experiments.stl'
for _ in range(args.num_obj_samples):
if primitive_name == 'pull':
init_id = exp_running.get_rand_init(ind=2)[-1]
obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
point, normal, face = exp_running.sample_contact(primitive_name)
world_pose = exp_running.get_palm_poses_world_frame(
point,
normal,
primitive_name=primitive_name)
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id, yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id, yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world + obj_ori_world)
contact_obj_frame = util.convert_reference_frame(
world_pose, obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
obj_pose_final.pose.position.z = obj_pose_world.pose.position.z/1.175
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
elif primitive_name == 'grasp':
k = 0
have_contact = False
contact_face = None
while True:
x, y, dq, q, init_id = exp_running.get_rand_init()
obj_pose_world_nom = exp_running.get_obj_pose()[0]
palm_poses_world = exp_running.get_palm_poses_world_frame(
init_id,
obj_pose_world_nom,
[x, y, dq])
# get_palm_poses_world_frame may adjust the
# initial object pose, so need to check it again
obj_pose_world = exp_running.get_obj_pose()[0]
if palm_poses_world is not None:
have_contact = True
break
k += 1
if k >= 10:
print("FAILED")
break
if have_contact:
obj_pose_final = exp_running.goal_pose_world_frame_mod
palm_poses_obj_frame = {}
for key in palm_poses_world.keys():
palm_poses_obj_frame[key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = palm_poses_obj_frame['right']
example_args['palm_pose_l_object'] = palm_poses_obj_frame['left']
example_args['object_pose1_world'] = obj_pose_world
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
plan = action_planner.get_primitive_plan(primitive_name, example_args, 'right')
embed()
import simulation
for i in range(10):
simulation.visualize_object(
object_pose1_world,
filepath="package://config/descriptions/meshes/objects/cuboids/" + cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
object_pose2_world,
filepath="package://config/descriptions/meshes/objects/cuboids/" + cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan, cuboid_fname.split('objects/cuboids')[1])
else:
global_start = time.time()
face = 0
# exp_double.reset_graph(face)
start_time = time.time()
success = 0
for trial in range(args.num_trials):
k = 0
if args.multi:
cuboid_sampler.delete_cuboid(obj_id, goal_obj_id, sphere_ids)
cuboid_fname = cuboid_manager.get_cuboid_fname()
obj_id, sphere_ids, mesh, goal_obj_id = cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=True,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
goal_viz.update_goal_obj(goal_obj_id)
p.changeDynamics(
obj_id,
-1,
lateralFriction=0.4
)
action_planner.update_object(obj_id, mesh_file)
exp_running.initialize_object(obj_id, cuboid_fname)
print('Reset multi block!')
for _ in range(args.num_obj_samples):
while True:
have_contact = False
# sample a random stable pose, and get the corresponding
# stable orientation index
k += 1
if primitive_name == 'pull':
# init_id = exp_running.get_rand_init()[-1]
init_id = exp_running.get_rand_init()[-1]
# sample a point on the object that is valid
# for the primitive action being executed
point, normal, face = exp_running.sample_contact(
primitive_name=primitive_name)
if point is not None:
break
elif primitive_name == 'grasp':
x, y, dq, q, init_id = exp_double.get_rand_init()
obj_pose_world_nom = exp_double.get_obj_pose()[0]
palm_poses_world = exp_double.get_palm_poses_world_frame(
init_id,
obj_pose_world_nom,
[x, y, dq])
obj_pose_world = exp_double.get_obj_pose()[0]
if palm_poses_world is not None:
have_contact = True
break
if k >= 10:
print("FAILED")
return
# for _ in range(10):
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
if primitive_name == 'pull':
# get the full 6D pose palm in world, at contact location
palm_pose_world = exp_running.get_palm_poses_world_frame(
point,
normal,
primitive_name=primitive_name)
# get the object pose in the world frame
# if trial == 0:
# parent1.send("OBJECT_POSE")
# elif trial == 1:
# parent2.send("OBJECT_POSE")
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(
obj_pos_world + obj_ori_world)
# obj_pose_world = work_queue.get(block=True)
# transform the palm pose from the world frame to the object frame
contact_obj_frame = util.convert_reference_frame(
palm_pose_world, obj_pose_world, util.unit_pose())
# set up inputs to the primitive planner, based on task
# including sampled initial object pose and contacts,
# and final object pose
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
# obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
x, y, q, _ = exp_running.get_rand_init(execute=False, ind=init_id)
final_nominal = exp_running.init_poses[init_id]
final_nominal[0] = x
final_nominal[1] = y
final_nominal[3:] = q
obj_pose_final = util.list2pose_stamped(final_nominal)
goal_viz.update_goal_state(final_nominal)
obj_pose_final.pose.position.z += cfg.TABLE_HEIGHT
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
example_args['primitive_name'] = primitive_name
example_args['N'] = exp_running.calc_n(
obj_pose_world, obj_pose_final)
elif primitive_name == 'grasp':
if have_contact:
obj_pose_final = exp_double.goal_pose_world_frame_mod
palm_poses_obj_frame = {}
for key in palm_poses_world.keys():
palm_poses_obj_frame[key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world, util.unit_pose()
)
example_args['palm_pose_r_object'] = palm_poses_obj_frame['right']
example_args['palm_pose_l_object'] = palm_poses_obj_frame['left']
example_args['object_pose1_world'] = obj_pose_world
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
else:
continue
try:
obs, pcd = yumi_gs.get_observation(obj_id=obj_id)
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
keypoints_start = np.array(exp_running.mesh_world.vertices.tolist())
keypoints_start_homog = np.hstack(
(keypoints_start, np.ones((keypoints_start.shape[0], 1)))
)
start_mat = util.matrix_from_pose(obj_pose_world)
goal_mat = util.matrix_from_pose(obj_pose_final)
T_mat = np.matmul(goal_mat, np.linalg.inv(start_mat))
keypoints_goal = np.matmul(T_mat, keypoints_start_homog.T).T[:, :3]
contact_obj_frame_dict = {}
contact_world_frame_dict = {}
nearest_pt_world_dict = {}
if primitive_name == 'pull':
active_arm, inactive_arm = action_planner.get_active_arm(
util.pose_stamped2list(obj_pose_world)
)
# get contact (palm pose object frame)
contact_obj_frame_dict[active_arm] = util.pose_stamped2list(contact_obj_frame)
contact_world_frame_dict[active_arm] = util.pose_stamped2list(palm_pose_world)
contact_pos = open3d.utility.DoubleVector(np.array(contact_world_frame_dict[active_arm][:3]))
kdtree = open3d.geometry.KDTreeFlann(pcd)
# nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos, 1)[1][0]
# nearest_pt_world_dict[active_arm] = np.asarray(pcd.points)[nearest_pt_ind]
contact_obj_frame_dict[inactive_arm] = None
contact_world_frame_dict[inactive_arm] = None
nearest_pt_world_dict[inactive_arm] = None
elif primitive_name == 'grasp':
for key in palm_poses_obj_frame.keys():
contact_obj_frame_dict[key] = util.pose_stamped2list(palm_poses_obj_frame[key])
contact_world_frame_dict[key] = util.pose_stamped2list(palm_poses_world[key])
contact_pos = open3d.utility.DoubleVector(np.array(contact_world_frame_dict[key][:3]))
kdtree = open3d.geometry.KDTreeFlann(pcd)
# nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos, 1)[1][0]
# nearest_pt_world_dict[key] = np.asarray(pcd.points)[nearest_pt_ind]
result = action_planner.execute(primitive_name, example_args)
if result is not None:
print('Trial number: ' + str(trial) + ', reached final: ' + str(result[0]))
print('Time so far: ' + str(time.time() - start_time))
if result[0]:
success += 1
sample = {}
sample['obs'] = obs
sample['start'] = start
sample['goal'] = goal
sample['keypoints_start'] = keypoints_start
sample['keypoints_goal'] = keypoints_goal
sample['transformation'] = util.pose_from_matrix(T_mat)
sample['contact_obj_frame'] = contact_obj_frame_dict
sample['contact_world_frame'] = contact_world_frame_dict
# sample['contact_pcd'] = nearest_pt_world_dict
sample['result'] = result
if primitive_name == 'grasp':
sample['goal_face'] = exp_double.goal_face
if args.save_data:
data_manager.save_observation(sample, str(trial))
print("Success: " + str(success))
else:
continue
# data['saved_data'].append(sample)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# result = work_queue.get(block=True)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# parent1.send("SAMPLE")
# parent2.send("SAMPLE")
# start = time.time()
# done = False
# result_list = []
# while (time.time() - start) < cfg.TIMEOUT and not done:
# try:
# result = result_queue.get(block=True)
# result_list.append(result)
# if len(result_list) == 2:
# done = True
# except result_queue.Empty:
# continue
# time.sleep(0.001)
except ValueError as e:
print("Value error: ")
print(e)
# time.sleep(1.0)
# pose = util.pose_stamped2list(yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
# pos, ori = pose[:3], pose[3:]
# # pose = yumi_gs.get_ee_pose()
# # pos, ori = pose[0], pose[1]
# # pos[2] -= 0.0714
# pos[2] += 0.001
# r_jnts = yumi_gs.compute_ik(pos, ori, yumi_gs.get_jpos(arm='right'))
# l_jnts = yumi_gs.get_jpos(arm='left')
# if r_jnts is not None:
# for _ in range(10):
# pos[2] += 0.001
# r_jnts = yumi_gs.compute_ik(pos, ori, yumi_gs.get_jpos(arm='right'))
# l_jnts = yumi_gs.get_jpos(arm='left')
# if r_jnts is not None:
# yumi_gs.update_joints(list(r_jnts) + l_jnts)
# time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
# for _ in range(10):
# j_pos = cfg.RIGHT_INIT + cfg.LEFT_INIT
# for ind, jnt_id in enumerate(yumi_ar.arm.arm_jnt_ids):
# p.resetJointState(
# yumi_ar.arm.robot_id,
# jnt_id,
# targetValue=j_pos[ind]
# )
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
# p.resetJointStatesMultiDof(
# yumi_ar.arm.robot_id,
# yumi_ar.arm.arm_jnt_ids,
# targetValues=j_pos)
# parent1.send("HOME")
# parent2.send("HOME")
# time.sleep(1.0)
print("TOTAL TIME: " + str(time.time() - global_start))
def worker_yumi(child_conn, work_queue, result_queue, cfg, args):
while True:
# print("here!")
try:
if not child_conn.poll(0.0001):
continue
msg = child_conn.recv()
except (EOFError, KeyboardInterrupt):
break
if msg == "RESET":
# yumi = Robot('yumi', pb=True, arm_cfg={'render': True, 'self_collision': False})
# client_id = p.connect(p.DIRECT)
# print("\n\nfinished worker construction\n\n")
yumi_ar = Robot('yumi',
pb=True,
arm_cfg={'render': True, 'self_collision': False})
yumi_ar.arm.set_jpos(cfg.RIGHT_INIT + cfg.LEFT_INIT)
gel_id = 12
alpha = 0.01
K = 500
p.changeDynamics(
yumi_ar.arm.robot_id,
gel_id,
restitution=0.99,
contactStiffness=K,
contactDamping=alpha*K,
rollingFriction=args.rolling
)
# setup yumi_gs
yumi_gs = YumiGelslimPybulet(yumi_ar, cfg, exec_thread=args.execute_thread, sim_step_repeat=args.step_repeat)
obj_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
trans_box_id = yumi_ar.pb_client.load_urdf(
args.config_package_path +
'descriptions/urdf/'+args.object_name+'_trans.urdf',
cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:]
)
# setup macro_planner
action_planner = ClosedLoopMacroActions(
cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan
)
continue
if msg == "HOME":
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
continue
if msg == "OBJECT_POSE":
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(
obj_pos_world + obj_ori_world)
work_queue.put(obj_pose_world)
continue
if msg == "SAMPLE":
# try:
# example_args = work_queue.get(block=True)
# primitive_name = example_args['primitive_name']
# result = action_planner.execute(primitive_name, example_args)
# work_queue.put(result)
# except work_queue.Empty:
# continue
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
example_args['N'] = 60 # 60
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + args.object_name + '_experiments.stl'
exp_running = SingleArmPrimitives(cfg, obj_id, mesh_file)
k = 0
while True:
# sample a random stable pose, and get the corresponding
# stable orientation index
k += 1
# init_id = exp_running.get_rand_init()[-1]
init_id = exp_running.get_rand_init(ind=0)[-1]
# sample a point on the object that is valid
# for the primitive action being executed
point, normal, face = exp_running.sample_contact(
primitive_name=primitive_name)
if point is not None:
break
if k >= 10:
print("FAILED")
continue
# get the full 6D pose palm in world, at contact location
palm_pose_world = exp_running.get_palm_poses_world_frame(
point,
normal,
primitive_name=primitive_name)
obj_pos_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[0])
obj_ori_world = list(p.getBasePositionAndOrientation(
obj_id,
yumi_ar.pb_client.get_client_id())[1])
obj_pose_world = util.list2pose_stamped(
obj_pos_world + obj_ori_world)
contact_obj_frame = util.convert_reference_frame(
palm_pose_world, obj_pose_world, util.unit_pose())
# set up inputs to the primitive planner, based on task
# including sampled initial object pose and contacts,
# and final object pose
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp_running.init_poses[init_id])
obj_pose_final.pose.position.z /= 1.155
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
example_args['primitive_name'] = primitive_name
# if trial == 0:
# goal_viz.update_goal_state(exp_running.init_poses[init_id])
result = None
try:
result = action_planner.execute(primitive_name, example_args)
# result = work_queue.get(block=True)
print("reached final: " + str(result[0]))
except ValueError:
print("moveit failed!")
