def segment_point_distance(a, b, x):
"""Returns (distance, parameter) pair between segment (a,b) and point x"""
d = vectorops.sub(b, a)
u = vectorops.dot(vectorops.sub(x, a), d) / vectorops.dot(d, d)
u = min(1.0, max(u, 0.0))
d = vectorops.distance(x, vectorops.interpolate(a, b, u))
return (d, u)
def segment_triangle_intersection(seg, tri, umin=0, umax=1):
"""Given a 3D segment (p,q) and a triangle (a,b,c), returns the point of
intersection if the region of the segment in interval [umin,umax] intersects the
triangle. Otherwise returns None"""
p, q = seg
a, b, c = tri
d = vectorops.sub(b, a)
e = vectorops.sub(c, a)
n = vectorops.cross(d, e)
if vectorops.norm(n) < 1e-7: #degenerate
return None
n = vectorops.unit(n)
ofs = vectorops.dot(n, a)
#Solve for n^T(p + u(q-p)) = ofs
denom = vectorops.dot(n, vectorops.sub(q, p))
numer = ofs - vectorops.dot(n, p)
if abs(denom) < 1e-7: #near parallel
return None
u = numer / denom
if u < umin or u > umax:
return None
#now check whether point of intersection lies in triangle
x = vectorops.madd(p, vectorops.sub(q, p), u)
xloc = vectorops.sub(x, a)
#solve for coordinates [r,s,t] such that xloc = r*n + s*d + t*e
try:
rst = np.dot(np.linalg.inv(np.array([n, d, e]).T), xloc)
except np.linalg.linalg.LinAlgError:
return None
r, s, t = rst
assert abs(r) < 1e-4
if s >= 0 and t >= 0 and s + t <= 1:
return x
return None
def apply_tendon_forces(self,i,link1,link2,rest_length):
tendon_c2 = 30000.0
tendon_c1 = 10000.0
b0 = self.sim.body(self.model.robot.link(self.model.proximal_links[0]-3))
b1 = self.sim.body(self.model.robot.link(link1))
b2 = self.sim.body(self.model.robot.link(link2))
p0w = se3.apply(b1.getTransform(),self.tendon0_local)
p1w = se3.apply(b1.getTransform(),self.tendon1_local)
p2w = se3.apply(b2.getTransform(),self.tendon2_local)
d = vectorops.distance(p1w,p2w)
if d > rest_length:
#apply tendon force
direction = vectorops.unit(vectorops.sub(p2w,p1w))
f = tendon_c2*(d - rest_length)**2+tendon_c1*(d - rest_length)
#print d,rest_length
#print "Force magnitude",self.model.robot.link(link1).getName(),":",f
f = min(f,100)
#tendon routing force
straight = vectorops.unit(vectorops.sub(p2w,p0w))
pulley_direction = vectorops.unit(vectorops.sub(p1w,p0w))
pulley_axis = so3.apply(b1.getTransform()[0],(0,1,0))
tangential_axis = vectorops.cross(pulley_axis,pulley_direction)
cosangle = vectorops.dot(straight,tangential_axis)
#print "Cosine angle",self.model.robot.link(link1).getName(),cosangle
base_direction = so3.apply(b0.getTransform()[0],[0,0,-1])
b0.applyForceAtLocalPoint(vectorops.mul(base_direction,-f),vectorops.madd(p0w,base_direction,0.04))
b1.applyForceAtLocalPoint(vectorops.mul(tangential_axis,cosangle*f),self.tendon1_local)
b1.applyForceAtLocalPoint(vectorops.mul(tangential_axis,-cosangle*f),self.tendon0_local)
b2.applyForceAtLocalPoint(vectorops.mul(direction,-f),self.tendon2_local)
self.forces[i][1] = vectorops.mul(tangential_axis,cosangle*f)
self.forces[i][2] = vectorops.mul(direction,f)
else:
self.forces[i] = [None,None,None]
return
def mmult(A, b):
"""Matrix-vector multiplication with raw Python objects"""
v = []
for ai in A:
assert (len(ai) == len(b))
v.append(vectorops.dot(ai, b))
return v
def draw_hull(hull,scale=0.01):
"""Draws a ConvexHull with 3D texture coordinates"""
if len(hull.simplices)==0:
print "Hull with no simplices?"
return
centroid = sum([hull.points[v] for v in hull.vertices],[0.0]*3) / len(hull.vertices) * scale
vmin = [min([hull.points[v][i] for v in hull.vertices])*scale for i in range(3)]
vmax = [max([hull.points[v][i] for v in hull.vertices])*scale for i in range(3)]
uvwscale = [1.0/(b-a) if b != a else 1.0 for (a,b) in zip(vmin,vmax)]
for simplex in hull.simplices:
ia,ib,ic = simplex
a = vectorops.mul(hull.points[ia].tolist(),scale)
b = vectorops.mul(hull.points[ib].tolist(),scale)
c = vectorops.mul(hull.points[ic].tolist(),scale)
n = vectorops.cross(vectorops.sub(b,a),vectorops.sub(c,a))
if vectorops.dot(n,vectorops.sub(centroid,a)) > 0:
b,c = c,b
n = vectorops.mul(n,-1)
try:
n = vectorops.mul(n,1.0/vectorops.norm(n))
glNormal3f(*n)
except ZeroDivisionError:
pass
glBegin(GL_TRIANGLES)
glTexCoord3f(uvwscale[0]*(a[0]-vmin[0]),uvwscale[1]*(a[1]-vmin[1]),uvwscale[2]*(a[2]-vmin[2]))
glVertex3f(*a)
glTexCoord3f(uvwscale[0]*(b[0]-vmin[0]),uvwscale[1]*(b[1]-vmin[1]),uvwscale[2]*(b[2]-vmin[2]))
glVertex3f(*b)
glTexCoord3f(uvwscale[0]*(c[0]-vmin[0]),uvwscale[1]*(c[1]-vmin[1]),uvwscale[2]*(c[2]-vmin[2]))
glVertex3f(*c)
glEnd()
def axis_rotation_magnitude(R, a):
"""Given a rotation matrix R and a unit axis a, determines how far R rotates
about a. Specifically, if R = from_axis_angle((a,v)) this should return v (modulo pi).
"""
cterm = so3.trace(R) - vectorops.dot(a, so3.apply(R, a))
mR = so3.matrix(R)
sterm = -(a[0] * (mR[1][2] - mR[2][1]) + a[1] *
(mR[2][0] - mR[0][2]) + a[2] * (mR[0][1] - mR[1][0]))
return math.atan2(sterm, cterm)
def config_to_opening(self,qfinger):
"""Estimates far qfinger is from closed_config to open_config.
Only meaningful if qfinger is close to being along the straight
C-space line between the two.
"""
if self.closed_config is None or self.open_config is None:
raise ValueError("Can't estimate opening width to")
assert len(qfinger) == len(self.closed_config)
b = vectorops.sub(qfinger,self.closed_config)
a = vectorops.sub(self.open_config,self.closed_config)
return min(1,max(0,vectorops.dot(a,b)/vectorops.normSquared(a)))
def init(self, scene, object, hints):
"""Needs object to contain a structured PointCloud."""
if not isinstance(object, (RigidObjectModel, Geometry3D, PointCloud)):
print(
"Need to pass an object as a RigidObjectModel, Geometry3D, or PointCloud"
)
return False
if isinstance(object, RigidObjectModel):
return self.init(scene, object.geometry(), hints)
pc = None
xform = None
if isinstance(object, Geometry3D):
pc = object.getPointCloud()
xform = object.getCurrentTransform()
else:
pc = object
xform = se3.identity()
self.pc = pc
self.pc_xform = xform
#now look through PC and find flat parts
#do a spatial hash
from collections import defaultdict
estimation_knn = 6
pts = numpy_convert.to_numpy(pc)
N = pts.shape[0]
positions = pts[:, :3]
normals = np.zeros((N, 3))
indices = (positions * (1.0 / self._gripper.opening_span)).astype(int)
pt_hash = defaultdict(list)
for i, (ind, p) in enumerate(zip(indices, positions)):
pt_hash[ind].append((i, p))
options = []
for (ind, iplist) in pt_hash.items():
if len(iplist) < estimation_knn:
pass
else:
pindices = [ip[0] for ip in iplist]
pts = [ip[1] for ip in iplist]
c, n = fit_plane_centroid(pts)
if n[2] < 0:
n = vectorops.mul(n, -1)
verticality = self.vertical_penalty(math.acos(n[2]))
var = sum(
vectorops.dot(vectorops.sub(p, c), n)**2 for p in pts)
roughness = self.roughness_penalty(var)
options.append((cn, n, verticality + roughness))
if len(options) == 0:
return False
self.options = options.sorted(key=lambda x: -x[2])
self.index = 0
return True
def click_world(self,x,y):
"""Helper: returns a list of world objects sorted in order of
increasing distance."""
