def command_detect(self, confidence):
if self._broadcaster is None:
self._broadcaster = ObjectBroadcaster()
if self._detector is None:
self._detector = ObjectDetector(self._broadcaster.broadcast)
self._detector.start_action_client()
self._broadcaster.set_minimum_confidence(confidence)
self._detector.trigger_detection()
return (MoveGroupInfoLevel.SUCCESS, "OK")
def command_detect(self, confidence):
if self._broadcaster is None:
self._broadcaster = ObjectBroadcaster()
if self._detector is None:
self._detector = ObjectDetector(self._broadcaster.broadcast)
self._detector.start_action_client()
self._broadcaster.set_minimum_confidence(confidence)
self._detector.trigger_detection()
return (MoveGroupInfoLevel.SUCCESS, "OK")
class MoveGroupCommandInterpreter:
"""
Interpreter for simple commands
"""
DEFAULT_FILENAME = "move_group.cfg"
GO_DIRS = {"up" : (2,1), "down" : (2, -1), "z" : (2, 1),
"left" : (1, 1), "right" : (1, -1), "y" : (1, 1),
"forward" : (0, 1), "backward" : (0, -1), "back" : (0, -1), "x" : (0, 1) }
def __init__(self):
self._gdict = {}
self._group_name = ""
self._prev_group_name = ""
self._detector = None
self._broadcaster = None
def get_active_group(self):
if len(self._group_name) > 0:
return self._gdict[self._group_name]
else:
return None
def get_loaded_groups(self):
return self._gdict.keys()
def execute(self, cmd):
cmd = self.resolve_command_alias(cmd)
result = self.execute_generic_command(cmd)
if result != None:
return result
else:
if len(self._group_name) > 0:
return self.execute_group_command(self._gdict[self._group_name], cmd)
else:
return (MoveGroupInfoLevel.INFO, self.get_help() + "\n\nNo groups initialized yet. You must call the 'use' or the 'load' command first.\n")
def execute_generic_command(self, cmd):
if os.path.isfile("cmd/" + cmd):
cmd = "load cmd/" + cmd
if cmd.startswith("use"):
if cmd == "use":
return (MoveGroupInfoLevel.INFO, "\n".join(self.get_loaded_groups()))
clist = cmd.split()
if len(clist) == 2:
if clist[0] == "use":
if clist[1] == "previous":
clist[1] = self._prev_group_name
if len(clist[1]) == 0:
return (MoveGroupInfoLevel.DEBUG, "OK")
if self._gdict.has_key(clist[1]):
self._prev_group_name = self._group_name
self._group_name = clist[1]
return (MoveGroupInfoLevel.DEBUG, "OK")
else:
try:
mg = MoveGroupCommander(clist[1])
self._gdict[clist[1]] = mg
self._group_name = clist[1]
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.FAIL, "Unable to initialize " + clist[1])
elif cmd.startswith("load"):
filename = self.DEFAULT_FILENAME
clist = cmd.split()
if len(clist) > 2:
return (MoveGroupInfoLevel.WARN, "Unable to parse load command")
if len(clist) == 2:
filename = clist[1]
if not os.path.isfile(filename):
filename = "cmd/" + filename
try:
f = open(filename, 'r')
for line in f:
self.execute(line.rstrip())
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to load " + filename)
elif cmd.startswith("save"):
filename = self.DEFAULT_FILENAME
clist = cmd.split()
if len(clist) > 2:
return (MoveGroupInfoLevel.WARN, "Unable to parse save command")
if len(clist) == 2:
filename = clist[1]
try:
f = open(filename, 'w')
for gr in self._gdict.keys():
f.write("use " + gr + "\n")
known = self._gdict[gr].get_remembered_joint_values()
for v in known.keys():
f.write(v + " = [" + " ".join([str(x) for x in known[v]]) + "]\n")
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to save " + filename)
elif cmd.startswith("detect"):
clist = cmd.split()
if len(clist) >= 2:
return self.command_detect(float(clist[1]))
else:
return self.command_detect(0.5)
else:
return None
def execute_group_command(self, g, cmd):
if cmd == "stop":
g.stop()
return (MoveGroupInfoLevel.DEBUG, "OK")
if cmd == "id":
return (MoveGroupInfoLevel.INFO, g.get_name())
if cmd == "help":
return (MoveGroupInfoLevel.INFO, self.get_help())
if cmd == "vars":
known = g.get_remembered_joint_values()
return (MoveGroupInfoLevel.INFO, "[" + " ".join(known.keys()) + "]")
if cmd == "joints":
joints = g.get_joints()
return (MoveGroupInfoLevel.INFO, "\n" + "\n".join([str(i) + " = " + joints[i] for i in range(len(joints))]) + "\n")
if cmd == "show":
return self.command_show(g)
if cmd == "current":
return self.command_current(g)
if cmd == "eef":
if len(g.get_end_effector_link()) > 0:
