diff --git a/.gitignore b/.gitignore index d947871282..570eef3ee0 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ build *# latest_asdf_check -.#* \ No newline at end of file +.#* +*~ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000..cb4ef49684 --- /dev/null +++ b/LICENSE @@ -0,0 +1,30 @@ + +Copyright (c) 2009 - 2021, CRAM team +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Intelligent Autonomous Systems Group/ + Technische Universitaet Muenchen, nor the name of the + Institute for Artificial Intelligence/Universitaet Bremen, + nor the names of their contributors may be used to + endorse or promote products derived from this software without + specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/cram-18.04.rosinstall b/cram-18.04.rosinstall new file mode 100644 index 0000000000..91e1f964ac --- /dev/null +++ b/cram-18.04.rosinstall @@ -0,0 +1,21 @@ +# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2018-10-16 +- git: + local-name: cram + uri: https://github.com/cram2/cram.git + version: master-melodic +- git: + local-name: giskard_msgs + uri: https://github.com/SemRoCo/giskard_msgs.git + version: 5bfb2a2dc0d58635fab4eceaf93a43c2729a4cdf +- git: + local-name: iai_common_msgs + uri: https://github.com/code-iai/iai_common_msgs.git + version: 46d6e9b9be386de9cf5e153f489c382e0c66f74c +- git: + local-name: iai_maps + uri: https://github.com/code-iai/iai_maps.git + version: 497632f5bbf8f028b5cf25470efeefbaaf9ce388 +- git: + local-name: genlisp + uri: https://github.com/ros/genlisp.git + version: 3ac633abacdf5ab321d23ed013c7d5b7da97736d diff --git a/cram_3d_world/cl_bullet/cl-bullet-examples.asd b/cram_3d_world/cl_bullet/cl-bullet-examples.asd deleted file mode 120000 index 8ba685709f..0000000000 --- a/cram_3d_world/cl_bullet/cl-bullet-examples.asd +++ /dev/null @@ -1 +0,0 @@ -src/lisp/examples/cl-bullet-examples.asd \ No newline at end of file diff --git a/cram_3d_world/cl_bullet/cl-bullet-examples.asd b/cram_3d_world/cl_bullet/cl-bullet-examples.asd new file mode 100644 index 0000000000..1176bbc060 --- /dev/null +++ b/cram_3d_world/cl_bullet/cl-bullet-examples.asd @@ -0,0 +1,39 @@ +;;; +;;; Copyright (c) 2010, Lorenz Moesenlechner +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. +;;; + +(defsystem cl-bullet-examples + :author "Lorenz Moesenlechner " + :license "BSD" + :depends-on (cl-bullet cl-transforms) + :components + ((:module "src/lisp/examples" + :components + ((:file "package") + (:file "hello-world" :depends-on ("package")))))) diff --git a/cram_3d_world/cl_bullet/cl-bullet.asd b/cram_3d_world/cl_bullet/cl-bullet.asd deleted file mode 120000 index 95eb506544..0000000000 --- a/cram_3d_world/cl_bullet/cl-bullet.asd +++ /dev/null @@ -1 +0,0 @@ -src/lisp/cl-bullet.asd \ No newline at end of file diff --git a/cram_3d_world/cl_bullet/cl-bullet.asd b/cram_3d_world/cl_bullet/cl-bullet.asd new file mode 100644 index 0000000000..71e7436411 --- /dev/null +++ b/cram_3d_world/cl_bullet/cl-bullet.asd @@ -0,0 +1,67 @@ +;;; +;;; Copyright (c) 2010, Lorenz Moesenlechner +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. +;;; + +(defsystem cl-bullet + :author "Lorenz Moesenlechner " + :license "BSD" + :description "A common lisp wrapper for the bullet library" + + :depends-on (:cffi + :cffi-ros-utils + :trivial-garbage + :ros-load-manifest + :cram-utilities + :split-sequence + :cl-transforms) + :components + ((:module "src/lisp" + :components + ((:file "package") + (:file "foreign-types" :depends-on ("package")) + (:file "cffi" :depends-on ("package" "foreign-types")) + (:file "foreign-class" :depends-on ("package")) + (:file "debug-draw" :depends-on ("package" "foreign-types" "cffi" "foreign-class")) + (:file "bt-world" :depends-on ("package" "cffi" "foreign-class" "rigid-body" "contact-manifold")) + (:file "contact-manifold" :depends-on ("package")) + (:file "motion-state" :depends-on ("package" "cffi" "foreign-class")) + (:file "rigid-body" :depends-on ("package" "cffi" "foreign-class" "motion-state")) + (:file "collision-shapes" :depends-on ("package" "cffi" "foreign-class")) + (:file "constraints" :depends-on ("package" "cffi" "foreign-class")) + (:file "point-2-point-constraint" :depends-on ("package" "cffi" "constraints")) + (:file "hinge-constraint" :depends-on ("package" "cffi" "constraints")) + (:file "slider-constraint" :depends-on ("package" "cffi" "constraints")) + (:file "world-state" :depends-on ("package" + "bt-world" + "rigid-body" + "collision-shapes" + "point-2-point-constraint" + "hinge-constraint" + "slider-constraint")))))) + diff --git a/cram_3d_world/cl_bullet/src/lisp/cl-bullet.asd b/cram_3d_world/cl_bullet/src/lisp/cl-bullet.asd deleted file mode 100644 index c97970f7f3..0000000000 --- a/cram_3d_world/cl_bullet/src/lisp/cl-bullet.asd +++ /dev/null @@ -1,65 +0,0 @@ -;;; -;;; Copyright (c) 2010, Lorenz Moesenlechner -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. -;;; - -(defsystem cl-bullet - :author "Lorenz Moesenlechner " - :license "BSD" - :description "A common lisp wrapper for the bullet library" - - :depends-on (:cffi - :cffi-ros-utils - :trivial-garbage - :ros-load-manifest - :cram-utilities - :split-sequence - :cl-transforms) - :components - ((:file "package") - (:file "foreign-types" :depends-on ("package")) - (:file "cffi" :depends-on ("package" "foreign-types")) - (:file "foreign-class" :depends-on ("package")) - (:file "debug-draw" :depends-on ("package" "foreign-types" "cffi" "foreign-class")) - (:file "bt-world" :depends-on ("package" "cffi" "foreign-class" "rigid-body" "contact-manifold")) - (:file "contact-manifold" :depends-on ("package")) - (:file "motion-state" :depends-on ("package" "cffi" "foreign-class")) - (:file "rigid-body" :depends-on ("package" "cffi" "foreign-class" "motion-state")) - (:file "collision-shapes" :depends-on ("package" "cffi" "foreign-class")) - (:file "constraints" :depends-on ("package" "cffi" "foreign-class")) - (:file "point-2-point-constraint" :depends-on ("package" "cffi" "constraints")) - (:file "hinge-constraint" :depends-on ("package" "cffi" "constraints")) - (:file "slider-constraint" :depends-on ("package" "cffi" "constraints")) - (:file "world-state" :depends-on ("package" - "bt-world" - "rigid-body" - "collision-shapes" - "point-2-point-constraint" - "hinge-constraint" - "slider-constraint")))) - diff --git a/cram_3d_world/cl_bullet_vis/src/math-function-visualization.lisp b/cram_3d_world/cl_bullet_vis/src/math-function-visualization.lisp index 2640148e4e..b2c76c7f96 100644 --- a/cram_3d_world/cl_bullet_vis/src/math-function-visualization.lisp +++ b/cram_3d_world/cl_bullet_vis/src/math-function-visualization.lisp @@ -86,9 +86,12 @@ (gl:mult-matrix (pose->gl-matrix pose)) (loop for x from (- (/ width 2)) to (- (/ width 2) step-size) by step-size do (loop for y from (- (/ height 2)) to (- (/ height 2) step-size) by step-size do - (let ((pt-1 (get-point x y))) - (when pt-1 - (let* ((value (cl-transforms:z pt-1)) + (let ((middle-pt (get-point (+ x (/ step-size 2)) + (+ y (/ step-size 2))))) + (when middle-pt + (let* ((value (cl-transforms:z middle-pt)) + (pt-1 (cl-transforms:make-3d-vector + x y value)) (pt-2 (cl-transforms:make-3d-vector (+ x step-size) y value)) (pt-3 (cl-transforms:make-3d-vector diff --git a/cram_3d_world/cram_btr_spatial_relations_costmap/src/cost-functions.lisp b/cram_3d_world/cram_btr_spatial_relations_costmap/src/cost-functions.lisp index 021172795b..095655b133 100644 --- a/cram_3d_world/cram_btr_spatial_relations_costmap/src/cost-functions.lisp +++ b/cram_3d_world/cram_btr_spatial_relations_costmap/src/cost-functions.lisp @@ -131,7 +131,7 @@ ref-sz/2 + ref-padding + max-padding + max-sz + max-padding + for-padding + for- (defun find-levels-under-link (parent-link) "Finds all the child links under the parent link with the name -board or level in them" +board or level or shelf in them" (let ((levels-found)) (labels ((find-levels (link) (let* ((child-joints (cl-urdf:to-joints link)) @@ -139,7 +139,8 @@ board or level in them" (mapcar (lambda (child-link) (let ((child-name (cl-urdf:name child-link))) (if (or (search "board" child-name) - (search "level" child-name)) + (search "level" child-name) + (search "shelf" child-name)) (push child-link levels-found) (find-levels child-link)))) child-links)))) @@ -179,18 +180,49 @@ reverse sort it" ;;;;;;;;;;;;;;;;;;;;;;;; COSTMAPS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defun make-object-bounding-box-costmap-generator (object) - (let* ((bounding-box-dims (btr:calculate-bb-dims object)) - (dimensions-x/2 (/ (cl-transforms:x bounding-box-dims) 2)) - (dimensions-y/2 (/ (cl-transforms:y bounding-box-dims) 2)) - (center-x (cl-transforms:x (cl-transforms:origin (btr:pose object)))) - (center-y (cl-transforms:y (cl-transforms:origin (btr:pose object))))) + "This cost function assumes that one of the planes of the object +is aligned with the horizontal plane, +i.e. the object is lying flatly on the horizontal surface." + (let* ((bounding-box-dims + (btr:calculate-bb-dims object)) + (dimensions-x/2 + (/ (cl-transforms:x bounding-box-dims) 2)) + (dimensions-y/2 + (/ (cl-transforms:y bounding-box-dims) 2)) + (angle-around-map-z + (cram-tf:angle-around-map-z (cl-transforms:orientation (btr:pose object)))) + (object-position + (cl-transforms:origin (btr:pose object))) + (center-x + (cl-transforms:x object-position)) + (center-y + (cl-transforms:y object-position))) + (lambda (x y) - (if (and - (< x (+ center-x dimensions-x/2)) - (> x (- center-x dimensions-x/2)) - (< y (+ center-y dimensions-y/2)) - (> y (- center-y dimensions-y/2))) - 1.0 0.0)))) + (let* ((point-in-bb-frame-identity-orientation + (btr::make-3d-vector + (- x center-x) + (- y center-y) + 0)) + (point-in-bb-frame-bb-orientation + (cl-transforms:rotate + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) + (- angle-around-map-z)) + point-in-bb-frame-identity-orientation)) + (point-in-map-frame + (cl-transforms:v+ + point-in-bb-frame-bb-orientation + (cl-transforms:make-3d-vector center-x center-y 0))) + (new-x (cl-transforms:x point-in-map-frame)) + (new-y (cl-transforms:y point-in-map-frame))) + (if (and + (<= new-x (+ center-x dimensions-x/2)) + (>= new-x (- center-x dimensions-x/2)) + (< new-y (+ center-y dimensions-y/2)) + (> new-y (- center-y dimensions-y/2))) + 1.0 + 0.0))))) (defun make-object-in-object-bounding-box-costmap-generator (container-object inner-object) "Returns a costmap generator, which for any point within @@ -202,24 +234,57 @@ Please note, that if the object is a box, it might not fit into the bounding box when rotated with, e.g., 45 degrees. It will also not be quite correct if the object is placed on its side and not upright." - (let* ((container-obj-bb-dims (btr:calculate-bb-dims container-object)) - (container-dimensions-x/2 (/ (cl-transforms:x container-obj-bb-dims) 2)) - (container-dimensions-y/2 (/ (cl-transforms:y container-obj-bb-dims) 2)) - (container-center-x (cl-transforms:x (cl-transforms:origin (btr:pose container-object)))) - (container-center-y (cl-transforms:y (cl-transforms:origin (btr:pose container-object)))) - (inner-obj-bb-dims (btr:calculate-bb-dims inner-object)) - (inner-obj-x/2 (/ (cl-transforms:x inner-obj-bb-dims) 2)) - (inner-obj-y/2 (/ (cl-transforms:y inner-obj-bb-dims) 2)) - (inner-obj-padding (max inner-obj-x/2 inner-obj-y/2)) - (dimensions-x/2 (- container-dimensions-x/2 inner-obj-padding)) - (dimensions-y/2 (- container-dimensions-y/2 inner-obj-padding))) + (let* ((container-obj-bb-dims + (btr:calculate-bb-dims container-object)) + (angle-around-map-z + (cram-tf:angle-around-map-z + (cl-transforms:orientation (btr:pose container-object)))) + (container-dimensions-x/2 + (/ (cl-transforms:x container-obj-bb-dims) 2)) + (container-dimensions-y/2 + (/ (cl-transforms:y container-obj-bb-dims) 2)) + (container-center-x + (cl-transforms:x (cl-transforms:origin (btr:pose container-object)))) + (container-center-y + (cl-transforms:y (cl-transforms:origin (btr:pose container-object)))) + (inner-obj-bb-dims + (btr:calculate-bb-dims inner-object)) + (inner-obj-x/2 + (/ (cl-transforms:x inner-obj-bb-dims) 2)) + (inner-obj-y/2 + (/ (cl-transforms:y inner-obj-bb-dims) 2)) + (inner-obj-padding + (max inner-obj-x/2 inner-obj-y/2)) + (dimensions-x/2 + (- container-dimensions-x/2 inner-obj-padding)) + (dimensions-y/2 + (- container-dimensions-y/2 inner-obj-padding))) (lambda (x y) - (if (and - (< x (+ container-center-x dimensions-x/2)) - (> x (- container-center-x dimensions-x/2)) - (< y (+ container-center-y dimensions-y/2)) - (> y (- container-center-y dimensions-y/2))) - 1.0 0.0)))) + (let* ((point-in-bb-frame-identity-orientation + (btr::make-3d-vector + (- x container-center-x) + (- y container-center-y) + 0)) + (point-in-bb-frame-bb-orientation + (cl-transforms:rotate + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) + (- angle-around-map-z)) + point-in-bb-frame-identity-orientation)) + (point-in-map-frame + (cl-transforms:v+ + point-in-bb-frame-bb-orientation + (cl-transforms:make-3d-vector + container-center-x container-center-y 0))) + (new-x (cl-transforms:x point-in-map-frame)) + (new-y (cl-transforms:y point-in-map-frame))) + (if (and + (<= new-x (+ container-center-x dimensions-x/2)) + (>= new-x (- container-center-x dimensions-x/2)) + (< new-y (+ container-center-y dimensions-y/2)) + (> new-y (- container-center-y dimensions-y/2))) + 1.0 + 0.0))))) ;;; TODO: maybe include bb into deciding not just the pose and ratio (defun get-closest-edge (obj-pose supp-obj-pose supp-obj-dims) @@ -357,8 +422,11 @@ The function returns one of the following keys: :front, :back, :left, :right." (return (if invert 0.0d0 1.0d0)))))))))) (defun make-slot-cost-function (supp-object paddings-list - preferred-supporting-object-side object-count - max-slot-size min-slot-size position-deviation-threshold) + preferred-supporting-object-side + preferred-supporting-object-axis + object-count + max-slot-size min-slot-size + position-deviation-threshold) "'Divides' the supporting object into `object-count' number of slots and assigns 1s to the centers of those slots and all the points that are not further from the center than `position-deviation-threshold'. @@ -368,7 +436,14 @@ The function returns one of the following keys: :front, :back, :left, :right." The resulting slot sizes are restricted by `max-slot-size' and `min-slot-size', i.e. everything which is out of the boundaries gets truncated to the max or min. - `preferred-supporting-object-size' is either :+ (for positive direction of axis) or :-. + `preferred-supporting-object-side' is either :+ (for positive direction of axis) or :-. + `preferred-supporting-object-axis' is either :X or :Y, + depending on along which axis we want to be putting multiple plates. + In the case of the picture above, it's the axis that has 3 'x'-s, so + the horizontal axis. + Originally, the longer axis was usually preferred to put as many objects + as possible. But since that is not always the case, + the longer axis calculations below are not really used anymore. `paddings-list' is of format '(padd-x+ padd-x- padd-y+ padd-y-). The `supp-object' is supposed to be rectangular with y axis pointing to the left and x - to the back." @@ -377,24 +452,26 @@ The function returns one of the following keys: :front, :back, :left, :right." (type keyword preferred-supporting-object-side) (type integer object-count) (type real max-slot-size min-slot-size position-deviation-threshold)) - (flet ((calculate-points (distance point-count longer-side-axis coord-on-shorter-axis) + (flet ((calculate-points (distance point-count preferred-side-axis coord-on-constant-axis) (loop repeat point-count for next-coord = (* (/ (1- point-count) 2) distance) then (- next-coord distance) collecting - (cond - ((eql longer-side-axis #'cl-transforms:x) - (list next-coord coord-on-shorter-axis)) - ((eql longer-side-axis #'cl-transforms:y) - (list coord-on-shorter-axis next-coord)))))) + (ecase preferred-side-axis + (cl-transforms:x + (list next-coord coord-on-constant-axis)) + (cl-transforms:y + (list coord-on-constant-axis next-coord)))))) + (let* ((supp-obj-dims-in-sem-map-coords (btr:calculate-bb-dims supp-object)) (padded-supp-obj-dims-in-sem-map-coords (cl-transforms:v- supp-obj-dims-in-sem-map-coords - (cl-transforms:make-3d-vector (+ (first paddings-list) (second paddings-list)) - (+ (third paddings-list) (fourth paddings-list)) - 0.0d0))) + (cl-transforms:make-3d-vector + (+ (first paddings-list) (second paddings-list)) + (+ (third paddings-list) (fourth paddings-list)) + 0.0d0))) ;; inverse transform of the origin of the center of the padded region: (padding-center->zero-in-sem-map-coords (cl-transforms:make-transform @@ -406,40 +483,48 @@ The function returns one of the following keys: :front, :back, :left, :right." ;; set initial values for the axis and switch if needed (longer-side-axis #'cl-transforms:x) (shorter-side-axis #'cl-transforms:y) - (longer-side-length nil) + constant-side-axis + (preferred-side-length nil) (max-possible-object-count nil)) (when (> (cl-transforms:y padded-supp-obj-dims-in-sem-map-coords) (cl-transforms:x padded-supp-obj-dims-in-sem-map-coords)) (rotatef longer-side-axis shorter-side-axis)) - (setf longer-side-length - (funcall longer-side-axis padded-supp-obj-dims-in-sem-map-coords)) + (ecase preferred-supporting-object-axis + (cl-transforms:x (setf constant-side-axis 'cl-transforms:y)) + (cl-transforms:y (setf constant-side-axis 'cl-transforms:x))) + (setf preferred-side-length + (funcall (symbol-function preferred-supporting-object-axis) + padded-supp-obj-dims-in-sem-map-coords)) (setf max-possible-object-count - (* (floor longer-side-length min-slot-size) 2)) + (* (floor preferred-side-length min-slot-size) 2)) (when (> object-count max-possible-object-count) (setf object-count max-possible-object-count)) (let* ((object-count-on-preferred-side (ceiling object-count 2)) (object-count-on-other-side (floor object-count 2)) - (coord-on-shorter-axis - (- (/ (funcall shorter-side-axis padded-supp-obj-dims-in-sem-map-coords) + (coord-on-constant-axis + (- (/ (funcall (symbol-function constant-side-axis) + padded-supp-obj-dims-in-sem-map-coords) 2.0) (/ min-slot-size 2.0))) (distance - (/ longer-side-length object-count-on-preferred-side))) + (/ preferred-side-length object-count-on-preferred-side))) (when (> distance max-slot-size) (setf distance max-slot-size)) (ecase preferred-supporting-object-side (:+ nil) - (:- (setf coord-on-shorter-axis (- coord-on-shorter-axis)))) + (:- (setf coord-on-constant-axis (- coord-on-constant-axis)))) (let* ((placement-points (concatenate 'list (calculate-points distance object-count-on-preferred-side - longer-side-axis coord-on-shorter-axis) + preferred-supporting-object-axis + coord-on-constant-axis) (calculate-points distance object-count-on-other-side - longer-side-axis (- coord-on-shorter-axis)))) + preferred-supporting-object-axis + (- coord-on-constant-axis)))) (supp-obj-pose (btr:pose supp-object)) (world->supp-transform @@ -452,15 +537,17 @@ The function returns one of the following keys: :front, :back, :left, :right." padding-center->zero-in-sem-map-coords (cl-transforms:transform-point supp->world-transform - (cl-transforms:make-3d-vector x y 0)))) + (cl-transforms:make-3d-vector x y 1.0)))) (min-dist (reduce #'min (mapcar (lambda (x-and-y) (sqrt (+ (expt (- (cl-transforms:x point) - (first x-and-y)) 2) + (first x-and-y)) + 2) (expt (- (cl-transforms:y point) - (second x-and-y)) 2)))) + (second x-and-y)) + 2)))) placement-points)))) (if (<= min-dist position-deviation-threshold) 1.0 @@ -485,23 +572,25 @@ if it is on the sign side of the axis. " (defparameter *board-thickness* 0.040) -(defun make-object-bounding-box-height-generator (object &optional (tag :on)) +(defun make-object-bounding-box-height-generator (object &optional (tag :on) (z-offset 0.0)) (constantly (list (ecase tag (:on (+ (cl-transforms:z (cl-transforms:origin (btr:pose object))) (/ (cl-transforms:z (btr:calculate-bb-dims object)) - 2.0))) + 2.0) + z-offset)) (:in (+ (cl-transforms:z (cl-transforms:origin (btr:pose object))) (- (/ (cl-transforms:z (btr:calculate-bb-dims object)) 2.0)) + z-offset *board-thickness*)))))) (defun make-object-on/in-object-bb-height-generator (environment-objects for-object - &optional (tag :on)) + &optional (tag :on) (z-offset 0.0)) (let* ((environment-object-top (apply #'max (mapcar (lambda (environment-object) @@ -511,13 +600,15 @@ if it is on the sign side of the axis. " (btr:pose environment-object))) (/ (cl-transforms:z (btr:calculate-bb-dims environment-object)) - 2.0))) + 2.0) + z-offset)) (:in (+ (cl-transforms:z (cl-transforms:origin (btr:pose environment-object))) (- (/ (cl-transforms:z (btr:calculate-bb-dims environment-object)) 2.0)) + z-offset *board-thickness*)))) (if (listp environment-objects) environment-objects diff --git a/cram_3d_world/cram_btr_spatial_relations_costmap/src/knowledge.lisp b/cram_3d_world/cram_btr_spatial_relations_costmap/src/knowledge.lisp index 38356fcebc..121217487d 100644 --- a/cram_3d_world/cram_btr_spatial_relations_costmap/src/knowledge.lisp +++ b/cram_3d_world/cram_btr_spatial_relations_costmap/src/knowledge.lisp @@ -113,8 +113,12 @@ (equal ?threshold 0.2))) ;; table setting related - (<- (%paddings-list :kitchen-island-surface :table-setting (0.03d0 0.03d0 0.8d0 0.03d0))) - (<- (%paddings-list :sink-area-surface :table-setting (0.03d0 0.03d0 0.03d0 0.03d0))) + (<- (%paddings-list :kitchen-island-surface :table-setting + (0.1d0 0.1d0 0.8d0 0.1d0))) + (<- (%paddings-list :sink-area-surface :table-setting + (0.03d0 0.03d0 0.03d0 0.03d0))) + (<- (%paddings-list :dining-area-jokkmokk-table-main :table-setting + (0.1d0 0.1d0 0.1d0 0.1d0))) (<- (paddings-list ?environment-object-name :table-setting ?paddings-list) (setof ?object-name (%paddings-list ?object-name :table-setting ?_) ?defined-paddings-list-objects) @@ -131,6 +135,22 @@ (%preferred-supporting-object-side ?environment-object-name :table-setting ?side) (equal ?side :+))) ;; + (<- (%preferred-supporting-object-axis :dining-area-jokkmokk-table-main + :table-setting + cl-transforms:y)) + (<- (%preferred-supporting-object-axis :kitchen-island-surface + :table-setting + cl-transforms:y)) + (<- (preferred-supporting-object-axis ?environment-object-name :table-setting + ?axis) + (setof ?object-name + (%preferred-supporting-object-axis ?object-name :table-setting ?_) + ?defined-preferred-axis-objects) + (-> (member ?environment-object-name ?defined-preferred-axis-objects) + (%preferred-supporting-object-axis ?environment-object-name + :table-setting ?axis) + (equal ?axis cl-transforms:x))) + ;; (<- (%max-slot-size :plate :table-setting 0.8)) (<- (%max-slot-size :bowl :table-setting 0.6)) (<- (max-slot-size ?environment-object-name :table-setting ?size) @@ -147,7 +167,9 @@ (-> (member ?environment-object-name ?defined-objects) (%min-slot-size ?environment-object-name :table-setting ?size) (equal ?size 0.5))) + ;; (<- (%position-deviation-threshold :plate :table-setting 0.08)) + (<- (%position-deviation-threshold :bowl :table-setting 0.08)) (<- (position-deviation-threshold ?environment-object-name :table-setting ?size) (setof ?object-name (%position-deviation-threshold ?object-name :table-setting ?_) ?defined-objects) diff --git a/cram_3d_world/cram_btr_spatial_relations_costmap/src/prolog.lisp b/cram_3d_world/cram_btr_spatial_relations_costmap/src/prolog.lisp index aded3a3db5..f8a7f0bbb0 100644 --- a/cram_3d_world/cram_btr_spatial_relations_costmap/src/prolog.lisp +++ b/cram_3d_world/cram_btr_spatial_relations_costmap/src/prolog.lisp @@ -31,22 +31,22 @@ (in-package :btr-spatial-cm) (defmethod costmap:costmap-generator-name->score ((name (eql 'environment-free-space))) 4) -(defmethod costmap:costmap-generator-name->score ((name (eql 'supporting-object))) 9) +(defmethod costmap:costmap-generator-name->score ((name (eql 'supporting-object))) 5) (defmethod costmap:costmap-generator-name->score ((name (eql 'slot-generator))) 6) -(defmethod costmap:costmap-generator-name->score ((name (eql 'collision))) 10) +(defmethod costmap:costmap-generator-name->score ((name (eql 'collision))) 20) (defmethod costmap:costmap-generator-name->score ((name (eql 'on-bounding-box))) 5) (defclass side-generator () ()) -(defmethod costmap:costmap-generator-name->score ((name side-generator)) 5) +(defmethod costmap:costmap-generator-name->score ((name side-generator)) 3) (defclass range-generator () ()) (defmethod costmap:costmap-generator-name->score ((name range-generator)) 2) (defclass gaussian-generator () ()) -(defmethod costmap:costmap-generator-name->score ((name gaussian-generator)) 4) +(defmethod costmap:costmap-generator-name->score ((name gaussian-generator)) 7) (defclass field-generator () ()) -(defmethod costmap:costmap-generator-name->score ((name field-generator)) 7) +(defmethod costmap:costmap-generator-name->score ((name field-generator)) 15) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -100,11 +100,23 @@ (<- (desig-solution-not-in-collision ?desig ?object-to-check ?pose) (btr:bullet-world ?world) (btr:with-copied-world ?world - (btr-belief:object-designator-name ?object-to-check ?object-name) + (object-designator-from-name-or-type ?object-to-check ?object-name) (btr:object ?world ?object-name) (btr:assert (btr:object-pose ?world ?object-name ?pose)) (forall (btr:contact ?world ?object-name ?other-object-name) - (not (btr:item-type ?world ?other-object-name ?_)))))) + (not (btr:item-type ?world ?other-object-name ?_))))) + + (<- (object-designator-from-name-or-type ?object-designator ?object-name) + (or (and (bound ?object-designator) + (desig:obj-desig? ?object-designator)) + (and (not (bound ?object-designator)) + (lisp-fun btr-belief::unique-object-designators ?object-designators) + (member ?one-desig-from-chain ?object-designators) + (desig:current-designator ?one-desig-from-chain ?object-designator))) + (or (desig:desig-prop ?object-designator (:name ?object-name)) + (and (desig:desig-prop ?object-designator (:type ?object-type)) + (btr:bullet-world ?w) + (btr:item-type ?world ?object-name ?object-type))))) @@ -134,13 +146,25 @@ (def-fact-group spatial-relations-costmap (costmap:desig-costmap) ;;;;;;;;;; REACHABILITY AND VISIBILITY LOCATION padded from environment ;;;;;; (<- (costmap:desig-costmap ?designator ?costmap) - (or (cram-robot-interfaces:visibility-designator ?designator) - (cram-robot-interfaces:reachability-designator ?designator)) + (or (rob-int:visibility-designator ?designator) + (rob-int:reachability-designator ?designator)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (-> (desig:desig-prop ?designator (:location ?some-location)) + (and (desig:current-designator ?some-location ?location) + (not (man-int:location-always-reachable ?location))) + (-> (desig:desig-prop ?designator (:object ?some-object)) + (and (desig:current-designator ?some-object ?object) + (-> (desig:desig-prop ?object (:location ?some-loc)) + (not (man-int:location-always-reachable ?some-loc)) + (true))) + (true))) (costmap:costmap ?costmap) + (rob-int:robot ?robot-name) (btr:bullet-world ?world) - (btr:%object ?world :kitchen ?kitchen-object) + (lisp-fun btr:get-environment-object ?kitchen-object) (lisp-fun btr:rigid-bodies ?kitchen-object ?rigid-bodies) - (costmap:costmap-padding ?padding) + (costmap:costmap-padding ?robot-name ?padding) (costmap:costmap-add-function environment-free-space (make-aabbs-costmap-generator @@ -203,14 +227,14 @@ (-> (desig:loc-desig? ?ref-obj) (and (equal ?ref-obj-size 0.1) (equal ?ref-padding 0.1)) - (and (btr-belief:object-designator-name ?ref-obj ?ref-obj-name) + (and (object-designator-from-name-or-type ?ref-obj ?ref-obj-name) (btr:bullet-world ?world) (btr:object ?world ?ref-obj-name) (object-size-without-handles ?world ?ref-obj-name ?ref-obj-size) (padding-size ?world ?ref-obj-name ?ref-padding))) ;; (-> (desig:desig-prop ?designator (:for ?for-obj)) - (and (btr-belief:object-designator-name ?for-obj ?for-obj-name) + (and (object-designator-from-name-or-type ?for-obj ?for-obj-name) (btr:object ?world ?for-obj-name) (object-size-without-handles ?world ?for-obj-name ?for-obj-size) (padding-size ?world ?for-obj-name ?for-padding)) @@ -263,7 +287,7 @@ (-> (desig:loc-desig? ?ref-designator) (and (equal ?edge :front) (lisp-fun cl-transforms:make-identity-pose ?supp-obj-pose)) - (and (btr-belief:object-designator-name ?ref-designator ?obj-name) + (and (object-designator-from-name-or-type ?ref-designator ?obj-name) (btr:bullet-world ?world) (btr:object ?world ?obj-name) (-> (supporting-rigid-body ?world ?obj-name ?supporting-rigid-body) @@ -281,7 +305,9 @@ ;; (btr:assert (btr:object-pose ?world ?supporting-object-name ;; ((0 0 0) (0 0 0 1)))) (lisp-fun cl-bullet:pose ?supporting-rigid-body ?supp-obj-pose) - (lisp-fun btr:calculate-bb-dims ?supporting-rigid-body ?supp-obj-dims) + (lisp-fun btr:aabb ?supporting-rigid-body ?supp-obj-bb) + (lisp-fun cl-bullet:bounding-box-dimensions ?supp-obj-bb + ?supp-obj-dims) (lisp-fun get-closest-edge ?reference-pose ?supp-obj-pose ?supp-obj-dims ?edge)) (and (equal ?edge :front) (lisp-fun cl-transforms:make-identity-pose ?supp-obj-pose))))) @@ -307,22 +333,20 @@ ;; should be using make-aabb-costmap-generator I guess (<- (costmap:desig-costmap ?desig ?cm) (fail) - (or - (desig:desig-prop ?desig (:left-of ?_)) - (desig:desig-prop ?desig (:right-of ?_)) - (desig:desig-prop ?desig (:in-front-of ?_)) - (desig:desig-prop ?desig (:behind ?_)) - (desig:desig-prop ?desig (:far-from ?_)) - (desig:desig-prop ?desig (:near ?_))) + (or (desig:desig-prop ?desig (:left-of ?_)) + (desig:desig-prop ?desig (:right-of ?_)) + (desig:desig-prop ?desig (:in-front-of ?_)) + (desig:desig-prop ?desig (:behind ?_)) + (desig:desig-prop ?desig (:far-from ?_)) + (desig:desig-prop ?desig (:near ?_))) (collision-costmap-padding-in-meters ?padding) (-> (desig:desig-prop ?desig (:for ?object)) - (and - (btr-belief:object-designator-name ?object ?object-name) - (btr:object ?world ?object-name) - (object-size-without-handles ?world ?object-name ?obj-size) - (lisp-fun / ?obj-size 2 ?obj-size/2) - (lisp-fun + ?obj-size/2 ?padding ?overall-padding) - (collision-invert-costmap ?desig ?overall-padding ?cm)) + (and (object-designator-from-name-or-type ?object ?object-name) + (btr:object ?world ?object-name) + (object-size-without-handles ?world ?object-name ?obj-size) + (lisp-fun / ?obj-size 2 ?obj-size/2) + (lisp-fun + ?obj-size/2 ?padding ?overall-padding) + (collision-invert-costmap ?desig ?overall-padding ?cm)) (collision-invert-costmap ?desig ?padding ?cm))) ;; ;;;;;;;;;;;;;;;;;;;;;; height generator for spatial relations ;;;;;;;;;;;;;;; @@ -336,7 +360,7 @@ (desig:desig-prop ?designator (:far-from ?ref-obj)) (desig:desig-prop ?designator (:near ?ref-obj))) (costmap:costmap ?costmap) - (btr-belief:object-designator-name ?ref-obj ?ref-obj-name) + (object-designator-from-name-or-type ?ref-obj ?ref-obj-name) (btr:bullet-world ?world) (btr:object ?world ?ref-obj-name) (-> (bagof ?z (and (supporting-rigid-body ?world ?ref-obj-name ?rigid-body) @@ -344,7 +368,7 @@ ?z-bag) (and (max ?z-bag ?highest-z) (-> (desig:desig-prop ?designator (:for ?for-obj)) - (and (btr-belief:object-designator-name ?for-obj ?for-obj-name) + (and (object-designator-from-name-or-type ?for-obj ?for-obj-name) (btr:object ?world ?for-obj-name) (btr:%object ?world ?for-obj-name ?for-object-instance) (lisp-fun btr:calculate-bb-dims ?for-object-instance ?dimensions) @@ -362,7 +386,9 @@ ;;;;;;;;;;;;;;; spatial relation ON for item objects ;;;;;;;;;;;;;;;;;;;;;; (<- (costmap:desig-costmap ?designator ?costmap) (desig:desig-prop ?designator (:on ?object)) - (btr-belief:object-designator-name ?object ?object-instance-name) + (not (desig:desig-prop ?designator (:attachment ?_))) + (not (desig:desig-prop ?designator (:attachments ?_))) + (object-designator-from-name-or-type ?object ?object-instance-name) (btr:bullet-world ?world) (btr:item-type ?world ?object-instance-name ?_) (btr:%object ?world ?object-instance-name ?object-instance) @@ -376,38 +402,96 @@ ?costmap)) ;; ;;;;;;;;;;;;;;; spatial relation ON for environment objects ;;;;;;;;;;;;;;;;;;;;;; + ;; (<- (costmap:desig-costmap ?designator ?costmap) + ;; (desig:desig-prop ?designator (:on ?object)) + ;; (not (desig:desig-prop ?designator (:attachment ?_))) + ;; (not (desig:desig-prop ?designator (:attachments ?_))) + ;; (spec:property ?object (:urdf-name ?urdf-name)) + ;; (spec:property ?object (:part-of ?environment-name)) + ;; (btr:bullet-world ?world) + ;; (btr:%object ?world ?environment-name ?environment-object) + ;; (lisp-fun get-link-rigid-body ?environment-object ?urdf-name ?environment-link) + ;; (lisp-pred identity ?environment-link) + ;; (costmap:costmap ?costmap) + ;; ;; costmap + ;; (costmap:costmap-add-function + ;; on-bounding-box + ;; (make-object-bounding-box-costmap-generator ?environment-link) + ;; ?costmap) + ;; ;; height generator + ;; (once (or (and (desig:desig-prop ?designator (:for ?for-object)) + ;; (object-designator-from-name-or-type ?for-object ?for-object-name) + ;; (btr:%object ?world ?for-object-name ?for-object-instance) + ;; (costmap:costmap-add-height-generator + ;; (make-object-on/in-object-bb-height-generator + ;; ?environment-link ?for-object-instance :on) + ;; ?costmap)) + ;; (costmap:costmap-add-cached-height-generator + ;; (make-object-bounding-box-height-generator ?environment-link :on) + ;; ?costmap))) + ;; ;; orientation generator + ;; (once (or (desig:desig-prop ?designator (:orientation ?orientation-type)) + ;; (equal ?orientation-type :random))) + ;; (generate-orientations ?orientation-type ?environment-link nil ?costmap)) + + + ;;;;;;;;;;;;;;; spatial relation ABOVE for environment objects ;;;;;;;;;;;; + ;; ABOVE works similar to ON. Major differences are + ;; 1. prismatic containers are opened before manipulation + ;; 2. it requires a z-offset to be provided to calculate height (<- (costmap:desig-costmap ?designator ?costmap) - (desig:desig-prop ?designator (:on ?object)) + (and (desig:desig-prop ?designator (:above ?object)) + (not (desig:desig-prop ?designator (:attachment ?_))) + (not (desig:desig-prop ?designator (:attachments ?_)))) + (desig:desig-prop ?designator (?original-tag ?object)) (spec:property ?object (:urdf-name ?urdf-name)) (spec:property ?object (:part-of ?environment-name)) + (once (or (spec:property ?designator (:z-offset ?z-offset)) + (equal 0.0 ?z-offset))) (btr:bullet-world ?world) (btr:%object ?world ?environment-name ?environment-object) - (lisp-fun get-link-rigid-body ?environment-object ?urdf-name ?environment-link) + (height-calculation-body-or-tag ?environment-object ?object + ?environment-link ?original-tag + ?height-calculation-tag) + ;; Checking whether the object is a container to determine where + ;; z-offset is calculated from. At present, always calculates + ;; from the top of the object (so a location inside the container + ;; needs a negative z-offset). Uncomment the following if-else + ;; if the calculation needs to be contextual. + ;; (-> (man-int:object-type-subtype :container ?object-type) + ;; (equal :in ?height-tag) + (equal :on ?height-tag) + (lisp-pred identity ?environment-link) (costmap:costmap ?costmap) - ;; costmap - (costmap:costmap-add-function - on-bounding-box - (make-object-bounding-box-costmap-generator ?environment-link) - ?costmap) - ;; height generator (once (or (and (desig:desig-prop ?designator (:for ?for-object)) - (btr-belief:object-designator-name ?for-object ?for-object-name) + (object-designator-from-name-or-type ?for-object ?for-object-name) (btr:%object ?world ?for-object-name ?for-object-instance) + (costmap:costmap-add-function + on-bounding-box + (make-object-in-object-bounding-box-costmap-generator + ?environment-link ?for-object-instance) + ?costmap) (costmap:costmap-add-height-generator (make-object-on/in-object-bb-height-generator - ?environment-link ?for-object-instance :on) + ?environment-link ?for-object-instance ?height-tag + ?z-offset) ?costmap)) - (costmap:costmap-add-cached-height-generator - (make-object-bounding-box-height-generator ?environment-link :on) - ?costmap))) - ;; orientation generator + (and (costmap:costmap-add-function + on-bounding-box + (make-object-bounding-box-costmap-generator + ?environment-link) + ?costmap) + (costmap:costmap-add-cached-height-generator + (make-object-bounding-box-height-generator + ?environment-link ?height-tag ?z-offset) + ?costmap)))) (once (or (desig:desig-prop ?designator (:orientation ?orientation-type)) (equal ?orientation-type :random))) (generate-orientations ?orientation-type ?environment-link nil ?costmap)) ;; - ;;;;;;;;;;;;;;; spatial relation IN for environment objects ;;;;;;;;;;;;;;;;;;; + ;;;;;;;;;;;;;;; spatial relation ON/IN for environment objects ;;;;;;;;;;;;;;;;;;; ;; LEVEL relationship for container type locations (<- (level-rigid-body ?environment-object ?urdf-name ?level-relation ?invert ?level-rigid-body) @@ -420,7 +504,7 @@ ?level-rigid-body)) ;; (<- (height-calculation-body-or-tag ?environment-object ?in-object ?link-rigid-body - ?height-calculation-tag) + ?original-tag ?height-calculation-tag) (desig:desig-prop ?in-object (:urdf-name ?urdf-name)) ;; if level keyword is found find sublevels in bottom up order (-> (desig:desig-prop ?in-object (:level ?relation)) @@ -438,21 +522,27 @@ (and (lisp-fun get-link-rigid-body ?environment-object ?urdf-name ?link-rigid-body) (lisp-pred identity ?link-rigid-body) - (equal ?height-calculation-tag :in))))) + (equal ?height-calculation-tag ?original-tag))))) ;; the costmap (<- (costmap:desig-costmap ?designator ?costmap) - (desig:desig-prop ?designator (:in ?object)) - (spec:property ?object (:type ?object-type)) - (man-int:object-type-subtype :container ?object-type) + (or (and (desig:desig-prop ?designator (:in ?object)) + (spec:property ?object (:type ?object-type)) + (man-int:object-type-subtype :container ?object-type)) + (and (desig:desig-prop ?designator (:on ?object)) + (not (desig:desig-prop ?designator (:attachment ?_))) + (not (desig:desig-prop ?designator (:attachments ?_))))) + (desig:desig-prop ?designator (?original-tag ?object)) (spec:property ?object (:urdf-name ?urdf-name)) (spec:property ?object (:part-of ?environment-name)) (btr:bullet-world ?world) (btr:%object ?world ?environment-name ?environment-object) (height-calculation-body-or-tag ?environment-object ?object - ?environment-link ?height-calculation-tag) + ?environment-link ?original-tag + ?height-calculation-tag) + (lisp-pred identity ?environment-link) (costmap:costmap ?costmap) (once (or (and (desig:desig-prop ?designator (:for ?for-object)) - (btr-belief:object-designator-name ?for-object ?for-object-name) + (object-designator-from-name-or-type ?for-object ?for-object-name) (btr:%object ?world ?for-object-name ?for-object-instance) (costmap:costmap-add-function on-bounding-box @@ -485,6 +575,7 @@ ?costmap) (paddings-list ?supp-object-name ?context ?paddings-list) (preferred-supporting-object-side ?supp-object-name ?context ?preferred-side) + (preferred-supporting-object-axis ?supp-object-name ?context ?preferred-axis) (max-slot-size ?object-type ?context ?max-slot-size) (min-slot-size ?object-type ?context ?min-slot-size) (position-deviation-threshold ?object-type ?context ?pos-dev-threshold) @@ -492,7 +583,8 @@ (costmap:costmap ?costmap) (costmap:costmap-add-function slot-generator - (make-slot-cost-function ?supp-object ?paddings-list ?preferred-side + (make-slot-cost-function ?supp-object ?paddings-list + ?preferred-side ?preferred-axis ?object-count ?max-slot-size ?min-slot-size ?pos-dev-threshold) ?costmap)) @@ -508,32 +600,59 @@ (btr:%object ?world ?environment-name ?environment-object) (lisp-fun get-link-rigid-body ?environment-object ?urdf-name ?environment-link) (lisp-pred identity ?environment-link) - (btr-belief:object-designator-name ?for-object ?object-name) + (object-designator-from-name-or-type ?for-object ?object-name) (btr:item-type ?world ?object-name ?object-type) (slot-costmap ?designator ?environment-link ?urdf-name :table-setting ?object-type ?object-count ?costmap)) ;; - ;;;;;;;;;;;;;;;;;;;;;;;;;;;; SIDE relation for ON and IN ;;;;;;;;;;;;;;;;;;; + ;;;;;;;;;;;;;;;;;;;;; SIDE and RANGE relations for ON, IN or ABOVE ;;;;;;;;; (<- (costmap:desig-costmap ?designator ?costmap) - (desig:desig-prop ?designator (:side ?relation)) - (member ?relation (:left :right :front :back)) + (or (and (desig:desig-prop ?designator (:side ?relation)) + (member ?relation (:left :right :front :back))) + (desig:desig-prop ?designator (:range ?range)) + (desig:desig-prop ?designator (:range-invert ?range-invert))) (or (desig:desig-prop ?designator (:on ?on-object)) - (desig:desig-prop ?designator (:in ?on-object))) - (desig:desig-prop ?on-object (:urdf-name ?urdf-name)) - (desig:desig-prop ?on-object (:part-of ?environment-name)) + (desig:desig-prop ?designator (:in ?on-object)) + (desig:desig-prop ?designator (:above ?on-object))) + (not (desig:desig-prop ?designator (:attachment ?_))) + (not (desig:desig-prop ?designator (:attachments ?_))) (costmap:costmap ?costmap) (btr:bullet-world ?world) - (btr:%object ?world ?environment-name ?environment-object) - (lisp-fun get-link-rigid-body ?environment-object ?urdf-name ?environment-link) - (lisp-pred identity ?environment-link) - (lisp-fun btr:pose ?environment-link ?object-pose) - (relation-axis-and-pred ?relation :in-front-of ?axis ?sign) - (instance-of side-generator ?side-generator-id) - (costmap:costmap-add-function - ?side-generator-id - (make-side-costmap-generator ?environment-link ?axis ?sign) - ?costmap) + (once + (or (and (desig:desig-prop ?on-object (:level ?level)) + (desig:desig-prop ?on-object (:urdf-name ?urdf-name)) + (desig:desig-prop ?on-object (:part-of ?environment-name)) + (btr:%object ?world ?environment-name ?environment-object) + (level-rigid-body ?environment-object ?urdf-name ?level nil + ?rigid-body) + (lisp-pred identity ?link-rigid-body)) + (and (desig:desig-prop ?on-object (:level-invert ?level)) + (desig:desig-prop ?on-object (:urdf-name ?urdf-name)) + (desig:desig-prop ?on-object (:part-of ?environment-name)) + (btr:%object ?world ?environment-name ?environment-object) + (level-rigid-body ?environment-object ?urdf-name ?level t + ?rigid-body) + (lisp-pred identity ?link-rigid-body)) + (and (desig:desig-prop ?on-object (:urdf-name ?urdf-name)) + (desig:desig-prop ?on-object (:part-of ?environment-name)) + (btr:%object ?world ?environment-name ?environment-object) + (lisp-fun get-link-rigid-body ?environment-object ?urdf-name + ?rigid-body) + (lisp-pred identity ?rigid-body)) + (and (object-designator-from-name-or-type ?on-object ?object-instance-name) + (btr:item-type ?world ?object-instance-name ?_) + (btr:%object ?world ?object-instance-name ?rigid-body) + (lisp-pred identity ?rigid-body)))) + (lisp-fun btr:pose ?rigid-body ?object-pose) + (-> (desig:desig-prop ?designator (:side ?relation)) + (and (relation-axis-and-pred ?relation :in-front-of ?axis ?sign) + (instance-of side-generator ?side-generator-id) + (costmap:costmap-add-function + ?side-generator-id + (make-side-costmap-generator ?rigid-body ?axis ?sign) + ?costmap)) + (true)) (-> (desig:desig-prop ?designator (:range ?range)) (and (instance-of range-generator ?range-generator-id) (costmap:costmap-add-function diff --git a/cram_3d_world/cram_btr_visibility_costmap/cram-btr-visibility-costmap.asd b/cram_3d_world/cram_btr_visibility_costmap/cram-btr-visibility-costmap.asd index 77b522d632..9aed631c7d 100644 --- a/cram_3d_world/cram_btr_visibility_costmap/cram-btr-visibility-costmap.asd +++ b/cram_3d_world/cram_btr_visibility_costmap/cram-btr-visibility-costmap.asd @@ -37,6 +37,7 @@ cram-location-costmap cram-robot-interfaces + cram-manipulation-interfaces ; for always-reachable cl-transforms cl-bullet-vis diff --git a/cram_3d_world/cram_btr_visibility_costmap/package.xml b/cram_3d_world/cram_btr_visibility_costmap/package.xml index b59ae6760d..0ac77d47e8 100644 --- a/cram_3d_world/cram_btr_visibility_costmap/package.xml +++ b/cram_3d_world/cram_btr_visibility_costmap/package.xml @@ -20,6 +20,7 @@ cram_math cram_location_costmap cram_robot_interfaces + cram_manipulation_interfaces cl_transforms cl_bullet_vis cl_opengl @@ -32,6 +33,7 @@ cram_math cram_location_costmap cram_robot_interfaces + cram_manipulation_interfaces cl_transforms cl_bullet_vis cl_opengl diff --git a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp index 0c6124e100..a0c977c435 100644 --- a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp +++ b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp @@ -37,16 +37,22 @@ (def-fact-group bullet-reasoning-location-desig (costmap:desig-costmap) (<- (visibility-costmap-metadata ?minimal-height ?maximal-height ?resolution ?size) - (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:camera-minimal-height ?robot ?minimal-height) - (cram-robot-interfaces:camera-maximal-height ?robot ?maximal-height) - (costmap:costmap-resolution ?resolution) - (costmap:visibility-costmap-size ?size)) + (rob-int:robot ?robot) + (rob-int:camera-minimal-height ?robot ?minimal-height) + (rob-int:camera-maximal-height ?robot ?maximal-height) + (rob-int:environment-name ?environment-name) + (costmap:costmap-resolution ?environment-name ?resolution) + (costmap:visibility-costmap-size ?robot ?size)) (<- (object-visibility-costmap ?designator ?costmap) (desig:desig-prop ?designator (:object ?object)) (desig:desig-prop ?object (:name ?object-name)) - ;; (btr:bullet-world ?world) + ;; if the object is on the robot, don't need a visibility cm + (desig:current-designator ?object ?current-object) + (-> (desig:desig-prop ?current-object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true)) + (btr:bullet-world ?world) ;; (btr-belief:object-designator-name ?object ?object-name) (cram-robot-interfaces:robot ?robot) (costmap:costmap ?costmap) @@ -76,6 +82,7 @@ (<- (location-visibility-costmap ?designator ?costmap) (desig:desig-prop ?designator (:location ?location)) + (not (man-int:location-always-reachable ?location)) (btr:bullet-world ?world) (cram-robot-interfaces:robot ?robot) (costmap:costmap ?costmap) @@ -96,19 +103,27 @@ (<- (desig-check-to-see ?desig ?robot-pose) ;; (desig:desig-prop ?desig (:object ?obj)) ;; (desig:desig-location-prop ?desig ?obj-pose) - (desig:desig-prop ?desig (:object ?some-object)) - (desig:current-designator ?some-object ?object) - (lisp-fun man-int:get-object-pose-in-map ?object ?to-see-pose) - (-> (lisp-pred identity ?to-see-pose) - (and (btr:bullet-world ?w) - (cram-robot-interfaces:robot ?robot) - (assert (btr:object-pose ?w ?robot ?robot-pose)) - (btr:object-not-in-collision ?w ?robot) - (cram-robot-interfaces:camera-frame ?robot ?cam-frame) - (btr:head-pointing-at ?w ?robot ?to-see-pose) - (desig:desig-prop ?object (:name ?object-name)) - (-> (btr:object ?w ?object-name) - (btr:visible ?w ?robot ?object-name) + (-> (desig:desig-prop ?desig (:object ?some-object)) + (and (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-see-pose) + (-> (lisp-pred identity ?to-see-pose) + (and (btr:bullet-world ?w) + (rob-int:robot ?robot) + (assert (btr:object-pose ?w ?robot ?robot-pose)) + ;; There's more to collisions that this, + ;; fancy attachments can exist... + ;; (btr:object-not-in-collision ?w ?robot) + (rob-int:camera-frame ?robot ?cam-frame) + (-> (btr:head-pointing-at ?w ?robot ?to-see-pose) + ;; head-pointing-at is implemented with a simple + ;; internal 2DOF IK solver + ;; if a robot has more than 2DOF in the neck + ;; this will not work + (and (desig:desig-prop ?object (:name ?object-name)) + (-> (btr:object ?w ?object-name) + (btr:visible ?w ?robot ?object-name) + (true))) + (true))) (true))) (true))) diff --git a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-integration.lisp b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-integration.lisp index 0b4b29609b..532cd72b08 100644 --- a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-integration.lisp +++ b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-integration.lisp @@ -116,7 +116,7 @@ that `designator' tries to reach." (world (bullet:restore-world-state state (make-instance 'btr:bt-reasoning-world :gravity-vector (bullet:gravity-vector state)))) - (robot (btr:object world (btr:get-robot-name)))) + (robot (btr:object world (rob-int:get-robot-name)))) (make-ik-check-function robot (pose-side-properties designator))))))) (funcall cached-function pose)) diff --git a/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning-tests.asd b/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning-tests.asd index 2115729fa8..15288acfb3 100644 --- a/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning-tests.asd +++ b/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning-tests.asd @@ -5,13 +5,15 @@ cl-transforms cram-pr2-description cram-robot-interfaces ; for (robot ?robot) + cram-object-knowledge ; for environemnt name + cram-bullet-reasoning-belief-state ; for environment urdf defvar ;;cram-boxy-description roslisp) :components ((:module "tests" :components ((:file "package") - (:file "items-tests" :depends-on ("package")) (:file "objects-tests" :depends-on ("package")) + (:file "items-tests" :depends-on ("package" "objects-tests")) (:file "robot-model-tests" :depends-on ("package")) (:file "robot-model-utils-tests" :depends-on ("package" "robot-model-tests" "objects-tests")) (:file "bounding-box-tests" :depends-on ("package")) diff --git a/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning.asd b/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning.asd index 5200434b08..63675a4a74 100644 --- a/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning.asd +++ b/cram_3d_world/cram_bullet_reasoning/cram-bullet-reasoning.asd @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -14,7 +14,7 @@ ;;; Technische Universitaet Muenchen nor the names of its contributors ;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -49,10 +49,9 @@ cram-designators roslisp-utilities cram-semantic-map-utils - cram-manipulation-interfaces cram-robot-interfaces cram-occasions-events - cram-utilities ; lazy in pose-generators + cram-utilities ; lazy in pose-generators and with-file-cache cram-occasions-events ; for temporal reasoning cram-tf cram-physics-utils) @@ -64,36 +63,52 @@ (:file "reasoning-world" :depends-on ("package")) (:file "textures" :depends-on ("package")) (:file "utils" :depends-on ("package")) - (:file "objects" :depends-on ("package" "reasoning-world" "textures" "utils")) - (:file "items" :depends-on ("package" "objects" "utils")) + + (:file "objects" :depends-on ("package" "utils" "reasoning-world" "textures")) + (:file "robot-model" :depends-on ("package" "objects" "utils" + "reasoning-world")) + (:file "robot-model-utils" :depends-on ("package" "robot-model")) + (:file "robot-model-facts" :depends-on ("package" "world-facts" + "prolog-handlers" + "robot-model" + "robot-model-utils")) + (:file "items" :depends-on ("package" "objects" "utils" "aabb")) + (:file "aabb" :depends-on ("package" "objects")) + (:file "debug-window" :depends-on ("package")) - (:file "world-utils" :depends-on ("package" "reasoning-world" "objects")) - (:file "world-facts" - :depends-on ("package" "reasoning-world" "items" "objects" "debug-window" "world-utils")) - (:file "prolog-handlers" :depends-on ("package" "reasoning-world" "world-facts")) - (:module "temporal-reasoning" - :depends-on ("package" "reasoning-world" "world-facts" "utils") - :components - ((:file "events") - (:file "timeline" :depends-on ("events")) - (:file "prolog"))) - (:file "pose-generators" :depends-on ("package" "utils" "aabb" "world-facts")) - (:file "pose-sampling-facts" :depends-on ("package" "world-facts" "pose-generators")) - (:file "pose-facts" - :depends-on ("package" "aabb" "world-utils" "pose-generators" "objects" "world-facts")) - (:file "robot-model" :depends-on ("package" "objects" "utils" "reasoning-world")) - (:file "robot-model-utils" :depends-on ("package" "robot-model")) - (:file "robot-model-facts" - :depends-on ("package" "world-facts" "prolog-handlers" "robot-model" "robot-model-utils")) (:file "gl-scenes" :depends-on ("package" "debug-window")) (:file "visibility-reasoning" :depends-on ("package" "gl-scenes")) - (:file "visibility-facts" - :depends-on ("package" "world-facts" "visibility-reasoning" "robot-model-facts")) + (:file "visibility-facts" :depends-on ("package" "world-facts" + "visibility-reasoning" + "robot-model-facts")) + + (:file "world-utils" :depends-on ("package" "reasoning-world" "objects")) + (:file "world-facts" :depends-on ("package" "reasoning-world" "items" + "objects" "debug-window" + "world-utils")) + (:file "prolog-handlers" :depends-on ("package" "reasoning-world" + "world-facts")) + + (:file "pose-generators" :depends-on ("package" "utils" "aabb" "world-facts")) + (:file "pose-sampling-facts" :depends-on ("package" "world-facts" + "pose-generators")) + (:file "pose-facts" :depends-on ("package" "aabb" "world-utils" + "pose-generators" "objects" + "world-facts")) + (:file "semantic-map" :depends-on ("package" "objects" "utils")) (:file "simple-semantic-map" :depends-on ("package" "semantic-map")) - (:file "urdf-semantic-map" - :depends-on ("package" "reasoning-world" "semantic-map" "robot-model")) - (:file "semantic-map-facts" - :depends-on ("package" "semantic-map" "urdf-semantic-map" "world-facts")) - (:file "articulated-objects" :depends-on ("package" "semantic-map")))))) + (:file "urdf-semantic-map" :depends-on ("package" "reasoning-world" + "semantic-map" + "robot-model")) + (:file "semantic-map-facts" :depends-on ("package" "semantic-map" + "urdf-semantic-map" + "world-facts")) + (:file "articulated-objects" :depends-on ("package" "semantic-map")) + + (:module "temporal-reasoning" :depends-on ("package" "reasoning-world" + "world-facts" "utils") + :components ((:file "events") + (:file "timeline" :depends-on ("events")) + (:file "prolog"))))))) diff --git a/cram_3d_world/cram_bullet_reasoning/package.xml b/cram_3d_world/cram_bullet_reasoning/package.xml index 60546e87bd..eb65e7af80 100644 --- a/cram_3d_world/cram_bullet_reasoning/package.xml +++ b/cram_3d_world/cram_bullet_reasoning/package.xml @@ -28,7 +28,6 @@ cram_designators roslisp_utilities cram_semantic_map_utils - cram_manipulation_interfaces cram_robot_interfaces 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cram_boxy/cram_boxy_assembly_demo/resource/bowl.stl rename to cram_3d_world/cram_bullet_reasoning/resource/bowl_non_compound.stl diff --git a/cram_3d_world/cram_bullet_reasoning/resource/bowl_compound.dae b/cram_3d_world/cram_bullet_reasoning/resource/bowl_round.dae similarity index 100% rename from cram_3d_world/cram_bullet_reasoning/resource/bowl_compound.dae rename to cram_3d_world/cram_bullet_reasoning/resource/bowl_round.dae diff --git a/cram_3d_world/cram_bullet_reasoning/resource/bowl.stl b/cram_3d_world/cram_bullet_reasoning/resource/bowl_round.stl similarity index 100% rename from cram_3d_world/cram_bullet_reasoning/resource/bowl.stl rename to cram_3d_world/cram_bullet_reasoning/resource/bowl_round.stl diff --git a/cram_3d_world/cram_bullet_reasoning/resource/cup_jeroen.obj b/cram_3d_world/cram_bullet_reasoning/resource/cup_jeroen.obj new file mode 100644 index 0000000000..6f38a826b1 --- /dev/null +++ b/cram_3d_world/cram_bullet_reasoning/resource/cup_jeroen.obj @@ -0,0 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0.115603 0.379405 +vt 0.000000 0.999902 +vt 0.000000 0.999902 +vt 0.999902 1.000000 +vt 1.000000 0.000000 +vt 1.000000 0.930991 +vt 1.000000 0.000000 +vt 0.999902 0.965446 +vt 0.999902 1.000000 +vt 0.106695 0.896535 +vt 0.924432 0.896535 +vn -0.4428 0.7971 0.4104 +vn -0.0001 -1.0000 0.0001 +vn 0.0000 0.0000 1.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -0.0002 -1.0000 0.0000 +vn 0.0008 -0.0008 -1.0000 +vn -0.0001 -1.0000 -0.0000 +vn -1.0000 0.0000 0.0000 +vn -0.0000 0.0000 -1.0000 +vn -0.0252 0.0485 -0.9985 +vn 0.0000 1.0000 -0.0000 +vn 0.0118 0.0000 -0.9999 +vn 0.0000 0.0235 -0.9997 +vn -0.4740 0.8805 0.0000 +vn -0.4481 0.8940 0.0000 +vn -0.4722 0.8815 0.0024 +vn -0.4722 0.8815 -0.0034 +vn -0.7321 0.0611 0.6785 +usemtl None +s off +f 825/813/815 821/814/815 827/815/815 +f 814/816/816 815/817/816 819/818/816 +f 816/819/817 814/816/817 819/818/817 +f 817/820/818 816/819/818 819/818/818 +f 815/817/819 817/820/819 819/818/819 +f 815/817/820 814/816/820 820/821/820 +f 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b/cram_3d_world/cram_bullet_reasoning/src/aabb.lisp @@ -60,10 +60,12 @@ 0.5) :dimensions (cl-transforms:v- new-max new-min)))) + (defmethod aabb ((obj object)) (reduce #'merge-bounding-boxes (mapcar #'aabb (rigid-bodies obj)))) + (defun calculate-object-bottom-pose (object) (let ((bounding-box (aabb object))) (cl-transforms:copy-pose @@ -74,12 +76,22 @@ (/ (cl-transforms:z (bounding-box-dimensions bounding-box)) 2)))))) + (defun calculate-bb-dims (bullet-object) + "Calculates bounding box dimensions, putting the object down flatly, +i.e. if the object has an angle with respect to the horizontal plane, +i.e. an angle around the X or/and Y of the fixed map frame, +removes those angles, such that the object is touching the horizontal plane +with one of its sides." (let ((old-pose (pose bullet-object)) aabb) (unwind-protect (progn - (setf (pose bullet-object) (cl-transforms:make-identity-pose)) + (setf (pose bullet-object) + (cl-transforms:make-pose + (cl-transforms:make-identity-vector) + (cram-tf:map-axis-aligned-orientation + (cl-transforms:orientation (pose bullet-object))))) (setf aabb (cl-bullet:aabb bullet-object))) (setf (pose bullet-object) old-pose)) (cl-bullet:bounding-box-dimensions aabb))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/debug-window.lisp b/cram_3d_world/cram_bullet_reasoning/src/debug-window.lisp index 8a60c4ca3c..1012815295 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/debug-window.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/debug-window.lisp @@ -34,9 +34,8 @@ (defvar *debug-window-lock* (sb-thread:make-mutex)) (defvar *current-costmap-function* nil "A math function object for visualizing costmaps.") (defvar *current-costmap-sample* nil "A red sphere for visualizing costmap samples.") -(defvar *vis-axis-x* nil "The X axis of an object for visualizing poses.") -(defvar *vis-axis-y* nil "The Y axis of an object for visualizing poses.") -(defvar *vis-axis-z* nil "The Z axis of an object for visualizing poses.") +(defvar *vis-axes* nil "An associative list of ((ID . (X Y Z)) ...) couples, +storing axes of a coordinate frame for visualizing poses.") (defparameter *costmap-z* 0.0) (defparameter *costmap-tilt* (cl-transforms:make-quaternion 0 0 0 1)) @@ -83,14 +82,15 @@ (setf (gl-objects *debug-window*) (remove *current-costmap-sample* (gl-objects *debug-window*))) (setf *current-costmap-sample* nil)) - (when (and *vis-axis-x* *debug-window*) - (setf (gl-objects *debug-window*) - (remove *vis-axis-z* - (remove *vis-axis-y* - (remove *vis-axis-x* (gl-objects *debug-window*))))) - (setf *vis-axis-x* nil - *vis-axis-y* nil - *vis-axis-z* nil)))) + (when (and *vis-axes* *debug-window*) + (mapcar (lambda (id-axes-pair) + (setf (gl-objects *debug-window*) + (reduce (lambda (gl-objects-list axis-object) + (remove axis-object gl-objects-list)) + (cdr id-axes-pair) + :initial-value (gl-objects *debug-window*)))) + *vis-axes*) + (setf *vis-axes* nil)))) @@ -146,21 +146,25 @@ (push *current-costmap-sample* (gl-objects *debug-window*)))))) -(defgeneric add-vis-axis-object (object-or-pose &optional length) +(defgeneric add-vis-axis-object (object-or-pose &key length id) (:documentation "Spawn a coordinate frame at a given pose or at btr:object origin. -It is built from 3 rigid bodies of primitive box shape.") +It is built from 3 rigid bodies of primitive box shape. +`Length' specified the length of a single axis. +`Id' can be used if one wants to visualize multiple frames at the same time.") - (:method ((object-name symbol) &optional (length 0.30)) + (:method ((object-name symbol) &key (length 0.30) (id 0)) (add-vis-axis-object - (btr:pose (btr:object btr:*current-bullet-world* object-name)) length)) + (pose (btr:object *current-bullet-world* object-name)) + :length length :id id)) - (:method ((pose cl-transforms:pose) &optional (length 0.30)) + (:method ((pose cl-transforms:pose) &key (length 0.30) (id 0)) (sb-thread:with-mutex (*debug-window-lock*) - (when (and *vis-axis-x* *debug-window*) + (when (and *vis-axes* *debug-window* (assoc id *vis-axes*)) (setf (gl-objects *debug-window*) - (remove *vis-axis-z* - (remove *vis-axis-y* - (remove *vis-axis-x* (gl-objects *debug-window*)))))) + (reduce (lambda (gl-objects-list axis-object) + (remove axis-object gl-objects-list)) + (cdr (assoc id *vis-axes*)) + :initial-value (gl-objects *debug-window*)))) (let ((length/2 (/ length 2)) (object-transform (cl-transforms:pose->transform pose))) @@ -181,17 +185,26 @@ It is built from 3 rigid bodies of primitive box shape.") half-extents-list) :color color)))) - (setf *vis-axis-x* - (make-axis-rigid-body `(,length/2 0 0) `(,length/2 0.01 0.01) '(0.5 0 0 0.5)) - *vis-axis-y* - (make-axis-rigid-body `(0 ,length/2 0) `(0.01 ,length/2 0.01) '(0 0.5 0 0.5)) - *vis-axis-z* - (make-axis-rigid-body `(0 0 ,length/2) `(0.01 0.01 ,length/2) '(0 0 0.5 0.5)))) + (let ((new-axes-list + (list (make-axis-rigid-body + `(,length/2 0 0) + `(,length/2 0.01 0.01) + '(0.5 0 0 0.5)) + (make-axis-rigid-body + `(0 ,length/2 0) + `(0.01 ,length/2 0.01) + '(0 0.5 0 0.5)) + (make-axis-rigid-body + `(0 0 ,length/2) + `(0.01 0.01 ,length/2) + '(0 0 0.5 0.5))))) + (if (assoc id *vis-axes*) + (rplacd (assoc id *vis-axes*) new-axes-list) + (push (cons id new-axes-list) *vis-axes*)))) (when *debug-window* - (push *vis-axis-x* (gl-objects *debug-window*)) - (push *vis-axis-y* (gl-objects *debug-window*)) - (push *vis-axis-z* (gl-objects *debug-window*))))))) + (mapc (lambda (obj) (push obj (gl-objects *debug-window*))) + (cdr (assoc id *vis-axes*)))))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/items.lisp b/cram_3d_world/cram_bullet_reasoning/src/items.lisp index f27edfbed8..1d58a7fbd3 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/items.