#get the viewport ray
(s,d) = self.click_ray(x,y)
#run the collision tests
collided = []
for g in self.collider.geomList:
(hit,pt) = g[1].rayCast(s,d)
if hit:
dist = vectorops.dot(vectorops.sub(pt,s),d)
collided.append((dist,g[0]))
return [g[1] for g in sorted(collided)]
def score_function(grasping_problem, point, linkgeom_idx, CoM,
balance_residual, x, y, z):
"""
Calculate the goodness of a point for satisfying the constraints in a grasping planning problem.
"""
# Goodness for force balance -- sort of like a cosine similarity
a1 = -vectorops.dot(balance_residual[:3],
normal(grasping_problem.complementarity.obj, point))
# Distance to the object
dist = (
grasping_problem.complementarity.robot.geometry[linkgeom_idx].distance(
list(point)))[0]
a2 = math.exp(-dist)
return a1 + a2
def apply_tendon_forces(self, i, link1, link2, rest_length):
tendon_c2 = 30000.0
tendon_c1 = 10000.0
b0 = self.sim.body(
self.model.robot.link(self.model.proximal_links[0] - 3))
b1 = self.sim.body(self.model.robot.link(link1))
b2 = self.sim.body(self.model.robot.link(link2))
p0w = se3.apply(b1.getTransform(), self.tendon0_local)
p1w = se3.apply(b1.getTransform(), self.tendon1_local)
p2w = se3.apply(b2.getTransform(), self.tendon2_local)
d = vectorops.distance(p1w, p2w)
if d > rest_length:
#apply tendon force
direction = vectorops.unit(vectorops.sub(p2w, p1w))
f = tendon_c2 * (d - rest_length)**2 + tendon_c1 * (d -
rest_length)
#print d,rest_length
#print "Force magnitude",self.model.robot.link(link1).getName(),":",f
f = min(f, 100)
#tendon routing force
straight = vectorops.unit(vectorops.sub(p2w, p0w))
pulley_direction = vectorops.unit(vectorops.sub(p1w, p0w))
pulley_axis = so3.apply(b1.getTransform()[0], (0, 1, 0))
tangential_axis = vectorops.cross(pulley_axis, pulley_direction)
cosangle = vectorops.dot(straight, tangential_axis)
#print "Cosine angle",self.model.robot.link(link1).getName(),cosangle
base_direction = so3.apply(b0.getTransform()[0], [0, 0, -1])
b0.applyForceAtLocalPoint(
vectorops.mul(base_direction, -f),
vectorops.madd(p0w, base_direction, 0.04))
b1.applyForceAtLocalPoint(
vectorops.mul(tangential_axis, cosangle * f),
self.tendon1_local)
b1.applyForceAtLocalPoint(
vectorops.mul(tangential_axis, -cosangle * f),
self.tendon0_local)
b2.applyForceAtLocalPoint(vectorops.mul(direction, -f),
self.tendon2_local)
self.forces[i][1] = vectorops.mul(tangential_axis, cosangle * f)
self.forces[i][2] = vectorops.mul(direction, f)
else:
self.forces[i] = [None, None, None]
return
def run_poking_point_probe(config,tableHeight,probeLength,forceLimit,dt,moveStep,shortServoTime,longServoTime,
IKErrorTolerence,maxDev,EEZLimit,probe_transform,point_probe_to_local,world,res,
robot,link,CONTROLLER,collider,intermediateConfig):
"""
this is the main function of poking object. - point probe
"""
# Read In the pcd
points, normals = load_pcd(config.exp_path+'exp_'+str(config.exp_number)+'/probePcd.txt')
# control interface
if CONTROLLER == 'physical':
robotControlApi = UR5WithGripperController(host=config.robot_host,gripper=False)
robotControlApi.start()
time.sleep(2)
print '---------------------robot started -----------------------------'
constantVServo(robotControlApi,4,intermediateConfig,dt)#controller format
# in simulation ,set
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
print '---------------------at home configuration -----------------------------'
if CONTROLLER == 'debugging':
differences=[]
print('[*]Debug: Poking process start!')
for i in range(len(points)):
print('point %d, pos: %s, normals: %s'%(i,points[i],normals[i]))
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0)) #get unit vector in the direction '- normals'
## perform IK
local_NY_UnitV=vectorops.unit(vectorops.cross([0,1,0],approachVector))
pt1=goalPosition
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength)) # use 1m in normals direction.
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider,use_collision_detect=True)
differences.append(difference)
print('difference: %f'%difference)
### now start colecting data..
travel = 0.0
stepVector = vectorops.mul(approachVector,moveStep)
while travel<0.0001: #just try 0.1mm?
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider,use_const=False)
travel = travel + moveStep
### move the probe away, note: a bit different to physical mode
pt1=vectorops.add(points[i],vectorops.mul(approachVector,-0.05)) ## move the probe 5 cm from the object surface
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider)
### move back to intermediate config
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
print('[*]Debug: Poking process done, with max difference:%f'%max(differences))
vis.show()
while vis.shown():
time.sleep(1.0)
elif CONTROLLER == 'physical':
input('There are %d poking point, go?'%len(points))
point_list = range(112,116) # !delete 85, 90
#point_list = random.sample(range(97),97)
#point_list = [40,37,67,68]
for i in point_list:
print('point %d, pos: %s, normals: %s'%(i,points[i],normals[i]))
travel = -0.01
#init record file
forceData=open(config.exp_path+'exp_'+str(config.exp_number)+'/point/force_'+str(i)+'.txt','w')
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
#calculate start position
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0))
#### Make sure no contact, backup 0.01m
local_NY_UnitV=vectorops.unit(vectorops.cross([0,1,0],approachVector))
pt1=vectorops.add(goalPosition,vectorops.mul(approachVector,travel))
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime-1,dt) #TODO:
time.sleep(0.2)
# Zero the sensor before straight line push, Note that the force is recorded in the global frame..
counter = 0.0
totalF = [0,0,0]
startTime=time.time()
while (time.time()-startTime) < 1: # use 1s to cal the Force
totalF = vectorops.add(totalF,robotControlApi.getWrench()[0:3])
counter = counter + 1.0
time.sleep(dt)
forceBias = vectorops.mul(totalF,1.0/float(counter)) # when probe no touch the obj, F_avr = sum(F)/n