return (MoveGroupInfoLevel.INFO, g.get_end_effector_link())
else:
return (MoveGroupInfoLevel.INFO, "There is no end effector defined")
if cmd == "tol" or cmd == "tolerance":
return (MoveGroupInfoLevel.INFO, str(g.get_goal_tolerance()))
# see if we have assignment between variables
assign_match = re.match(r"^(\w+)\s*=\s*(\w+)$", cmd)
if assign_match:
known = g.get_remembered_joint_values()
if known.has_key(assign_match.group(2)):
g.remember_joint_values(assign_match.group(1), known[assign_match.group(2)])
return (MoveGroupInfoLevel.SUCCESS, assign_match.group(1) + " is now the same as " + assign_match.group(2))
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
# see if we have assignment of matlab-like vector syntax
set_match = re.match(r"^(\w+)\s*=\s*\[([\d\.e\-\+\s]+)\]$", cmd)
if set_match:
try:
g.remember_joint_values(set_match.group(1), [float(x) for x in set_match.group(2).split()])
return (MoveGroupInfoLevel.SUCCESS, "Remembered joint values [" + set_match.group(2) + "] under the name " + set_match.group(1))
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse joint value [" + set_match.group(2) + "]")
# see if we have assignment of matlab-like element update
component_match = re.match(r"^(\w+)\s*\[\s*(\d+)\s*\]\s*=\s*([\d\.e\-\+]+)$", cmd)
if component_match:
known = g.get_remembered_joint_values()
if known.has_key(component_match.group(1)):
try:
val = known[component_match.group(1)]
val[int(component_match.group(2))] = float(component_match.group(3))
g.remember_joint_values(component_match.group(1), val)
return (MoveGroupInfoLevel.SUCCESS, "Updated " + component_match.group(1) + "[" + component_match.group(2) + "]")
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse index or value in '" + cmd +"'")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
clist = cmd.split()
# if this is an unknown one-word command, it is probably a variable
if len(clist) == 1:
known = g.get_remembered_joint_values()
if known.has_key(cmd):
return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[cmd]]) + "]")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
# command with one argument
if len(clist) == 2:
if clist[0] == "go":
if clist[1] == "rand" or clist[1] == "random":
g.set_random_target()
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved to random target")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving to random target")
else:
try:
g.set_named_target(clist[1])
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved to " + clist[1])
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving to " + clist[1])
except:
return (MoveGroupInfoLevel.WARN, clist[1] + " is unknown")
elif clist[0] == "pick":
if g.pick(clist[1]):
return (MoveGroupInfoLevel.SUCCESS, "Picked object " + clist[1])
else:
return (MoveGroupInfoLevel.FAIL, "Failed while trying to pick object " + clist[1])
elif clist[0] == "place":
if g.place(clist[1]):
return (MoveGroupInfoLevel.SUCCESS, "Placed object " + clist[1])
else:
return (MoveGroupInfoLevel.FAIL, "Failed while trying to place object " + clist[1])
elif clist[0] == "record" or clist[0] == "rec":
g.remember_joint_values(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "Remembered current joint values under the name " + clist[1])
elif clist[0] == "rand" or clist[0] == "random":
g.remember_joint_values(clist[1], g.get_random_joint_values())
return (MoveGroupInfoLevel.SUCCESS, "Remembered random joint values under the name " + clist[1])
elif clist[0] == "del" or clist[0] == "delete":
g.forget_joint_values(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "Forgot joint values under the name " + clist[1])
elif clist[0] == "show":
known = g.get_remembered_joint_values()
if known.has_key(clist[1]):
return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[clist[1]]]) + "]")
else:
return (MoveGroupInfoLevel.WARN, "Joint values for " + clist[1] + " are not known")
elif clist[0] == "tol" or clist[0] == "tolerance":
try:
g.set_goal_tolerance(float(clist[1]))
return (MoveGroupInfoLevel.SUCCESS, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse tolerance value '" + clist[1] + "'")
elif clist[0] == "constrain":
try:
g.set_path_constraints(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Constraint " + clist[1] + " is not known")