result_queue.put(result)
continue
if msg == "END":
break
print("before sleep!")
time.sleep(0.01)
print("breaking")
child_conn.close()
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
data = {}
data['saved_data'] = []
data['metadata'] = {}
# parent1, child1 = Pipe()
# parent2, child2 = Pipe()
# work_queue = Queue()
# result_queue = Queue()
# p1 = Process(target=worker_yumi, args=(child1, work_queue, result_queue, cfg, args))
# p2 = Process(target=worker_yumi, args=(child2, work_queue, result_queue, cfg, args))
# p1.start()
# p2.start()
# parent1.send("RESET")
# parent2.send("RESET")
# print("started workers")
# time.sleep(15.0)
# embed()
# # setup yumi
yumi_ar = Robot('yumi',
pb=True,
arm_cfg={
'render': args.visualize,
'self_collision': False,
'rt_simulation': False
})
yumi_ar.arm.set_jpos(cfg.RIGHT_INIT + cfg.LEFT_INIT)
gel_id = 12
alpha = 0.01
K = 500
restitution = 0.99
dynamics_info = {}
dynamics_info['contactDamping'] = alpha * K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
p.changeDynamics(yumi_ar.arm.robot_id,
gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
# setup yumi_gs
# yumi_gs = YumiGelslimPybulet(yumi_ar, cfg, exec_thread=args.execute_thread)
yumi_gs = YumiCamsGS(yumi_ar, cfg, exec_thread=args.execute_thread)
if args.object:
box_id = pb_util.load_urdf(
args.config_package_path + 'descriptions/urdf/' +
args.object_name + '.urdf', cfg.OBJECT_POSE_3[0:3],
cfg.OBJECT_POSE_3[3:])
# trans_box_id = pb_util.load_urdf(
# args.config_package_path +
# 'descriptions/urdf/'+args.object_name+'_trans.urdf',
# cfg.OBJECT_POSE_3[0:3],
# cfg.OBJECT_POSE_3[3:]
# )
# setup macro_planner
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
box_id,
pb_util.PB_CLIENT,
args.config_package_path,
replan=args.replan)
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
example_args = {}
example_args['object_pose1_world'] = object_pose1_world
example_args['object_pose2_world'] = object_pose2_world
example_args['palm_pose_l_object'] = palm_pose_l_object
example_args['palm_pose_r_object'] = palm_pose_r_object
example_args['object'] = manipulated_object
# example_args['N'] = 60 # 60
example_args['N'] = calc_n(object_pose1_world, object_pose2_world) # 60
print("N: " + str(example_args['N']))
example_args['init'] = True
example_args['table_face'] = 0
primitive_name = args.primitive
mesh_file = args.config_package_path + 'descriptions/meshes/objects/' + args.object_name + '_experiments.stl'
exp_single = SingleArmPrimitives(cfg, box_id, mesh_file)
exp_double = DualArmPrimitives(cfg, box_id, mesh_file)
# trans_box_lock = threading.RLock()
# goal_viz = GoalVisual(
# trans_box_lock,
# trans_box_id,
# action_planner.pb_client,
# cfg.OBJECT_POSE_3)
# visualize_goal_thread = threading.Thread(
# target=goal_viz.visualize_goal_state)
# visualize_goal_thread.daemon = True
# visualize_goal_thread.start()
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_cfg
if args.debug:
init_id = exp.get_rand_init(ind=2)[-1]
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
point, normal, face = exp.sample_contact(primitive_name)
# embed()
world_pose = exp.get_palm_pose_world_frame(
point, normal, primitive_name=primitive_name)
obj_pos_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[0])
obj_ori_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world + obj_ori_world)
contact_obj_frame = util.convert_reference_frame(
world_pose, obj_pose_world, util.unit_pose())
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
obj_pose_final.pose.position.z = obj_pose_world.pose.position.z / 1.175
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
plan = action_planner.get_primitive_plan(primitive_name, example_args,
'right')
embed()
import simulation
for i in range(10):
simulation.visualize_object(
object_pose1_world,
filepath=
"package://config/descriptions/meshes/objects/realsense_box_experiments.stl",
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
object_pose2_world,
filepath=
"package://config/descriptions/meshes/objects/realsense_box_experiments.stl",
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(plan)
else:
global_start = time.time()
for trial in range(20):
k = 0
while True:
# sample a random stable pose, and get the corresponding
# stable orientation index
k += 1
# init_id = exp.get_rand_init()[-1]
init_id = exp.get_rand_init(ind=0)[-1]
# sample a point on the object that is valid
# for the primitive action being executed
point, normal, face = exp.sample_contact(
primitive_name=primitive_name)
if point is not None:
break
if k >= 10:
print("FAILED")
return
# get the full 6D pose palm in world, at contact location
palm_pose_world = exp.get_palm_pose_world_frame(
point, normal, primitive_name=primitive_name)
# get the object pose in the world frame
# if trial == 0:
# parent1.send("OBJECT_POSE")
# elif trial == 1:
# parent2.send("OBJECT_POSE")
obj_pos_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[0])
obj_ori_world = list(
p.getBasePositionAndOrientation(box_id, pb_util.PB_CLIENT)[1])
obj_pose_world = util.list2pose_stamped(obj_pos_world +
obj_ori_world)
# obj_pose_world = work_queue.get(block=True)
# transform the palm pose from the world frame to the object frame
contact_obj_frame = util.convert_reference_frame(
palm_pose_world, obj_pose_world, util.unit_pose())
# set up inputs to the primitive planner, based on task
# including sampled initial object pose and contacts,
# and final object pose
example_args['palm_pose_r_object'] = contact_obj_frame
example_args['object_pose1_world'] = obj_pose_world
obj_pose_final = util.list2pose_stamped(exp.init_poses[init_id])
obj_pose_final.pose.position.z /= 1.18
print("init: ")
print(util.pose_stamped2list(object_pose1_world))
print("final: ")
print(util.pose_stamped2list(obj_pose_final))
example_args['object_pose2_world'] = obj_pose_final
example_args['table_face'] = init_id
example_args['primitive_name'] = primitive_name
example_args['N'] = calc_n(obj_pose_world, obj_pose_final)
print("N: " + str(example_args['N']))
# if trial == 0:
# goal_viz.update_goal_state(exp.init_poses[init_id])
try:
# get observation (images/point cloud)
obs = yumi_gs.get_observation(obj_id=box_id)
# get start/goal (obj_pose_world, obj_pose_final)
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
# get corners (from exp? that has mesh)
keypoints_start = np.array(exp.mesh_world.vertices.tolist())
keypoints_start_homog = np.hstack(
(keypoints_start, np.ones((keypoints_start.shape[0], 1))))
goal_start_frame = util.convert_reference_frame(
pose_source=obj_pose_final,
pose_frame_target=obj_pose_world,
pose_frame_source=util.unit_pose())
goal_start_frame_mat = util.matrix_from_pose(goal_start_frame)
keypoints_goal = np.matmul(goal_start_frame_mat,
keypoints_start_homog.T).T
# get contact (palm pose object frame)
contact_obj_frame = util.pose_stamped2list(contact_obj_frame)
contact_world_frame = util.pose_stamped2list(palm_pose_world)
contact_pos = open3d.utility.DoubleVector(
np.array(contact_world_frame[:3]))
kdtree = open3d.geometry.KDTreeFlann(obs['pcd_full'])
nearest_pt_ind = kdtree.search_knn_vector_3d(contact_pos,
1)[1][0]
nearest_pt_world = np.asarray(
obs['pcd_full'].points)[nearest_pt_ind]
# embed()
result = action_planner.execute(primitive_name, example_args)
sample = {}
sample['obs'] = obs
sample['start'] = start
sample['goal'] = goal
sample['keypoints_start'] = keypoints_start
sample['keypoints_goal'] = keypoints_goal
sample['transformation'] = util.pose_stamped2list(
goal_start_frame)
sample['contact_obj_frame'] = contact_obj_frame
sample['contact_world_frame'] = contact_world_frame
sample['contact_pcd'] = nearest_pt_world
sample['result'] = result
sample['planner_args'] = example_args
data['saved_data'].append(sample)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# result = work_queue.get(block=True)
# if trial == 0:
# parent1.send("SAMPLE")
# elif trial == 1:
# parent2.send("SAMPLE")
# parent1.send("SAMPLE")
# parent2.send("SAMPLE")
# start = time.time()
# done = False
# result_list = []
# while (time.time() - start) < cfg.TIMEOUT and not done:
# try:
# result = result_queue.get(block=True)
# result_list.append(result)
# if len(result_list) == 2:
# done = True
# except result_queue.Empty:
# continue
# time.sleep(0.001)
print("reached final: " + str(result[0]))
except ValueError:
print("moveit failed!")