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/items.lisp @@ -2,6 +2,7 @@ ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; Gayane Kazhoyan ;;; Thomas Lipps +;;; Jonas Dech ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -45,8 +46,8 @@ (:pot "package://cram_bullet_reasoning/resource/pot-ww.stl" nil) (:weisswurst "package://cram_bullet_reasoning/resource/ww.stl" nil) (:bowl-original "package://cram_bullet_reasoning/resource/bowl_original.stl" t) - (:bowl "package://cram_bullet_reasoning/resource/bowl.stl" nil) - (:bowl-compound "package://cram_bullet_reasoning/resource/bowl_compound.dae" nil) + (:bowl-non-compound "package://cram_bullet_reasoning/resource/bowl_non_compound.stl" nil) + (:bowl "package://cram_bullet_reasoning/resource/bowl.dae" nil) (:fork "package://cram_bullet_reasoning/resource/fork.stl" nil) (:knife "package://cram_bullet_reasoning/resource/knife.stl" nil) (:spatula "package://cram_bullet_reasoning/resource/spatula.stl" nil) @@ -68,7 +69,8 @@ The name in the list is a keyword that is created by lispifying the filename." (if (if extension (string-equal object-extension extension) (or (string-equal object-extension "stl") - (string-equal object-extension "dae"))) + (string-equal object-extension "dae") + (string-equal object-extension "obj"))) (let* ((lisp-name (roslisp-utilities:lispify-ros-underscore-name object-filename :keyword)) (new-entry (list lisp-name @@ -95,35 +97,6 @@ The name in the list is a keyword that is created by lispifying the filename." (change-class (call-next-method) 'item :types (item-types object))) -(defgeneric item-dimensions (object) - (:method ((object item)) - (bounding-box-dimensions (aabb object))) - (:method ((object-type symbol)) - (or (cutlery-dimensions object-type) - (let ((mesh-specification (assoc object-type *mesh-files*))) - (assert - mesh-specification () - "Couldn't find a mesh for object type ~a." object-type) - (destructuring-bind (type uri &optional flip-winding-order) - mesh-specification - (declare (ignore type)) - (let ((model-filename (physics-utils:parse-uri uri))) - (with-file-cache - model model-filename (physics-utils:load-3d-model - model-filename - :flip-winding-order flip-winding-order) - (values - (physics-utils:calculate-aabb - (physics-utils:3d-model-vertices model)))))))))) - -(defgeneric cutlery-dimensions (type) - (:method ((type t)) - nil) - (:method ((type (eql :knife))) - (cl-transforms:make-3d-vector 0.1 0.01 0.005)) - (:method ((type (eql :fork))) - (cl-transforms:make-3d-vector 0.1 0.015 0.005))) - (defun make-item (world name types &optional bodies (add-to-world t)) (make-instance 'item :name name @@ -132,57 +105,167 @@ The name in the list is a keyword that is created by lispifying the filename." :add add-to-world :types types)) -(defun make-octagon-prism-shape (radius height) - "Returns a collision shape that is a octagon prism, i.e. that has an - octagon at its base." - (let ((compound-shape (make-instance 'compound-shape))) - (dotimes (i 4) - (add-child-shape compound-shape - (cl-transforms:make-pose - (cl-transforms:make-3d-vector 0 0 0) - (cl-transforms:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) - (/ (* i pi) - 4))) - (make-instance - 'box-shape - :half-extents (cl-transforms:make-3d-vector - radius (* radius (sin (/ pi 8))) - (/ height 2))))) - compound-shape)) - -(defun make-cup-shape (radius height handle-size) - (let ((collision-shape (make-octagon-prism-shape radius height))) - (add-child-shape collision-shape - (cl-transforms:make-pose - (cl-transforms:make-3d-vector - (+ (* radius (cos (/ pi 8))) - (/ (cl-transforms:x handle-size) - 2)) - 0 0) - (cl-transforms:make-quaternion 0 0 0 1)) - (make-instance - 'box-shape - :half-extents (cl-transforms:v* handle-size 0.5))) - collision-shape)) +(defgeneric item-dimensions (object) + (:method ((object item)) + (calculate-bb-dims object)) + (:method ((object-type symbol)) + (let ((mesh-specification (assoc object-type *mesh-files*))) + (assert + mesh-specification () + "Couldn't find a mesh for object type ~a." object-type) + (destructuring-bind (type uri &optional flip-winding-order) + mesh-specification + (declare (ignore type)) + (let ((model-filename (physics-utils:parse-uri uri))) + (with-file-cache + model model-filename (physics-utils:load-3d-model + model-filename + :flip-winding-order flip-winding-order) + (values + (physics-utils:calculate-aabb + (physics-utils:3d-model-vertices model))))))))) +;;;;;;;;;;;;;;;;;;;;;;;;;; ATTACHMENTS ;;;;;;;;;;;;;;;;;;;;;;;;;; -;;;;;;;;;;;;;;;;;;;;; SPAWNING MESH AND PRIMITIVE-SHAPED ITEMS ;;;;;;;;;;;; +(defmethod attach-object ((other-object item) (object item) + &key attachment-type loose + skip-removing-loose link grasp) + "Attaches `object' to `other-object': adds an attachment to the +attached-objects lists of each other. `attachment-type' is a keyword +that specifies the type of attachment. `loose' specifies if the attachment +is bidirectional (nil) or unidirectional (t). In bidirectional +attachments both objects are attached to each other. In unidirectional/loose +attachments, one object is properly attached, and the other one is +loosely attached. `skip-removing-loose' should be T for attaching more objects +unidirectional. See `attach-object' above." + (declare (ignore link grasp)) ;; used in robot-model.lisp + (when (equal (name object) (name other-object)) + (warn "Cannot attach an object to itself: ~a" (name object)) + (return-from attach-object)) + (let ((existing-attachment + (find (name object) (attached-objects other-object) :key #'car))) + (when existing-attachment + (let ((attachment-struct (caadr existing-attachment))) + (cond + ((and (eql attachment-type (attachment-attachment attachment-struct)) + (eql loose (attachment-loose attachment-struct))) + (warn "Item ~a already attached to ~a. ~ + Ignoring new attachment." + (name object) (name other-object)) + (return-from attach-object)) + ((eql loose T) + (warn "Item ~a already attached to ~a but not loosely. ~ + Ignoring new loose attachment." + (name object) (name other-object)) + (return-from attach-object)) + ((eql loose NIL) + (warn "Item ~a already attached to ~a but loosely. ~ + Deleting old attachment." + (name object) (name other-object)) + (btr:detach-object other-object object)))))) + (unless skip-removing-loose + (remove-loose-attachment-for object)) + (let ((object-collision-information + ;; Since robot objects are not in the attached-objects + ;; list of items, this has to be copied manuelly: + (if (and (get-robot-object) + (object-attached (get-robot-object) object)) + (get-collision-information object (get-robot-object)) + (create-static-collision-information object))) + (other-object-collision-information + (create-static-collision-information other-object))) + (push (cons (name object) + (cons + (list (make-attachment :object (name object) + :attachment attachment-type)) + object-collision-information)) + (slot-value other-object 'attached-objects)) + (push (cons (name other-object) + (cons + (list (make-attachment :object (name other-object) + :loose loose :attachment attachment-type)) + other-object-collision-information)) + (slot-value object 'attached-objects)))) -(defmethod add-object ((world bt-world) (type (eql :generic-cup)) name pose - &key - mass radius height - (handle-size (cl-transforms:make-3d-vector - 0.03 0.01 (* height 0.8)))) - (make-item world name '(generic-cup) - (list - (make-instance - 'rigid-body - :name name :mass mass :pose (ensure-pose pose) - :collision-shape (make-cup-shape radius height handle-size))))) +(defmethod attach-object ((other-objects list) (object item) + &key attachment-type loose) + "Will be used if an attachment should be made from one item to more +than one item. If `loose' T the other attachments have to be made with +`skip-removing-loose' as T to prevent removing loose attachments between +the element before in `other-objects' and `object'." + (if other-objects + (progn + (attach-object (first other-objects) object + :attachment-type attachment-type :loose loose) + (mapcar (lambda (obj) + (attach-object obj object + :attachment-type attachment-type :loose loose + :skip-removing-loose T)) + (cdr other-objects))) + (warn "Trying to attach an object to a NIL."))) -(defmethod add-object ((world bt-world) (type (eql :mug)) name pose &key mass) - (add-object world :mesh name pose :mass mass :mesh :mug)) +(defmethod detach-object ((other-object item) (object item) &key) + "Removes item names from the given arguments in the corresponding +`attached-objects' lists of the given items." + (when (equal (name object) (name other-object)) + (warn "Cannot attach an object to itself: ~a" (name object)) + (return-from detach-object)) + (flet ((get-attachment-object (elem) + (attachment-object (car (second elem))))) + (let ((object-collision-info + (get-collision-information object other-object)) + (other-object-collision-info + (get-collision-information other-object object))) + (setf (slot-value other-object 'attached-objects) + (remove (name object) (attached-objects other-object) + :key #'get-attachment-object :test #'equal)) + (setf (slot-value object 'attached-objects) + (remove (name other-object) (attached-objects object) + :key #'get-attachment-object :test #'equal)) + (reset-collision-information object object-collision-info) + (reset-collision-information other-object other-object-collision-info)))) + +(defmethod detach-all-objects ((object item)) + (with-slots (attached-objects) object + (dolist (attached-object attached-objects) + (let ((object-name (car attached-object))) + (if (object *current-bullet-world* object-name) + (detach-object (name object) object-name)))))) + +(let ((already-moved '())) + (defmethod (setf pose) :around (new-value (object item)) + "Updates the pose of the object and its attached objects: since +the original pose of the object is saved at the time of attaching, +it is possible to change the pose of its attachments when its pose changes." + (if (and (slot-boundp object 'attached-objects) + (> (length (attached-objects object)) 0)) + (let ((carrier-transform + (cl-transforms:transform-diff + (cl-transforms:pose->transform new-value) + (cl-transforms:pose->transform (pose object))))) + ;; If no attached item already moved or wasn't already moved + (unless (and already-moved + (member (name object) already-moved :test #'equal)) + (push (name object) already-moved) + (call-next-method) + (dolist (attachment (remove-if #'attachment-loose + (mapcar #'car + (mapcar #'second + (attached-objects object))))) + (let ((current-attachment-pose + (pose (object *current-bullet-world* (attachment-object attachment))))) + (when (and carrier-transform current-attachment-pose) + (setf (pose (btr:object *current-bullet-world* + (attachment-object attachment))) + (cl-transforms:transform-pose + carrier-transform + current-attachment-pose))))) + ;; If all attachments from root head passed, remove all. + (if (equal (name object) (car (last already-moved))) + (setf already-moved '())))) + (call-next-method)))) + +;;;;;;;;;;;;;;;;;;;;; SPAWNING MESH AND PRIMITIVE-SHAPED ITEMS ;;;;;;;;;;;; (defmethod add-object ((world bt-world) (type (eql :mesh)) name pose &key mass mesh (color '(0.5 0.5 0.5 1.0)) types (scale 1.0) @@ -209,7 +292,8 @@ The name in the list is a keyword that is created by lispifying the filename." (if mesh-files-entry (setf path (second mesh-files-entry) flip-winding-order (third mesh-files-entry)) - (error "[btr add-object] Item ~a is unknown in btr:*mesh-files*." mesh))))) + (error "[btr add-object] Item ~a is unknown ~ + in btr:*mesh-files*." mesh))))) (make-collision-shape-from-mesh path :scale scale @@ -224,17 +308,136 @@ The name in the list is a keyword that is created by lispifying the filename." :name name :mass mass :pose (ensure-pose pose) :collision-shape collision-shape))))) -(defmethod add-object ((world bt-world) (type (eql :cutlery)) name pose - &key mass (color '(0.5 0.5 0.5 1.0)) cutlery-type) - (let ((size (cutlery-dimensions cutlery-type))) - (assert size) - (make-item world name (list type cutlery-type) +(defmethod add-object ((world bt-world) (type (eql :mug)) name pose &key mass) + (add-object world :mesh name pose :mass mass :mesh :mug)) + + +(defmethod add-object ((world bt-world) (type (eql :generic-cup)) name pose + &key + mass radius height + (handle-size (cl-transforms:make-3d-vector + 0.03 0.01 (* height 0.8)))) + + (labels ((make-octagon-prism-shape (radius height) + "Returns a collision shape that is a octagon prism, ~ + i.e. that has an octagon at its base." + (let ((compound-shape (make-instance 'compound-shape))) + (dotimes (i 4) + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector 0 0 0) + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) + (/ (* i pi) + 4))) + (make-instance 'box-shape + :half-extents (cl-transforms:make-3d-vector + radius (* radius (sin (/ pi 8))) + (/ height 2))))) + compound-shape)) + + (make-cup-shape (radius height handle-size) + (let ((collision-shape (make-octagon-prism-shape radius height))) + (add-child-shape + collision-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector + (+ (* radius (cos (/ pi 8))) + (/ (cl-transforms:x handle-size) + 2)) + 0 0) + (cl-transforms:make-quaternion 0 0 0 1)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* handle-size 0.5))) + collision-shape))) + + (make-item world name '(generic-cup) (list (make-instance 'rigid-body :name name :mass mass :pose (ensure-pose pose) - :collision-shape (make-instance 'colored-box-shape - :half-extents size - :color color)))))) + :collision-shape (make-cup-shape radius height handle-size)))))) + + +(defmethod add-object ((world bt-world) (type (eql :basket)) name pose + &key (mass 1.0) length width height (handle-height 0.09)) + "Creates a collision shape in the form of a basket and adds it to the world. +The length, width and height have to be given for the function to work." + (assert length) + (assert width) + (assert height) + ;; have to check if the object with such a name already exists, + ;; otherwise rogue objects will be spawned + (unless (object world name) + (let ((compound-shape (make-instance 'compound-shape))) + ;; Walls + (dotimes (i 2) + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector (* i width) 0 0) + (cl-transforms:make-quaternion 0 0 0 1)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* + (cl-transforms:make-3d-vector 0.01 length height) + 0.5)))) + (dotimes (i 2) + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector (/ width 2) + ;; ((i + 1) * -2 + 3) * length/2 + (* (+ (* (+ i 1) -2) 3) (/ length 2)) + 0) + (cl-transforms:make-quaternion 0 0 1 0)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* + (cl-transforms:make-3d-vector width 0.01 height) + 0.5)))) + ;; Bottom + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector (/ width 2) 0 (- (/ height 2))) + (cl-transforms:make-quaternion 0 0 0 1)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* + (cl-transforms:make-3d-vector width length 0.01) + 0.5))) + ;;; Handle + ;; the handle of the basket is formed like this: + ;; ------------ + ;; | | + ;; | | + ;; | | + ;; The sides + (dotimes (i 2) + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector (* i width) 0 (/ (+ height handle-height) 2)) + (cl-transforms:make-quaternion 0 0 0 1)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* + (cl-transforms:make-3d-vector 0.005 0.005 handle-height) + 0.5)))) + ;; the top + (add-child-shape + compound-shape + (cl-transforms:make-pose + (cl-transforms:make-3d-vector (/ width 2) 0 (+ handle-height (/ height 2))) + (cl-transforms:make-quaternion 0 0 0 1)) + (make-instance 'box-shape + :half-extents (cl-transforms:v* + (cl-transforms:make-3d-vector width 0.005 0.005) + 0.5))) + ;; Adds the basket to the specified world + (make-item world name (list type) + (list + (make-instance 'rigid-body + :name name :mass mass :pose (ensure-pose pose) + :collision-shape compound-shape)))))) + (defmethod add-object ((world bt-world) (type (eql :pancake-maker)) name pose &key mass (color '(0.5 0.5 0.5 1.0)) size) @@ -302,156 +505,28 @@ The name in the list is a keyword that is created by lispifying the filename." :half-extents (ensure-vector size) :color color))))) -(defmethod btr:add-object ((world bullet:bt-world) (type (eql :box-item)) name pose - &key mass (color '(1.0 0.0 0.0 1.0)) size item-type) +(defmethod add-object ((world bt-world) (type (eql :cylinder-item)) name pose + &key mass (color '(0.5 0.5 0.5 1.0)) size item-type) (assert size) (assert item-type) - (unless (find name (objects *current-bullet-world*) :key #'name) + (unless (object world name) (make-item world name (list item-type) (list (make-instance 'rigid-body - :name name :mass mass :pose (btr:ensure-pose pose) - :collision-shape (make-instance 'bt-vis:colored-box-shape - :half-extents (btr:ensure-vector size) + :name name :mass mass :pose (ensure-pose pose) + :collision-shape (make-instance 'bt-vis:colored-cylinder-shape + :half-extents (ensure-vector size) :color color)))))) - -;;;;;;;;;;;;;;;;;;;;;;;;;; ATTACHMENTS ;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defmethod get-loose-attached-objects ((object item)) - "Returns all objects attached to `object', -where ATTACHMENTs have the keyword LOOSE as not NIL." - (mapcar #'car - (remove-if-not - (alexandria:compose #'attachment-loose #'car #'car #'cdr) - (attached-objects object)))) - -(let ((already-visited '())) - (defmethod remove-loose-attachment-for ((object item)) - "Searches if the `object' was connected unidirectional/loosly to other -objects and removes ALL corresponding attachments if so. -To search through the attached objects ALREADY-VISITED will help to check -if we already checked this object, as this is a recursive function. -In bidirectional attachments both objects are attached to each other. -In unidirectional attachments, one object is properly attached, -and the other one is loosly attached. " - (let ((loose-attached-objects (get-loose-attached-objects object))) - (when loose-attached-objects - ;; Map the following: (detach-object object loosly-attached-object) - (mapcar (alexandria:curry #'detach-object object) - (mapcar (alexandria:curry #'object *current-bullet-world*) - loose-attached-objects)))) - ;; searching recrusivly, if an object with attachments was attached to something - ;; to remove unidirectional/loose objects attachments if they were attached too - (when (and (slot-boundp object 'attached-objects) - (> (length (attached-objects object)) 0)) - (push (name object) already-visited) - (loop for attached-object in (mapcar (lambda (attach) - (object *current-bullet-world* (car attach))) - (attached-objects object)) - do (unless (member (name attached-object) already-visited) - (remove-loose-attachment-for attached-object))) - (if (equal (car (last already-visited)) (name object)) - (setf already-visited '()))))) - -(defmethod attach-object ((other-object item) (object item) - &key attachment-type loose skip-removing-loose link grasp) - "Attaches `object' to `other-object': adds an attachment to the -attached-objects lists of each other. `attachment-type' is a keyword -that specifies the type of attachment. `loose' specifies if the attachment -is bidirectional (nil) or unidirectional (t). `skip-removing-loose' is for -attaching more objects unidirectional and should be for this T. See -`attach-object' above." - (declare (ignore link grasp)) ;; used in robot-model.lisp - (when (equal (name object) (name other-object)) - (warn "Cannot attach an object to itself: ~a" (name object)) - (return-from attach-object)) - (when (member (name object) (attached-objects other-object)) - (warn "Item ~a already attached to ~a. Ignoring new attachment." - (name object) (name other-object)) - (return-from attach-object)) - (unless skip-removing-loose - (remove-loose-attachment-for object)) - (push (cons (name object) - (cons - (list (make-attachment :object (name object) - :attachment attachment-type)) - (create-static-collision-information object))) - (slot-value other-object 'attached-objects)) - (push (cons (name other-object) - (cons - (list (make-attachment :object (name other-object) - :loose loose :attachment attachment-type)) - (create-static-collision-information other-object))) - (slot-value object 'attached-objects))) - -(defmethod attach-object ((other-objects list) (object item) - &key attachment-type loose) - "Will be used if an attachment should be made from one item to more -than one item. If `loose' T the other attachments have to be made with -`skip-removing-loose' as T to prevent removing loose attachments between -the element before in `other-objects' and `object'." - (attach-object (first other-objects) object :attachment-type attachment-type :loose loose) - (mapcar (lambda (obj) - (attach-object obj object - :attachment-type attachment-type :loose loose - :skip-removing-loose T)) - (cdr other-objects))) - -(defmethod detach-object ((other-object item) (object item) &key) - "Removes item names from the given arguments in the corresponding `attached-objects' lists - of the given items." - (when (equal (name object) (name other-object)) - (warn "Cannot attach an object to itself: ~a" (name object)) - (return-from detach-object)) - (flet ((get-attachment-object (elem) - (attachment-object (car (second elem)))) - (get-collision-info (attached obj) - (cdr (cdr (assoc (name attached) (attached-objects obj)))))) - (reset-collision-information object (get-collision-info object other-object)) - (reset-collision-information other-object (get-collision-info other-object object)) - (setf (slot-value other-object 'attached-objects) - (remove (name object) (attached-objects other-object) - :key #'get-attachment-object :test #'equal)) - (setf (slot-value object 'attached-objects) - (remove (name other-object) (attached-objects object) - :key #'get-attachment-object :test #'equal)))) - -(defmethod detach-all-objects ((object item)) - (with-slots (attached-objects) object - (dolist (attached-object attached-objects) - (let ((object-name (car attached-object))) - (if (object *current-bullet-world* object-name) - (detach-object (name object) object-name)))))) - -(let ((already-moved '())) - (defmethod (setf pose) :around (new-value (object item)) - "Since we save the original pose of the object at the time of attaching, -it is possible to change the pose of its attachments when its pose changes." - (if (and (slot-boundp object 'attached-objects) - (> (length (attached-objects object)) 0)) - (let ((carrier-transform - (cl-transforms:transform-diff - (cl-transforms:pose->transform new-value) - (cl-transforms:pose->transform (pose object))))) - ;; If no attached item already moved or wasn't already moved - (unless (and already-moved - (member (name object) already-moved :test #'equal)) - (push (name object) already-moved) - (call-next-method) - (dolist (attachment (remove-if #'attachment-loose - (mapcar #'car - (mapcar #'second - (attached-objects object))))) - (let ((current-attachment-pose - (pose (object *current-bullet-world* (attachment-object attachment))))) - (when (and carrier-transform current-attachment-pose) - (setf (pose (btr:object btr:*current-bullet-world* - (attachment-object attachment))) - (cl-transforms:transform-pose - carrier-transform - current-attachment-pose))))) - ;; If all attachments from root head passed, remove all. - (if (equal (name object) (car (last already-moved))) - (setf already-moved '())))) - (call-next-method)))) +(defmethod add-object ((world bt-world) (type (eql :box-item)) name pose + &key mass (color '(1.0 0.0 0.0 1.0)) size item-type) + (assert size) + (assert item-type) + (unless (object world name) + (make-item world name (list item-type) + (list + (make-instance 'rigid-body + :name name :mass mass :pose (ensure-pose pose) + :collision-shape (make-instance 'bt-vis:colored-box-shape + :half-extents (ensure-vector size) + :color color)))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/objects.lisp b/cram_3d_world/cram_bullet_reasoning/src/objects.lisp index ea14e79dea..64cd9ba3c5 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/objects.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/objects.lisp @@ -1,5 +1,6 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner +;;; 2019, Thomas Lipps ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -33,7 +34,7 @@ (defparameter *all-meshes-as-compound* T) (defclass object () - ((name :initarg :name :reader name) + ((name :initarg :name :reader name :type keyword) (rigid-bodies :initform (make-hash-table :test 'equal)) (pose-reference-body :initarg :pose-reference-body :documentation "The name of the rigid-body @@ -298,19 +299,24 @@ (compound *all-meshes-as-compound*) (flip-winding-order nil)) "Loads and resizes the 3d-model. If `compound' is T we have a list of meshes, instead of one." - (let ((model (multiple-value-list - (physics-utils:load-3d-model (physics-utils:parse-uri mesh-filename) - :compound compound - :flip-winding-order flip-winding-order)))) + (let* ((uri + (physics-utils:parse-uri mesh-filename)) + (mesh-model + (cut:with-file-cache model uri + (multiple-value-list + (physics-utils:load-3d-model + uri :compound compound :flip-winding-order flip-winding-order)) + model))) (cond (scale (mapcar (lambda (model-part) (physics-utils:scale-3d-model model-part scale)) - model)) + mesh-model)) (size (mapcar (lambda (model-part) (physics-utils:resize-3d-model model-part size)) - model)) - (t model)))) + mesh-model)) + (t + mesh-model)))) (defun make-collision-shape-from-mesh (mesh-filename &key (color '(0.8 0.8 0.8 1.0)) (scale nil) (size nil) @@ -338,7 +344,7 @@ (let ((compound-shape (make-instance 'compound-shape)) (id-pose (cl-transforms:make-pose (cl-transforms:make-3d-vector 0 0 0) - (cl-tf:make-identity-rotation)))) + (cl-transforms:make-identity-rotation)))) (mapcar (alexandria:compose (alexandria:curry #'add-child-shape compound-shape id-pose) #'make-ch-mesh-shape) @@ -352,22 +358,81 @@ (defstruct collision-information rigid-body-name flags) -(defmethod create-static-collision-information ((object object)) +(defun get-collision-information (object other-object) + "Collision information about `object' from `other-object', +who is the parent of `object' in the attachment." + (cdr (cdr (assoc (name object) (attached-objects other-object))))) + +(defun create-static-collision-information (object) (if (not (object *current-bullet-world* (name object))) (error "Cannot find object named ~a" (name object)) (loop for body in (rigid-bodies object) collecting (make-collision-information :rigid-body-name (name body) - :flags (collision-flags body)) + :flags (cond (;; If the object does have no + ;; attached objects we take the + ;; current state of it. + (not (attached-objects object)) + (collision-flags body)) + ;; If the object is attached with + ;; other objects we use the saved + ;; collision information from + ;; these objects. If the + ;; collision information of all + ;; these objects is static, this + ;; returns static too. + ((only-static-in-attachments-p object) + '(:cf-static-object)) + (t + NIL))) do (setf (collision-flags body) :cf-static-object)))) -(defmethod reset-collision-information ((object object) collision-information) +(defun only-static-in-attachments-p (object) + "Returns T, if the `object's flags are `cf-static-object' in + the attachments of `object's attached objects." + (declare (type object object)) + (let* ((attached-object-names + (mapcar #'car + (attached-objects + (object + *current-bullet-world* + (name object))))) + (attachments-of-attached-objects + (mapcar + (alexandria:compose + #'attached-objects + (alexandria:curry #'object *current-bullet-world*)) + attached-object-names)) + (attachments-to-object + (mapcar + #'car + (loop for attachments in attachments-of-attached-objects + collecting + (remove-if-not (alexandria:curry + #'equalp + (name object)) + attachments :key #'car)))) + (collision-information-list + (mapcar + #'caddr + (remove-if-not #'identity + attachments-to-object)))) + + (when collision-information-list + (every (alexandria:curry #'equalp '(:cf-static-object)) + (mapcar #'collision-information-flags + collision-information-list))))) + + +(defun reset-collision-information (object collision-information) (loop for collision-data in collision-information for body = (rigid-body object (collision-information-rigid-body-name collision-data)) do (setf (collision-flags body) - (collision-information-flags collision-data)))) + (if (attached-objects object) + '(:cf-static-object) + (collision-information-flags collision-data))))) (defstruct attachment @@ -447,3 +512,40 @@ the names of which are in `object-to-attach-names'." (btr:object *current-bullet-world* object-to-detach-from-name) (when obj-found (detach-all-objects obj)))) + +(defun get-loose-attached-objects (object) + "Returns all objects attached to `object', +where ATTACHMENTs have the keyword LOOSE as not NIL." + (mapcar #'car + (remove-if-not + (alexandria:compose #'attachment-loose #'car #'car #'cdr) + (attached-objects object)))) + +(let ((already-visited '())) + (defun remove-loose-attachment-for (object) + "Searches if the `object' was connected loosely to other +objects and removes ALL corresponding attachments if so. +To search through the attached objects of `object' the variable +ALREADY-VISITED will help to prevent endless loops, as this is a +recursive function." + (let ((loose-attached-objects (get-loose-attached-objects object))) + (when loose-attached-objects + ;; Map the following: (detach-object object loosely-attached-object) + (mapcar (alexandria:curry #'detach-object object) + (mapcar (alexandria:curry #'object *current-bullet-world*) + loose-attached-objects)))) + ;; searching recursivly: + ;; if `object' has attachments, `remove-loose-attachment-for' + ;; gets called with these to remove every indirect loose + ;; attachment: e. g. `object' is not loosely attached but one of + ;; its attached objects is connected loosely to something + (when (and (slot-boundp object 'attached-objects) + (> (length (attached-objects object)) 0)) + (push (name object) already-visited) + (loop for attached-object in (mapcar (lambda (attach) + (object *current-bullet-world* (car attach))) + (attached-objects object)) + do (unless (member (name attached-object) already-visited) + (remove-loose-attachment-for attached-object))) + (if (equal (car (last already-visited)) (name object)) + (setf already-visited '()))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/package.lisp b/cram_3d_world/cram_bullet_reasoning/src/package.lisp index e01dbaa9ae..3a20f7b1ec 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/package.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/package.lisp @@ -43,7 +43,7 @@ merge-bounding-boxes aabb calculate-bb-dims with-stored-world *debug-window* add-debug-window add-costmap-function-object add-vis-axis-object - add-costmap-sample-object clear-costmap-vis-object add-vis-axis-object + add-costmap-sample-object clear-costmap-vis-object camera width height fov-y z-near z-far pose gl-execute-with-camera camera-transform look-at-object-rotation @@ -57,14 +57,18 @@ cutlery fork knife mug plate mondamin pot bowl sugar-box apple orange cereal spatula pancake pancake-maker bt-reasoning-world invalidate-object objects object %object - bt-reasoning-world-state robot-object links joint-states + bt-reasoning-world-state + get-world-objects-pose-info restore-world-poses + robot-object links joint-states assert joint-state urdf joint-names joint-state link-names link-pose semantic-map-object ensure-pose ensure-vector object-visibility semantic-map container semantic-map-part semantic-map-part-type semantic-map-part-pose object-visibility-percentage object-visibility-occluding-objects flat-color-object-proxy - calculate-object-visibility object-visible-p + calculate-object-visibility + object-visible-p looking-at-object-p object-in-view-p + looking-at-pose-p occluding-objects simulate find-objects contact-p find-all-contacts find-objects-in-contact object-pose-different @@ -86,6 +90,7 @@ ros-household-object execute open close ;; reach-ik-solution attached attached-objects object-attached attach-object detach-object detach-all-objects detach-all-from-link + get-loose-attached-objects item-dimensions add-objects-to-mesh-list open-object close-object @@ -98,9 +103,9 @@ #:set-robot-state-from-joints #:make-robot-joint-state-msg #:make-joint-state-message - #:calculate-pan-tilt - #:get-robot-object #:get-robot-name - #:get-environment-object + #:calculate-pan-tilt #:looking-in-direction-p + #:robot-converged-to-goal-joint-states + #:get-robot-object #:get-environment-object #:robot-colliding-objects-without-attached #:robot-attached-objects-in-collision ;; temporal-reasoning diff --git a/cram_3d_world/cram_bullet_reasoning/src/reasoning-world.lisp b/cram_3d_world/cram_bullet_reasoning/src/reasoning-world.lisp index 37129cd5e7..4947a24993 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/reasoning-world.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/reasoning-world.lisp @@ -107,3 +107,37 @@ list from bt-reasoning-world to keep in the current world state."))) obj (copy-object obj world)))) (setf (gethash name objects) obj) (invalidate-object obj)))))))) + +(defun get-world-objects-pose-info (&optional (world *current-bullet-world*)) + "Returns a cons with (name-pose-hash-table . name-joint-states-hash-table)." + (loop with name-pose-tbl = (make-hash-table :test #'equalp) + with name-joint-state-tbl = (make-hash-table :test #'equalp) + for obj in (objects world) + do (let ((obj-name (name obj))) + (setf (gethash obj-name name-pose-tbl) + (pose obj)) + (when (typep obj 'robot-object) + (setf (gethash obj-name name-joint-state-tbl) + (alexandria:copy-hash-table (joint-states obj))))) + finally (return (cons name-pose-tbl name-joint-state-tbl)))) + +(defun restore-world-poses (poses-and-joint-states + &optional (world *current-bullet-world*)) + (destructuring-bind (name-pose-tbl . name-joint-states-tbl) + poses-and-joint-states + (let ((current-names (mapcar #'name (objects *current-bullet-world*))) + (new-names (alexandria:hash-table-keys name-pose-tbl))) + (when (or (set-difference current-names new-names :test #'equalp) + (set-difference new-names current-names :test #'equalp)) + (error "[btr:restore-world-poses] objects in the two worlds + are not the same!~%current world names: ~a~%new world names: ~a~%" + current-names new-names)) + (mapc (lambda (obj) + (let ((obj-name (name obj))) + (setf (pose obj) + (gethash obj-name name-pose-tbl)) + (when (typep obj 'robot-object) + (set-robot-state-from-joints + (gethash obj-name name-joint-states-tbl) + obj)))) + (objects world))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/robot-model-facts.lisp b/cram_3d_world/cram_bullet_reasoning/src/robot-model-facts.lisp index c6097a5ecb..bbdff172b0 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/robot-model-facts.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/robot-model-facts.lisp @@ -110,12 +110,14 @@ (and (slot-value ?world disabled-collision-objects ?objects) (or (member (?robot-name ?object-name) ?objects) (member (?object-name ?robot-name) ?objects))) - (gripper-link ?robot-name ?_ ?link))))) + (hand-link ?robot-name ?_ ?link))))) (<- (attached ?world ?robot ?link-name ?object ?grasp) (bullet-world ?world) - (object ?world ?object) (%object ?world ?robot ?robot-instance) + (lisp-fun attached-objects ?robot-instance ?object-attachments-list) + (member (?object . ?_) ?object-attachments-list) + (object ?world ?object) (%object ?world ?object ?object-instance) (lisp-fun multiple-value-list-fun object-attached ?robot-instance ?object-instance (?links ?grasps)) @@ -152,4 +154,4 @@ (forall (member ?arm ?arms) (and (end-effector-link ?robot ?arm ?link) - (not (btr:attached ?_ ?robot ?link ?_)))))) + (not (attached ?_ ?robot ?link ?_)))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/robot-model-utils.lisp b/cram_3d_world/cram_bullet_reasoning/src/robot-model-utils.lisp index 71855a3578..a5c7a70287 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/robot-model-utils.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/robot-model-utils.lisp @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -14,7 +14,7 @@ ;;; Technische Universitaet Muenchen nor the names of its contributors ;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -42,7 +42,9 @@ :time timestamp :timeout *tf-default-timeout*) (transform-stamped-error (error) (roslisp:ros-warn (set-robot-state-from-tf) - "Failed with transform-stamped-error: ~a" error) + "Failed with transform-stamped-error:~% ~a~% ~ + Ignore this warning if no real robot is running." + error) NIL)))) (when robot-transform (setf (link-pose robot root-link) @@ -67,8 +69,8 @@ (defgeneric set-robot-state-from-joints (joint-states robot) (:method ((joint-states sensor_msgs-msg:jointstate) (robot robot-object)) - "Sets the joints of `robot' to the values specified in the -sensor_msgs/JointStates message." + "Sets the joints of `robot' to the values specified in the ~ + sensor_msgs/JointStates message." (roslisp:with-fields ((names name) (positions position)) joint-states @@ -76,12 +78,15 @@ sensor_msgs/JointStates message." (setf (joint-state robot name) state)) names positions))) (:method ((joint-states list) (robot robot-object)) - "Sets the joint states of `robot' to the values specifies in the - list `joint-states'. `joint-states' is a list of the form: - - ([(name value)]*)" + "Sets the joint states of `robot' to the values specifies in the ~ + list `joint-states'. `joint-states' is a list of the form: ([(name value)]*)" (loop for (name value) in joint-states do - (setf (joint-state robot name) value)))) + (setf (joint-state robot name) value))) + (:method ((joint-states hash-table) (robot robot-object)) + "Sets the joint states of `robot' to the values specifies in the ~ + hash table `joint-states'." + (loop for name being the hash-keys in joint-states using (hash-value value) + do (setf (joint-state robot name) value)))) (defun make-robot-joint-state-msg (robot &key joint-names (time 0)) (let ((joint-names (map 'vector #'identity (or joint-names @@ -117,59 +122,116 @@ sensor_msgs/JointStates message." `pose'. Returns (LIST PAN-VALUE TILT-VALUE) Used in desig-check-to-see of btr-visibility-costmap. Should it be taken out and made PR2-specific?" - (let* ((pan-transform (cl-transforms:reference-transform - (link-pose robot pan-link))) - (tilt-transform (cl-transforms:reference-transform - (link-pose robot tilt-link))) - (pose-trans (etypecase pose - (cl-transforms:3d-vector - (cl-transforms:make-transform - pose (cl-transforms:make-quaternion 0 0 0 1))) - (cl-transforms:pose (cl-transforms:reference-transform pose)) - (cl-transforms:transform pose))) - (pose-in-pan (cl-transforms:transform* - (cl-transforms:transform-inv pan-transform) - pose-trans)) - (pose-in-tilt (cl-transforms:transform* - (cl-transforms:transform-inv tilt-transform) - pose-trans)) - (pan-joint-name (cl-urdf:name - (cl-urdf:from-joint - (gethash pan-link (cl-urdf:links (urdf robot)))))) - (tilt-joint-name (cl-urdf:name - (cl-urdf:from-joint - (gethash tilt-link (cl-urdf:links (urdf robot))))))) + (let* ((pan-transform + (cl-transforms:reference-transform (link-pose robot pan-link))) + (tilt-transform + (cl-transforms:reference-transform (link-pose robot tilt-link))) + (pose-trans + (etypecase pose + (cl-transforms:3d-vector + (cl-transforms:make-transform + pose (cl-transforms:make-quaternion 0 0 0 1))) + (cl-transforms:pose (cl-transforms:reference-transform pose)) + (cl-transforms:transform pose))) + (pose-in-pan + (cl-transforms:transform* + (cl-transforms:transform-inv pan-transform) + pose-trans)) + (pose-in-tilt + (cl-transforms:transform* + (cl-transforms:transform-inv tilt-transform) + pose-trans)) + (pan-joint + (cl-urdf:from-joint (gethash pan-link (cl-urdf:links (urdf robot))))) + (pan-joint-name + (cl-urdf:name pan-joint)) + (pan-joint-axis-sign + (cl-transforms:z (cl-urdf:axis pan-joint))) + (tilt-joint + (cl-urdf:from-joint (gethash tilt-link (cl-urdf:links (urdf robot))))) + (tilt-joint-name + (cl-urdf:name tilt-joint)) + (tilt-joint-axis-sign + (cl-transforms:y (cl-urdf:axis tilt-joint)))) (list - (+ (joint-state robot pan-joint-name) - (if (= (cl-transforms:x (cl-transforms:translation pose-in-pan)) 0) - 0.0 - (atan (cl-transforms:y (cl-transforms:translation pose-in-pan)) - (cl-transforms:x (cl-transforms:translation pose-in-pan))))) - (+ (joint-state robot tilt-joint-name) - (if (= (cl-transforms:x (cl-transforms:translation pose-in-tilt)) 0) - 0.0 - (atan (- (cl-transforms:z (cl-transforms:translation pose-in-tilt))) - (+ (expt (cl-transforms:y (cl-transforms:translation pose-in-tilt)) 2) - (expt (cl-transforms:x (cl-transforms:translation pose-in-tilt)) 2)))))))) + (* pan-joint-axis-sign + (+ (joint-state robot pan-joint-name) + (if (= (cl-transforms:x (cl-transforms:translation pose-in-pan)) 0) + 0.0 + (atan (cl-transforms:y (cl-transforms:translation pose-in-pan)) + (cl-transforms:x (cl-transforms:translation pose-in-pan)))))) + (* tilt-joint-axis-sign + (+ (joint-state robot tilt-joint-name) + (if (= (cl-transforms:x (cl-transforms:translation pose-in-tilt)) 0) + 0.0 + (atan (- (cl-transforms:z (cl-transforms:translation pose-in-tilt))) + (+ (expt (cl-transforms:y (cl-transforms:translation pose-in-tilt)) 2) + (expt (cl-transforms:x (cl-transforms:translation pose-in-tilt)) 2))))))))) +(defun looking-in-direction-p (robot camera-frame + angle-horizontal angle-vertical + direction) + (declare (type cl-transforms:3d-vector direction)) + (let* ((camera-pose + (btr:link-pose robot camera-frame)) + (map-T-cam + (cram-tf:pose->transform-stamped + cram-tf:*fixed-frame* camera-frame 0.0 camera-pose)) + (cam-T-cam-up + (cl-transforms-stamped:make-transform-stamped + camera-frame "camera_up" 0.0 + (cl-transforms:make-3d-vector 0 1 0) + (cl-transforms:make-identity-rotation))) + (map-T-cam-up + (cram-tf:multiply-transform-stampeds + cram-tf:*fixed-frame* "camera_up" + map-T-cam cam-T-cam-up)) + (camera-up-in-map-vector + (cl-transforms:v- + (cl-transforms:translation map-T-cam-up) + (cl-transforms:translation map-T-cam))) + (cam-T-cam-left + (cl-transforms-stamped:make-transform-stamped + camera-frame "camera_left" 0.0 + (cl-transforms:make-3d-vector 1 0 0) + (cl-transforms:make-identity-rotation))) + (map-T-cam-left + (cram-tf:multiply-transform-stampeds + cram-tf:*fixed-frame* "camera_left" + map-T-cam cam-T-cam-left)) + (camera-left-in-map-vector + (cl-transforms:v- + (cl-transforms:translation map-T-cam-left) + (cl-transforms:translation map-T-cam))) + (angle-h + (asin (/ (cl-transforms:dot-product camera-left-in-map-vector direction) + (cl-transforms:v-norm direction)))) + (angle-v + (asin (/ (cl-transforms:dot-product camera-up-in-map-vector direction) + (cl-transforms:v-norm direction)))) + (max-angle-h + (/ angle-horizontal 2)) + (max-angle-v + (/ angle-vertical 2))) + (and (< (abs angle-h) max-angle-h) + (< (abs angle-v) max-angle-v)))) + +(defun robot-converged-to-goal-joint-states (goal-states delta) + (let ((arm-joint-names (loop for (name value) in goal-states collect name)) + (goal-values (loop for (name value) in goal-states collect value))) + (cram-tf:values-converged + (mapcar (alexandria:curry 'btr:joint-state (btr:get-robot-object)) + arm-joint-names) + goal-values + delta))) -(defun get-robot-object () - (with-vars-bound (?robot-object) - (lazy-car (prolog `(and (cram-robot-interfaces:robot ?robot-name) - (bullet-world ?world) - (%object ?world ?robot-name ?robot-object)))) - (unless (is-var ?robot-object) - ?robot-object))) -(defun get-robot-name () - (with-vars-bound (?robot) - (lazy-car (prolog `(cram-robot-interfaces:robot ?robot))) - (unless (is-var ?robot) - ?robot))) +(defun get-robot-object () + (object *current-bullet-world* (rob-int:get-robot-name))) (defun get-environment-object () - (object *current-bullet-world* :kitchen)) + (object *current-bullet-world* (rob-int:get-environment-name))) (defun robot-colliding-objects-without-attached (&optional other-objects-to-discard) @@ -186,17 +248,31 @@ Should it be taken out and made PR2-specific?" (list colliding-object-names attached-object-names robot-object-name-list other-objects-to-discard)))) -(defmethod robot-attached-objects-in-collision () +(defun robot-attached-objects-in-collision () "Returns a boolean that says if the objects the robot is holding are colliding with anything in the world, except the robot itself or other objects to which current object is attached." (some #'identity + ;; for each object that is attached to the robot (mapcar (lambda (attachment) - ;; remove if object has attachments, which are then colliding - (remove-if #'attached-objects - ;; remove if robot is colliding - (remove (get-robot-object) - (find-objects-in-contact - *current-bullet-world* - (object *current-bullet-world* (car attachment)))))) + (let* ((this-object-name + (car attachment)) + ;; get a list of objects that this object is colliding with + (colliding-objects + (find-objects-in-contact + *current-bullet-world* + (object *current-bullet-world* this-object-name))) + ;; remove the robot from this list + (colliding-objects-without-robot + (remove (get-robot-object) colliding-objects)) + ;; remove all objects that this object is attached to + (colliding-objects-without-robot-and-attached-objects + (remove-if (lambda (object) + (when (or (typep object 'btr:item) + (typep object 'btr:robot-object)) + (find this-object-name + (btr:attached-objects object) + :key #'car))) + colliding-objects-without-robot))) + colliding-objects-without-robot-and-attached-objects)) (attached-objects (get-robot-object))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp b/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp index 9f18b80343..5e6df396dc 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp @@ -1,6 +1,8 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner -;;; Copyright (c) 2019, Vanessa Hassouna +;;; 2014, Gayane Kazhoyan +;;; 2019, Vanessa Hassouna +;;; 2019, Thomas Lipps ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -159,20 +161,40 @@ Otherwise, the attachment is only used as information but does not affect the wo (error 'simple-error :format-control "Link ~a unknown" :format-arguments (list link))) (with-slots (attached-objects) robot-object - (let ((obj-attachment - (assoc (name obj) attached-objects :test #'equal)) - (new-attachment - (make-attachment - :object (name obj) :link link :loose loose :grasp grasp))) - (cond (obj-attachment - (pushnew new-attachment (car (cdr obj-attachment)) - :test #'equal :key #'attachment-link)) + (let* ((new-attachment + (make-attachment + :object (name obj) :link link :loose loose :grasp grasp)) + (obj-attachment + (assoc (name obj) attached-objects :test #'equal)) + (attachment-struct + (caadr obj-attachment))) + (if obj-attachment + (cond + ((and (string-equal link (attachment-link attachment-struct)) + (eql loose (attachment-loose attachment-struct))) + (warn "Object ~a already attached to ~a. Ignoring new attachment." + (name obj) (name robot-object)) + (return-from attach-object)) + ((and (string-equal link (attachment-link attachment-struct)) + (eql loose T)) + (warn "Object ~a already attached to ~a's link ~a but not loosely. ~ + Ignoring new loose attachment." + (name obj) (name robot-object) link) + (return-from attach-object)) + ((and (string-equal link (attachment-link attachment-struct)) + (eql loose NIL)) + (warn "Object ~a already attached to ~a's link ~a but loosely. ~ + Overwriting with new attachment." + (name obj) (name robot-object) link) + (setf (attachment-loose attachment-struct) NIL)) (t - (push (cons (name obj) - (cons - (list new-attachment) - (create-static-collision-information obj))) - attached-objects)))))) + (pushnew new-attachment (car (cdr obj-attachment)) + :test #'equal :key #'attachment-link))) + (push (cons (name obj) + (cons + (list new-attachment) + (create-static-collision-information obj))) + attached-objects))))) (defmethod detach-object ((robot-object robot-object) (object object) &key link) "Detaches `object' from the set of attached objects. @@ -180,28 +202,29 @@ Otherwise, the attachment is only used as information but does not affect the wo `link'. Otherwise, detaches `object' from all links." (with-slots (attached-objects) robot-object (let ((attachment (assoc (name object) attached-objects))) - (cond (link - (setf (second attachment) - (remove link (second attachment) - :test #'equal :key #'attachment-link)) - (unless (second attachment) - (setf attached-objects (remove (name object) attached-objects - :key #'car)) - (reset-collision-information object (cdr (cdr attachment))))) - (t (setf attached-objects (remove (name object) attached-objects - :key #'car)) - (reset-collision-information object (cdr (cdr attachment)))))))) + (when attachment + (cond (link + (setf (second attachment) + (remove link (second attachment) + :test #'equal :key #'attachment-link)) + (unless (second attachment) + (setf attached-objects (remove (name object) attached-objects + :key #'car)) + (reset-collision-information object (cdr (cdr attachment))))) + (t (setf attached-objects (remove (name object) attached-objects + :key #'car)) + (reset-collision-information object (cdr (cdr attachment))))))))) (defmethod detach-all-from-link ((robot-object robot-object) link) "Removes all objects form the given `link' of `robot-object'." (with-slots (attached-objects) robot-object (dolist (attachment attached-objects) (let* ((object-name (car attachment)) - (object-instance (object btr:*current-bullet-world* object-name))) + (object-instance (object *current-bullet-world* object-name))) (if object-instance (let ((attached-to-links (object-attached robot-object object-instance))) (when (find link attached-to-links :test #'equalp) - (btr:detach-object robot-object object-instance :link link))) + (detach-object robot-object object-instance :link link))) (setf attached-objects (remove object-name attached-objects :key #'car))))))) (defmethod detach-all-objects ((robot-object robot-object)) @@ -353,32 +376,41 @@ Otherwise, the attachment is only used as information but does not affect the wo :collision-mask collision-mask :compound compound)) -(defvar *updated-attachments* (make-hash-table) - "Saves the already updated attached objects and the traversed links of it") +(let ((updated-attachments (make-hash-table))) + ;; Stores the already updated attached objects and the corresponding traversed links + + (defun get-updated-attachments () + "This getter exists only for testing `updated-link-in-attachment' +in the unit tests." + updated-attachments) -(defun updated-link-in-attachment (link attachment) - "Returns if the pose of the attached object behind the `attachment' + (defun updated-link-in-attachment (link attachment) + "Returns if the pose of the attached object behind the `attachment' was updated by checking if `link' was already updated. The already -updated links are saved under the attachment name in `*updated-attachments*'. +updated links are saved under the attachment name in `updated-attachments'. If all links of an attachment were updated the entry under the attachment -name in `*updated-attachments*' gets deleted." - (let ((links-attached-to (mapcar #'btr::attachment-link (car (cdr attachment)))) - (ret T)) - (when (and link (member (cl-urdf:name link) links-attached-to :test #'string-equal)) - (if (gethash (car attachment) *updated-attachments*) - (setf (gethash (car attachment) *updated-attachments*) - (push (cl-urdf:name link) (gethash (car attachment) *updated-attachments*))) - (progn - (setf (gethash (car attachment) *updated-attachments*) (list (cl-urdf:name link))) - (setf ret NIL))) - (when (equal ;; checks if the list of links in attachment and the already visited links are equal - (length links-attached-to) - (length - (intersection - (gethash (car attachment) *updated-attachments*) - links-attached-to :test #'string-equal))) - (remhash (car attachment) *updated-attachments*)) - (return-from updated-link-in-attachment ret)))) +name in `updated-attachments' gets deleted." + (let ((links-to-update (mapcar #'attachment-link + (remove-if #'attachment-loose + (car (cdr attachment))))) + (ret T)) + (when (and link (member (cl-urdf:name link) links-to-update :test #'string-equal)) + (if (gethash (car attachment) updated-attachments) + (setf (gethash (car attachment) updated-attachments) + (push (cl-urdf:name link) (gethash (car attachment) updated-attachments))) + (setf (gethash (car attachment) updated-attachments) + (list (cl-urdf:name link)) + ret + NIL)) + ;; checks if the list of links in attachment and the already visited links are equal + (when (equal + (length links-to-update) + (length + (intersection + (gethash (car attachment) updated-attachments) + links-to-update :test #'string-equal))) + (remhash (car attachment) updated-attachments)) + (return-from updated-link-in-attachment ret))))) (defun update-attached-object-poses (robot-object link pose) "Updates the poses of all objects that are attached to @@ -497,15 +529,16 @@ current joint states" child-body-to-its-link-transform))) (case (cl-urdf:joint-type urdf-joint) ((:revolute :continuous) - (multiple-value-bind (angle axis) - (cl-transforms:angle-between-quaternions - (cl-transforms:rotation map-to-urdf-joint-transform) - (cl-transforms:rotation map-to-child-link-transform)) - (if (< (cl-transforms:dot-product - axis (cl-urdf:axis urdf-joint)) - 0) - (* angle -1) - angle))) + (cl-transforms:normalize-angle + (multiple-value-bind (angle axis) + (cl-transforms:angle-between-quaternions + (cl-transforms:rotation map-to-urdf-joint-transform) + (cl-transforms:rotation map-to-child-link-transform)) + (if (< (cl-transforms:dot-product + axis (cl-urdf:axis urdf-joint)) + 0) + (* angle -1) + angle)))) (:prismatic (let ((urdf-joint-to-child-link-transform (cl-transforms:transform* @@ -535,7 +568,8 @@ current joint states" (setf (gethash name links) (rigid-body obj (name body)))) (loop for name being the hash-keys in joint-states do - (setf (gethash name joint-states) (or (calculate-joint-state obj name) 0.0d0))))) + (setf (gethash name joint-states) + (or (calculate-joint-state obj name) 0.0d0))))) (defmethod joint-state ((obj robot-object) name) (nth-value 0 (gethash name (joint-states obj)))) @@ -548,13 +582,14 @@ current joint states" (joint (gethash name (cl-urdf:joints urdf))) (parent (cl-urdf:parent joint)) (parent-pose (find-parent-pose obj name)) - (limits (cl-urdf:limits joint)) + (limits (when (slot-boundp joint 'cl-urdf:limits) + (cl-urdf:limits joint))) (joint-type (cl-urdf:joint-type joint))) (when (and limits (not (eq joint-type :continuous))) (when (eq joint-type :revolute) (setf new-value (cl-transforms:normalize-angle new-value))) - (unless (and (<= new-value (cl-urdf:upper limits)) - (>= new-value (cl-urdf:lower limits))) + (unless (and (<= new-value (+ (cl-urdf:upper limits) 0.0000001)) + (>= new-value (- (cl-urdf:lower limits) 0.0000001))) (setf new-value (min (max new-value (cl-urdf:lower limits)) (cl-urdf:upper limits))) (warn "Trying to assert joint value for ~a to ~a but limits are (~a; ~a)" diff --git a/cram_3d_world/cram_bullet_reasoning/src/visibility-reasoning.lisp b/cram_3d_world/cram_bullet_reasoning/src/visibility-reasoning.lisp index 40605f5f22..2d5e4b8541 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/visibility-reasoning.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/visibility-reasoning.lisp @@ -1,20 +1,21 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner +;;; 2020, Christopher Pollok ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -31,11 +32,27 @@ (in-package :btr) (defvar *rendering-context* nil) -(defvar *visibility-threshold* 0.9) +(defparameter *visibility-threshold* 0.9 + "Percentage of object pixels that has to be in the rendered image +to consider the object as visible.") +(defparameter *pose-visibility-threshold* 0.2 + "Percentage of a 5cm radius sphere's pixels that has to be in the rendered image +to consider the pose at the center of the sphere as visible.") +(defparameter *total-pixel-threshold* 5 + "The minimum number of pixels that have to be in the rendered image +to consider the object as in the camera view.") + +(defparameter *visibility-sphere-name* :visibility-sphere + "The name of the bullet object to spawn for testing for pose visibility.") +(defparameter *visibility-sphere-default-pose* '((0 0 -1) (0 0 0 1)) + "Deleting and spawning the visibility sphere is awkward, because if a failure +happens, it will just stay there. So instead we can also just hide it.") (defstruct object-visibility percentage - occluding-objects) + occluding-objects + percentage-without-occlusion + total-object-pixels) (defclass flat-color-object-proxy () ((object :initarg :object :reader proxied-object) @@ -101,8 +118,8 @@ :pose camera-centered :width width :height height)))) (camera (make-instance 'camera - :pose camera-pose - :width width :height height)) + :pose camera-pose + :width width :height height)) (object-buffer (car (render-to-framebuffer rendering-context object camera))) (obj-ref-color nil) @@ -115,9 +132,9 @@ for obj in objects for i from step by step for obj-proxy = (make-instance - 'flat-color-object-proxy - :object obj - :color `(,i ,i ,i 1)) + 'flat-color-object-proxy + :object obj + :color `(,i ,i ,i 1)) when (eq object obj) do (setf obj-ref-color i) collecting obj-proxy)) @@ -135,6 +152,7 @@ (loop for i below (* (width camera) (height camera) 3) by 3 with object-total-pixels = 0 with object-visible-pixels = 0 + with object-visible-pixels-without-occlusion = 0 with occluding-object-colors = nil ;; threshold since colors are float values and not ;; always exactly what they should be @@ -144,6 +162,8 @@ reasoning-world)))) when (> (aref object-total-buffer i) 0.0) do (incf object-total-pixels) + when (> (aref object-buffer i) 0.0) + do (incf object-visible-pixels-without-occlusion) if (< (abs (- (aref scene-buffer i) obj-ref-color)) object-color-threshold) do (incf object-visible-pixels) @@ -152,40 +172,89 @@ (pushnew (aref scene-buffer i) occluding-object-colors)) finally (return (make-object-visibility - :percentage (cond ((> object-visible-pixels - object-total-pixels) - 1.0) - ((> object-total-pixels - 0) - (coerce - (/ object-visible-pixels - object-total-pixels) - 'single-float)) - (t 0.0)) + :percentage + (cond ((> object-visible-pixels + object-total-pixels) + 1.0) + ((> object-total-pixels + 0) + (coerce + (/ object-visible-pixels + object-total-pixels) + 'single-float)) + (t 0.0)) :occluding-objects (mapcar #'proxied-object (remove-if-not (lambda (o) (block block-check - (loop for col-occ in occluding-object-colors - with col-pr = (car (slot-value - o 'color)) - when (< (abs (- col-occ - col-pr)) - object-color-threshold) - do (return-from block-check - T)))) - object-proxies)))))))))))) - -(defun object-visible-p (world camera-pose object &optional(threshold *visibility-threshold*)) - "Returns T if at least `threshold' of the object is visible" + (loop for col-occ in occluding-object-colors + with col-pr = (car (slot-value + o 'color)) + when (< (abs (- col-occ + col-pr)) + object-color-threshold) + do (return-from block-check + T)))) + object-proxies)) + :percentage-without-occlusion + (cond ((> object-visible-pixels-without-occlusion + object-total-pixels) + 1.0) + ((> object-total-pixels + 0) + (coerce + (/ object-visible-pixels-without-occlusion + object-total-pixels) + 'single-float)) + (t 0.0)) + :total-object-pixels + object-total-pixels)))))))))) + +(defun object-visible-p (world camera-pose object + &optional (threshold *visibility-threshold*)) + "Returns T if at least `threshold' percent of the `object' pixels are visible." (let ((visibility (calculate-object-visibility world camera-pose object))) (>= (object-visibility-percentage visibility) threshold))) -(defun occluding-objects (world camera-pose object &optional (threshold *visibility-threshold*)) - "Returns the list of occluding objects if less than `threshold' of `object' is visible" +(defun occluding-objects (world camera-pose object + &optional (threshold *visibility-threshold*)) + "Returns the list of occluding objects if less than `threshold' percent +of `object' pixels are visible." (let ((visibility (calculate-object-visibility world camera-pose object))) (when (< (object-visibility-percentage visibility) threshold) (object-visibility-occluding-objects visibility)))) + +(defun looking-at-object-p (world camera-pose object + &optional (threshold *visibility-threshold*)) + "Returns T if at least `threshold' of the `object' is +within the robot's view frame. Even if the `object' is occluded, if the camera +is directed towards the `object', the predicate will be T. +If a part of the `object', visible or occluded, is clipped in the image, +the predicate is NIL." + (let ((visibility (calculate-object-visibility world camera-pose object))) + (>= (object-visibility-percentage-without-occlusion visibility) + threshold))) + +(defun object-in-view-p (world camera-pose object + &optional (threshold *total-pixel-threshold*)) + "Returns T if at least `threshold' pixels of the `object' are visible +in the robot's view frame. Even if the `object' is fully occluded, +if a couple of pixels are in the view, this predicate is T." + (let ((visibility (calculate-object-visibility world camera-pose object))) + (>= (object-visibility-total-object-pixels visibility) + threshold))) + +(defun looking-at-pose-p (world camera-pose pose + &optional (threshold *pose-visibility-threshold*)) + (unwind-protect + (let ((sphere + (or (object world *visibility-sphere-name*) + (add-object world :sphere *visibility-sphere-name* pose + :radius 0.05 :mass 0.0 :color '(1.0 0.0 0.0))))) + (looking-at-object-p world camera-pose sphere threshold)) + (when (object world *visibility-sphere-name*) + (setf (pose (object world *visibility-sphere-name*)) + (ensure-pose *visibility-sphere-default-pose*))))) diff --git a/cram_3d_world/cram_bullet_reasoning/src/world-facts.lisp b/cram_3d_world/cram_bullet_reasoning/src/world-facts.lisp index 316a7ba846..270c24f5cd 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/world-facts.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/world-facts.lisp @@ -105,7 +105,18 @@ (lisp-type ?object-instance item) (get-slot-value ?object-instance types ?types) (member ?type ?types)) - + + (<- (item ?world ?name) + (bullet-world ?world) + (-> (bound ?name) + (and (or (lisp-type ?name symbol) + (lisp-type ?name string)) + (lisp-fun object ?world ?name ?item) + (lisp-type ?item item)) + (and (lisp-fun find-items ?world ?items) + (member ?item ?items) + (lisp-fun name ?item ?name)))) + (<- (%object ?world ?name ?obj) (bound ?name) (or (lisp-type ?name symbol) @@ -128,7 +139,7 @@ (lisp-fun find-objects ?world ?objs) (member ?obj ?objs) (lisp-fun name ?obj ?name)) - + ;; Performs one simulation step in the world (<- (step ?world) (step ?world 0.01)) diff --git a/cram_3d_world/cram_bullet_reasoning/src/world-utils.lisp b/cram_3d_world/cram_bullet_reasoning/src/world-utils.lisp index 940f6b7df2..e0ef3179c0 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/world-utils.