elif clist[0] == "wait":
try:
time.sleep(float(clist[1]))
return (MoveGroupInfoLevel.SUCCESS, clist[1] + " seconds passed")
except:
return (MoveGroupInfoLevel.WARN, "Unable to wait '" + clist[1] + "' seconds")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
if len(clist) == 3:
if clist[0] == "go" and self.GO_DIRS.has_key(clist[1]):
try:
offset = float(clist[2])
(axis, factor) = self.GO_DIRS[clist[1]]
return self.command_go_offset(g, offset, factor, axis, clist[1])
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse distance '" + clist[2] + "'")
elif clist[0] == "allow" and (clist[1] == "look" or clist[1] == "looking"):
if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
g.allow_looking(True)
else:
g.allow_looking(False)
return (MoveGroupInfoLevel.DEBUG, "OK")
elif clist[0] == "allow" and (clist[1] == "replan" or clist[1] == "replanning"):
if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
g.allow_replanning(True)
else:
g.allow_replanning(False)
return (MoveGroupInfoLevel.DEBUG, "OK")
if len(clist) == 4:
if clist[0] == "rotate":
try:
g.set_orientation_target([float(x) for x in clist[1:]])
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Rotation complete")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while rotating to " + " ".join(clist[1:]))
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse X-Y-Z rotation values '" + " ".join(clist[1:]) + "'")
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
def command_show(self, g):
known = g.get_remembered_joint_values()
res = []
for k in known.keys():
res.append(k + " = [" + " ".join([str(x) for x in known[k]]) + "]")
return (MoveGroupInfoLevel.INFO, "\n".join(res))
def command_current(self, g):
res = "joints = [" + " ".join([str(x) for x in g.get_current_joint_values()]) + "]"
if len(g.get_end_effector_link()) > 0:
res = res + "\n" + g.get_end_effector_link() + " pose = [\n" + str(g.get_current_pose()) + " ]"
return (MoveGroupInfoLevel.INFO, res)
def command_go_offset(self, g, offset, factor, dimension_index, direction_name):
if g.has_end_effector_link():
try:
g.shift_pose_target(dimension_index, factor * offset)
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved " + direction_name + " by " + str(offset) + " m")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving " + direction_name)
except:
return (MoveGroupInfoLevel.WARN, "Unable to process pose update")
else:
return (MoveGroupInfoLevel.WARN, "No known end effector. Cannot move " + direction_name)
def command_detect(self, confidence):
if self._broadcaster is None:
self._broadcaster = ObjectBroadcaster()
if self._detector is None:
self._detector = ObjectDetector(self._broadcaster.broadcast)
self._detector.start_action_client()
self._broadcaster.set_minimum_confidence(confidence)
self._detector.trigger_detection()
return (MoveGroupInfoLevel.SUCCESS, "OK")
def resolve_command_alias(self, cmd):
if cmd == "which":
cmd = "id"
if cmd == "groups":
cmd = "use"
return cmd
def get_help(self):
res = []
res.append("Known commands:")
res.append(" help\t\t show this screen")
res.append(" id|which\t display the name of the group that is operated on")
res.append(" load [<file>]\t load a set of interpreted commands from a file")
res.append(" save [<file>]\t save the currently known variables as a set of commands")
res.append(" use <name>\t switch to using the group named <name> (and load it if necessary)")
res.append(" use|groups\t show the group names that are already loaded")
res.append(" vars\t\t display the names of the known states")
res.append(" show\t\t display the names and values of the known states")
res.append(" show <name>\t display the value of a state")
res.append(" record <name>\t record the current joint values under the name <name>")
res.append(" delete <name>\t forget the joint values under the name <name>")
res.append(" current\t show the current state of the active group")
res.append(" constrain <name>\t use the constraint <name> as a path constraint")
res.append(" eef\t print the name of the end effector attached to the current group")
res.append(" go <name>\t plan and execute a motion to the state <name>")
res.append(" go <dir> <dx>|\t plan and execute a motion in direction up|down|left|right|forward|backward for distance <dx>")