# time.sleep(0.1)
# yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
j_pos = cfg.RIGHT_INIT + cfg.LEFT_INIT
for ind, jnt_id in enumerate(yumi_ar.arm.arm_jnt_ids):
p.resetJointState(yumi_ar.arm.robot_id,
jnt_id,
targetValue=j_pos[ind])
# p.resetJointStatesMultiDof(
# yumi_ar.arm.robot_id,
# yumi_ar.arm.arm_jnt_ids,
# targetValues=j_pos)
# parent1.send("HOME")
# parent2.send("HOME")
# time.sleep(1.0)
# embed()
# embed()
print("TOTAL TIME: " + str(time.time() - global_start))
with open('data/sample_data_right_hand_pull.pkl', 'wb') as data_f:
pickle.dump(data, data_f)
def main(args):
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
rospy.init_node('MacroActions')
signal.signal(signal.SIGINT, signal_handler)
data_seed = args.np_seed
primitive_name = args.primitive
pickle_path = os.path.join(args.data_dir, primitive_name,
args.experiment_name)
if args.save_data:
suf_i = 0
original_pickle_path = pickle_path
while True:
if os.path.exists(pickle_path):
suffix = '_%d' % suf_i
pickle_path = original_pickle_path + suffix
suf_i += 1
data_seed += 1
else:
os.makedirs(pickle_path)
break
if not os.path.exists(pickle_path):
os.makedirs(pickle_path)
np.random.seed(data_seed)
yumi_ar = Robot('yumi_palms',
pb=True,
pb_cfg={
'gui': args.visualize,
'opengl_render': False
},
arm_cfg={
'self_collision': False,
'seed': data_seed
})
r_gel_id = cfg.RIGHT_GEL_ID
l_gel_id = cfg.LEFT_GEL_ID
table_id = cfg.TABLE_ID
alpha = cfg.ALPHA
K = cfg.GEL_CONTACT_STIFFNESS
restitution = cfg.GEL_RESTITUION
p.changeDynamics(yumi_ar.arm.robot_id,
r_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
p.changeDynamics(yumi_ar.arm.robot_id,
l_gel_id,
restitution=restitution,
contactStiffness=K,
contactDamping=alpha * K,
rollingFriction=args.rolling)
yumi_gs = YumiCamsGS(yumi_ar,
cfg,
exec_thread=False,
sim_step_repeat=args.sim_step_repeat)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
cuboid_sampler = CuboidSampler(os.path.join(
os.environ['CODE_BASE'],
'catkin_ws/src/config/descriptions/meshes/objects/cuboids/nominal_cuboid.stl'
),
pb_client=yumi_ar.pb_client)
cuboid_fname_template = os.path.join(
os.environ['CODE_BASE'],
'catkin_ws/src/config/descriptions/meshes/objects/cuboids/')
cuboid_manager = MultiBlockManager(cuboid_fname_template,
cuboid_sampler,
robot_id=yumi_ar.arm.robot_id,
table_id=27,
r_gel_id=r_gel_id,
l_gel_id=l_gel_id)
if args.multi:
cuboid_fname = cuboid_manager.get_cuboid_fname()
# cuboid_fname = '/root/catkin_ws/src/config/descriptions/meshes/objects/cuboids/test_cuboid_smaller_4479.stl'
else:
cuboid_fname = args.config_package_path + 'descriptions/meshes/objects/' + \
args.object_name + '_experiments.stl'
mesh_file = cuboid_fname
print("Cuboid file: " + cuboid_fname)
if args.goal_viz:
goal_visualization = True
else:
goal_visualization = False
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
# goal_face = 0
goal_faces = [0, 1, 2, 3, 4, 5]
from random import shuffle
shuffle(goal_faces)
goal_face = goal_faces[0]
exp_single = SingleArmPrimitives(cfg, yumi_ar.pb_client.get_client_id(),
obj_id, cuboid_fname)
k = 0
while True:
k += 1
if k > 10:
print('FAILED TO BUILD GRASPING GRAPH')
return
try:
exp_double = DualArmPrimitives(cfg,
yumi_ar.pb_client.get_client_id(),
obj_id,
cuboid_fname,
goal_face=goal_face)
break
except ValueError as e:
print(e)
yumi_ar.pb_client.remove_body(obj_id)
if goal_visualization:
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
if primitive_name == 'grasp':
exp_running = exp_double
else:
exp_running = exp_single
action_planner = ClosedLoopMacroActions(cfg,
yumi_gs,
obj_id,
yumi_ar.pb_client.get_client_id(),
args.config_package_path,
replan=args.replan,
object_mesh_file=mesh_file)
if goal_visualization:
trans_box_lock = threading.RLock()
goal_viz = GoalVisual(trans_box_lock, goal_obj_id,
action_planner.pb_client, cfg.OBJECT_POSE_3)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
dynamics_info = {}
dynamics_info['contactDamping'] = alpha * K
dynamics_info['contactStiffness'] = K
dynamics_info['rollingFriction'] = args.rolling
dynamics_info['restitution'] = restitution
data = {}
data['saved_data'] = []
data['metadata'] = {}
data['metadata']['mesh_file'] = mesh_file
data['metadata']['cfg'] = cfg
data['metadata']['dynamics'] = dynamics_info
data['metadata']['cam_cfg'] = yumi_gs.cam_setup_cfg
data['metadata']['step_repeat'] = args.sim_step_repeat
data['metadata']['seed'] = data_seed
data['metadata']['seed_original'] = args.np_seed
metadata = data['metadata']
data_manager = DataManager(pickle_path)
pred_dir = os.path.join(os.getcwd(), 'predictions')
obs_dir = os.path.join(os.getcwd(), 'observations')
if args.save_data:
with open(os.path.join(pickle_path, 'metadata.pkl'), 'wb') as mdata_f:
pickle.dump(metadata, mdata_f)
total_trials = 0
successes = 0
for _ in range(args.num_blocks):
# for goal_face in goal_faces:
for _ in range(1):
goal_face = np.random.randint(6)
try:
print('New object!')
exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
except ValueError as e:
print(e)
print('Goal face: ' + str(goal_face))
continue
for _ in range(args.num_obj_samples):
total_trials += 1
if primitive_name == 'grasp':
start_face = exp_double.get_valid_ind()
if start_face is None:
print('Could not find valid start face')
continue
plan_args = exp_double.get_random_primitive_args(
ind=start_face, random_goal=True, execute=True)
elif primitive_name == 'pull':
plan_args = exp_single.get_random_primitive_args(
ind=goal_face, random_goal=True, execute=True)
start_pose = plan_args['object_pose1_world']
goal_pose = plan_args['object_pose2_world']
if goal_visualization:
goal_viz.update_goal_state(
util.pose_stamped2list(goal_pose))
if args.debug:
import simulation
plan = action_planner.get_primitive_plan(
primitive_name, plan_args, 'right')
for i in range(10):
simulation.visualize_object(
start_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_initial",
color=(1., 0., 0., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
simulation.visualize_object(
goal_pose,
filepath=
"package://config/descriptions/meshes/objects/cuboids/"
+ cuboid_fname.split('objects/cuboids')[1],
name="/object_final",
color=(0., 0., 1., 1.),
frame_id="/yumi_body",
scale=(1., 1., 1.))
rospy.sleep(.1)
simulation.simulate(
plan,
cuboid_fname.split('objects/cuboids')[1])
else:
success = False
attempts = 0
while True:
attempts += 1
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT +
cfg.LEFT_INIT)
p.resetBasePositionAndOrientation(
obj_id,
util.pose_stamped2list(start_pose)[:3],
util.pose_stamped2list(start_pose)[3:])
if attempts > 15:
break
print('attempts: ' + str(attempts))
try:
obs, pcd = yumi_gs.get_observation(
obj_id=obj_id,
robot_table_id=(yumi_ar.arm.robot_id,
table_id))
obj_pose_world = start_pose
obj_pose_final = goal_pose
start = util.pose_stamped2list(obj_pose_world)
goal = util.pose_stamped2list(obj_pose_final)
start_mat = util.matrix_from_pose(obj_pose_world)
goal_mat = util.matrix_from_pose(obj_pose_final)
T_mat = np.matmul(goal_mat,
np.linalg.inv(start_mat))
transformation = np.asarray(util.pose_stamped2list(
util.pose_from_matrix(T_mat)),
dtype=np.float32)
# model takes in observation, and predicts:
pointcloud_pts = np.asarray(
obs['down_pcd_pts'][:100, :], dtype=np.float32)
obs_fname = os.path.join(
obs_dir,
str(total_trials) + '.npz')
np.savez(obs_fname,
pointcloud_pts=pointcloud_pts,
transformation=transformation)
# embed()
got_file = False
pred_fname = os.path.join(
pred_dir,
str(total_trials) + '.npz')
start = time.time()
while True:
try:
prediction = np.load(pred_fname)
got_file = True
except:
pass
if got_file or (time.time() - start > 300):
break
time.sleep(0.01)
if not got_file:
wait = raw_input(
'waiting for predictions to come back online'
)
continue
os.remove(pred_fname)
# embed()
ind = np.random.randint(10)
# contact_obj_frame_r = prediction['prediction'][ind, :7]
# contact_obj_frame_l = prediction['prediction'][ind, 7:]
contact_prediction_r = prediction['prediction'][
ind, :7]
contact_prediction_l = prediction['prediction'][
ind, 7:]
contact_world_pos_r = contact_prediction_r[:3] + np.mean(
pointcloud_pts, axis=0)
contact_world_pos_l = contact_prediction_l[:3] + np.mean(
pointcloud_pts, axis=0)
contact_world_pos_pred = {}
contact_world_pos_pred[
'right'] = contact_world_pos_r
contact_world_pos_pred[
'left'] = contact_world_pos_l
contact_world_pos_corr = correct_grasp_pos(
contact_world_pos_pred, obs['pcd_pts'])
contact_world_pos_r = contact_world_pos_corr[
'right']
contact_world_pos_l = contact_world_pos_corr[
'left']
contact_world_r = contact_world_pos_r.tolist(
) + contact_prediction_r[3:].tolist()
contact_world_l = contact_world_pos_l.tolist(
) + contact_prediction_l[3:].tolist()
palm_poses_world = {}
# palm_poses_world['right'] = util.convert_reference_frame(
# util.list2pose_stamped(contact_obj_frame_r),
# util.unit_pose(),
# obj_pose_world)
# palm_poses_world['left'] = util.convert_reference_frame(
# util.list2pose_stamped(contact_obj_frame_l),
# util.unit_pose(),
# obj_pose_world)
palm_poses_world['right'] = util.list2pose_stamped(
contact_world_r)
palm_poses_world['left'] = util.list2pose_stamped(
contact_world_l)
# obj_pose_final = self.goal_pose_world_frame_mod``
palm_poses_obj_frame = {}
# delta = 10e-3
penetration_delta = 7.5e-3
# delta = np.random.random_sample() * \
# (penetration_delta - 0.5*penetration_delta) + \
# penetration_delta
delta = penetration_delta
y_normals = action_planner.get_palm_y_normals(
palm_poses_world)
for key in palm_poses_world.keys():
# try to penetrate the object a small amount
palm_poses_world[
key].pose.position.x -= delta * y_normals[
key].pose.position.x
palm_poses_world[
key].pose.position.y -= delta * y_normals[
key].pose.position.y
palm_poses_world[
key].pose.position.z -= delta * y_normals[
key].pose.position.z
palm_poses_obj_frame[
key] = util.convert_reference_frame(
palm_poses_world[key], obj_pose_world,
util.unit_pose())
# plan_args['palm_pose_r_object'] = util.list2pose_stamped(contact_obj_frame_r)
# plan_args['palm_pose_l_object'] = util.list2pose_stamped(contact_obj_frame_l)
plan_args[
'palm_pose_r_object'] = palm_poses_obj_frame[
'right']
plan_args[
'palm_pose_l_object'] = palm_poses_obj_frame[
'left']
plan = action_planner.get_primitive_plan(
primitive_name, plan_args, 'right')