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/world-utils.lisp @@ -50,8 +50,10 @@ (defun find-objects (world &optional (pred (constantly t))) "Finds all objects that match the predicate" - (remove-if-not - pred (objects world))) + (remove-if-not pred (objects world))) + +(defun find-items (world) + (find-objects world (lambda (obj) (typep obj 'item)))) (defun contact-p (world obj-1 obj-2) "Returns T if obj-1 and obj-2 are in contact" diff --git a/cram_3d_world/cram_bullet_reasoning/tests/compound-meshes-tests.lisp b/cram_3d_world/cram_bullet_reasoning/tests/compound-meshes-tests.lisp index 7a73cf6f6d..834518cab6 100644 --- a/cram_3d_world/cram_bullet_reasoning/tests/compound-meshes-tests.lisp +++ b/cram_3d_world/cram_bullet_reasoning/tests/compound-meshes-tests.lisp @@ -48,30 +48,38 @@ :normal (0 0 1) :constant 0)))) (loop until (object btr:*current-bullet-world* :floor)) - (labels ((spawn-stack (y-offset name-prefix mesh) - (loop for id below plate-num - for plate-id = (intern (format nil "~a~a" name-prefix id) :keyword) - do (prolog:prolog - `(and - (btr:bullet-world ?world) - (assert (btr:object ?world :mesh - ,plate-id - ((0 - ,y-offset - ,(+ 0.1 (* (coerce id 'float) 0.1))) - (0 0 0 1)) - :mass 0.2 - :color (1 0 0) - :scale 5 - :mesh ,mesh)) - (btr:simulate ?world ,simulation-interval))))) - (z-coord (obj-name) - (cl-transforms:z - (cl-transforms:origin - (btr:pose (btr:object btr:*current-bullet-world* obj-name)))))) + (flet ((spawn-stack (y-offset name-prefix mesh) + (loop for id below plate-num + for plate-id = (intern (format nil "~a~a" name-prefix id) :keyword) + do (prolog:prolog + `(and + (btr:bullet-world ?world) + (assert (btr:object ?world :mesh + ,plate-id + ((0 + ,y-offset + ,(+ 0.1 (* (coerce id 'float) 0.1))) + (0 0 0 1)) + :mass 0.2 + :color (1 0 0) + :scale 5 + :mesh ,mesh)) + (btr:simulate ?world ,simulation-interval))))) + (kill-stack (name-prefix) + (loop for id below plate-num + for plate-id = (intern (format nil "~a~a" name-prefix id) + :keyword) + do (btr:remove-object btr:*current-bullet-world* plate-id))) + (z-coord (obj-name) + (cl-transforms:z + (cl-transforms:origin + (btr:pose (btr:object btr:*current-bullet-world* obj-name)))))) (spawn-stack 0.0 "PLATE-COMPOUND-" :plate-compound) (spawn-stack 2.0 "PLATE-" :plate) (btr:simulate btr:*current-bullet-world* 100) (lisp-unit:assert-true (< (z-coord :plate-compound-4) - (z-coord :plate-4))))) + (z-coord :plate-4))) + ;; delete plates + (kill-stack "PLATE-COMPOUND-") + (kill-stack "PLATE-"))) (setf btr:*all-meshes-as-compound* old-all-meshes-as-compound)))) diff --git a/cram_3d_world/cram_bullet_reasoning/tests/items-tests.lisp b/cram_3d_world/cram_bullet_reasoning/tests/items-tests.lisp index b6eb4f1a83..2ea14c7817 100644 --- a/cram_3d_world/cram_bullet_reasoning/tests/items-tests.lisp +++ b/cram_3d_world/cram_bullet_reasoning/tests/items-tests.lisp @@ -31,7 +31,9 @@ (define-test attach-object-bidirectional-and-attachment-type - ;; Attaches two objects and check their attached objects and the attachment-type of these + ;; Attaches two objects and check their attached objects and the + ;; attachment-type of these + (spawn-robot) (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'o2 :mug :pose @@ -42,21 +44,26 @@ (btr:object btr:*current-bullet-world* 'o2) :attachment-type :test-type) ;; these are connected: o1 <-> o2 - (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2))))) + (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o2))))) ;; and the attachment-type fits too (lisp-unit:assert-equal :test-type (btr::attachment-attachment - (first (car (cdr (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1)))))))) + (first (car (cdr (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1)))))))) (lisp-unit:assert-equal :test-type (btr::attachment-attachment - (first (car (cdr (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))))) + (first (car (cdr (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) (btr:remove-object btr:*current-bullet-world* 'o2)) (define-test attach-object-bidirectional-more-than-two-objects ;; Attaches three objects and 'o1 is connected with both objects + (spawn-robot) (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'o2 :mug :pose @@ -71,13 +78,19 @@ (btr:object btr:*current-bullet-world* 'o3)) ;;these are connected o2 <-> o1 <-> o3 - (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3))))) + (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o2))))) + (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o3))))) ;;these are not connected to each other: o2 o3 - (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3)))))) - (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3)))))) + (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) @@ -85,7 +98,9 @@ (btr:remove-object btr:*current-bullet-world* 'o3)) (define-test attach-object-more-objects-connected-bidirectional-to-one-object-in-one-call - ;; Attaches three objects and 'o1 is connected with both objects in one call + ;; Attaches three objects and 'o1 is connected with both objects in + ;; one call + (spawn-robot) (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'o2 :mug :pose @@ -100,13 +115,19 @@ (btr:object btr:*current-bullet-world* 'o1)) ;;these are connected o2 <-> o1 <-> o3 - (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3))))) + (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o2))))) + (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'o3))))) ;;these are not connected to each other: o2 o3 - (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3)))))) - (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3)))))) + (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) @@ -114,7 +135,9 @@ (btr:remove-object btr:*current-bullet-world* 'o3)) (define-test attach-object-more-objects-connected-unidirectional-to-one-object-in-one-call - ;; Attaches three objects and 'o1 is connected loose with both objects in one call + ;; Attaches three objects and 'o1 is connected loose with both + ;; objects in one call + (spawn-robot) (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'o2 :mug :pose @@ -132,22 +155,28 @@ ;;object 'o2 is normal attached to 'o1, so not loose attached. (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))))) + (first (car (cdr (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))))) ;;object 'o1 is loose attached to 'o2 (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1)))))))) + (first (car (cdr (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1)))))))) ;;object 'o3 is normal attached to 'o1, so not loose attached. (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3)))))))) + (first (car (cdr (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3)))))))) ;;object 'o1 is loose attached to 'o3 (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1)))))))) + (first (car (cdr (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1)))))))) ;;these are not connected to each other: o2 o3 - (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3)))))) - (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3)))))) + (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) @@ -155,7 +184,9 @@ (btr:remove-object btr:*current-bullet-world* 'o3)) (define-test attach-object-unidirectional - ;; Attaches two objects unidirectional and check if loose attachment was properly saved in the attachment + ;; Attaches two objects unidirectional and check if loose attachment + ;; was properly saved in the attachment + (spawn-robot) (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'o2 :mug :pose @@ -168,11 +199,13 @@ ;;object 'o1 is normal attached to 'o2, so not loose attached. (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1)))))))) + (first (car (cdr (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1)))))))) ;;object 'o2 is loose attached to 'o1 (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))))) + (first (car (cdr (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) @@ -187,6 +220,7 @@ ;; bidirectional with the mug and attach it loose to a hook. Therefore the loose attachment of ;; the mug and tray-1 should be removed and the hook and handle should be in an loose ;; connection. + (spawn-robot) (btr-utils:spawn-object 'handle :mug :pose ;; '((-1 0.0 0.92)(0 0 0 1))) ;; (btr-utils:spawn-object 'mug :mug :pose ;; (X) @@ -195,38 +229,46 @@ '((-1 0.0 0.92)(0 0 0 1))) ;; | move handle to hook | | (btr-utils:spawn-object 'hook :mug :pose ;; tray_1 tray_1 hook '((-1 0.0 0.92)(0 0 0 1))) ;; - ;; WITH ATTACHING THE HANDLE TO THE HOOK THE MARKED LOOSE ATTACHMENT SHOULD BE REMOVED + ;; WITH ATTACHING THE HANDLE TO THE HOOK THE MARKED LOOSE ATTACHMENT SHOULD BE REMOVED (btr:attach-object 'handle 'mug) (btr:attach-object 'tray-1 'mug :loose T) ;; tray-1 -> mug ;;object 'mug is normal attached to 'handle, so not loose attached. (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'mug (btr:attached-objects (btr:object btr:*current-bullet-world* 'handle)))))))) + (first (car (cdr (assoc 'mug (btr:attached-objects + (btr:object btr:*current-bullet-world* 'handle)))))))) (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'handle (btr:attached-objects (btr:object btr:*current-bullet-world* 'mug)))))))) + (first (car (cdr (assoc 'handle (btr:attached-objects + (btr:object btr:*current-bullet-world* 'mug)))))))) ;;object 'mug is loose attached to 'tray-1 (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'tray-1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'mug)))))))) + (first (car (cdr (assoc 'tray-1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'mug)))))))) (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'mug (btr:attached-objects (btr:object btr:*current-bullet-world* 'tray-1)))))))) + (first (car (cdr (assoc 'mug (btr:attached-objects + (btr:object btr:*current-bullet-world* 'tray-1)))))))) ;;now we put the handle on the hook (btr:attach-object 'hook 'handle :loose T) ;;so the connection between 'mug and 'tray-1 is gone - (lisp-unit:assert-false (car (assoc 'tray-1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'mug))))) - (lisp-unit:assert-false (car (assoc 'mug (btr:attached-objects (btr:object btr:*current-bullet-world* 'tray-1))))) + (lisp-unit:assert-false (car (assoc 'tray-1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'mug))))) + (lisp-unit:assert-false (car (assoc 'mug (btr:attached-objects (btr:object + btr:*current-bullet-world* 'tray-1))))) ;;handle is loose attached to 'hook (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'hook (btr:attached-objects (btr:object btr:*current-bullet-world* 'handle)))))))) + (first (car (cdr (assoc 'hook (btr:attached-objects + (btr:object btr:*current-bullet-world* 'handle)))))))) (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'handle (btr:attached-objects (btr:object btr:*current-bullet-world* 'hook)))))))) + (first (car (cdr (assoc 'handle (btr:attached-objects + (btr:object btr:*current-bullet-world* 'hook)))))))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'mug) @@ -235,29 +277,36 @@ (btr:remove-object btr:*current-bullet-world* 'hook)) (define-test detach-object-simple-and-bidirectional-attachments - ;; Detaches two bidirectional conntected objects + ;; Detaches two bidirectional conntected objects + (spawn-robot) (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose '((-1 0.75 0.92)(0 0 0 1))) - + (btr:attach-object (btr:object btr:*current-bullet-world* 'oo1) (btr:object btr:*current-bullet-world* 'oo2)) ;; oo1 and oo2 are connected like this: oo1 <-> oo2 - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2))))) ;; detach oo1 and oo2 (btr:detach-object (btr:object btr:*current-bullet-world* 'oo1) (btr:object btr:*current-bullet-world* 'oo2)) - (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))) - (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))) + (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* + 'oo1))) + (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* + 'oo2))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2)) + (define-test detach-object-dont-remove-other-attachments-and-unidirectional - ;; Detaches two objects where one object has one attached object + ;; Detaches two objects where one object has one attached object + (spawn-robot) (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose @@ -275,20 +324,27 @@ ;;object 'oo1 is normal attached to 'oo2, so not loose attached. (lisp-unit:assert-equal nil (btr::attachment-loose - (first (car (cdr (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))))))) + (first (car (cdr (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1)))))))) ;;object 'oo2 is loose attached to 'oo1 (lisp-unit:assert-equal T (btr::attachment-loose - (first (car (cdr (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2)))))))) + (first (car (cdr (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2)))))))) ;; detach oo1 and oo2 (btr:detach-object (btr:object btr:*current-bullet-world* 'oo1) (btr:object btr:*current-bullet-world* 'oo2)) ;; 'oo1 and 'oo2 should be attached anymore, but oo3 and oo1 still - (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))) - (lisp-unit:assert-equal 'oo3 (car (assoc 'oo3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) - (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo3))))) - (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo3)))) + (lisp-unit:assert-false (btr:attached-objects (btr:object btr:*current-bullet-world* + 'oo2))) + (lisp-unit:assert-equal 'oo3 (car (assoc 'oo3 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo1)))) + (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo3))))) + (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo3)))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'oo1) @@ -296,9 +352,9 @@ (btr:remove-object btr:*current-bullet-world* 'oo3)) - (define-test detach-all-objects-star-connection - ;; Detaches all attachments of one object x and check if the attachments of attached objects from x still exists + ;; Detaches all attachments of one object x and check if the + ;; attachments of attached objects from x still exists (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose @@ -316,20 +372,27 @@ ;; v ;; oo4 ;; - ;; the marked attachments (x) should be removed after calling detach-all-objects with oo1 + ;; the marked attachments (x) should be removed after calling + ;; detach-all-objects with oo1 (btr:attach-object 'oo1 'oo2) (btr:attach-object 'oo1 'oo3) (btr:attach-object 'oo1 'oo4) (btr:attach-object 'oo2 'oo5) - (lisp-unit:assert-number-equal 3 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) + (lisp-unit:assert-number-equal 3 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo1)))) ;; Detaches 'oo1 with objects oo2, oo3 and oo4, but not oo5 (btr:detach-all-objects (btr:object btr:*current-bullet-world* 'oo1)) - (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) - (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2)))) - (lisp-unit:assert-equal 'oo5 (car (assoc 'oo5 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo5))))) - (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo3)))) + (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo1)))) + (lisp-unit:assert-number-equal 1 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2)))) + (lisp-unit:assert-equal 'oo5 (car (assoc 'oo5 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo5))))) + (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo3)))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'oo1) @@ -338,8 +401,585 @@ (btr:remove-object btr:*current-bullet-world* 'oo4) (btr:remove-object btr:*current-bullet-world* 'oo5)) +(define-test attach-object-with-static-objects-correct-collision-information + (spawn-robot) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (loop for body in (apply 'concatenate 'list + (list (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo1)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo2)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo3)))) + do + (setf + (btr::collision-flags body) + :CF-STATIC-OBJECT)) + (btr:attach-object 'oo1 'oo2) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo2)))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2)) + :key #'car))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo2 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (btr:attach-object 'oo1 'oo3) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo3)))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo3 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo3)) + :key #'car))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2)) + :key #'car))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo2 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'oo2) + (btr:remove-object btr:*current-bullet-world* 'oo3)) + +(define-test attach-object-correct-collision-information + (spawn-robot) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr:attach-object 'oo1 'oo2) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo2)))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2)) + :key #'car))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo2 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (btr:attach-object 'oo1 'oo3) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo3)))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo3 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo3)) + :key #'car))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2)) + :key #'car))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo2 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'oo2) + (btr:remove-object btr:*current-bullet-world* 'oo3)) + +(define-test detach-object-correct-collision-information + (spawn-robot) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr:attach-object 'oo1 'oo2) + (btr:attach-object 'oo1 'oo3) + (btr:detach-object 'oo1 'oo2) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + NIL + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo2)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo3)))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo3 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (assert-equal + NIL + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo3)) + :key #'car))))) + (assert-false + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'oo2) + (btr:remove-object btr:*current-bullet-world* 'oo3)) + +(define-test detach-object-with-static-objects-correct-collision-information + (spawn-robot) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (loop for body in (apply 'concatenate 'list + (list (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo1)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo2)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo3)))) + do + (setf + (btr::collision-flags body) + :CF-STATIC-OBJECT)) + (btr:attach-object 'oo1 'oo2) + (btr:attach-object 'oo1 'oo3) + (btr:detach-object 'oo1 'oo2) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo2)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo3)))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo3 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo1)) + :key #'car))))) + (assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (caddr + (find 'oo1 + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo3)) + :key #'car))))) + (assert-false + (btr:attached-objects + (btr:object + btr:*current-bullet-world* + 'oo2))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'oo2) + (btr:remove-object btr:*current-bullet-world* 'oo3)) + +(define-test attach-object-and-detach-object-shopping-demo-collision-flags + (spawn-robot) + (spawn-environment) + (btr-utils:spawn-object 'basket :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + ;; Attach object to environment and basket to the robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'basket) + :link "r_wrist_roll_link" :loose nil :grasp :front) + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* 'oo1 ) + :link "sink_area_surface") + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + ;; Robot grasps the object + ;; 1. detached from the env + (btr:detach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* 'oo1)) + (assert-equal + NIL + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; 2. attached to the robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'oo1) + :link "l_wrist_roll_link" :loose nil :grasp :front) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; Place object into the basket + (btr:detach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'oo1) + :link "l_wrist_roll_link") + ;; Object oo1 falls in the basket + (assert-equal + NIL + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; Attach object to the basket + (btr:attach-object 'basket 'oo1) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'basket) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object))) + +(define-test attach-object-and-detach-static-object-shopping-demo-collision-flags + (spawn-robot) + (spawn-environment) + (btr-utils:spawn-object 'basket :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'oo1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (loop for body in (apply 'concatenate 'list + (list (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'oo1)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'basket)))) + do + (setf + (btr::collision-flags body) + :CF-STATIC-OBJECT)) + ;; Attach object to environment and basket to the robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'basket) + :link "r_wrist_roll_link" :loose nil :grasp :front) + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* 'oo1 ) + :link "sink_area_surface") + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + ;; Robot grasps the object + ;; 1. detached from the env + (btr:detach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* 'oo1)) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; 2. attached to the robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'oo1) + :link "l_wrist_roll_link" :loose nil :grasp :front) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; Place object into the basket + (btr:detach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'oo1) + :link "l_wrist_roll_link") + ;; Object oo1 falls in the basket + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + ;; Attach object to the basket + (btr:attach-object 'basket 'oo1) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'basket)))))) + (assert-equal + :CF-STATIC-OBJECT + (car (btr::collision-flags + (car + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'oo1)))))) + (btr:remove-object btr:*current-bullet-world* 'oo1) + (btr:remove-object btr:*current-bullet-world* 'basket) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object))) + + (define-test get-loose-attached-objects-simple ;; Returns the loose attachments of an object + (spawn-robot) (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose @@ -366,10 +1006,12 @@ (btr:attach-object 'oo1 'oo2 :loose T) (btr:attach-object 'oo2 'oo3) (btr:attach-object 'oo2 'oo4) - (btr:attach-object 'oo5 'oo2 :loose T :skip-removing-loose T) ;; the :skip-removing-loose key is used so the loose attachement between - ;; 'oo2 and 'oo1 won't get removed + (btr:attach-object 'oo5 'oo2 :loose T :skip-removing-loose T) + ;; the :skip-removing-loose key is used so the loose attachement + ;; between 'oo2 and 'oo1 won't get removed - (let ((loose-attached-obj-names (btr::get-loose-attached-objects (btr:object btr:*current-bullet-world* 'oo2)))) + (let ((loose-attached-obj-names (btr::get-loose-attached-objects (btr:object + btr:*current-bullet-world* 'oo2)))) (lisp-unit:assert-equal 'oo5 (first loose-attached-obj-names)) (lisp-unit:assert-equal 'oo1 (second loose-attached-obj-names))) @@ -381,6 +1023,7 @@ (define-test remove-loose-attachment-for-simple ;; Removes the loose attachments of an object + (spawn-robot) (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose @@ -407,13 +1050,18 @@ (btr:attach-object 'oo1 'oo2 :loose T) (btr:attach-object 'oo2 'oo3) (btr:attach-object 'oo2 'oo4) - (btr:attach-object 'oo5 'oo2 :loose T :skip-removing-loose T) ;; the :skip-removing-loose key is used so the loose attachement between - ;; 'oo2 and 'oo1 won't get removed + (btr:attach-object 'oo5 'oo2 :loose T :skip-removing-loose T) + ;; the :skip-removing-loose key is used so the loose attachement + ;; between 'oo2 and 'oo1 won't get removed - (btr::remove-loose-attachment-for (btr:object btr:*current-bullet-world* 'oo2)) - (lisp-unit:assert-equal 'oo3 (car (assoc 'oo3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo4 (car (assoc 'oo4 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-number-equal 2 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2)))) + (btr::remove-loose-attachment-for (btr:object btr:*current-bullet-world* + 'oo2)) + (lisp-unit:assert-equal 'oo3 (car (assoc 'oo3 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal 'oo4 (car (assoc 'oo4 (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-number-equal 2 (list-length (btr:attached-objects (btr:object + btr:*current-bullet-world* 'oo2)))) (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2) @@ -425,6 +1073,7 @@ ;; Attaches a new pose to an item with attached items, ;; so the pose of the attached items should change relative to the ;; item they are attached to too. + (spawn-robot) (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.9)(0 0 0 1))) (btr-utils:spawn-object 'oo2 :mug :pose @@ -440,27 +1089,38 @@ ;;set new pose to 'oo1: move 'oo1 0.1m upwards (setf (btr:pose (btr:object btr:*current-bullet-world* 'oo1)) (cl-transforms:make-pose - (cl-transforms:make-3d-vector -1 0.0 1) + (cl-transforms:make-3d-vector + -1 0.0 1) (cl-transforms:make-identity-rotation))) - (sleep 0.1) ;; idk why, but else the position of any attachment are not set yet + (sleep 0.1) + ;; idk why, but else the positions of any attachment are not set yet ;; new position of the item 'oo1 is set properly - (lisp-unit:assert-number-equal -1.0d0 (cl-tf:x (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo1))))) - (lisp-unit:assert-number-equal 0.0d0 (cl-tf:y (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo1))))) - (lisp-unit:assert-number-equal 1.0d0 (cl-tf:z (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-number-equal -1.0d0 (cl-transforms:x (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-number-equal 0.0d0 (cl-transforms:y (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-number-equal 1.0d0 (cl-transforms:z (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo1))))) ;; Changed values of z in the position of the attached items: ;; z_oo2 + 0.1 = 0.9 - (lisp-unit:assert-number-equal 0.9d0 (cl-tf:z (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-number-equal 0.9d0 (cl-transforms:z (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo2))))) ;; z_oo3 + 0.1 = 0.8 - (lisp-unit:assert-number-equal 0.8d0 (cl-tf:z (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo3))))) + (lisp-unit:assert-number-equal 0.8d0 (cl-transforms:z (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo3))))) ;; Still the same values x,y in the position of the attached items: ;; x - (lisp-unit:assert-number-equal -1.0d0 (cl-tf:x (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-number-equal -1.0d0 (cl-tf:x (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo3))))) + (lisp-unit:assert-number-equal -1.0d0 (cl-transforms:x (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-number-equal -1.0d0 (cl-transforms:x (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo3))))) ;; y - (lisp-unit:assert-number-equal 0.0d0 (cl-tf:y (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-number-equal 0.0d0 (cl-tf:y (cl-tf:origin (btr:pose (btr:object btr:*current-bullet-world* 'oo3))))) + (lisp-unit:assert-number-equal 0.0d0 (cl-transforms:y (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-number-equal 0.0d0 (cl-transforms:y (cl-transforms:origin (btr:pose + (btr:object btr:*current-bullet-world* 'oo3))))) (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2) diff --git a/cram_3d_world/cram_bullet_reasoning/tests/objects-tests.lisp b/cram_3d_world/cram_bullet_reasoning/tests/objects-tests.lisp index 88067d3640..1aded1f65b 100644 --- a/cram_3d_world/cram_bullet_reasoning/tests/objects-tests.lisp +++ b/cram_3d_world/cram_bullet_reasoning/tests/objects-tests.lisp @@ -29,7 +29,8 @@ (in-package :btr-tests) -;; Help functions to convert objects to lists, so these can be compared with equals +;; Help functions to convert objects to lists, so these can be +;; compared with equals (defun orientation->list (orient) (list (cl-transforms:w orient) (cl-transforms:x orient) @@ -49,154 +50,487 @@ (equal (pose->list pose) (pose->list other-pose))) +(defun spawn-robot () + (setf rob-int:*robot-urdf* + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*robot-description-parameter*))) + (prolog:prolog + `(and (btr:bullet-world ?world) + (rob-int:robot ?robot) + (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) + :urdf ,rob-int::*robot-urdf*)) + (assert (btr:joint-state ?world ?robot (("torso_lift_joint" + 0.15d0)))))) + (btr:detach-all-objects (btr:get-robot-object))) + +(defun spawn-environment () + (assert + (setf rob-int:*environment-urdf* + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*environment-description-parameter*)))) + (prolog:prolog + `(and (btr:bullet-world ?w) + (prolog:-> (rob-int:environment-name ?environment-name) + (btr:assert ?w (btr:object :urdf ?environment-name + ((0 0 0) (0 0 0 1)) + :collision-group :static-filter + :collision-mask (:default-filter + :character-filter) + :urdf ,rob-int:*environment-urdf* + :compound T)) + (warn "ROB-INT:ENVIRONMENT-NAME was not defined. ~ + Have you loaded an environment knowledge package?")))) + (clrhash (btr::get-updated-attachments)) + (btr:detach-all-objects (btr:get-robot-object))) (define-test create-static-collision-information-works - ;; Tests if the collision information is properly saved and if it has an effect on - ;; the object by simulating the bullet world - (btr-utils:spawn-object 'o1 :mug :pose + ;; Tests if the collision information is properly saved and if it + ;; has an effect on the object by simulating the bullet world + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) - - (btr::create-static-collision-information (btr:object btr:*current-bullet-world* 'o1)) + + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o1)) (lisp-unit:assert-equal :CF-STATIC-OBJECT (car (cl-bullet:collision-flags (first - (btr:rigid-bodies (btr:object btr:*current-bullet-world* 'o1)))))) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* 'o1)))))) (btr:simulate btr:*current-bullet-world* 1) - (let ((new-pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) - + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) (lisp-unit:assert-true (pose-equal pose-o1 new-pose-o1)))) ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1)) +(define-test create-static-collision-information-works-with-more-objects + ;; Tests if the collision information is properly saved and if it + ;; has an effect on the object by simulating the bullet world + (btr-utils:spawn-object 'o1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (pose-o2 (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + + (lisp-unit:assert-equal + NIL + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o1)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* 'o1)))))) + (lisp-unit:assert-equal + NIL + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* 'o2)))))) + (btr:simulate btr:*current-bullet-world* 1) + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (new-pose-o2 + (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + (lisp-unit:assert-true (pose-equal pose-o1 new-pose-o1)) + (lisp-unit:assert-true (pose-equal pose-o2 new-pose-o2)))) + + ;; recreate begin state for next test case + (btr:remove-object btr:*current-bullet-world* 'o1) + (btr:remove-object btr:*current-bullet-world* 'o2)) + +(define-test create-static-collision-information-works-with-attached-objects + ;; Tests if the collision information is properly saved and if it + ;; has an effect on the object by simulating the bullet world + (spawn-robot) + (btr-utils:spawn-object 'o1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr:attach-object 'o1 'o3) + (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (pose-o2 (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + + (lisp-unit:assert-equal + NIL + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o1)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o1)))))) + (lisp-unit:assert-equal + NIL + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o2)))))) + (btr:simulate btr:*current-bullet-world* 1) + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (new-pose-o2 + (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + (lisp-unit:assert-true (pose-equal pose-o1 new-pose-o1)) + (lisp-unit:assert-true (pose-equal pose-o2 new-pose-o2)))) + ;; recreate begin state for next test case + (btr:remove-object btr:*current-bullet-world* 'o1) + (btr:remove-object btr:*current-bullet-world* 'o2) + (btr:remove-object btr:*current-bullet-world* 'o3)) -(define-test reset-collision-information-works - ;; Tests if the collision information is properly reseted and if it has an effect on - ;; the object by simulating the bullet world - (btr-utils:spawn-object 'o1 :mug :pose +(define-test create-static-collision-information-works-with-static-objects + ;; Tests if the collision information is properly saved and if it + ;; has an effect on the object by simulating the bullet world + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) + (loop for body in (apply 'concatenate 'list + (list (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'o1)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'o2)))) + do + (setf + (btr::collision-flags body) + :CF-STATIC-OBJECT)) + (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (pose-o2 (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + + (lisp-unit:assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o1)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o1)))))) + (lisp-unit:assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o2)))))) + (btr:simulate btr:*current-bullet-world* 1) + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (new-pose-o2 + (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + (lisp-unit:assert-true (pose-equal pose-o1 new-pose-o1)) + (lisp-unit:assert-true (pose-equal pose-o2 new-pose-o2)))) + ;; recreate begin state for next test case + (btr:remove-object btr:*current-bullet-world* 'o1) + (btr:remove-object btr:*current-bullet-world* 'o2)) + +(define-test create-static-collision-information-works-with-attached-static-objects + ;; Tests if the collision information is properly saved and if it + ;; has an effect on the object by simulating the bullet world + (spawn-robot) + (btr-utils:spawn-object 'o1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o3 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (loop for body in (apply 'concatenate 'list + (list (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'o1)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'o2)) + (btr:rigid-bodies (btr:object + btr:*current-bullet-world* + 'o3)))) + do + (setf + (btr::collision-flags body) + :CF-STATIC-OBJECT)) + (btr:attach-object (btr:object btr:*current-bullet-world* 'o1) + (btr:object btr:*current-bullet-world* 'o3)) + (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (pose-o2 (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + + (lisp-unit:assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o1)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o1)))))) + (lisp-unit:assert-equal + :CF-STATIC-OBJECT + (car + (btr::collision-information-flags + (car + (btr::create-static-collision-information + (btr:object btr:*current-bullet-world* 'o2)))))) + (lisp-unit:assert-equal :CF-STATIC-OBJECT (car + (cl-bullet:collision-flags + (first + (btr:rigid-bodies + (btr:object + btr:*current-bullet-world* + 'o2)))))) + (btr:simulate btr:*current-bullet-world* 1) + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1))) + (new-pose-o2 + (btr:pose (btr:object btr:*current-bullet-world* 'o2)))) + (lisp-unit:assert-true (pose-equal pose-o1 new-pose-o1)) + (lisp-unit:assert-true (pose-equal pose-o2 new-pose-o2)))) + ;; recreate begin state for next test case + (btr:remove-object btr:*current-bullet-world* 'o1) + (btr:remove-object btr:*current-bullet-world* 'o2) + (btr:remove-object btr:*current-bullet-world* 'o3)) + + +(define-test reset-collision-information-works-with-attached-objects + ;; Tests if the collision information is properly reseted and if it has + ;; an effect on the object by simulating the bullet world + (spawn-robot) + (btr-utils:spawn-object 'o1 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr-utils:spawn-object 'o2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (let* ((pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) (btr:attach-object 'o1 'o2) + ;;simulate detachment + (setf (slot-value (btr:object btr:*current-bullet-world* 'o1) 'attached-objects) + nil) (btr::reset-collision-information (btr:object btr:*current-bullet-world* 'o1) - (list (btr::make-collision-information :rigid-body-name 'o1 :flags NIL))) + (list (btr::make-collision-information + :rigid-body-name 'o1 :flags NIL))) (lisp-unit:assert-equal NIL (car (cl-bullet:collision-flags (first - (btr:rigid-bodies (btr:object btr:*current-bullet-world* 'o1)))))) + (btr:rigid-bodies + (btr:object btr:*current-bullet-world* 'o1)))))) (btr:simulate btr:*current-bullet-world* 1) - (let ((new-pose-o1 (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) + (let ((new-pose-o1 + (btr:pose (btr:object btr:*current-bullet-world* 'o1)))) (lisp-unit:assert-false (pose-equal pose-o1 new-pose-o1)))) - + ;; recreate begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) (btr:remove-object btr:*current-bullet-world* 'o2)) (define-test reset-collision-information-fails ;; Tests if nothing happens if nil is passed - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (lisp-unit:assert-false (btr::reset-collision-information (btr:object btr:*current-bullet-world* 'o1) nil)) + (lisp-unit:assert-false (btr::reset-collision-information + (btr:object btr:*current-bullet-world* 'o1) nil)) (btr:remove-object btr:*current-bullet-world* 'o1)) (define-test attach-object-called-with-item-symbols - ;; Tests if the attach-object function gets properly called if it was called with the object item names - (btr-utils:spawn-object 'oo1 :mug :pose + ;; Tests if the attach-object function gets properly called if it was + ;; called with the object item names + (spawn-robot) + (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'oo2 :mug :pose - '((-1 0.0 0.92)(0 0 0 1))) - + (btr-utils:spawn-object 'oo2 :mug :pose + '((-1 0.0 0.92)(0 0 0 1))) + (btr:attach-object 'oo1 'oo2) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) - + (lisp-unit:assert-equal + 'oo1 + (car (assoc 'oo1 + (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal + 'oo2 + (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1))))) + (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2)) (define-test attach-object-called-with-more-items-connecting-to-one-item-in-one-call - ;; Attaches three objects and 'o1 is connected with both objects in one call - (btr-utils:spawn-object 'o1 :mug :pose + ;; Attaches three objects and 'o1 is connected with both objects in + ;; one call + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.75 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o3 :mug :pose + (btr-utils:spawn-object 'o3 :mug :pose '((-1 0.75 0.92)(0 0 0 1))) ;;connect objects o2 <-> o1 <-> o3 (btr:attach-object (list 'o2 'o3) 'o1) - + ;;these are connected o2 <-> o1 <-> o3 - (lisp-unit:assert-equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o1))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2))))) - (lisp-unit:assert-equal 'o1 (car (assoc 'o1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3))))) + (lisp-unit:assert-equal + 'o2 + (car (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal + 'o3 + (car (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o1))))) + (lisp-unit:assert-equal + 'o1 + (car (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2))))) + (lisp-unit:assert-equal + 'o1 + (car (assoc 'o1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3))))) ;;these are not connected to each other: o2 o3 - (lisp-unit:assert-false (equal 'o2 (car (assoc 'o2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o3)))))) - (lisp-unit:assert-false (equal 'o3 (car (assoc 'o3 (btr:attached-objects (btr:object btr:*current-bullet-world* 'o2)))))) - - ;; recreate begin state for next test case + (lisp-unit:assert-false + (equal 'o2 (car (assoc 'o2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o3)))))) + (lisp-unit:assert-false + (equal 'o3 (car (assoc 'o3 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'o2)))))) + + ;; attach-object-more-objects-connected-bidirectional-to-one-object-in-one-call begin state for next test case (btr:remove-object btr:*current-bullet-world* 'o1) (btr:remove-object btr:*current-bullet-world* 'o2) (btr:remove-object btr:*current-bullet-world* 'o3)) (define-test attach-object-called-with-item-symbol-and-nil-as-parameter - ;; Tests if the attach-object function does nothing if called with nil and an valid item object - (btr-utils:spawn-object 'oo1 :mug :pose + ;; Tests if the attach-object function does nothing if called with + ;; nil and an valid item object + (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (lisp-unit:assert-false (btr:attach-object 'oo1 nil)) - (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) + (lisp-unit:assert-number-equal + 0 + (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) (lisp-unit:assert-false (btr:attach-object nil 'oo1)) - (lisp-unit:assert-number-equal 0 (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) + (lisp-unit:assert-number-equal + 0 + (list-length (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))) (lisp-unit:assert-false (btr:attach-object nil nil)) - + (btr:remove-object btr:*current-bullet-world* 'oo1)) (define-test detach-object-called-with-item-symbols - ;; Tests if the detach-object function gets properly called if it was called with the object item names - (btr-utils:spawn-object 'oo1 :mug :pose + ;; Tests if the detach-object function gets properly called if it + ;; was called with the object item names + (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'oo2 :mug :pose + (btr-utils:spawn-object 'oo2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr:attach-object 'oo1 'oo2) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-equal + 'oo1 + (car (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal + 'oo2 + (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1))))) (btr:detach-object 'oo1 'oo2) - (lisp-unit:assert-false (equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1)))))) - (lisp-unit:assert-false (equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2)))))) + (lisp-unit:assert-false + (equal 'oo2 (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1)))))) + (lisp-unit:assert-false + (equal 'oo1 (car (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2)))))) (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2)) (define-test detach-object-called-with-item-symbol-and-nil-as-parameter - ;; Tests if the detach-object function does nothing if called with nil and an valid item object - (btr-utils:spawn-object 'oo1 :mug :pose + ;; Tests if the detach-object function does nothing if called with + ;; nil and an valid item object + (btr-utils:spawn-object 'oo1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'oo2 :mug :pose + (btr-utils:spawn-object 'oo2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (btr:attach-object 'oo1 'oo2) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-equal + 'oo1 + (car (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal + 'oo2 + (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1))))) (lisp-unit:assert-false (btr:detach-object nil 'oo1)) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-equal + 'oo1 + (car (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal + 'oo2 + (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1))))) (lisp-unit:assert-false (btr:detach-object 'oo1 nil)) - (lisp-unit:assert-equal 'oo1 (car (assoc 'oo1 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo2))))) - (lisp-unit:assert-equal 'oo2 (car (assoc 'oo2 (btr:attached-objects (btr:object btr:*current-bullet-world* 'oo1))))) + (lisp-unit:assert-equal + 'oo1 + (car (assoc 'oo1 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo2))))) + (lisp-unit:assert-equal + 'oo2 + (car (assoc 'oo2 (btr:attached-objects + (btr:object btr:*current-bullet-world* 'oo1))))) (lisp-unit:assert-false (btr:detach-object nil nil)) (btr:remove-object btr:*current-bullet-world* 'oo1) (btr:remove-object btr:*current-bullet-world* 'oo2)) - + diff --git a/cram_3d_world/cram_bullet_reasoning/tests/robot-model-tests.lisp b/cram_3d_world/cram_bullet_reasoning/tests/robot-model-tests.lisp index 50a5a5fb7e..3d45ff6e20 100644 --- a/cram_3d_world/cram_bullet_reasoning/tests/robot-model-tests.lisp +++ b/cram_3d_world/cram_bullet_reasoning/tests/robot-model-tests.lisp @@ -26,42 +26,50 @@ ;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. + (in-package :btr-tests) (defun setup-world () (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf (roslisp:get-param "robot_description"))) + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*robot-description-parameter*))) (prolog:prolog `(and (btr:bullet-world ?world) (rob-int:robot ?robot) (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,rob-int:*robot-urdf*)))) - (clrhash btr::*updated-attachments*) + (clrhash (btr::get-updated-attachments)) (btr:detach-all-objects (btr:get-robot-object))) (define-test attach-object-unknown-link - ;; Tries to attach an item to an unkown link of the robot. This should fail. + ;; Tries to attach an item to an unkown link of the robot. This + ;; should fail. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (lisp-unit:assert-error 'simple-error - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1))) + (btr:attach-object (btr:get-robot-object) (btr:object + btr:*current-bullet-world* 'o1))) (lisp-unit:assert-error 'simple-error - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1)) + (btr:attach-object (btr:get-robot-object) (btr:object + btr:*current-bullet-world* 'o1)) :link "asdasdasd1") (btr:remove-object btr:*current-bullet-world* 'o1)) (define-test attach-object-same-object-to-two-links - ;; Attaches one object to two links of the robot and checks if it is saved properly - ;; in the list under the name of the item attached. The collision information is therefore - ;; shared between the attachments. + ;; Attaches one object to two links of the robot and checks if it is + ;; saved properly in the list under the name of the item + ;; attached. The collision information is therefore shared between + ;; the attachments. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) ;;'((o1 ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) @@ -76,17 +84,19 @@ (btr:remove-object btr:*current-bullet-world* 'o1))) (define-test attach-object-different-objects-to-two-links - ;; Attaches two object to two links of the robot and checks if it is saved properly - ;; in the list under the name of the item attached. + ;; Attaches two object to two links of the robot and checks if it is + ;; saved properly in the list under the name of the item attached. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o2) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o2) :link link2) ;;'((o1 ;; (list of attachments) <- link1 ;; collision-info of o1) @@ -105,16 +115,18 @@ (btr:remove-object btr:*current-bullet-world* 'o2))) (define-test attach-object-different-objects-to-same-link - ;; Attaches two objects to one link of the robot and checks if it is saved properly - ;; in the list under the name of the item attached. + ;; Attaches two objects to one link of the robot and checks if it is + ;; saved properly in the list under the name of the item attached. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link "base_link")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o2) :link link) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o2) :link link) ;;'((o1 ;; (list of attachments) <- link ;; collision-info of o1) @@ -123,37 +135,42 @@ ;; collision-info of o2)) (lisp-unit:assert-true (find link (car (cdr - (assoc 'o1 (btr:attached-objects (btr:get-robot-object))))) + (assoc 'o1 (btr:attached-objects (btr:get-robot-object))))) :key #'btr::attachment-link :test #'equal)) (lisp-unit:assert-true (find link (car (cdr - (assoc 'o2 (btr:attached-objects (btr:get-robot-object))))) + (assoc 'o2 (btr:attached-objects (btr:get-robot-object))))) :key #'btr::attachment-link :test #'equal)) (btr:remove-object btr:*current-bullet-world* 'o1) (btr:remove-object btr:*current-bullet-world* 'o2))) (define-test detach-object-completly-same-object-to-two-links - ;; Detaches object which was attached to two links of the robot and checks if it is removed properly - ;; in the list under the name of the item attached. Moreover, it should not touch other object attachments. + ;; Detaches object which was attached to two links of the robot and + ;; checks if it is removed properly in the list under the name of + ;; the item attached. Moreover, it should not touch other object attachments. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o2) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o2) :link link1) ;;'((o1 - ;; (list of attachments) <- link1 (x), link2 (x) + ;; (list of attachments) <- link1 (x), link2 (x) ;; collision-info of o1) ;; (o2 ;; (list of attachments) <- link1 ;; collision-info of o2)) ;; ;; marked (x) should be removed - (btr:detach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1)) + (btr:detach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1)) (lisp-unit:assert-false (assoc 'o1 (btr:attached-objects (btr:get-robot-object)))) (lisp-unit:assert-true @@ -164,27 +181,32 @@ (btr:remove-object btr:*current-bullet-world* 'o2))) (define-test detach-object-partially-same-object-to-two-links - ;; Detaches object which was attached to two links partially of the robot and checks if it is removed properly - ;; in the list under the name of the item attached. Moreover, it should not touch other object attachments. + ;; Detaches object which was attached to two links partially of the robot + ;; and checks if it is removed properly in the list under the name + ;; of the item attached. Moreover, it should not touch other object attachments. (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) - (btr-utils:spawn-object 'o2 :mug :pose + (btr-utils:spawn-object 'o2 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o2) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o2) :link link1) ;;'((o1 - ;; (list of attachments) <- link1 (x), link2 + ;; (list of attachments) <- link1 (x), link2 ;; collision-info of o1) ;; (o2 ;; (list of attachments) <- link1 ;; collision-info of o2)) ;; ;; marked (x) should be removed - (btr:detach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) + (btr:detach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) (lisp-unit:assert-false (find link1 (car (cdr (assoc 'o1 (btr:attached-objects (btr:get-robot-object))))) @@ -201,33 +223,38 @@ (btr:remove-object btr:*current-bullet-world* 'o2))) (define-test updated-link-in-attachment-with-attachment-attached-to-one-link - ;; Tests if the function updated-link-in-attachment work as the doc of it explains + ;; Tests if the function updated-link-in-attachment work as the doc of + ;; it explains (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link "base_link")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link) ;;'((o1 - ;; (list of attachments) <- link1, link2 + ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) (lisp-unit:assert-false (btr::updated-link-in-attachment (gethash link (cl-urdf:links (btr:urdf (btr:get-robot-object)))) (first (btr::attached-objects (btr:get-robot-object))))) - (lisp-unit:assert-number-equal 0 (length (gethash 'o1 btr::*updated-attachments*))) - (lisp-unit:assert-false (gethash 'o1 btr::*updated-attachments*)) - + (lisp-unit:assert-number-equal 0 (length (gethash 'o1 (btr::get-updated-attachments)))) + (lisp-unit:assert-false (gethash 'o1 (btr::get-updated-attachments))) + (btr:remove-object btr:*current-bullet-world* 'o1))) (define-test updated-link-in-attachment-with-attachment-attached-to-two-links - ;; Tests if the function updated-link-in-attachment work as the doc of it explains + ;; Tests if the function updated-link-in-attachment work as the doc of + ;; it explains (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) ;;'((o1 ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) @@ -235,26 +262,29 @@ (btr::updated-link-in-attachment (gethash link1 (cl-urdf:links (btr:urdf (btr:get-robot-object)))) (first (btr::attached-objects (btr:get-robot-object))))) - (lisp-unit:assert-number-equal 1 (length (gethash 'o1 btr::*updated-attachments*))) - (lisp-unit:assert-equal link1 (first (gethash 'o1 btr::*updated-attachments*))) - + (lisp-unit:assert-number-equal 1 (length (gethash 'o1 (btr::get-updated-attachments)))) + (lisp-unit:assert-equal link1 (first (gethash 'o1 (btr::get-updated-attachments)))) + (lisp-unit:assert-true (btr::updated-link-in-attachment (gethash link2 (cl-urdf:links (btr:urdf (btr:get-robot-object)))) (first (btr::attached-objects (btr:get-robot-object))))) - (lisp-unit:assert-false (gethash 'o1 btr::*updated-attachments*)) - + (lisp-unit:assert-false (gethash 'o1 (btr::get-updated-attachments))) + (btr:remove-object btr:*current-bullet-world* 'o1))) (define-test updated-link-in-attachment-negative - ;; Tests if the function updated-link-in-attachment work if it gets invalid input + ;; Tests if the function updated-link-in-attachment work if it gets + ;; invalid input (setup-world) - (btr-utils:spawn-object 'o1 :mug :pose + (btr-utils:spawn-object 'o1 :mug :pose '((-1 0.0 0.92)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) ;;'((o1 ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) @@ -262,61 +292,72 @@ (btr::updated-link-in-attachment (gethash "asdasdasd" (cl-urdf:links (btr:urdf (btr:get-robot-object)))) (first (btr::attached-objects (btr:get-robot-object))))) - (lisp-unit:assert-false (gethash 'o1 btr::*updated-attachments*)) - + (lisp-unit:assert-false (gethash 'o1 (btr::get-updated-attachments))) + (btr:remove-object btr:*current-bullet-world* 'o1))) (define-test setf-pose-robot-object-with-one-attached-object-to-one-link - ;; Tests if the attached object gets properly positioned if it is attached to two links - ;; and the robot moves and rotates + ;; Tests if the attached object gets properly positioned if it is + ;; attached to two links and the robot moves and rotates (setup-world) (setf (pose (btr:get-robot-object)) (cl-transforms:make-pose - (cl-tf:make-3d-vector 0 0 0) - (cl-transforms:make-quaternion 0 0 0 1))) - (btr-utils:spawn-object 'o1 :mug :pose + (cl-transforms:make-3d-vector 0 0 0) + (cl-transforms:make-quaternion + 0 0 0 1))) + (btr-utils:spawn-object 'o1 :mug :pose '((0.2 0.0 0.9)(0 0 0 1))) (let ((link "base_link")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link) ;;'((o1 - ;; (list of attachments) <- link1, link2 + ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) (setf (pose (btr:get-robot-object)) (cl-transforms:make-pose - (cl-tf:make-3d-vector 0.2 0 0) - (cl-transforms:make-quaternion 0 0 1 1))) + (cl-transforms:make-3d-vector 0.2 0 0) + (cl-transforms:make-quaternion + 0 0 1 1))) (lisp-unit:assert-equal (list 0.2d0 0.2d0 0.9d0) - (vector->list (cl-transforms:origin (pose (object *current-bullet-world* 'o1))))) + (vector->list (cl-transforms:origin (pose (object *current-bullet-world* + 'o1))))) (lisp-unit:assert-equal (list 0.7071067690849304d0 0.0d0 0.0d0 0.7071067690849304d0) - (orientation->list (cl-transforms:orientation (pose (object *current-bullet-world* 'o1))))) - + (orientation->list (cl-transforms:orientation (pose (object *current-bullet-world* + 'o1))))) + (btr:remove-object btr:*current-bullet-world* 'o1))) (define-test setf-pose-robot-object-with-one-attached-object-to-two-different-links - ;; Tests if the attached object gets properly positioned if it is attached to two links - ;; and the robot moves and rotates + ;; Tests if the attached object gets properly positioned if it is + ;; attached to two links and the robot moves and rotates (setup-world) (setf (pose (btr:get-robot-object)) (cl-transforms:make-pose - (cl-tf:make-3d-vector 0 0 0) - (cl-transforms:make-quaternion 0 0 0 1))) - (btr-utils:spawn-object 'o1 :mug :pose + (cl-transforms:make-3d-vector 0 0 0) + (cl-transforms:make-quaternion + 0 0 0 1))) + (btr-utils:spawn-object 'o1 :mug :pose '((0.2 0.0 0.9)(0 0 0 1))) (let ((link1 "base_link") (link2 "base_footprint")) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link1) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o1) :link link2) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link1) + (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* + 'o1) :link link2) ;;'((o1 - ;; (list of attachments) <- link1, link2 + ;; (list of attachments) <- link1, link2 ;; collision-info of o1)) (setf (pose (btr:get-robot-object)) (cl-transforms:make-pose - (cl-tf:make-3d-vector 0.2 0 0) - (cl-transforms:make-quaternion 0 0 1 1))) + (cl-transforms:make-3d-vector 0.2 0 0) + (cl-transforms:make-quaternion + 0 0 1 1))) (lisp-unit:assert-equal (list 0.2d0 0.2d0 0.9d0) - (vector->list (cl-transforms:origin (pose (object *current-bullet-world* 'o1))))) + (vector->list (cl-transforms:origin (pose (object *current-bullet-world* + 'o1))))) (lisp-unit:assert-equal (list 0.7071067690849304d0 0.0d0 0.0d0 0.7071067690849304d0) - (orientation->list (cl-transforms:orientation (pose (object *current-bullet-world* 'o1))))) - + (orientation->list (cl-transforms:orientation (pose (object *current-bullet-world* + 'o1))))) + (btr:remove-object btr:*current-bullet-world* 'o1))) diff --git a/cram_3d_world/cram_bullet_reasoning/tests/robot-model-utils-tests.lisp b/cram_3d_world/cram_bullet_reasoning/tests/robot-model-utils-tests.lisp index e209b337e0..318168192b 100644 --- a/cram_3d_world/cram_bullet_reasoning/tests/robot-model-utils-tests.lisp +++ b/cram_3d_world/cram_bullet_reasoning/tests/robot-model-utils-tests.lisp @@ -30,37 +30,124 @@ (in-package :btr-tests) (defun clean-environment (from) - (mapcar (lambda (name) (btr:remove-object btr:*current-bullet-world* name)) from)) + (mapcar (lambda (name) + (btr:remove-object btr:*current-bullet-world* name)) + from)) (defun spawn-objects-with-same-pose (names) - (mapcar (lambda (name) (btr-utils:spawn-object name :mug :pose '((0 0 0) (0 0 0 1)))) names)) - + (mapcar (lambda (name) + (btr-utils:spawn-object name :mug :pose '((0 0 2.0) (0 0 0 1)))) + names)) + (define-test robot-attached-objects-in-collision-negative - ;; Tests if the function returns nil since not one object is attached to - ;; a robot link. + ;; Tests if the function returns nil since not one object is attached + ;; to a robot link. (setup-world) (spawn-objects-with-same-pose '(o oo)) (assert-false (btr:robot-attached-objects-in-collision)) ;; -> no collision (clean-environment '(o oo))) (define-test robot-attached-objects-in-collision-positive - ;; Tests if the function registers a collision since one of the objects is - ;; attached to the robot and the other is in collision to the attached object. + ;; Tests if the function registers a collision since one of the objects + ;; is attached to the robot and the other is in collision to the + ;; attached object. (setup-world) (spawn-objects-with-same-pose '(o oo)) - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o) :link "base_footprint") + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'o) + :link "base_footprint") (assert-true (btr:robot-attached-objects-in-collision)) ;; -> collision (clean-environment '(o oo))) (define-test robot-attached-objects-in-collision-negative-because-of-attachment - ;; Since the robot can attach things made of items attached to each other, there should not be - ;; a collision if the robot attaches one of these things. Even if the items in the "thing" are - ;; in collision to each other. + ;; Since the robot can attach things made of items attached to each other, + ;; there should not be a collision if the robot attaches one of + ;; these things. Even if the items in the "thing" are in collision + ;; to each other. (setup-world) (spawn-objects-with-same-pose '(o oo)) - ;; "thing" 'o: 'oo is attached to 'o with the same pose, therefore they are in collision. + ;; "thing" 'o: 'oo is attached to 'o with the same pose, therefore + ;; they are in collision. (btr:attach-object 'o 'oo) ;; attach "thing" 'o to a robot link - (btr:attach-object (btr:get-robot-object) (btr:object btr:*current-bullet-world* 'o) :link "base_footprint") + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* 'o) + :link "base_footprint") (assert-false (btr:robot-attached-objects-in-collision)) ;; -> no collision (clean-environment '(o oo))) + +(define-test robot-attached-objects-in-collision-positive-colliding-with-floor + (setup-world) + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + ;; spawn plate intersecting the floor + (btr-utils:spawn-object :plate-1 :plate :pose '((0.9 0 0.0) (0.7 0 0 0.7)) :mass 1.0) + ;; attach plate to the robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* :plate-1) + :link "r_wrist_roll_link" :loose nil :grasp :front) + ;; check for collisions + (assert-equal '(:FLOOR) (mapcar #'btr:name (btr::robot-attached-objects-in-collision))) + (clean-environment '(:plate-1))) + +(define-test robot-attached-objects-in-collision-positive-environment-collisions + (setup-world) + (spawn-robot) + (spawn-environment) + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + ;; spawn basket which is in collision with the environment + (btr:add-object btr:*current-bullet-world* :basket + :basket-1 + '((1.2 0 0.8) (0.0 0 0 1.0)) + :length 0.2 :width 0.2 :height 0.2) + ;; attach basket to robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* :basket-1) + :link "r_wrist_roll_link" :loose nil :grasp :front) + ;; check for collision + (assert-equal (list (rob-int:get-environment-name)) + (mapcar #'btr:name (btr::robot-attached-objects-in-collision))) + ;; spawn plate on sink area surface ... + (btr-utils:spawn-object :plate-1 :plate :pose '((1.5 0.5 0.9) (0.0 0 0 1.0))) + ;; ... and attach it to the environment + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* + :plate-1) + :link "sink_area_surface") + ;; and check for collisions again + (assert-equal (list (rob-int:get-environment-name)) + (mapcar #'btr:name (btr::robot-attached-objects-in-collision))) + (clean-environment '(:basket-1 :plate-1))) + +(define-test robot-attached-objects-in-collision-negative-environment-collisions + (setup-world) + (spawn-robot) + (spawn-environment) + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + ;; spawn basket which is in collision with the environment + (btr:add-object btr:*current-bullet-world* :basket + :basket-1 + '((1.2 0 0.8) (0.0 0 0 1.0)) + :length 0.2 :width 0.2 :height 0.2) + ;; attach basket to robot + (btr:attach-object (btr:get-robot-object) + (btr:object btr:*current-bullet-world* :basket-1) + :link "r_wrist_roll_link" :loose nil :grasp :front) + ;; spawn plate on sink area surface ... + (btr-utils:spawn-object :plate-1 :plate :pose '((1.5 0.5 0.9) (0.0 0 0 1.0))) + ;; ... and attach it to the environment + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* :plate-1) + :link "sink_area_surface") + ;; attach basket to the environment + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* :basket-1) + :link "sink_area_surface") + ;; check collisions again + (assert-false (mapcar #'btr:name (btr::robot-attached-objects-in-collision))) + (clean-environment '(:basket-1 :plate-1))) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/cram-bullet-reasoning-belief-state.asd b/cram_3d_world/cram_bullet_reasoning_belief_state/cram-bullet-reasoning-belief-state.asd index 11e7b58d55..25d63d5a26 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/cram-bullet-reasoning-belief-state.asd +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/cram-bullet-reasoning-belief-state.asd @@ -30,27 +30,32 @@ :author "Lorenz Moesenlechner" :license "BSD" - :depends-on (cram-prolog + :depends-on (roslisp + roslisp-utilities ; for ros-init-function-s for time + + cl-transforms + cl-transforms-stamped + cl-tf ; for tf broadcaster and for setting transforms from bullet to tf + + cram-prolog cram-utilities cram-projection cram-designators cram-process-modules ; for world-state-detecting motion + cram-occasions-events + cram-language ; for DEFINE-TASK-VARIABLE in utitlities + + cram-tf cram-common-designators ; for world-state-detecting motion cram-common-failures ; for world-state-detecting motion - cram-bullet-reasoning - cram-occasions-events cram-plan-occasions-events - cram-language ; for DEFINE-TASK-VARIABLE in utitlities - cram-physics-utils ; for object designator mesh stuff - ;; ros-init-function-s for time - roslisp-utilities - roslisp cram-robot-interfaces - cram-tf - cl-tf ; for tf broadcaster and for setting transforms from bullet to tf - cl-transforms-stamped - cl-transforms + cram-manipulation-interfaces + + cram-physics-utils ; for object designator mesh stuff cl-bullet + cram-bullet-reasoning + tf2_msgs-msg geometry_msgs-msg shape_msgs-msg) @@ -65,5 +70,7 @@ (:file "environment-joint-publisher" :depends-on ("package")) (:file "object-perceptions" :depends-on ("package")) (:file "occasions" :depends-on ("package" "object-perceptions")) - (:file "event-handlers" :depends-on ("package" "object-perceptions")) - (:file "process-modules" :depends-on ("package")))))) + (:file "world-state-detecting" :depends-on ("package")) + (:file "event-handlers" :depends-on ("package" + "object-perceptions" + "world-state-detecting")))))) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/package.xml b/cram_3d_world/cram_bullet_reasoning_belief_state/package.xml index e4af15f9fe..e7c20e867c 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/package.xml +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/package.xml @@ -15,30 +15,35 @@ catkin + roslisp + roslisp_utilities + + cl_transforms + cl_transforms_stamped + cl_tf + cram_prolog cram_utilities cram_projection cram_designators cram_process_modules + cram_occasions_events + cram_language + + cram_tf cram_common_designators cram_common_failures - cram_bullet_reasoning - cram_occasions_events cram_plan_occasions_events - cram_language - cram_physics_utils - roslisp_utilities - roslisp cram_robot_interfaces - cram_tf - cl_tf - cl_transforms_stamped - cl_transforms + cram_manipulation_interfaces + + cram_physics_utils cl_bullet + cram_bullet_reasoning + tf2_msgs geometry_msgs shape_msgs - diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp index 531fd13a40..b2b30055b9 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -28,90 +28,108 @@ (in-package :cram-bullet-reasoning-belief-state) -(defvar *kitchen-urdf* nil) -(defparameter *robot-parameter* "robot_description") -(defparameter *kitchen-parameter* "kitchen_description") (defparameter *spawn-debug-window* t "If the debug window should be spawned when belief state is set up.") -(defun replace-all (string part replacement &key (test #'char=)) - "Returns a new string in which all the occurences of the part -is replaced with replacement. - Taken from Common Lisp Cookbook." - (with-output-to-string (out) - (loop with part-length = (length part) - for old-pos = 0 then (+ pos part-length) - for pos = (search part string - :start2 old-pos - :test test) - do (write-string string out - :start old-pos - :end (or pos (length string))) - when pos do (write-string replacement out) - while pos))) - (defun average (min max) (+ min (/ (- max min) 2))) (defun setup-world-database () - (let ((robot (or rob-int:*robot-urdf* - (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf - (replace-all (roslisp:get-param *robot-parameter*) "\\" " "))))) - ;; TODO get rid of replace-all and instead fix the URDF of our real PR2 - (kitchen (or *kitchen-urdf* - (let ((kitchen-urdf-string - (roslisp:get-param *kitchen-parameter* nil))) - (when kitchen-urdf-string - (setf *kitchen-urdf* (cl-urdf:parse-urdf - kitchen-urdf-string))))))) + ;; make a clean world instance + (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) - ;; set robot's URDF root link to *robot-base-frame* as that's how going actions works - (setf (slot-value rob-int:*robot-urdf* 'cl-urdf:root-link) - (or (gethash cram-tf:*robot-base-frame* - (cl-urdf:links rob-int:*robot-urdf*)) - (error "[setup-bullet-world] cram-tf:*robot-base-frame* was undefined or smt."))) + ;; get the environment URDF from the ROS parameter server + (let ((kitchen-urdf-string + (roslisp:get-param rob-int:*environment-description-parameter* nil))) + (when kitchen-urdf-string + (setf rob-int:*environment-urdf* (cl-urdf:parse-urdf kitchen-urdf-string)))) - (assert - (cut:force-ll - (prolog `(and - (btr:bullet-world ?w) - ,@(when *spawn-debug-window* - '((btr:debug-window ?w))) - (btr:assert ?w (btr:object :static-plane :floor ((0 0 0) (0 0 0 1)) - :normal (0 0 1) :constant 0 - :collision-mask (:default-filter))) - (btr:assert ?w (btr:object :urdf :kitchen ((0 0 0) (0 0 0 1)) - :collision-group :static-filter - :collision-mask (:default-filter - :character-filter) - ,@(when kitchen - `(:urdf ,kitchen)) - :compound T)) - (-> (rob-int:robot ?robot) - (and (btr:assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) - ;; :color (0.9 0.9 0.9 1.0) - :urdf ,robot)) - (rob-int:robot-joint-states ?robot :arm :left :park ?left-joint-states) - (assert (btr:joint-state ?world ?robot ?left-joint-states)) - (rob-int:robot-joint-states ?robot :arm :right :park ?right-joint-states) - (assert (btr:joint-state ?world ?robot ?right-joint-states)) - (rob-int:robot-torso-link-joint ?robot ?