res.append(" go rand\t plan and execute a motion to a random state")
res.append(" rotate <x> <y> <z>\t plan and execute a motion to a specified orientation (about the X,Y,Z axes)")
res.append(" tolerance\t show the tolerance for reaching the goal region")
res.append(" tolerance <val>\t set the tolerance for reaching the goal region")
res.append(" allow <replanning|looking> <T|F> \t enable/disable replanning or looking around")
res.append(" wait <dt>\t sleep for <dt> seconds")
res.append(" x = y\t\t assign the value of y to x")
res.append(" x[idx] = val\t assign a value to dimension idx of x")
res.append(" x = [v1 v2...] assign a vector of values to x")
return "\n".join(res)
def get_keywords(self):
known_vars = []
known_constr = []
if self.get_active_group() != None:
known_vars = self.get_active_group().get_remembered_joint_values().keys()
known_constr = self.get_active_group().get_known_constraints()
groups = self.get_loaded_groups()
return {'go':['up', 'down', 'left', 'right', 'backward', 'forward', 'random'] + known_vars,
'help':[],
'record':known_vars,
'show':known_vars,
'wait':[],
'delete':known_vars,
'current':[],
'use':groups,
'load':[],
'save':[],
'pick':[],
'place':[],
'allow':['replanning', 'looking'],
'constrain':known_constr,
'detect':[],
'vars':[],
'joints':[],
'tolerance':[],
'eef':[],
'id':[]}
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Client that queries the ORK server and prints the output. '
'Start your server and launch that file for testing.')
parser.add_argument('--auto-trigger', help='Specifies the number of seconds in between calls to triggering object detection',
default=None, type=float)
parser.add_argument('--min-confidence', help='Specifies the minimum confidence for a recognized object to be published to the planning scene',
default=0.5, type=float)
parser.add_argument('--topic', help='Specifies whether recognized objects should be listened for on a topic',
default=False, type=bool)
cmd_args = vars(parser.parse_args(args=rospy.myargv(argv=sys.argv)[1:]))
rospy.init_node('recognition_client')
broadcaster = ObjectBroadcaster()
broadcaster.set_minimum_confidence(cmd_args['min_confidence'])
detector = ObjectDetector(broadcaster.broadcast)
if cmd_args['topic'] is True:
detector.start_continuous_monitor_client()
if cmd_args['auto_trigger'] is not None:
detector.start_action_client()
thread = Thread(target = auto_trigger, args = (detector, cmd_args['auto_trigger']))
thread.start()
rospy.spin()
thread.join()
else:
rospy.spin()
help=
'Specifies the minimum confidence for a recognized object to be published to the planning scene',
default=0.5,
type=float)
parser.add_argument(
'--topic',
help=
'Specifies whether recognized objects should be listened for on a topic',
default=False,
type=bool)
cmd_args = vars(parser.parse_args(args=rospy.myargv(argv=sys.argv)[1:]))
rospy.init_node('recognition_client')
broadcaster = ObjectBroadcaster()
broadcaster.set_minimum_confidence(cmd_args['min_confidence'])
detector = ObjectDetector(broadcaster.broadcast)
if cmd_args['topic'] is True:
detector.start_continuous_monitor_client()
if cmd_args['auto_trigger'] is not None:
detector.start_action_client()
thread = Thread(target=auto_trigger,
args=(detector, cmd_args['auto_trigger']))
thread.start()
rospy.spin()
thread.join()
else:
rospy.spin()
class MoveGroupCommandInterpreter:
"""
Interpreter for simple commands
"""
DEFAULT_FILENAME = "move_group.cfg"
GO_DIRS = {"up" : (2,1), "down" : (2, -1), "z" : (2, 1),
"left" : (1, 1), "right" : (1, -1), "y" : (1, 1),
"forward" : (0, 1), "backward" : (0, -1), "back" : (0, -1), "x" : (0, 1) }
def __init__(self):
self._gdict = {}
self._group_name = ""
self._detector = None
self._broadcaster = None
def get_active_group(self):
if len(self._group_name) > 0:
return self._gdict[self._group_name]
else:
return None
def get_loaded_groups(self):
return self._gdict.keys()
def execute(self, cmd):
cmd = self.resolve_command_alias(cmd)
result = self.execute_generic_command(cmd)
if result != None:
return result
else:
if len(self._group_name) > 0:
return self.execute_group_command(self._gdict[self._group_name], cmd)
else:
return (MoveGroupInfoLevel.INFO, self.get_help() + "\n\nNo groups initialized yet. You must call the 'use' or the 'load' command first.\n")
def execute_generic_command(self, cmd):
if cmd.startswith("use"):
if cmd == "use":
return (MoveGroupInfoLevel.INFO, "\n".join(self.get_loaded_groups()))
clist = cmd.split()
if len(clist) == 2:
if clist[0] == "use":
if self._gdict.has_key(clist[1]):
self._group_name = clist[1]
return (MoveGroupInfoLevel.DEBUG, "OK")
else:
try:
mg = MoveGroupCommander(clist[1])
self._gdict[clist[1]] = mg
self._group_name = clist[1]
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.FAIL, "Unable to initialize " + clist[1])
elif cmd.startswith("load"):
filename = self.DEFAULT_FILENAME
clist = cmd.split()
if len(clist) > 2:
return (MoveGroupInfoLevel.WARN, "Unable to parse load command")
if len(clist) == 2:
filename = clist[1]
try:
f = open(filename, 'r')
for line in f:
self.execute(line)
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to load " + filename)
elif cmd.startswith("save"):
filename = self.DEFAULT_FILENAME
clist = cmd.split()
if len(clist) > 2:
return (MoveGroupInfoLevel.WARN, "Unable to parse save command")
if len(clist) == 2:
filename = clist[1]
try:
f = open(filename, 'w')
for gr in self._gdict.keys():
f.write("use " + gr + "\n")
known = self._gdict[gr].get_remembered_joint_values()
for v in known.keys():
f.write(v + " = [" + " ".join([str(x) for x in known[v]]) + "]\n")
return (MoveGroupInfoLevel.DEBUG, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to save " + filename)
elif cmd.startswith("detect"):
clist = cmd.split()
if len(clist) >= 2:
return self.command_detect(float(clist[1]))
else:
return self.command_detect(0.5)
else:
return None
def execute_group_command(self, g, cmd):
if cmd == "stop":
g.stop()
return (MoveGroupInfoLevel.DEBUG, "OK")
if cmd == "id":
return (MoveGroupInfoLevel.INFO, g.get_name())
if cmd == "help":
return (MoveGroupInfoLevel.INFO, self.get_help())
if cmd == "vars":
known = g.get_remembered_joint_values()
return (MoveGroupInfoLevel.INFO, "[" + " ".join(known.keys()) + "]")
if cmd == "joints":
joints = g.get_joints()
return (MoveGroupInfoLevel.INFO, "\n" + "\n".join([str(i) + " = " + joints[i] for i in range(len(joints))]) + "\n")
if cmd == "show":
return self.command_show(g)
if cmd == "current":
return self.command_current(g)
if cmd == "eef":
if len(g.get_end_effector_link()) > 0:
return (MoveGroupInfoLevel.INFO, g.get_end_effector_link())
else:
return (MoveGroupInfoLevel.INFO, "There is no end effector defined")
if cmd == "tol" or cmd == "tolerance":
return (MoveGroupInfoLevel.INFO, str(g.get_goal_tolerance()))
# see if we have assignment between variables
assign_match = re.match(r"^(\w+)\s*=\s*(\w+)$", cmd)
if assign_match:
known = g.get_remembered_joint_values()
if known.has_key(assign_match.group(2)):
g.remember_joint_values(assign_match.group(1), known[assign_match.group(2)])
return (MoveGroupInfoLevel.SUCCESS, assign_match.group(1) + " is now the same as " + assign_match.group(2))
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
# see if we have assignment of matlab-like vector syntax
set_match = re.match(r"^(\w+)\s*=\s*\[([\d\.e\-\+\s]+)\]$", cmd)
if set_match:
try:
g.remember_joint_values(set_match.group(1), [float(x) for x in set_match.group(2).split()])
return (MoveGroupInfoLevel.SUCCESS, "Remembered joint values [" + set_match.group(2) + "] under the name " + set_match.group(1))
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse joint value [" + set_match.group(2) + "]")
# see if we have assignment of matlab-like element update
component_match = re.match(r"^(\w+)\s*\[\s*(\d+)\s*\]\s*=\s*([\d\.e\-\+]+)$", cmd)
if component_match:
known = g.get_remembered_joint_values()
if known.has_key(component_match.group(1)):
try:
val = known[component_match.group(1)]
val[int(component_match.group(2))] = float(component_match.group(3))
g.remember_joint_values(component_match.group(1), val)
return (MoveGroupInfoLevel.SUCCESS, "Updated " + component_match.group(1) + "[" + component_match.group(2) + "]")
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse index or value in '" + cmd +"'")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
clist = cmd.split()
# if this is an unknown one-word command, it is probably a variable
if len(clist) == 1:
known = g.get_remembered_joint_values()
if known.has_key(cmd):
return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[cmd]]) + "]")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
# command with one argument
if len(clist) == 2:
if clist[0] == "go":
if clist[1] == "rand" or clist[1] == "random":
g.set_random_target()
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved to random target")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving to random target")
else:
try:
g.set_named_target(clist[1])
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved to " + clist[1])
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving to " + clist[1])
except:
return (MoveGroupInfoLevel.WARN, clist[1] + " is unknown")
elif clist[0] == "record" or clist[0] == "rec":
g.remember_joint_values(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "Remembered current joint values under the name " + clist[1])
elif clist[0] == "rand" or clist[0] == "random":
g.remember_joint_values(clist[1], g.get_random_joint_values())
return (MoveGroupInfoLevel.SUCCESS, "Remembered random joint values under the name " + clist[1])
elif clist[0] == "del" or clist[0] == "delete":
g.forget_joint_values(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "Forgot joint values under the name " + clist[1])
elif clist[0] == "show":
known = g.get_remembered_joint_values()
if known.has_key(clist[1]):
return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[clist[1]]]) + "]")
else:
return (MoveGroupInfoLevel.WARN, "Joint values for " + clist[1] + " are not known")
elif clist[0] == "tol" or clist[0] == "tolerance":
try:
g.set_goal_tolerance(float(clist[1]))
return (MoveGroupInfoLevel.SUCCESS, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse tolerance value '" + clist[1] + "'")
elif clist[0] == "constrain":
try:
g.set_path_constraints(clist[1])
return (MoveGroupInfoLevel.SUCCESS, "OK")
except:
return (MoveGroupInfoLevel.WARN, "Constraint " + clist[1] + " is not known")
elif clist[0] == "wait":
try:
time.sleep(float(clist[1]))
return (MoveGroupInfoLevel.SUCCESS, clist[1] + " seconds passed")
except:
return (MoveGroupInfoLevel.WARN, "Unable to wait '" + clist[1] + "' seconds")
else:
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
if len(clist) == 3:
if clist[0] == "go" and self.GO_DIRS.has_key(clist[1]):
try:
offset = float(clist[2])
(axis, factor) = self.GO_DIRS[clist[1]]
return self.command_go_offset(g, offset, factor, axis, clist[1])
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse distance '" + clist[2] + "'")
elif clist[0] == "allow" and (clist[1] == "look" or clist[1] == "looking"):
if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
g.allow_looking(True)
else:
g.allow_looking(False)
return (MoveGroupInfoLevel.DEBUG, "OK")
elif clist[0] == "allow" and (clist[1] == "replan" or clist[1] == "replanning"):
if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
g.allow_replanning(True)
else:
g.allow_replanning(False)
return (MoveGroupInfoLevel.DEBUG, "OK")
if len(clist) == 4:
if clist[0] == "rotate":
try:
g.set_orientation_target([float(x) for x in clist[1:]])
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Rotation complete")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while rotating to " + " ".join(clist[1:]))
except:
return (MoveGroupInfoLevel.WARN, "Unable to parse X-Y-Z rotation values '" + " ".join(clist[1:]) + "'")
return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
def command_show(self, g):
known = g.get_remembered_joint_values()
res = []
for k in known.keys():
res.append(k + " = [" + " ".join([str(x) for x in known[k]]) + "]")
return (MoveGroupInfoLevel.INFO, "\n".join(res))
def command_current(self, g):
res = "joints = [" + " ".join([str(x) for x in g.get_current_joint_values()]) + "]"
if len(g.get_end_effector_link()) > 0:
res = res + "\n" + g.get_end_effector_link() + " pose = [\n" + str(g.get_current_pose()) + " ]"
return (MoveGroupInfoLevel.INFO, res)
def command_go_offset(self, g, offset, factor, dimension_index, direction_name):
if g.has_end_effector_link():
try:
g.shift_pose_target(dimension_index, factor * offset)
if g.go():