# import simulation
# for i in range(10):
# simulation.visualize_object(
# start_pose,
# filepath="package://config/descriptions/meshes/objects/cuboids/" +
# cuboid_fname.split('objects/cuboids')[1],
# name="/object_initial",
# color=(1., 0., 0., 1.),
# frame_id="/yumi_body",
# scale=(1., 1., 1.))
# simulation.visualize_object(
# goal_pose,
# filepath="package://config/descriptions/meshes/objects/cuboids/" +
# cuboid_fname.split('objects/cuboids')[1],
# name="/object_final",
# color=(0., 0., 1., 1.),
# frame_id="/yumi_body",
# scale=(1., 1., 1.))
# rospy.sleep(.1)
# simulation.simulate(plan, cuboid_fname.split('objects/cuboids')[1])
# continue
result = action_planner.execute(
primitive_name, plan_args)
if result is None:
continue
print('Result: ' + str(result[0]) +
' Pos Error: ' + str(result[1]) +
' Ori Error: ' + str(result[2]))
if result[0]:
successes += 1
print('Success rate: ' +
str(successes * 100.0 / total_trials))
break
except ValueError as e:
print("Value error: ")
print(e)
if args.nice_pull_release:
time.sleep(1.0)
pose = util.pose_stamped2list(
yumi_gs.compute_fk(yumi_gs.get_jpos(arm='right')))
pos, ori = pose[:3], pose[3:]
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
for _ in range(10):
pos[2] += 0.001
r_jnts = yumi_gs.compute_ik(
pos, ori, yumi_gs.get_jpos(arm='right'))
l_jnts = yumi_gs.get_jpos(arm='left')
if r_jnts is not None:
yumi_gs.update_joints(
list(r_jnts) + l_jnts)
time.sleep(0.1)
time.sleep(0.1)
for _ in range(10):
yumi_gs.update_joints(cfg.RIGHT_INIT + cfg.LEFT_INIT)
while True:
try:
yumi_ar.pb_client.remove_body(obj_id)
if goal_visualization:
yumi_ar.pb_client.remove_body(goal_obj_id)
cuboid_fname = cuboid_manager.get_cuboid_fname()
print("Cuboid file: " + cuboid_fname)
obj_id, sphere_ids, mesh, goal_obj_id = \
cuboid_sampler.sample_cuboid_pybullet(
cuboid_fname,
goal=goal_visualization,
keypoints=False)
cuboid_manager.filter_collisions(obj_id, goal_obj_id)
p.changeDynamics(obj_id, -1, lateralFriction=0.4)
action_planner.update_object(obj_id, mesh_file)
exp_single.initialize_object(obj_id, cuboid_fname)
# exp_double.initialize_object(obj_id, cuboid_fname, goal_face)
if goal_visualization:
goal_viz.update_goal_obj(goal_obj_id)
break
except ValueError as e:
print(e)
def greedy_replan(yumi,
active_arm,
box_id,
primitive,
object_final_pose,
config_path,
ik,
seed,
frac_complete=1.0,
plan_iteration=0):
"""
[summary]
"""
global initial_plan
# get the current inputs to the planner
# both palms in the object frame, current pose of the object, active arm
object_pos = list(yumi.arm.p.getBasePositionAndOrientation(box_id)[0])
object_ori = list(yumi.arm.p.getBasePositionAndOrientation(box_id)[1])
# r_tip_pos_world = list(yumi.arm.p.getLinkState(yumi.arm.robot_id, 13)[0])
# r_tip_ori_world = list(yumi.arm.p.getLinkState(yumi.arm.robot_id, 13)[1])
# l_tip_pos_world = list(yumi.arm.p.getLinkState(yumi.arm.robot_id, 26)[0])
# l_tip_ori_world = list(yumi.arm.p.getLinkState(yumi.arm.robot_id, 26)[1])
# r_tip_pose_object_frame = util.convert_reference_frame(
# util.list2pose_stamped(r_tip_pos_world + r_tip_ori_world),
# util.list2pose_stamped(object_pos + object_ori),
# util.unit_pose()
# )
# l_tip_pose_object_frame = util.convert_reference_frame(
# util.list2pose_stamped(l_tip_pos_world + l_tip_ori_world),
# util.list2pose_stamped(object_pos + object_ori),
# util.unit_pose()
# )
r_wrist_pos_world = yumi.arm.get_ee_pose(arm='right')[0].tolist()
r_wrist_ori_world = yumi.arm.get_ee_pose(arm='right')[1].tolist()
l_wrist_pos_world = yumi.arm.get_ee_pose(arm='left')[0].tolist()
l_wrist_ori_world = yumi.arm.get_ee_pose(arm='left')[1].tolist()
current_wrist_poses = {}
current_wrist_poses['right'] = util.list2pose_stamped(r_wrist_pos_world +
r_wrist_ori_world)
current_wrist_poses['left'] = util.list2pose_stamped(l_wrist_pos_world +
l_wrist_ori_world)
current_tip_poses = get_wrist_to_tip(current_wrist_poses, cfg)
r_tip_pose_object_frame = util.convert_reference_frame(
current_tip_poses['right'],
util.list2pose_stamped(object_pos + object_ori), util.unit_pose())
l_tip_pose_object_frame = util.convert_reference_frame(
current_tip_poses['left'],
util.list2pose_stamped(object_pos + object_ori), util.unit_pose())
object_pose_current = util.list2pose_stamped(object_pos + object_ori)
primitive_args = {}
primitive_args['object_pose1_world'] = object_pose_current
primitive_args['object_pose2_world'] = object_final_pose
primitive_args['palm_pose_l_object'] = l_tip_pose_object_frame
primitive_args['palm_pose_r_object'] = r_tip_pose_object_frame
primitive_args['object'] = None
primitive_args['N'] = int(
len(initial_plan[plan_iteration]['palm_poses_world']) * frac_complete)
primitive_args['init'] = False
new_plan = get_primitive_plan(primitive, primitive_args, config_path,
active_arm)
if primitive == 'grasp':
next_step = 1 if plan_iteration == 1 else 14
else:
next_step = 1
new_tip_poses = new_plan[plan_iteration]['palm_poses_world'][next_step]
seed_r = seed['right']
seed_l = seed['left']
r_joints = ik.compute_ik(util.pose_stamped2list(new_tip_poses[1])[:3],
util.pose_stamped2list(new_tip_poses[1])[3:],
seed_r,
arm='right')
l_joints = ik.compute_ik(util.pose_stamped2list(new_tip_poses[0])[:3],
util.pose_stamped2list(new_tip_poses[0])[3:],
seed_l,
arm='left')
joints = {}
joints['right'] = r_joints
joints['left'] = l_joints
return joints, new_plan
def pushing_planning(object,
object_pose1_world,
object_pose2_world,
palm_pose_l_object,
palm_pose_r_object,
arm='r',
pusher_angle=0.0):
"""
Main pushing primitive function. Return a plan that contains the
pose trajectories of the object and palms to achieve desired object reconfiguration.