### now start collecting data..
wrench = robotControlApi.getWrench()
Force = vectorops.sub(wrench[0:3],forceBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector)) #|F||n|cos(theta) = F dot n, set it >= 0
forceHistory = [Force]
force_normalHistory = [Force_normal]
displacementHistory = [travel]
stepVector = vectorops.mul(approachVector,moveStep)
while Force_normal < forceLimit:
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime,dt,use_const=False)
time.sleep(dt)
Force = vectorops.sub(robotControlApi.getWrench()[0:3],forceBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector))
travel = travel + moveStep
forceHistory.append([Force[0],Force[1],Force[2]])
force_normalHistory.append(Force_normal)
displacementHistory.append(travel)
#record all the data in 2 files, one N*2 containts all the force data collected at various locations, another
#file specifies the number of datapoints at each detected point
for (f,fn,d) in zip(forceHistory,force_normalHistory,displacementHistory):
forceData.write(str(f[0])+' '+str(f[1])+' '+str(f[2])+' '+str(fn)+' '+str(d)+'\n')
forceData.close()
### move the probe away
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(points[i],vectorops.mul(approachVector,-0.10)) ## move the probe 8 cm from the object surface
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,shortServoTime,dt)
#constantVServo(robotControlApi,longServoTime,intermediateConfig,dt)
print'----------------------- pt '+str(i)+' completed -------------------------------'
#### move back to intermediate config
constantVServo(robotControlApi,shortServoTime,intermediateConfig,dt)
robotControlApi.stop()
def moveForceSpring(self, x, y):
self.sim.updateWorld()
(s, d) = self.view.click_ray(x, y)
u = vectorops.dot(vectorops.sub(self.forceAnchorPoint, s), d)
self.forceAnchorPoint = vectorops.madd(s, d, u)
def predict_line(lineStarts,lineEnds,lineNormals,lineTorqueAxes,pcd,param,discretization,num_iter,queryDList,vis,world):
vision_task_1 = False#True means we are doing the collision detection.
o3d = False
#create a pcd in open3D
equilibriumPcd = open3d.geometry.PointCloud()
xyz = []
rgb = []
normals = []
for ele in pcd:
xyz.append(ele[0:3])
rgb.append(ele[3:6])
normals.append(ele[6:9])
equilibriumPcd.points = open3d.utility.Vector3dVector(np.asarray(xyz,dtype=np.float32))
equilibriumPcd.colors = open3d.utility.Vector3dVector(np.asarray(rgb,dtype=np.float32))
equilibriumPcd.normals = open3d.utility.Vector3dVector(np.asarray(normals,dtype=np.float32))
# equilibriumPcd,ind=statistical_outlier_removal(equilibriumPcd,nb_neighbors=20,std_ratio=0.75)
if o3d:
vis3 = open3d.visualization.Visualizer()
vis3.create_window()
open3dPcd = open3d.geometry.PointCloud()
vis3.add_geometry(open3dPcd)
probe = world.rigidObject(0)
klampt_pcd_object = world.rigidObject(1) #this is a rigid object
klampt_pcd = klampt_pcd_object.geometry().getPointCloud() #this is now a PointCloud()
N_pts = klampt_pcd.numPoints()
dt = 0.1
for pointNumber in num_iter:
####Preprocess the pcd ####
lineStart0 = lineStarts[pointNumber]
lineEnd0 =lineEnds[pointNumber]
lineTorqueAxis = lineTorqueAxes[pointNumber]
N = 1 + round(vo.norm(vo.sub(lineStart0,lineEnd0))/discretization)
s = np.linspace(0,1,N)
lineNormal = lineNormals[pointNumber]
localXinW = vo.sub(lineEnd0,lineStart0)/np.linalg.norm(vo.sub(lineEnd0,lineStart0))
localYinW = (lineTorqueAxis)/np.linalg.norm(lineTorqueAxis)
lineStartinLocal = [0,0]
lineEndinLocal = [np.dot(vo.sub(lineEnd0,lineStart0),localXinW),
np.dot(vo.sub(lineEnd0,lineStart0),localYinW)]
#################first project the pcd to the plane of the line##############
#The start point is the origin of the plane...
projectedPcd = [] #Each point is R^10
projectedPcdLocal = [] #localXY coordinate
#the projected Pcd is in local frame....
for i in range(len(pcd)):
p = pcd[i][0:3]
projectedPt = vo.sub(p,vo.mul(lineNormal,vo.dot(vo.sub(p,lineStart0),lineNormal))) ##world origin
projectedPt2D = vo.sub(projectedPt,lineStart0)#world origin
projectedPt2DinLocal = [vo.dot(projectedPt2D,localXinW),vo.dot(projectedPt2D,localYinW)]
#%make sure point is in the "box" defined by the line
if ((projectedPt2DinLocal[0]<0.051) and (projectedPt2DinLocal[0] > -0.001)
and (projectedPt2DinLocal[1]<0.001) and (projectedPt2DinLocal[1]>-0.001)):
projectedPcdLocal.append(projectedPt2DinLocal)
projectedPcd.append(pcd[i])
#Create a KDTree for searching
projectedPcdTree = spatial.KDTree(projectedPcdLocal)
###############Find the corresponding point on the surface to the line############
surfacePtsAll = []# %These are the surface pts that will be displaced.
#%part of the probe not in contact with the object...
#average 3 neighbors
NofN = 3
#rigidPointsFinal = [] ##we have a potential bug here for not using rigidPointsFinal....
for i in range(int(N)):
tmp =vo.mul(vo.sub(lineEnd0,lineStart0),s[i])#%the point on the line, projected
linePt = [vo.dot(tmp,localXinW),vo.dot(tmp,localYinW)]
d,Idx = projectedPcdTree.query(linePt[0:2],k=NofN)
#We might end up having duplicated pts...
#We should make sure that the discretization is not too fine..
#or should average a few neighbors
if d[0] < 0.002:
surfacePt = [0]*10
for j in range(NofN):
surfacePt = vo.add(surfacePt,projectedPcd[Idx[j]][0:10])
surfacePt = vo.div(surfacePt,NofN)
surfacePtsAll.append(surfacePt) #position in the global frame..
#rigidPointsFinal.append(linePts)
N = len(surfacePtsAll)
##### Preprocesss done
if not o3d:
vis.show()
time.sleep(15.0)
############# Go through a list of displacements
totalFinNList = []
#for queryD = -0.003:0.001:0.014
for queryD in queryDList:
lineStart = vo.sub(lineStart0,vo.mul(lineNormal,queryD))
lineEnd = vo.sub(lineEnd0,vo.mul(lineNormal,queryD))
lineCenter = vo.div(vo.add(lineStart,lineEnd),2)
torqueCenter = vo.add(lineCenter,vo.mul(lineNormal,0.09))
if vision_task_1:
vis.lock()
print(queryD)
x_axis = vo.mul(vo.unit(vo.sub(lineEnd,lineStart)),-1.0)
y_axis = [lineTorqueAxis[0],lineTorqueAxis[1],lineTorqueAxis[2]]
z_axis = vo.cross(x_axis,y_axis)
z_axis = [z_axis[0],z_axis[1],z_axis[2]]
R = x_axis+y_axis+z_axis
t = vo.add(lineCenter,vo.mul(lineNormal,0.002))
print(R,t)
probe.setTransform(R,t)
vis.unlock()
time.sleep(dt)
else:
if not o3d:
vis.lock()
print(queryD)
x_axis = vo.mul(vo.unit(vo.sub(lineEnd,lineStart)),-1.0)
y_axis = [lineTorqueAxis[0],lineTorqueAxis[1],lineTorqueAxis[2]]
z_axis = vo.cross(x_axis,y_axis)
z_axis = [z_axis[0],z_axis[1],z_axis[2]]
R = x_axis+y_axis+z_axis
t = vo.add(lineCenter,vo.mul(lineNormal,0.003))
probe.setTransform(R,t)
####calculate the nominal displacements
surfacePts = [] #These are the surface pts that will be displaced...
rigidPtsInContact = []
nominalD = [] #Column Vector..
for i in range(int(N)): ##we have a potential bug here for keep interating trhough N, since about, if d[0] < 0.002, the points is not added...