_ ?torso-joint) - (rob-int:joint-lower-limit ?robot ?torso-joint ?lower-limit) - (rob-int:joint-upper-limit ?robot ?torso-joint ?upper-limit) - (lisp-fun average ?lower-limit ?upper-limit ?average-joint-value) - (assert (btr:joint-state ?world ?robot - ((?torso-joint ?average-joint-value))))) - (warn "ROBOT was not defined. Have you loaded a robot package?")))))))) + ;; get the robot URDF from the ROS parameter server + ;; TODO get rid of replace-all and instead fix the URDF of our real PR2 + (setf rob-int:*robot-urdf* + (cl-urdf:parse-urdf + (cut:replace-all + (roslisp:get-param rob-int:*robot-description-parameter*) + "\\" " "))) + ;; set robot's URDF root link to *robot-base-frame*, not odom + ;; because that's required for going actions + ;; otherwise lots of problems concerning object-pose in bullet happen + (setf (slot-value rob-int:*robot-urdf* 'cl-urdf:root-link) + (or (gethash cram-tf:*robot-base-frame* + (cl-urdf:links rob-int:*robot-urdf*)) + (error "[setup-bullet-world] cram-tf:*robot-base-frame* ~ + was undefined or smt."))) -(defmethod cram-occasions-events:clear-belief cram-bullet-reasoning-belief-state () - (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) - (setup-world-database) + ;; if root link doesn't have a collision geometry, create a 1 mm box + (unless (cl-urdf:collision (cl-urdf:root-link rob-int:*robot-urdf*)) + (with-slots (cl-urdf:collision) + (cl-urdf:root-link rob-int:*robot-urdf*) + (setf cl-urdf:collision + (let* ((origin-transform + (cl-transforms:make-transform + (cl-transforms:make-3d-vector 0 0 0.001) + (cl-transforms:make-identity-rotation))) + (box-geometry + (make-instance + 'cl-urdf:box + :size (cl-transforms:make-3d-vector 0.001 0.001 0.001))) + (collision + (make-instance + 'cl-urdf:collision + :geometry box-geometry + :origin origin-transform))) + collision)))) + + ;; spawn the floor, the robot and the environment + (assert + (cut:force-ll + (prolog `(and + (btr:bullet-world ?w) + ,@(when *spawn-debug-window* + '((btr:debug-window ?w))) + (btr:assert ?w (btr:object :static-plane :floor ((0 0 0) (0 0 0 1)) + :normal (0 0 1) :constant 0 + :collision-mask (:default-filter))) + (-> (rob-int:environment-name ?environment-name) + (btr:assert ?w (btr:object :urdf ?environment-name + ((0 0 0) (0 0 0 1)) + :collision-group :static-filter + :collision-mask (:default-filter + :character-filter) + ,@(when rob-int:*environment-urdf* + `(:urdf ,rob-int:*environment-urdf*)) + :compound T)) + (warn "ROB-INT:ENVIRONMENT-NAME was not defined. ~ + Have you loaded an environment knowledge package?")) + (-> (rob-int:robot ?robot) + (and (btr:assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) + ;; :color (0.9 0.9 0.9 1.0) + :urdf ,rob-int:*robot-urdf*)) + (-> (rob-int:robot-joint-states ?robot :arm :left :park ?left-joint-states) + (assert (btr:joint-state ?world ?robot ?left-joint-states)) + (true)) + (-> (rob-int:robot-joint-states ?robot :arm :right :park ?right-joint-states) + (assert (btr:joint-state ?world ?robot ?right-joint-states)) + (true)) + (rob-int:robot-torso-link-joint ?robot ?_ ?torso-joint) + (rob-int:joint-lower-limit ?robot ?torso-joint ?lower-limit) + (rob-int:joint-upper-limit ?robot ?torso-joint ?upper-limit) + (lisp-fun average ?lower-limit ?upper-limit ?average-joint-value) + (assert (btr:joint-state ?world ?robot + ((?torso-joint ?average-joint-value))))) + (warn "ROB-INT:ROBOT was not defined. ~ + Have you loaded a robot package?")))))) + + ;; update robot from TF in case we have a real robot (let ((robot-object (btr:get-robot-object))) (if robot-object (btr:set-robot-state-from-tf cram-tf:*transformer* robot-object) (warn "ROBOT was not defined. Have you loaded a robot package?")))) +(defmethod cram-occasions-events:clear-belief cram-bullet-reasoning-belief-state () + (setup-world-database)) + + (defun vary-kitchen-urdf (&optional (new-joint-states ;; '(("sink_area_footprint_joint" @@ -134,7 +152,7 @@ is replaced with replacement. ((-2.30d0 0.5d0 0.0d0) (0 0 0.5 0.5))) ("table_area_main_joint" ((1.6d0 -1.0d0 0.0d0) (0 0 0.5 0.5)))))) - (let ((kitchen-urdf-joints (cl-urdf:joints *kitchen-urdf*))) + (let ((kitchen-urdf-joints (cl-urdf:joints rob-int:*environment-urdf*))) (mapc (lambda (joint-name-poses-list-pair) (destructuring-bind (joint-name poses-list) joint-name-poses-list-pair diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/broadcaster.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/broadcaster.lisp index b63ab3f6c8..ad82beaf16 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/broadcaster.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/broadcaster.lisp @@ -31,11 +31,10 @@ (defun get-bullet-object-transforms () (let ((item-name-pose-list - (cut:force-ll - (cut:lazy-mapcar - (lambda (bindings) - (list (cut:var-value '?item-name bindings) - (cut:var-value '?item-pose bindings))) + (mapcar (lambda (bindings) + (list (cut:var-value '?item-name bindings) + (cut:var-value '?item-pose bindings))) + (cut:force-ll (prolog:prolog `(and (btr:bullet-world ?world) (btr:item-type ?world ?item-name ?item-type) (btr:%object ?world ?item-name ?item-instance) @@ -44,7 +43,8 @@ (loop for item-name-pose in item-name-pose-list collect (cram-tf:pose->transform-stamped cram-tf:*fixed-frame* - (roslisp-utilities:rosify-underscores-lisp-name (first item-name-pose)) + (roslisp-utilities:rosify-underscores-lisp-name + (first item-name-pose)) time (second item-name-pose))))) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/event-handlers.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/event-handlers.lisp index edd79a5e2b..08389bcca7 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/event-handlers.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/event-handlers.lisp @@ -30,63 +30,203 @@ (in-package :cram-bullet-reasoning-belief-state) +(defun update-object-designator-location (object-designator location-designator) + (desig:make-designator + :object + `((:location ,location-designator) + ,@(remove :location (desig:properties object-designator) :key #'car)) + object-designator)) + +(defun remove-object-designator-location (object-designator) + (desig:make-designator + :object + (remove :location (desig:properties object-designator) :key #'car) + object-designator)) + +(defun make-location-in-attachment (?robot-name ?link) + (desig:a location (in (desig:an object + (type robot) + (name ?robot-name) + (part-of ?robot-name) + (urdf-name ?link))))) + +(defun update-object-designator-with-attachment (object-designator robot-name link) + "Changes the LOCATION key of the designator to a location on robot +and renames POSE into OLD-POSE." + (let* ((properties (desig:properties object-designator)) + (pose-pair (find :pose properties :key #'car)) + (location-in-hand (make-location-in-attachment robot-name link))) + (desig:make-designator + :object + (append (remove pose-pair + (remove :location + (remove :old-pose properties :key #'car) + :key #'car)) + `((:old-pose ,@(rest pose-pair)) + (:location ,location-in-hand))) + object-designator))) + + + +(defmethod cram-occasions-events:on-event object-perceived 2 ((event cpoe:object-perceived-event)) + (if cram-projection:*projection-environment* + ;; if in projection, only add the object name to perceived designators list + (let ((object-data (desig:reference (cpoe:event-object-designator event)))) + (or + (gethash (desig:object-identifier object-data) + *object-identifier-to-instance-mappings*) + (setf (gethash (desig:object-identifier object-data) + *object-identifier-to-instance-mappings*) + (desig:object-identifier object-data)))) + ;; otherwise, spawn a new object in the bullet world + (progn + (register-object-designator-data + (desig:reference (cpoe:event-object-designator event)) + :type (desig:desig-prop-value (cpoe:event-object-designator event) :type)) + ;; after having spawned the object, update the designator to get the + ;; new simulated pose + (desig:equate + (cpoe:event-object-designator event) + (detect-new-object-pose-from-btr (cpoe:event-object-designator event)))))) + + + +(defmethod cram-occasions-events:on-event btr-belief ((event cpoe:object-location-changed)) + ;; update the designator to get the new location + (update-object-designator-location + (cpoe:event-object-designator event) + (cpoe:event-location-designator event))) + + + +(defmethod cram-occasions-events:on-event robot-moved ((event cpoe:robot-state-changed)) + (unless cram-projection:*projection-environment* + (let ((robot (btr:get-robot-object))) + (when robot + (btr:set-robot-state-from-tf + cram-tf:*transformer* + robot + ;; :timestamp (cram-occasions-events:event-timestamp event) + ))))) + + + (defmethod cram-occasions-events:on-event btr-attach-object 2 ((event cpoe:object-attached-robot)) "2 means this method has to be ordered based on integer qualifiers. It could have been 1 but 1 is reserved in case somebody has to be even more urgently executed before everyone else. If there is no other method with 1 as qualifier, this method will be executed always first." - (let* ((robot-object (btr:get-robot-object)) + (let* ((robot-object-name (or (cpoe:event-other-object-name event) + (rob-int:get-robot-name))) + (robot-object (btr:object btr:*current-bullet-world* robot-object-name)) (environment-object (btr:get-environment-object)) (btr-object-name (cpoe:event-object-name event)) (btr-object (btr:object btr:*current-bullet-world* btr-object-name)) - (link (cut:var-value - '?ee-link - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:end-effector-link ?robot ,(cpoe:event-arm event) - ?ee-link)))))) - (grasp (cpoe:event-grasp event))) - (when (cut:is-var link) (error "[BTR-BELIEF OBJECT-ATTACHED] Couldn't find robot's EE link.")) + (arm (cpoe:event-arm event)) + (link (if arm + (cut:var-value + '?ee-link + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:end-effector-link ?robot ,arm ?ee-link))))) + (if (cpoe:event-link event) + (cpoe:event-link event) + (error "[BTR-BELIEF OBJECT-ATTACHED] either link or arm ~ + in object-attached-robot event had to be given...")))) + (grasp (cpoe:event-grasp event)) + (object-designator (cpoe:event-object-designator event))) + (when (cut:is-var link) + (error "[BTR-BELIEF OBJECT-ATTACHED] Couldn't find robot's EE link.")) ;; first detach from environment in case it is attached (when (and (typep environment-object 'btr:robot-object) (btr:object-attached environment-object btr-object)) (btr:detach-object environment-object btr-object)) + ;; also detach the object from other items in case they are attached, + ;; but only detach the loose attachments, because those are the attachments + ;; with the supporting objects. do not destroy the normal attachments, + ;; as those are attachments to the supported objects and we want the + ;; supported objects to still stay with our grasped object + (mapcar (lambda (other-object-name) + (btr:detach-object + btr-object (btr:object btr:*current-bullet-world* other-object-name))) + (btr:get-loose-attached-objects btr-object)) ;; now attach to the robot-object (when btr-object - (if (btr:object-attached robot-object btr-object) - (btr:attach-object robot-object btr-object :link link :loose t :grasp grasp) - (btr:attach-object robot-object btr-object :link link :loose nil :grasp grasp))))) + ;; if the object is already attached to some other robot link + ;; make the old attachment loose, + ;; because the new attachment will take precedence now + (multiple-value-bind (links grasps) + (btr:object-attached robot-object btr-object) + (when links + (mapc (lambda (attached-link grasp) + ;; detach and attach again with loose attachment + (btr:detach-object robot-object btr-object :link attached-link) + (btr:attach-object robot-object btr-object :link attached-link + :loose t + :grasp grasp)) + links grasps))) + ;; attach + (btr:attach-object robot-object btr-object :link link :loose nil :grasp grasp) + ;; invalidate the pose in the designator + (when object-designator + (update-object-designator-with-attachment + object-designator robot-object-name link))))) (defmethod cram-occasions-events:on-event btr-detach-object 2 ((event cpoe:object-detached-robot)) (let* ((robot-object (btr:get-robot-object)) + (environment-object (btr:get-environment-object)) (btr-object-name (cpoe:event-object-name event)) - (link (cut:var-value - '?ee-link - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:end-effector-link ?robot ,(cpoe:event-arm event) - ?ee-link))))))) + (arm (cpoe:event-arm event)) + (link (if arm + (cut:var-value + '?ee-link + (car (prolog:prolog + `(and (cram-robot-interfaces:robot ?robot) + (cram-robot-interfaces:end-effector-link ?robot ,arm + ?ee-link))))) + (if (cpoe:event-link event) + (cpoe:event-link event) + (error "[BTR-BELIEF OBJECT-DETACHED] either link or arm ~ + in object-attached-robot even had to be given..."))))) (when (cut:is-var link) (error "[BTR-BELIEF OBJECT-DETACHED] Couldn't find robot's EE link.")) (if btr-object-name + ;; if btr-object-name was given, detach it from the robot link (let ((btr-object (btr:object btr:*current-bullet-world* btr-object-name))) (when btr-object (btr:detach-object robot-object btr-object :link link) (btr:simulate btr:*current-bullet-world* 10) - ;; finding the link that supports the object now - ;; TODO: This part seems to be buggy, needs more testing. - ;; The part that fails is the environment link, sometimes it gets weird values. - ;; (let ((environment-object (btr:get-environment-object)) - ;; (environment-link (cut:var-value - ;; '?env-link - ;; (car (prolog:prolog - ;; `(and (btr:bullet-world ?world) - ;; (btr:supported-by - ;; ?world ,btr-object-name ?env-name ?env-link))))))) - ;; ;; attaching the link to the object if it finds one. - ;; (unless (cut:is-var environment-link) - ;; (btr:attach-object environment-object btr-object - ;; :link environment-link))) - )) + ;; find the links and items that support the object + ;; and attach the object to them. + ;; links get proper attachments and items loose attachments + (let ((contacting-links + (remove-duplicates + (mapcar + #'cdr + (remove-if-not + ;; filter all the links contacting items to our specific item + (lambda (item-and-link-name-cons) + (equal + (btr:name (car item-and-link-name-cons)) + btr-object-name)) + ;; get all links contacting items in the environment + (btr:link-contacts environment-object))) + :test #'equal)) + (contacting-items + (remove-if-not + (lambda (c) (typep c 'btr:item)) + (btr:find-objects-in-contact btr:*current-bullet-world* btr-object)))) + ;; If a link contacting btr-object was found, btr-object + ;; will be attached to it + ;; also, if btr-object is in contact with an item, + ;; it will be attached loose. + (mapcar (lambda (link-name) + (btr:attach-object environment-object btr-object :link link-name)) + contacting-links) + (mapcar (lambda (item-object) + (when item-object + (btr:attach-object item-object btr-object :loose T))) + contacting-items)))) + ;; if btr-object-name was not given, detach all objects from the robot link (progn (btr:detach-all-from-link robot-object link) (btr:simulate btr:*current-bullet-world* 10))))) @@ -97,7 +237,7 @@ If there is no other method with 1 as qualifier, this method will be executed al (btr-other-object-name (cpoe:event-other-object-name event)) (btr-other-object (btr:object btr:*current-bullet-world* btr-other-object-name)) (attachment-type (cpoe:event-attachment-type event))) - (when (and btr-object btr-other-object) + (when (and btr-object btr-other-object attachment-type) (let* ((btr-object-type (car (slot-value btr-object 'btr::types))) (btr-other-object-type @@ -128,29 +268,12 @@ If there is no other method with 1 as qualifier, this method will be executed al (cram-tf:strip-transform-stamped map-to-object-transform))) (setf (btr:pose btr-object) object-in-map-pose)) - (if (and attachment-type - (prolog `(man-int:unidirectional-attachment ,attachment-type))) + (if (prolog `(man-int:unidirectional-attachment ,attachment-type)) (btr:attach-object btr-other-object btr-object :loose T) (btr:attach-object btr-other-object btr-object))))) -(defmethod cram-occasions-events:on-event robot-moved ((event cpoe:robot-state-changed)) - (unless cram-projection:*projection-environment* - (let ((robot (btr:get-robot-object))) - (when robot - (btr:set-robot-state-from-tf - cram-tf:*transformer* - robot - :timestamp (cram-occasions-events:event-timestamp event))))) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event - btr:*current-bullet-world* - `(location-change robot)))) - - - (defun move-joint-by-event (event open-or-close) (let* ((joint-name (cpoe:environment-event-joint-name event)) (object (cpoe:environment-event-object event)) @@ -190,79 +313,8 @@ If there is no other method with 1 as qualifier, this method will be executed al -(defmethod cram-occasions-events:on-event object-perceived 2 ((event cpoe:object-perceived-event)) - (if cram-projection:*projection-environment* - ;; if in projection, only add the object name to perceived designators list - (let ((object-data (desig:reference (cpoe:event-object-designator event)))) - (or - (gethash (desig:object-identifier object-data) - *object-identifier-to-instance-mappings*) - (setf (gethash (desig:object-identifier object-data) - *object-identifier-to-instance-mappings*) - (desig:object-identifier object-data)))) - ;; otherwise, spawn a new object in the bullet world - (register-object-designator-data - (desig:reference (cpoe:event-object-designator event)) - :type (desig:desig-prop-value (cpoe:event-object-designator event) :type)))) - - - #+old-Lorenzs-stuff-currently-not-used-but-maybe-in-the-future ( - ;; Utility functions - (defun update-object-designator-location (object-designator location-designator) - (desig:make-designator - :object - `((:at ,location-designator) - ,@(remove :at (desig:properties object-designator) :key #'car)) - object-designator)) - - (defun get-supporting-object-bounding-box (object-name) - (cut:with-vars-bound (?supporting-name ?supporting-link) - (cut:lazy-car (prolog - `(or (btr:supported-by ?_ ,object-name ?supporting-name ?supporting-link) - (btr:supported-by ?_ ,object-name ?supporting-name)))) - (unless (cut:is-var ?supporting-name) - (if (cut:is-var ?supporting-link) - (btr:aabb (btr:object btr:*current-bullet-world* ?supporting-name)) - (btr:aabb (gethash - ?supporting-link - (btr:links (btr:object btr:*current-bullet-world* ?supporting-name)))))))) - - (defun make-object-location (object-name) - (let ((object (btr:object btr:*current-bullet-world* object-name))) - (assert object) - (desig:make-designator - :location - `((:pose ,(cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* - (cut:current-timestamp) - (cl-bullet:pose object))))))) - - (defun make-object-location-in-gripper (object gripper-link) - "Returns a new location designator that indicates a location in the - robot's gripper." - (declare (type btr:object object)) - (let* ((object-pose (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* - 0.0 - (btr:pose object))) - (robot (btr:get-robot-object))) - (assert (member gripper-link (btr:object-attached robot object) :test #'equal)) - (let ((supporting-bounding-box (get-supporting-object-bounding-box (btr:name object)))) - (desig:make-designator - :location - `((:in :gripper) (:pose ,(object-pose-in-frame object gripper-link)) - (:z-offset ,(cond (supporting-bounding-box - (- (cl-transforms:z (cl-transforms:origin object-pose)) - (+ (cl-transforms:z - (cl-bullet:bounding-box-center supporting-bounding-box)) - (/ (cl-transforms:z - (cl-bullet:bounding-box-dimensions - supporting-bounding-box)) - 2)))) - (t 0.0)))))))) - (defun object-pose-in-frame (object frame) (declare (type btr:object object) (type string frame)) @@ -276,76 +328,20 @@ If there is no other method with 1 as qualifier, this method will be executed al :target-frame frame :timeout cram-tf:*tf-default-timeout*) :stamp 0.0)) - - - - ;; Additionally changing the object designator of the object - (defmethod cram-occasions-events:on-event attach-objects ((event cpoe:object-attached)) - (let* ((robot (btr:get-robot-object)) - (current-event-object (desig:current-desig (cpoe:event-object event))) - (object (get-designator-object current-event-object))) - (when object - (cond ((btr:object-attached robot object) - ;; If the object is already attached, it is already in - ;; the gripper. In that case, we update the designator - ;; location designator by extending the current location - ;; by a second pose in the gripper. - (btr:attach-object robot object :link (cpoe:event-link event) :loose t) - (desig:with-desig-props (at) current-event-object - (assert (eql (desig:desig-prop-value at :in) :gripper)) - (update-object-designator-location - current-event-object - (desig:extend-designator-properties - at `((:pose ,(object-pose-in-frame object (cpoe:event-link event)))))))) - (t - (btr:attach-object robot object :link (cpoe:event-link event) :loose nil) - (update-object-designator-location - current-event-object - (desig:extend-designator-properties - (make-object-location-in-gripper object (cpoe:event-link event)) - `((:pose ,(object-pose-in-frame object cram-tf:*robot-base-frame*)))))))) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event - btr:*current-bullet-world* - `(pick-up ,(cpoe:event-object event) ,(cpoe:event-side event)))))) - (defmethod cram-occasions-events:on-event detach-objects ((event cpoe:object-detached-robot)) - (let ((robot (btr:get-robot-object)) - (object (get-designator-object (cpoe:event-object event)))) - (when object - (btr:detach-object robot object :link (cpoe:event-link event)) - (btr:simulate btr:*current-bullet-world* 10) - (update-object-designator-location - (desig:current-desig (cpoe:event-object event)) - (make-object-location (get-designator-object-name (cpoe:event-object event))))) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event - btr:*current-bullet-world* - `(put-down ,(cpoe:event-object event) ,(cpoe:event-side event)))) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event - btr:*current-bullet-world* - `(location-change ,(cpoe:event-object event)))))) - - - ;; Additionally updating the semantic map - (defmethod cram-occasions-events:on-event open-or-close-object - ((event cpoe:object-articulation-event)) - (with-slots (cpoe:object-designator cpoe:opening-distance) event - (let ((perceived-object (desig:reference - (desig:newest-effective-designator cpoe:object-designator))) - (semantic-map-object - (cut:with-vars-strictly-bound (?semantic-map) - (cut:lazy-car - (prolog `(and - (btr:bullet-world ?world) - (btr:semantic-map ?world ?semantic-map-name) - (btr:%object ?world ?semantic-map-name ?semantic-map)))) - ?semantic-map))) - (btr:set-articulated-object-joint-position - semantic-map-object - (desig:object-identifier perceived-object) - cpoe:opening-distance)))) + ;; + (defun make-object-location-in-gripper (object gripper-link) + "Returns a new location designator that indicates a location in the + robot's gripper." + (declare (type btr:object object)) + (let* ((object-pose (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* + 0.0 + (btr:pose object))) + (robot (btr:get-robot-object))) + (assert (member gripper-link (btr:object-attached robot object) :test #'equal)) + (let ((supporting-bounding-box (get-supporting-object-bounding-box (btr:name object)))) + (desig:make-designator + :location + `((:in :gripper) + (:pose ,(object-pose-in-frame object gripper-link))))))) ) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/object-perceptions.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/object-perceptions.lisp index ddd96b8a15..fd48a0ab8f 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/object-perceptions.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/object-perceptions.lisp @@ -74,11 +74,54 @@ just updated. Otherwise a new instance is created.")) (when object-name (btr:object btr:*current-bullet-world* object-name)))) +(defmethod register-object-designator-data (data &key type) + (let ((instance-name + (or (gethash (desig:object-identifier data) + *object-identifier-to-instance-mappings*) + (setf (gethash (desig:object-identifier data) + *object-identifier-to-instance-mappings*) + ;; (gensym (string (desig:object-identifier data))) + (desig:object-identifier data)))) + (object-pose + (desig:object-pose data))) + ;; Hack 1: put the object a bit down + ;; as RS always says it's too high after cutting off the plane + (setf object-pose + (cram-tf:translate-pose object-pose + ;; :z -0.04 :y -0.02 :x 0.0 + ;; :z -0.01 + )) + ;; Hack 2: deal with shitty identity resolution on RS / KnowRob side :P + (prolog `(and (btr:bullet-world ?world) + (btr:item-type ?world ?name ,type) + (btr:retract ?world (btr:object ?name)))) + ;; and spawn + (prolog `(and (btr:bullet-world ?world) + (-> (btr:object ?world ,instance-name) + (btr:assert ?world + (btr:object-pose ,instance-name ,object-pose)) + (btr:assert ?world + (btr:object :mesh ,instance-name ,object-pose + :mesh ,type ;; ,(object-mesh data) + :mass 0.2 ;; ,(object-mass data) + ;; :types ,(list type) + ;; :disable-face-culling t + :color ,(if (slot-boundp data 'desig::color) + (desig:object-color data) + '(0.5 0.5 0.5))))))) + ;; simulate world + (btr:simulate btr:*current-bullet-world* 10))) + (defmethod register-object-designator-data ((data cram-physics-utils:object-shape-data-mixin) &key type) (declare (ignore type)) nil) +(defmethod register-object-designator-data + ((data cram-physics-utils:object-point-data-mixin) &key type) + (declare (ignore type)) + nil) + (defmethod register-object-designator-data ((data cram-physics-utils:object-mesh-data-mixin) &key type) (let ((instance-name (or @@ -98,39 +141,6 @@ just updated. Otherwise a new instance is created.")) :types ,(list type) :disable-face-culling t))))))) -(defmethod register-object-designator-data - (data &key type) - (let ((instance-name (or - (gethash (desig:object-identifier data) - *object-identifier-to-instance-mappings*) - (setf (gethash (desig:object-identifier data) - *object-identifier-to-instance-mappings*) - ;; (gensym (string (desig:object-identifier data))) - (desig:object-identifier data))))) - ;; below is a hack to deal with shitty identity resolution on RS / KnowRob side :P - (prolog `(and (btr:bullet-world ?world) - (btr:item-type ?world ?name ,type) - (btr:retract ?world (btr:object ?name)))) - (prolog `(and (btr:bullet-world ?world) - (-> (btr:object ?world ,instance-name) - (btr:assert ?world - (btr:object-pose ,instance-name ,(desig:object-pose data))) - (btr:assert ?world - (btr:object :mesh ,instance-name ,(desig:object-pose data) - :mesh ,type ;; ,(object-mesh data) - :mass 0.2 ;; ,(object-mass data) - ;; :types ,(list type) - ;; :disable-face-culling t - :color ,(if (slot-boundp data 'desig::color) - (desig:object-color data) - '(0.5 0.5 0.5))))) - (btr:simulate ?world 10))))) - -(defmethod register-object-designator-data - ((data cram-physics-utils:object-point-data-mixin) &key type) - (declare (ignore type)) - nil) - (defmethod object-mass ((data cram-physics-utils:object-mesh-data-mixin)) (cram-physics-utils:calculate-mass :mesh :points (cram-physics-utils:vertices data))) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/occasions.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/occasions.lisp index 70792d20c1..0f6701d41f 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/occasions.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/occasions.lisp @@ -1,19 +1,21 @@ +;;; ;;; Copyright (c) 2012, Lorenz Moesenlechner +;;; 2020, Christopher Pollok ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -28,57 +30,405 @@ (in-package :cram-bullet-reasoning-belief-state) -(def-fact-group occasions (cpoe:object-in-hand cpoe:object-picked cpoe:object-placed-at cpoe:loc) - (<- (cpoe:object-in-hand ?object ?side ?grasp) - (btr:bullet-world ?world) - (cram-robot-interfaces:robot ?robot) - (btr:attached ?world ?robot ?link ?object-name ?grasp) - (once - (and (object-designator-name ?object ?object-name) - (desig:obj-desig? ?object))) - (cram-robot-interfaces:end-effector-link ?robot ?side ?link)) +(defparameter *torso-convergence-delta* 0.01 "In meters") +(defparameter *gripper-joint-convergence-delta* 0.005 "In meters") +(defparameter *arm-joints-convergence-delta* 0.0174 "In radians, about 1 deg.") +(defparameter *ee-position-convergence-delta* 0.02 "In meters") +(defparameter *ee-rotation-convergence-delta* 0.07 "In radians, about 4 deg.") +(defparameter *looking-convergence-delta* 0.01 "In meters") +(defparameter *looking-convergence-joints-delta* 0.07 "In radians, about 4 deg.") + +(def-fact-group occasions (cpoe:object-in-hand + cpoe:object-at-location + cpoe:robot-at-location + cpoe:torso-at + cpoe:gripper-joint-at + cpoe:gripper-opened + cpoe:gripper-closed + cpoe:arms-positioned-at + cpoe:tool-frames-at + cpoe:looking-at + cpoe:location-reset) - (<- (cpoe:object-in-hand ?object ?side) - (cpoe:object-in-hand ?object ?side ?_)) + ;; This occasion is defined in cram_urdf_environment_manipulation + ;; (<- (cpoe:container-state ?container-designator ?distance) ...) + ;; if we want the arm, we get it from the link + (<- (cpoe:object-in-hand ?object ?arm ?grasp) + (btr:bullet-world ?world) + (rob-int:robot ?robot) + (btr:attached ?world ?robot ?link ?object-name ?grasp) + (once (and (object-designator-name ?object ?object-name) + (desig:obj-desig? ?object))) + (-> (bound ?arm) + (rob-int:end-effector-link ?robot ?arm ?link) + (once (or (rob-int:end-effector-link ?robot ?arm ?link) + (true))))) + ;; + ;; if we only want to know the link and don't care about the arm + ;; it can be that the arm is not even given in the attachments + ;; so we need a bit of copy paste here... + (<- (cpoe:object-in-hand ?object ?_ ?grasp ?link) + (btr:bullet-world ?world) + (rob-int:robot ?robot) + (btr:attached ?world ?robot ?link ?object-name ?grasp) + (once (and (object-designator-name ?object ?object-name) + (desig:obj-desig? ?object)))) + ;; + (<- (cpoe:object-in-hand ?object ?arm) + (cpoe:object-in-hand ?object ?arm ?_)) + ;; (<- (cpoe:object-in-hand ?object) (setof ?object (cpoe:object-in-hand ?object ?_) ?objects) (member ?object ?objects)) + ;; + (<- (cpoe:object-in-hand ?object :left-or-right) + (or (cpoe:object-in-hand ?object :left) + (cpoe:object-in-hand ?object :right))) - (<- (cpoe:object-picked ?object) - (cpoe:object-in-hand ?object)) - (<- (cpoe:object-placed-at ?object ?location) - (cpoe:loc ?object ?location)) + (<- (cpoe:robot-at-location ?location) + (rob-int:robot ?robot) + (%object-at-location ?_ ?robot ?location)) - (<- (cpoe:loc ?robot ?location) - (cram-robot-interfaces:robot ?robot) - (object-at-location ?_ ?robot ?location)) - (<- (cpoe:loc ?object ?location) - (desig:obj-desig? object) + (<- (cpoe:object-at-location ?object ?location) + (desig:obj-desig? ?object) (object-designator-name ?object ?object-name) - (object-at-location ?_ ?object-name ?location))) + (%object-at-location ?_ ?object-name ?location)) + + + (<- (cpoe:torso-at ?joint-state) + (symbol-value *torso-convergence-delta* ?torso-delta) + (cpoe:torso-at ?joint-state ?torso-delta)) + ;; + (<- (cpoe:torso-at ?joint-state ?delta) + (lisp-type ?joint-state keyword) + (rob-int:robot ?robot) + (rob-int:robot-torso-link-joint ?robot ?_ ?joint) + (rob-int:joint-lower-limit ?robot ?joint ?lower-limit) + (rob-int:joint-upper-limit ?robot ?joint ?upper-limit) + (-> (equal ?joint-state :upper-limit) + (cpoe:torso-at ?upper-limit ?delta) + (-> (equal ?joint-state :lower-limit) + (cpoe:torso-at ?lower-limit ?delta) + (-> (equal ?joint-state :middle) + (and (lisp-fun - ?upper-limit ?lower-limit ?middle-diff) + (lisp-fun / ?middle-diff 2 ?middle-half-diff) + (lisp-fun + ?lower-limit ?middle-half-diff ?middle) + (cpoe:torso-at ?middle ?delta)) + (fail))))) + ;; + (<- (cpoe:torso-at ?joint-state ?delta) + (lisp-type ?joint-state number) + (rob-int:robot ?robot) + (rob-int:robot-torso-link-joint ?robot ?_ ?torso-joint) + (btr:bullet-world ?world) + (btr:joint-state ?world ?robot ?torso-joint ?torso-joint-state) + (lisp-pred cram-tf:values-converged ?torso-joint-state ?joint-state ?delta)) + + (<- (cpoe:gripper-joint-at ?gripper ?joint-state) + (symbol-value *gripper-joint-convergence-delta* ?gripper-delta) + (cpoe:gripper-joint-at ?gripper ?joint-state ?gripper-delta)) + + (<- (cpoe:gripper-joint-at ?gripper ?joint-state ?delta) + (lisp-type ?gripper keyword) + (rob-int:robot ?robot) + (rob-int:gripper-meter-to-joint-multiplier ?robot ?mult) + (lisp-fun * ?joint-state ?mult ?joint-state-mult) + (lisp-fun * ?delta ?mult ?delta-mult) + (forall (rob-int:gripper-joint ?robot ?gripper ?gripper-joint) + (%joint-at ?gripper-joint ?joint-state-mult ?delta-mult))) + + (<- (cpoe:gripper-joint-at ?gripper ?joint-state ?delta) + (lisp-type ?gripper list) + (forall (member ?single-gripper ?gripper) + (cpoe:gripper-joint-at ?single-gripper ?joint-state ?delta))) + + (<- (cpoe:gripper-opened ?gripper) + (symbol-value *gripper-joint-convergence-delta* ?gripper-delta) + (cpoe:gripper-opened ?gripper ?gripper-delta)) + + (<- (cpoe:gripper-opened ?gripper ?delta) + (lisp-type ?gripper keyword) + (rob-int:robot ?robot) + (rob-int:gripper-meter-to-joint-multiplier ?robot ?mult) + (lisp-fun * ?delta ?mult ?delta-mult) + (rob-int:gripper-joint ?robot ?gripper ?_) + (forall (rob-int:gripper-joint ?robot ?gripper ?gripper-joint) + (and (rob-int:joint-upper-limit ?robot ?gripper-joint ?upper-limit) + (%joint-at ?gripper-joint ?upper-limit ?delta-mult)))) + + (<- (cpoe:gripper-opened ?gripper ?delta) + (lisp-type ?gripper list) + (forall (member ?single-gripper ?gripper) + (cpoe:gripper-opened ?single-gripper ?delta))) + + (<- (cpoe:gripper-closed ?gripper) + (symbol-value *gripper-joint-convergence-delta* ?gripper-delta) + (cpoe:gripper-closed ?gripper ?gripper-delta)) + + (<- (cpoe:gripper-closed ?gripper ?delta) + (lisp-type ?gripper keyword) + (rob-int:robot ?robot) + (rob-int:gripper-meter-to-joint-multiplier ?robot ?mult) + (lisp-fun * ?delta ?mult ?delta-mult) + (rob-int:gripper-joint ?robot ?gripper ?gripper-joint) + (forall (rob-int:gripper-joint ?robot ?gripper ?gripper-joint) + (and (rob-int:joint-lower-limit ?robot ?gripper-joint ?lower-limit) + (%joint-at ?gripper-joint ?lower-limit ?delta-mult)))) + (<- (cpoe:gripper-closed ?gripper ?delta) + (lisp-type ?gripper list) + (forall (member ?single-gripper ?gripper) + (cpoe:gripper-closed ?single-gripper ?delta))) + (<- (cpoe:arms-positioned-at ?left-configuration ?right-configuration) + (symbol-value *arm-joints-convergence-delta* ?delta) + (cpoe:arms-positioned-at ?left-configuration ?right-configuration ?delta)) + ;; + (<- (cpoe:arms-positioned-at ?left-config ?right-config ?delta) + (rob-int:robot ?robot) + (-> (lisp-pred identity ?left-config) + (and (man-int:joint-state-for-arm-config ?robot ?left-config :left + ?left-goal-states) + (lisp-pred btr:robot-converged-to-goal-joint-states + ?left-goal-states ?delta)) + (true)) + (-> (lisp-pred identity ?right-config) + (and (man-int:joint-state-for-arm-config ?robot ?right-config :right + ?right-goal-states) + (lisp-pred btr:robot-converged-to-goal-joint-states + ?right-goal-states ?delta)) + (true))) + ;; For checking other than arm configurations, e.g., neck configuration + (<- (cpoe:arms-positioned-at ?effector-type ?effector-name + ?effector-configuration-name ?delta) + (rob-int:robot ?robot) + (rob-int:robot-joint-states ?robot ?effector-type ?effector-name + ?effector-configuration-name + ?effector-joint-states) + (lisp-pred btr:robot-converged-to-goal-joint-states + ?effector-joint-states ?delta)) + + + (<- (cpoe:tool-frames-at ?left-poses ?right-poses) + (symbol-value *ee-position-convergence-delta* ?delta-position) + (symbol-value *ee-rotation-convergence-delta* ?delta-rotation) + (cpoe:tool-frames-at ?left-poses ?right-poses ?delta-position ?delta-rotation)) + ;; + (<- (cpoe:tool-frames-at ?left-poses ?right-poses ?delta-pos ?delta-rot) + (or (and (lisp-pred identity ?left-poses) + (lisp-type ?left-poses list)) + (and (lisp-pred identity ?right-poses) + (lisp-type ?right-poses list))) + (-> (and (lisp-pred identity ?left-poses) + (lisp-type ?left-poses list)) + (and (lisp-fun last ?left-poses ?left-pose-list) + (lisp-fun car ?left-pose-list ?left-pose)) + (equal ?left-poses ?left-pose)) + (-> (and (lisp-pred identity ?right-poses) + (lisp-type ?right-poses list)) + (and (lisp-fun last ?right-poses ?right-pose-list) + (lisp-fun car ?right-pose-list ?right-pose)) + (equal ?right-poses ?right-pose)) + (cpoe:tool-frames-at ?left-pose ?right-pose ?delta-pos ?delta-rot)) + ;; + (<- (cpoe:tool-frames-at ?left-pose ?right-pose ?delta-pos ?delta-rot) + (not (lisp-type ?left-pose cl-transforms-stamped:pose-stamped)) + (not (lisp-type ?right-pose cl-transforms-stamped:pose-stamped)) + (or (lisp-type ?left-pose cl-transforms:pose) + (lisp-type ?right-pose cl-transforms:pose)) + ;; If the pose doesn't have a frame, we have to assume that it's in fixed frame + (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + (-> (lisp-type ?left-pose cl-transforms:pose) + (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 + ?left-pose ?left-pose-stamped) + (equal ?left-pose ?left-pose-stamped)) + (-> (lisp-type ?right-pose cl-transforms:pose) + (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 + ?right-pose ?right-pose-stamped) + (equal ?right-pose ?right-pose-stamped)) + (cpoe:tool-frames-at ?left-pose-stamped ?right-pose-stamped + ?delta-pos ?delta-rot)) + ;; + (<- (cpoe:tool-frames-at ?left-pose-stamped ?right-pose-stamped + ?delta-pos ?delta-rot) + (or (lisp-type ?left-pose-stamped cl-transforms-stamped:pose-stamped) + (lisp-type ?right-pose-stamped cl-transforms-stamped:pose-stamped)) + (rob-int:robot ?robot) + (btr:bullet-world ?world) + (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + (-> (lisp-type ?left-pose-stamped cl-transforms-stamped:pose-stamped) + (and (rob-int:robot-tool-frame ?robot :left ?left-tool-frame) + (btr:link-pose ?world ?robot ?left-tool-frame ?left-tool-pose) + (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 + ?left-tool-pose ?left-tool-pose-stamped) + (lisp-pred cram-tf:pose-stampeds-converged + ?left-tool-pose-stamped ?left-pose-stamped + ?delta-pos ?delta-rot)) + (true)) + (-> (lisp-type ?right-pose-stamped cl-transforms-stamped:pose-stamped) + (and (rob-int:robot-tool-frame ?robot :right ?right-tool-frame) + (btr:link-pose ?world ?robot ?right-tool-frame ?right-tool-pose) + (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 + ?right-tool-pose ?right-tool-pose-stamped) + (lisp-pred cram-tf:pose-stampeds-converged + ?right-tool-pose-stamped ?right-pose-stamped + ?delta-pos ?delta-rot)) + (true))) + + + (<- (cpoe:looking-at ?location-or-object-or-frame-or-direction-or-pose) + (symbol-value *looking-convergence-delta* ?delta) + (cpoe:looking-at ?location-or-object-or-frame-or-direction-or-pose ?delta)) + ;; + (<- (cpoe:looking-at ?object-designator ?delta) + (desig:obj-desig? ?object-designator) + (desig:current-designator ?object-designator ?current-object-desig) + (lisp-fun man-int:get-object-pose-in-map ?current-object-desig ?object-pose) + (cpoe:looking-at ?object-pose ?delta)) + ;; + (<- (cpoe:looking-at ?location-designator ?delta) + (desig:loc-desig? ?location-designator) + (desig:current-designator ?location-designator ?current-location-designator) + (desig:designator-groundings ?current-location-designator ?poses) + ;; Note(gaya): when checking if a goal has been achieved after having performed + ;; the action, it might happen that this implementation will give a + ;; false negative, if the costmap is big. + ;; Although, if this is happening AFTER the action, the designator + ;; must already be resolved, and perhaps the resolved pose will coincide + ;; with what the robot is looking at... + (once (member ?pose ?poses)) + (cpoe:looking-at ?pose ?delta)) + ;; + (<- (cpoe:looking-at ?frame ?delta) + (lisp-type ?frame string) + (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + ;; Don't want to use the transformer in goal proving, so just assume TRUE + ;; (symbol-value cram-tf:*transformer* ?transformer) + ;; (-> (lisp-pred cl-tf:wait-for-transform ?transformer + ;; :source-frame ?frame + ;; :target-frame ?fixed-frame + ;; :timeout 0.1) + ;; (and (lisp-fun lookup-transform-handled ?transformer ?fixed-frame ?frame + ;; ?frame-transform) + ;; (lisp-fun cl-transforms-stamped:stamp ?frame-transform ?stamp) + ;; (lisp-fun cram-tf:transform->pose-stamped ?fixed-frame ?stamp + ;; ?frame-transform ?frame-pose-stamped) + ;; (cpoe:looking-at ?frame-pose-stamped ?delta)) + ;; (fail)) + ) + ;; + (<- (cpoe:looking-at ?direction ?delta) + (lisp-type ?direction keyword) + (rob-int:robot ?robot) + ;; btr:looking-in-direction-p needs a vector, here the direction is a keyword + (or (and (rob-int:robot-pose ?robot :neck ?_ ?direction ?pose-stamped) + (cpoe:looking-at ?pose-stamped ?delta)) + (and (symbol-value *looking-convergence-joints-delta* ?joints-delta) + (cpoe:arms-positioned-at :neck ?_ ?direction ?joints-delta)))) + ;; + (<- (cpoe:looking-at ?pose ?delta) + (not (lisp-type ?pose cl-transforms-stamped:pose-stamped)) + (lisp-type ?pose cl-transforms:pose) + (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 ?pose + ?pose-stamped) + (cpoe:looking-at ?pose-stamped ?delta)) + ;; + (<- (cpoe:looking-at ?pose-stamped-in-map ?delta) + (lisp-type ?pose-stamped-in-map cl-transforms-stamped:pose-stamped) + (lisp-fun cl-transforms-stamped:frame-id ?pose-stamped-in-map ?frame) + (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + (rob-int:robot ?robot) + (rob-int:camera-frame ?robot ?camera-frame) + (btr:bullet-world ?world) + (btr:link-pose ?world ?robot ?camera-frame ?camera-pose) + (-> (lisp-pred string-equal ?frame ?fixed-frame) + (or (lisp-pred btr:looking-at-pose-p ?world ?camera-pose ?pose-stamped-in-map) + (and (rob-int:camera-horizontal-angle ?robot ?camera-angle-h) + (rob-int:camera-vertical-angle ?robot ?camera-angle-v) + (btr:%object ?world ?robot ?robot-object) + (lisp-fun cl-transforms:origin ?pose-stamped-in-map ?target-point) + (lisp-fun cl-transforms:origin ?camera-pose ?camera-point) + (lisp-fun cl-transforms:v- ?target-point ?camera-point ?direction) + (lisp-pred btr:looking-in-direction-p ?robot-object ?camera-frame + ?camera-angle-h ?camera-angle-v ?direction))) + (true)) + ;; Don't want to use the transformer if the pose is not in map. Assume TRUE. + ;; (and (symbol-value cram-tf:*transformer* ?transformer) + ;; (symbol-value cram-tf:*fixed-frame* ?fixed-frame) + ;; (-> (lisp-pred cl-tf:wait-for-transform ?transformer + ;; :source-frame ?camera-frame + ;; :target-frame ?fixed-frame + ;; :timeout 0.1) + ;; (and + ;; (lisp-fun cl-tf:lookup-transform ?transformer ?fixed-frame + ;; ?camera-frame ?camera-transform) + ;; (lisp-fun cl-tf:translation ?camera-transform ?camera-point) + ;; (lisp-fun cl-tf:origin ?pose-stamped ?target-point) + ;; (lisp-fun cl-tf:v- ?target-point ?camera-point ?direction) + ;; (rob-int:camera-horizontal-angle ?robot ?camera-angle-h) + ;; (rob-int:camera-vertical-angle ?robot ?camera-angle-v) + ;; (lisp-pred looking-in-direction ?camera-frame ?camera-angle-h + ;; ?camera-angle-v ?direction)) + ;; (fail))) + ) + + (<- (cpoe:location-reset ?some-location-designator) + (desig:loc-desig? ?some-location-designator) + (desig:current-designator ?some-location-designator ?location-designator) + (-> (or (spec:property ?location-designator (:in ?some-object-designator)) + (spec:property ?location-designator (:above ?some-object-designator))) + (and (desig:desig-prop ?location-designator (?tag ?some-object-designator)) + (desig:current-designator ?some-object-designator ?object-designator) + (-> (or (and (equal :in ?tag) + (man-int:object-is-a-container ?object-designator)) + (and (equal :above ?tag) + (man-int:object-is-a-prismatic-container ?object-designator))) + (cpoe:container-state ?object-designator :close) + (true))) + (true))) + + (<- (cpoe:location-accessible ?some-location-designator) + (desig:loc-desig? ?some-location-designator) + (desig:current-designator ?some-location-designator ?location-designator) + (-> (spec:property ?location-designator (:in ?container-object)) + (and (desig:current-designator ?container-object ?object-designator) + (or (desig:desig-prop ?object-designator (:type :robot)) + (and (rob-int:robot ?robot) + (desig:desig-prop ?object-designator (:part-of ?robot))) + (cpoe:container-state ?object-designator :open))) + ;; Above keyword is inaccessible for prismatic containers like drawers + ;; but not for revolute containers like fridge/oven + (-> (spec:property ?location-designator (:above ?location-object)) + (or (not (man-int:object-is-a-prismatic-container ?location-object)) + (cpoe:container-state ?location-object :open)) + (true))))) + + + +(def-fact-group occasion-utilities (object-designator-name + desig:desig-location-prop) -(def-fact-group occasion-utilities (object-designator-name desig:desig-location-prop) (<- (object-designator-name ?name ?name) (lisp-type ?name symbol)) (<- (object-designator-name ?object-designator ?object-name) (or (and (bound ?object-designator) - (desig:obj-desig? ?object-designator)) + (desig:obj-desig? ?object-designator) + (desig:current-designator ?object-designator + ?current-object-designator) + (desig:desig-prop ?current-object-designator (:name ?object-name))) (and (not (bound ?object-designator)) + ;; all object designators who have the same name should be + ;; perceptions of the same exact object, and, thus, + ;; they should be equated into one chain (lisp-fun unique-object-designators ?object-designators) - (member ?one-object-designator-from-chain ?object-designators) - (desig:current-designator ?one-object-designator-from-chain ?object-designator))) - (lisp-fun get-designator-object-name ?object-designator ?belief-name) - (-> (lisp-pred identity ?belief-name) - (equal ?object-name ?belief-name) - (and (desig:desig-prop ?object-designator (:type ?object-type)) - (btr:bullet-world ?w) - (btr:item-type ?world ?object-name ?object-type)))) + (member ?one-desig-from-chain ?object-designators) + (desig:current-designator ?one-desig-from-chain ?object-designator) + (desig:desig-prop ?object-designator (:name ?object-name))))) (<- (desig:desig-location-prop ?designator ?location) (desig:obj-desig? ?designator) @@ -99,7 +449,7 @@ (btr:object ?_ ?o) (btr:pose ?_ ?o ?loc)) - (<- (object-at-location ?world ?object-name ?location-designator) + (<- (%object-at-location ?world ?object-name ?location-designator) (lisp-type ?location-designator desig:location-designator) (btr:bullet-world ?world) (lisp-fun desig:current-desig ?location-designator ?current-location) @@ -107,17 +457,26 @@ (desig:designator-groundings ?current-location ?_) (or (btr:object-pose ?world ?object-name ?object-pose) (btr:object-bottom-pose ?world ?object-name ?object-pose)) + ;; this only works for location designators that are resolved through costmaps + ;; for others, such as those that are resolved through ATTACHMENT tags, + ;; this does not work... (lisp-pred desig:validate-location-designator-solution ?current-location ?object-pose)) - (<- (object-at-location ?world ?object-name ?location-designator) - (not (bound ?location)) + (<- (%object-at-location ?world ?object-name ?location-designator) + (not (bound ?location-designator)) (btr:bullet-world ?world) (btr:object-pose ?world ?object-name ?object-pose) (symbol-value cram-tf:*fixed-frame* ?fixed-frame) (lisp-fun cl-transforms-stamped:pose->pose-stamped ?fixed-frame 0.0 ?object-pose ?object-pose-stamped) (desig:designator :location ((:pose ?object-pose-stamped)) - ?location-designator))) + ?location-designator)) + + (<- (%joint-at ?joint ?goal-state ?delta) + (rob-int:robot ?robot) + (btr:bullet-world ?world) + (btr:joint-state ?world ?robot ?joint ?state) + (lisp-pred cram-tf:values-converged ?state ?goal-state ?delta))) (defun unique-object-designators () "Returns all designators. For equated designators, only one instance diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp index cf0f8103d2..f972f24d87 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp @@ -42,10 +42,8 @@ ;; occasions #:object-designator-name ;; belief-state - #:*kitchen-urdf* - #:*robot-parameter* #:*kitchen-parameter* #:*spawn-debug-window* #:setup-world-database #:vary-kitchen-urdf - ;; process-modules + ;; world-state-detecting #:world-state-detecting-pm)) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/tf.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/tf.lisp index df3c8ef741..e9f150e928 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/tf.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/tf.lisp @@ -68,7 +68,7 @@ (if (member parent-name bullet-links) (progn (push - (cl-tf:transform->transform-stamped + (cl-transforms-stamped:transform->transform-stamped parent-name link-name time (cl-urdf:origin link-joint)) virtual-joint-transforms) @@ -95,7 +95,7 @@ (warn "Robot was not present in the world. Not going to GET-TRANSFORMS-FROM-BULLET.") (let* (;; global fixed frame and the odom frame are the same (global->odom - (cl-tf:make-transform-stamped + (cl-transforms-stamped:make-transform-stamped fixed-frame odom-frame time (cl-transforms:make-identity-vector) (cl-transforms:make-identity-rotation))) @@ -103,7 +103,7 @@ (robot-pose-in-map (btr:link-pose ?robot-instance base-frame)) (odom->base-frame - (cl-tf:transform->transform-stamped + (cl-transforms-stamped:transform->transform-stamped odom-frame base-frame time (cl-transforms:pose->transform robot-pose-in-map))) ;; the current configuration of robot's Bullet world joints @@ -114,7 +114,7 @@ (loop for link in (btr:link-names ?robot-instance) append (unless (equal link base-frame) (list - (cl-tf:transform->transform-stamped + (cl-transforms-stamped:transform->transform-stamped base-frame link time @@ -131,6 +131,37 @@ list-of-base-frame->link list-of-base-frame->virtual-link))))) +(defun get-environment-transforms-from-bullet (&key + (fixed-frame cram-tf:*fixed-frame*) + (time (cut:current-timestamp))) + "Calculate the transform from fixed frame to all links of environment object. +Assumes that the environment is spawned at the `fixed-frame' origin!" + (let ((environment-instance (btr:get-environment-object))) + (if (not environment-instance) + (warn "Environment was not present in the world.~%~ + Not going to GET-TRANSFORMS-FROM-BULLET for the environment.") + (loop for link in (btr:link-names environment-instance) + append (list + (cl-transforms-stamped:transform->transform-stamped + fixed-frame + link + time + (cl-transforms:reference-transform + (btr:link-pose environment-instance link)))))))) + +(defun get-item-transforms-from-bullet (&key + (fixed-frame cram-tf:*fixed-frame*) + (time (cut:current-timestamp))) + "Calculate the transform from fixed frame to all item objects." + (loop for item in (remove-if-not (lambda (object) + (typep object 'btr:item)) + (btr:objects btr:*current-bullet-world*)) + append (list + (cl-transforms-stamped:transform->transform-stamped + fixed-frame + (roslisp-utilities:rosify-underscores-lisp-name (btr:name item)) + time + (cl-transforms:reference-transform (btr:pose item)))))) (defun set-tf-from-bullet (&key (transformer cram-tf:*transformer*) (fixed-frame cram-tf:*fixed-frame*) @@ -140,14 +171,24 @@ (display-warnings nil)) "Sets the transform from fixed frame to odom and then robot and all robot link transforms" - (let ((transforms + (let ((robot-transforms (get-transforms-from-bullet :fixed-frame fixed-frame :odom-frame odom-frame :base-frame base-frame :time time - :display-warnings display-warnings))) - (dolist (transform transforms) + :display-warnings display-warnings)) + (environment-transforms + (get-environment-transforms-from-bullet + :fixed-frame fixed-frame + :time time)) + (item-transforms + (get-item-transforms-from-bullet + :fixed-frame fixed-frame + :time time))) + (dolist (transform (append robot-transforms + environment-transforms + item-transforms)) (cl-tf:set-transform transformer transform diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/process-modules.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/world-state-detecting.lisp similarity index 100% rename from cram_3d_world/cram_bullet_reasoning_belief_state/src/process-modules.lisp rename to cram_3d_world/cram_bullet_reasoning_belief_state/src/world-state-detecting.lisp diff --git a/cram_3d_world/cram_bullet_reasoning_utilities/src/vis-tools.lisp b/cram_3d_world/cram_bullet_reasoning_utilities/src/vis-tools.lisp index 4d13af49e1..b05ed84862 100644 --- a/cram_3d_world/cram_bullet_reasoning_utilities/src/vis-tools.lisp +++ b/cram_3d_world/cram_bullet_reasoning_utilities/src/vis-tools.lisp @@ -83,5 +83,5 @@ '?transform (car (prolog:prolog `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:standard-to-particular-gripper-transform + (cram-robot-interfaces:standard<-particular-gripper-transform ?robot ?transform))))))))))))) diff --git a/cram_3d_world/cram_fetch_deliver_plans/cram-fetch-deliver-plans.asd b/cram_3d_world/cram_fetch_deliver_plans/cram-fetch-deliver-plans.asd index e186d88140..fd87734af2 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/cram-fetch-deliver-plans.asd +++ b/cram_3d_world/cram_fetch_deliver_plans/cram-fetch-deliver-plans.asd @@ -44,7 +44,9 @@ cram-common-failures cram-mobile-pick-place-plans + cram-robot-interfaces ; at least for (robot ?r) cram-manipulation-interfaces + cram-location-costmap ; for resetting the costmap cache cram-urdf-projection-reasoning ; for projection-based reasoning cram-urdf-environment-manipulation) diff --git a/cram_3d_world/cram_fetch_deliver_plans/package.xml b/cram_3d_world/cram_fetch_deliver_plans/package.xml index 1f74416f9f..13b90008e0 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/package.xml +++ b/cram_3d_world/cram_fetch_deliver_plans/package.xml @@ -21,6 +21,7 @@ cram_prolog cram_common_failures cram_mobile_pick_place_plans + cram_robot_interfaces cram_manipulation_interfaces cram_urdf_projection_reasoning cram_urdf_environment_manipulation diff --git a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-designators.lisp b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-designators.lisp index a70a150d1f..bfc6ba5397 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-designators.lisp +++ b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-designators.lisp @@ -76,8 +76,10 @@ the `look-pose-stamped'." (spec:property ?action-designator (:target ?some-location-designator)) (desig:current-designator ?some-location-designator ?location-designator) ;; robot-location - (lisp-fun calculate-robot-navigation-goal-towards-target ?location-designator - ?robot-rotated-pose) + (-> (man-int:location-always-reachable ?location-designator) + (lisp-fun cram-tf:robot-current-pose ?robot-rotated-pose) + (lisp-fun calculate-robot-navigation-goal-towards-target ?location-designator + ?robot-rotated-pose)) (desig:designator :location ((:pose ?robot-rotated-pose)) ?robot-location) (desig:designator :action ((:type :turning-towards) (:target ?location-designator) @@ -95,8 +97,12 @@ the `look-pose-stamped'." (spec:property ?action-designator (:location ?some-location-designator)) (desig:current-designator ?some-location-designator ?location-designator) ;; object - (desig:desig-prop ?location-designator (:in ?some-object-designator)) + (once (or (spec:property ?location-designator (:in ?some-object-designator)) + (spec:property ?location-designator (:above ?some-object-designator)))) (desig:current-designator ?some-object-designator ?object-designator) + ;; location of the object that we are trying to access + (once (or (spec:property ?object-designator (:location ?object-location-desig)) + (equal ?object-location-desig nil))) ;; arm (-> (spec:property ?action-designator (:arm ?arm)) (true) @@ -110,7 +116,8 @@ the `look-pose-stamped'." (once (or (spec:property ?action-designator (:distance ?distance)) (equal ?distance NIL))) ;; robot-location - (once (or (and (spec:property ?action-designator (:robot-location ?some-robot-location)) + (once (or (and (spec:property ?action-designator (:robot-location + ?some-robot-location)) (desig:current-designator ?robot-location ?robot-location)) (desig:designator :location ((:reachable-for ?robot) (:arm ?arm) @@ -118,6 +125,7 @@ the `look-pose-stamped'." ?robot-location))) (desig:designator :action ((:type ?action-type) (:object ?object-designator) + (:object-location ?object-location-desig) (:arm ?arm) (:distance ?distance) (:robot-location ?robot-location)) @@ -128,21 +136,41 @@ the `look-pose-stamped'." ?resolved-action-designator)) (spec:property ?action-designator (:type :searching)) (rob-int:robot ?robot) - ;; object - (spec:property ?action-designator (:object ?some-object-designator)) - (desig:current-designator ?some-object-designator ?object-designator) - ;; location - (spec:property ?action-designator (:location ?some-location-designator)) - (desig:current-designator ?some-location-designator ?location-designator) + ;; searching for an object or for a location + (once (or (spec:property ?action-designator (:object ?some-obj-desig)) + (and (spec:property ?action-designator (:location ?some-loc-desig)) + (man-int:location-reference-object ?some-loc-desig + ?some-obj-desig)))) + (desig:current-designator ?some-obj-desig ?object-designator) + ;; context + (once (or (spec:property ?action-designator (:context ?context)) + (equal ?context NIL))) + ;; where to look for the given object or the given location's reference object + (-> (and (spec:property ?object-designator (:location ?some-location-designator)) + (not (equal ?some-location-designator NIL))) + (and (desig:current-designator ?some-location-designator ?location-designator) + (equal ?object-designator ?object-designator-with-location)) + (and (spec:property ?object-designator (:type ?object-type)) + (rob-int:environment-name ?environment) + (lisp-fun man-int:get-object-likely-location + ?object-type ?environment nil ?context ?location-designator) + (equal ?new-props ((:location ?location-designator))) + (lisp-fun desig:extend-designator-properties + ?object-designator ?new-props + ?object-designator-with-location) + (lisp-pred desig:equate + ?object-designator ?object-designator-with-location))) ;; robot-location - (once (or (and (spec:property ?action-designator (:robot-location ?some-location-to-stand)) - (desig:current-designator ?some-location-to-stand ?location-to-stand)) + (once (or (and (spec:property ?action-designator (:robot-location + ?some-location-to-stand)) + (desig:current-designator ?some-location-to-stand + ?location-to-stand)) (desig:designator :location ((:visible-for ?robot) (:location ?location-designator) (:object ?object-designator)) ?location-to-stand))) (desig:designator :action ((:type :searching) - (:object ?object-designator) + (:object ?object-designator-with-location) (:location ?location-designator) (:robot-location ?location-to-stand)) ?resolved-action-designator)) @@ -155,26 +183,52 @@ the `look-pose-stamped'." (spec:property ?action-designator (:object ?some-object-designator)) (desig:current-designator ?some-object-designator ?object-designator) ;; arms - (-> (desig:desig-prop ?action-designator (:arms ?arms)) + (-> (spec:property ?action-designator (:arms ?arms)) (true) - (equal ?arms NIL)) + ;; (equal ?arms NIL) + (setof ?arm (man-int:robot-free-hand ?robot ?arm) ?arms)) ;; grasps - (-> (desig:desig-prop ?action-designator (:grasps ?grasps)) + (-> (spec:property ?action-designator (:grasps ?grasps)) (true) + ;; we do not ask for grasps because they are arm-specific! + ;; therefore, projection reasoning is essential for these plans + ;; (lisp-fun man-int:get-action-grasps ?object-type ?arm ?object-transform + ;; ?grasps) (equal ?grasps NIL)) ;; robot-location - (once (or (and (spec:property ?action-designator (:robot-location ?some-location-designator)) - (desig:current-designator ?some-location-designator ?robot-location-designator)) + (once (or (and (spec:property ?action-designator (:robot-location + ?some-location-designator)) + (desig:current-designator ?some-location-designator + ?robot-location-designator)) (desig:designator :location ((:reachable-for ?robot) ;; ?arm is not available because we're sampling ;; (:arm ?arm) - (:object ?object-designator)) + (:object ?object-designator) + ;; have to add the visibility + ;; constraint as he reperceives + ;; each time before grasping + (:visible-for ?robot)) ?robot-location-designator))) + ;; if the object is in the hand or its reference object is in the hand + ;; we need to bring the hand closer to the other hand, e.g., bring to front + (-> (man-int:object-or-its-reference-in-hand ?object-designator ?object-hand) + (equal ?object-in-hand T) + (and (equal ?object-in-hand NIL) + (equal ?object-hand NIL))) ;; look-location - (once (or (and (spec:property ?action-designator (:look-location ?some-look-loc-desig)) - (desig:current-designator ?some-look-loc-desig ?look-location-designator)) - (desig:designator :location ((:of ?object-designator)) - ?look-location-designator))) + (once (or (and (spec:property ?action-designator (:look-location + ?some-look-loc-desig)) + (desig:current-designator ?some-look-loc-desig + ?look-location-designator)) + (-> (or (equal ?object-in-hand NIL) (equal ?object-hand NIL)) + (desig:designator :location ((:of ?object-designator)) + ?look-location-designator) + (and (desig:designator :object ((:part-of ?robot) + (:link :robot-tool-frame) + (:which-link ?object-hand)) + ?object-hand-designator) + (desig:designator :location ((:of ?object-hand-designator)) + ?look-location-designator))))) ;; pick-up-action (once (or (desig:desig-prop ;; spec:property ?action-designator (:pick-up-action ?some-pick-up-action-designator)) @@ -186,7 +240,9 @@ the `look-pose-stamped'." (:grasps ?grasps) (:robot-location ?robot-location-designator) (:look-location ?look-location-designator) - (:pick-up-action ?pick-up-action-designator)) + (:pick-up-action ?pick-up-action-designator) + (:object-in-hand ?object-in-hand) + (:object-hand ?object-hand)) ?resolved-action-designator)) @@ -199,12 +255,33 @@ the `look-pose-stamped'." ;; arm (once (or (spec:property ?action-designator (:arm ?arm)) (equal ?arm NIL))) + ;; context + (once (or (spec:property ?action-designator (:context ?context)) + (equal ?context NIL))) ;; target - (spec:property ?action-designator (:target ?some-location-designator)) - (desig:current-designator ?some-location-designator ?location-designator) + (-> (and (spec:property ?action-designator (:target ?some-location-designator)) + (not (equal ?some-location-designator NIL))) + (desig:current-designator ?some-location-designator ?location-designator) + (and (spec:property ?object-designator (:type ?object-type)) + (rob-int:environment-name ?environment) + (lisp-fun man-int:get-object-destination + ?object-type ?environment nil ?context ?location-designator))) + ;; target stable? or have to check stability first? + (-> (man-int:location-always-stable ?location-designator) + (equal ?target-stable T) + (equal ?target-stable NIL)) + ;; also, the target location can be w.r.t. other object, which can be in hand, + ;; in which case we need to bring the other object hand closer + (-> (and (man-int:location-reference-object ?location-designator ?target-obj) + (cpoe:object-in-hand ?target-obj ?target-hand)) + (equal ?target-in-hand T) + (and (equal ?target-in-hand NIL) + (equal ?target-hand NIL))) ;; robot-location - (once (or (and (spec:property ?action-designator (:robot-location ?some-robot-loc-desig)) - (desig:current-designator ?some-robot-loc-desig ?robot-location-designator)) + (once (or (and (spec:property ?action-designator (:robot-location + ?some-robot-loc-desig)) + (desig:current-designator ?some-robot-loc-desig + ?robot-location-designator)) (desig:designator :location ((:reachable-for ?robot) (:object ?object-designator) (:location ?location-designator)) @@ -219,21 +296,39 @@ the `look-pose-stamped'." (:arm ?arm) (:target ?location-designator) (:robot-location ?robot-location-designator) - (:place-action ?place-action-designator)) + (:place-action ?place-action-designator) + (:target-stable ?target-stable) + (:target-in-hand ?target-in-hand) + (:target-hand ?target-hand)) ?resolved-action-designator)) - (<- (desig:action-grounding ?action-designator (transport ?resolved-action-designator)) + (<- (desig:action-grounding ?action-designator (transport + ?resolved-action-designator)) (spec:property ?action-designator (:type :transporting)) ;; object (spec:property ?action-designator (:object ?some-object-designator)) (desig:current-designator ?some-object-designator ?object-designator) + ;; context + (once (or (spec:property ?action-designator (:context ?context)) + (equal ?context NIL))) ;; search location - (spec:property ?action-designator (:location ?some-search-loc-desig)) - (desig:current-designator ?some-search-loc-desig ?search-location-designator) - (-> (desig:desig-prop ?search-location-designator (:in ?