return (MoveGroupInfoLevel.SUCCESS, "Moved " + direction_name + " by " + str(offset) + " m")
else:
return (MoveGroupInfoLevel.FAIL, "Failed while moving " + direction_name)
except:
return (MoveGroupInfoLevel.WARN, "Unable to process pose update")
else:
return (MoveGroupInfoLevel.WARN, "No known end effector. Cannot move " + direction_name)
def command_detect(self, confidence):
if self._broadcaster is None:
self._broadcaster = ObjectBroadcaster()
if self._detector is None:
self._detector = ObjectDetector(self._broadcaster.broadcast)
self._detector.start_action_client()
self._broadcaster.set_minimum_confidence(confidence)
self._detector.trigger_detection()
return (MoveGroupInfoLevel.SUCCESS, "OK")
def resolve_command_alias(self, cmd):
if cmd == "which":
cmd = "id"
if cmd == "groups":
cmd = "use"
return cmd
def get_help(self):
res = []
res.append("Known commands:")
res.append(" help\t\t show this screen")
res.append(" id|which\t display the name of the group that is operated on")
res.append(" load [<file>]\t load a set of interpreted commands from a file")
res.append(" save [<file>]\t save the currently known variables as a set of commands")
res.append(" use <name>\t switch to using the group named <name> (and load it if necessary)")
res.append(" use|groups\t show the group names that are already loaded")
res.append(" vars\t\t display the names of the known states")
res.append(" show\t\t display the names and values of the known states")
res.append(" show <name>\t display the value of a state")
res.append(" record <name>\t record the current joint values under the name <name>")
res.append(" delete <name>\t forget the joint values under the name <name>")
res.append(" current\t show the current state of the active group")
res.append(" constrain <name>\t use the constraint <name> as a path constraint")
res.append(" eef\t print the name of the end effector attached to the current group")
res.append(" go <name>\t plan and execute a motion to the state <name>")
res.append(" go <dir> <dx>|\t plan and execute a motion in direction up|down|left|right|forward|backward for distance <dx>")
res.append(" go rand\t plan and execute a motion to a random state")
res.append(" rotate <x> <y> <z>\t plan and execute a motion to a specified orientation (about the X,Y,Z axes)")
res.append(" tolerance\t show the tolerance for reaching the goal region")
res.append(" tolerance <val>\t set the tolerance for reaching the goal region")
res.append(" allow <replanning|looking> <T|F> \t enable/disable replanning or looking around")
res.append(" wait <dt>\t sleep for <dt> seconds")
res.append(" x = y\t\t assign the value of y to x")
res.append(" x[idx] = val\t assign a value to dimension idx of x")
res.append(" x = [v1 v2...] assign a vector of values to x")
return "\n".join(res)
def get_keywords(self):
known_vars = []
known_constr = []
if self.get_active_group() != None:
known_vars = self.get_active_group().get_remembered_joint_values().keys()
known_constr = self.get_active_group().get_known_constraints()
groups = self.get_loaded_groups()
return {'go':['up', 'down', 'left', 'right', 'backward', 'forward', 'random'] + known_vars,
'help':[],
'record':known_vars,
'show':known_vars,
'wait':[],
'delete':known_vars,
'current':[],
'use':groups,
'load':[],
'save':[],
'allow':['replanning', 'looking'],
'constrain':known_constr,
'detect':[],
'vars':[],
'joints':[],
'tolerance':[],
'eef':[],
'id':[]}
parser = argparse.ArgumentParser(
description='Client that queries the ORK server and prints the output. '
'Start your server and launch that file for testing.')
parser.add_argument(
'--auto_trigger',
help=
'Specifies the number of seconds in between calls to triggering object detection',
default=None,
type=float)
cmd_args = parser.parse_args(args=rospy.myargv(argv=sys.argv)[1:])
rospy.init_node('recognition_client')
broadcaster = ObjectBroadcaster()
detector = ObjectDetector(broadcaster.broadcast)
detector.start_continuous_monitor_client()
if cmd_args['auto_trigger'] is not None:
detector.start_action_client()
print "Auto-triggering object detection every %s seconds" % str(
cmd_args['auto_trigger'])
thread = Thread(target=auto_trigger,
args=(detector, cmd_args['auto_trigger']))
thread.start()
rospy.spin()
thread.join()
else:
rospy.spin()