#weird no bug occured...
linePt = vo.add(vo.mul(vo.sub(lineEnd,lineStart),s[i]),lineStart)
surfacePt = surfacePtsAll[i][0:3]
normal = surfacePtsAll[i][6:9]
nominalDisp = -vo.dot(vo.sub(linePt,surfacePt),normal)
if nominalDisp > 0:
surfacePts.append(surfacePtsAll[i][0:10])#position in the global frame..
rigidPtsInContact.append(linePt)
nominalD.append(nominalDisp)
originalNominalD = deepcopy(nominalD)
NofSurfacePts = len(surfacePts)
if NofSurfacePts > 0:
negativeDisp = True
while negativeDisp:
NofSurfacePts = len(surfacePts)
K = np.zeros((NofSurfacePts,NofSurfacePts))
for i in range(NofSurfacePts):
for j in range(NofSurfacePts):
K[i][j] = invKernel(surfacePts[i][0:3],surfacePts[j][0:3],param)
#print K
#startTime = time.time()
actualD = np.dot(np.linalg.inv(K),nominalD)
#print('Time spent inverting matrix',time.time()- startTime)
#print nominalD,actualD
negativeIndex = actualD < 0
if np.sum(negativeIndex) > 0:
actualD = actualD.tolist()
surfacePts = [surfacePts[i] for i in range(len(surfacePts)) if actualD[i]>=0]
nominalD = [nominalD[i] for i in range(len(nominalD)) if actualD[i]>=0]
rigidPtsInContact = [rigidPtsInContact[i] for i in range(len(rigidPtsInContact)) if actualD[i]>=0]
else:
negativeDisp = False
#hsv's hue: 0.25 = 0.0002 displacement 1 == 10 displacement
#generate the entire displacement field
#surfacePts are the equlibrium pts that provide
entireDisplacedPcd = []
colorThreshold = 0.0005
colorUpperBound = 0.012
forceColorUpperBound = 0.004
colorRange = colorUpperBound - colorThreshold
greyColor = 0.38
xyz = []
rgb = []
xyzForce = []
rgbForce = []
maxDisp = 0
for pt,ptNormal in zip(equilibriumPcd.points,equilibriumPcd.normals):
shapeVector = []
for pt2 in surfacePts:
shapeVector.append(invKernel(pt[0:3],pt2[0:3],param))
nominalDisplacement = vo.dot(shapeVector,actualD)
if nominalDisplacement > maxDisp:
maxDisp = nominalDisplacement
color = colorsys.hsv_to_rgb(nominalDisplacement/colorRange*0.75+0.25,1,0.75)
color = [color[0],color[1],color[2]]
displacedDeformablePoint = vo.sub(pt[0:3],vo.mul(ptNormal,nominalDisplacement))
xyz.append(displacedDeformablePoint)
rgb.append(color)
counter = 0
for (p,c) in zip(xyz,equilibriumPcd.colors):#rgb):
klampt_pcd.setProperty(counter,'r',c[0])
klampt_pcd.setProperty(counter,'g',c[1])
klampt_pcd.setProperty(counter,'b',c[2])
klampt_pcd.setPoint(counter,p)
counter = counter + 1
klampt_pcd_object.geometry().setPointCloud(klampt_pcd)
if o3d:
open3dPcd.points = open3d.utility.Vector3dVector(np.asarray(xyz,dtype=np.float32))
open3dPcd.colors = open3d.utility.Vector3dVector(np.asarray(rgb,dtype=np.float32))
open3dPcd.estimate_normals(search_param = open3d.geometry.KDTreeSearchParamHybrid(radius = 0.1, max_nn = 30))
###open3dPcd,ind=statistical_outlier_removal(open3dPcd,nb_neighbors=10,std_ratio=2)
#open3d.visualization.draw_geometries([open3dPcd])#_box_bottom])
vis3.add_geometry(open3dPcd)
vis3.poll_events()
vis3.update_renderer()
if not o3d:
vis.unlock()
time.sleep(dt)
else:
pass
while vis.shown():
time.sleep(0.1)
return
def drive(self, qcur, angVel, vel, dt):
"""Drives the robot by an incremental time step to reach the desired
Cartesian (angular/linear) velocities of the links previously specified
in start().
Args:
qcur (list of floats): The robot's current configuration.
angVel (3-vector or list of 3-vectors): the angular velocity of
each driven link. Set angVel to None to turn off orientation
control of every constraint. angVel[i] to None to turn off
orientation control of constraint i.
vel (3-vector or list of 3-vectors): the linear velocity of each
driven link. Set vel to None to turn off position control of
every constraint. Set vel[i] to None to turn off position
control of constraint i.
dt (float): the time step.
Returns:
tuple: A pair ``(progress,qnext)``. ``progress`` gives a value
in the range [0,1] indicating indicating how far along the nominal
drive amount the solver was able to achieve. If the result is < 0,
this indicates that the solver failed to make further progress.
``qnext`` is the resulting configuration that should be sent to the
robot's controller.
For longer moves, you should pass qnext back to this function as qcur.
"""
if angVel is None:
#turn off orientation control
if vel is None:
#nothing specified
return (1.0, qcur)
angVel = [None] * len(self.links)
else:
assert len(angVel) > 0
if not hasattr(angVel[0], '__iter__'):
angVel = [angVel]
if vel is None:
#turn off position control
vel = [None] * len(self.links)
else:
assert len(vel) > 0
if not hasattr(vel[0], '__iter__'):
vel = [vel]
if len(qcur) != self.robot.numLinks():
raise ValueError(
"Invalid size of current configuration, %d != %d" %
(len(qcur), self.robot.numLinks()))
if len(angVel) != len(self.links):
raise ValueError(
"Invalid # of angular velocities specified, %d != %d" %
(len(angVel), len(self.links)))
if len(vel) != len(self.links):
raise ValueError(
"Invalid # of translational velocities specified, %d != %d" %
(len(vel), len(self.links)))
anyNonzero = False
zeroVec = [0, 0, 0]
for (w, v) in zip(angVel, vel):
if w is not None and list(w) != zeroVec:
anyNonzero = True
break
if v is not None and list(v) != zeroVec:
anyNonzero = True
break
if not anyNonzero:
return (1.0, qcur)
qout = [v for v in qcur]
#update drive transforms
self.robot.setConfig(qcur)
robotLinks = [self.robot.link(l) for l in self.links]
#limit the joint movement by joint limits and velocity
tempqmin, tempqmax = self.robot.getJointLimits()
if self.qmin is not None:
tempqmin = self.qmin
if self.qmax is not None:
tempqmax = self.qmax
vmax = self.robot.getVelocityLimits()
vmin = vectorops.mul(vmax, -1)
if self.vmin is not None:
vmin = self.vmin
if self.vmax is not None:
vmax = self.vmax
for i in range(self.robot.numLinks()):
tempqmin[i] = max(tempqmin[i], qcur[i] + dt * vmin[i])
tempqmax[i] = min(tempqmax[i], qcur[i] + dt * vmax[i])
#Setup the IK solver parameters
self.solver.setJointLimits(tempqmin, tempqmax)
tempGoals = [ik.IKObjective(g) for g in self.ikGoals]
for i in range(len(self.links)):
if math.isfinite(self.positionTolerance) and math.isfinite(
self.rotationTolerance):
tempGoals[i].rotationScale = self.positionTolerance / (
self.positionTolerance + self.rotationTolerance)
tempGoals[i].positionScale = self.rotationTolerance / (
self.positionTolerance + self.rotationTolerance)
elif not math.isfinite(
self.positionTolerance) and not math.isfinite(
self.rotationTolerance):
pass
else:
tempGoals[i].rotationScale = min(
self.positionTolerance,
self.rotationTolerance) / self.rotationTolerance
tempGoals[i].positionScale = min(
self.positionTolerance,
self.rotationTolerance) / self.positionTolerance
tolerance = min(
1e-6,
