178 lines
6.7 KiB
Python
178 lines
6.7 KiB
Python
from controller_manager_msgs.srv import *
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import copy
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import cv_bridge
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from geometry_msgs.msg import Twist
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import numpy as np
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import rospy
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from sensor_msgs.msg import Image
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from .bbox import from_bbox_msg
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from .timer import Timer
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from active_grasp.srv import Reset, ResetRequest
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from robot_helpers.ros import tf
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from robot_helpers.ros.conversions import *
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from robot_helpers.ros.panda import PandaArmClient, PandaGripperClient
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from robot_helpers.ros.moveit import MoveItClient
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from robot_helpers.spatial import Rotation, Transform
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from vgn.utils import look_at, cartesian_to_spherical, spherical_to_cartesian
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class GraspController:
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def __init__(self, policy):
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self.policy = policy
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self.load_parameters()
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self.init_service_proxies()
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self.init_robot_connection()
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self.init_moveit()
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self.init_camera_stream()
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def load_parameters(self):
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self.base_frame = rospy.get_param("~base_frame_id")
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self.T_grasp_ee = Transform.from_list(rospy.get_param("~ee_grasp_offset")).inv()
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self.cam_frame = rospy.get_param("~camera/frame_id")
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self.depth_topic = rospy.get_param("~camera/depth_topic")
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self.min_z_dist = rospy.get_param("~camera/min_z_dist")
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self.control_rate = rospy.get_param("~control_rate")
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self.linear_vel = rospy.get_param("~linear_vel")
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self.policy_rate = rospy.get_param("~policy_rate")
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def init_service_proxies(self):
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self.reset_env = rospy.ServiceProxy("reset", Reset)
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self.switch_controller = rospy.ServiceProxy(
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"controller_manager/switch_controller", SwitchController
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)
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def init_robot_connection(self):
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self.arm = PandaArmClient()
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self.gripper = PandaGripperClient()
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self.cartesian_vel_pub = rospy.Publisher("command", Twist, queue_size=10)
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def init_moveit(self):
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self.moveit = MoveItClient("panda_arm")
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rospy.sleep(1.0) # Wait for connections to be established.
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# msg = to_pose_stamped_msg(Transform.t([0.4, 0, 0.4]), self.base_frame)
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# self.moveit.scene.add_box("table", msg, size=(0.5, 0.5, 0.02))
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def switch_to_cartesian_velocity_control(self):
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req = SwitchControllerRequest()
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req.start_controllers = ["cartesian_velocity_controller"]
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req.stop_controllers = ["position_joint_trajectory_controller"]
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self.switch_controller(req)
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def switch_to_joint_trajectory_control(self):
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req = SwitchControllerRequest()
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req.start_controllers = ["position_joint_trajectory_controller"]
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req.stop_controllers = ["cartesian_velocity_controller"]
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self.switch_controller(req)
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def init_camera_stream(self):
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self.cv_bridge = cv_bridge.CvBridge()
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rospy.Subscriber(self.depth_topic, Image, self.sensor_cb, queue_size=1)
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def sensor_cb(self, msg):
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self.latest_depth_msg = msg
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def run(self):
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bbox = self.reset()
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self.switch_to_cartesian_velocity_control()
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with Timer("search_time"):
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grasp = self.search_grasp(bbox)
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self.switch_to_joint_trajectory_control()
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with Timer("grasp_time"):
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res = self.execute_grasp(grasp)
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return self.collect_info(res)
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def reset(self):
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Timer.reset()
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res = self.reset_env(ResetRequest())
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rospy.sleep(1.0) # Wait for the TF tree to be updated.
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return from_bbox_msg(res.bbox)
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def search_grasp(self, bbox):
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self.view_sphere = ViewHalfSphere(bbox, self.min_z_dist)
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self.policy.activate(bbox, self.view_sphere)
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timer = rospy.Timer(rospy.Duration(1.0 / self.control_rate), self.send_vel_cmd)
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r = rospy.Rate(self.policy_rate)
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while not self.policy.done:
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img, pose, q = self.get_state()
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self.policy.update(img, pose, q)
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r.sleep()
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rospy.sleep(0.1) # Wait for a zero command to be sent to the robot.
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timer.shutdown()
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return self.policy.best_grasp
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def get_state(self):
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q, _ = self.arm.get_state()
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msg = copy.deepcopy(self.latest_depth_msg)
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img = self.cv_bridge.imgmsg_to_cv2(msg).astype(np.float32)
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pose = tf.lookup(self.base_frame, self.cam_frame, msg.header.stamp)
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return img, pose, q
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def send_vel_cmd(self, event):
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if self.policy.x_d is None or self.policy.done:
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cmd = np.zeros(6)
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else:
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x = tf.lookup(self.base_frame, self.cam_frame)
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cmd = self.compute_velocity_cmd(self.policy.x_d, x)
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self.cartesian_vel_pub.publish(to_twist_msg(cmd))
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def compute_velocity_cmd(self, x_d, x):
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# TODO verify that the frames are handled correctly
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r, theta, phi = cartesian_to_spherical(x.translation - self.view_sphere.center)
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e_t = x_d.translation - x.translation
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e_n = (self.view_sphere.center - x.translation) * (r - self.view_sphere.r) / r
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linear = 1.0 * e_t + 10.0 * e_n
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scale = np.linalg.norm(linear)
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linear *= np.clip(scale, 0.0, self.linear_vel) / scale
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angular = self.view_sphere.get_view(theta, phi).rotation * x.rotation.inv()
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angular = 0.5 * angular.as_rotvec()
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return np.r_[linear, angular]
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def execute_grasp(self, grasp):
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if not grasp:
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return "aborted"
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T_base_grasp = self.postprocess(grasp.pose)
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self.gripper.move(0.08)
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self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.05]) * self.T_grasp_ee)
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self.moveit.goto(T_base_grasp * self.T_grasp_ee)
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self.gripper.grasp()
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self.moveit.goto(Transform.t([0, 0, 0.1]) * T_base_grasp * self.T_grasp_ee)
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success = self.gripper.read() > 0.005
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return "succeeded" if success else "failed"
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def postprocess(self, T_base_grasp):
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rot = T_base_grasp.rotation
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if rot.as_matrix()[:, 0][0] < 0: # Ensure that the camera is pointing forward
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T_base_grasp.rotation = rot * Rotation.from_euler("z", np.pi)
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T_base_grasp *= Transform.t([0.0, 0.0, 0.01])
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return T_base_grasp
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def collect_info(self, result):
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points = [p.translation for p in self.policy.views]
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d = np.sum([np.linalg.norm(p2 - p1) for p1, p2 in zip(points, points[1:])])
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info = {
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"result": result,
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"view_count": len(points),
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"distance": d,
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}
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info.update(self.policy.info)
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info.update(Timer.timers)
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return info
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class ViewHalfSphere:
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def __init__(self, bbox, min_z_dist):
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self.center = bbox.center
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self.r = 0.5 * bbox.size[2] + min_z_dist
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def get_view(self, theta, phi):
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eye = self.center + spherical_to_cartesian(self.r, theta, phi)
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up = np.r_[1.0, 0.0, 0.0]
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return look_at(eye, self.center, up)
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def sample_view(self):
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raise NotImplementedError
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