_)) - (equal ?fetching-location-accessible NIL) - (equal ?fetching-location-accessible T)) + (-> (and (spec:property ?object-designator (:location ?some-search-loc-desig)) + (not (equal ?some-search-loc-desig NIL))) + (and (desig:current-designator ?some-search-loc-desig + ?search-location-designator) + (equal ?object-designator-with-location ?object-designator)) + (and (spec:property ?object-designator (:type ?object-type)) + (rob-int:environment-name ?environment) + (lisp-fun man-int:get-object-likely-location + ?object-type ?environment nil ?context + ?search-location-designator) + (equal ?new-props ((:location ?search-location-designator))) + (lisp-fun desig:extend-designator-properties + ?object-designator ?new-props + ?object-designator-with-location) + (lisp-pred desig:equate + ?object-designator ?object-designator-with-location))) ;; search location robot base (-> (desig:desig-prop ?action-designator (:search-robot-location ?some-s-robot-loc-desig)) @@ -247,21 +342,24 @@ the `look-pose-stamped'." ?fetch-robot-location-designator) (equal ?fetch-robot-location-designator NIL)) ;; arms - (-> (desig:desig-prop ?action-designator (:arms ?arms)) + (-> (spec:property ?action-designator (:arms ?arms)) (true) (equal ?arms NIL)) ;; grasps - (-> (desig:desig-prop ?action-designator (:grasps ?grasps)) + (-> (spec:property ?action-designator (:grasps ?grasps)) (true) (equal ?grasps NIL)) - ;; target location - (spec:property ?action-designator - (:target ?some-delivering-location-designator)) - (desig:current-designator ?some-delivering-location-designator - ?delivering-location-designator) - (-> (desig:desig-prop ?delivering-location-designator (:in ?_)) - (equal ?delivering-location-accessible NIL) - (equal ?delivering-location-accessible T)) + ;; deliver location + (-> (and (spec:property ?action-designator + (:target ?some-delivering-location-designator)) + (not (equal ?some-delivering-location-designator NIL))) + (desig:current-designator ?some-delivering-location-designator + ?delivering-location-designator) + (and (spec:property ?object-designator (:type ?object-type)) + (rob-int:environment-name ?environment) + (lisp-fun man-int:get-object-destination + ?object-type ?environment nil ?context + ?delivering-location-designator))) ;; deliver location robot base (-> (desig:desig-prop ?action-designator (:deliver-robot-location ?some-d-robot-loc-desig)) @@ -269,15 +367,16 @@ the `look-pose-stamped'." ?deliver-robot-location-designator) (equal ?deliver-robot-location-designator NIL)) ;; resulting action desig - (desig:designator :action ((:type :transporting) - (:object ?object-designator) - (:search-location ?search-location-designator) - (:search-robot-location ?search-robot-location-designator) - (:fetch-robot-location ?fetch-robot-location-designator) - (:arms ?arms) - (:grasps ?grasps) - (:deliver-location ?delivering-location-designator) - (:deliver-robot-location ?deliver-robot-location-designator) - (:search-location-accessible ?fetching-location-accessible) - (:delivery-location-accessible ?delivering-location-accessible)) - ?resolved-action-designator))) + (desig:designator + :action + ((:type :transporting) + (:object ?object-designator-with-location) + (:context ?context) + (:search-location ?search-location-designator) + (:search-robot-location ?search-robot-location-designator) + (:fetch-robot-location ?fetch-robot-location-designator) + (:arms ?arms) + (:grasps ?grasps) + (:deliver-location ?delivering-location-designator) + (:deliver-robot-location ?deliver-robot-location-designator)) + ?resolved-action-designator))) diff --git a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp index 9decb8f162..f4ce5bb2ab 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp +++ b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp @@ -37,9 +37,7 @@ if yes, perform GOING action while ignoring failures." (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (proj-reasoning:check-navigating-collisions ?navigation-location) (setf ?navigation-location (desig:current-desig ?navigation-location)) @@ -49,6 +47,8 @@ if yes, perform GOING action while ignoring failures." (roslisp:ros-warn (pp-plans navigate) "Low-level navigation failed: ~a~%.Ignoring anyway." e) (return))) + ;; going goal should not be used because we might want to reposition + ;; the base within the same location costmap (exe:perform (desig:an action (type going) (target ?navigation-location))))) @@ -84,26 +84,34 @@ turn the robot base such that it looks in the direction of target and look again (exe:perform (desig:an action (type navigating) (location ?robot-location))) - (exe:perform (desig:an action - (type looking) - (direction forward)))) + (let ((?goal `(cpoe:looking-at :forward))) + (exe:perform (desig:an action + (type looking) + (direction forward) + (goal ?goal))))) (cpl:retry)) (roslisp:ros-warn (pp-plans turn-towards) "Turning around didn't work :'(~%") (cpl:fail 'common-fail:looking-high-level-failure))) - (exe:perform (desig:an action - (type looking) - (target ?look-target))))))) + (let (;; (?goal `(cpoe:looking-at ,?look-target)) + ) + (exe:perform (desig:an action + (type looking) + (target ?look-target) + ;; (goal ?goal) + ))))))) (defun manipulate-environment (&key ((:type action-type)) ((:object ?object-to-manipulate)) + ((:object-location ?object-location)) ((:arm ?arm)) ((:distance ?distance)) ((:robot-location ?manipulate-robot-location)) &allow-other-keys) (declare (type keyword action-type ?arm) (type desig:object-designator ?object-to-manipulate) + (type (or desig:location-designator null) ?object-location) (type (or number null) ?distance) ;; here, ?manipulate-robot-location can only be null within the function ;; but one should not pass a NULL location as argument, @@ -112,6 +120,15 @@ turn the robot base such that it looks in the direction of target and look again "Navigate to reachable location, check if opening/closing trajectory causes collisions, if yes, relocate and retry, if no collisions, open or close container." + ;; Making the containing location accessible before accessing the object + (when (and ?object-location + (eq action-type :accessing)) + (let ((?goal `(cpoe:location-accessible ,?object-location))) + (exe:perform (desig:an action + (type accessing) + (location ?object-location) + (goal ?goal))))) + (cpl:with-failure-handling ((desig:designator-error (e) (roslisp:ros-warn (fd-plans environment) "~a~%Propagating up." e) @@ -130,9 +147,11 @@ if yes, relocate and retry, if no collisions, open or close container." (:error-object-or-string e :warning-namespace (fd-plans environment) :rethrow-failure 'common-fail:environment-manipulation-impossible) - (exe:perform (desig:an action - (type opening-gripper) - (gripper (left right)))) + (let ((?goal `(cpoe:gripper-opened (:left :right)))) + (exe:perform (desig:an action + (type opening-gripper) + (gripper (left right)) + (goal ?goal)))) (roslisp:ros-info (fd-plans environment) "Relocating...")))) ;; navigate, open / close @@ -142,23 +161,44 @@ if yes, relocate and retry, if no collisions, open or close container." (let ((manipulation-action (ecase action-type - (:accessing (desig:an action - (type opening) - (arm ?arm) - (object ?object-to-manipulate) - (desig:when ?distance - (distance ?distance)))) - (:sealing (desig:an action - (type closing) - (arm ?arm) - (object ?object-to-manipulate) - (desig:when ?distance - (distance ?distance))))))) + (:accessing + (let ((?goal + (if ?distance + `(cpoe:container-state ,?object-to-manipulate ,?distance) + `(cpoe:container-state ,?object-to-manipulate :open)))) + (desig:an action + (type opening) + (arm ?arm) + (object ?object-to-manipulate) + (desig:when ?distance + (distance ?distance)) + (goal ?goal)))) + (:sealing + (let ((?goal + (if ?distance + `(cpoe:container-state ,?object-to-manipulate ,?distance) + `(cpoe:container-state ,?object-to-manipulate :closed)))) + (desig:an action + (type closing) + (arm ?arm) + (object ?object-to-manipulate) + (desig:when ?distance + (distance ?distance)) + (goal ?goal))))))) (proj-reasoning:check-environment-manipulation-collisions manipulation-action) (setf manipulation-action (desig:current-desig manipulation-action)) - (exe:perform manipulation-action)))))) + (exe:perform manipulation-action))))) + + ;; Seal the object containing location after sealing the object + (when (and ?object-location + (eq action-type :sealing)) + (let ((?goal `(cpoe:location-reset ,?object-location))) + (exe:perform (desig:an action + (type sealing) + (location ?object-location) + (goal ?goal)))))) (defun search-for-object (&key @@ -203,21 +243,25 @@ retries with different search location or robot base location." (((or common-fail:navigation-goal-in-collision common-fail:looking-high-level-failure common-fail:perception-low-level-failure) (e) + (costmap:reset-costmap-cache) (common-fail:retry-with-loc-designator-solutions ?robot-location robot-location-retries (:error-object-or-string e :warning-namespace (fd-plans search-for-object) - :reset-designators (list ?search-location) - :rethrow-failure 'common-fail:object-nowhere-to-be-found)))) + :reset-designators (list ?search-location ?robot-location) + :rethrow-failure 'common-fail:object-nowhere-to-be-found) + ;; go up with torso to look from higher up + (let ((?goal `(cpoe:torso-at :upper-limit))) + (exe:perform (desig:an action + (type moving-torso) + (joint-angle upper-limit) + (goal ?goal))))))) ;; navigate (exe:perform (desig:an action (type navigating) (location ?robot-location))) - ;; go up with torso to look from higher up - (exe:perform - (desig:an action (type moving-torso) (joint-angle upper-limit))) (cpl:with-retry-counters ((move-torso-retries 1)) (cpl:with-failure-handling @@ -225,8 +269,11 @@ retries with different search location or robot base location." (cpl:do-retry move-torso-retries (roslisp:ros-warn (pick-and-place perceive) "~a" e) ;; if a failure happens, try to go with the torso a bit more down - (exe:perform - (desig:an action (type moving-torso) (joint-angle middle))) + (let ((?goal `(cpoe:torso-at :middle))) + (exe:perform (desig:an action + (type moving-torso) + (joint-angle middle) + (goal ?goal)))) (cpl:retry)))) ;; if perception action fails, try another `?search-location' and retry @@ -241,9 +288,13 @@ retries with different search location or robot base location." :warning-namespace (fd-plans search-for-object) :reset-designators (list ?robot-location))))) - (exe:perform (desig:an action - (type turning-towards) - (target ?search-location))) + (let (;; (?goal `(cpoe:looking-at ,?search-location)) + ) + (exe:perform (desig:an action + (type turning-towards) + (target ?search-location) + ;; (goal ?goal) + ))) (exe:perform (desig:an action (type perceiving) (object ?object-designator))))))))))))) @@ -257,6 +308,8 @@ retries with different search location or robot base location." ((:robot-location ?pick-up-robot-location)) ((:look-location ?look-location)) pick-up-action + object-in-hand + object-hand &allow-other-keys) (declare (type desig:object-designator ?object-designator) (type list ?arms ?grasps) @@ -297,14 +350,43 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." (exe:perform (desig:an action (type navigating) (location ?pick-up-robot-location))) - (exe:perform (desig:an action - (type turning-towards) - (target ?look-location))) + + ;; if fetch location is in hand, we have a handover, + ;; so move the source hand closer + (when object-in-hand + (let ((?goal + (case object-hand + (:left `(cpoe:arms-positioned-at :hand-over nil)) + (:right `(cpoe:arms-positioned-at nil :hand-over)) + (t `(cpoe:arms-positioned-at nil nil))))) + (exe:perform + (desig:an action + (type positioning-arm) + (desig:when (eql object-hand :left) + (left-configuration hand-over)) + (desig:when (eql object-hand :right) + (right-configuration hand-over)) + (goal ?goal))) + (desig:reset ?look-location))) + + (let (;; (?goal `(cpoe:looking-at ,?look-location)) + ) + (exe:perform (desig:an action + (type turning-towards) + (target ?look-location) + ;; (goal ?goal) + ))) (cpl:with-retry-counters ((regrasping-retries 1)) (cpl:with-failure-handling ((common-fail:gripper-low-level-failure (e) (roslisp:ros-warn (fd-plans fetch) "Misgrasp happened: ~a~%" e) + (exe:perform (desig:an action + (type releasing) + (gripper left))) + (exe:perform (desig:an action + (type releasing) + (gripper right))) (cpl:do-retry regrasping-retries (roslisp:ros-info (fd-plans fetch) "Reperceiving and repicking...") (cpl:retry)) @@ -330,7 +412,7 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." arm-retries (:error-object-or-string (format NIL "Manipulation failed: ~a.~%Next." e) - :warning-namespace (kvr plans) + :warning-namespace (fd-plans fetch) :rethrow-failure 'common-fail:object-unreachable) (setf ?arm (cut:lazy-car ?arms))))) @@ -346,37 +428,43 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." grasp-retries (:error-object-or-string (format NIL "Picking up failed: ~a.~%Next" e) - :warning-namespace (kvr plans)) + :warning-namespace (fd-plans fetch)) (setf ?grasp (cut:lazy-car ?grasps))))) - (let ((pick-up-action - ;; if pick-up-action already exists, - ;; use its params for picking up - (or (when pick-up-action - (let* ((referenced-action-desig - (desig:reference pick-up-action)) - (?arm - (desig:desig-prop-value - referenced-action-desig - :arm)) - (?grasp - (desig:desig-prop-value - referenced-action-desig - :grasp))) - (desig:an action - (type picking-up) - (arm ?arm) - (grasp ?grasp) - (object - ?more-precise-perceived-object-desig)))) - (desig:an action - (type picking-up) - (desig:when ?arm - (arm ?arm)) - (desig:when ?grasp - (grasp ?grasp)) - (object - ?more-precise-perceived-object-desig))))) + (let* ((?goal + `(cpoe:object-in-hand + ,?more-precise-perceived-object-desig + :left-or-right)) + (pick-up-action + ;; if pick-up-action already exists, + ;; use its params for picking up + (or (when pick-up-action + (let* ((referenced-action-desig + (desig:reference pick-up-action)) + (?arm + (desig:desig-prop-value + referenced-action-desig + :arm)) + (?grasp + (desig:desig-prop-value + referenced-action-desig + :grasp))) + (desig:an action + (type picking-up) + (arm ?arm) + (grasp ?grasp) + (object + ?more-precise-perceived-object-desig) + (goal ?goal)))) + (desig:an action + (type picking-up) + (desig:when ?arm + (arm ?arm)) + (desig:when ?grasp + (grasp ?grasp)) + (object + ?more-precise-perceived-object-desig) + (goal ?goal))))) (setf pick-up-action (desig:current-desig pick-up-action)) (proj-reasoning:check-picking-up-collisions pick-up-action) @@ -396,6 +484,9 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." ((:target ?target-location)) ((:robot-location ?target-robot-location)) place-action + target-stable + target-in-hand + target-hand &allow-other-keys) (declare (type desig:object-designator ?object-designator) (type (or keyword null) ?arm) @@ -415,10 +506,13 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (cpl:fail 'common-fail:delivering-failed :description "Some designator could not be resolved."))) - (cpl:with-retry-counters ((outer-target-location-retries 2)) + (cpl:with-retry-counters ((outer-target-location-retries 4)) (cpl:with-failure-handling (((or desig:designator-error common-fail:object-undeliverable) (e) + (roslisp:ros-warn (fd-plans deliver) + "outer-target-location-retries ~a~%" + (cpl:get-counter outer-target-location-retries)) (common-fail:retry-with-loc-designator-solutions ?target-location outer-target-location-retries @@ -434,12 +528,16 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (((or common-fail:navigation-goal-in-collision common-fail:object-undeliverable common-fail:manipulation-low-level-failure) (e) + (roslisp:ros-warn (fd-plans deliver) + "relocation-for-ik-retries ~A~%" + (cpl:get-counter relocation-for-ik-retries)) (common-fail:retry-with-loc-designator-solutions ?target-robot-location relocation-for-ik-retries (:error-object-or-string (format NIL "Object is undeliverable from base location.~%~a" e) :warning-namespace (fd-plans deliver) + :reset-designators (list ?target-location) :rethrow-failure 'common-fail:object-undeliverable)))) ;; navigate @@ -448,7 +546,7 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (location ?target-robot-location))) ;; take a new `?target-location' sample if a failure happens - (cpl:with-retry-counters ((target-location-retries 9)) + (cpl:with-retry-counters ((target-location-retries 2)) (cpl:with-failure-handling (((or common-fail:looking-high-level-failure common-fail:object-unreachable @@ -463,10 +561,32 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (roslisp:ros-warn (fd-plans deliver) "Retrying with new placing location ...~%")))) + ;; if target is in hand, we have a handover, + ;; so move target hand closer + (when target-in-hand + (let ((?goal + (case target-hand + (:left `(cpoe:arms-positioned-at :hand-over nil)) + (:right `(cpoe:arms-positioned-at nil :hand-over)) + (t `(cpoe:arms-positioned-at nil nil))))) + (exe:perform + (desig:an action + (type positioning-arm) + (desig:when (eql target-hand :left) + (left-configuration hand-over)) + (desig:when (eql target-hand :right) + (right-configuration hand-over)) + (goal ?goal))) + (desig:reset ?target-location))) + ;; look - (exe:perform (desig:an action - (type turning-towards) - (target ?target-location))) + (let (;; (?goal `(cpoe:looking-at ,?target-location)) + ) + (exe:perform (desig:an action + (type turning-towards) + (target ?target-location) + ;; (goal ?goal) + ))) ;; place (let ((place-action @@ -477,17 +597,25 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (desig:desig-prop-value referenced-action-desig :arm)) (?projected-target-location (desig:desig-prop-value referenced-action-desig :target))) - (desig:an action - (type placing) - (arm ?arm) - (object ?object-designator) - (target ?projected-target-location)))) - (desig:an action - (type placing) - (desig:when ?arm - (arm ?arm)) - (object ?object-designator) - (target ?target-location))))) + (let ((?goal `(cpoe:object-at-location + ,?object-designator + ,?projected-target-location))) + (desig:an action + (type placing) + (arm ?arm) + (object ?object-designator) + (target ?projected-target-location) + (goal ?goal))))) + (let ((?goal `(cpoe:object-at-location + ,?object-designator + ,?target-location))) + (desig:an action + (type placing) + (desig:when ?arm + (arm ?arm)) + (object ?object-designator) + (target ?target-location) + (goal ?goal)))))) ;; test if the placing trajectory is reachable and not colliding (setf place-action (desig:current-desig place-action)) @@ -496,20 +624,18 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat ;; test if the placing pose is a good one -- not falling on the floor ;; test function throws a high-level-failure if not good pose - (proj-reasoning:check-placing-pose-stability - ?object-designator ?target-location) + (unless target-stable + (proj-reasoning:check-placing-pose-stability + ?object-designator ?target-location)) + + (exe:perform place-action) - (exe:perform place-action)))))))))) + (desig:current-desig ?object-designator)))))))))) (defun drop-at-sink () (let ((?base-pose-in-map - ;; (cl-transforms-stamped:make-pose-stamped - ;; cram-tf:*fixed-frame* - ;; 0.0 - ;; (cl-transforms:make-3d-vector 0.7 -0.2 0) - ;; (cl-transforms:make-identity-rotation)) (cl-transforms-stamped:make-pose-stamped cram-tf:*fixed-frame* 0.0 @@ -529,21 +655,22 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (exe:perform (desig:an action (type going) - (target (desig:a location (pose ?base-pose-in-map))))))) - (cpl:with-failure-handling - ((common-fail:manipulation-low-level-failure (e) - (declare (ignore e)) - (return))) - (exe:perform - (desig:an action - (type placing) - ;; (target (desig:a location - ;; (pose ?placing-pose))) - )))) + (target (desig:a location (pose ?base-pose-in-map)))))) + (cpl:with-failure-handling + ((common-fail:manipulation-low-level-failure (e) + (declare (ignore e)) + (return))) + (exe:perform + (desig:an action + (type placing) + ;; (target (desig:a location + ;; (pose ?placing-pose))) + ))))) (defun transport (&key ((:object ?object-designator)) + ((:context ?context)) ((:search-location ?search-location)) ((:search-robot-location ?search-base-location)) ((:fetch-robot-location ?fetch-robot-location)) @@ -551,76 +678,113 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat ((:grasps ?grasps)) ((:deliver-location ?delivering-location)) ((:deliver-robot-location ?deliver-robot-location)) - search-location-accessible - delivery-location-accessible &allow-other-keys) - (unless search-location-accessible + ;; if we are not sure about the exact location of deliver-location, find it + (let ((?goal `(man-int:location-certain ,?delivering-location))) + (exe:perform (desig:an action + (type searching) + (location ?delivering-location) + (goal ?goal)))) + ;; if deliver-location is inside a container, open the container + (let ((?goal `(cpoe:location-accessible ,?delivering-location))) (exe:perform (desig:an action (type accessing) - (location ?search-location)))) - - (unwind-protect - (let ((?perceived-object-designator - (exe:perform (desig:an action - (type searching) - (object ?object-designator) - (location ?search-location) - (desig:when ?search-base-location - (robot-location ?search-base-location)))))) - (roslisp:ros-info (pp-plans transport) - "Found object of type ~a." - (desig:desig-prop-value ?perceived-object-designator :type)) - - ;; If running on the real robot, execute below task tree in projection - ;; N times first, then pick the best parameterization - ;; and use that parameterization in the real world. - ;; If running in projection, just execute the task tree below as normal. - (let (?fetch-pick-up-action ?deliver-place-action) - (proj-reasoning:with-projected-task-tree - (?fetch-robot-location ?fetch-pick-up-action - ?deliver-robot-location ?deliver-place-action) - 3 - #'proj-reasoning:pick-best-parameters-by-distance - - (let ((?fetched-object - (exe:perform (desig:an action - (type fetching) - (desig:when ?arms - (arms ?arms)) - (desig:when ?grasps - (grasps ?grasps)) - (object ?perceived-object-designator) - (desig:when ?fetch-robot-location - (robot-location ?fetch-robot-location)) - (pick-up-action ?fetch-pick-up-action))))) - (roslisp:ros-info (pp-plans transport) "Fetched the object.") - - (cpl:with-failure-handling - ((common-fail:delivering-failed (e) - (declare (ignore e)) - (drop-at-sink) - ;; (return) - )) - (unless delivery-location-accessible - (exe:perform (desig:an action - (type accessing) - (location ?delivering-location)))) - (unwind-protect - (exe:perform (desig:an action - (type delivering) - ;; (desig:when ?arm - ;; (arm ?arm)) - (object ?fetched-object) - (target ?delivering-location) - (desig:when ?deliver-robot-location - (robot-location ?deliver-robot-location)) - (place-action ?deliver-place-action))) - (unless delivery-location-accessible - (exe:perform (desig:an action - (type sealing) - (location ?delivering-location)))))))))) + (location ?delivering-location) + (goal ?goal)))) - (unless search-location-accessible - (exe:perform (desig:an action - (type sealing) - (location ?search-location)))))) + ;; if we are not sure about the exact location of search-location, find it + (let ((?goal `(man-int:location-certain ,?search-location))) + (exe:perform (desig:an action + (type searching) + (location ?search-location) + (goal ?goal)))) + + ;; if search-location is inside a container, open the container + (let ((?goal `(cpoe:location-accessible ,?search-location))) + (exe:perform (desig:an action + (type accessing) + (location ?search-location) + (goal ?goal)))) + + ;; search for the object to find it's exact pose + (exe:perform (desig:an action + (type searching) + (object ?object-designator) + (desig:when ?context + (context ?context)) + (desig:when ?search-base-location + (robot-location ?search-base-location)))) + (setf ?object-designator (desig:current-desig ?object-designator)) + (roslisp:ros-info (pp-plans transport) + "Found object of type ~a." + (desig:desig-prop-value ?object-designator :type)) + + ;; If running on the real robot, execute below task tree + ;; in projection N times first, then pick the best parameterization + ;; and use that parameterization in the real world. + ;; If running in projection, + ;; just execute the task tree below as normal. + (let (?fetch-pick-up-action ?deliver-place-action) + (proj-reasoning:with-projected-task-tree + (?fetch-robot-location + ?fetch-pick-up-action + ?deliver-robot-location + ?deliver-place-action) + 3 + #'proj-reasoning:pick-best-parameters-by-distance + + ;; fetch the object + (let ((?fetch-goal + `(cpoe:object-in-hand + ,?object-designator :left-or-right))) + (exe:perform (desig:an action + (type fetching) + (desig:when ?arms + (arms ?arms)) + (desig:when ?grasps + (grasps ?grasps)) + (object ?object-designator) + (desig:when ?fetch-robot-location + (robot-location ?fetch-robot-location)) + (pick-up-action ?fetch-pick-up-action) + (goal ?fetch-goal)))) + (setf ?object-designator (desig:current-desig ?object-designator)) + (roslisp:ros-info (pp-plans transport) "Fetched the object.") + + (cpl:with-failure-handling + ((common-fail:delivering-failed (e) + (declare (ignore e)) + ;; (return) + (drop-at-sink))) + + ;; deliver at destination + (let ((?goal + `(cpoe:object-at-location + ,?object-designator ,?delivering-location))) + (exe:perform (desig:an action + (type delivering) + ;; (desig:when ?arm + ;; (arm ?arm)) + (object ?object-designator) + (context ?context) + (target ?delivering-location) + (desig:when ?deliver-robot-location + (robot-location ?deliver-robot-location)) + (place-action ?deliver-place-action) + (goal ?goal))))))) + + ;; reset the fetch location + (let ((?goal `(cpoe:location-reset ,?search-location))) + (exe:perform (desig:an action + (type sealing) + (location ?search-location) + (goal ?goal)))) + + ;; reset the target location + (let ((?goal `(cpoe:location-reset ,?delivering-location))) + (exe:perform (desig:an action + (type sealing) + (location ?delivering-location) + (goal ?goal)))) + + (desig:current-desig ?object-designator)) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/cram-urdf-environment-manipulation.asd b/cram_3d_world/cram_urdf_environment_manipulation/cram-urdf-environment-manipulation.asd index 35880e60c5..d61d70d998 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/cram-urdf-environment-manipulation.asd +++ b/cram_3d_world/cram_urdf_environment_manipulation/cram-urdf-environment-manipulation.asd @@ -56,8 +56,7 @@ cram-bullet-reasoning-belief-state cram-bullet-reasoning-utilities - ;; cram-robot-pose-gaussian-costmap - ;; cram-occupancy-grid-costmap + cram-robot-pose-gaussian-costmap cram-location-costmap) :components ((:module "src" diff --git a/cram_3d_world/cram_urdf_environment_manipulation/package.xml b/cram_3d_world/cram_urdf_environment_manipulation/package.xml index c2de27a213..133f8200fa 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/package.xml +++ b/cram_3d_world/cram_urdf_environment_manipulation/package.xml @@ -34,6 +34,5 @@ cram_bullet_reasoning_belief_state cram_bullet_reasoning_utilities cram_robot_pose_gaussian_costmap - cram_occupancy_grid_costmap cram_location_costmap diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/action-designators.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/action-designators.lisp index e6301b9da7..189e4ee777 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/action-designators.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/action-designators.lisp @@ -86,6 +86,11 @@ (lisp-fun btr:object ?world ?btr-environment ?environment-object) (lisp-fun btr:name ?environment-object ?environment-name) + (btr:joint-state ?world ?environment-name ?joint-name ?current-state) + (-> (equal ?action-type :opening) + (lisp-fun + ?current-state ?clipped-distance ?absolute-distance) + (lisp-fun - ?current-state ?clipped-distance ?absolute-distance)) + ;; infer missing information like ?gripper-opening, opening trajectory (lisp-fun man-int:get-action-gripper-opening ?container-type ?gripper-opening) @@ -106,8 +111,8 @@ ;; calculate trajectory (equal (?container-designator) ?objects) (-> (equal ?arm :left) - (and (lisp-fun man-int:get-action-trajectory - ?action-type ?arm NIL ?objects + (and (lisp-fun man-int:get-action-trajectory ?action-type + ?arm NIL NIL ?objects :opening-distance ?clipped-distance :handle-axis ?handle-axis ?left-trajectory) @@ -128,8 +133,8 @@ (equal ?left-manipulate-poses NIL) (equal ?left-retract-poses NIL))) (-> (equal ?arm :right) - (and (lisp-fun man-int:get-action-trajectory - ?action-type ?arm NIL ?objects + (and (lisp-fun man-int:get-action-trajectory ?action-type + ?arm NIL NIL ?objects :opening-distance ?clipped-distance :handle-axis ?handle-axis ?right-trajectory) @@ -152,11 +157,17 @@ (or (lisp-pred identity ?left-trajectory) (lisp-pred identity ?right-trajectory)) + (-> (lisp-pred identity ?left-reach-poses) + (equal ?left-reach-poses (?look-pose . ?_)) + (equal ?right-reach-poses (?look-pose . ?_))) + ;; make new action designator (desig:designator :action ((:type ?action-type) (:arm ?arm) (:gripper-opening ?gripper-opening) (:distance ?clipped-distance) + (:absolute-distance ?absolute-distance) + (:look-pose ?look-pose) (:left-reach-poses ?left-reach-poses) (:right-reach-poses ?right-reach-poses) (:left-grasp-poses ?left-grasp-poses) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/costmaps.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/costmaps.lisp index 90f1ab334b..76a254fdf0 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/costmaps.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/costmaps.lisp @@ -118,13 +118,13 @@ environment, in which it can be found, respectively." (line-equation-in-xy neutral-point manipulated-point) (let* ((P (cl-transforms:make-3d-vector x y 0)) (dist (line-p-dist a b c P)) - ;;(dist-p (line-p-dist-point a b c P)) + (dist-p (line-p-dist-point a b c P)) ) (if (and (< dist (+ (/ width 2) padding)) ;; Commenting this out for now, so there won't be poses in front of the drawer. - ;;(< (cl-transforms:v-norm (cl-transforms:v- dist-p neutral-point)) - ;; (+ (cl-transforms:v-norm V) padding)) + (< (cl-transforms:v-norm (cl-transforms:v- dist-p neutral-point)) + (+ (cl-transforms:v-norm V) padding)) ) 0 1)))))) @@ -308,7 +308,7 @@ to face from `pos1' towards `pos2'." (p-rel (cl-transforms:v- point2 point1))) (atan (cl-transforms:y p-rel) (cl-transforms:x p-rel)))) -(defun make-point-to-point-generator (pos1 pos2 &key (samples 1) sample-step) +(defun make-point-to-point-generator (pos1 pos2 &key (samples 1) sample-step sample-offset) "Returns a function that takes an X and Y coordinate and returns a lazy-list of quaternions to face from `pos1' to `pos2'." (location-costmap:make-orientation-generator @@ -317,7 +317,8 @@ quaternions to face from `pos1' to `pos2'." pos1 pos2) :samples samples - :sample-step sample-step)) + :sample-step sample-step + :sample-offset sample-offset)) (defun angle-halfway-to-point-direction (x y pos1 pos2 target-pos) "Takes an X and Y coordinate and returns a quaternion between the one facing @@ -326,7 +327,7 @@ from pos1 to pos2 and the one facing from (X,Y) to target-pos." (target-direction (costmap::angle-to-point-direction x y target-pos))) (/ (+ pos-direction target-direction) 2))) -(defun make-angle-halfway-to-point-generator (pos1 pos2 target-pos &key (samples 1) sample-step) +(defun make-angle-halfway-to-point-generator (pos1 pos2 target-pos &key (samples 1) sample-step sample-offset) "Returns a function that takes an X and Y coordinate and returns a lazy-list of quaternions facing from (X,Y) halfway to target-pos. Meaning pos1 and pos2 describe a direction and the quaternion is the angle between one facing directly @@ -335,7 +336,8 @@ from (X,Y) to target-pos and the direction between pos1 and pos2." (alexandria:rcurry #'angle-halfway-to-point-direction pos1 pos2 target-pos) :samples samples - :sample-step sample-step)) + :sample-step sample-step + :sample-offset sample-offset)) (defun middle-pose (pose1 pose2) "Take two poses and return a pose in the middle of them. @@ -348,9 +350,9 @@ Disregarding the orientation (using the pose2's)." 0.5))) (cram-tf:translate-pose pose2 - :x-offset (cl-transforms:x translation-to-middle) - :y-offset (cl-transforms:y translation-to-middle) - :z-offset (cl-transforms:z translation-to-middle)))) + :x (cl-transforms:x translation-to-middle) + :y (cl-transforms:y translation-to-middle) + :z (cl-transforms:z translation-to-middle)))) (defmethod costmap:costmap-generator-name->score ((name (eql 'poses-reachable-cost-function))) 10) @@ -373,69 +375,101 @@ Disregarding the orientation (using the pose2's)." (def-fact-group environment-manipulation-costmap (costmap:desig-costmap) (<- (costmap:desig-costmap ?designator ?costmap) - (cram-robot-interfaces:reachability-designator ?designator) + (rob-int:reachability-designator ?designator) (spec:property ?designator (:object ?container-designator)) (spec:property ?container-designator (:type ?container-type)) (man-int:object-type-subtype :container-prismatic ?container-type) (spec:property ?container-designator (:urdf-name ?container-name)) (spec:property ?container-designator (:part-of ?btr-environment)) (spec:property ?designator (:arm ?arm)) + (rob-int:robot ?robot-name) (costmap:costmap ?costmap) - ;; reachability gaussian costmap + (costmap:costmap-in-reach-distance ?robot-name ?distance) + (costmap:costmap-reach-minimal-distance ?robot-name ?minimal-distance) + + ;; reachability range costmap (lisp-fun get-handle-min-max-pose ?container-name ?btr-environment ?poses) - (lisp-fun costmap:2d-pose-covariance ?poses 0.05 (?mean ?covariance)) - (costmap:costmap-add-function - container-handle-reachable-cost-function - (costmap:make-gauss-cost-function ?mean ?covariance) - ?costmap) + (forall (member ?pose ?poses) + (and (instance-of + gaussian-costmap::pose-distribution-range-include-generator + ?include-generator-id) + (costmap:costmap-add-function + ?include-generator-id + (costmap:make-range-cost-function ?pose ?distance) + ?costmap) + (instance-of + gaussian-costmap::pose-distribution-range-exclude-generator + ?exclude-generator-id) + (costmap:costmap-add-function + ?exclude-generator-id + (costmap:make-range-cost-function + ?pose ?minimal-distance :invert t) + ?costmap))) + ;; cutting out drawer costmap - (costmap:costmap-manipulation-padding ?padding) + (costmap:costmap-manipulation-padding ?robot-name ?padding) (costmap:costmap-add-function opened-drawer-cost-function (make-opened-drawer-cost-function ?container-name ?btr-environment ?padding) ?costmap) + ;; cutting out for specific arm costmap (costmap:costmap-add-function opened-drawer-side-cost-function (make-opened-drawer-side-cost-function ?container-name ?arm ?btr-environment) ?costmap) + ;; orientation generator ;; generate an orientation opposite to the axis of the drawer (equal ?poses (?neutral-pose ?manipulated-pose)) - (costmap:orientation-samples ?samples) - (costmap:orientation-sample-step ?sample-step) + (costmap:orientation-samples ?robot-name ?samples) + (costmap:orientation-sample-step ?robot-name ?sample-step) + (once (or (costmap:reachability-orientation-offset ?robot-name ?sample-offset) + (equal ?sample-offset 0.0))) (costmap:costmap-add-orientation-generator (make-angle-halfway-to-point-generator ?manipulated-pose ?neutral-pose ?neutral-pose :samples ?samples - :sample-step ?sample-step) + :sample-step ?sample-step + :sample-offset ?sample-offset) ?costmap)) (<- (costmap:desig-costmap ?designator ?costmap) - (cram-robot-interfaces:reachability-designator ?designator) + (rob-int:reachability-designator ?designator) (spec:property ?designator (:object ?container-designator)) (spec:property ?container-designator (:type ?container-type)) (man-int:object-type-subtype :container-revolute ?container-type) (spec:property ?container-designator (:urdf-name ?container-name)) (spec:property ?container-designator (:part-of ?btr-environment)) (spec:property ?designator (:arm ?arm)) + (rob-int:robot ?robot-name) (costmap:costmap ?costmap) + (costmap:costmap-in-reach-distance ?robot-name ?distance) + (costmap:costmap-reach-minimal-distance ?robot-name ?minimal-distance) - ;; reachability gaussian costmap - (lisp-fun get-handle-min-max-pose ?container-name ?btr-environment (?min-pose ?max-pose)) - (lisp-fun middle-pose ?min-pose ?max-pose ?middle-pose) - ;; TODO(cpo): If you can, please beautifiy this. - (equal (?middle-pose) ?poses) - (lisp-fun costmap:2d-pose-covariance ?poses 0.05 (?mean ?covariance)) - (costmap:costmap-add-function - container-handle-reachable-cost-function - (costmap:make-gauss-cost-function ?mean ?covariance) - ?costmap) + ;; reachability range costmap + (lisp-fun get-handle-min-max-pose ?container-name ?btr-environment ?poses) + (forall (member ?pose ?poses) + (and (instance-of + gaussian-costmap::pose-distribution-range-include-generator + ?include-generator-id) + (costmap:costmap-add-function + ?include-generator-id + (costmap:make-range-cost-function ?pose ?distance) + ?costmap) + (instance-of + gaussian-costmap::pose-distribution-range-exclude-generator + ?exclude-generator-id) + (costmap:costmap-add-function + ?exclude-generator-id + (costmap:make-range-cost-function + ?pose ?minimal-distance :invert t) + ?costmap))) ;; cutting out door costmap - (costmap:costmap-manipulation-padding ?padding) + (costmap:costmap-manipulation-padding ?robot-name ?padding) (costmap:costmap-add-function opened-door-cost-function (make-opened-door-cost-function ?container-name ?btr-environment ?padding) @@ -453,13 +487,11 @@ Disregarding the orientation (using the pose2's)." (lisp-fun cl-urdf:child ?joint ?joint-link) (lisp-fun cl-urdf:name ?joint-link ?joint-name) (lisp-fun get-urdf-link-pose ?joint-name ?btr-environment ?joint-pose) - (costmap:orientation-samples ?samples) - (costmap:orientation-sample-step ?sample-step) + (costmap:orientation-samples ?robot-name ?samples) + (costmap:orientation-sample-step ?robot-name ?sample-step) + (once (or (costmap:reachability-orientation-offset ?robot-name ?sample-offset) + (equal ?sample-offset 0.0))) (costmap:costmap-add-orientation-generator (costmap:make-angle-to-point-generator - ?joint-pose - :samples ?samples - :sample-step ?sample-step) - ?costmap) - ) - ) + ?joint-pose :samples ?samples :sample-step ?sample-step :sample-offset ?sample-offset) + ?costmap))) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/environment-occasions.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/environment-occasions.lisp index 9832ebf9b3..5ee9a16911 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/environment-occasions.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/environment-occasions.lisp @@ -29,12 +29,30 @@ (in-package :env-man) +(defparameter *container-state-convergence-delta* 0.1 "In meters or rad.") + (def-fact-group environment-occasions (cpoe:container-state) + (<- (cpoe:container-state ?container-designator ?distance) + (symbol-value *container-state-convergence-delta* ?delta) + (cpoe:container-state ?container-designator ?distance ?delta)) + + (<- (cpoe:container-state ?container-designator ?distance ?delta) (spec:property ?container-designator (:urdf-name ?container-name)) (spec:property ?container-designator (:part-of ?btr-environment)) (btr:bullet-world ?world) (lisp-fun get-container-link ?container-name ?btr-environment ?container-link) (lisp-fun get-connecting-joint ?container-link ?joint) (lisp-fun cl-urdf:name ?joint ?joint-name) - (btr:joint-state ?world ?btr-environment ?joint-name ?distance))) + (btr:joint-state ?world ?btr-environment ?joint-name ?joint-state) + (or (and (lisp-type ?distance number) + (lisp-pred cram-tf:values-converged ?joint-state ?distance ?delta)) + (and (member ?distance (:open :closed)) + (lisp-fun cl-urdf:limits ?joint ?joint-limits) + (lisp-fun cl-urdf:lower ?joint-limits ?lower-limit) + (lisp-fun cl-urdf:upper ?joint-limits ?upper-limit) + (-> (equal ?distance :open) + (lisp-pred cram-tf:values-converged + ?joint-state ?upper-limit ?delta) + (lisp-pred cram-tf:values-converged + ?joint-state ?lower-limit ?delta)))))) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/environment.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/environment.lisp index 98469976c2..f72f295e74 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/environment.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/environment.lisp @@ -30,7 +30,7 @@ (in-package :env-man) (defun get-current-environment () - (btr:object btr:*current-bullet-world* :kitchen) + (btr:get-environment-object) ;; (find 'btr::urdf-semantic-map-object ;; (btr:objects btr:*current-bullet-world*) ;; :key #'type-of) @@ -38,7 +38,10 @@ (defun get-container-pose-and-transform (name btr-environment) "Return a list of the pose-stamped and transform-stamped of the object named -NAME in the environment BTR-ENVIRONMENT." +`name' in the environment `btr-environment'. +The frame-id will be cram-tf:*robot-base-frame* and the child-frame-id will be the `name'." + (declare (type (or string symbol) name) + (type keyword btr-environment)) (when (symbolp name) (setf name (roslisp-utilities:rosify-underscores-lisp-name name))) @@ -51,9 +54,14 @@ NAME in the environment BTR-ENVIRONMENT." cram-tf:*robot-base-frame* :use-zero-time t)) (transform (cram-tf:pose-stamped->transform-stamped pose name))) - (list pose transform))) + (list + (the cl-transforms-stamped:pose-stamped pose) + (the cl-transforms-stamped:transform-stamped transform)))) (defun get-urdf-link-pose (name btr-environment) + "Return the pose of the object with `name' in `btr-environment'." + (declare (type (or string symbol) name) + (type keyword btr-environment)) (when (symbolp name) (setf name (roslisp-utilities:rosify-underscores-lisp-name name))) @@ -66,29 +74,41 @@ NAME in the environment BTR-ENVIRONMENT." name)))) (defun get-container-link (container-name btr-environment) + "Return the link of the container with `container-name' in the `btr-environment'." + (declare (type (or string symbol) container-name) + (type keyword btr-environment)) (when (symbolp container-name) (setf container-name (roslisp-utilities:rosify-underscores-lisp-name container-name))) - (gethash container-name - (cl-urdf:links - (btr:urdf - (btr:object btr:*current-bullet-world* - btr-environment))))) + (the cl-urdf:link + (gethash container-name + (cl-urdf:links + (btr:urdf + (btr:object btr:*current-bullet-world* + btr-environment)))))) (defun get-container-joint-type (container-name btr-environment) + "Return the joint-type of the container with `container-name' in the `btr-environment'." + (declare (type (or string symbol) container-name) + (type keyword btr-environment)) (find-container-joint-type-under-joint (cl-urdf:from-joint (get-container-link container-name btr-environment)))) (defun find-container-joint-type-under-joint (joint) - "Return the first joint type different from :FIXED under the given JOINT." + "Return the first joint type different from :FIXED under the given `joint'." + (declare (type cl-urdf:joint joint)) (if (eq :FIXED (cl-urdf:joint-type joint)) (find-container-joint-type-under-joint (car (cl-urdf:to-joints (cl-urdf:child joint)))) (cl-urdf:joint-type joint))) (defun get-handle-link (container-name btr-environment) + "Return the link object of the handle of the container with `container-name' in +the `btr-environment' (of type cl-urdf:link)." + (declare (type (or string symbol) container-name) + (type keyword btr-environment)) (when (symbolp container-name) (setf container-name (roslisp-utilities:rosify-underscores-lisp-name container-name))) @@ -96,32 +116,39 @@ NAME in the environment BTR-ENVIRONMENT." (get-container-link container-name btr-environment))) (defun find-handle-under-link (link) - (if (search "handle" (cl-urdf:name link)) - link - (reduce (lambda (&optional x y) (or x y)) - (mapcar 'find-handle-under-link - (mapcar 'cl-urdf:child (cl-urdf:to-joints link)))))) + "Return the link object of the handle under the given `link' object." + (declare (type (or null cl-urdf:link) link)) + (the (or null cl-urdf:link) + (if (search "handle" (cl-urdf:name link)) + link + (reduce (lambda (&optional x y) (or x y)) + (mapcar 'find-handle-under-link + (mapcar 'cl-urdf:child (cl-urdf:to-joints link))))))) (defun get-joint-position (joint btr-environment) - (gethash (cl-urdf:name joint) - (btr:joint-states (btr:object btr:*current-bullet-world* btr-environment)))) + "Return the value of the `joint' in the `btr-environment'." + (declare (type cl-urdf:joint joint) + (type keyword btr-environment)) + (the number + (gethash (cl-urdf:name joint) + (btr:joint-states (btr:object btr:*current-bullet-world* btr-environment))))) (defun get-connecting-joint (part) - "Returns the connecting (moveable) joint of `part', which can be either - a link or a joint of an URDF." - (or - (get-connecting-joint-below part) - (get-connecting-joint-above part))) + "Returns the connecting (moveable) joint of `part' of type cl-urdf:joint." + (declare (type (or cl-urdf:joint cl-urdf:link) part)) + (or (get-connecting-joint-below part) + (get-connecting-joint-above part))) (defun get-connecting-joint-below (part) - "Traverse the URDF downwards to find a connecting joint." + "Traverse the URDF downwards to find a connecting joint and returns it. +The type of return value is cl-urdf:joint. +See `get-connecting-joint' for more info." + (declare (type (or cl-urdf:joint cl-urdf:link) part)) (when part (if (typep part 'cl-urdf:joint) - (or - (when (not (eql (cl-urdf:joint-type part) :FIXED)) - part) - (get-connecting-joint-below (cl-urdf:child part))) - + (or (when (not (eql (cl-urdf:joint-type part) :FIXED)) + part) + (get-connecting-joint-below (cl-urdf:child part))) (when (typep part 'cl-urdf:link) (find-if (lambda (joint) @@ -129,27 +156,35 @@ NAME in the environment BTR-ENVIRONMENT." (cl-urdf:to-joints part)))))) (defun get-connecting-joint-above (part) - "Traverse the URDF upwards to find a connecting joint." + "Traverse the URDF upwards to find a connecting joint and returns it. +The type of return value is cl-urdf:joint. +See `get-connecting-joint' for more info." + (declare (type (or cl-urdf:joint cl-urdf:link) part)) (when part (if (typep part 'cl-urdf:joint) - (or - (when (not (eql (cl-urdf:joint-type part) :FIXED)) - part) - (get-connecting-joint-above (cl-urdf:parent part))) - + (or (when (not (eql (cl-urdf:joint-type part) :FIXED)) + part) + (get-connecting-joint-above (cl-urdf:parent part))) (when (typep part 'cl-urdf:link) (get-connecting-joint-above (cl-urdf:from-joint part)))))) (defun get-manipulated-link (part) - "Returns the link under the connecting joint. Which is the one actuallz being manipulated." + "Returns the link under the connecting joint of `part' of type cl-urdf:link. +Which is the one actually being manipulated." + (declare (type (or cl-urdf:joint cl-urdf:link) part)) (cl-urdf:child (get-connecting-joint part))) (defun get-manipulated-pose (link-name joint-position btr-environment &key relative) - "Returns the pose of a link based on its connection joint position - JOINT-POSITION. If RELATIVE is T, the actual value is calculated - by JOINT-POSITION * . This function returns two - values, the new pose of the link and the joint that was changed." + "Returns the pose of the link with `link-name' based on its connection joint position +`joint-position'. If `relative' is T, the actual value is calculated +by `joint-position' * . This function returns two +values, the new pose of the link and the joint object that was changed. +`btr-environment' is the name of the bullet environment (eg. :kitchen)." + (declare (type (or string symbol) link-name) + (type number joint-position) + (type keyword btr-environment) + (type boolean relative)) (when (not (floatp joint-position)) (setf joint-position (float joint-position))) (let ((link (get-container-link link-name btr-environment))) @@ -159,19 +194,20 @@ NAME in the environment BTR-ENVIRONMENT." (values (case (cl-urdf:joint-type joint) (:prismatic - (cl-transforms:transform->pose - (cl-transforms:transform* - (cl-transforms:pose->transform (get-urdf-link-pose link-name btr-environment)) - (cl-transforms:make-transform - (cl-transforms:v* - (cl-urdf:axis joint) - (- - (if relative - (* joint-position - (cl-urdf:upper (cl-urdf:limits joint))) - joint-position) - (get-joint-position joint btr-environment))) - (cl-transforms:make-identity-rotation))))) + (the cl-transforms:pose + (cl-transforms:transform->pose + (cl-transforms:transform* + (cl-transforms:pose->transform (get-urdf-link-pose link-name btr-environment)) + (cl-transforms:make-transform + (cl-transforms:v* + (cl-urdf:axis joint) + (- + (if relative + (* joint-position + (cl-urdf:upper (cl-urdf:limits joint))) + joint-position) + (get-joint-position joint btr-environment))) + (cl-transforms:make-identity-rotation)))))) (:revolute (let* ((rotation (cl-transforms:axis-angle->quaternion @@ -192,19 +228,23 @@ NAME in the environment BTR-ENVIRONMENT." (cl-transforms:transform-diff link-transform joint-transform))) - (cl-transforms:transform-pose - (cl-transforms:make-transform - (cl-transforms:rotate - rotation - (cl-transforms:translation joint-to-handle)) - (cl-transforms:make-identity-rotation)) - (get-urdf-link-pose (cl-urdf:name (cl-urdf:child joint)) btr-environment)) - ))) + (the cl-transforms:pose + (cl-transforms:transform-pose + (cl-transforms:make-transform + (cl-transforms:rotate + rotation + (cl-transforms:translation joint-to-handle)) + (cl-transforms:make-identity-rotation)) + (get-urdf-link-pose (cl-urdf:name (cl-urdf:child joint)) btr-environment)))))) joint)))))) (defun get-handle-axis (container-designator) "Return either a vector with (1 0 0) for horizontal handles or (0 0 1) for -vertical handles on the container described by CONTAINER-DESIGNATOR." +vertical handles on the container described by `container-designator'. +Prismatic containers are assumed to have horizontal handles while revolute containers are assumed +to have vertical ones. There are exceptions to this of course. For now those are hard-coded into +this function." + (declare (type desig:object-designator container-designator)) ;; Check for exceptions based on name. (let ((name-exception (alexandria:switch ((roslisp-utilities:rosify-underscores-lisp-name @@ -232,33 +272,63 @@ Using a default (1 0 0)." (cl-transforms:make-3d-vector 1 0 0))))))) (defun get-positive-joint-state (joint btr-environment) + (declare (type cl-urdf:joint joint) + (type keyword btr-environment)) (mod (btr:joint-state (btr:object btr:*current-bullet-world* btr-environment) (cl-urdf:name joint)) (* 2 pi))) +(defun get-connecting-joint-state-secure (container-name btr-environment) + (let* ((joint (get-connecting-joint + (get-container-link container-name + btr-environment))) + (type (find-container-joint-type-under-joint joint)) + (state (btr:joint-state + (btr:object btr:*current-bullet-world* + btr-environment) + (cl-urdf:name joint)))) + (ecase type + (:revolute + (mod state (* 2 pi))) + (:prismatic + state)))) + +(defun get-relative-distance (container-name btr-environment distance action-type) + (declare (type (or string symbol) container-name) + (type keyword btr-environment) + (type number distance) + (type keyword action-type)) + (let ((state (get-connecting-joint-state-secure container-name btr-environment))) + (ecase action-type + (:opening + (- distance state)) + (:closing + (- (- distance state)))))) + (defun clip-distance (container-name btr-environment distance action-type) "Return a distance that stays inside the joint's limits." + (declare (type (or string symbol) container-name) + (type keyword btr-environment) + (type number distance) + (type keyword action-type)) (let ((joint (get-connecting-joint (get-container-link container-name btr-environment)))) (let ((upper-limit (cl-urdf:upper (cl-urdf:limits joint))) (lower-limit (cl-urdf:lower (cl-urdf:limits joint))) - (state (get-positive-joint-state joint btr-environment))) - (if (eq action-type :opening) - (if (> (+ state distance) upper-limit) - (- upper-limit state) - distance) - (if (< (- state distance) lower-limit) - (- state lower-limit) - distance))))) - -(defun get-relative-distance (container-name btr-environment distance action-type) - (let* ((joint (get-connecting-joint - (get-container-link container-name - btr-environment))) - (state (get-positive-joint-state joint btr-environment))) - (if (eq action-type :opening) - (- distance state) - (- (- distance state))))) + (state (get-connecting-joint-state-secure container-name btr-environment))) + (ecase action-type + (:opening + (if (> (+ state distance) upper-limit) + (- upper-limit state) + (if (< (+ state distance) lower-limit) + (- (- state lower-limit)) + distance))) + (:closing + (if (< (- state distance) lower-limit) + (- state lower-limit) + (if (> (- state distance) upper-limit) + (- (- upper-limit state)) + distance))))))) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/math.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/math.lisp index 0c0db6ade6..be1b4ec754 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/math.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/math.lisp @@ -30,8 +30,9 @@ (in-package :env-man) (defun line-equation (x1 y1 x2 y2) - "Return the a, b and c values of the equation descriping a straight line -through (x1,y1) and (x2,y2)." + "Return the a, b and c values of the term (ax + by + c) descriping a straight line +through the points (`x1',`y1') and (`x2',`y2')." + (declare (type number x1 y2 x2 y2)) (let ((x (- x2 x1)) (y (- y2 y1))) (if (eq 0 x) @@ -42,9 +43,20 @@ through (x1,y1) and (x2,y2)." 1 (- 0 (- y1 (* m x1)))))))) +(defun line-equation-in-xy (p1 p2) + "Helper-function to get the equation (a,b,c values) describing a line between `p1' and `p2' +in the x-y-plane (i.e. only considering the first two dimensions)." + (declare (type cl-transforms:3d-vector p1 p2)) + (let ((x1 (cl-transforms:x p1)) + (y1 (cl-transforms:y p1)) + (x2 (cl-transforms:x p2)) + (y2 (cl-transforms:y p2))) + (line-equation x1 y1 x2 y2))) + (defun distance-point (a b c x y) - "Return the coordinates on the line described by ax + bx + c + "Return the coordinates on the line described by ax + by + c from which the distance to the point (x,y) is minimal." + (declare (type number a b c x y)) (values (/ (- (* b (- (* b x) (* a y))) (* a c)) @@ -53,16 +65,10 @@ from which the distance to the point (x,y) is minimal." (- (* a (+ (* (- 0 b) x) (* a y))) (* b c)) (+ (expt a 2) (expt b 2))))) -(defun line-equation-in-xy (p1 p2) - "Return the equation (a,b,c values) describing a line between p1 and p2 in the x-y-plane." - (let ((x1 (cl-transforms:x p1)) - (y1 (cl-transforms:y p1)) - (x2 (cl-transforms:x p2)) - (y2 (cl-transforms:y p2))) - (line-equation x1 y1 x2 y2))) - (defun line-p-dist (a b c p) - "Return the disctance between the line described by ax + bx + c + (declare (type number a b c) + (type cl-transforms:3d-vector p)) + "Return the distance between the line described by ax + by + c and the point p (in the x-y plane)." (let ((x (cl-transforms:x p)) (y (cl-transforms:y p))) @@ -71,8 +77,10 @@ and the point p (in the x-y plane)." (sqrt (+ (expt a 2) (expt b 2)))))) (defun line-p-dist-point (a b c p) - "Return the point on the line described by ax + bx + c -from which the distance to the point (x,y) is minimal." + "Return the point on the line described by ax + by + c +from which the distance to the point p is minimal." + (declare (type number a b c) + (type cl-transforms:3d-vector p)) (let ((px (cl-transforms:x p)) (py (cl-transforms:y p))) (multiple-value-bind (x y) @@ -80,13 +88,15 @@ from which the distance to the point (x,y) is minimal." (cl-transforms:make-3d-vector x y 0)))) (defun angle-between-vectors (v1 v2) - "Return the cos of the angle between vectors V1 and V2." + "Return the cos of the angle between vectors `v1' and `v2.'" + (declare (type cl-transforms:3d-vector v1 v2)) (/ (cl-transforms:dot-product v1 v2) (* (cl-transforms:v-norm v1) (cl-transforms:v-norm v2)))) (defun v-which-side (v1 v2) - "Return either :left or :right depending on which side of v1 v2 is." + "Return either :left or :right depending on which side of `v1' `v2' is." + (declare (type cl-transforms:3d-vector v1 v2)) (let ((v2-rot90ccw (cl-transforms:make-3d-vector (- (cl-transforms:y v2)) (cl-transforms:x v2) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/plans.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/plans.lisp index cd520d8d44..d3278a1053 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/plans.