min(self.positionTolerance, self.rotationTolerance) /
(math.sqrt(3.0) * len(self.links)))
self.solver.setTolerance(tolerance)
#want to solve max_t s.t. there exists q satisfying T_i(q) = TPath_i(t)
#where TPath_i(t) = Advance(Tdrive_i,Screw_i*t)
if self.driveSpeedAdjustment == 0:
self.driveSpeedAdjustment = 0.1
anyFailures = False
while self.driveSpeedAdjustment > 0:
#advance the desired cartesian goals
#set up IK parameters: active dofs, IKGoal
amount = dt * self.driveSpeedAdjustment
desiredTransforms = [[None, None] for i in range(len(self.links))]
for i in range(len(self.links)):
if vel[i] is not None:
desiredTransforms[i][1] = vectorops.madd(
self.driveTransforms[i][1], vel[i], amount)
tempGoals[i].setFixedPosConstraint(
self.endEffectorOffsets[i], desiredTransforms[i][1])
else:
tempGoals[i].setFreePosition()
if angVel[i] is not None:
increment = so3.from_moment(
vectorops.mul(angVel[i], amount))
desiredTransforms[i][0] = so3.mul(
increment, self.driveTransforms[i][0])
tempGoals[i].setFixedRotConstraint(desiredTransforms[i][0])
else:
tempGoals[i].setFreeRotConstraint()
self.solver.set(i, tempGoals[i])
err0 = self.solver.getResidual()
quality0 = vectorops.norm(err0)
res = self.solver.solve()
q = self.robot.getConfig()
activeDofs = self.solver.getActiveDofs()
for k in activeDofs:
if q[k] < tempqmin[k] or q[k] > tempqmax[k]:
#the IK solver normalizer doesn't care about absolute
#values for joints that wrap around 2pi
if tempqmin[k] <= q[k] + 2 * math.pi and q[
k] + 2 * math.pi <= tempqmax[k]:
q[k] += 2 * math.pi
elif tempqmin[k] <= q[k] - 2 * math.pi and q[
k] - 2 * math.pi <= tempqmax[k]:
q[k] -= 2 * math.pi
else:
print(
"CartesianDriveSolver: Warning, result from IK solve is out of bounds: index",
k, ",", tempqmin[k], "<=", q[k], "<=", tempqmax[k])
q[k] = max(min(q[k], tempqmax[k]), tempqmin[k])
self.robot.setConfig(q)
#now evaluate quality of the solve
errAfter = self.solver.getResidual()
qualityAfter = vectorops.norm(errAfter)
if qualityAfter > quality0:
#print("CartesianDriveSolver: Solve failed: original configuration was better:",quality0,"vs",qualityAfter)
#print(" solver result was",res,"increment",amount)
res = False
elif qualityAfter < quality0 - 1e-8:
res = True
if res:
#success!
for k in activeDofs:
qout[k] = q[k]
assert tempqmin[k] <= q[k] and q[k] <= tempqmax[k]
#now advance the driven transforms
#figure out how much to drive along screw
numerator = 0 # this will get sum of distance * screws
denominator = 0 # this will get sum of |screw|^2 for all screws
#result will be numerator / denominator
achievedTransforms = [
(l.getTransform()[0], l.getWorldPosition(ofs))
for l, ofs in zip(robotLinks, self.endEffectorOffsets)
]
#TODO: get transforms relative to baseLink
for i in range(len(self.links)):
if vel[i] is not None:
trel = vectorops.sub(achievedTransforms[i][1],
self.driveTransforms[i][1])
vellen = vectorops.norm(vel[i])
axis = vectorops.div(vel[i], max(vellen, 1e-8))
ut = vellen
tdistance = vectorops.dot(trel, axis)
tdistance = min(max(tdistance, 0.0), dt * vellen)
numerator += ut * tdistance
denominator += ut**2
if angVel[i] is not None:
Rrel = so3.mul(achievedTransforms[i][0],
so3.inv(self.driveTransforms[i][0]))
vellen = vectorops.norm(angVel[i])
angVelRel = so3.apply(
so3.inv(self.driveTransforms[i][0]), angVel[i])
rotaxis = vectorops.div(angVelRel, max(vellen, 1e-8))
Rdistance = axis_rotation_magnitude(Rrel, rotaxis)
Rdistance = min(max(Rdistance, 0.0), dt * vellen)
uR = vellen
numerator += uR * Rdistance
denominator += uR**2
distance = numerator / max(denominator, 1e-8)
#computed error-minimizing distance along screw motion
for i in range(len(self.links)):
if vel[i] is not None:
self.driveTransforms[i][1] = vectorops.madd(
self.driveTransforms[i][1], vel[i], distance)
else:
self.driveTransforms[i][1] = achievedTransforms[i][1]
if angVel[i] is not None:
Rincrement = so3.from_moment(
vectorops.mul(angVel[i], distance))
self.driveTransforms[i][0] = normalize_rotation(
so3.mul(Rincrement, self.driveTransforms[i][0]))
else:
self.driveTransforms[i][0] = achievedTransforms[i][0]
if math.ceil(distance / dt * 10) < math.floor(
self.driveSpeedAdjustment * 10):
self.driveSpeedAdjustment -= 0.1
self.driveSpeedAdjustment = max(self.driveSpeedAdjustment,
0.0)
elif not anyFailures:
#increase drive velocity
if self.driveSpeedAdjustment < 1.0:
self.driveSpeedAdjustment += 0.1
self.driveSpeedAdjustment = min(
1.0, self.driveSpeedAdjustment)
return (distance / dt, qout)
else:
#IK failed: try again with a slower speed adjustment
anyFailures = True
self.driveSpeedAdjustment -= 0.1
if self.driveSpeedAdjustment <= 1e-8:
self.driveSpeedAdjustment = 0.0
break
#no progress
return (-1, qcur)
def run_poking_ellipse_probe(config,tableHeight,probeLength,forceLimit,dt,moveStep,shortServoTime,longServoTime,
IKErrorTolerence,maxDev,EEZLimit,probe_transform,point_probe_to_local,world,res,
robot,link,CONTROLLER,collider,intermediateConfig):
"""
this is the main function of poking object. - point probe
"""
########################## Read In the pcd ######################################
points, normals = load_pcd(config.exp_path+'exp_'+str(config.exp_number)+'/probePcd.txt')
# control interface
if CONTROLLER == 'physical':
robotControlApi = UR5WithGripperController(host=config.robot_host,gripper=False)
robotControlApi.start()
time.sleep(2)
print '---------------------robot started -----------------------------'
## Record some home configuration
intermediateConfig = config.intermediateConfig
intermediateConfig = intermediateConfig
if CONTROLLER == "physical":
constantVServo(robotControlApi,4,intermediateConfig,dt)#controller format
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
print '---------------------at home configuration -----------------------------'
if CONTROLLER == 'debugging':
differences=[]
print('[*]Debug: Poking process start!')
for i in range(len(points)):
print('point %d, pos: %s, normals: %s'%(i,points[i],normals[i]))
#robotCurrentConfig=intermediateConfig # TODO: compare to the intermediateConfig, I comment it
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0)) #get unit vector in the direction '- normals'
## perform IK
local_NY_UnitV=vectorops.unit(vectorops.cross([0,1,0],approachVector))
pt1=goalPosition
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength)) # use 1m in normals direction.
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider,use_collision_detect=True,use_ik_detect=True)
differences.append(difference)
print('difference: %f'%difference)
### now start colecting data..
travel = 0.0
stepVector = vectorops.mul(approachVector,moveStep)
while travel<0.0001: #just try 0.1mm?
