def workspace_motion_plan(
base_manip,
manipulator,
vector,
steps=10): # TODO - use IK to check if even possibly valid
distance, direction = length(vector), normalize(vector)
step_length = distance / steps
with base_manip.robot:
base_manip.robot.SetActiveManipulator(manipulator)
base_manip.robot.SetActiveDOFs(manipulator.GetArmIndices())
with collision_saver(base_manip.robot.GetEnv(),
openravepy_int.CollisionOptions.ActiveDOFs):
try: # TODO - Bug in specifying minsteps. Need to specify at least 2 times the desired otherwise it stops early
traj = base_manip.MoveHandStraight(direction,
minsteps=10 * steps,
maxsteps=steps,
steplength=step_length,
ignorefirstcollision=None,
starteematrix=None,
greedysearch=True,
execute=False,
outputtraj=None,
maxdeviationangle=None,
planner=None,
outputtrajobj=True)
return list(sample_manipulator_trajectory(manipulator, traj))
except planning_error:
return None
def __init__(self, radius):
swap_xz = trans_from_quat(
quat_from_angle_vector(math.pi / 2, [0, 1, 0]))
translate = trans_from_point(0, 0, radius)
self.origin_grasp = translate.dot(swap_xz)
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0.5, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def sample_edge_point(polygon, radius):
from misc.numerical import sample_categorical
edges = zip(polygon, polygon[-1:] + polygon[:-1])
edge_weights = {
i: max(length(v2 - v1) - 2 * radius, 0)
for i, (v1, v2) in enumerate(edges)
}
# TODO: fail if no options
while True:
index = sample_categorical(edge_weights)
v1, v2 = edges[index]
t = random.uniform(radius, length(v2 - v1) - 2 * radius)
yield t * normalize(v2 - v1) + v1
def get_closest_edge_point(polygon, point):
edges = zip(polygon, polygon[-1:] + polygon[:-1])
best = None
for v1, v2 in edges:
proj = (v2 - v1)[:2].dot((point - v1)[:2])
if proj <= 0:
closest = v1
elif length((v2 - v1)[:2]) <= proj:
closest = v2
else:
closest = proj * normalize((v2 - v1))
if (best is None) or (length((point - closest)[:2]) < length(
(point - best)[:2])):
best = closest
return best
def workspace_motion_plan(base_manip, manipulator, vector, steps=10):
distance, direction = length(vector), normalize(vector)
step_length = distance / steps
with base_manip.robot:
base_manip.robot.SetActiveManipulator(manipulator)
base_manip.robot.SetActiveDOFs(manipulator.GetArmIndices())
with collision_saver(base_manip.robot.GetEnv(),
openravepy_int.CollisionOptions.ActiveDOFs):
try:
traj = base_manip.MoveHandStraight(direction,
minsteps=10 * steps,
maxsteps=steps,
steplength=step_length,
ignorefirstcollision=None,
starteematrix=None,
greedysearch=True,
execute=False,
outputtraj=None,
maxdeviationangle=None,
planner=None,
outputtrajobj=True)
return list(sample_manipulator_trajectory(manipulator, traj))
except planning_error:
return None
def __init__(self, height):
bottom = trans_from_point(0, 0, -height / 2)
reflect = trans_from_quat(quat_from_axis_angle(0, -math.pi, 0))
self.origin_grasp = reflect.dot(bottom)
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def __init__(self, origin_grasp):
self.origin_grasp = origin_grasp
pregrasp_vector = PREGRASP_DISTANCE * normalize(np.array([0, 0, -1]))
self.gripper_from_pregrasp = trans_from_point(*pregrasp_vector)
def sample_grasp_traj(obj, pose, pose2):
enable_all(bodies, False)
body = bodies[obj]
#body.Enable(True) # TODO: fix this
set_pose(body, pose.value)
# TODO: check if on the same surface
point = point_from_pose(pose.value)
point2 = point_from_pose(pose2.value)
distance = length(point2 - point)
if (distance <= 0.0) or (0.6 <= distance):
return
direction = normalize(point2 - point)
orientation = quat_from_angle_vector(angle_from_vector(direction),
[0, 0, 1])
#rotate_direction = trans_from_quat_point(orientation, unit_point())
steps = int(math.ceil(distance / PUSH_MAX_DISTANCE) + 1)
distances = np.linspace(0., distance, steps)
points = [point + d * direction for d in distances]
poses = [pose_from_quat_point(orientation, point) for point in points]
pose_objects = [pose] + map(Pose, poses[1:-1]) + [pose2]
print distance, steps, distances, len(poses)
radius, height = get_mesh_radius(body), get_mesh_height(body)
contact = cylinder_contact(radius, height)
pushes = []
# TODO: I could do all trajectories after all pushes planned
for i in xrange(len(poses) - 1):
p1, p2 = poses[i:i + 2]
# TODO: choose midpoint for base
ir_world_from_gripper = manip_from_pose_grasp(p1, contact)
set_manipulator_conf(arm, carry_arm_conf)
for world_from_base in islice(
random_inverse_reachability(ir_model,
ir_world_from_gripper),
max_failures):
set_trans(robot, world_from_base)
set_manipulator_conf(arm, carry_arm_conf)
if check_collision(robot):
continue
q = Conf(robot.GetConfigurationValues())
push_arm_confs = []
approach_paths = []
for p in (p1, p2):
# TODO: make sure I have the +x push conf
world_from_gripper = manip_from_pose_grasp(p, contact)
set_manipulator_conf(arm, carry_arm_conf)
grasp_arm_conf = solve_inverse_kinematics(
arm, world_from_gripper, collisions=False)
if grasp_arm_conf is None:
break
push_arm_confs.append(grasp_arm_conf)
set_manipulator_conf(arm, grasp_arm_conf)
pregrasp_arm_conf = solve_inverse_kinematics(
arm,
world_from_gripper.dot(gripper_from_pregrasp),
collisions=False)
if pregrasp_arm_conf is None:
break
#if DISABLE_MOTIONS:
if True:
approach_paths.append([
carry_arm_conf, pregrasp_arm_conf, grasp_arm_conf
])
continue
"""
set_manipulator_conf(arm, pregrasp_arm_conf)
grasp_path = plan_straight_path(robot, grasp_arm_conf, pregrasp_arm_conf)
# robot.Release(body)
if grasp_path is None:
continue
pregrasp_path = plan_path(base_manip, pregrasp_arm_conf, carry_arm_conf)
if pregrasp_path is None:
continue
t = Prehensile(full_from_active(robot, grasp_path + pregrasp_path[1:]), obj, pose, grasp)
yield [(q, t)]
reset_env()
return
"""
else:
# Start and end may have different orientations
pq1, pq2 = push_arm_confs
push_path = plan_straight_path(robot, pq1, pq2)
# TODO: make sure the straight path is actually straight
if push_path is None:
continue
po1, po2 = pose_objects[i:i + 2]
ap1, ap2 = approach_paths
m = Push(
full_from_active(robot, ap1),
full_from_active(robot, push_arm_confs),
#full_from_active(robot, push_path),
full_from_active(robot, ap2[::-1]),
obj,
po1,
po2,
contact)
pushes.append(PushMotion(obj, po1, po2, q, m))
break
else:
print 'Failure', len(pushes)
return
print 'Success', len(pushes)
yield pushes