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/plans.lisp @@ -33,13 +33,15 @@ ((:type ?type)) ((:arm ?arm)) ((:gripper-opening ?gripper-opening)) - distance + ((:distance ?distance)) + ((:absolute-distance ?absolute-distance)) + ((:look-pose ?look-pose)) ((:left-reach-poses ?left-reach-poses)) ((:right-reach-poses ?right-reach-poses)) ((:left-grasp-poses ?left-grasp-poses)) ((:right-grasp-poses ?right-grasp-poses)) - ((:left-open-poses ?left-manipulate-poses)) - ((:right-open-poses ?right-manipulate-poses)) + ((:left-manipulate-poses ?left-manipulate-poses)) + ((:right-manipulate-poses ?right-manipulate-poses)) ((:left-retract-poses ?left-retract-poses)) ((:right-retract-poses ?right-retract-poses)) joint-name @@ -49,7 +51,7 @@ ((:container-object ?container-designator)) &allow-other-keys) (declare (type keyword ?arm) - (type number ?gripper-opening distance) + (type number ?gripper-opening ?distance) (type list ?left-reach-poses ?right-reach-poses ?left-grasp-poses ?right-grasp-poses @@ -61,27 +63,38 @@ ;;;;;;;;;;;;;;; OPEN GRIPPER AND REACH ;;;;;;;;;;;;;;;; (cpl:par - (roslisp:ros-info (environment-manipulation manipulate-container) - "Opening gripper") - (exe:perform - (desig:an action - (type setting-gripper) - (gripper ?arm) - (position ?gripper-opening))) - (roslisp:ros-info (environment-manipulation manipulate-container) - "Reaching") + (roslisp:ros-info (env-manip plan) "Looking, opening gripper and reaching") (cpl:with-failure-handling - ((common-fail:manipulation-low-level-failure (e) - (roslisp:ros-warn (env-plans manipulate) - "Manipulation messed up: ~a~%Failing." + ((common-fail:ptu-low-level-failure (e) + (roslisp:ros-warn (env-manip plan) + "Looking-at had a problem: ~a~%Ignoring." e) - ;; (return) - )) + (return))) + (exe:perform + (desig:an action + (type looking) + (target (desig:a location + (pose ?look-pose)))))) + (let ((?goal `(cpoe:gripper-joint-at ,?arm ,?gripper-opening))) (exe:perform (desig:an action - (type reaching) - (left-poses ?left-reach-poses) - (right-poses ?right-reach-poses))))) + (type setting-gripper) + (gripper ?arm) + (position ?gripper-opening) + (goal ?goal)))) + (cpl:with-failure-handling + ((common-fail:manipulation-low-level-failure (e) + (roslisp:ros-warn (env-plans manipulate) + "Manipulation messed up: ~a~%Ignoring." + e) + (return))) + (let ((?goal `(cpoe:tool-frames-at ,?left-reach-poses ,?right-reach-poses))) + (exe:perform + (desig:an action + (type reaching) + (left-poses ?left-reach-poses) + (right-poses ?right-reach-poses) + (goal ?goal)))))) ;;;;;;;;;;;;;;;;;;;; GRIPPING ;;;;;;;;;;;;;;;;;;;;;;;; (roslisp:ros-info (environment-manipulation manipulate-container) @@ -91,16 +104,18 @@ (roslisp:ros-warn (env-plans manipulate) "Manipulation messed up: ~a~%Failing." e) - ;; (return) - )) - (exe:perform - (desig:an action - (type grasping) - (object (desig:an object - (name ?environment-name))) - (link ?link-name) - (left-poses ?left-grasp-poses) - (right-poses ?right-grasp-poses)))) + (return))) + (let ((?goal `(cpoe:tool-frames-at ,?left-grasp-poses ,?right-grasp-poses))) + (exe:perform + (desig:an action + (type grasping) + (object (desig:an object + (name ?environment-name))) + (link ?link-name) + (left-poses ?left-grasp-poses) + (right-poses ?right-grasp-poses) + (goal ?goal))))) + (when (eq ?type :opening) (exe:perform (desig:an action @@ -117,18 +132,25 @@ e) ;; (return) )) - (let ((?push-or-pull (if (eq ?type :opening) - :pulling - :pushing))) + (let ((?push-or-pull + (if (eq ?type :opening) + :pulling + :pushing)) + (?goal + `(cpoe:tool-frames-at ,?left-manipulate-poses ,?right-manipulate-poses))) (exe:perform (desig:an action (type ?push-or-pull) - (object (desig:an object - (name ?environment-name))) + (object (desig:an object (name ?environment-name))) (container-object ?container-designator) (link ?link-name) - (left-poses ?left-manipulate-poses) - (right-poses ?right-manipulate-poses))))) + (desig:when ?absolute-distance + (distance ?absolute-distance)) + (desig:when (eq ?arm :left) + (left-poses ?left-manipulate-poses)) + (desig:when (eq ?arm :right) + (right-poses ?right-manipulate-poses)) + (goal ?goal))))) (when (and joint-name) (cram-occasions-events:on-event @@ -138,23 +160,27 @@ :joint-name joint-name :side ?arm :environment ?environment-object - :distance distance))) + :distance ?distance))) ;;;;;;;;;;;;;;;;;;;; RETRACTING ;;;;;;;;;;;;;;;;;;;;;;;;;;; (roslisp:ros-info (environment-manipulation manipulate-container) "Retracting") - (exe:perform - (desig:an action - (type releasing) - (gripper ?arm))) + (let ((?goal `(cpoe:gripper-opened ,?arm))) + (exe:perform + (desig:an action + (type releasing) + (gripper ?arm) + (goal ?goal)))) (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) (roslisp:ros-warn (env-plans manipulate) "Manipulation messed up: ~a~%Ignoring." e) (return))) - (exe:perform - (desig:an action - (type retracting) - (left-poses ?left-retract-poses) - (right-poses ?right-retract-poses))))) + (let ((?goal `(cpoe:tool-frames-at ,?left-retract-poses ,?right-retract-poses))) + (exe:perform + (desig:an action + (type retracting) + (left-poses ?left-retract-poses) + (right-poses ?right-retract-poses) + (goal ?goal)))))) diff --git a/cram_3d_world/cram_urdf_environment_manipulation/src/trajectories.lisp b/cram_3d_world/cram_urdf_environment_manipulation/src/trajectories.lisp index b3045711d5..c370548478 100644 --- a/cram_3d_world/cram_urdf_environment_manipulation/src/trajectories.lisp +++ b/cram_3d_world/cram_urdf_environment_manipulation/src/trajectories.lisp @@ -29,7 +29,7 @@ (in-package :env-man) -(defparameter *drawer-handle-grasp-x-offset* 0.0 "in meters") +(defparameter *drawer-handle-grasp-x-offset* -0.015 "in meters") (defparameter *drawer-handle-pregrasp-x-offset* 0.10 "in meters") (defparameter *drawer-handle-retract-offset* 0.10 "in meters") (defparameter *door-handle-retract-offset* 0.05 "in meters") @@ -37,14 +37,19 @@ (defmethod man-int:get-action-trajectory :heuristics 20 ((action-type (eql :opening)) arm grasp + location objects-acted-on &key opening-distance handle-axis) "Return a trajectory for opening the object in OBJECTS-ACTED-ON. -OPENING-DISTANCE is a float in m, describing how far the object should opened. -HANDLE-AXIS is a `cl-transforms:3d-vector' describing the handle's orientation -in the robot's XZ-plane. It's Z-element should be 0." +`opening-distance' describes how far the object should be opened in m. +`handle-axis' describes the handle's orientation +in the robot's XZ-plane. It's Y-element should be 0." + (declare (type keyword arm) + (type list objects-acted-on) + (type number opening-distance) + (type cl-transforms:3d-vector handle-axis)) (when (not (eql 1 (length objects-acted-on))) (error "Action-type ~a requires exactly one object.~%" action-type)) (make-trajectory action-type arm objects-acted-on opening-distance handle-axis)) @@ -52,14 +57,19 @@ in the robot's XZ-plane. It's Z-element should be 0." (defmethod man-int:get-action-trajectory :heuristics 20 ((action-type (eql :closing)) arm grasp + location objects-acted-on &key opening-distance handle-axis) "Return a trajectory for closing the object in OBJECTS-ACTED-ON. -OPENING-DISTANCE is a float in m, describing how far the object should closed. -HANDLE-AXIS is a `cl-transforms:3d-vector' describing the handle's orientation -in the robot's XZ-plane. It's Z-element should be 0." +`opening-distance' describes how far the object should be closed in m. +`handle-axis' describes the handle's orientation +in the robot's XZ-plane. It's Y-element should be 0." + (declare (type keyword arm) + (type list objects-acted-on) + (type number opening-distance) + (type cl-transforms:3d-vector handle-axis)) (when (not (eql 1 (length objects-acted-on))) (error "Action-type ~a requires exactly one object.~%" action-type)) (make-trajectory action-type arm objects-acted-on opening-distance handle-axis)) @@ -70,7 +80,13 @@ in the robot's XZ-plane. It's Z-element should be 0." opening-distance handle-axis) "Make a trajectory for opening or closing a container. -This should only be used by get-action-trajectory for action-types :opening and :closing." +This should only be called by `get-action-trajectory' for action-types :opening and :closing. +The parameters are analog to the ones of `get-action-trajectory'." + (declare (type keyword action-type) + (type keyword arm) + (type list objects-acted-on) + (type number opening-distance) + (type cl-transforms:3d-vector handle-axis)) (when (equal action-type :closing) (setf opening-distance (- opening-distance))) (let* ((object-designator @@ -107,8 +123,20 @@ This should only be used by get-action-trajectory for action-types :opening and (defun make-prismatic-trajectory (object-transform arm action-type grasp-pose opening-distance) - "Return a list of `man-int::traj-segment' representing a trajectory to open a -container with prismatic joints." + "Return a list of `man-int::traj-segment's representing a trajectory to open a +container with prismatic joints. +`object-transform' should have `cram-tf:*robot-base-frame*' +as it's frame and the object's frame as the child. +`arm' is the arm that should be used (eg. :left or :right) +`action-type' is :opening or :closing +`grasp-pose' is a transform with the object's frame and the +frame of the robot's end effector as the child (eg. `cram-tf:*robot-left-tool-frame*). +`opening-distance' is the distance the object should be manipulated in m." + (declare (type cl-transforms-stamped:transform-stamped object-transform) + (type keyword arm) + (type keyword action-type) + (type cl-transforms-stamped:transform-stamped grasp-pose) + (type number opening-distance)) (mapcar (lambda (label transform) (man-int:make-traj-segment @@ -130,7 +158,19 @@ container with prismatic joints." (defun make-revolute-trajectory (object-transform arm action-type grasp-pose opening-angle) "Return a list of `man-int::traj-segment' representing a trajectory to open a -container with revolute joints." +container with revolute joints. +`object-transform' should have `cram-tf:*robot-base-frame*' +as it's frame and the object's frame as the child. +`arm' is the arm that should be used (eg. :left or :right) +`action-type' is :opening or :closing +`grasp-pose' is a transform with the object's frame and the +frame of the robot's end effector as the child (eg. `cram-tf:*robot-left-tool-frame*). +`opening-distance' is the distance the object should be manipulated in rad." + (declare (type cl-transforms-stamped:transform-stamped object-transform) + (type keyword arm) + (type keyword action-type) + (type cl-transforms-stamped:transform-stamped grasp-pose) + (type number opening-angle)) (let* ((traj-poses (get-revolute-traj-poses grasp-pose :angle-max opening-angle)) (last-traj-pose (car (last traj-poses)))) (mapcar @@ -161,7 +201,7 @@ container with revolute joints." (defun 3d-vector->keyparam-list (v) - "Convert a `cl-transform:3d-vector' into a list with content + "Convert a vector into a list with content (:AX :AY :AZ )." (declare (type cl-transforms:3d-vector v)) (list @@ -173,7 +213,11 @@ container with revolute joints." &key (axis (cl-transforms:make-3d-vector 0 0 1)) angle-max) - "Return a list of transforms from joint to gripper rotated around AXIS by ANGLE-MAX." + "Return a list of stamped transforms from of the gripper-frame in the joint-frame rotated +around `axis' by `angle-max' in steps of 0.1 rad." + (declare (type cl-transforms-stamped:transform-stamped joint-to-gripper) + (type cl-transforms:3d-vector axis) + (type number angle-max)) (let ((angle-step (if (>= angle-max 0) 0.1 -0.1))) @@ -185,7 +229,8 @@ container with revolute joints." (cl-transforms-stamped:frame-id joint-to-gripper) (cl-transforms-stamped:child-frame-id joint-to-gripper) (cl-transforms-stamped:stamp joint-to-gripper) - (cl-transforms:rotate rotation (cl-tf:translation joint-to-gripper)) + (cl-transforms:rotate rotation (cl-transforms:translation + joint-to-gripper)) (apply 'cl-transforms:euler->quaternion (3d-vector->keyparam-list (cl-transforms:v+ @@ -201,7 +246,16 @@ container with revolute joints." arm handle-axis btr-environment) - "Get the transform from the container handle to the robot's gripper." + "Get the transform of the robot's gripper in the container handle frame. +`object-name' is the name of a container in the `btr-environment'. +`arm' denotes which arm's gripper should be used (eg. :left or :right). +`handle-axis' is the axis on which the handle lies when looked at from the front in form of a vector. +So normally (1 0 0) or (0 0 1). +`btr-environment' is the name of the environment in which the container is located (eg. :KITCHEN)." + (declare (type (or string symbol) object-name) + (type keyword arm) + (type cl-transforms:3d-vector handle-axis) + (type keyword btr-environment)) (when (symbolp object-name) (setf object-name (roslisp-utilities:rosify-underscores-lisp-name object-name))) diff --git a/cram_3d_world/cram_urdf_projection/cram-urdf-projection.asd b/cram_3d_world/cram_urdf_projection/cram-urdf-projection.asd index 81f9848944..0645c3d7b7 100644 --- a/cram_3d_world/cram_urdf_projection/cram-urdf-projection.asd +++ b/cram_3d_world/cram_urdf_projection/cram-urdf-projection.asd @@ -36,7 +36,7 @@ cram-projection cram-prolog cram-designators - cram-utilities ; for lazy list stuff with prolog + cram-utilities ; for lazy list stuff with prolog and equalize-lists cram-process-modules cl-transforms @@ -53,7 +53,11 @@ cram-bullet-reasoning-belief-state ; for special projection variable definition ; and world-state-detecting PM - cram-ik-interface) + cram-ik-interface + ;; can't depend on giskard because it wants the env. service... + ;; cram-giskard ; as an alternative to the ik solver + sensor_msgs-msg ; cram-ik-interface returns a joint state message + ) :components ((:module "src" :components diff --git a/cram_3d_world/cram_urdf_projection/package.xml b/cram_3d_world/cram_urdf_projection/package.xml index 8e8c51c818..cae6587c69 100644 --- a/cram_3d_world/cram_urdf_projection/package.xml +++ b/cram_3d_world/cram_urdf_projection/package.xml @@ -32,4 +32,5 @@ cram_bullet_reasoning cram_bullet_reasoning_belief_state cram_ik_interface + sensor_msgs diff --git a/cram_3d_world/cram_urdf_projection/src/low-level.lisp b/cram_3d_world/cram_urdf_projection/src/low-level.lisp index bcf46297ed..d14afac419 100644 --- a/cram_3d_world/cram_urdf_projection/src/low-level.lisp +++ b/cram_3d_world/cram_urdf_projection/src/low-level.lisp @@ -2,6 +2,7 @@ ;;; Copyright (c) 2011, Lorenz Moesenlechner ;;; 2017, Gayane Kazhoyan ;;; 2019, Vanessa Hassouna +;;; 2020, Amar Fayaz ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -13,8 +14,8 @@ ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. ;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -37,9 +38,23 @@ "in seconds, sleeps to show colliding configurations") (defparameter *be-strict-with-collisions* nil - "when grasping a spoon from table, fingers can collide with kitchen, so we might allow this") + "when grasping a spoon from table, fingers can collide with kitchen, so allow this") + +(defparameter *projection-convergence-delta-joint* 0.17 + "For moving arm joints. In radiants, about 10 degrees.") + +(defparameter *torso-resampling-step* 0.1d0 + "In meters.") +(defparameter *base-resampling-step* 0.1d0 + "In meters") +(defparameter *base-resampling-x-limit* 0.2d0 + "In meters") +(defparameter *base-resampling-y-limit* 0.2d0 + "In meters.") + +(defparameter *giskard-mode* nil + "Use giskard or teleporting/IK solver for joint and cartesian motions.") -(defparameter *projection-convergence-delta-joint* 0.17 "in radiants, about 10 degrees") (defun robot-transform-in-map () (let ((pose-in-map @@ -57,7 +72,7 @@ (defun robot-joint-states-with-odom-joints-as-hash-table () (let* ((observed-joint-states - (btr:joint-states (btr:get-robot-object))) + (alexandria:copy-hash-table (btr:joint-states (btr:get-robot-object)))) (robot-pose (btr:pose (btr:get-robot-object))) (robot-x @@ -81,8 +96,7 @@ (btr:add-vis-axis-object target) - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) + (let ((world-pose-info (btr:get-world-objects-pose-info))) (unwind-protect (progn ;; assert new robot pose @@ -94,10 +108,11 @@ ;; return joint state. this will be our observation ;; currently only used by HPN (robot-joint-states-with-odom-joints-as-hash-table)) - (when (btr:robot-colliding-objects-without-attached '(:floor)) + (when (or (btr:robot-colliding-objects-without-attached '(:floor)) + (btr:robot-attached-objects-in-collision)) (unless (< (abs *debug-short-sleep-duration*) 0.0001) (cpl:sleep *debug-short-sleep-duration*)) - (btr::restore-world-state world-state world) + (btr:restore-world-poses world-pose-info) (cpl:fail 'common-fail:navigation-pose-unreachable :pose-stamped target))))) ;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -120,10 +135,10 @@ (cropped-joint-angle (if (numberp joint-angle) (if (< joint-angle lower-limit) - lower-limit - (if (> joint-angle upper-limit) - upper-limit - joint-angle)) + lower-limit + (if (> joint-angle upper-limit) + upper-limit + joint-angle)) (ecase joint-angle (:upper-limit upper-limit) (:lower-limit lower-limit) @@ -134,7 +149,8 @@ (when (numberp joint-angle) (unless (< (abs (- joint-angle cropped-joint-angle)) 0.0001) (cpl:fail 'common-fail:torso-goal-not-reached - :description (format nil "Torso goal ~a was out of joint limits" joint-angle) + :description (format nil "Torso goal ~a was out of joint limits" + joint-angle) :torso joint-angle))))) @@ -186,7 +202,8 @@ cram-tf:*fixed-frame* :use-zero-time t)) (pan-tilt-angles - (btr:calculate-pan-tilt (btr:get-robot-object) ?pan-link ?tilt-link pose-in-world)) + (btr:calculate-pan-tilt + (btr:get-robot-object) ?pan-link ?tilt-link pose-in-world)) (pan-angle (first pan-tilt-angles)) (tilt-angle @@ -217,45 +234,65 @@ (cpl:fail 'common-fail:ptu-goal-not-reached :description "Look action wanted to twist the neck"))))) -(defparameter *camera-pose-unit-vector-multiplyer* 0.4) -(defparameter *camera-pose-z-offset* 0.2) -(defparameter *camera-resampling-step* 0.1) -(defparameter *camera-x-axis-limit* 0.5) -(defparameter *camera-y-axis-limit* 0.5) - (defun get-neck-ik (ee-link cartesian-pose base-link joint-names) - (let ((joint-state-msg - (or (ik:call-ik-service-with-resampling - (cl-tf:pose->pose-stamped - base-link - 0.0 - cartesian-pose) - base-link ee-link - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names) - *camera-resampling-step* :x - 0 (- *camera-x-axis-limit*) *camera-x-axis-limit*) - (ik:call-ik-service-with-resampling - (cl-tf:pose->pose-stamped - base-link - 0.0 - cartesian-pose) - base-link ee-link - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names) - *camera-resampling-step* :y - 0 (- *camera-y-axis-limit*) *camera-y-axis-limit*)))) - (when joint-state-msg - (map 'list #'identity (roslisp:msg-slot-value joint-state-msg :position))))) + (cut:with-vars-strictly-bound (?camera-resampling-step + ?camera-x-axis-limit + ?camera-y-axis-limit + ?camera-z-axis-limit) + (car + (prolog:prolog + '(and + (rob-int:robot ?robot) + (rob-int:neck-camera-resampling-step ?robot ?camera-resampling-step) + (rob-int:neck-camera-x-axis-limit ?robot ?camera-x-axis-limit) + (rob-int:neck-camera-y-axis-limit ?robot ?camera-y-axis-limit) + (rob-int:neck-camera-z-axis-limit ?robot ?camera-z-axis-limit)))) + + (let* ((validation-function + (lambda (ik-solution-msg torso-offsets) + (declare (ignore torso-offsets)) + (not (perform-collision-check :avoid-all nil nil ik-solution-msg)))) + (cartesian-pose-stamped + (cl-transforms-stamped:pose->pose-stamped + base-link 0.0 + cartesian-pose)) + (neck-seed-state-msg + (btr::make-robot-joint-state-msg + (btr:get-robot-object) + :joint-names joint-names)) + (joint-state-msg + (ik:find-ik-for + (cartesian-pose-stamped + base-link + ee-link + neck-seed-state-msg + validation-function) + (ik:with-resampling + (:x + ?camera-x-axis-limit + (- ?camera-x-axis-limit) + ?camera-resampling-step) + (ik:with-resampling + (:y + ?camera-y-axis-limit + (- ?camera-y-axis-limit) + ?camera-resampling-step) + (ik:with-resampling + (:z + ?camera-z-axis-limit + (- ?camera-z-axis-limit) + ?camera-resampling-step))))))) + (when joint-state-msg + (map 'list #'identity + (roslisp:msg-slot-value joint-state-msg :position)))))) (defun calculate-camera-pose-from-object-pose (neck-base-t-object) "Takes the vector from neck-base to object, sets its Z to 0, -then normalizes to get a unit vector, then multiplies with a multiplier to make it shorter - (multiplier should be comparable to maximum length between neck base and camera), -then pulls the vector up in Z a bit to avoid colliding with bottom parts of robot, -and that would be the desired camera position. +then normalizes to get a unit vector, then multiplies with a multiplier +to make it shorter (multiplier should be comparable to maximum length +between neck base and camera), then pulls the vector up in Z a bit +to avoid colliding with bottom parts of robot, and that would be +the desired camera position. Next, to calculate desired camera rotation, looks at the object from camera position, calculates an angle that would have to be applied around X axis to align camera's Z with the object, calculates similar angle around Y axis and applies the rotations. " @@ -265,12 +302,26 @@ with the object, calculates similar angle around Y axis and applies the rotation (cl-transforms:copy-3d-vector neck-base-t-object-vector :z 0.0)) (neck-base-t-object-unit-vector (cl-transforms:normalize-vector neck-base-t-object-vector-without-z)) + (neck-camera-pose-unit-vector-multiplier + (cut:var-value + '?mult + (car + (prolog:prolog + `(and (rob-int:robot ?rob) + (rob-int:neck-camera-pose-unit-vector-multiplier ?rob ?mult)))))) (neck-base-t-object-short-vector - (cl-transforms:v* neck-base-t-object-unit-vector *camera-pose-unit-vector-multiplyer*)) + (cl-transforms:v* + neck-base-t-object-unit-vector + neck-camera-pose-unit-vector-multiplier)) (neck-base-t-object-short-vector-lifted - (cl-transforms:v+ neck-base-t-object-short-vector - (cl-transforms:make-3d-vector 0 0 *camera-pose-z-offset*))) - + (cl-transforms:v+ + neck-base-t-object-short-vector + (cl-transforms:make-3d-vector + 0 0 (cut:var-value + '?z-offset + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:neck-camera-z-offset ?robot ?z-offset)))))))) (neck-base-t-camera-not-oriented (cl-transforms:make-transform neck-base-t-object-short-vector-lifted @@ -284,8 +335,10 @@ with the object, calculates similar angle around Y axis and applies the rotation neck-base-t-object)) (rotation-angle-around-x (- (atan - (cl-transforms:y (cl-transforms:translation camera-not-oriented-t-object)) - (cl-transforms:z (cl-transforms:translation camera-not-oriented-t-object))))) + (cl-transforms:y + (cl-transforms:translation camera-not-oriented-t-object)) + (cl-transforms:z + (cl-transforms:translation camera-not-oriented-t-object))))) (neck-base-t-camera-rotated-around-x (cram-tf:rotate-transform-in-own-frame neck-base-t-camera-not-oriented @@ -299,8 +352,10 @@ with the object, calculates similar angle around Y axis and applies the rotation neck-base-t-object)) (rotation-angle-around-y (atan - (cl-transforms:x (cl-transforms:translation camera-rotated-around-x-t-object)) - (cl-transforms:z (cl-transforms:translation camera-rotated-around-x-t-object)))) + (cl-transforms:x + (cl-transforms:translation camera-rotated-around-x-t-object)) + (cl-transforms:z + (cl-transforms:translation camera-rotated-around-x-t-object)))) (neck-base-t-camera (cram-tf:rotate-transform-in-own-frame neck-base-t-camera-rotated-around-x @@ -310,7 +365,10 @@ with the object, calculates similar angle around Y axis and applies the rotation (defun look-at-pose-stamped-many-joints (object-pose) (declare (type cl-transforms-stamped:pose-stamped object-pose)) (let* ((map-p-object - (cram-tf:ensure-pose-in-frame object-pose cram-tf:*fixed-frame* :use-zero-time t)) + (cram-tf:ensure-pose-in-frame + object-pose + cram-tf:*fixed-frame* + :use-zero-time t)) (bindings (cut:lazy-car (prolog:prolog @@ -330,9 +388,10 @@ with the object, calculates similar angle around Y axis and applies the rotation (map-p-neck-base (btr:link-pose (btr:get-robot-object) neck-base-frame)) + (map-t-neck-base + (cl-transforms:pose->transform map-p-neck-base)) (neck-base-t-map - (cl-transforms:transform-inv - (cl-transforms:pose->transform map-p-neck-base))) + (cl-transforms:transform-inv map-t-neck-base)) (neck-base-t-object (cl-transforms:transform* neck-base-t-map @@ -342,14 +401,21 @@ with the object, calculates similar angle around Y axis and applies the rotation (calculate-camera-pose-from-object-pose neck-base-t-object)) (camera-t-neck-ee - (cl-transforms:transform-inv (cl-transforms:pose->transform neck-ee-p-camera))) + (cl-transforms:transform-inv + (cl-transforms:pose->transform neck-ee-p-camera))) (neck-base-t-neck-ee (cl-transforms:transform* neck-base-t-camera camera-t-neck-ee)) (neck-base-p-neck-ee (cl-transforms:transform->pose neck-base-t-neck-ee)) (joint-state - (get-neck-ik neck-ee-frame neck-base-p-neck-ee neck-base-frame neck-joints))) + (get-neck-ik neck-ee-frame neck-base-p-neck-ee + neck-base-frame neck-joints)) + + (map-t-camera + (cl-transforms:transform-pose map-t-neck-base neck-base-t-camera))) + + (btr:add-vis-axis-object map-t-camera) (if joint-state (look-at-joint-angles joint-state) @@ -365,8 +431,7 @@ with the object, calculates similar angle around Y axis and applies the rotation (prolog:prolog `(and (rob-int:robot ?robot) (btr:bullet-world ?w) - (rob-int:robot-neck-joints - ?robot . ?joint-names)))))))) + (rob-int:robot-neck-joints ?robot . ?joint-names)))))))) (if pose (if (= neck-joints-num 2) (look-at-pose-stamped-two-joints pose) @@ -431,7 +496,9 @@ with the object, calculates similar angle around Y axis and applies the rotation (quantifier (desig:quantifier input-designator)) ;; find all visible objects with name `object-name' and of type `object-type' - (name-pose-type-lists ; e.g.: ((mondamin-1 :mondamin ) (mug-2 :mug )) + ;; name-pose-type-lists is, e.g.: + ;; ((mondamin-1 :mondamin) (mug-2 :mug)) + (name-pose-type-lists (cut:force-ll (cut:lazy-mapcar (lambda (solution-bindings) @@ -442,7 +509,7 @@ with the object, calculates similar angle around Y axis and applies the rotation (btr:bullet-world ?world) ,@(when object-name `((prolog:== ?object-name ,object-name))) - (btr:object ?world ?object-name) + (btr:item ?world ?object-name) ;; it is possible to ask RoboSherlock for ;; (all object (type kitchen-object)) ;; which returns a list of all the objects RS sees @@ -461,15 +528,18 @@ with the object, calculates similar angle around Y axis and applies the rotation (unless name-pose-type-lists (cpl:fail 'common-fail:perception-object-not-found :object input-designator - :description (format nil "Could not find object ~a." input-designator))) + :description (format nil "Could not find object ~a." + input-designator))) - ;; Extend the input-designator with the information found through visibility check: - ;; name & pose & type of the object, + ;; Extend the input-designator with the information found + ;; through visibility check: name & pose & type of the object, ;; equate the input-designator to the new output-designator. ;; If multiple objects are visible, return multiple equated objects, - ;; otherwise only take first found object. I.e. need to find :an object (not :all objects) + ;; otherwise only take first found object. + ;; I.e. need to find :an object (not :all objects) (case quantifier - (:all (mapcar (alexandria:curry #'extend-perceived-object-designator input-designator) + (:all (mapcar (alexandria:curry #'extend-perceived-object-designator + input-designator) name-pose-type-lists)) ((:a :an) (extend-perceived-object-designator input-designator @@ -487,16 +557,17 @@ with the object, calculates similar angle around Y axis and applies the rotation (prolog:prolog `(and (btr:bullet-world ?world) - (assert ?world (btr:joint-state ?robot - ((?joint ,(case action-type - (:open '?max-limit) - ((:close :grip) '?min-limit) - (T (if (numberp action-type) - (* action-type - (cut:var-value - '?mult - solution-bindings)) - (error "[PROJ GRIP] failed"))))))))) + (assert ?world + (btr:joint-state ?robot + ((?joint ,(case action-type + (:open '?max-limit) + ((:close :grip) '?min-limit) + (T (if (numberp action-type) + (* action-type + (cut:var-value + '?mult solution-bindings)) + (error + "[PROJ GRIP] failed"))))))))) solution-bindings)) (cut:force-ll @@ -508,12 +579,13 @@ with the object, calculates similar angle around Y axis and applies the rotation (rob-int:gripper-meter-to-joint-multiplier ?robot ?mult))))) ;; check if there is an object to grip - (when (eql action-type :grip) ; if action was gripping check if gripper collided with an item + ;; i.e. if action was gripping check if gripper collided with an item + (when (eql action-type :grip) (unless (prolog:prolog `(and (btr:bullet-world ?world) (rob-int:robot ?robot) (btr:contact ?world ?robot ?object-name ?link) - (rob-int:gripper-link ?robot ,arm ?link) + (rob-int:hand-link ?robot ,arm ?link) (btr:%object ?world ?object-name ?object-instance) ;; (or (prolog:lisp-type ?object-instance btr:item) ;; (prolog:lisp-type ?object-instance btr:robot-object)) @@ -530,6 +602,182 @@ with the object, calculates similar angle around Y axis and applies the rotation ;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;; utilities and collision check function + +(defun calculate-base-pose-with-torso-offsets (map-p-base map-p-torso + x-offset y-offset) + (declare (type cl-transforms:pose map-p-base map-p-torso) + (type (or null number) x-offset y-offset)) + (if (or (and (not x-offset) (not y-offset)) + (and (equalp x-offset 0.0) (equalp y-offset 0.0))) + map-p-base + (let* ((x-offset + (or x-offset 0.0)) + (y-offset + (or y-offset 0.0)) + (map-t-base + (cram-tf:pose->transform-stamped + cram-tf:*fixed-frame* cram-tf:*robot-base-frame* 0.0 + map-p-base)) + (map-t-torso + (cram-tf:pose->transform-stamped + cram-tf:*fixed-frame* cram-tf:*robot-torso-frame* 0.0 + map-p-torso)) + (base-t-torso + (cram-tf:apply-transform + (cram-tf:transform-stamped-inv map-t-base) + map-t-torso)) + (torso-t-base + (cram-tf:transform-stamped-inv + base-t-torso)) + (torso-t-torso-offsetted + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-torso-frame* + cram-tf:*robot-torso-frame* + 0.0 + (cl-transforms:make-3d-vector x-offset y-offset 0.0) + (cl-transforms:make-identity-rotation))) + (map-t-base-offsetted + (reduce + #'cram-tf:apply-transform + `(,map-t-base ,base-t-torso ,torso-t-torso-offsetted ,torso-t-base)))) + (cram-tf:strip-transform-stamped map-t-base-offsetted)))) + +(defun apply-torso-offsets (torso-offsets) + (let* ((torso-offset-x + (cdr (assoc :x torso-offsets))) + (torso-offset-y + (cdr (assoc :y torso-offsets))) + (torso-offset-z + (cdr (assoc :z torso-offsets))) + (current-torso-angle + (btr:joint-state (btr:get-robot-object) cram-tf:*robot-torso-joint*)) + (new-torso-angle + (+ current-torso-angle torso-offset-z)) + (new-base-pose-stamped + (calculate-base-pose-with-torso-offsets + (btr:pose (btr:get-robot-object)) + (btr:link-pose (btr:get-robot-object) cram-tf:*robot-torso-frame*) + torso-offset-x torso-offset-y))) + (move-torso new-torso-angle) + (setf (btr:pose (btr:get-robot-object)) new-base-pose-stamped))) + +(defun perform-collision-check (collision-mode left-hand-moves right-hand-moves + &optional + joint-state-msg + torso-offsets + object-name-to-allow-collisions-with) + (declare (type (or keyword null) collision-mode) + (type (or sensor_msgs-msg:jointstate null) joint-state-msg) + (type list torso-offsets) + (type (or keyword string null) object-name-to-allow-collisions-with)) + "Returns NIL if current joint state does not result in collisions +and returns (not throws or fails but simply returns) an error instance, +if a collision occurs. +`left-hand-moves' and `right-hand-moves' are used as flags for the :allow-hand +collision mode, to see which hand is currently moving and can be allowed collisions. +If `joint-state-msg' is given, check collisions in that joint state + (and restore the world to original state afterwards), +otherwise check collisions in current joint state. +Same goes for `torso-offsets', if they are given, move the robot torso and base +with the given offsets (the offsets are specified in the torso frame). +`torso-offsets' is a list of (:x/:y/:z offset-in-torso-frame) entries." + (flet ((the-actual-collision-check (collision-mode + left-hand-moves right-hand-moves) + (ecase collision-mode + (:allow-all + nil) + (:allow-attached + ;; allow-attached means the robot is not allowed to hit anything + ;; (except the object it is holding), + ;; but the object it is holding can create collisions + ;; with environment etc. + (when (and *be-strict-with-collisions* + (btr:robot-colliding-objects-without-attached)) + (make-instance 'common-fail:manipulation-goal-not-reached + :description "Robot is in collision with environment."))) + ((or :allow-hand + :allow-arm) + ;; allow hand allows collisions between the hand and anything + ;; but not the rest of the robot + ;; therefore, we take a list of all links of the robot + ;; that are colliding with something, + ;; remove attached object collisions from this list, + ;; and then remove the hand links from the list. + ;; if the list is still not empty, there is a collision between + ;; a robot non-hand link and something else + (when (and + *be-strict-with-collisions* + (set-difference + (mapcar + #'cdr + (reduce + (lambda (link-contacts attachment) + (remove + (btr:object btr:*current-bullet-world* (car attachment)) + link-contacts + :key #'car)) + (append + (list (btr:link-contacts (btr:get-robot-object))) + (btr:attached-objects (btr:get-robot-object))))) + (append + (when left-hand-moves + (cut:var-value + '?links + (car + (prolog:prolog + `(and + (rob-int:robot ?robot) + ,(ecase collision-mode + (:allow-hand + '(rob-int:hand-links ?robot :left ?links)) + (:allow-arm + '(rob-int:arm-links ?robot :left ?links)))))))) + (when right-hand-moves + (cut:var-value + '?links + (car + (prolog:prolog + `(and + (rob-int:robot ?robot) + ,(ecase collision-mode + (:allow-hand + '(rob-int:hand-links ?robot :right ?links)) + (:allow-arm + '(rob-int:arm-links ?robot :right ?links))))))))) + :test #'string-equal)) + (make-instance 'common-fail:manipulation-goal-not-reached + :description "Robot is in collision with environment."))) + (:avoid-all + ;; avoid-all means the robot is not colliding with anything except the + ;; objects it is holding, and the object it is holding + ;; only collides with robot + (when (or (remove object-name-to-allow-collisions-with + (btr:robot-colliding-objects-without-attached)) + (remove object-name-to-allow-collisions-with + (btr:robot-attached-objects-in-collision))) + (make-instance 'common-fail:manipulation-goal-not-reached + :description "Robot is in collision with environment.")))))) + + (unless collision-mode + (setf collision-mode :avoid-all)) + ;; if joint state is given, first set the robot to given state, + ;; then perform the collision check, then restore the robot to original state + (if (or torso-offsets joint-state-msg) + (let ((world-pose-info (btr:get-world-objects-pose-info))) + (unwind-protect + (progn + (when joint-state-msg + (btr:set-robot-state-from-joints + joint-state-msg (btr:get-robot-object))) + (when torso-offsets + (apply-torso-offsets torso-offsets)) + (the-actual-collision-check + collision-mode left-hand-moves right-hand-moves)) + (btr:restore-world-poses world-pose-info))) + (the-actual-collision-check + collision-mode left-hand-moves right-hand-moves)))) + ;;; joint movement (defun move-joints (left-configuration right-configuration) @@ -544,9 +792,11 @@ with the object, calculates similar angle around Y axis and applies the rotation '?joints (car (prolog:prolog `(and (rob-int:robot ?robot) - (rob-int:arm-joints ?robot ,arm ?joints))))))) + (rob-int:arm-joints ?robot ,arm + ?joints))))))) (unless (= (length joint-values) (length joint-names)) - (error "[PROJECTION MOVE-JOINTS] length of joints list is incorrect")) + (error "[PROJECTION MOVE-JOINTS] length of joints list ~ + is incorrect")) (mapcar (lambda (name value) (list name (* value 1.0d0))) joint-names joint-values))))) @@ -566,19 +816,86 @@ with the object, calculates similar angle around Y axis and applies the rotation joint-name-value-list)) (goal-joint-state (mapcar #'second joint-name-value-list))) - (unless (cram-tf:values-converged current-joint-state goal-joint-state - *projection-convergence-delta-joint*) + (unless (cram-tf:values-converged + (cram-tf:normalize-joint-angles current-joint-state) + (cram-tf:normalize-joint-angles goal-joint-state) + *projection-convergence-delta-joint*) (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Projection did not converge to goal:~%~ - ~a (~a)~%should have been at~%~a~%~ - with delta-joint of ~a." - arm - current-joint-state - goal-joint-state - *projection-convergence-delta-joint*)))))))) + :description + (format nil + "Projection did not converge to goal:~%~ + ~a (~a)~%should have been at~%~a~%~ + with delta-joint of ~a." + arm + (cram-tf:normalize-joint-angles + current-joint-state) + (cram-tf:normalize-joint-angles + goal-joint-state) + *projection-convergence-delta-joint*)))))))) (set-configuration :left left-configuration) (set-configuration :right right-configuration))) +(defun move-joints-avoiding-collision (left-configuration right-configuration + &optional collision-mode) + "Moves arm joints with the specified configuration but tries to avoid +collision by moving its torso and base" + (cut:with-vars-strictly-bound (?torso-joint + ?torso-lower-limit ?torso-upper-limit) + (cut:lazy-car + (prolog:prolog + `(and + (rob-int:robot ?robot) + (rob-int:robot-torso-link-joint ?robot ?torso-link ?torso-joint) + (rob-int:joint-lower-limit ?robot ?torso-joint ?torso-lower-limit) + (rob-int:joint-upper-limit ?robot ?torso-joint ?torso-upper-limit)))) + (let* ((current-torso-angle + (btr:joint-state (btr:get-robot-object) ?torso-joint)) + (validation-function + (lambda (torso-offsets) + (not (perform-collision-check + collision-mode + left-configuration + right-configuration + nil + torso-offsets)))) + (joint-values + (ik:find-joint-values-for (validation-function) + (ik:with-resampling + (:x + *base-resampling-x-limit* + (- *base-resampling-x-limit*) + *base-resampling-step*) + (ik:with-resampling + (:y + *base-resampling-y-limit* + (- *base-resampling-y-limit*) + *base-resampling-step*) + (ik:with-resampling + (:z + (- ?torso-upper-limit current-torso-angle) + (- ?torso-lower-limit current-torso-angle) + *torso-resampling-step*) + (move-joints left-configuration right-configuration))))))) + + (when joint-values + (let* ((torso-offset-z + (cdr (assoc :z joint-values))) + (new-torso-angle + (+ current-torso-angle torso-offset-z)) + (torso-offset-x + (cdr (assoc :x joint-values))) + (torso-offset-y + (cdr (assoc :y joint-values))) + (new-base-pose-stamped + (calculate-base-pose-with-torso-offsets + (btr:pose (btr:get-robot-object)) + (btr:link-pose (btr:get-robot-object) + cram-tf:*robot-torso-frame*) + torso-offset-x torso-offset-y))) + (move-torso new-torso-angle) + (setf (btr:pose (btr:get-robot-object)) new-base-pose-stamped))))) + (perform-collision-check collision-mode left-configuration right-configuration)) + ;;; cartesian movement (defun tcp-pose->ee-pose (tcp-pose tool-frame end-effector-frame) @@ -680,91 +997,77 @@ with the object, calculates similar angle around Y axis and applies the rotation :result-as-pose-or-transform :pose))) (error "Arm movement goals should be given in map frame")))) -(defparameter *torso-resampling-step* 0.1) - (defun get-ik-joint-positions (ee-pose base-link end-effector-link joint-names torso-joint-name - torso-joint-lower-limit torso-joint-upper-limit) + torso-joint-lower-limit torso-joint-upper-limit + validation-function + move-base) (when ee-pose - (multiple-value-bind (ik-solution-msg torso-angle) - (let ((torso-current-angle - (btr:joint-state - (btr:get-robot-object) - torso-joint-name)) - (seed-state-msg - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names))) - (ik:call-ik-service-with-resampling - ee-pose base-link end-effector-link seed-state-msg *torso-resampling-step* :z - torso-current-angle torso-joint-lower-limit torso-joint-upper-limit)) - (unless ik-solution-msg - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "~a is unreachable for EE." ee-pose))) - (values (map 'list #'identity (roslisp:msg-slot-value ik-solution-msg :position)) - torso-angle)))) - -(defun perform-collision-check (collision-mode left-tcp-pose right-tcp-pose) - (unless collision-mode - (setf collision-mode :avoid-all)) - (ecase collision-mode - (:allow-all - nil) - (:allow-attached - ;; allow-attached means the robot is not allowed to hit anything - ;; (except the object it is holding), - ;; but the object it is holding can create collisions with environment etc. - (when (and *be-strict-with-collisions* - (btr:robot-colliding-objects-without-attached)) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))) - (:allow-hand - ;; allow hand allows collisions between the hand and anything - ;; but not the rest of the robot - ;; therefore, we take a list of all links of the robot that are colliding - ;; with something, remove attached object collisions from this list, - ;; and then remove the hand links from the list. - ;; if the list is still not empty, there is a collision between - ;; a robot non-hand link and something else - (when (and *be-strict-with-collisions* - (set-difference - (mapcar #'cdr - (reduce (lambda (link-contacts attachment) - (remove (btr:object - btr:*current-bullet-world* - (car attachment)) - link-contacts - :key #'car)) - (append - (list (btr:link-contacts (btr:get-robot-object))) - (btr:attached-objects (btr:get-robot-object))))) - (append (when left-tcp-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :left ?hand-links)))))) - (when right-tcp-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :right ?hand-links))))))) - :test #'string-equal)) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))) - (:avoid-all - ;; avoid-all means the robot is not colliding with anything except the - ;; objects it is holding, and the objects it is holding only collides with robot - (when (or (btr:robot-colliding-objects-without-attached) - (btr:robot-attached-objects-in-collision)) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))))) - -(defun move-tcp (left-tcp-pose right-tcp-pose - &optional collision-mode - collision-object-b collision-object-b-link collision-object-a) - (declare (type (or cl-transforms-stamped:pose-stamped null) left-tcp-pose right-tcp-pose)) + (let ((current-torso-angle + (btr:joint-state (btr:get-robot-object) torso-joint-name)) + (seed-state-msg + (btr::make-robot-joint-state-msg + (btr:get-robot-object) + :joint-names joint-names)) + (disable-base-resampling + (not move-base))) + (multiple-value-bind (ik-solution-msg joint-values) + (ik:find-ik-for + (ee-pose + base-link + end-effector-link + seed-state-msg + validation-function) + (ik:with-resampling + (:x + *base-resampling-x-limit* + (- *base-resampling-x-limit*) + *base-resampling-step* + :disable-resampling disable-base-resampling) + (ik:with-resampling + (:y + *base-resampling-y-limit* + (- *base-resampling-y-limit*) + *base-resampling-step* + :disable-resampling disable-base-resampling) + (ik:with-resampling + (:z + (- torso-joint-upper-limit current-torso-angle) + (- torso-joint-lower-limit current-torso-angle) + *torso-resampling-step*))))) + (unless ik-solution-msg + (cpl:fail 'common-fail:manipulation-low-level-failure + :description + (format nil "~a is unreachable for EE or is in collision." + ee-pose))) + (let* ((torso-offset-z + (cdr (assoc :z joint-values))) + (new-torso-angle + (+ current-torso-angle torso-offset-z)) + (torso-offset-x + (cdr (assoc :x joint-values))) + (torso-offset-y + (cdr (assoc :y joint-values))) + (new-base-pose-stamped + (calculate-base-pose-with-torso-offsets + (btr:pose (btr:get-robot-object)) + (btr:link-pose (btr:get-robot-object) cram-tf:*robot-torso-frame*) + torso-offset-x torso-offset-y))) + (values (map 'list #'identity + (roslisp:msg-slot-value ik-solution-msg :position)) + new-torso-angle + new-base-pose-stamped)))))) + +(defun move-tcp-one-pose (left-tcp-pose right-tcp-pose + &optional + collision-mode + collision-object-b + collision-object-b-link + collision-object-a + (move-base t)) + (declare (type (or cl-transforms-stamped:pose-stamped null) + left-tcp-pose right-tcp-pose) + (type boolean move-base)) (declare (ignore collision-object-b collision-object-b-link collision-object-a)) (cram-tf:visualize-marker (list left-tcp-pose right-tcp-pose) :r-g-b-list '(1 0 1)) @@ -772,55 +1075,151 @@ with the object, calculates similar angle around Y axis and applies the rotation (btr:add-vis-axis-object right-tcp-pose)) (when left-tcp-pose (btr:add-vis-axis-object left-tcp-pose)) - (cut:with-vars-strictly-bound (?robot ?left-tool-frame ?right-tool-frame ?left-ee-frame ?right-ee-frame ?left-arm-joints ?right-arm-joints - ?torso-link ?torso-joint ?lower-limit ?upper-limit) + ?torso-link ?torso-joint + ?lower-limit ?upper-limit) (cut:lazy-car (prolog:prolog `(and (rob-int:robot ?robot) - (rob-int:robot-tool-frame ?robot :left ?left-tool-frame) - (rob-int:robot-tool-frame ?robot :right ?right-tool-frame) - (rob-int:end-effector-link ?robot :left ?left-ee-frame) - (rob-int:end-effector-link ?robot :right ?right-ee-frame) - (rob-int:arm-joints ?robot :left ?left-arm-joints) - (rob-int:arm-joints ?robot :right ?right-arm-joints) + (once (or (rob-int:robot-tool-frame ?robot :left ?left-tool-frame) + (equal ?left-tool-frame nil))) + (once (or (rob-int:robot-tool-frame ?robot :right ?right-tool-frame) + (equal ?right-tool-frame nil))) + (once (or (rob-int:end-effector-link ?robot :left ?left-ee-frame) + (equal ?left-ee-frame nil))) + (once (or (rob-int:end-effector-link ?robot :right ?right-ee-frame) + (equal ?right-ee-frame nil))) + (once (or (rob-int:arm-joints ?robot :left ?left-arm-joints) + (equal ?left-arm-joints nil))) + (once (or (rob-int:arm-joints ?robot :right ?right-arm-joints) + (equal ?right-arm-joints nil))) (rob-int:robot-torso-link-joint ?robot ?torso-link ?torso-joint) (rob-int:joint-lower-limit ?robot ?torso-joint ?lower-limit) (rob-int:joint-upper-limit ?robot ?torso-joint ?upper-limit)))) - (multiple-value-bind (left-ik left-torso-angle) - ;; TODO: the LET is a temporary hack until we get a relay running for PR2 - ;; such that both arms IKs go over the same ROS service - (let ((ik::*ik-service-name* - (if (string-equal (symbol-name ?robot) "PR2") - "pr2_left_arm_kinematics/get_ik" - "kdl_ik_service/get_ik"))) - (get-ik-joint-positions (ee-pose-in-map->ee-pose-in-torso - (tcp-pose->ee-pose left-tcp-pose - ?left-tool-frame ?left-ee-frame)) - ?torso-link ?left-ee-frame ?left-arm-joints - ?torso-joint ?lower-limit ?upper-limit)) - (multiple-value-bind (right-ik right-torso-angle) + (let ((validation-function + (lambda (ik-solution-msg torso-offsets) + (not (perform-collision-check + collision-mode left-tcp-pose right-tcp-pose + ik-solution-msg torso-offsets))))) + (multiple-value-bind (left-ik left-torso-angle left-base-pose) + ;; TODO: the LET is a temporary hack until we get a relay running + ;; for PR2 such that both arms IKs go over the same ROS service (let ((ik::*ik-service-name* - (if (string-equal (symbol-name ?robot) "PR2") - "pr2_right_arm_kinematics/get_ik" + (if (eql ?robot :pr2) + "pr2_left_arm_kinematics/get_ik" "kdl_ik_service/get_ik"))) - (get-ik-joint-positions (ee-pose-in-map->ee-pose-in-torso - (tcp-pose->ee-pose right-tcp-pose - ?right-tool-frame ?right-ee-frame)) - ?torso-link ?right-ee-frame ?right-arm-joints - ?torso-joint ?lower-limit ?upper-limit)) - (cond - ((and left-torso-angle right-torso-angle) - (when (not (eq left-torso-angle right-torso-angle)) - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "In MOVE-TCP goals for the two arms ~ - require different torso angles)."))) - (move-torso left-torso-angle)) - (left-torso-angle (move-torso left-torso-angle)) - (right-torso-angle (move-torso right-torso-angle))) - (move-joints left-ik right-ik) - (perform-collision-check collision-mode left-tcp-pose right-tcp-pose))))) + (get-ik-joint-positions + (ee-pose-in-map->ee-pose-in-torso + (tcp-pose->ee-pose left-tcp-pose ?left-tool-frame ?left-ee-frame)) + ?torso-link ?left-ee-frame ?left-arm-joints + ?torso-joint ?lower-limit ?upper-limit + validation-function + move-base)) + (multiple-value-bind (right-ik right-torso-angle right-base-pose) + (let ((ik::*ik-service-name* + (if (eql ?robot :pr2) + "pr2_right_arm_kinematics/get_ik" + "kdl_ik_service/get_ik"))) + (get-ik-joint-positions + (ee-pose-in-map->ee-pose-in-torso + (tcp-pose->ee-pose right-tcp-pose ?right-tool-frame ?right-ee-frame)) + ?torso-link ?right-ee-frame ?right-arm-joints + ?torso-joint ?lower-limit ?upper-limit + validation-function + move-base)) + ;; set the torso to inferred position + (cond + ((and left-torso-angle right-torso-angle) + (if (eq left-torso-angle right-torso-angle) + (move-torso left-torso-angle) + (cpl:fail 'common-fail:manipulation-pose-unreachable + :description (format nil "In MOVE-TCP goals ~ + for the two arms require different ~ + torso angles.")))) + (left-torso-angle + (move-torso left-torso-angle)) + (right-torso-angle + (move-torso right-torso-angle))) + ;; set the base to inferred position + (cond + ((and left-base-pose right-base-pose) + (if (funcall (cram-tf:make-euclidean-distance-filter + left-base-pose *base-resampling-step*) + right-base-pose) + (setf (btr:pose (btr:get-robot-object)) left-base-pose) + (cpl:fail 'common-fail:manipulation-pose-unreachable + :description (format nil "In MOVE-TCP goals ~ + for the two arms require different ~ + base-poses.")))) + (left-base-pose + (setf (btr:pose (btr:get-robot-object)) left-base-pose)) + (right-base-pose + (setf (btr:pose (btr:get-robot-object)) right-base-pose))) + ;; set the arm joints to inferred position + (move-joints left-ik right-ik) + ;; perform one last collision check + (perform-collision-check collision-mode left-tcp-pose right-tcp-pose)))))) + +(defun move-tcp (left-poses right-poses + &optional + collision-mode + collision-object-b + collision-object-b-link + collision-object-a + (move-base t)) + (declare (type (or cl-transforms-stamped:pose-stamped list null) + left-poses right-poses) + (type boolean move-base)) + + (multiple-value-bind (left-poses right-poses) + (cut:equalize-two-list-lengths left-poses right-poses) + + ;; Move arms through all but last poses of `left-poses' and `right-poses' + ;; while ignoring failures: accuracy is not so important in intermediate poses. + (mapc (lambda (left-pose right-pose) + (cpl:with-failure-handling + ;; ignore intermediate pose failures + ((common-fail:manipulation-low-level-failure (e) + (roslisp:ros-warn (urdf-proj move-tcp) "~a~%Ignoring." e) + (return))) + (move-tcp-one-pose left-pose right-pose + collision-mode collision-object-b + collision-object-b-link collision-object-a + move-base))) + (butlast left-poses) + (butlast right-poses)) + + ;; Move arm to the last pose of `left-poses' and `right-poses'. + (let ((left-pose (car (last left-poses))) + (right-pose (car (last right-poses)))) + (cpl:with-failure-handling + ((common-fail:manipulation-low-level-failure (e) + ;; propagate failures up + (roslisp:ros-error (urdf-proj move-tcp) "~a~%Failing." e))) + (move-tcp-one-pose left-pose right-pose + collision-mode collision-object-b + collision-object-b-link collision-object-a + move-base))))) + + +#+save-for-next-time +((giskard:call-giskard-cartesian-action :goal-pose-left (cl-transforms-stamped:make-pose-stamped "l_gripper_tool_frame" 0.0 (cl-transforms:make-identity-vector) (cl-transforms:make-identity-rotation))) + (let* ((root-link (cl-urdf:name (cl-urdf:root-link (btr:urdf (btr:get-robot-object))))) + (robot-transform + (handler-case + (cl-transforms-stamped:lookup-transform + cram-tf:*transformer* cram-tf:*fixed-frame* root-link + :time 0.0 :timeout cram-tf:*tf-default-timeout*) + (cl-tf:transform-stamped-error (error) + (roslisp:ros-warn (set-robot-state-from-tf) + "Failed with transform-stamped-error:~% ~a~% ~ + Ignore this warning if no real robot is running." + error) + NIL)))) + (when robot-transform + (setf (btr:link-pose (btr:get-robot-object) root-link) + (cl-transforms:transform->pose robot-transform))))) diff --git a/cram_3d_world/cram_urdf_projection/src/process-modules.lisp b/cram_3d_world/cram_urdf_projection/src/process-modules.lisp index dd1e3a0779..4e4b0f5e44 100644 --- a/cram_3d_world/cram_urdf_projection/src/process-modules.lisp +++ b/cram_3d_world/cram_urdf_projection/src/process-modules.lisp @@ -32,46 +32,68 @@ ;;;;;;;;;;;;;;;;; NAVIGATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-navigation (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) + (destructuring-bind (command argument) + (desig:reference motion-designator) (ecase command - (cram-common-designators:move-base (drive argument))))) + (cram-common-designators:move-base + (drive argument))))) ;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-torso (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) + (destructuring-bind (command argument) + (desig:reference motion-designator) (ecase command - (cram-common-designators:move-torso (move-torso argument))))) + (cram-common-designators:move-torso + (move-torso argument))))) ;;;;;;;;;;;;;;;;; NECK ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-neck (motion-designator) - (destructuring-bind (command goal-pose goal-configuration) (desig:reference motion-designator) + (destructuring-bind (command goal-pose goal-configuration) + (desig:reference motion-designator) (ecase command - (cram-common-designators:move-head (look-at goal-pose goal-configuration))))) + (cram-common-designators:move-head + (look-at goal-pose goal-configuration))))) ;;;;;;;;;;;;;;;;; PERCEPTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-perception (motion-designator) - (destructuring-bind (command argument-1) (desig:reference motion-designator) + (destructuring-bind (command argument-1) + (desig:reference motion-designator) (ecase command - (cram-common-designators:detect (detect argument-1))))) + (cram-common-designators:detect + (detect argument-1))))) ;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-grippers (motion-designator) - (destructuring-bind (command arg-1 arg-2 &rest arg-3) (desig:reference motion-designator) + (destructuring-bind (command arg-1 arg-2 &rest arg-3) + (desig:reference motion-designator) (ecase command - (cram-common-designators:move-gripper-joint (gripper-action arg-1 arg-2 (car arg-3)))))) + (cram-common-designators:move-gripper-joint + (gripper-action arg-1 arg-2 (car arg-3)))))) ;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module urdf-proj-arms (motion-designator) - (destructuring-bind (command arg-1 &rest arg-2) (desig:reference motion-designator) + (destructuring-bind (command arg-1 &rest arg-2) + (desig:reference motion-designator) (ecase command - (cram-common-designators:move-tcp (move-tcp arg-1 (first arg-2) (second arg-2) - (third arg-2) (fourth arg-2) (fifth arg-2))) - (cram-common-designators::move-joints (move-joints arg-1 (car arg-2)))))) + (cram-common-designators:move-tcp + (move-tcp arg-1 (first arg-2) + (second arg-2) (third arg-2) (fourth arg-2) (fifth arg-2) + (sixth arg-2))) + (cram-common-designators::move-joints + (move-joints-avoiding-collision arg-1 (first arg-2) (second arg-2))) + ((or cram-common-designators:move-arm-pull + cram-common-designators:move-arm-push) + (move-tcp (when (eq arg-1 :left) + (first arg-2)) + (when (eq arg-1 :right) + (first arg-2)) + (third arg-2) (fourth arg-2) (fifth arg-2) (sixth arg-2) + (seventh arg-2)))))) ;;;;;;;;;;;;;;;;;;;;; PREDICATES ;;;;;;;;;;;;;;;;;;;;;;;; @@ -98,4 +120,6 @@ (<- (cpm:matching-process-module ?motion-designator urdf-proj-arms) (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) - (desig:desig-prop ?motion-designator (:type :moving-arm-joints))))) + (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) + (desig:desig-prop ?motion-designator (:type :pulling)) + (desig:desig-prop ?motion-designator (:type :pushing))))) diff --git a/cram_3d_world/cram_urdf_projection/src/projection-environment.lisp b/cram_3d_world/cram_urdf_projection/src/projection-environment.lisp index 51a85910cd..27c9b57982 100644 --- a/cram_3d_world/cram_urdf_projection/src/projection-environment.lisp +++ b/cram_3d_world/cram_urdf_projection/src/projection-environment.lisp @@ -144,7 +144,7 @@ (exe:perform (desig:a motion (type moving-gripper-joint) (gripper right) (joint-angle 0.05))) (exe:perform - (let ((?pose (cl-tf:make-pose-stamped + (let ((?pose (cl-transforms-stamped:make-pose-stamped cram-tf:*robot-base-frame* 0.0 (cl-transforms:make-3d-vector 0.8 0.4 1.0) (cl-transforms:make-identity-rotation)))) diff --git a/cram_3d_world/cram_urdf_projection_reasoning/cram-urdf-projection-reasoning.asd b/cram_3d_world/cram_urdf_projection_reasoning/cram-urdf-projection-reasoning.asd index a29f791460..2a35243064 100644 --- a/cram_3d_world/cram_urdf_projection_reasoning/cram-urdf-projection-reasoning.asd +++ b/cram_3d_world/cram_urdf_projection_reasoning/cram-urdf-projection-reasoning.asd @@ -45,6 +45,7 @@ cram-common-failures cram-mobile-pick-place-plans + cram-robot-interfaces ; for get-robot-name cram-tf cl-transforms-stamped cl-transforms diff --git a/cram_3d_world/cram_urdf_projection_reasoning/package.xml b/cram_3d_world/cram_urdf_projection_reasoning/package.xml index 8317a66cba..23d31f94ac 100644 --- a/cram_3d_world/cram_urdf_projection_reasoning/package.xml +++ b/cram_3d_world/cram_urdf_projection_reasoning/package.xml @@ -24,6 +24,7 @@ cram_occasions_events cram_common_failures cram_mobile_pick_place_plans + cram_robot_interfaces cram_tf cl_transforms_stamped cl_transforms diff --git a/cram_3d_world/cram_urdf_projection_reasoning/src/check-collisions.lisp b/cram_3d_world/cram_urdf_projection_reasoning/src/check-collisions.lisp index 850fa95e4b..176a11df08 100644 --- a/cram_3d_world/cram_urdf_projection_reasoning/src/check-collisions.lisp +++ b/cram_3d_world/cram_urdf_projection_reasoning/src/check-collisions.lisp @@ -41,8 +41,7 @@ Repeat `navigation-location-samples' + 1 times. Store found pose into designator or throw error if good pose not found." (when *projection-checks-enabled* - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) + (let ((world-pose-info (btr:get-world-objects-pose-info))) (unwind-protect (cpl:with-failure-handling ((desig:designator-error (e) @@ -89,17 +88,15 @@ Store found pose into designator or throw error if good pose not found." ;; "Found non-colliding pose~%~a to satisfy~%~a." ;; pose-at-navigation-location navigation-location-desig) navigation-location-desig)))) - (btr::restore-world-state world-state world))))) - + (btr:restore-world-poses world-pose-info))))) (defun check-picking-up-collisions (pick-up-action-desig &optional (retries 30)) (when *projection-checks-enabled* - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) - + (let ((world-pose-info (btr:get-world-objects-pose-info))) (unwind-protect + (cpl:with-failure-handling ((desig:designator-error (e) (roslisp:ros-warn (coll-check pick) @@ -114,7 +111,7 @@ Store found pose into designator or throw error if good pose not found." ;; If no configuration is good, throw `object-unreachable' failure (cpl:with-retry-counters ((pick-up-configuration-retries retries)) (cpl:with-failure-handling - (((or common-fail:manipulation-pose-unreachable + (((or common-fail:manipulation-low-level-failure common-fail:manipulation-goal-in-collision) (e) (declare (ignore e)) (urdf-proj::move-torso :upper-limit) @@ -126,7 +123,7 @@ Store found pose into designator or throw error if good pose not found." (progn (roslisp:ros-warn (coll-check pick) "No more pick-up samples to try.~ - Object unreachable.") + Object unreachable.") (cpl:fail 'common-fail:object-unreachable :description "No more pick-up samples to try.")))) (roslisp:ros-warn (coll-check pick) "No more retries left :'(") @@ -176,146 +173,172 @@ Store found pose into designator or throw error if good pose not found." :allow-all) (unless (< (abs urdf-proj::*debug-short-sleep-duration*) 0.0001) (cpl:sleep urdf-proj::*debug-short-sleep-duration*)) - (when ;; (remove object-name - ;; (btr:robot-colliding-objects-without-attached)) - (urdf-proj::perform-collision-check - collision-flag (nth i left-poses) (nth i right-poses)) + (when (urdf-proj::perform-collision-check + collision-flag + (nth i left-poses) (nth i right-poses) + nil nil object-name) (roslisp:ros-warn (coll-check pick) "Robot is in collision with environment.") (cpl:sleep urdf-proj::*debug-long-sleep-duration*) - (btr::restore-world-state world-state world) + (btr:restore-world-poses world-pose-info) (cpl:fail 'common-fail:manipulation-goal-in-collision))))) (list left-reach-poses left-grasp-poses left-lift-poses) (list right-reach-poses right-grasp-poses right-lift-poses) (list :avoid-all :allow-hand :avoid-all)))))) - (btr::restore-world-state world-state world))))) + (btr:restore-world-poses world-pose-info))))) -(defun check-placing-collisions (placing-action-desig) + +(defun check-placing-collisions (placing-action-desig &optional (retries 3)) (when *projection-checks-enabled* - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) + (let ((world-pose-info (btr:get-world-objects-pose-info))) (unwind-protect + (cpl:with-failure-handling ((desig:designator-error (e) (roslisp:ros-warn (coll-check place) "Desig ~a could not be resolved: ~a~%Cannot pick." placing-action-desig e) (cpl:fail 'common-fail:object-unreachable - :description "Designator could not be resolved")) + :description "Designator could not be resolved"))) - ((or common-fail:manipulation-goal-in-collision - common-fail:manipulation-low-level-failure) (e) - (declare (ignore e)) - (roslisp:ros-warn (coll-check place) - "Placing pose of ~a is unreachable.~%Propagating up." - placing-action-desig) - (cpl:fail 'common-fail:object-unreachable))) - - (let* ((placing-action-referenced - (second (desig:reference placing-action-desig))) - (object-designator - (desig:desig-prop-value placing-action-referenced :object)) - (arm - (desig:desig-prop-value placing-action-referenced :arm)) - (left-reach-poses - (desig:desig-prop-value placing-action-referenced :left-reach-poses)) - (right-reach-poses - (desig:desig-prop-value placing-action-referenced :right-reach-poses)) - (left-put-poses - (desig:desig-prop-value placing-action-referenced :left-put-poses)) - (right-put-poses - (desig:desig-prop-value placing-action-referenced :right-put-poses)) - (left-retract-poses - (desig:desig-prop-value placing-action-referenced :left-retract-poses)) - (right-retract-poses - (desig:desig-prop-value placing-action-referenced :right-retract-poses)) - (object-name - (desig:desig-prop-value object-designator :name))) + (cpl:with-retry-counters ((placing-retries retries)) + (cpl:with-failure-handling + (((or common-fail:manipulation-low-level-failure + common-fail:manipulation-goal-in-collision) (e) + (declare (ignore e)) + (cpl:do-retry placing-retries + (setf placing-action-desig + (desig:next-solution placing-action-desig)) + (if placing-action-desig + (cpl:retry) + (progn + (roslisp:ros-warn (coll-check place) + "No more placing samples to try.~ + Object unreachable.") + (cpl:fail 'common-fail:object-unreachable + :description + (format + nil + "No more placing samples to try.~%~ + Placing pose of ~a is unreachable.~%~ + Propagating up." + placing-action-desig))))) + (roslisp:ros-warn (coll-check place) + "Placing pose of ~a is unreachable.