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider,use_const=False)
travel = travel + moveStep
### move the probe away, note: a bit different to physical mode
pt1=vectorops.add(points[i],vectorops.mul(approachVector,-0.05)) ## move the probe 5 cm from the object surface
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],maxDev,
IKErrorTolerence,EEZLimit,collider)
### move back to intermediate config
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
print('[*]Debug: Poking process done, with max difference:%f'%max(differences))
vis.show()
while vis.shown():
time.sleep(1.0)
elif CONTROLLER == 'physical':
######################################## Ready to Take Measurements ################################################
input('[!]Warning: There are %d poking point, Robot act!:'%len(points))
point_list = range(65,120) #64
#point_list = random.sample(range(0,94),94)
#finish_list = [0,1,4,9,10,11,12,13,14,15,17,18,19,20,25,26,28,30,33,34,35,37,42,43,44,46,47,50,51,53,54,57,58,59,64,69,72,73,74,75,76,77,78,79,81,83,86,95]
#point_list = [x for x in point_list if x not in finish_list]
point_list = [64]
for i in point_list:
print('point %d, pos: %s, normals: %s'%(i,points[i],normals[i]))
#init record file
forceData=open(config.exp_path+'exp_'+str(config.exp_number)+'/ellipse/force_'+str(i)+'.txt','w')
torqueData=open(config.exp_path+'exp_'+str(config.exp_number)+'/ellipse/torque_'+str(i)+'.txt','w')
#init the backforward distance
travel = -0.018
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
#calculate start position
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0))
#### Make sure no contact, backup 0.01m
local_NY_UnitV=vectorops.unit(vectorops.cross([0,1,0],approachVector))
pt1=vectorops.add(goalPosition,vectorops.mul(approachVector,travel))
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime-1,dt,
use_ik_detect=False,use_collision_detect=False)
time.sleep(0.2)
## Zero the sensor before straight line push
#
# Note that the force is recorded in the global frame..
# And the global frame has x and y axis flipped w.r.t the URDF....
counter = 0.0
totalF = [0,0,0]
totalTorque = [0,0,0]
startTime=time.time()
while (time.time()-startTime) < 1: # use 1s to cal the Force
totalF = vectorops.add(totalF,robotControlApi.getWrench()[0:3])
totalTorque = vectorops.add(totalTorque,robotControlApi.getWrench()[3:6])
counter = counter + 1.0
time.sleep(dt)
forceBias = vectorops.mul(totalF,1.0/float(counter)) # when probe no touch the obj, F_avr = sum(F)/n
torqueBias = vectorops.mul(totalTorque,1.0/float(counter))
### now start collecting data..
# Force direction x, y inverse, refer to correct force.py
wrench = robotControlApi.getWrench()
Force = fix_direction(vectorops.sub(wrench[0:3],forceBias))
Force_normal = math.fabs(vectorops.dot(Force,approachVector)) #|F||n|cos(theta) = F dot n, set it >= 0
Torque = vectorops.sub(wrench[3:6],torqueBias)
Torque = fix_direction(Torque)
forceHistory = [Force]
torqueHistory = [Torque]
force_normalHistory = [Force_normal]
displacementHistory = [travel]
stepVector = vectorops.mul(approachVector,moveStep)
while Force_normal < forceLimit:
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime,dt,
use_const=False,use_ik_detect=False)
time.sleep(dt)
Force = fix_direction(vectorops.sub(robotControlApi.getWrench()[0:3],forceBias))
Force_normal = math.fabs(vectorops.dot(Force,approachVector))
Torque = vectorops.sub(robotControlApi.getWrench()[3:6],torqueBias)
travel = travel + moveStep
forceHistory.append([Force[0],Force[1],Force[2]])
torqueHistory.append([Torque[0],Torque[1],Torque[2]])
force_normalHistory.append(Force_normal)
displacementHistory.append(travel)
#record all the data in 2 files, one N*2 containts all the force data collected at various locations, another
#file specifies the number of datapoints at each detected point
for (f,fn,d) in zip(forceHistory,force_normalHistory,displacementHistory):
forceData.write(str(f[0])+' '+str(f[1])+' '+str(f[2])+' '+str(fn)+' '+str(d)+'\n')
for (t,d) in zip(torqueHistory,displacementHistory):
torqueData.write(str(t[0])+' '+str(t[1])+' '+str(t[2])+' '+str(d)+'\n')
forceData.close()
torqueData.close()
### move the probe away
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(points[i],vectorops.mul(approachVector,-0.10)) ## move the probe 5 cm from the object surface
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,shortServoTime,dt,
use_ik_detect=False)
#constantVServo(robotControlApi,longServoTime,intermediateConfig,dt)
print'----------------------- pt '+str(i)+' completed -------------------------------'
#### move back to intermediate config
constantVServo(robotControlApi,shortServoTime,intermediateConfig,dt)
robotControlApi.stop()
def run_poking_line_probe(config,tableHeight,probeLength,forceLimit,dt,moveStep,shortServoTime,longServoTime,
IKErrorTolerence,maxDev,EEZLimit,probe_transform,point_probe_to_local,world,res,
robot,link,CONTROLLER,collider,intermediateConfig):
"""
this is the main function of poking object. - line probe
"""
# reconstruct probepcd.txt
if input('[*]Reconstruct probe pcd?') == 1:
theta_list_num = input('---need theta list number: ')
reconstruct_pcd(config.exp_path+'exp_'+str(config.exp_number)+'/probePcd.txt',
config.exp_path+'exp_'+str(config.exp_number)+'/probePcd_theta.txt',
theta_list_num)
print('---New probe list done')
# Read In the pcd
points, normals, theta_list, theta, pti = load_pcd(config.exp_path+'exp_'+str(config.exp_number)+'/probePcd_theta.txt', pcdtype='xyzrgbntheta')
# control interface
if CONTROLLER == 'physical':
robotControlApi = UR5WithGripperController(host=config.robot_host,gripper=False)
robotControlApi.start()
time.sleep(2)
print '---------------------robot started -----------------------------'
constantVServo(robotControlApi,4,intermediateConfig,dt)#controller format
# set in simul model
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
print '---------------------at home configuration -----------------------------'
if CONTROLLER == 'debugging':
differences=[]
print('[*]Debug: Poking process start')
i = 0 # use this to catch points
pti_ = pti[i]
while(i < len(points)):
robotCurrentConfig=intermediateConfig
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0)) #get unit vector in the direction '- normals'
_pti = pti_
if pti[i] == _pti:
print('point %d, pos: %s, normals: %s, theta: %s, -> %f'%(i,points[i],normals[i],theta_list[i],theta[i]))
## perform IK
local_NY_UnitV = vectorops.unit(back_2_line(approachVector,theta_list[i])) # the probe's line direction
pt1=goalPosition
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength)) # use 1m in normals direction.
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,use_collision_detect=False,use_ik_detect=True)
differences.append(difference)
print('difference: %f'%difference)