Args:
object (collisions.CollisionBody): that contains the geometry of the object.
(Not currently used)
object_pose1_world (util.PoseStamped): Initial object pose in world frame.
object_pose2_world (util.PoseStamped): Final object pose in world frame.
palm_pose_l_object (util.PoseStamped): Left palm pose in object frame.
palm_pose_r_object (util.PoseStamped): Right palm pose in object frame.
Returns:
list (list of dict with: keys)
palm_poses_r_world (list of util.PoseStamped): Trajectory of right
palm poses in world frame
palm_poses_l_world (list of util.PoseStamped): Trajectory of left
palm poses in world frame
object_poses_world (util.PoseStamped): Trajectory of object poses
in world frame
primitive (util.PoseStamped): Name of primitive (i.e., 'grasping')
name: (util.PoseStamped): Name of plan
t (util.PoseStamped): list of timestamps associated with each pose
N (util.PoseStamped): Number of keypoints in the plan
(i.e., len(plan_dict['t'])
"""
primitive_name = 'pushing'
#0. get initial palm poses in world frame
palm_poses_initial_world = planning_helper.palm_poses_from_object(
object_pose=object_pose1_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object)
#1. Convert pose to 2d pose
object_initial_planar_pose = planning_helper.get_2d_pose(
object_pose1_world)
object_final_planar_pose = planning_helper.get_2d_pose(object_pose2_world)
#2.
configurations_transformed, N_star, object_pose_2d_list, t_star = planning_helper.dubins_trajectory(
q0=object_initial_planar_pose,
qf=object_final_planar_pose,
radius=0.125,
velocity_real=0.05,
step_size=0.015,
contact_angle=pusher_angle)
# 3. iterate through trajectory and compute robot i)poses and ii)joints
object_pose_world_list = []
palm_poses_world_list = []
palm_pose_l_world_list = []
palm_pose_r_world_list = []
for counter, object_pose_2d in enumerate(object_pose_2d_list):
# 4. get 3d object pose from 2d
object_pose__world = planning_helper.get3dpose_object(
pose2d=object_pose_2d, pose3d_nominal=object_pose1_world)
if arm == 'r':
palm_pose_l_world = palm_poses_initial_world[0]
palm_pose_r_world = util.convert_reference_frame(
pose_source=palm_pose_r_object,
pose_frame_target=util.unit_pose(),
pose_frame_source=object_pose__world,
frame_id="yumi_body",
)
else:
palm_pose_l_world = util.convert_reference_frame(
pose_source=palm_pose_l_object,
pose_frame_target=util.unit_pose(),
pose_frame_source=object_pose__world,
frame_id="yumi_body",
)
palm_pose_r_world = palm_poses_initial_world[1]
object_pose_world_list.append(object_pose__world)
palm_poses_world_list.append([palm_pose_l_world, palm_pose_r_world])
palm_pose_l_world_list.append(palm_pose_l_world)
palm_pose_r_world_list.append(palm_pose_r_world)
#5. return final plan
plan_dict = {}
plan_dict['palm_poses_world'] = palm_poses_world_list
plan_dict['palm_pose_l_world'] = palm_pose_l_world_list
plan_dict['palm_pose_r_world'] = palm_pose_r_world_list
plan_dict['primitive'] = primitive_name
plan_dict['object_poses_world'] = object_pose_world_list
plan_dict['name'] = 'push_object'
plan_dict['t'] = t_star
plan_dict['N'] = len(N_star)
return [plan_dict]
def levering_planning(object,
object_pose1_world,
object_pose2_world,
palm_pose_l_object,
palm_pose_r_object,
rotation_center_pose_world=None,
anchor_offset=[-0.01, 0, 0],
gripper_name=None,
table_name=None,
N=100,
planner=None):
"""
Main levering primitive function. Return a plan that contains
the pose trajectories of the object and palms to achieve
desired object reconfiguration.
Args:
object (collisions.CollisionBody): that contains the geometry
of the object. If object=None used, collisions will occur
between palms and table.
object_pose1_world (util.PoseStamped): Initial object pose
in world frame.
object_pose2_world (util.PoseStamped): Final object pose
in world frame.
palm_pose_l_object (util.PoseStamped): Left palm pose in
object frame.
palm_pose_r_object (util.PoseStamped): Right palm pose in
object frame.
Returns:
list: (list of dict with keys)
palm_poses_r_world (list of util.PoseStamped): Trajectory
of right palm poses in world frame
palm_poses_l_world (list of util.PoseStamped): Trajectory
of left palm poses in world frame
object_poses_world (util.PoseStamped): Trajectory of object
poses in world frame
primitive (util.PoseStamped): Name of primitive (i.e., 'grasping')
name (util.PoseStamped): Name of plan
t (util.PoseStamped): list of timestamps associated with
each pose
N (util.PoseStamped): Number of keypoints in the plan
(i.e., len(plan_dict['t'])
"""
primitive_name = 'levering'
if gripper_name is not None and table_name is not None:
collision_check = collisions.CheckCollisions(gripper_name=gripper_name,
table_name=table_name)
if rotation_center_pose_world is None:
rotation_center_pose_world = planning_helper.rotation_center_from_object_poses(
corners_object=object.trimesh.vertices,
object_pose_initial=object_pose1_world,
object_pose_final=object_pose2_world,
)
#0. get initial palm poses in world frame
palm_poses_initial_world = planning_helper.palm_poses_from_object(
object_pose=object_pose1_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object)
#1. get poses relative to rotation center
object_pose_center = util.convert_reference_frame(
pose_source=object_pose1_world,
pose_frame_target=rotation_center_pose_world,
pose_frame_source=util.unit_pose(),
frame_id="rotation_center")
palm_pose_l_offset_world = util.offset_local_pose(
palm_poses_initial_world[0], -np.array(anchor_offset))
palm_pose_l_center = util.convert_reference_frame(
pose_source=palm_pose_l_offset_world,
pose_frame_target=rotation_center_pose_world,
pose_frame_source=util.unit_pose(),
frame_id="rotation_center")
palm_pose_r_center = util.convert_reference_frame(
pose_source=palm_poses_initial_world[1],
pose_frame_target=rotation_center_pose_world,
pose_frame_source=util.unit_pose(),
frame_id="rotation_center")
#2. interpolation rotation center from initial to final pose
object_pose_transform = util.get_transform(
pose_frame_target=object_pose2_world,
pose_frame_source=object_pose1_world)
euler_angles = util.euler_from_pose(object_pose_transform)
rotation_center_pose_final_world = util.transform_pose(