~%~ + Propagating up." + placing-action-desig) + (cpl:fail 'common-fail:object-unreachable + :description "No more place retries left."))) - (urdf-proj::gripper-action :open arm) + (let* ((placing-action-referenced + (second (desig:reference placing-action-desig))) + (object-designator + (desig:desig-prop-value placing-action-referenced :object)) + (arm + (desig:desig-prop-value placing-action-referenced :arm)) + (left-reach-poses + (desig:desig-prop-value placing-action-referenced :left-reach-poses)) + (right-reach-poses + (desig:desig-prop-value placing-action-referenced :right-reach-poses)) + (left-put-poses + (desig:desig-prop-value placing-action-referenced :left-put-poses)) + (right-put-poses + (desig:desig-prop-value placing-action-referenced :right-put-poses)) + (left-retract-poses + (desig:desig-prop-value placing-action-referenced :left-retract-poses)) + (right-retract-poses + (desig:desig-prop-value placing-action-referenced :right-retract-poses)) + (object-name + (desig:desig-prop-value object-designator :name))) + + (urdf-proj::gripper-action :open arm) - (roslisp:ros-info (coll-check place) - "Trying to place object ~a with arm ~a~%" - object-name arm) - - (mapcar - (lambda (left-poses right-poses) - (multiple-value-bind (left-poses right-poses) - (cut:equalize-two-list-lengths left-poses right-poses) - (dotimes (i (length left-poses)) - (urdf-proj::move-tcp (nth i left-poses) (nth i right-poses) - :allow-all) - (unless (< (abs urdf-proj:*debug-short-sleep-duration*) 0.0001) - (cpl:sleep urdf-proj:*debug-short-sleep-duration*)) - (when (or - ;; either robot collied with environment - (btr:robot-colliding-objects-without-attached) - ;; or object in hand collides with environment - ;; (remove - ;; (btr:name - ;; (find-if (lambda (x) - ;; (typep x 'btr:semantic-map-object)) - ;; (btr:objects btr:*current-bullet-world*))) - ;; (remove (btr:get-robot-name) - ;; (btr:find-objects-in-contact - ;; btr:*current-bullet-world* - ;; (btr:object - ;; btr:*current-bullet-world* - ;; object-name)) - ;; :key #'btr:name) - ;; :key #'btr:name) - ) - (roslisp:ros-warn (coll-check place) - "Robot is in collision with environment.") - (cpl:sleep urdf-proj:*debug-long-sleep-duration*) - (btr::restore-world-state world-state world) - ;; (cpl:fail 'common-fail:manipulation-goal-in-collision) - )))) - (list left-reach-poses left-put-poses left-retract-poses) - (list right-reach-poses right-put-poses right-retract-poses)))) - (btr::restore-world-state world-state world))))) + (roslisp:ros-info (coll-check place) + "Trying to place object ~a with arm ~a~%" + object-name arm) + + (mapcar + (lambda (left-poses right-poses) + (multiple-value-bind (left-poses right-poses) + (cut:equalize-two-list-lengths left-poses right-poses) + (dotimes (i (length left-poses)) + (urdf-proj::move-tcp (nth i left-poses) (nth i right-poses) + :allow-all) + (unless (< (abs urdf-proj:*debug-short-sleep-duration*) 0.0001) + (cpl:sleep urdf-proj:*debug-short-sleep-duration*)) + (when (or + ;; either robot collied with environment + (btr:robot-colliding-objects-without-attached) + ;; or object in hand collides with environment + ;; (remove + ;; (btr:name + ;; (find-if (lambda (x) + ;; (typep x 'btr:semantic-map-object)) + ;; (btr:objects btr:*current-bullet-world*))) + ;; (remove (rob-int:get-robot-name) + ;; (btr:find-objects-in-contact + ;; btr:*current-bullet-world* + ;; (btr:object + ;; btr:*current-bullet-world* + ;; object-name)) + ;; :key #'btr:name) + ;; :key #'btr:name) + ) + (roslisp:ros-warn (coll-check place) + "Robot is in collision with environment.") + (cpl:sleep urdf-proj:*debug-long-sleep-duration*) + (btr:restore-world-poses world-pose-info) + ;; (cpl:fail 'common-fail:manipulation-goal-in-collision) + )))) + ;; (list left-put-poses) + ;; (list right-put-poses) + (list left-reach-poses left-put-poses left-retract-poses) + (list right-reach-poses right-put-poses right-retract-poses)))))) + (btr:restore-world-poses world-pose-info))))) (defun check-placing-pose-stability (object-desig placing-location) (when *projection-checks-enabled* - (let* ((placing-pose - (desig:reference placing-location)) - (world - btr:*current-bullet-world*) - (world-state - (btr::get-state world)) + (let* ((world-pose-info + (btr:get-world-objects-pose-info)) + (placing-pose + (desig:reference (desig:current-desig placing-location))) (bullet-object-type (desig:desig-prop-value object-desig :type)) + (bullet-object-name + (gensym "obj")) (new-btr-object - (btr-utils:spawn-object - (gensym "obj") bullet-object-type :pose placing-pose))) + (btr:add-object btr:*current-bullet-world* :mesh + bullet-object-name placing-pose + :mesh bullet-object-type + :mass 0.2))) (unwind-protect (progn - (setf (btr:pose new-btr-object) placing-pose) (cpl:sleep urdf-proj::*debug-short-sleep-duration*) (btr:simulate btr:*current-bullet-world* 500) (btr:simulate btr:*current-bullet-world* 100) (let* ((new-pose (btr:pose new-btr-object)) (distance-new-pose-and-place-pose - (cl-tf:v-dist + (cl-transforms:v-dist (cl-transforms:origin new-pose) (cl-transforms:origin placing-pose)))) (when (> distance-new-pose-and-place-pose 0.2) (cpl:fail 'common-fail:high-level-failure :description "Pose unstable.")))) - (btr::restore-world-state world-state world))))) + (btr:remove-object btr:*current-bullet-world* bullet-object-name) + (btr:restore-world-poses world-pose-info))))) (defun check-environment-manipulation-collisions (action-desig) (when *projection-checks-enabled* - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) + (let ((world-pose-info (btr:get-world-objects-pose-info))) (unwind-protect + (cpl:with-failure-handling ((desig:designator-error (e) (roslisp:ros-warn (coll-check environment) @@ -382,7 +405,7 @@ Store found pose into designator or throw error if good pose not found." (roslisp:ros-warn (coll-check environment) "Robot is in collision with environment.") (cpl:sleep urdf-proj:*debug-long-sleep-duration*) - (btr::restore-world-state world-state world) + (btr:restore-world-poses world-pose-info) ;; (cpl:fail 'common-fail:manipulation-goal-in-collision) )))) - (btr::restore-world-state world-state world))))) + (btr:restore-world-poses world-pose-info))))) diff --git a/cram_3d_world/cram_urdf_projection_reasoning/src/projection-prediction.lisp b/cram_3d_world/cram_urdf_projection_reasoning/src/projection-prediction.lisp index 5b313de6ce..505ebe8495 100644 --- a/cram_3d_world/cram_urdf_projection_reasoning/src/projection-prediction.lisp +++ b/cram_3d_world/cram_urdf_projection_reasoning/src/projection-prediction.lisp @@ -218,7 +218,7 @@ (cpl:with-failure-handling ((cpl:plan-failure (e) (roslisp:ros-warn - (pr2-proj-reason proj-prediction) + (proj-reason proj-prediction) "PROJECTION RUN HAD A FAILURE...~%~a~%" e) (return))) ,@body)) diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/bowl.dae 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- - - - - - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - \ No newline at end of file diff --git a/cram_boxy/cram_boxy_assembly_demo/src/demo.lisp b/cram_boxy/cram_boxy_assembly_demo/src/demo.lisp deleted file mode 100644 index 6e7fce78bc..0000000000 --- a/cram_boxy/cram_boxy_assembly_demo/src/demo.lisp +++ /dev/null @@ -1,119 +0,0 @@ -;;; -;;; Copyright (c) 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -#+everything-below-is-pr2-s-stuff-so-need-new-things-for-boxy -( -(defparameter *object-cad-models* - '(;; (:cup . "cup_eco_orange") - ;; (:bowl . "edeka_red_bowl") - )) - -(cpl:def-cram-function initialize-or-finalize () - (cpl:with-failure-handling - ((cpl:plan-failure (e) - (declare (ignore e)) - (return))) - (cpl:par - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - (let ((?pose (cl-transforms-stamped:make-pose-stamped - cram-tf:*fixed-frame* - 0.0 - (cl-transforms:make-identity-vector) - (cl-transforms:make-identity-rotation)))) - (exe:perform - (desig:an action - (type going) - (target (desig:a location - (pose ?pose)))))) - (exe:perform (desig:an action (type opening-gripper) (gripper (left right)))) - (exe:perform (desig:an action (type looking) (direction forward)))))) - - -(cpl:def-cram-function demo-random (&optional - (random t) - (list-of-objects '(:milk :cup :breakfast-cereal :bowl :spoon))) - (btr:detach-all-objects (btr:get-robot-object)) - (btr-utils:kill-all-objects) - - ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) - (when (eql cram-projection:*projection-environment* - 'urdf-proj:urdf-bullet-projection-environment) - (spawn-objects-on-sink-counter :random random)) - - (setf cram-robot-pose-guassian-costmap::*orientation-samples* 1) - - (initialize-or-finalize) - - (dolist (?object-type list-of-objects) - (let* ((?cad-model - (cdr (assoc ?object-type *object-cad-models*))) - (?object-to-fetch - (desig:an object - (type ?object-type) - (desig:when ?cad-model - (cad-model ?cad-model)))) - (?fetching-location - (desig:a location - (on "CounterTop") - (name "iai_kitchen_sink_area_counter_top") - (side left))) - (?placing-target-pose - (cl-transforms-stamped:pose->pose-stamped - "map" 0.0 - (cram-bullet-reasoning:ensure-pose - (cdr (assoc ?object-type *object-placing-poses*))))) - (?arm-to-use - (cdr (assoc ?object-type *object-grasping-arms*))) - (?delivering-location - (desig:a location - (pose ?placing-target-pose)))) - - (cpl:with-failure-handling - ((common-fail:high-level-failure (e) - (roslisp:ros-warn (pp-plans demo) "Failure happened: ~a~%Skipping..." e) - (return))) - (exe:perform - (desig:an action - (type transporting) - (object ?object-to-fetch) - ;; (arm ?arm-to-use) - (location ?fetching-location) - (target ?delivering-location)))))) - - (initialize-or-finalize) - - cpl:*current-path*) - -) diff --git a/cram_boxy/cram_boxy_assembly_demo/src/projection-demo.lisp b/cram_boxy/cram_boxy_assembly_demo/src/projection-demo.lisp deleted file mode 100644 index f3bd3469b0..0000000000 --- a/cram_boxy/cram_boxy_assembly_demo/src/projection-demo.lisp +++ /dev/null @@ -1,438 +0,0 @@ -;;; -;;; Copyright (c) 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -(defparameter *plate-x* -1.1115) -(defparameter *plate-y* 1.6) -(defparameter *plate-z* 0.8626) - -(defparameter *plate-rad-x* 0.36) -(defparameter *plate-rad-y* 0.60) -(defparameter *plate-rad-z* 0.008) -(defparameter *holder-bolt-rad-x* 0.05) -(defparameter *holder-bolt-rad-y* 0.025) -(defparameter *holder-bolt-rad-z* 0.0125) -(defparameter *bolt-rad-x* 0.01) -(defparameter *bolt-rad-y* 0.01) -(defparameter *bolt-rad-z* 0.0225) -(defparameter *holder-upperbody-rad-x* 0.085) -(defparameter *holder-upperbody-rad-y* 0.025) -(defparameter *holder-upperbody-rad-z* 0.021) -(defparameter *holder-bottom-wing-rad-x* 0.035) -(defparameter *holder-bottom-wing-rad-y* 0.045) -(defparameter *holder-bottom-wing-rad-z* 0.045) -(defparameter *holder-underbody-rad-x* 0.0925) -(defparameter *holder-underbody-rad-y* 0.025) -(defparameter *holder-underbody-rad-z* 0.024) -(defparameter *holder-plane-horizontal-rad-x* 0.1015) -(defparameter *holder-plane-horizontal-rad-y* 0.05) -(defparameter *holder-plane-horizontal-rad-z* 0.0335) -(defparameter *holder-window-rad-x* 0.026) -(defparameter *holder-window-rad-y* 0.025) -(defparameter *holder-window-rad-z* 0.017) -(defparameter *front-wheel-rad-z* 0.015) -(defparameter *nut-rad-z* 0.0075) -(defparameter *chassis-rad-z* 0.0515) -(defparameter *holder-plane-vertical-rad-x* 0.065) -(defparameter *holder-plane-vertical-rad-y* 0.06) -(defparameter *holder-plane-vertical-rad-z* 0.0175) -(defparameter *holder-top-wing-rad-x* 0.035) -(defparameter *holder-top-wing-rad-y* 0.0415) -(defparameter *holder-top-wing-rad-z* 0.045) - -(defparameter *yellow-plastic* '(0.949 0.807 0.082)) -(defparameter *gray-plastic* '(0.568 0.592 0.584)) -(defparameter *red-plane* '(0.878 0.376 0.243)) -(defparameter *cyan-plane* '(0.078 0.513 0.541)) -(defparameter *yellow-plane* '(0.964 0.847 0.584)) -(defparameter *transparent-plane* '(1 1 1)) -(defparameter *black-plane* '(0.184 0.152 0.121)) -(defparameter *gray-plane* '(0.482 0.537 0.549)) - -(defparameter *object-spawning-data* - `((big-wooden-plate :big-wooden-plate (0.823 0.698 0.513) - ((,*plate-rad-x* ,*plate-rad-y* ,(- *plate-rad-z*)) (0 0 0 1))) - (holder-bolt :holder-bolt ,*yellow-plastic* - ((,*holder-bolt-rad-x* ,*holder-bolt-rad-y* ,*holder-bolt-rad-z*) (0 0 0 1))) - (holder-upper-body :holder-upper-body ,*yellow-plastic* - ((,(+ 0.05 *holder-upperbody-rad-x*) 0.10 ,*holder-upperbody-rad-z*) - (0 0 0 1))) - (holder-bottom-wing :holder-bottom-wing ,*gray-plastic* - ((,(+ 0.1 *holder-bottom-wing-rad-x*) - ,(- 0.3 *holder-bottom-wing-rad-y*) - ,*holder-bottom-wing-rad-z*) - ,man-int:*rotation-around-z-90-list*)) - (holder-underbody :holder-underbody ,*yellow-plastic* - ((,(+ 0.05 *holder-underbody-rad-x*) 0.4 ,*holder-underbody-rad-z*) - (0 0 0 1))) - (holder-plane-horizontal :holder-plane-horizontal ,*yellow-plastic* - ((,(+ 0.05 *holder-plane-horizontal-rad-x*) - 0.6 - ,*holder-plane-horizontal-rad-z*) - (0 0 0 1))) - (holder-window :holder-window ,*gray-plastic* - ((,*holder-window-rad-x* - ,(+ 0.75 *holder-window-rad-y*) - ,*holder-window-rad-z*) - (0 0 0 1))) - (holder-plane-vertical :holder-plane-vertical ,*yellow-plastic* - ((,*holder-plane-vertical-rad-x* - ,(- 1.0 *holder-plane-vertical-rad-y*) - ,*holder-plane-vertical-rad-z*) - (0 0 0 1))) - (holder-top-wing :holder-top-wing ,*yellow-plastic* - ((,(+ 0.15 *holder-top-wing-rad-x*) - ,(- 1.15 *holder-top-wing-rad-y*) - ,*holder-top-wing-rad-z*) - ,man-int:*rotation-around-z-90-list*)) - - ;; rear wing is already well positioned - (rear-wing :rear-wing ,*yellow-plane* - ((0.079 0.599 0.056) - ,man-int:*rotation-around-z+90-list*)) - - ;; bolts are used intermediately - (bolt-1 :bolt ,*gray-plane* - ((0.015 0.0125 ,*bolt-rad-z*) (0 0 0 1))) - (bolt-2 :bolt ,*gray-plane* - ((0.0325 0.0375 ,*bolt-rad-z*) (0 0 0 1))) - (bolt-3 :bolt ,*gray-plane* - ((0.05 0.0125 ,*bolt-rad-z*) (0 0 0 1))) - (bolt-4 :bolt ,*gray-plane* - ((0.0675 0.0375 ,*bolt-rad-z*) (0 0 0 1))) - (bolt-5 :bolt ,*gray-plane* - ((0.085 0.0125 ,*bolt-rad-z*) (0 0 0 1))) - - ;; first part of scenario on horizontal holder - (chassis :chassis ,*yellow-plane* - ((0.2 0.9 ,*chassis-rad-z*) ,man-int:*rotation-around-z-90-list*)) - (bottom-wing :bottom-wing ,*cyan-plane* - ((0.134 0.25 0.093) (0 0 0 1))) - (underbody :underbody ,*red-plane* - ((0.145 0.399 0.024) (0 0 0 1))) - (motor-grill :motor-grill ,*black-plane* - ((0.238 0.399 0.039) ,man-int:*rotation-around-y+90-list*)) - (upper-body :upper-body ,*red-plane* - ((0.119 0.1003 0.0482) (0 0 0 1))) - (top-wing :top-wing ,*cyan-plane* - ((0.18522 1.11423 0.08852) (0 0 0 1))) - (window :window ,*transparent-plane* - ((0.024 0.775 0.01962) (0 0 0 1))) - - ;; second part of scenario on vertical holder - (propeller :propeller ,*yellow-plane* - ((0.075 1.10 0) (0 0 0 1))) - (front-wheel-1 :front-wheel ,*black-plane* - ((0.15 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) - (front-wheel-2 :front-wheel ,*black-plane* - ((0.215 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) - (nut-1 :nut ,*gray-plane* - ((0.15 0.725 ,*nut-rad-z*) (0 0 0 1))) - (nut-2 :nut ,*gray-plane* - ((0.215 0.725 ,*nut-rad-z*) (0 0 0 1))))) - - -(defun spawn-objects-on-plate (&optional (spawning-poses *object-spawning-data*)) - (btr-utils:kill-all-objects) - (btr:detach-all-objects (btr:get-robot-object)) - ;; let ((object-types '(:breakfast-cereal :cup :bowl :spoon :milk))) - ;; spawn objects at default poses - (let ((objects (mapcar (lambda (object-name-type-pose-list) - (destructuring-bind (object-name object-type object-color - object-pose-list) - object-name-type-pose-list - (let ((object-relative-pose - (cram-tf:list->pose object-pose-list))) - (btr-utils:spawn-object - object-name - object-type - :mass 0.0 - :color object-color - :pose (cram-tf:pose->list - (cl-tf:make-pose - (cl-transforms:v+ - (cl-transforms:make-3d-vector - (- *plate-x* *plate-rad-x*) - (- *plate-y* *plate-rad-y*) - (+ *plate-z* *plate-rad-z*)) - (cl-transforms:origin - object-relative-pose)) - (cl-transforms:orientation - object-relative-pose))))))) - spawning-poses))) - objects)) - - -(defmethod exe:generic-perform :before (designator) - (format t "~%PERFORMING~%~A~%~%" designator)) - - -(defparameter *base-x* -2.4) -(defparameter *base-very-left-side-left-hand-pose* `((,*base-x* 1.8 0) (0 0 0 1))) -(defparameter *base-left-side-left-hand-pose* `((,*base-x* 1.5 0) (0 0 0 1))) -(defparameter *base-somewhat-left-side-left-hand-pose* `((,*base-x* 1.3 0) (0 0 0 1))) -(defparameter *base-middle-side-left-hand-pose* `((,*base-x* 1.1 0) (0 0 0 1))) -;; (defparameter *base-right-side-left-hand-pose* `((,*base-x* 0.9 0) (0 0 0 1))) -(defparameter *base-right-side-left-hand-pose* `((,*base-x* 0.7 0) (0 0 0 1))) -(defparameter *base-very-right-side-left-hand-pose* `((,(- *base-x* 0.2) 0.65 0) (0 0 0 1))) - -;;; ASSEMBLY STEPS: -;;; (1) put chassis on holder (bump inwards) -;;; (2) put bottom wing on chassis -;;; * maybe: dont hit the top-wing with the arm -;;; (3) put underbody on bottom wing -;;; (4) put upperbody on underbody -;;; (5) screw rear hole -;;; (6) put top wing on body -;;; (7) screw top wing -;;; (8) put window on body -;;; (9) screw window -;;; (10) put plane on vertical holder -;;; (11) put propeller on grill -;;; (12) screw propeller -;;; * put wheel on -;;; * screw nut onto wheel -;;; * put other wheel on -;;; * screw nut onto wheel -;;; * screw bottom body -(defun demo () - ;;(setf cram-robosherlock::*no-robosherlock-mode* t) - (spawn-objects-on-plate) - (initialize-attachments) - (urdf-proj:with-projected-robot - - ;; 1 - (go-connect :chassis *base-very-left-side-left-hand-pose* - :holder-plane-horizontal *base-middle-side-left-hand-pose* - :horizontal-attachment) - ;; 2 - (go-connect :bottom-wing *base-very-right-side-left-hand-pose* - :chassis *base-left-side-left-hand-pose* - :wing-attachment) - - ;; 3 - (go-connect :underbody *base-middle-side-left-hand-pose* - :bottom-wing *base-middle-side-left-hand-pose* - :body-attachment) - - ;; we put the underbody on the bottom-wing but by doing that - ;; we also put it on the rear-wing. - ;; as there is no explicit placing action, the two will not be - ;; attached automatically. - ;; so we have to attach them manually unfortunately. - ;; this is required for later moving the whole plane onto another holder - (btr:attach-object 'underbody 'rear-wing) - - ;; 4 - (go-connect :upper-body *base-right-side-left-hand-pose* - :underbody *base-left-side-left-hand-pose* - :body-on-body) - ;; 5 - (go-connect :bolt *base-right-side-left-hand-pose* - :upper-body *base-left-side-left-hand-pose* - :rear-thread) - ;; 6 - (go-connect :top-wing *base-left-side-left-hand-pose* - :upper-body *base-left-side-left-hand-pose* - :wing-attachment) - ;; 7 - (go-connect :bolt *base-right-side-left-hand-pose* - :top-wing *base-left-side-left-hand-pose* - :middle-thread) - ;; 8 - (go-connect :window *base-somewhat-left-side-left-hand-pose* - :top-wing *base-left-side-left-hand-pose* - :window-attachment) - ;; 9 - (go-connect :bolt *base-right-side-left-hand-pose* - :window *base-left-side-left-hand-pose* - :window-thread) - - ;; 10 - (go-connect :top-wing *base-somewhat-left-side-left-hand-pose* - :holder-plane-vertical *base-left-side-left-hand-pose* - ;; or `((,(- *base-x* 0.00) 1.45 0) (0 0 0 1)) - :vertical-attachment) - - ;; 11 - (go-connect :propeller `((,(- *base-x* 0.15) 2 0) (0 0 0 1)) - :motor-grill *base-left-side-left-hand-pose* - ;; or `((,(- *base-x* 0.15) 1.8 0) (0 0 0 1)) - :propeller-attachment) - - ;; 12 - (go-connect :bolt *base-right-side-left-hand-pose* - :propeller *base-left-side-left-hand-pose* - ;; or `((,*base-x* 1.85 0) (0 0 0 1)) - :propeller-thread) - - ;;(go-connect :top-wing *base-left-side-left-hand-pose* - ;; :holder-plane-horizontal *base-middle-side-left-hand-pose* - ;; :horizontal-attachment) - - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))))) - -(defun initialize-attachments () - (btr:attach-object 'motor-grill 'underbody)) - -(defun go-perceive (?object-type ?nav-goal) - ;; park arms - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - ;; drive to right location - (let ((?pose (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* - 0.0 - (btr:ensure-pose ?nav-goal)))) - (exe:perform - (desig:an action - (type going) - (target (desig:a location - (pose ?pose)))))) - ;; look down - (exe:perform - (desig:an action - (type looking) - (direction down-left))) - ;; perceive object - (let ((?object - (exe:perform - (desig:an action - (type detecting) - (object (desig:an object (type ?object-type))))))) - ;; look away - (exe:perform - (desig:an action - (type looking) - (direction away))) - ?object)) - -(defun go-pick (?object-type ?nav-goal) - ;; go and perceive object - (let ((?object - (go-perceive ?object-type ?nav-goal))) - ;; pick object - (exe:perform - (desig:an action - (type picking-up) - (arm left) - (object ?object))) - ?object)) - -(defun go-pick-place (?object-type ?nav-goal) - ;; go and pick up object - (let ((?object - (go-pick ?object-type ?nav-goal))) - ;; put the cookie down - (exe:perform - (desig:an action - (type placing) - (object ?object))))) - -(defun go-connect (?object-type ?nav-goal ?other-object-type ?other-nav-goal ?attachment-type) - ;; go and pick up object - (let ((?object - (go-pick ?object-type ?nav-goal))) - ;; go and perceive other object - (let ((?other-object - (go-perceive ?other-object-type ?other-nav-goal))) - (exe:perform - (desig:an action - (type placing) - (arm left) - (object ?object) - ;; this location designator is resolved in - ;; cram_boxy_plans/src/action-designators.lisp - (target (desig:a location - (on ?other-object) - (for ?object) - (attachment ?attachment-type))))) - (values ?object ?other-object)))) - -#+examples -( - (boxy-proj:with-projected-robot - (cram-executive:perform - (desig:an action - (type looking) - (direction down)))) - - (boxy-proj:with-projected-robot - (cram-executive:perform - (desig:an action - (type detecting) - (object (desig:an object (type chassis)))))) - - (boxy-proj:with-simulated-robot - (exe:perform - (desig:an action - (type opening-gripper) - (gripper left)))) - - (boxy-proj:with-projected-robot - (cram-executive:perform - (desig:an action - (type placing) - (arm left)))) - ) - - - - - - - -#+everything-below-is-pr2-s-stuff-so-need-new-things-for-boxy -( -(defun demo-hard-coded () - (spawn-objects-on-plate) - - (boxy-proj:with-simulated-robot - - (dolist (object-type '(:breakfast-cereal :cup :bowl :spoon :milk)) - - (let ((placing-target - (cl-transforms-stamped:pose->pose-stamped - "map" 0.0 - (cram-bullet-reasoning:ensure-pose - (cdr (assoc object-type *object-placing-poses*))))) - (arm-to-use - (cdr (assoc object-type *object-grasping-arms*)))) - - (pick-object object-type arm-to-use) - (place-object placing-target arm-to-use))))) -) diff --git a/cram_boxy/cram_boxy_assembly_demo/src/setup.lisp b/cram_boxy/cram_boxy_assembly_demo/src/setup.lisp deleted file mode 100644 index 3a217f6d00..0000000000 --- a/cram_boxy/cram_boxy_assembly_demo/src/setup.lisp +++ /dev/null @@ -1,117 +0,0 @@ -;;; -;;; Copyright (c) 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -;; roslaunch cram_boxy_assembly_demo sandbox.launch - -(defvar *kitchen-urdf* nil) -(defparameter *robot-parameter* "robot_description") -(defparameter *kitchen-parameter* "kitchen_description") - -(defun setup-bullet-world () - (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) - - (let ((robot (or rob-int:*robot-urdf* - (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf - (roslisp:get-param *robot-parameter*))))) - (kitchen (or *kitchen-urdf* - (let ((kitchen-urdf-string - (roslisp:get-param *kitchen-parameter* nil))) - (when kitchen-urdf-string - (setf *kitchen-urdf* (cl-urdf:parse-urdf - kitchen-urdf-string))))))) - ;; set Boxy URDF root link to be base_footprint not odom, - ;; as with odom lots of problems concerning object-pose in bullet happen - (setf (slot-value rob-int:*robot-urdf* 'cl-urdf:root-link) - (or (gethash cram-tf:*robot-base-frame* - (cl-urdf:links rob-int:*robot-urdf*)) - (error "[setup-bullet-world] cram-tf:*robot-base-frame* was undefined or smt."))) - ;; get rid of Boxy's camera obstacle thing, it's bad for visibility reasoning - ;; it's an annoying hack anyway... - ;; (setf (slot-value - ;; (gethash "neck_obstacle" - ;; (cl-urdf:links rob-int:*robot-urdf*)) - ;; 'cl-urdf:collision) - ;; NIL) - ;; (setf (slot-value - ;; (gethash "neck_look_target" - ;; (cl-urdf:links rob-int:*robot-urdf*)) - ;; 'cl-urdf:collision) - ;; NIL) - - (assert - (cut:force-ll - (prolog `(and - (btr:bullet-world ?w) - (btr:debug-window ?w) - (btr:assert ?w (btr:object :static-plane :floor ((0 0 0) (0 0 0 1)) - :normal (0 0 1) :constant 0)) - (btr:assert ?w (btr:object :urdf :kitchen ((0 0 0) (0 0 0 1)) - :collision-group :static-filter - :collision-mask (:default-filter - :character-filter) - :urdf ,kitchen - :compound T)) - (-> (cram-robot-interfaces:robot ?robot) - (btr:assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot)) - (warn "ROBOT was not defined. Have you loaded a robot package?"))))))) - - (let ((robot-object (btr:get-robot-object))) - (if robot-object - (btr:set-robot-state-from-tf cram-tf:*transformer* robot-object) - (warn "ROBOT was not defined. Have you loaded a robot package?")))) - -(defun init-projection () - (def-fact-group costmap-metadata (costmap:costmap-size - costmap:costmap-origin - costmap:costmap-resolution - costmap:orientation-samples - costmap:orientation-sample-step) - (<- (costmap:costmap-size 12 12)) - (<- (costmap:costmap-origin -6 -6)) - (<- (costmap:costmap-resolution 0.04)) - (<- (costmap:orientation-samples 2)) - (<- (costmap:orientation-sample-step 0.1))) - - ;; (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) - - (setup-bullet-world) - - (setf cram-tf:*tf-default-timeout* 2.0) - - (setf prolog:*break-on-lisp-errors* t) - - (cram-bullet-reasoning:clear-costmap-vis-object) - - (btr:add-objects-to-mesh-list "assembly_models" :directory "fixtures" :extension "stl") - (btr:add-objects-to-mesh-list "assembly_models" :directory "battat/convention" :extension "stl")) - -(roslisp-utilities:register-ros-init-function init-projection) diff --git a/cram_boxy/cram_boxy_description/src/arms.lisp b/cram_boxy/cram_boxy_description/src/arms.lisp index 9d79e9ebf9..e5ff998509 100644 --- a/cram_boxy/cram_boxy_description/src/arms.lisp +++ b/cram_boxy/cram_boxy_description/src/arms.lisp @@ -37,111 +37,135 @@ (defparameter *standard-to-boxy-gripper-transform* (cl-transforms-stamped:make-identity-transform)) -(defparameter *left-parking-joint-states* - '(("left_arm_0_joint" -1.858d0) - ("left_arm_1_joint" 0.70571d0) - ("left_arm_2_joint" 0.9614d0) - ("left_arm_3_joint" -0.602d0) - ("left_arm_4_joint" -2.5922d0) - ("left_arm_5_joint" -1.94065d0) - ("left_arm_6_joint" -1.28735d0))) - -(defparameter *right-parking-joint-states* - '(("right_arm_0_joint" 0.0) - ("right_arm_1_joint" 0.0) - ("right_arm_2_joint" 0.0) - ("right_arm_3_joint" 0.0) - ("right_arm_4_joint" 0.0) - ("right_arm_5_joint" 0.0) - ("right_arm_6_joint" 0.0))) - -(defparameter *left-nicer-configuration* - '(-1.2274070978164673 - 0.8496202230453491 - -0.10349386930465698 - -1.0852965116500854 - -0.4587952196598053 - 1.259474515914917 - -0.06962397694587708)) - -(def-fact-group boxy-arm-facts (end-effector-link - robot-tool-frame +(def-fact-group boxy-arm-facts (arm arm-joints arm-links - gripper-joint gripper-link - gripper-meter-to-joint-multiplier - standard-to-particular-gripper-transform - ;; robot-arms-parking-joint-states - ;; robot-arms-carrying-joint-states - robot-joint-states - tcp-in-ee-pose) - - (<- (end-effector-link boxy :left "left_arm_7_link")) - (<- (end-effector-link boxy :right "right_arm_7_link")) - - (<- (robot-tool-frame boxy :left "left_gripper_tool_frame")) - (<- (robot-tool-frame boxy :right "right_gripper_tool_frame")) - - (<- (arm-joints boxy :left ("left_arm_0_joint" - "left_arm_1_joint" - "left_arm_2_joint" - "left_arm_3_joint" - "left_arm_4_joint" - "left_arm_5_joint" - "left_arm_6_joint"))) - (<- (arm-joints boxy :right ("right_arm_0_joint" - "right_arm_1_joint" - "right_arm_2_joint" - "right_arm_3_joint" - "right_arm_4_joint" - "right_arm_5_joint" - "right_arm_6_joint"))) - - (<- (arm-links boxy :left ("left_arm_1_link" - "left_arm_2_link" - "left_arm_3_link" - "left_arm_4_link" - "left_arm_5_link" - "left_arm_6_link" - "left_arm_7_link"))) - (<- (arm-links boxy :right ("right_arm_1_link" - "right_arm_2_link" - "right_arm_3_link" - "right_arm_4_link" - "right_arm_5_link" - "right_arm_6_link" - "right_arm_7_link"))) - - (<- (gripper-joint boxy :left "left_gripper_joint")) - (<- (gripper-joint boxy :right "right_gripper_joint")) - - (<- (gripper-link boxy :left ?link) + hand-links hand-link hand-finger-link + gripper-joint gripper-meter-to-joint-multiplier + standard<-particular-gripper-transform + end-effector-link robot-tool-frame + tcp-in-ee-pose + robot-joint-states) + + (<- (arm :boxy-description :left)) + (<- (arm :boxy-description :right)) + + (<- (arm-joints :boxy-description :left ("left_arm_0_joint" + "left_arm_1_joint" + "left_arm_2_joint" + "left_arm_3_joint" + "left_arm_4_joint" + "left_arm_5_joint" + "left_arm_6_joint"))) + (<- (arm-joints :boxy-description :right ("right_arm_0_joint" + "right_arm_1_joint" + "right_arm_2_joint" + "right_arm_3_joint" + "right_arm_4_joint" + "right_arm_5_joint" + "right_arm_6_joint"))) + + (<- (arm-links :boxy-description :left ("left_arm_1_link" + "left_arm_2_link" + "left_arm_3_link" + "left_arm_4_link" + "left_arm_5_link" + "left_arm_6_link" + "left_arm_7_link"))) + (<- (arm-links :boxy-description :right ("right_arm_1_link" + "right_arm_2_link" + "right_arm_3_link" + "right_arm_4_link" + "right_arm_5_link" + "right_arm_6_link" + "right_arm_7_link"))) + + (<- (hand-links :boxy-description :left (;; "left_gripper_base_link" + "left_gripper_finger_left_link" + "left_gripper_finger_right_link" + "left_gripper_gripper_left_link" + "left_gripper_gripper_right_link" + "left_gripper_tool_frame"))) + (<- (hand-links :boxy-description :right (;; "right_gripper_base_link" + "right_gripper_finger_left_link" + "right_gripper_finger_right_link" + "right_gripper_gripper_left_link" + "right_gripper_gripper_right_link" + "right_gripper_tool_frame"))) + + (<- (hand-link :boxy-description :left ?link) (bound ?link) (lisp-fun search "left_gripper" ?link ?pos) (lisp-pred identity ?pos)) - (<- (gripper-link boxy :right ?link) + (<- (hand-link :boxy-description :right ?link) (bound ?link) (lisp-fun search "right_gripper" ?link ?pos) (lisp-pred identity ?pos)) - (<- (gripper-meter-to-joint-multiplier boxy 1.0)) - - (<- (standard-to-particular-gripper-transform boxy ?transform) - (symbol-value *standard-to-boxy-gripper-transform* ?transform)) - - (<- (robot-joint-states boxy :arm :left :carry ?joint-states) - (symbol-value *left-parking-joint-states* ?joint-states)) - - (<- (robot-joint-states boxy :arm :right :carry ?joint-states) - (symbol-value *right-parking-joint-states* ?joint-states)) + (<- (hand-finger-link :boxy-description ?arm ?link) + (bound ?link) + (hand-link :boxy-description ?arm ?link) + (lisp-fun search "finger" ?link ?pos) + (lisp-pred identity ?pos)) - (<- (robot-joint-states boxy :arm :left :park ?joint-states) - (symbol-value *left-parking-joint-states* ?joint-states)) + (<- (gripper-joint :boxy-description :left "left_gripper_joint")) + (<- (gripper-joint :boxy-description :right "right_gripper_joint")) - (<- (robot-joint-states boxy :arm :right :park ?joint-states) - (symbol-value *right-parking-joint-states* ?joint-states)) + (<- (gripper-meter-to-joint-multiplier :boxy-description 1.0)) - (<- (robot-joint-states boxy :arm :left :flip ?joint-states) - (symbol-value *left-nicer-configuration* ?joint-states)) + (<- (standard<-particular-gripper-transform :boxy-description ?transform) + (symbol-value *standard-to-boxy-gripper-transform* ?transform)) - (<- (tcp-in-ee-pose boxy ?pose) - (symbol-value *tcp-in-ee-pose* ?pose))) + (<- (end-effector-link :boxy-description :left "left_arm_7_link")) + (<- (end-effector-link :boxy-description :right "right_arm_7_link")) + + (<- (robot-tool-frame :boxy-description :left "left_gripper_tool_frame")) + (<- (robot-tool-frame :boxy-description :right "right_gripper_tool_frame")) + + (<- (tcp-in-ee-pose :boxy-description ?pose) + (symbol-value *tcp-in-ee-pose* ?pose)) + + (<- (robot-joint-states :boxy-description :arm :left :carry + (("left_arm_0_joint" -1.858d0) + ("left_arm_1_joint" 0.70571d0) + ("left_arm_2_joint" 0.9614d0) + ("left_arm_3_joint" -0.602d0) + ("left_arm_4_joint" -2.5922d0) + ("left_arm_5_joint" -1.94065d0) + ("left_arm_6_joint" -1.28735d0)))) + (<- (robot-joint-states :boxy-description :arm :left :park ?joint-states) + (robot-joint-states :boxy-description :arm :left :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :left :carry-top ?joint-states) + (robot-joint-states :boxy-description :arm :left :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :left :carry-side-gripper-vertical + ?joint-states) + (robot-joint-states :boxy-description :arm :left :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :left :carry-top-basket + ?joint-states) + (robot-joint-states :boxy-description :arm :left :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :left :hand-over ?joint-states) + (robot-joint-states :boxy-description :arm :left :carry ?joint-states)) + + (<- (robot-joint-states :boxy-description :arm :right :carry + (("right_arm_0_joint" 1.858d0) + ("right_arm_1_joint" -0.70571d0) + ("right_arm_2_joint" -0.9614d0) + ("right_arm_3_joint" 0.602d0) + ("right_arm_4_joint" 2.5922d0) + ("right_arm_5_joint" 1.94065d0) + ("right_arm_6_joint" 1.28735d0)))) + (<- (robot-joint-states :boxy-description :arm :right :park ?joint-states) + (robot-joint-states :boxy-description :arm :right :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :right :carry-top ?joint-states) + (robot-joint-states :boxy-description :arm :right :carry ?joint-states)) + (<- (robot-joint-states :boxy-description :arm :right :carry-side-gripper-vertical + ?joint-states) + (robot-joint-states :boxy-description :arm :right :carry ?joint-states)) + + (<- (robot-joint-states :boxy-description :arm :left :flip + (("left_arm_0_joint" -1.2274070978164673) + ("left_arm_1_joint" 0.8496202230453491) + ("left_arm_2_joint" -0.10349386930465698) + ("left_arm_3_joint" -1.0852965116500854) + ("left_arm_4_joint" -0.4587952196598053) + ("left_arm_5_joint" 1.259474515914917) + ("left_arm_6_joint" -0.06962397694587708))))) diff --git a/cram_boxy/cram_boxy_description/src/general-knowledge.lisp b/cram_boxy/cram_boxy_description/src/general-knowledge.lisp index 4fcdde72e6..ffd6fb3577 100644 --- a/cram_boxy/cram_boxy_description/src/general-knowledge.lisp +++ b/cram_boxy/cram_boxy_description/src/general-knowledge.lisp @@ -29,30 +29,26 @@ (in-package :boxy-descr) -(def-fact-group boxy-metadata (robot - robot-odom-frame - robot-base-frame robot-torso-link-joint - arm - camera-frame) - (<- (robot boxy)) +(def-fact-group boxy-metadata (robot-odom-frame + robot-base-frame + robot-torso-link-joint) + (<- (robot-odom-frame :boxy-description "odom")) + (<- (robot-base-frame :boxy-description "base_footprint")) + (<- (robot-torso-link-joint :boxy-description + "triangle_base_link" "triangle_base_joint"))) - (<- (robot-odom-frame boxy "odom")) - - (<- (robot-base-frame boxy "base_footprint")) - (<- (robot-torso-link-joint boxy "triangle_base_link" "triangle_base_joint")) - - (<- (arm boxy :left)) - (<- (arm boxy :right)) - - (<- (camera-frame boxy "head_mount_kinect2_rgb_optical_frame"))) (def-fact-group location-costmap-metadata (costmap:costmap-padding costmap:costmap-manipulation-padding costmap:costmap-in-reach-distance costmap:costmap-reach-minimal-distance + costmap:orientation-samples + costmap:orientation-sample-step costmap:visibility-costmap-size) - (<- (costmap:costmap-padding 0.5)) - (<- (costmap:costmap-manipulation-padding 0.5)) - (<- (costmap:costmap-in-reach-distance 1.2)) - (<- (costmap:costmap-reach-minimal-distance 0.2)) - (<- (costmap:visibility-costmap-size 2))) + (<- (costmap:costmap-padding :boxy-description 0.5)) + (<- (costmap:costmap-manipulation-padding :boxy-description 0.2)) + (<- (costmap:costmap-in-reach-distance :boxy-description 1.7)) + (<- (costmap:costmap-reach-minimal-distance :boxy-description 0.65)) + (<- (costmap:orientation-samples :boxy-description 1)) + (<- (costmap:orientation-sample-step :boxy-description 0.3)) + (<- (costmap:visibility-costmap-size :boxy-description 2))) diff --git a/cram_boxy/cram_boxy_description/src/neck.lisp b/cram_boxy/cram_boxy_description/src/neck.lisp index 74146c199c..9f298c879e 100644 --- a/cram_boxy/cram_boxy_description/src/neck.lisp +++ b/cram_boxy/cram_boxy_description/src/neck.lisp @@ -29,45 +29,49 @@ (in-package :boxy-descr) -(defparameter *neck-good-looking-down-state* - '(("neck_shoulder_pan_joint" -1.176d0) - ("neck_shoulder_lift_joint" -3.1252d0) - ("neck_elbow_joint" -0.8397d0) - ("neck_wrist_1_joint" 0.83967d0) - ("neck_wrist_2_joint" 1.1347d0) - ("neck_wrist_3_joint" -0.0266d0))) - -(defparameter *neck-good-looking-left-state* - '(("neck_shoulder_pan_joint" -0.776d0) - ("neck_shoulder_lift_joint" -3.1252d0) - ("neck_elbow_joint" -0.8397d0) - ("neck_wrist_1_joint" 0.83967d0) - ("neck_wrist_2_joint" 1.1347d0) - ("neck_wrist_3_joint" -0.0266d0))) - -(defparameter *neck-parking-joint-states* - '(("neck_shoulder_pan_joint" -1.3155d0) - ("neck_shoulder_lift_joint" -1.181355d0) - ("neck_elbow_joint" -1.9562d0) - ("neck_wrist_1_joint" 0.142417d0) - ("neck_wrist_2_joint" 1.13492d0) - ("neck_wrist_3_joint" 0.143467d0))) - (defparameter *neck-ee-p-camera* (cl-transforms:make-pose - (cl-transforms:make-3d-vector 0.0986269622673131 0.12544403167962803 -0.03128420761449102) - (cl-transforms:make-quaternion 0.9999584853467481 -0.0018697606579721564 - 0.003765215266400738 0.008087476255186993))) + (cl-transforms:make-3d-vector + 0.09862691563322334d0 0.03128412196559971d0 0.04354402436024185d0) + (cl-transforms:make-quaternion + -0.7013586107397135d0 -0.003984622804686699d0 0.0013402975558304106d0 + 0.7127960729748405d0))) + -(def-fact-group boxy-neck-facts (robot-neck-links +(def-fact-group boxy-neck-facts (camera-frame + camera-in-neck-ee-pose + neck-camera-z-offset + neck-camera-pose-unit-vector-multiplier + neck-camera-resampling-step + neck-camera-x-axis-limit neck-camera-y-axis-limit + neck-camera-z-axis-limit + camera-horizontal-angle camera-vertical-angle + camera-minimal-height camera-maximal-height + robot-neck-links robot-neck-joints robot-neck-base-link - ;; robot-neck-parking-joint-states - ;; robot-neck-looking-joint-states - robot-joint-states - camera-in-neck-ee-pose) + robot-joint-states) + + (<- (camera-frame :boxy-description "head_mount_kinect2_rgb_optical_frame")) + + (<- (camera-in-neck-ee-pose :boxy-description ?pose) + (symbol-value *neck-ee-p-camera* ?pose)) + + (<- (neck-camera-z-offset :boxy-description 0.1)) + (<- (neck-camera-pose-unit-vector-multiplier :boxy-description 0.4)) + (<- (neck-camera-resampling-step :boxy-description 0.1)) + (<- (neck-camera-x-axis-limit :boxy-description 0.2)) + (<- (neck-camera-y-axis-limit :boxy-description 0.2)) + (<- (neck-camera-z-axis-limit :boxy-description 0.2)) - (<- (robot-neck-links boxy + ;; These are values taken from the Kinect's wikipedia page for the 360 variant + (<- (camera-horizontal-angle :boxy-description 0.99483)) ; ca 57 degrees + (<- (camera-vertical-angle :boxy-description 0.75049)) ; ca 43 degrees + + ;; (<- (camera-minimal-height :boxy-description 1.0)) + ;; (<- (camera-maximal-height :boxy-description 2.5)) + + (<- (robot-neck-links :boxy-description "neck_shoulder_link" "neck_upper_arm_link" "neck_forearm_link" @@ -75,7 +79,7 @@ "neck_wrist_2_link" "neck_wrist_3_link")) - (<- (robot-neck-joints boxy + (<- (robot-neck-joints :boxy-description "neck_shoulder_pan_joint" "neck_shoulder_lift_joint" "neck_elbow_joint" @@ -83,19 +87,30 @@ "neck_wrist_2_joint" "neck_wrist_3_joint")) - (<- (robot-neck-base-link boxy "neck_base_link")) - - (<- (robot-joint-states boxy :neck ?there-is-only-one-neck :away ?joint-states) - (symbol-value *neck-parking-joint-states* ?joint-states)) - - (<- (robot-joint-states boxy :neck ?there-is-only-one-neck :forward ?joint-states) - (symbol-value *neck-parking-joint-states* ?joint-states)) - - (<- (robot-joint-states boxy :neck ?there-is-only-one-neck :down ?joint-states) - (symbol-value *neck-good-looking-down-state* ?joint-states)) - - (<- (robot-joint-states boxy :neck ?there-is-only-one-neck :down-left ?joint-states) - (symbol-value *neck-good-looking-left-state* ?joint-states)) + (<- (robot-neck-base-link :boxy-description "neck_base_link")) - (<- (camera-in-neck-ee-pose boxy ?pose) - (symbol-value *neck-ee-p-camera* ?pose))) + (<- (robot-joint-states :boxy-description :neck ?there-is-only-one-neck :away + (("neck_shoulder_pan_joint" -1.3155d0) + ("neck_shoulder_lift_joint" -1.181355d0) + ("neck_elbow_joint" -1.9562d0) + ("neck_wrist_1_joint" 0.142417d0) + ("neck_wrist_2_joint" 1.13492d0) + ("neck_wrist_3_joint" 0.143467d0)))) + (<- (robot-joint-states :boxy-description :neck ?there-is-only-one-neck :forward + ?joint-states) + (robot-joint-states :boxy-description :neck ?there-is-only-one-neck :away + ?joint-states)) + (<- (robot-joint-states :boxy-description :neck ?there-is-only-one-neck :down + (("neck_shoulder_pan_joint" -1.176d0) + ("neck_shoulder_lift_joint" -3.1252d0) + ("neck_elbow_joint" -0.8397d0) + ("neck_wrist_1_joint" 0.83967d0) + ("neck_wrist_2_joint" 1.1347d0) + ("neck_wrist_3_joint" -0.0266d0)))) + (<- (robot-joint-states :boxy-description :neck ?only-one-neck :down-left + (("neck_shoulder_pan_joint" -0.776d0) + ("neck_shoulder_lift_joint" -3.1252d0) + ("neck_elbow_joint" -0.8397d0) + ("neck_wrist_1_joint" 0.83967d0) + ("neck_wrist_2_joint" 1.1347d0) + ("neck_wrist_3_joint" -0.0266d0))))) diff --git a/cram_boxy/cram_boxy_description/src/package.lisp b/cram_boxy/cram_boxy_description/src/package.lisp index 13a1a0cb78..d1c0ee0791 100644 --- a/cram_boxy/cram_boxy_description/src/package.lisp +++ b/cram_boxy/cram_boxy_description/src/package.lisp @@ -31,5 +31,4 @@ (defpackage cram-boxy-description (:nicknames #:boxy-descr) - (:use #:common-lisp #:cram-prolog #:cram-robot-interfaces) - (:export #:boxy)) + (:use #:common-lisp #:cram-prolog #:cram-robot-interfaces)) diff --git a/cram_boxy/cram_boxy_designators/src/motions.lisp b/cram_boxy/cram_boxy_designators/src/motions.lisp deleted file mode 100644 index e00baa1324..0000000000 --- a/cram_boxy/cram_boxy_designators/src/motions.lisp +++ /dev/null @@ -1,58 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of Willow Garage, Inc. nor the names of its -;;; contributors may be used to endorse or promote products derived from -;;; this software without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-desig) - -(defun calculate-pose-from-direction (distance) - (let* ((left-pose - (cl-transforms-stamped:make-pose-stamped - cram-tf:*robot-left-tool-frame* - 0.0 - (cl-transforms:make-3d-vector 0.0 0.0 distance) - (cl-transforms:make-identity-rotation)))) - left-pose)) - -(def-fact-group boxy-motion-designators (desig:motion-grounding) - - (<- (desig:motion-grounding ?designator (move-tcp-wiggle ?arm ?pose)) - (property ?designator (:type :wiggling-tcp)) - (property ?designator (:arm ?arm)) - (property ?designator (:target ?location-designator)) - (desig:designator-groundings ?location-designator ?poses) - (member ?pose ?poses)) - - (<- (desig:motion-grounding ?designator (move-tcp-wiggle :left ?pose)) - (property ?designator (:type :wiggling-tcp)) - ;; (property ?designator (:arm ?arm)) - ;; (property ?designator (:direction ?direction-keyword)) - ;; (property ?designator (:frame ?reference-frame)) - (property ?designator (:arm :left)) - (property ?designator (:direction :forward)) - (property ?designator (:distance ?distance)) - (lisp-fun calculate-pose-from-direction ?distance ;; ?arm ?direction-keyword ?reference-frame - ?pose))) diff --git a/cram_boxy/cram_boxy_low_level/package.xml b/cram_boxy/cram_boxy_low_level/package.xml index 3fc8a98b14..1710e2d04f 100644 --- a/cram_boxy/cram_boxy_low_level/package.xml +++ b/cram_boxy/cram_boxy_low_level/package.xml @@ -12,7 +12,7 @@ roslisp roslisp_utilities - actionlib + actionlib_lisp cram_simple_actionlib_client cram_language cram_math diff --git a/cram_boxy/cram_boxy_low_level/src/package.lisp b/cram_boxy/cram_boxy_low_level/src/package.lisp index 4ff9d30338..919abdc1c2 100644 --- a/cram_boxy/cram_boxy_low_level/src/package.lisp +++ b/cram_boxy/cram_boxy_low_level/src/package.lisp @@ -33,16 +33,6 @@ (:nicknames #:boxy-ll) (:use #:common-lisp) (:export - ;; simple-actionlib-client - #:make-simple-action-client - #:call-simple-action-client - ;; joint-states - #:joint-state - #:joint-states - #:joint-positions - #:normalize-joint-angles - ;; nav-pcontroller - #:move-base-nav-pcontroller ;; neck #:move-neck-joints ;; grippers diff --git a/cram_boxy/cram_boxy_plans/src/action-designators.lisp b/cram_boxy/cram_boxy_plans/src/action-designators.lisp deleted file mode 100644 index 37a184e3ab..0000000000 --- a/cram_boxy/cram_boxy_plans/src/action-designators.lisp +++ /dev/null @@ -1,114 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-plans) - -;; (defun cram-manipulation-interfaces:get-object-transform (object-designator) -;; (let* ((object-type (desig:desig-prop-value object-designator :type)) -;; (object-frame (concatenate 'string -;; (remove #\- (string-capitalize (symbol-name object-type))) -;; "1"))) -;; (cl-transforms-stamped:lookup-transform -;; cram-tf:*transformer* -;; cram-tf:*robot-base-frame* -;; object-frame -;; :time 0.0 -;; :timeout cram-tf:*tf-default-timeout*))) - - - -;; TODO: spatial-relations-cm defines pose validators for FOR-ON relations. -;; These validators reject solutions from the result below. -;; SOLUTION: either create pose validators specific for costmaps, -;; OR, which is better, make sure costmap validators know they are validating results -;; from the costmap. But how to do this?? -(def-fact-group location-designators (desig:location-grounding) - (<- (desig:location-grounding ?location-designator ?pose-stamped) - (desig:current-designator ?location-designator ?current-location-designator) - (desig:desig-prop ?current-location-designator (:for ?object-designator)) - (desig:desig-prop ?current-location-designator (:on ?other-object-designator)) - (desig:desig-prop ?current-location-designator (:attachment ?attachment-type)) - (desig:current-designator ?object-designator ?current-object-designator) - (spec:property ?current-object-designator (:type ?object-type)) - (spec:property ?current-object-designator (:name ?object-name)) - (desig:current-designator ?other-object-designator ?current-other-object-designator) - (spec:property ?current-other-object-designator (:type ?other-object-type)) - (spec:property ?current-other-object-designator (:name ?other-object-name)) - (lisp-fun man-int:get-object-transform ?current-other-object-designator - ?other-object-transform) - (lisp-fun man-int:get-object-placement-transform - ?object-name ?object-type - ?other-object-name ?other-object-type ?other-object-transform - ?attachment-type - ?attachment-transform) - (lisp-fun cram-tf:strip-transform-stamped ?attachment-transform ?pose-stamped))) - - - -(def-fact-group boxy-designators (desig:action-grounding) - - ;; (<- (desig:action-grounding ?action-designator (wiggle ?left-poses ?right-poses)) - ;; (property ?action-designator (:type :wiggling)) - ;; (once (or (property ?action-designator (:left-poses ?left-poses)) - ;; (equal ?left-poses nil))) - ;; (once (or (property ?action-designator (:right-poses ?right-poses)) - ;; (equal ?right-poses nil)))) - - (<- (desig:action-grounding ?action-designator (cram-inspect ?augmented-designator)) - (property ?action-designator (:type :inspecting)) - (property ?action-designator (:object ?object-designator)) - (property ?action-designator (:for ?for-value)) - (-> (lisp-type ?for-value desig:object-designator) - (equal ?description-to-add (:for (:object))) - (equal ?description-to-add (:for (?for-value)))) - (desig:desig-description ?object-designator ?properties) - (equal ?augmented-description (?description-to-add . ?properties)) - (desig:designator :object ?augmented-description ?augmented-designator) - (-> (lisp-type ?for-value desig:object-designator) - (and (desig:current-designator ?for-value ?for-object-designator) - ;; (property ?for-object-designator (:type ?for-object-type)) - (prolog:slot-value ?for-object-designator desig:quantifier ?for-quantifier) - (prolog:slot-value ?augmented-designator desig:quantifier ?for-quantifier)) - (true))) - - ;; (<- (desig:action-grounding ?action-designator (perceive :inspecting ?object-designator)) - ;; (property ?action-designator (:type :inspecting)) - ;; (property ?action-designator (:object ?object-designator))) - - (<- (desig:action-grounding ?action-designator (look ?left-goal-pose ?right-goal-pose)) - (property ?action-designator (:type :looking)) - (property ?action-designator (:camera :wrist)) - (property ?action-designator (:object ?object-designator)) - (desig:current-designator ?object-designator ?current-object-designator) - (lisp-fun cram-manipulation-interfaces:get-object-transform - ?current-object-designator ?object-transform) - ;; infer missing information - (lisp-fun man-int:get-object-look-from-pose ?object-transform ?left-goal-pose) - ;; the only wrist camera is on left arm - (equal ?right-goal-pose NIL))) diff --git a/cram_boxy/cram_boxy_plans/src/action-plans.lisp b/cram_boxy/cram_boxy_plans/src/action-plans.lisp deleted file mode 100644 index 07999cc72e..0000000000 --- a/cram_boxy/cram_boxy_plans/src/action-plans.lisp +++ /dev/null @@ -1,78 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-plans) - -;; (cpl:def-cram-function wiggle (left-poses right-poses) -;; (let (?arm ?target-pose) -;; (if (car left-poses) -;; (setf ?arm :left -;; ?target-pose (car left-poses)) -;; (if (car right-poses) -;; (setf ?arm :right -;; ?target-pose (car right-poses)) -;; (error "pushing action needs a goal for at least one arm."))) - -;; (cpl:with-failure-handling -;; ((common-fail:low-level-failure (e) ; ignore failures -;; (roslisp:ros-warn (boxy-plans wiggle) "~a" e) -;; (return))) - -;; (exe:perform -;; (desig:a motion -;; (type wiggling-tcp) -;; (arm ?arm) -;; (pose ?target-pose)))))) - - -(cpl:def-cram-function cram-inspect (?object-designator) - (cpl:with-retry-counters ((perceive-retries 4)) - (cpl:with-failure-handling - ((common-fail:perception-object-not-found (e) - (cpl:do-retry perceive-retries - (roslisp:ros-warn (boxy-plans perceive) "~a" e) - (cpl:sleep 1.0) - (cpl:retry)))) - (exe:perform - (desig:a motion - (type inspecting) - (object ?object-designator))) - ;; (cram-robosherlock:perceive detect-or-inspect object-designator) - ))) - -(cpl:def-cram-function look (?left-goal-pose ?right-goal-pose) - (roslisp:ros-info (boxy-plans look) "Looking with wrist camera") - (exe:perform (desig:an action - (type reaching) - (left-poses (?left-goal-pose)) - (right-poses (?right-goal-pose)))) - (cpl:sleep 1.0) - (print "slept 1") - (cpl:sleep 1.0) - (print "slept 2")) diff --git a/cram_boxy/cram_boxy_plans/src/high-level-plans.lisp b/cram_boxy/cram_boxy_plans/src/high-level-plans.lisp deleted file mode 100644 index 3e2d262545..0000000000 --- a/cram_boxy/cram_boxy_plans/src/high-level-plans.lisp +++ /dev/null @@ -1,104 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-plans) - -(defun find-object-on-holder (?object-type ?holder-object-type &key (one-or-all :one)) - (declare (type keyword one-or-all)) - "`one-or-all' can only be :one or :all" - ;; detect holder object with kinect - (let ((?holder-object - (exe:perform (desig:an action - (type detecting) - (object (desig:an object (type ?holder-object-type))))))) - ;; move wrist with camera above object to look closer - (exe:perform - (desig:an action - (type looking) - (object ?holder-object) - (camera wrist))) - ;; inspect object using camera wrist - (ecase one-or-all - (:one (exe:perform (desig:an action - (type inspecting) - (object (desig:an object (type ?holder-object-type))) - (for (desig:an object (type ?object-type)))))) - (:all (exe:perform (desig:an action - (type inspecting) - (object (desig:an object (type ?holder-object-type))) - (for (desig:all objects (type ?object-type))))))))) - -(defun find-object-on-surface (?object-type) - ;; move arms from field of view - (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - ;; detect object with kinect - (let* ((?object - (exe:perform (desig:an action - (type detecting) - (object (desig:an object (type ?object-type))))))) - ;; move wrist with camera above object to look closer - (exe:perform - (desig:an action - (type looking) - (object ?object) - (camera wrist))) - ;; inspect object using camera wrist - (exe:perform (desig:an action - (type inspecting) - (object (desig:an object (type ?object-type))) - (for pose))))) - -(defun find-object (object-type &key holder-object-type (one-or-all :one)) - (if holder-object-type - (find-object-on-holder object-type holder-object-type :one-or-all one-or-all) - (find-object-on-surface object-type))) - -(defun attach (?object-type ?holder-object-type ?with-object-type ?with-holder-object-type) - (let (;; find object to which to attach - (?with-object (find-object ?with-object-type - :holder-object-type ?with-holder-object-type)) - ;; find object - (?object (find-object ?object-type - :holder-object-type ?holder-object-type))) - ;; pick up object - (exe:perform - (desig:an action - (type picking-up) - (object ?object) - (arm left))) - ;; attach objects - (exe:perform - (desig:a action - (type connecting) - (arm left) - (object ?object) - (with-object ?with-object))))) diff --git a/cram_boxy/cram_boxy_process_modules/src/definitions-old.lisp b/cram_boxy/cram_boxy_process_modules/src/definitions-old.lisp new file mode 100644 index 0000000000..936067582e --- /dev/null +++ b/cram_boxy/cram_boxy_process_modules/src/definitions-old.lisp @@ -0,0 +1,85 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :boxy-pm) + +;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +;; (cpm:def-process-module torso-pm (motion-designator) +;; (destructuring-bind (command argument) (desig:reference motion-designator) +;; (ecase command +;; (cram-common-designators:move-torso +;; (handler-case +;; (boxy-ll:move-torso :goal-position argument)))))) + +;;;;;;;;;;;;;;;;;;;; NECK ;;;;;;;;;;;;;;;;;;;;;;;; + +(cpm:def-process-module neck-pm (motion-designator) + (destructuring-bind (command goal-pose goal-configuration) + (desig:reference motion-designator) + (declare (ignore goal-pose)) + (ecase command + (cram-common-designators:move-head + (boxy-ll:move-neck-joints :goal-configuration goal-configuration))))) + +;;;;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;; + +(cpm:def-process-module grippers-pm (motion-designator) + (destructuring-bind (command action-type-or-position which-gripper &optional effort) + (desig:reference motion-designator) + (ecase command + (cram-common-designators:move-gripper-joint + (boxy-ll:move-gripper-joint :action-type-or-position action-type-or-position + :left-or-right which-gripper + :effort effort))))) + +;;;;;;;;;;;;;;;;;;;; BODY ;;;;;;;;;;;;;;;;;;;;;;;; + +(cpm:def-process-module body-pm (motion-designator) + (destructuring-bind (command argument-1 &rest rest-arguments) + (desig:reference motion-designator) + (ecase command + (cram-common-designators:move-tcp + (let ((goal-left argument-1) + (goal-right (car rest-arguments))) + (unless (listp goal-left) + (setf goal-left (list goal-left))) + (unless (listp goal-right) + (setf goal-right (list goal-right))) + (multiple-value-bind (goal-left goal-right) + (cut:equalize-two-list-lengths goal-left goal-right) + (mapc (lambda (single-pose-left single-pose-right) + (cram-tf:visualize-marker (list single-pose-left single-pose-right) + :r-g-b-list '(1 0 1)) + (boxy-ll:move-arm-cartesian :goal-pose-stamped-left single-pose-left + :goal-pose-stamped-right single-pose-right)) + goal-left goal-right)))) + (cram-common-designators:move-joints + (boxy-ll:move-arm-joints :goal-joint-states-left argument-1 + :goal-joint-states-right (car rest-arguments)))))) diff --git a/cram_boxy/cram_boxy_process_modules/src/definitions.lisp b/cram_boxy/cram_boxy_process_modules/src/definitions.lisp index 936067582e..03a5148013 100644 --- a/cram_boxy/cram_boxy_process_modules/src/definitions.lisp +++ b/cram_boxy/cram_boxy_process_modules/src/definitions.lisp @@ -29,25 +29,6 @@ (in-package :boxy-pm) -;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -;; (cpm:def-process-module torso-pm (motion-designator) -;; (destructuring-bind (command argument) (desig:reference motion-designator) -;; (ecase command -;; (cram-common-designators:move-torso -;; (handler-case -;; (boxy-ll:move-torso :goal-position argument)))))) - -;;;;;;;;;;;;;;;;;;;; NECK ;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module neck-pm (motion-designator) - (destructuring-bind (command goal-pose goal-configuration) - (desig:reference motion-designator) - (declare (ignore goal-pose)) - (ecase command - (cram-common-designators:move-head - (boxy-ll:move-neck-joints :goal-configuration goal-configuration))))) - ;;;;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;; (cpm:def-process-module grippers-pm (motion-designator) @@ -55,31 +36,7 @@ (desig:reference motion-designator) (ecase command (cram-common-designators:move-gripper-joint - (boxy-ll:move-gripper-joint :action-type-or-position action-type-or-position - :left-or-right which-gripper - :effort effort))))) - -;;;;;;;;;;;;;;;;;;;; BODY ;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module body-pm (motion-designator) - (destructuring-bind (command argument-1 &rest rest-arguments) - (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-tcp - (let ((goal-left argument-1) - (goal-right (car rest-arguments))) - (unless (listp goal-left) - (setf goal-left (list goal-left))) - (unless (listp goal-right) - (setf goal-right (list goal-right))) - (multiple-value-bind (goal-left goal-right) - (cut:equalize-two-list-lengths goal-left goal-right) - (mapc (lambda (single-pose-left single-pose-right) - (cram-tf:visualize-marker (list single-pose-left single-pose-right) - :r-g-b-list '(1 0 1)) - (boxy-ll:move-arm-cartesian :goal-pose-stamped-left single-pose-left - :goal-pose-stamped-right single-pose-right)) - goal-left goal-right)))) - (cram-common-designators:move-joints - (boxy-ll:move-arm-joints :goal-joint-states-left argument-1 - :goal-joint-states-right (car rest-arguments)))))) + (boxy-ll:move-gripper-joint + :action-type-or-position action-type-or-position + :left-or-right which-gripper + :effort effort))))) diff --git a/cram_boxy/cram_boxy_process_modules/src/interface.lisp b/cram_boxy/cram_boxy_process_modules/src/interface.lisp index a9ccebe9d2..b451e38732 100644 --- a/cram_boxy/cram_boxy_process_modules/src/interface.lisp +++ b/cram_boxy/cram_boxy_process_modules/src/interface.lisp @@ -31,28 +31,29 @@ (def-fact-group boxy-matching-pms (cpm:matching-process-module cpm:available-process-module) - (<- (cpm:matching-process-module ?motion-designator neck-pm) - (desig:desig-prop ?motion-designator (:type :looking))) - (<- (cpm:matching-process-module ?motion-designator grippers-pm) (or (desig:desig-prop ?motion-designator (:type :gripping)) (desig:desig-prop ?motion-designator (:type :opening-gripper)) (desig:desig-prop ?motion-designator (:type :closing-gripper)) (desig:desig-prop ?motion-designator (:type :moving-gripper-joint)))) - (<- (cpm:matching-process-module ?motion-designator body-pm) + (<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm) (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) - (desig:desig-prop ?motion-designator (:type :wiggling-tcp)))) + (desig:desig-prop ?motion-designator (:type :pulling)) + (desig:desig-prop ?motion-designator (:type :pushing)) + (desig:desig-prop ?motion-designator (:type :wiggling-tcp)) + (desig:desig-prop ?motion-designator (:type :going)) + (desig:desig-prop ?motion-designator (:type :moving-torso)) + (desig:desig-prop ?motion-designator (:type :looking)))) (<- (cpm:available-process-module ?pm) - (member ?pm (neck-pm grippers-pm body-pm)) + (member ?pm (grippers-pm giskard:giskard-pm)) (not (cpm:projection-running ?