### now start colecting data..
travel = 0.0
stepVector = vectorops.mul(approachVector,moveStep)
while travel<0.0001:
robotCurrentConfig=klampt_2_controller(robot.getConfig())
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,use_collision_detect=False)
travel = travel + moveStep
### move the probe away, note: a bit different to physical mode
robotCurrentConfig=klampt_2_controller(robot.getConfig())
pt1=vectorops.add(points[i],vectorops.mul(approachVector,-0.05)) ## move the probe 5 cm from the object surface
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,use_collision_detect=False)
### move back to intermediate config
robot.setConfig(controller_2_klampt(robot,intermediateConfig))
i = i + 1 # important
else:
pti_ = pti[i]
print('[*]Debug: Poking process done, with max difference:%f'%max(differences))
vis.show()
while vis.shown():
time.sleep(1.0)
elif CONTROLLER == 'physical':
exe_number = input('There are %d poking point, go?'%len(points))
start_i = 0 #72,93,94,97,99,100,101,108,116,125,128,147,148,150,151,152,189,194~197,207~210 !40,37,67,68 -> 111 112 113 120 121 122 201 206
end_i = 1 #len(points)
i = start_i # use this to catch points, set manully! # TODO:
pti_ = pti[i]
probe_list = random.sample(range(282),282) #18,15
finish_list= range(16)+range(17,21)+range(25,44)+range(45,51)+range(52,57)+[58,59,60,63,67,68,71,73,75,76,78]+range(81,96)\
+[97,99,101,103,104,108,110,112,114,115,117,118,120,124,125,128,129,130]+range(132,138)+[141,142,144,147,149,150,151]+range(153,156)\
+[159,160,161,167,168,170,172,175,176,177,178]+range(180,186)\
+[189,192,195,196,199,200,201,203]+range(204,210)+range(211,217)+[219]+range(221,229)+range(230,236)+range(237,241)\
+range(244,250)+[251]+range(254,261)+[262]+range(264,276)+range(277,282)
probe_list = [x for x in probe_list if x not in finish_list] +[227]
probe_list = [95]
for i in probe_list:
print('point %d, pos: %s, normals: %s, theta: %s, -> %f'%(i,points[i],normals[i],theta_list[i],theta[i]))
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
# calculate start position
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0))
# init record file
forceData=open(config.exp_path+'exp_'+str(config.exp_number)+'/line/force_'+str(i)+'.txt','w')
torqueData=open(config.exp_path+'exp_'+str(config.exp_number)+'/line/torque_'+str(i)+'.txt','w')
travel = -0.025
## perform IK
local_NY_UnitV = vectorops.unit(back_2_line(approachVector,theta_list[i])) # the probe's line direction
#### Make sure no contact, backup 0.01m
pt1=vectorops.add(goalPosition,vectorops.mul(approachVector,travel))
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength)) # use 1m in normals direction.
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,shortServoTime,dt) #TODO:
time.sleep(0.2)
# Zero the sensor before straight line push, Note that the force is recorded in the global frame..
counter = 0.0
totalF = [0,0,0]
totalTorque = [0,0,0]
startTime=time.time()
while (time.time()-startTime) < 1: # use 1s to cal the Force
totalF = vectorops.add(totalF,robotControlApi.getWrench()[0:3])
totalTorque = vectorops.add(totalTorque,robotControlApi.getWrench()[3:6])
counter = counter + 1.0
time.sleep(dt)
forceBias = vectorops.mul(totalF,1.0/float(counter)) # when probe no touch the obj, F_avr = sum(F)/n
torqueBias = vectorops.mul(totalTorque,1.0/float(counter))
### now start collecting data..
wrench = robotControlApi.getWrench()
Force = vectorops.sub(wrench[0:3],forceBias)
Torque = vectorops.sub(wrench[3:6],torqueBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector)) #|F||n|cos(theta) = F dot n, set it >= 0
local_Z_UnitV = vectorops.cross(normals[i],local_NY_UnitV)
Torque_normal = vectorops.dot(Torque,local_Z_UnitV) #TODO:
forceHistory = [Force]
force_normalHistory = [Force_normal]
torqueHistory = [Torque]
torque_normalHistory = [Torque_normal]
displacementHistory = [travel]
stepVector = vectorops.mul(approachVector,moveStep)
while Force_normal < forceLimit:
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime,dt,use_const=False)
time.sleep(dt)
Force = vectorops.sub(robotControlApi.getWrench()[0:3],forceBias)
Torque = vectorops.sub(robotControlApi.getWrench()[3:6],torqueBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector))
local_Z_UnitV = vectorops.cross(normals[i],local_NY_UnitV)
Torque_normal = vectorops.dot(Torque,local_Z_UnitV)
travel = travel + moveStep
forceHistory.append([Force[0],Force[1],Force[2]])
force_normalHistory.append(Force_normal)
torqueHistory.append([Torque[0],Torque[1],Torque[2]])
torque_normalHistory.append(Torque_normal)
displacementHistory.append(travel)
#record all the data in 2 files, one N*2 containts all the force data collected at various locations, another
#file specifies the number of datapoints at each detected point
for (f,fn,d) in zip(forceHistory,force_normalHistory,displacementHistory):
forceData.write(str(f[0])+' '+str(f[1])+' '+str(f[2])+' '+str(fn)+' '+str(d)+'\n')
for (t,tn,d) in zip(torqueHistory,torque_normalHistory,displacementHistory):
torqueData.write(str(t[0])+' '+str(t[1])+' '+str(t[2])+' '+str(tn)+' '+str(d)+'\n')
### move the probe away, sometimes z up 5cm is better than normal direction up 5cm...
pt1=vectorops.add(pt1,[0,0,0.05]) ## move the probe 10 cm up-z-axis, find another point
pt2=vectorops.add(pt2,[0,0,0.05])
pt3=vectorops.add(pt3,[0,0,0.05])
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,shortServoTime-1,dt)
constantVServo(robotControlApi,longServoTime,intermediateConfig,dt)#TODO:
# close record file for point i
forceData.close()
torqueData.close()
print'----------------------- pt '+str(i)+' completed -------------------------------'
'''
while(i < end_i):
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
# calculate start position
goalPosition=deepcopy(points[i])
approachVector=vectorops.unit(vectorops.mul(normals[i],-1.0))
# init record file
forceData=open(config.exp_path+'exp_'+str(config.exp_number)+'/line/force_'+str(i)+'.txt','w')
torqueData=open(config.exp_path+'exp_'+str(config.exp_number)+'/line/torque_'+str(i)+'.txt','w')
_pti = pti_
if pti[i] == _pti:
print('point %d, pos: %s, normals: %s, theta: %s, -> %f'%(i,points[i],normals[i],theta_list[i],theta[i]))
travel = -0.015
## perform IK
local_NY_UnitV = vectorops.unit(back_2_line(approachVector,theta_list[i])) # the probe's line direction
#### Make sure no contact, backup 0.01m
pt1=vectorops.add(goalPosition,vectorops.mul(approachVector,travel))
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength)) # use 1m in normals direction.
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime-1,dt) #TODO:
time.sleep(0.2)
# Zero the sensor before straight line push, Note that the force is recorded in the global frame..
counter = 0.0
totalF = [0,0,0]
totalTorque = [0,0,0]
startTime=time.time()
while (time.time()-startTime) < 1: # use 1s to cal the Force
totalF = vectorops.add(totalF,robotControlApi.getWrench()[0:3])
totalTorque = vectorops.add(totalTorque,robotControlApi.getWrench()[3:6])
counter = counter + 1.0
time.sleep(dt)
forceBias = vectorops.mul(totalF,1.0/float(counter)) # when probe no touch the obj, F_avr = sum(F)/n
torqueBias = vectorops.mul(totalTorque,1.0/float(counter))
### now start collecting data..
wrench = robotControlApi.getWrench()
Force = vectorops.sub(wrench[0:3],forceBias)
Torque = vectorops.sub(wrench[3:6],torqueBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector)) #|F||n|cos(theta) = F dot n, set it >= 0
local_Z_UnitV = vectorops.cross(normals[i],local_NY_UnitV)
Torque_normal = vectorops.dot(Torque,local_Z_UnitV) #TODO:
forceHistory = [Force]
force_normalHistory = [Force_normal]
torqueHistory = [Torque]
torque_normalHistory = [Torque_normal]
displacementHistory = [travel]
stepVector = vectorops.mul(approachVector,moveStep)
while Force_normal < forceLimit:
robotCurrentConfig=robotControlApi.getConfig()
robot.setConfig(controller_2_klampt(robot,robotCurrentConfig))
pt1=vectorops.add(pt1,stepVector)
pt2=vectorops.add(pt1,vectorops.mul(approachVector,1.0-probeLength))
pt3=vectorops.add(pt1,local_NY_UnitV)
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,longServoTime,dt,use_const=False)
time.sleep(dt)
Force = vectorops.sub(robotControlApi.getWrench()[0:3],forceBias)
Torque = vectorops.sub(robotControlApi.getWrench()[3:6],torqueBias)
Force_normal = math.fabs(vectorops.dot(Force,approachVector))
local_Z_UnitV = vectorops.cross(normals[i],local_NY_UnitV)
Torque_normal = vectorops.dot(Torque,local_Z_UnitV)
travel = travel + moveStep
forceHistory.append([Force[0],Force[1],Force[2]])
force_normalHistory.append(Force_normal)
torqueHistory.append([Torque[0],Torque[1],Torque[2]])
torque_normalHistory.append(Torque_normal)
displacementHistory.append(travel)
#record all the data in 2 files, one N*2 containts all the force data collected at various locations, another
#file specifies the number of datapoints at each detected point
for (f,fn,d) in zip(forceHistory,force_normalHistory,displacementHistory):
forceData.write(str(f[0])+' '+str(f[1])+' '+str(f[2])+' '+str(fn)+' '+str(d)+'\n')
for (t,tn,d) in zip(torqueHistory,torque_normalHistory,displacementHistory):
torqueData.write(str(t[0])+' '+str(t[1])+' '+str(t[2])+' '+str(tn)+' '+str(d)+'\n')