pose_source=rotation_center_pose_world,
pose_transform=object_pose_transform)
rotation_center_pose_world_list = util.interpolate_pose(
rotation_center_pose_world, rotation_center_pose_final_world, N=N)
#. in body frame
angle_left_vec = np.linspace(0, -euler_angles[0] * 180 / np.pi,
len(rotation_center_pose_world_list))
angle_right_vec = np.linspace(0, 0, len(rotation_center_pose_world_list))
palm_poses_world_list = []
palm_pose_l_world_list = []
palm_pose_r_world_list = []
palm_pose_l_object_list = []
palm_pose_r_object_list = []
object_pose_world_list = []
for counter, rotation_center_pose_world in enumerate(
rotation_center_pose_world_list):
object_world_tmp = util.convert_reference_frame(
pose_source=object_pose_center,
pose_frame_target=util.unit_pose(),
pose_frame_source=rotation_center_pose_world,
frame_id="world")
palm_pose_l_world_tmp = util.convert_reference_frame(
pose_source=palm_pose_l_center,
pose_frame_target=util.unit_pose(),
pose_frame_source=rotation_center_pose_world,
frame_id="world")
palm_pose_r_world_tmp = util.convert_reference_frame(
pose_source=palm_pose_r_center,
pose_frame_target=util.unit_pose(),
pose_frame_source=rotation_center_pose_world,
frame_id="world")
#4. rotate palms linearly as the object rotates
palm_pose_l_world, palm_pose_r_world = util.rotate_local_pose_list(
pose_world_list=[palm_pose_l_world_tmp, palm_pose_r_world_tmp],
offset_list=[[0, 0, angle_left_vec[counter] * np.pi / 180],
[0, 0, angle_right_vec[counter] * np.pi / 180]])
palm_pose_l_world = util.offset_local_pose(palm_pose_l_world,
np.array(anchor_offset))
#5. Continuously check for collisions between left palm and table (if collision, move palm up)
if gripper_name is not None and table_name is not None:
palm_pose_l_world = collision_check.avoid_collision(
palm_pose_l_world, arm="l", tol=0.001, axis=[-1, 0, 0])
#6. convert palm poses to object frame
palm_pose_l_object = util.convert_reference_frame(
pose_source=palm_pose_l_world,
pose_frame_target=object_world_tmp,
pose_frame_source=util.unit_pose(),
frame_id="object")
palm_pose_r_object = util.convert_reference_frame(
pose_source=palm_pose_r_world,
pose_frame_target=object_world_tmp,
pose_frame_source=util.unit_pose(),
frame_id="object")
#7. save variables
palm_poses_world_list.append([palm_pose_l_world, palm_pose_r_world])
palm_pose_l_world_list.append(palm_pose_l_world)
palm_pose_r_world_list.append(palm_pose_r_world)
palm_pose_l_object_list.append(palm_pose_l_object)
palm_pose_r_object_list.append(palm_pose_r_object)
object_pose_world_list.append(object_world_tmp)
#6. return final plan
plan_dict = {}
plan_dict['palm_poses_world'] = palm_poses_world_list
plan_dict['palm_pose_l_world'] = palm_pose_l_world_list
plan_dict['palm_pose_r_world'] = palm_pose_r_world_list
plan_dict['palm_pose_l_object'] = palm_pose_l_object_list
plan_dict['palm_pose_r_object'] = palm_pose_r_object_list
plan_dict['primitive'] = primitive_name
plan_dict['object_poses_world'] = object_pose_world_list
plan_dict['name'] = 'rotate_object'
plan_dict['t'] = list(np.linspace(0, 1, num=N, endpoint=False))
plan_dict['N'] = N
return [plan_dict]
def main(args):
print(args)
yumi = ar.create_robot('yumi',
robot_cfg={
'render': True,
'self_collision': False
})
yumi.go_home()
# while not yumi._reach_jnt_goal(yumi.cfgs.HOME_POSITION):
# yumi.p.stepSimulation()
# time.sleep(0.001)
cfg_file = os.path.join(args.example_config_path, args.primitive) + ".yaml"
cfg = get_cfg_defaults()
cfg.merge_from_file(cfg_file)
cfg.freeze()
print(cfg)
manipulated_object = None
object_pose1_world = util.list2pose_stamped(cfg.OBJECT_INIT)
object_pose2_world = util.list2pose_stamped(cfg.OBJECT_FINAL)
palm_pose_l_object = util.list2pose_stamped(cfg.PALM_LEFT)
palm_pose_r_object = util.list2pose_stamped(cfg.PALM_RIGHT)
if args.primitive == 'push':
plan = pushing_planning(object=manipulated_object,
object_pose1_world=object_pose1_world,
object_pose2_world=object_pose2_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object)
elif args.primitive == 'grasp':
plan = grasp_planning(object=manipulated_object,
object_pose1_world=object_pose1_world,
object_pose2_world=object_pose2_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object)
elif args.primitive == 'pivot':
gripper_name = args.config_package_path + \
'descriptions/meshes/mpalm/mpalms_all_coarse.stl'
table_name = args.config_package_path + \
'descriptions/meshes/table/table_top.stl'
manipulated_object = collisions.CollisionBody(
args.config_package_path +
'descriptions/meshes/objects/realsense_box_experiments.stl')
plan = levering_planning(object=manipulated_object,
object_pose1_world=object_pose1_world,
object_pose2_world=object_pose2_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object,
gripper_name=gripper_name,
table_name=table_name)
elif args.primitive == 'pull':
plan = pulling_planning(object=manipulated_object,
object_pose1_world=object_pose1_world,
object_pose2_world=object_pose2_world,
palm_pose_l_object=palm_pose_l_object,
palm_pose_r_object=palm_pose_r_object,
arm='r')
else:
raise NotImplementedError
object_loaded = False
# plan_dict = plan[0]
# i = 1
# tip_poses = plan_dict['palm_poses_world'][i]
# r_joints, l_joints = get_joint_poses(tip_poses, yumi, cfg, nullspace=True)
# from IPython import embed
# embed()
with open('./data/' + args.primitive + '_object_poses_tip.pkl', 'rb') as f:
data = pickle.load(f)
# print("data: ")
# print(data)
object_poses_palm = data['object_pose_palm']
palm_poses_world = data['palm_pose_world']
object_poses_world = []
for i, pose in enumerate(object_poses_palm):
tmp_obj_pose = util.list2pose_stamped(pose)
palm_pose = util.list2pose_stamped(palm_poses_world[i])
tmp_obj_pose_world = util.convert_reference_frame(
tmp_obj_pose, palm_pose, util.unit_pose())
obj_pose_world = util.pose_stamped2list(tmp_obj_pose_world)
object_poses_world.append(obj_pose_world)
box_id = yumi.load_object(
args.config_package_path + 'descriptions/urdf/realsense_box.urdf',
cfg.OBJECT_INIT[0:3], cfg.OBJECT_INIT[3:])
for i, pose in enumerate(object_poses_world):
yumi.p.resetBasePositionAndOrientation(box_id, pose[:3], pose[3:])
time.sleep(0.01)