163 lines
5.3 KiB
Python
163 lines
5.3 KiB
Python
import cv_bridge
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import numpy as np
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from pathlib import Path
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import rospy
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from rospy import Publisher
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import sensor_msgs.msg
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from visualization_msgs.msg import Marker, MarkerArray
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from robot_utils.perception import Image
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from robot_utils.ros import tf
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from robot_utils.ros.conversions import *
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from robot_utils.ros.rviz import *
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from robot_utils.spatial import Transform
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from vgn.detection import VGN, compute_grasps
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from vgn.perception import UniformTSDFVolume
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from vgn.utils import *
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class BasePolicy:
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def __init__(self):
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self.cv_bridge = cv_bridge.CvBridge()
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self.vgn = VGN(Path(rospy.get_param("vgn/model")))
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self.finger_depth = 0.05
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self.load_parameters()
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self.lookup_transforms()
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self.connect_to_camera()
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self.connect_to_rviz()
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self.rate = 5
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def load_parameters(self):
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self.task_frame = rospy.get_param("~frame_id")
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self.base_frame = rospy.get_param("~base_frame_id")
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self.ee_frame = rospy.get_param("~ee_frame_id")
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self.cam_frame = rospy.get_param("~camera/frame_id")
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self.info_topic = rospy.get_param("~camera/info_topic")
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self.depth_topic = rospy.get_param("~camera/depth_topic")
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def lookup_transforms(self):
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tf._init_listener()
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rospy.sleep(1.0) # wait to receive transforms
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self.T_B_task = tf.lookup(self.base_frame, self.task_frame)
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self.T_EE_cam = tf.lookup(self.ee_frame, self.cam_frame)
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def connect_to_camera(self):
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msg = rospy.wait_for_message(
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self.info_topic, sensor_msgs.msg.CameraInfo, rospy.Duration(2.0)
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)
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self.intrinsic = from_camera_info_msg(msg)
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rospy.Subscriber(
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self.depth_topic, sensor_msgs.msg.Image, self.sensor_cb, queue_size=1
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)
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def sensor_cb(self, msg):
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self.img = Image(depth=self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32))
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self.extrinsic = tf.lookup(
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self.cam_frame,
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self.task_frame,
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msg.header.stamp,
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rospy.Duration(0.2),
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)
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def connect_to_rviz(self):
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self.bbox_pub = Publisher("bbox", Marker, queue_size=1, latch=True)
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self.cloud_pub = Publisher("cloud", PointCloud2, queue_size=1, latch=True)
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self.path_pub = Publisher("path", MarkerArray, queue_size=1, latch=True)
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self.grasps_pub = Publisher("grasps", MarkerArray, queue_size=1, latch=True)
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def activate(self, bbox):
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self.clear_grasps()
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self.bbox = bbox
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self.draw_bbox()
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self.tsdf = UniformTSDFVolume(0.3, 40)
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self.viewpoints = []
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self.done = False
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self.best_grasp = None # grasp pose defined w.r.t. the robot's base frame
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def update(self):
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raise NotImplementedError
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def integrate_latest_image(self):
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self.viewpoints.append(self.extrinsic.inv())
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self.tsdf.integrate(
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self.img,
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self.intrinsic,
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self.extrinsic,
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)
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def predict_best_grasp(self):
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tsdf_grid = self.tsdf.get_grid()
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out = self.vgn.predict(tsdf_grid)
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score_fn = lambda g: g.pose.translation[2]
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grasps = compute_grasps(self.tsdf.voxel_size, out, score_fn, max_filter_size=3)
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grasps = self.filter_grasps_on_target_object(grasps)
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self.draw_grasps(grasps)
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return self.T_B_task * grasps[0].pose if len(grasps) > 0 else None
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def filter_grasps_on_target_object(self, grasps):
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return [
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g
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for g in grasps
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if self.bbox.is_inside(
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g.pose.rotation.apply([0, 0, 0.05]) + g.pose.translation
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)
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]
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def clear_grasps(self):
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self.grasps_pub.publish(DELETE_MARKER_ARRAY_MSG)
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def draw_bbox(self):
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pose = Transform.translation((self.bbox.min + self.bbox.max) / 2.0)
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scale = self.bbox.max - self.bbox.min
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color = np.r_[0.8, 0.2, 0.2, 0.6]
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msg = create_marker(Marker.CUBE, self.task_frame, pose, scale, color)
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self.bbox_pub.publish(msg)
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def draw_scene_cloud(self):
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cloud = self.tsdf.get_scene_cloud()
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msg = to_cloud_msg(self.task_frame, np.asarray(cloud.points))
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self.cloud_pub.publish(msg)
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def draw_grasps(self, grasps):
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msg = create_grasp_marker_array(self.task_frame, grasps, self.finger_depth)
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self.grasps_pub.publish(msg)
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def draw_camera_path(self):
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identity = Transform.identity()
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color = np.r_[31, 119, 180] / 255.0
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# Spheres for each viewpoint
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scale = 0.01 * np.ones(3)
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spheres = create_marker(
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Marker.SPHERE_LIST, self.task_frame, identity, scale, color
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)
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spheres.id = 0
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spheres.points = [to_point_msg(p.translation) for p in self.viewpoints]
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# Line strip connecting viewpoints
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scale = [0.005, 0.0, 0.0]
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lines = create_marker(
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Marker.LINE_STRIP, self.task_frame, identity, scale, color
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)
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lines.id = 1
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lines.points = [to_point_msg(p.translation) for p in self.viewpoints]
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self.path_pub.publish(MarkerArray([spheres, lines]))
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registry = {}
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def register(id, cls):
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global registry
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registry[id] = cls
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def make(id):
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if id in registry:
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return registry[id]()
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else:
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raise ValueError("{} policy does not exist.".format(id))
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