### move the probe away, sometimes z up 5cm is better than normal direction up 5cm...
pt1=vectorops.add(pt1,[0,0,0.05]) ## move the probe 10 cm up-z-axis, find another point
pt2=vectorops.add(pt2,[0,0,0.05])
pt3=vectorops.add(pt3,[0,0,0.05])
[robot,difference] = robot_move(CONTROLLER,world,robot,link,point_probe_to_local,[pt1,pt2,pt3],
maxDev,IKErrorTolerence,EEZLimit,collider,robotControlApi,shortServoTime-0.5,dt)
#constantVServo(robotControlApi,longServoTime,intermediateConfig,dt)#TODO:
i = i + 1
# close record file for point i
forceData.close()
torqueData.close()
print'----------------------- pt '+str(i)+' completed -------------------------------'
else:
# up 10cm is faster but not good.
# since the points are close, no need to go back home
constantVServo(robotControlApi,longServoTime,intermediateConfig,dt)
pti_ = pti[i]
'''
#### move back to intermediate config
constantVServo(robotControlApi,shortServoTime,intermediateConfig,dt)
# finish all points
robotControlApi.stop()
def cal_curvature(pcdSegmented):
NofPts = len(pcdSegmented.points)
NofNN = 30
searchR = 0.01 #the points are 2mm apart...
pcdTree = KDTreeFlann(pcdSegmented)
curvatures = []
print 'calculating curvatures......'
for i in range(len(pcdSegmented.points)):
#for i in [0]:
[k, idx, _] = pcdTree.search_knn_vector_3d(pcdSegmented.points[i],
NofNN + 1)
#[k,idx,_] = pcdTree.search_radius_vector_3d(pcdSegmented.points[i],searchR)
#k is the total Number, while idx is the list of indices
#for debugging
#for ii in idx:
# pcdSegmente.colors[ii] = [0,1,0]
#draw_geometries([pcdSegmented])
#if k < 3.5:
# [k,idx,_] = pcdTree.search_knn_vector_3d(pcdSegmented.points[i],NofNN+1)
nearbyPts = np.asarray(pcdSegmented.points)[idx[1:], :]
nearbyPtsNormal = np.asarray(pcdSegmented.normals)[idx[1:], :]
normalCurvatures = []
## Define the local coordinates
N = vectorops.unit(pcdSegmented.normals[i]) # also the "z"
Y = vectorops.cross(N, [1, 0, 0]) # pq = vectorops.(q,p)
X = vectorops.cross(Y, N)
MMatrix = []
for j in range(k - 1):
#estimate the point normal, in Local corrdinate
qGlobal = vectorops.sub(nearbyPts[j], pcdSegmented.points[i])
qLocal = [
vectorops.dot(qGlobal, X),
vectorops.dot(qGlobal, Y),
vectorops.dot(qGlobal, N)
]
MGlobal = nearbyPtsNormal[j]
MLocal = [
vectorops.dot(MGlobal, X),
vectorops.dot(MGlobal, Y),
vectorops.dot(MGlobal, N)
]
[x_i, y_i, z_i] = qLocal
[n_xi, n_yi, n_zi] = MLocal
#print x_i,n_xi,y_i,n_yi
n_xy = (x_i * n_xi + y_i * n_yi) / math.sqrt(x_i * x_i + y_i * y_i)
#print n_xy
k_i_n = -(n_xy) / (math.sqrt(n_xy * n_xy + n_zi * n_zi) +
math.sqrt(x_i * x_i + y_i * y_i))
normalCurvatures.append(k_i_n)
## calculate the M matrix
pQ = [qLocal[0], qLocal[1], 0]
angle = np.arccos(
np.dot(X, pQ) / (np.linalg.norm(X) * np.linalg.norm(pQ)))
row = [
math.cos(angle) * math.cos(angle),
2 * math.cos(angle) * math.sin(angle),
math.sin(angle) * math.sin(angle)
]
MMatrix.append(row)
#perform least squres fitting
tmp = np.dot(np.transpose(MMatrix), MMatrix)
tmp2 = np.dot(np.linalg.inv(tmp), np.transpose(MMatrix))
x = tmp2.dot(normalCurvatures)
eigenValues, v = np.linalg.eig([[x[0], x[1]], [x[1], x[2]]])
curvatures.append(vectorops.norm_L1(eigenValues))
#print vectorops.norm_L1(eigenValues)
print 'progress', float(i) / float(NofPts)
print "max and min of curvatures: ", np.max(curvatures), np.min(curvatures)
return curvatures
def find_target(self): self.current_target=self.waiting_list[0] best_p=self.sim.world.rigidObject(self.current_target).getTransform()[1] self.current_target_pos=best_p for i in self.waiting_list: p=self.sim.world.rigidObject(i).getTransform()[1] # print i,p[2],vectorops.distance([0,0],[p[0],p[1]]) if i not in self.failedpickup: if p[2]>best_p[2]+0.05: self.current_target=i self.current_target_pos=p # print 'higher is easier!' best_p=p elif p[2]>best_p[2]-0.04 and vectorops.distance([0,0],[p[0],p[1]])<vectorops.distance([0,0],[best_p[0],best_p[1]]): self.current_target=i self.current_target_pos=p best_p=p elif self.current_target in self.failedpickup: self.current_target=i self.current_target_pos=p best_p=p d_y=-0.02 face_down=face_down_forward self.tooclose = False; if best_p[1]>0.15: d_y=-0.02 face_down=face_down_backward self.tooclose = True; print 'too close to the wall!!' elif best_p[1]<-0.15: d_y=0.02 print best_p self.tooclose = True; print 'too close to the wall!!' #here is hardcoding the best relative position for grasp the ball target=(face_down,vectorops.add(best_p,[0,d_y,0.14])) if self.tooclose: if best_p[0]<0: self.boxside=boxleft aready_pos=start_pos_left else: self.boxside=boxright aready_pos=start_pos_right aready_pos[1][0]=best_p[0] balllocation = best_p handballdiff = vectorops.sub(aready_pos[1],best_p) axis = vectorops.unit(vectorops.cross(handballdiff,aready_pos[1])) axis = (1,0,0) if best_p[1]>0: axis=(-1,0,0) angleforaxis = -1*math.acos(vectorops.dot(aready_pos[1],handballdiff)/vectorops.norm(aready_pos[1])/vectorops.norm(handballdiff)) angleforaxis = so2.normalize(angleforaxis) #if angleforaxis>math.pi: # angleforaxis=angleforaxis-2*math.pi adjR = so3.rotation(axis, angleforaxis) print balllocation print vectorops.norm(aready_pos[1]),vectorops.norm(handballdiff),angleforaxis target=(adjR,vectorops.add(best_p,vectorops.div(vectorops.unit(handballdiff),5))) # print self.current_target # print 'find target at:',self.current_target_pos return target