_)))) (defmacro with-real-robot (&body body) `(cram-process-modules:with-process-modules-running - (rs:robosherlock-perception-pm navp:navp-pm - boxy-pm:neck-pm boxy-pm:grippers-pm boxy-pm:body-pm) + (rs:robosherlock-perception-pm grippers-pm giskard:giskard-pm) (cpl-impl::named-top-level (:name :top-level) ,@body))) diff --git a/cram_boxy/cram_boxy_projection/THIS-PACKAGE-IS-DEPRECATED b/cram_boxy/cram_boxy_projection/THIS-PACKAGE-IS-DEPRECATED deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/cram_boxy/cram_boxy_projection/package.xml b/cram_boxy/cram_boxy_projection/package.xml deleted file mode 100644 index 2d629daac6..0000000000 --- a/cram_boxy/cram_boxy_projection/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - cram_boxy_projection - 0.7.0 - - Projection process modules for Boxy - - Gayane Kazhoyan - Gayane Kazhoyan - BSD - http://cram-system.org - https://github.com/cram2/cram/issues - https://github.com/cram2/cram - - catkin - - cram_projection - cram_prolog - cram_designators - cram_utilities - cram_bullet_reasoning - cram_tf - cram_robot_interfaces - cl_transforms - cl_transforms_stamped - cl_tf - cram_occasions_events - cram_plan_occasions_events - cram_boxy_description - cram_common_designators - cram_boxy_designators - cram_common_failures - cram_process_modules - roslisp_utilities - alexandria - cram_semantic_map - cram_bullet_reasoning_belief_state - cram_simple_actionlib_client - cram_ik_interface - - - diff --git a/cram_boxy/cram_boxy_projection/src/giskard.lisp b/cram_boxy/cram_boxy_projection/src/giskard.lisp deleted file mode 100644 index b00f09397c..0000000000 --- a/cram_boxy/cram_boxy_projection/src/giskard.lisp +++ /dev/null @@ -1,404 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-proj) - -(defun make-giskard-action-client () - (actionlib-client:make-simple-action-client - 'giskard-action - "qp_controller/command" "giskard_msgs/MoveAction" - 60)) - -(roslisp-utilities:register-ros-init-function make-giskard-action-client) - -(defparameter *giskard-convergence-delta-joint* 0.17 "in radiants, about 10 degrees") - -(defun make-giskard-joint-action-goal (joint-state-left joint-state-right) - (declare (type list joint-state-left joint-state-right)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal :plan_and_execute) - :cmd_seq (vector (roslisp:make-message - 'giskard_msgs-msg:movecmd - :controllers (vector (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :joint) - :p_gain 10 - :weight 1 - :max_speed (cma:degrees->radians 30) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (apply #'vector - (first - joint-state-left)) - :position (apply #'vector - (second - joint-state-left)))) - (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :joint) - :p_gain 10 - :weight 1 - :max_speed (cma:degrees->radians 30) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (apply #'vector - (first - joint-state-right)) - :position (apply #'vector - (second - joint-state-right))))) - :collisions (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.05)))))) - -;; (defun ensure-giskard-joint-input-parameters (left-goal right-goal) -;; (flet ((ensure-giskard-joint-goal (goal arm) -;; (if (and (listp goal) (= (length goal) 7)) -;; goal -;; (and (roslisp:ros-warn (low-level giskard) -;; "Joint goal ~a was not a list of 7. Ignoring." -;; goal) -;; (get-arm-joint-states arm))))) -;; (values (ensure-giskard-joint-goal left-goal :left) -;; (ensure-giskard-joint-goal right-goal :right)))) - -(defun move-arms-giskard-joint (&key goal-configuration-left goal-configuration-right - action-timeout) - (declare (type list goal-configuration-left goal-configuration-right) - (type (or null number) action-timeout)) - (multiple-value-bind (result status) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal (make-giskard-joint-action-goal - goal-configuration-left goal-configuration-right) - :action-timeout action-timeout) - (values result status))) - - - -(defparameter *giskard-convergence-delta-xy* 0.005 "in meters") -(defparameter *giskard-convergence-delta-theta* 0.1 "in radiants, about 6 degrees") - -(defun make-giskard-cartesian-action-goal (left-pose right-pose - pose-base-frame left-tool-frame right-tool-frame - collision-mode) - (declare (type (or null cl-transforms-stamped:pose-stamped) left-pose right-pose) - (type string pose-base-frame left-tool-frame right-tool-frame)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal :plan_and_execute) - :cmd_seq (vector (roslisp:make-message - 'giskard_msgs-msg:movecmd - :controllers - (map 'vector #'identity - (remove nil - (list - (when left-pose - (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :translation_3d) - :root_link pose-base-frame - :tip_link left-tool-frame - :p_gain 3 - :weight 1 - :max_speed 0.3 - :goal_pose (cl-transforms-stamped:to-msg left-pose))) - (when left-pose - (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :rotation_3d) - :root_link pose-base-frame - :tip_link left-tool-frame - :p_gain 3 - :weight 1 - :max_speed (cma:degrees->radians 30) - :goal_pose (cl-transforms-stamped:to-msg left-pose))) - (when right-pose - (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :translation_3d) - :root_link pose-base-frame - :tip_link right-tool-frame - :p_gain 3 - :weight 1 - :max_speed 0.3 - :goal_pose (cl-transforms-stamped:to-msg right-pose))) - (when right-pose - (roslisp:make-message - 'giskard_msgs-msg:controller - :type (roslisp:symbol-code - 'giskard_msgs-msg:controller - :rotation_3d) - :root_link pose-base-frame - :tip_link right-tool-frame - :p_gain 3 - :weight 1 - :max_speed (cma:degrees->radians 30) - :goal_pose (cl-transforms-stamped:to-msg right-pose)))))) - :collisions - (case collision-mode - (:allow-all - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :allow_all_collisions)))) - (:avoid-all - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.05))) - (t - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.05)))))))) - -(defun ensure-giskard-cartesian-input-parameters (frame left-pose right-pose) - (values (when left-pose - (cram-tf:ensure-pose-in-frame left-pose frame)) - (when right-pose - (cram-tf:ensure-pose-in-frame right-pose frame)))) - -(defun ensure-giskard-cartesian-goal-reached (result status goal-position-left goal-position-right - goal-frame-left goal-frame-right - convergence-delta-xy convergence-delta-theta) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted.") - (return-from ensure-giskard-cartesian-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action timed out.")) - (when (eql status :aborted) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action aborted! With result ~a" result) - ;; (cpl:fail 'common-fail:manipulation-goal-not-reached - ;; :description "Giskard did not converge to goal because of collision") - ) - (when goal-position-left - (unless (cram-tf:tf-frame-converged goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta)))) - (when goal-position-right - (unless (cram-tf:tf-frame-converged goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta))))) - -(defun move-arms-giskard-cartesian (&key - goal-pose-left goal-pose-right action-timeout - collision-mode - (pose-base-frame cram-tf:*robot-base-frame*) - (left-tool-frame cram-tf:*robot-left-tool-frame*) - (right-tool-frame cram-tf:*robot-right-tool-frame*) - (convergence-delta-xy *giskard-convergence-delta-xy*) - (convergence-delta-theta *giskard-convergence-delta-theta*)) - (declare (type (or null cl-transforms-stamped:pose-stamped) goal-pose-left goal-pose-right) - (type (or null number) action-timeout convergence-delta-xy convergence-delta-theta) - (type (or null string) pose-base-frame left-tool-frame right-tool-frame)) - (if (or goal-pose-left goal-pose-right) - (multiple-value-bind (goal-pose-left goal-pose-right) - (ensure-giskard-cartesian-input-parameters pose-base-frame goal-pose-left goal-pose-right) - (cram-tf:visualize-marker (list goal-pose-left goal-pose-right) :r-g-b-list '(1 0 1)) - (multiple-value-bind (result status) - (let ((goal (make-giskard-cartesian-action-goal - goal-pose-left goal-pose-right - pose-base-frame left-tool-frame right-tool-frame - collision-mode))) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal goal - :action-timeout action-timeout)) - (ensure-giskard-cartesian-goal-reached result status goal-pose-left goal-pose-right - left-tool-frame right-tool-frame - convergence-delta-xy convergence-delta-theta) - (values result status))) - (roslisp:ros-info (pr2-ll giskard-cart) "Got an empty goal..."))) - - - -#+old-giskard -( - (defun make-giskard-action-client () - (actionlib-client:make-simple-action-client - 'giskard-action - "controller_action_server/move" "giskard_msgs/WholeBodyAction" - 60)) - - (roslisp-utilities:register-ros-init-function make-giskard-action-client) - - (defparameter *giskard-convergence-delta-joint* 0.17 "in radiants, about 10 degrees") - - (defun make-giskard-joint-action-goal (left-configuration right-configuration - &optional convergence-delta-joint) - (declare (type list left-configuration right-configuration) - (ignore convergence-delta-joint)) - (roslisp:make-message - 'giskard_msgs-msg:WholeBodyGoal - (:type :command) - (roslisp:symbol-code 'giskard_msgs-msg:wholebodycommand :standard_controller) - (:type :left_ee :command) - (roslisp:symbol-code 'giskard_msgs-msg:armcommand :joint_goal) - (:goal_configuration :left_ee :command) - (apply #'vector left-configuration) - (:type :right_ee :command) - (roslisp:symbol-code 'giskard_msgs-msg:armcommand :joint_goal) - (:goal_configuration :right_ee :command) - (apply #'vector right-configuration))) - - ;; (defun ensure-giskard-joint-input-parameters (left-goal right-goal) - ;; (flet ((ensure-giskard-joint-goal (goal arm) - ;; (if (and (listp goal) (= (length goal) 7)) - ;; goal - ;; (and (roslisp:ros-warn (low-level giskard) - ;; "Joint goal ~a was not a list of 7. Ignoring." - ;; goal) - ;; (get-arm-joint-states arm))))) - ;; (values (ensure-giskard-joint-goal left-goal :left) - ;; (ensure-giskard-joint-goal right-goal :right)))) - - (defun move-arms-giskard-joint (&key goal-configuration-left goal-configuration-right - action-timeout) - (declare (type list goal-configuration-left goal-configuration-right) - (type (or null number) action-timeout)) - (multiple-value-bind (result status) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal (make-giskard-joint-action-goal - goal-configuration-left goal-configuration-right) - :action-timeout action-timeout) - (values result status))) - - - - (defparameter *giskard-convergence-delta-xy* 0.005 "in meters") - (defparameter *giskard-convergence-delta-theta* 0.1 "in radiants, about 6 degrees") - - (defun make-giskard-cartesian-action-goal (left-pose right-pose - &optional convergence-delta-xy convergence-delta-theta) - (declare (ignore convergence-delta-xy convergence-delta-theta) - (type (or cl-transforms:pose cl-transforms-stamped:pose-stamped) - left-pose right-pose)) - (roslisp:make-message - 'giskard_msgs-msg:WholeBodyGoal - (:type :command) - (roslisp:symbol-code 'giskard_msgs-msg:wholebodycommand :standard_controller) - (:type :left_ee :command) - (roslisp:symbol-code 'giskard_msgs-msg:armcommand :cartesian_goal) - (:goal_pose :left_ee :command) - (cl-transforms-stamped:to-msg left-pose) - ;; (:type :right_ee :command) - ;; (roslisp:symbol-code 'giskard_msgs-msg:armcommand :joint_goal) - ;; (:goal_configuration :right_ee :command) - ;; ;; sending right arm goal as a joint state because our right arm is broken at the moment - ;; (apply #'vector (get-arm-joint-states :right)) - )) - - (defun ensure-giskard-cartesian-input-parameters (frame left-pose right-pose) - (values (cram-tf:ensure-pose-in-frame - (or left-pose - (cl-transforms-stamped:pose->pose-stamped - cram-tf:*robot-left-tool-frame* - 0.0 - (cl-transforms:make-identity-pose))) - frame) - (cram-tf:ensure-pose-in-frame - (or right-pose - (cl-transforms-stamped:pose->pose-stamped - cram-tf:*robot-right-tool-frame* - 0.0 - (cl-transforms:make-identity-pose))) - frame))) - - (defun ensure-giskard-cartesian-goal-reached (status goal-position-left goal-position-right - goal-frame-left goal-frame-right - convergence-delta-xy convergence-delta-theta) - (when (eql status :timeout) - (cpl:fail 'common-fail:actionlib-action-timed-out :description "Giskard action timed out")) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted.") - (return-from ensure-giskard-cartesian-goal-reached)) - (when goal-position-left - (unless (cram-tf:tf-frame-converged goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: ~ - ~a should have been at ~a with delta-xy of ~a ~ - and delta-angle of ~a." - goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta))))) - - (defun move-arms-giskard-cartesian (&key - goal-pose-left goal-pose-right action-timeout - (pose-base-frame cram-tf:*robot-base-frame*) - (left-tool-frame cram-tf:*robot-left-tool-frame*) - (right-tool-frame cram-tf:*robot-right-tool-frame*) - (convergence-delta-xy *giskard-convergence-delta-xy*) - (convergence-delta-theta *giskard-convergence-delta-theta*)) - (declare (type (or null cl-transforms-stamped:pose-stamped) goal-pose-left goal-pose-right) - (type (or null string) pose-base-frame left-tool-frame right-tool-frame) - (type (or null number) action-timeout convergence-delta-xy convergence-delta-theta)) - (multiple-value-bind (goal-pose-left goal-pose-right) - (ensure-giskard-cartesian-input-parameters pose-base-frame goal-pose-left goal-pose-right) - (multiple-value-bind (result status) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal (make-giskard-cartesian-action-goal - goal-pose-left goal-pose-right - convergence-delta-xy convergence-delta-theta) - :action-timeout action-timeout) - (ensure-giskard-cartesian-goal-reached status goal-pose-left goal-pose-right - left-tool-frame right-tool-frame - convergence-delta-xy convergence-delta-theta) - (values result status)))) - - ) diff --git a/cram_boxy/cram_boxy_projection/src/ik.lisp b/cram_boxy/cram_boxy_projection/src/ik.lisp deleted file mode 100644 index a58f276945..0000000000 --- a/cram_boxy/cram_boxy_projection/src/ik.lisp +++ /dev/null @@ -1,212 +0,0 @@ -;;; -;;; Copyright (c) 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-proj) - -(defparameter *ik-service-name* "kdl_ik_service/get_ik") - -(defun call-ik-service (left-or-right cartesian-pose &optional seed-state) - (declare (type keyword left-or-right) - (type cl-transforms-stamped:pose-stamped cartesian-pose) - (ignore seed-state)) - (let* ((robot-info-bindings - (cut:lazy-car - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:arm-joints ?robot ,left-or-right ?joints) - (cram-robot-interfaces:end-effector-link ?robot ,left-or-right ?ee-link) - (cram-robot-interfaces:robot-torso-link-joint ?robot ?torso-link ?_))))) - (ee-link - (cut:var-value '?ee-link robot-info-bindings)) - (torso-link - (cut:var-value '?torso-link robot-info-bindings)) - (joint-names - (cut:var-value '?joints robot-info-bindings)) - (joint-state-msg - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names))) - (roslisp:with-fields ((response-error-code (val error_code)) - (joint-state (joint_state solution))) - (progn - (roslisp:wait-for-service *ik-service-name* 10.0) - (roslisp:call-service - *ik-service-name* - 'moveit_msgs-srv:getpositionik - (roslisp:make-request - 'moveit_msgs-srv:getpositionik - (:ik_link_name :ik_request) ee-link - (:pose_stamped :ik_request) (cl-transforms-stamped:to-msg - (cram-tf:ensure-pose-in-frame - cartesian-pose torso-link :use-zero-time t)) - (:joint_state :robot_state :ik_request) joint-state-msg - (:timeout :ik_request) 1.0))) - (cond ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - joint-state) - ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :no_ik_solution)) - nil) - (T - (error 'simple-error - :format-control "IK service failed: ~a" - :format-arguments (list - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - response-error-code)))))))) - -(defparameter *torso-step* 0.01) - -(defun call-ik-service-with-torso-resampling (left-or-right cartesian-pose - &key seed-state test-angle torso-angle - torso-lower-limit torso-upper-limit) - (labels ((call-ik-service-with-torso-resampling-inner (left-or-right cartesian-pose - &key seed-state test-angle - torso-angle - torso-lower-limit torso-upper-limit) - (let ((ik-solution (call-ik-service left-or-right cartesian-pose seed-state))) - (if (not ik-solution) - (when (or (not test-angle) (> test-angle torso-lower-limit)) - ;; When we have no ik solution and have a valid torso angle to try, - ;; use it to resample. - (let* ((next-test-angle - (if test-angle - (max torso-lower-limit (- test-angle *torso-step*)) - torso-upper-limit)) - (torso-offset - (if test-angle - (- test-angle torso-angle) - 0)) - (next-torso-offset - (- next-test-angle torso-angle)) - (pseudo-pose - (cram-tf:translate-pose cartesian-pose - :z-offset (- torso-offset - next-torso-offset)))) - (call-ik-service-with-torso-resampling-inner - left-or-right pseudo-pose - :seed-state seed-state - :test-angle next-test-angle - :torso-angle torso-angle - :torso-lower-limit torso-lower-limit - :torso-upper-limit torso-upper-limit))) - (values ik-solution (or test-angle torso-angle)))))) - - (let ((old-debug-lvl (roslisp:debug-level NIL))) - (unwind-protect - (progn - (roslisp:set-debug-level NIL 9) - (call-ik-service-with-torso-resampling-inner - left-or-right cartesian-pose - :seed-state seed-state - :test-angle test-angle - :torso-angle torso-angle - :torso-lower-limit torso-lower-limit - :torso-upper-limit torso-upper-limit)) - (roslisp:set-debug-level NIL old-debug-lvl))))) - - - -#+commentedoutfornow -( - (defun set-robot-state-to-ik-result () - (btr:set-robot-state-from-joints - (call-ik) - (btr:get-robot-object))) - - (defun ensure-giskard-cartesian-input-parameters (frame left-pose right-pose) - (values (when left-pose - (cram-tf:ensure-pose-in-frame left-pose frame)) - (when right-pose - (cram-tf:ensure-pose-in-frame right-pose frame)))) - - (defun ensure-giskard-cartesian-goal-reached (result status goal-position-left goal-position-right - goal-frame-left goal-frame-right - convergence-delta-xy convergence-delta-theta) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted.") - (return-from ensure-giskard-cartesian-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action timed out.")) - (when (eql status :aborted) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action aborted! With result ~a" result) - ;; (cpl:fail 'common-fail:manipulation-goal-not-reached - ;; :description "Giskard did not converge to goal because of collision") - ) - (when goal-position-left - (unless (cram-tf:tf-frame-converged goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta)))) - (when goal-position-right - (unless (cram-tf:tf-frame-converged goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta))))) - - (defun move-arms-giskard-cartesian (&key - goal-pose-left goal-pose-right action-timeout - collision-mode - (pose-base-frame cram-tf:*robot-base-frame*) - (left-tool-frame cram-tf:*robot-left-tool-frame*) - (right-tool-frame cram-tf:*robot-right-tool-frame*) - (convergence-delta-xy *giskard-convergence-delta-xy*) - (convergence-delta-theta *giskard-convergence-delta-theta*)) - (declare (type (or null cl-transforms-stamped:pose-stamped) goal-pose-left goal-pose-right) - (type (or null number) action-timeout convergence-delta-xy convergence-delta-theta) - (type (or null string) pose-base-frame left-tool-frame right-tool-frame)) - (if (or goal-pose-left goal-pose-right) - (multiple-value-bind (goal-pose-left goal-pose-right) - (ensure-giskard-cartesian-input-parameters pose-base-frame goal-pose-left goal-pose-right) - (cram-tf:visualize-marker (list goal-pose-left goal-pose-right) :r-g-b-list '(1 0 1)) - (multiple-value-bind (result status) - (let ((goal (make-giskard-cartesian-action-goal - goal-pose-left goal-pose-right - pose-base-frame left-tool-frame right-tool-frame - collision-mode))) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal goal - :action-timeout action-timeout)) - (ensure-giskard-cartesian-goal-reached result status goal-pose-left goal-pose-right - left-tool-frame right-tool-frame - convergence-delta-xy convergence-delta-theta) - (values result status))) - (roslisp:ros-info (pr2-ll giskard-cart) "Got an empty goal..."))) - ) diff --git a/cram_boxy/cram_boxy_projection/src/low-level.lisp b/cram_boxy/cram_boxy_projection/src/low-level.lisp deleted file mode 100644 index 8e21c2e90c..0000000000 --- a/cram_boxy/cram_boxy_projection/src/low-level.lisp +++ /dev/null @@ -1,575 +0,0 @@ -;;; -;;; Copyright (c) 2011, Lorenz Moesenlechner -;;; 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-proj) - -(defparameter *debug-short-sleep-duration* 0.0 - "in seconds, sleeps after each movement during reasoning") -(defparameter *debug-long-sleep-duration* 0.0 - "in seconds, sleeps to show colliding configurations") - -(defun robot-transform-in-map () - (let ((pose-in-map - (cut:var-value - '?pose - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (btr:object-pose ?w ?robot ?pose))))))) - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - (cut:current-timestamp) - pose-in-map))) - -;;;;;;;;;;;;;;;;; NAVIGATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun drive (target) - (declare (type cl-transforms-stamped:pose-stamped target)) - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) - (unwind-protect - (assert - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (btr:assert ?w (btr:object-pose ?robot ,target))))) - (when (btr:robot-colliding-objects-without-attached '(:floor)) - (unless (< (abs *debug-short-sleep-duration*) 0.0001) - (cpl:sleep *debug-short-sleep-duration*)) - (btr::restore-world-state world-state world) - (cpl:fail 'common-fail:navigation-pose-unreachable :pose-stamped target))))) - -;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun move-torso (joint-angle) - (declare (type number joint-angle)) - (let* ((bindings - (car - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (cram-robot-interfaces:robot-torso-link-joint ?robot ?_ ?joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?joint ?lower) - (cram-robot-interfaces:joint-upper-limit ?robot ?joint ?upper))))) - (lower-limit - (cut:var-value '?lower bindings)) - (upper-limit - (cut:var-value '?upper bindings)) - (cropped-joint-angle - (if (< joint-angle lower-limit) - lower-limit - (if (> joint-angle upper-limit) - upper-limit - joint-angle)))) - (prolog:prolog - `(btr:assert (btr:joint-state ?w ?robot ((?joint ,cropped-joint-angle)))) - bindings) - (unless (< (abs (- joint-angle cropped-joint-angle)) 0.0001) - (cpl:fail 'common-fail:torso-goal-not-reached - :description (format nil "Torso goal ~a was out of joint limits" joint-angle) - :torso joint-angle)))) - -;;;;;;;;;;;;;;;;; PTU ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun look-at-joint-angles (joint-angles) - (declare (type list joint-angles)) - (assert - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (cram-robot-interfaces:robot-neck-joints ?robot . ?joint-names) - (prolog:lisp-fun mapcar list ?joint-names ,joint-angles ?joint-states) - (btr:assert ?w (btr:joint-state ?robot ?joint-states)))))) - -(defun look-at-joint-states (joint-states) - (declare (type list joint-states)) - (assert - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (btr:assert ?w (btr:joint-state ?robot ,joint-states)))))) - -(defparameter *camera-pose-unit-vector-multiplyer* 0.4) -(defparameter *camera-pose-z-offset* 0.2) -(defparameter *camera-resampling-step* 0.1) -(defparameter *camera-x-axis-limit* 0.5) -(defparameter *camera-y-axis-limit* 0.5) - -(defun get-neck-ik (ee-link cartesian-pose base-link joint-names) - (let ((joint-state-msg - (or (ik:call-ik-service-with-resampling - (cl-tf:pose->pose-stamped - base-link - 0.0 - cartesian-pose) - base-link ee-link - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names) - *camera-resampling-step* :x - 0 (- *camera-x-axis-limit*) *camera-x-axis-limit*) - (ik:call-ik-service-with-resampling - (cl-tf:pose->pose-stamped - base-link - 0.0 - cartesian-pose) - base-link ee-link - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names) - *camera-resampling-step* :y - 0 (- *camera-y-axis-limit*) *camera-y-axis-limit*)))) - (when joint-state-msg - (map 'list #'identity (roslisp:msg-slot-value joint-state-msg :position))))) - -(defun calculate-camera-pose-from-object-pose (neck-base-t-object) - "Takes the vector from neck-base to object, sets its Z to 0, -then normalizes to get a unit vector, then multiplies with a multiplier to make it shorter - (multiplier should be comparable to maximum length between neck base and camera), -then pulls the vector up in Z a bit to avoid colliding with bottom parts of robot, -and that would be the desired camera position. -Next, to calculate desired camera rotation, looks at the object from camera position, -calculates an angle that would have to be applied around X axis to align camera's Z -with the object, calculates similar angle around Y axis and applies the rotations. " - (let* ((neck-base-t-object-vector - (cl-transforms:translation neck-base-t-object)) - (neck-base-t-object-vector-without-z - (cl-transforms:copy-3d-vector neck-base-t-object-vector :z 0.0)) - (neck-base-t-object-unit-vector - (cl-transforms:normalize-vector neck-base-t-object-vector-without-z)) - (neck-base-t-object-short-vector - (cl-transforms:v* neck-base-t-object-unit-vector *camera-pose-unit-vector-multiplyer*)) - (neck-base-t-object-short-vector-lifted - (cl-transforms:v+ neck-base-t-object-short-vector - (cl-transforms:make-3d-vector 0 0 *camera-pose-z-offset*))) - - (neck-base-t-camera-not-oriented - (cl-transforms:make-transform - neck-base-t-object-short-vector-lifted - (cl-transforms:make-quaternion -1 0 0 0))) - (camera-not-oriented-t-neck-base - (cl-transforms:transform-inv - neck-base-t-camera-not-oriented)) - (camera-not-oriented-t-object - (cl-transforms:transform* - camera-not-oriented-t-neck-base - neck-base-t-object)) - (rotation-angle-around-x - (- (atan - (cl-transforms:y (cl-transforms:translation camera-not-oriented-t-object)) - (cl-transforms:z (cl-transforms:translation camera-not-oriented-t-object))))) - (neck-base-t-camera-rotated-around-x - (cram-tf:rotate-transform-in-own-frame - neck-base-t-camera-not-oriented - :x rotation-angle-around-x)) - (camera-rotated-around-x-t-neck-base - (cl-transforms:transform-inv - neck-base-t-camera-rotated-around-x)) - (camera-rotated-around-x-t-object - (cl-transforms:transform* - camera-rotated-around-x-t-neck-base - neck-base-t-object)) - (rotation-angle-around-y - (atan - (cl-transforms:x (cl-transforms:translation camera-rotated-around-x-t-object)) - (cl-transforms:z (cl-transforms:translation camera-rotated-around-x-t-object)))) - (neck-base-t-camera - (cram-tf:rotate-transform-in-own-frame - neck-base-t-camera-rotated-around-x - :y rotation-angle-around-y))) - neck-base-t-camera)) - -(defun look-at-pose (object-pose) - (let* ((map-p-object - (cram-tf:ensure-pose-in-frame object-pose cram-tf:*fixed-frame* :use-zero-time t)) - (bindings - (cut:lazy-car - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:robot-neck-links ?robot . ?neck-frames) - (cram-robot-interfaces:robot-neck-joints ?robot . ?neck-joints) - (cram-robot-interfaces:robot-neck-base-link ?robot ?neck-base-frame) - (cram-robot-interfaces:camera-in-neck-ee-pose ?robot ?neck-ee-p-cam))))) - (neck-ee-frame - (car (last (cut:var-value '?neck-frames bindings)))) - (neck-joints - (cut:var-value '?neck-joints bindings)) - (neck-base-frame - (cut:var-value '?neck-base-frame bindings)) - (neck-ee-p-camera - (cut:var-value '?neck-ee-p-cam bindings)) - - (map-p-neck-base - (btr:link-pose (btr:get-robot-object) neck-base-frame)) - (neck-base-t-map - (cl-transforms:transform-inv - (cl-transforms:pose->transform map-p-neck-base))) - (neck-base-t-object - (cl-transforms:transform* - neck-base-t-map - (cl-transforms:pose->transform map-p-object))) - - (neck-base-t-camera - (calculate-camera-pose-from-object-pose neck-base-t-object)) - - (camera-t-neck-ee - (cl-transforms:transform-inv (cl-transforms:pose->transform neck-ee-p-camera))) - (neck-base-t-neck-ee - (cl-transforms:transform* neck-base-t-camera camera-t-neck-ee)) - (neck-base-p-neck-ee - (cl-transforms:transform->pose neck-base-t-neck-ee)) - - (joint-state - (get-neck-ik neck-ee-frame neck-base-p-neck-ee neck-base-frame neck-joints))) - - (if joint-state - (look-at-joint-angles joint-state) - (cpl:fail 'common-fail:ptu-goal-not-reached - :description "Look goal was not reachable")))) - -(defun look-at (pose configuration) - (if pose - (look-at-pose pose) - (if configuration - (if (typep (car configuration) 'list) - (look-at-joint-states configuration) - (look-at-joint-angles configuration)) - (error "LOOK action has to have either pose or configuration given.")))) - -;;;;;;;;;;;;;;;;; PERCEPTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun extend-perceived-object-designator (input-designator name-pose-type-list) - (destructuring-bind (name pose type) name-pose-type-list - (let* ((pose-stamped-in-fixed-frame - (cl-transforms-stamped:make-pose-stamped - cram-tf:*fixed-frame* - (cut:current-timestamp) - (cl-transforms:origin pose) - (cl-transforms:orientation pose))) - (transform-stamped-in-fixed-frame - (cram-tf:pose-stamped->transform-stamped - pose-stamped-in-fixed-frame - (roslisp-utilities:rosify-underscores-lisp-name name))) - (pose-stamped-in-base-frame - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-base-frame* - (roslisp-utilities:rosify-underscores-lisp-name name) - (cram-tf:transform-stamped-inv (robot-transform-in-map)) - transform-stamped-in-fixed-frame - :result-as-pose-or-transform :pose)) - (transform-stamped-in-base-frame - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-base-frame* - (roslisp-utilities:rosify-underscores-lisp-name name) - (cram-tf:transform-stamped-inv (robot-transform-in-map)) - transform-stamped-in-fixed-frame - :result-as-pose-or-transform :transform))) - (let ((output-designator - (desig:copy-designator - input-designator - :new-description - `((:type ,type) - (:name ,name) - (:pose ((:pose ,pose-stamped-in-base-frame) - (:transform ,transform-stamped-in-base-frame) - (:pose-in-map ,pose-stamped-in-fixed-frame) - (:transform-in-map ,transform-stamped-in-fixed-frame))))))) - (setf (slot-value output-designator 'desig:data) - (make-instance 'desig:object-designator-data - :object-identifier name - :pose pose-stamped-in-fixed-frame)) - ;; (desig:equate input-designator output-designator) - output-designator)))) - -(defun detect (input-designator) - (declare (type desig:object-designator input-designator)) - - (let* ((object-name (desig:desig-prop-value input-designator :name)) - (object-type (desig:desig-prop-value input-designator :type)) - (quantifier (desig:quantifier input-designator)) - - ;; find all visible objects with name `object-name' and of type `object-type' - (name-pose-type-lists ; e.g.: ((mondamin-1 :mondamin ) (mug-2 :mug )) - (cut:force-ll - (cut:lazy-mapcar - (lambda (solution-bindings) - (cut:with-vars-strictly-bound (?object-name ?object-pose ?object-type) - solution-bindings - (list ?object-name ?object-pose ?object-type))) - (prolog:prolog `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?world) - ,@(when object-name - `((prolog:== ?object-name ,object-name))) - (btr:object ?world ?object-name) - ,@(when object-type - `((prolog:== ?object-type ,object-type))) - (btr:item-type ?world ?object-name ?object-type) - (btr:visible ?world ?robot ?object-name) - (btr:pose ?world ?object-name ?object-pose))))))) - - ;; check if objects were found - (unless name-pose-type-lists - (cpl:fail 'common-fail:perception-object-not-found :object input-designator - :description (format nil "Could not find object ~a." input-designator))) - - ;; Extend the input-designator with the information found through visibility check: - ;; name & pose & type of the object, - ;; equate the input-designator to the new output-designator. - ;; If multiple objects are visible, return multiple equated objects, - ;; otherwise only take first found object. I.e. need to find :an object (not :all objects) - (case quantifier - (:all (mapcar (alexandria:curry #'extend-perceived-object-designator input-designator) - name-pose-type-lists)) - ((:a :an) (extend-perceived-object-designator - input-designator - (first name-pose-type-lists))) - (t (error "[PROJECTION DETECT]: Quantifier can only be a/an or all."))))) - -;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun one-gripper-action (action-type arm &optional maximum-effort) - (declare (ignore maximum-effort)) - "Opens or closes the specific gripper." - (mapc - - (lambda (solution-bindings) - (prolog:prolog - `(and - (btr:bullet-world ?world) - (assert ?world (btr:joint-state ?robot - ((?joint ,(case action-type - (:open '?max-limit) - ((:close :grip) '?min-limit) - (t (if (numberp action-type) - action-type - (error "[PROJ GRIP] failed"))))))))) - solution-bindings)) - - (cut:force-ll - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:gripper-joint ?robot ,arm ?joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?joint ?min-limit) - (cram-robot-interfaces:joint-upper-limit ?robot ?joint ?max-limit))))) - - ;; check if there is an object to grip - (when (eql action-type :grip) ; if action was gripping check if gripper collided with an item - (unless (prolog:prolog - `(and (btr:bullet-world ?world) - (cram-robot-interfaces:robot ?robot) - (btr:contact ?world ?robot ?object-name ?link) - (cram-robot-interfaces:gripper-link ?robot ,arm ?link) - (btr:%object ?world ?object-name ?object-instance) - (prolog:lisp-type ?object-instance btr:item))) - (cpl:fail 'common-fail:gripper-closed-completely - :description "There was no object to grip")))) - -(defun gripper-action (action-type arm &optional maximum-effort) - (if (and arm (listp arm)) - (cpl:par - (one-gripper-action action-type (first arm) maximum-effort) - (one-gripper-action action-type (second arm) maximum-effort)) - (one-gripper-action action-type arm maximum-effort))) - -;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun move-joints (left-configuration right-configuration) - (declare (type list left-configuration right-configuration)) - (flet ((set-configuration (arm joint-values) - (when joint-values - (let ((joint-name-value-list - (if (listp (car joint-values)) - joint-values - (let ((joint-names - (cut:var-value - '?joints - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:arm-joints ?robot ,arm - ?joints))))))) - (unless (= (length joint-values) (length joint-names)) - (error "[PROJECTION MOVE-JOINTS] length of joints list is incorrect")) - (mapcar (lambda (name value) - (list name (* value 1.0d0))) - joint-names joint-values))))) - (assert - (prolog:prolog - `(and - (btr:bullet-world ?world) - (cram-robot-interfaces:robot ?robot) - (assert ?world (btr:joint-state ?robot ,joint-name-value-list))))))))) - (set-configuration :left left-configuration) - (set-configuration :right right-configuration))) - -(defparameter *tcp-pose-in-ee* (cl-transforms:make-pose - (cl-transforms:make-3d-vector 0 0 0.3191d0) - (cl-transforms:make-identity-rotation)) - "In meters, Teetcp, EE -> TCP but a Pose") - -(defparameter *torso-resampling-step* 0.1) - -(defun move-tcp (left-tcp-pose right-tcp-pose) - (declare (type (or cl-transforms-stamped:pose-stamped null) left-tcp-pose right-tcp-pose)) - (flet ((tcp-pose->ee-pose (tcp-pose tool-frame end-effector-frame) - (when tcp-pose - (cram-tf:strip-transform-stamped - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-base-frame* - end-effector-frame - (cram-tf:pose->transform-stamped - cram-tf:*robot-base-frame* - tool-frame - 0.0 - tcp-pose) - (cram-tf:transform-stamped-inv - (cram-tf:pose->transform-stamped - end-effector-frame - tool-frame - 0.0 - *tcp-pose-in-ee*)))))) - (ee-pose-in-base->ee-pose-in-torso (ee-pose-in-base) - (when ee-pose-in-base - (if (string-equal - (cl-transforms-stamped:frame-id ee-pose-in-base) - cram-tf:*robot-base-frame*) - ;; tPe: tTe = tTb * bTe = tTm * mTb * bTe = (mTt)-1 * mTb * bTe - (let* ((map-torso-transform - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-torso-frame* - 0.0 - (btr:link-pose - (btr:get-robot-object) - cram-tf:*robot-torso-frame*))) - (torso-map-transform - (cram-tf:transform-stamped-inv map-torso-transform)) - (map-base-transform - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - 0.0 - (btr:pose (btr:get-robot-object)))) - (torso-base-transform - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-torso-frame* - cram-tf:*robot-base-frame* - torso-map-transform - map-base-transform)) - (base-ee-transform - (cram-tf:pose-stamped->transform-stamped - ee-pose-in-base - ;; dummy link name for T x T to work - "end_effector_link"))) - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-torso-frame* - "end_effector_link" - torso-base-transform - base-ee-transform - :result-as-pose-or-transform :pose)) - (error "Arm movement goals should be given in robot base frame")))) - (get-ik-joint-positions (ee-pose base-link end-effector-link joint-names - torso-joint-name - torso-joint-lower-limit torso-joint-upper-limit) - (when ee-pose - (multiple-value-bind (ik-solution-msg torso-angle) - (let ((torso-current-angle - (btr:joint-state - (btr:get-robot-object) - torso-joint-name)) - (seed-state-msg - (btr::make-robot-joint-state-msg - (btr:get-robot-object) - :joint-names joint-names))) - (ik:call-ik-service-with-resampling - ee-pose base-link end-effector-link seed-state-msg *torso-resampling-step* :z - torso-current-angle torso-joint-lower-limit torso-joint-upper-limit)) - (unless ik-solution-msg - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "~a is unreachable for EE." ee-pose))) - (values (map 'list #'identity (roslisp:msg-slot-value ik-solution-msg :position)) - torso-angle))))) - - (let* ((bindings - (cut:lazy-car - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:robot-tool-frame ?robot :left ?left-tool-frame) - (cram-robot-interfaces:robot-tool-frame ?robot :right ?right-tool-frame) - (cram-robot-interfaces:end-effector-link ?robot :left ?left-ee-frame) - (cram-robot-interfaces:end-effector-link ?robot :right ?right-ee-frame) - (cram-robot-interfaces:arm-joints ?robot :left ?left-arm-joints) - (cram-robot-interfaces:arm-joints ?robot :right ?right-arm-joints) - (cram-robot-interfaces:robot-torso-link-joint ?robot ?torso-link ?torso-joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?torso-joint ?lower-limit) - (cram-robot-interfaces:joint-upper-limit ?robot ?torso-joint ?upper-limit))))) - (left-tcp-frame - (cut:var-value '?left-tool-frame bindings)) - (right-tcp-frame - (cut:var-value '?right-tool-frame bindings)) - (left-ee-frame - (cut:var-value '?left-ee-frame bindings)) - (right-ee-frame - (cut:var-value '?right-ee-frame bindings)) - (left-arm-joints - (cut:var-value '?left-arm-joints bindings)) - (right-arm-joints - (cut:var-value '?right-arm-joints bindings)) - (torso-link-name - (cut:var-value '?torso-link bindings)) - (torso-joint-name - (cut:var-value '?torso-joint bindings)) - (torso-lower-limit - (cut:var-value '?lower-limit bindings)) - (torso-upper-limit - (cut:var-value '?upper-limit bindings))) - - (multiple-value-bind (left-ik left-torso-angle) - (get-ik-joint-positions (ee-pose-in-base->ee-pose-in-torso - (tcp-pose->ee-pose left-tcp-pose - left-tcp-frame left-ee-frame)) - torso-link-name left-ee-frame left-arm-joints - torso-joint-name torso-lower-limit torso-upper-limit) - (multiple-value-bind (right-ik right-torso-angle) - (get-ik-joint-positions (ee-pose-in-base->ee-pose-in-torso - (tcp-pose->ee-pose right-tcp-pose - right-tcp-frame right-ee-frame)) - torso-link-name right-ee-frame right-arm-joints - torso-joint-name torso-lower-limit torso-upper-limit) - (cond - ((and left-torso-angle right-torso-angle) - (when (not (eq left-torso-angle right-torso-angle)) - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "In MOVE-TCP goals for the two arms ~ - require different torso angles)."))) - (move-torso left-torso-angle)) - (left-torso-angle (move-torso left-torso-angle)) - (right-torso-angle (move-torso right-torso-angle))) - (move-joints left-ik right-ik)))))) diff --git a/cram_boxy/cram_boxy_projection/src/process-modules.lisp b/cram_boxy/cram_boxy_projection/src/process-modules.lisp deleted file mode 100644 index afba91f62d..0000000000 --- a/cram_boxy/cram_boxy_projection/src/process-modules.lisp +++ /dev/null @@ -1,120 +0,0 @@ -;;; -;;; Copyright (c) 2018, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-proj) - -;;;;;;;;;;;;;;;;; NAVIGATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-navigation (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-base - (handler-case - (drive argument)))))) - -;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-torso (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-torso - (handler-case - (move-torso argument)))))) - -;;;;;;;;;;;;;;;;; PTU ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-ptu (motion-designator) - (destructuring-bind (command goal-pose goal-configuration) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-head - (handler-case - (look-at goal-pose goal-configuration)))))) - -;;;;;;;;;;;;;;;;; PERCEPTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-perception (motion-designator) - (destructuring-bind (command argument-1) (desig:reference motion-designator) - (ecase command - (cram-common-designators:detect - (handler-case - (detect argument-1)))))) - -;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-grippers (motion-designator) - (destructuring-bind (command arg-1 arg-2 &rest arg-3) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-gripper-joint - (handler-case - (gripper-action arg-1 arg-2 (car arg-3))))))) - -;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module boxy-proj-arms (motion-designator) - (destructuring-bind (command arg-1 &rest arg-2) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-tcp - (handler-case - (move-tcp arg-1 (car arg-2)))) - (cram-common-designators::move-joints - (handler-case - (move-joints arg-1 (car arg-2)))) - (cram-common-designators::move-with-constraints - (roslisp:ros-warn (boxy pms) "move-with-constraints is not supported") - ;; (handler-case - ;; (move-with-constraints arg-1)) - )))) - - -;;;;;;;;;;;;;;;;;;;;; PREDICATES ;;;;;;;;;;;;;;;;;;;;;;;; - -(def-fact-group boxy-matching-pms (cpm:matching-process-module) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-navigation) - (desig:desig-prop ?motion-designator (:type :going))) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-torso) - (desig:desig-prop ?motion-designator (:type :moving-torso))) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-ptu) - (desig:desig-prop ?motion-designator (:type :looking))) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-perception) - (desig:desig-prop ?motion-designator (:type :detecting))) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-grippers) - (or (desig:desig-prop ?motion-designator (:type :gripping)) - (desig:desig-prop ?motion-designator (:type :moving-gripper-joint)) - (desig:desig-prop ?motion-designator (:type :opening-gripper)) - (desig:desig-prop ?motion-designator (:type :closing-gripper)))) - - (<- (cpm:matching-process-module ?motion-designator boxy-proj-arms) - (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) - (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) - (desig:desig-prop ?motion-designator (:type :moving-with-constraints))))) diff --git a/cram_boxy/cram_boxy_projection/src/projection-environment.lisp b/cram_boxy/cram_boxy_projection/src/projection-environment.lisp deleted file mode 100644 index 214e418921..0000000000 --- a/cram_boxy/cram_boxy_projection/src/projection-environment.lisp +++ /dev/null @@ -1,130 +0,0 @@ -;;; Copyright (c) 2012, Lorenz Moesenlechner -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :boxy-proj) - -(defvar *last-timeline* nil) - -(cram-projection:define-projection-environment boxy-bullet-projection-environment - :special-variable-initializers - ((cram-tf:*transformer* - (make-instance 'cl-tf:transformer)) - ;; TODO: use custom tf topic "tf_sim" - ;; For that first change tf2_ros/TransformListener to accept custom topic names - ;; (*current-bullet-world* (cl-bullet:copy-world btr:*current-bullet-world*)) - (cram-bullet-reasoning:*current-timeline* - (btr:timeline-init btr:*current-bullet-world*)) - (desig:*default-role* - 'projection-role) - ;; (cut:*timestamp-function* #'projection-timestamp-function) - (cram-bullet-reasoning-belief-state::*object-identifier-to-instance-mappings* - (alexandria:copy-hash-table - cram-bullet-reasoning-belief-state::*object-identifier-to-instance-mappings*)) - (cet:*episode-knowledge* - cet:*episode-knowledge*)) - :process-module-definitions - (boxy-proj-navigation - boxy-proj-torso - boxy-proj-ptu - boxy-proj-perception - boxy-proj-grippers - boxy-proj-arms) - :startup (progn - (cram-bullet-reasoning-belief-state:set-tf-from-bullet) - (cram-bullet-reasoning-belief-state:update-bullet-transforms)) - :shutdown (setf *last-timeline* cram-bullet-reasoning:*current-timeline*)) - - -(def-fact-group boxy-available-pms (cpm:available-process-module - cpm:projection-running) - - (<- (cpm:available-process-module ?pm) - (bound ?pm) - (once (member ?pm (boxy-proj-navigation - boxy-proj-torso - boxy-proj-ptu - boxy-proj-perception - boxy-proj-grippers - boxy-proj-arms))) - (symbol-value cram-projection:*projection-environment* boxy-bullet-projection-environment)) - - (<- (cpm::projection-running ?pm) - ;; (bound ?pm) - (once (member ?pm (boxy-proj-navigation - boxy-proj-torso - boxy-proj-ptu - boxy-proj-perception - boxy-proj-grippers - boxy-proj-arms))) - (symbol-value cram-projection:*projection-environment* boxy-bullet-projection-environment))) - - -(defmacro with-simulated-robot (&body body) - `(let ((results - (proj:with-projection-environment boxy-bullet-projection-environment - (cpl-impl::named-top-level (:name :top-level) - ,@body)))) - (car (cram-projection::projection-environment-result-result results)))) - -(defmacro with-projected-robot (&body args) - "Alias for WITH-SIMULATED-ROBOT." - `(with-simulated-robot ,@args)) - - -#+below-is-a-very-simple-example-of-how-to-use-projection -( - (let ((robot (cl-urdf:parse-urdf (roslisp:get-param "robot_description"))) - (kitchen (cl-urdf:parse-urdf (roslisp:get-param "kitchen_description")))) - (prolog:prolog `(and - (btr:bullet-world ?w) - (btr:debug-window ?w) - (assert ?w (btr:object :static-plane floor ((0 0 0) (0 0 0 1)) - :normal (0 0 1) :constant 0)) - (assert ?w (btr:object :semantic-map sem-map ((0 0 0) (0 0 0 1)) - :urdf ,kitchen)) - (cram-robot-interfaces:robot ?robot) - (assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) - :urdf ,robot))))) - - (ros-load-manifest:load-system "cram_executive" :cram-executive) - - (proj:with-projection-environment boxy-proj::boxy-bullet-projection-environment - (cpl:top-level - (exe:perform - (let ((?pose (cl-tf:make-pose-stamped - cram-tf:*robot-base-frame* 0.0 - (cl-transforms:make-3d-vector -4 -5 0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type going) (pose ?pose)))) - (exe:perform - (let ((?pose (cl-tf:make-pose-stamped - cram-tf:*robot-base-frame* 0.0 - (cl-transforms:make-3d-vector 0.5 0.3 1.0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type moving-tcp) (left-pose ?pose)))))) -) diff --git a/cram_common/cram_commander/src/action-designator-server.lisp b/cram_common/cram_commander/src/action-designator-server.lisp index 00efb3c231..cb67c5dbe5 100644 --- a/cram_common/cram_commander/src/action-designator-server.lisp +++ b/cram_common/cram_commander/src/action-designator-server.lisp @@ -31,7 +31,7 @@ ;; (defgeneric main () ;; (:method :before () -;; (let ((agent-ros-name (rosify (current-robot-symbol)))) +;; (let ((agent-ros-name (rosify (rob-int:get-robot-name)))) ;; (roslisp-utilities:startup-ros :name agent-ros-name)))) (defun try-reference-designator-json (designator-json-string) diff --git a/cram_common/cram_common_designators/src/motions.lisp b/cram_common/cram_common_designators/src/motions.lisp index a7cf334c96..4af4f28144 100644 --- a/cram_common/cram_common_designators/src/motions.lisp +++ b/cram_common/cram_common_designators/src/motions.lisp @@ -94,42 +94,85 @@ (<- (motion-grounding ?designator (move-tcp ?left-pose ?right-pose ?collision-mode - ?collision-object-b ?collision-object-b-link + ?collision-object-b + ?collision-object-b-link ?collision-object-a - ?move-the-ass)) + ?move-base ?prefer-base + ?align-planes-left + ?align-planes-right)) (property ?designator (:type :moving-tcp)) - (-> (property ?designator (:left-pose ?left-pose)) - (true) - (equal ?left-pose nil)) - (-> (property ?designator (:right-pose ?right-pose)) - (true) - (equal ?right-pose nil)) - (-> (desig:desig-prop ?designator (:collision-mode ?collision-mode)) - (true) - (equal ?collision-mode nil)) - (-> (desig:desig-prop ?designator (:collision-object-b ?collision-object-b)) - (true) - (equal ?collision-object-b nil)) - (-> (desig:desig-prop ?designator (:collision-object-b-link ?collision-object-b-link)) - (true) - (equal ?collision-object-b-link nil)) - (-> (desig:desig-prop ?designator (:collision-object-a ?collision-object-a)) - (true) - (equal ?collision-object-a nil)) - (-> (desig:desig-prop ?designator (:move-the-ass ?move-the-ass)) - (true) - (equal ?move-the-ass nil))) - - (<- (motion-grounding ?designator (move-joints ?left-config ?right-config)) + (once (or (property ?designator (:left-pose ?left-pose)) + (equal ?left-pose nil))) + (once (or (property ?designator (:right-pose ?right-pose)) + (equal ?right-pose nil))) + (once (or (desig:desig-prop ?designator (:collision-mode ?collision-mode)) + (equal ?collision-mode nil))) + (once (or (desig:desig-prop ?designator (:collision-object-b ?collision-object-b)) + (equal ?collision-object-b nil))) + (once (or (desig:desig-prop ?designator (:collision-object-b-link + ?collision-object-b-link)) + (equal ?collision-object-b-link nil))) + (once (or (desig:desig-prop ?designator (:collision-object-a ?collision-object-a)) + (equal ?collision-object-a nil))) + (once (or (desig:desig-prop ?designator (:move-base ?move-base)) + (equal ?move-base nil))) + (once (or (desig:desig-prop ?designator (:prefer-base ?prefer-base)) + (equal ?prefer-base nil))) + (once (or (desig:desig-prop ?designator (:align-planes-left ?align-planes-left)) + (equal ?align-planes-left nil))) + (once (or (desig:desig-prop ?designator (:align-planes-right ?align-planes-right)) + (equal ?align-planes-right nil)))) + + (<- (motion-grounding ?designator (?push-or-pull ?arm ?poses + ?joint-angle + ?collision-mode + ?collision-object-b + ?collision-object-b-link + ?collision-object-a + ?move-base ?prefer-base + ?align-planes-left + ?align-planes-right)) + (or (and (property ?designator (:type :pushing)) + (equal ?push-or-pull move-arm-push)) + (and (property ?designator (:type :pulling)) + (equal ?push-or-pull move-arm-pull))) + (property ?designator (:arm ?arm)) + (property ?designator (:poses ?poses)) + (once (or (desig:desig-prop ?designator (:joint-angle ?joint-angle)) + (equal ?joint-angle nil))) + (once (or (desig:desig-prop ?designator (:collision-mode ?collision-mode)) + (equal ?collision-mode nil))) + (once (or (desig:desig-prop ?designator (:collision-object-b ?collision-object-b)) + (equal ?collision-object-b nil))) + (once (or (desig:desig-prop ?designator (:collision-object-b-link + ?collision-object-b-link)) + (equal ?collision-object-b-link nil))) + (once (or (desig:desig-prop ?designator (:collision-object-a ?collision-object-a)) + (equal ?collision-object-a nil))) + (once (or (desig:desig-prop ?designator (:move-base ?move-base)) + (equal ?move-base nil))) + (once (or (desig:desig-prop ?designator (:prefer-base ?prefer-base)) + (equal ?prefer-base nil))) + (once (or (desig:desig-prop ?designator (:align-planes-left ?align-planes-left)) + (equal ?align-planes-left nil))) + (once (or (desig:desig-prop ?designator (:align-planes-right ?align-planes-right)) + (equal ?align-planes-right nil)))) + + (<- (motion-grounding ?designator (move-joints ?left-config ?right-config + ?collision-mode + ?align-planes-left + ?align-planes-right)) (property ?designator (:type :moving-arm-joints)) (once (or (property ?designator (:left-joint-states ?left-config)) (equal ?left-config nil))) (once (or (property ?designator (:right-joint-states ?right-config)) - (equal ?right-config nil)))) - - (<- (motion-grounding ?designator (move-with-constraints ?constraints-string)) - (property ?designator (:type :moving-with-constraints)) - (property ?designator (:constraints ?constraints-string)))) + (equal ?right-config nil))) + (once (or (property ?designator (:collision-mode ?collision-mode)) + (equal ?collision-mode nil))) + (once (or (property ?designator (:align-planes-left ?align-planes-left)) + (equal ?align-planes-left nil))) + (once (or (property ?designator (:align-planes-right ?align-planes-right)) + (equal ?align-planes-right nil))))) (def-fact-group world-state-detecting (motion-grounding) @@ -141,3 +184,37 @@ (property ?object-designator (:type ?_)) (property ?object-designator (:name ?_))) (property ?object-designator (:name ?_))))) + + + +#+wiggling-stuff +( + (defun calculate-pose-from-direction (distance) + (let* ((left-pose + (cl-transforms-stamped:make-pose-stamped + cram-tf:*robot-left-tool-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 distance) + (cl-transforms:make-identity-rotation)))) + left-pose)) + + (def-fact-group boxy-motion-designators (desig:motion-grounding) + + (<- (desig:motion-grounding ?designator (move-tcp-wiggle ?arm ?pose)) + (property ?designator (:type :wiggling-tcp)) + (property ?designator (:arm ?arm)) + (property ?designator (:target ?location-designator)) + (desig:designator-groundings ?location-designator ?poses) + (member ?pose ?poses)) + + (<- (desig:motion-grounding ?designator (move-tcp-wiggle :left ?pose)) + (property ?designator (:type :wiggling-tcp)) + ;; (property ?designator (:arm ?arm)) + ;; (property ?designator (:direction ?direction-keyword)) + ;; (property ?designator (:frame ?reference-frame)) + (property ?designator (:arm :left)) + (property ?designator (:direction :forward)) + (property ?designator (:distance ?distance)) + (lisp-fun calculate-pose-from-direction ?distance ;; ?arm ?direction-keyword ?reference-frame + ?pose))) + ) diff --git a/cram_common/cram_common_designators/src/package.lisp b/cram_common/cram_common_designators/src/package.lisp index 2721122347..931ba3ebb8 100644 --- a/cram_common/cram_common_designators/src/package.lisp +++ b/cram_common/cram_common_designators/src/package.lisp @@ -1,19 +1,20 @@ +;;; ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -29,13 +30,9 @@ (in-package :cl-user) (defpackage cram-common-designators - (:use #:common-lisp ;#:cram-plan-occasions-events #:cram-robot-interfaces - #:prolog #:desig #:spec ;; #:cram-semantic-map - ;; #:cl-transforms-stamped - ) - ;; (:import-from #:cram-tf - ;; *fixed-frame* *transformer* *tf-default-timeout*) + (:use #:common-lisp #:prolog #:desig #:spec) (:export ;; motions #:move-base #:move-torso #:move-head #:detect #:inspect #:move-gripper-joint - #:move-tcp #:move-joints #:move-with-constraints #:world-state-detect)) + #:move-tcp #:move-arm-push #:move-arm-pull #:move-joints #:move-with-constraints + #:world-state-detect)) diff --git a/cram_boxy/cram_boxy_plans/cram-boxy-plans.asd b/cram_common/cram_common_failures/cram-common-failures-tests.asd similarity index 72% rename from cram_boxy/cram_boxy_plans/cram-boxy-plans.asd rename to cram_common/cram_common_failures/cram-common-failures-tests.asd index 446eea2fba..b5990fc5e7 100644 --- a/cram_boxy/cram_boxy_plans/cram-boxy-plans.asd +++ b/cram_common/cram_common_failures/cram-common-failures-tests.asd @@ -1,4 +1,4 @@ -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2020, Amar Fayaz ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -10,8 +10,8 @@ ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. ;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -26,33 +26,31 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-boxy-plans - :author "Gayane Kazhoyan" - :maintainer "Gayane Kazhoyan" +(defsystem cram-common-failures-tests + :author "Amar Fayaz" :license "BSD" - :depends-on (roslisp ; for debug statements - - cram-designators - cram-executive + :depends-on (lisp-unit + roslisp cram-language cram-prolog - cram-occasions-events - - cram-designator-specification + cl-urdf cram-common-failures - cram-plan-occasions-events - cram-mobile-pick-place-plans - - cram-manipulation-interfaces + cram-bullet-reasoning + cram-pr2-description + cram-robot-interfaces + cl-transforms + cl-transforms-stamped + cram-designators cram-object-knowledge + cram-location-costmap + cram-btr-visibility-costmap + cram-btr-spatial-relations-costmap + cram-occupancy-grid-costmap + cram-robot-pose-gaussian-costmap) - cl-transforms-stamped - cl-transforms) :components - ((:module "src" + ((:module "tests" :components ((:file "package") - (:file "action-plans" :depends-on ("package")) - (:file "action-designators" :depends-on ("package" "action-plans")) - (:file "high-level-plans" :depends-on ("package" "action-designators")))))) + (:file "different-location-solution-test" :depends-on ("package")))))) diff --git a/cram_common/cram_common_failures/src/failure-handling-strategies.lisp b/cram_common/cram_common_failures/src/failure-handling-strategies.lisp index 2da91b40bf..ba8b3ba860 100644 --- a/cram_common/cram_common_failures/src/failure-handling-strategies.lisp +++ b/cram_common/cram_common_failures/src/failure-handling-strategies.lisp @@ -29,6 +29,9 @@ (in-package :common-fail) +(defparameter *default-distance-threshold* 0.05 + "Distance threshold used as a default for identifying unique poses") + (defmacro retry-with-designator-solutions (iterator-desig retries (&key @@ -78,7 +81,8 @@ after each iteration of the retry." `(progn (roslisp:ros-warn ,warning-namespace "~a" ,error-object-or-string) (cpl:do-retry ,retries - (let ((next-solution-element (cut:lazy-car (cut:lazy-cdr ,iterator-list)))) + (let ((next-solution-element + (cut:lazy-car (cut:lazy-cdr ,iterator-list)))) (if next-solution-element (progn (roslisp:ros-warn ,warning-namespace "Retrying.~%") @@ -91,7 +95,9 @@ after each iteration of the retry." (cpl:fail ,rethrow-failure)))) (defun next-different-location-solution (designator - &optional (distance-threshold 0.05)) + &optional + (distance-threshold + *default-distance-threshold*)) "Returns a new designator solution that is at a different place than the current solution of `designator'." (declare (type desig:location-designator designator)) @@ -106,7 +112,8 @@ after each iteration of the retry." error-object-or-string warning-namespace reset-designators - (distance-threshold 0.05) + (distance-threshold + *default-distance-threshold*) (rethrow-failure NIL)) &body body) "Macro that iterates through different solutions of the specified diff --git a/cram_common/cram_common_failures/src/manipulation.lisp b/cram_common/cram_common_failures/src/manipulation.lisp index d90d5e2a90..5f4bcfc3e5 100644 --- a/cram_common/cram_common_failures/src/manipulation.lisp +++ b/cram_common/cram_common_failures/src/manipulation.lisp @@ -37,7 +37,7 @@ (define-condition manipulation-pose-unreachable (manipulation-low-level-failure) () (:documentation "Thrown when no IK solution can be found.")) -(define-condition gripper-low-level-failure (manipulation-low-level-failure) +(define-condition gripper-low-level-failure (low-level-failure) ((action :initarg :object :initform nil :reader gripper-failure-action))) (define-condition gripper-closed-completely (gripper-low-level-failure) ()) diff --git a/cram_common/cram_common_failures/tests/different-location-solution-test.lisp b/cram_common/cram_common_failures/tests/different-location-solution-test.lisp new file mode 100644 index 0000000000..5204bac343 --- /dev/null +++ b/cram_common/cram_common_failures/tests/different-location-solution-test.lisp @@ -0,0 +1,104 @@ +;;; +;;; Copyright (c) 2020, Amar Fayaz +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-common-failures-tests) + +(defparameter *target-location* (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-3d-vector 0 1 0) + (cl-transforms:make-quaternion 0 0 0 1))) + +(defparameter *test-location* (let ((?target *target-location*)) + (desig:a location + (reachable-for pr2) + (location (desig:a location + (pose ?target)))))) + +(defun setup-world () + (setf rob-int:*robot-urdf* + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*robot-description-parameter*))) + (prolog:prolog + `(and (btr:bullet-world ?world) + (rob-int:robot ?robot) + (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) + :urdf ,rob-int:*robot-urdf*)))) + (btr:detach-all-objects (btr:get-robot-object))) + + +;; roslaunch cram_pr2_pick_place_demo sandbox.launch + +(define-test next-different-location-solution-test + (unless (eq roslisp::*node-status* :RUNNING) + (roslisp-utilities:startup-ros)) + (setup-world) + (let ((first-location (desig:reference *test-location*)) + (new-location (desig:reference + (common-fail:next-different-location-solution + *test-location*)))) + (assert-true (< cram-common-failures::*default-distance-threshold* + (cl-transforms:v-dist + (cl-transforms:origin first-location) + (cl-transforms:origin new-location)))))) + + +(define-test retry-with-diff-loc-designator-test + (unless (eq roslisp::*node-status* :RUNNING) + (roslisp-utilities:startup-ros)) + (setup-world) + (let ((location-output)) + (assert-error 'common-fail:object-nowhere-to-be-found + (cpl:with-retry-counters ((robot-location-retries 8)) + (cpl:with-failure-handling + (((or common-fail:navigation-goal-in-collision + common-fail:looking-high-level-failure + common-fail:perception-low-level-failure) (e) + (common-fail:retry-with-loc-designator-solutions + *test-location* + robot-location-retries + (:error-object-or-string e + :warning-namespace + (fd-plans search-for-object) + :rethrow-failure + 'common-fail:object-nowhere-to-be-found) + (push + (desig:reference *test-location*) + location-output)))) + (cpl:fail 'common-fail:looking-high-level-failure)))) + + (assert-true (eq 8 (length location-output))) + (maplist (lambda (pose-list) + (when (>= (length pose-list) 2) + (assert-true + (< cram-common-failures::*default-distance-threshold* + (cl-transforms:v-dist + (cl-transforms:origin (first pose-list)) + (cl-transforms:origin (second pose-list))))))) + location-output))) diff --git a/cram_boxy/cram_boxy_plans/src/package.lisp b/cram_common/cram_common_failures/tests/package.lisp similarity index 89% rename from cram_boxy/cram_boxy_plans/src/package.lisp rename to cram_common/cram_common_failures/tests/package.lisp index 55b59a50d6..3f16b401e5 100644 --- a/cram_boxy/cram_boxy_plans/src/package.lisp +++ b/cram_common/cram_common_failures/tests/package.lisp @@ -1,5 +1,5 @@ ;;; -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2020, Amar Fayaz ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -29,7 +29,7 @@ (in-package :cl-user) -(defpackage cram-boxy-plans - (:nicknames #:boxy-plans) - (:use #:common-lisp #:cram-prolog #:cram-designator-specification) +(defpackage cram-common-failures-tests + (:nicknames :common-fail-tests) + (:use #:common-lisp #:cram-common-failures #:lisp-unit) (:export)) diff --git a/cram_common/cram_designator_specification/src/specs.lisp b/cram_common/cram_designator_specification/src/specs.lisp index cabfa57b13..b5719a2fd9 100644 --- a/cram_common/cram_designator_specification/src/specs.lisp +++ b/cram_common/cram_designator_specification/src/specs.lisp @@ -89,7 +89,7 @@ (<- (%property ?designator (?list-key ?value)) (lisp-pred typep ?designator desig:motion-designator) - (member ?list-key (:joint-states :left-joint-states :right-joint-states)) + (member ?list-key (:poses :joint-states :left-joint-states :right-joint-states)) (property-member (?list-key ?value) ?designator) (assert-type ?value list "MOTION SPEC:PROPERTY"))) @@ -104,21 +104,22 @@ (<- (%property ?designator (?list-key ?value)) (lisp-pred typep ?designator desig:action-designator) - (member ?list-key (:left-poses :right-poses)) + (member ?list-key (:poses :left-poses :right-poses :arms :grasps)) (property-member (?list-key ?value) ?designator) (assert-type ?value list "ACTION SPEC:PROPERTY")) (<- (%property ?designator (?keyword-or-list-key ?value)) (lisp-pred typep ?designator desig:action-designator) (member ?keyword-or-list-key (:gripper :arm :direction :grasp :camera :type - :link :configuration + :context :link :configuration :left-configuration :right-configuration)) (property-member (?keyword-or-list-key ?value) ?designator) (assert-type ?value (or keyword list) "ACTION SPEC:PROPERTY")) (<- (%property ?designator (?object-key ?object)) (lisp-pred typep ?designator desig:action-designator) - (member ?object-key (:object :on-object :with-object :supporting-object :container-object)) + (member ?object-key (:object :on-object :with-object :supporting-object + :container-object)) (property-member (?object-key ?object) ?designator) (assert-type ?object desig:object-designator "ACTION SPEC:PROPERTY")) @@ -128,18 +129,17 @@ (property-member (?number-key ?value) ?designator) (assert-type ?value number "ACTION SPEC:PROPERTY")) - (<- (%property ?designator (?number-key ?value)) - (lisp-pred typep ?designator desig:action-designator) - (member ?number-key (:joint-angle)) - (property-member (?number-key ?value) ?designator) - (assert-type ?value (or keyword number) "MOTION SPEC:PROPERTY")) - (<- (%property ?designator (?string-key ?value)) (lisp-pred typep ?designator desig:action-designator) (member ?string-key (:frame)) (property-member (?string-key ?value) ?designator) (assert-type ?value string "ACTION SPEC:PROPERTY")) + (<- (%property ?designator (:joint-angle ?value)) + (lisp-pred typep ?designator desig:action-designator) + (property-member (:joint-angle ?value) ?designator) + (assert-type ?value (or keyword number) "ACTION SPEC:PROPERTY")) + (<- (%property ?designator (:for ?for-value)) (lisp-pred typep ?designator desig:action-designator) (property-member (:for ?for-value) ?designator) @@ -153,16 +153,32 @@ (property-member (:pose ?pose-stamped) ?designator) (assert-type ?pose-stamped cl-transforms-stamped:pose-stamped "LOCATION SPEC:PROPERTY")) - (<- (%property ?designator (:object ?value)) + (<- (%property ?designator (?list-key ?list-value)) (lisp-pred typep ?designator desig:location-designator) - (property-member (:object ?value) ?designator) + (member ?list-key (:poses :attachments)) + (property-member (?list-key ?list-value) ?designator) + (assert-type ?list-value list "LOCATION SPEC:PROPERTY")) + + (<- (%property ?designator (?object-desig-key ?value)) + (lisp-pred typep ?designator desig:location-designator) + (member ?object-desig-key (:object + :in :on :above + :left-of :right-of :in-front-of :behind + :far-from :near)) + (property-member (?object-desig-key ?value) ?designator) (assert-type ?value desig:object-designator "LOCATION SPEC:PROPERTY")) (<- (%property ?designator (?keyword-key ?value)) (lisp-pred typep ?designator desig:location-designator) - (member ?keyword-key (:arm)) + (member ?keyword-key (:arm :attachment)) (property-member (?keyword-key ?value) ?designator) - (assert-type ?value keyword "LOCATION SPEC:PROPERTY"))) + (assert-type ?value keyword "LOCATION SPEC:PROPERTY")) + + (<- (%property ?designator (?number-key ?value)) + (lisp-pred typep ?designator desig:location-designator) + (member ?number-key (:z-offset)) + (property-member (?number-key ?value) ?designator) + (assert-type ?value number "LOCATION SPEC:PROPERTY"))) (def-fact-group object-designator-specs (%property) @@ -178,10 +194,10 @@ (property-member (?keyword-key ?name) ?designator) (assert-type ?name symbol "OBJECT SPEC:PROPERTY")) - (<- (%property ?designator (:part-of ?environment)) + (<- (%property ?designator (:part-of ?environment-or-robot)) (lisp-pred typep ?designator desig:object-designator) - (property-member (:part-of ?environment) ?designator) - (assert-type ?environment keyword "OBJECT SPEC:PROPERTY")) + (property-member (:part-of ?environment-or-robot) ?designator) + (assert-type ?environment-or-robot symbol "OBJECT SPEC:PROPERTY")) (<- (%property ?designator (:handle-axis ?axis)) (lisp-pred typep ?designator desig:object-designator) @@ -191,4 +207,9 @@ (<- (%property ?designator (:pose ?pose)) (lisp-pred typep ?designator desig:object-designator) (property-member (:pose ?pose) ?designator) - (assert-type ?pose list "OBEJCT SPEC:PROPERTY"))) + (assert-type ?pose list "OBEJCT SPEC:PROPERTY")) + + (<- (%property ?designator (:location ?location)) + (lisp-pred typep ?designator desig:object-designator) + (property-member (:location ?location) ?designator) + (assert-type ?location desig:location-designator "OBJECT SPEC:PROPERTY"))) diff --git a/cram_common/cram_location_costmap/cram-location-costmap.asd b/cram_common/cram_location_costmap/cram-location-costmap.asd index 8068cd2586..c7c56db659 100644 --- a/cram_common/cram_location_costmap/cram-location-costmap.asd +++ b/cram_common/cram_location_costmap/cram-location-costmap.asd @@ -61,4 +61,6 @@ (:file "ros-grid-cells" :depends-on ("package" "2d-value-map")) (:file "ros-occupancy-grid" :depends-on ("package")) (:file "visualization" - :depends-on ("package" "occupancy-grid" "location-costmap")))))) + :depends-on ("package" "occupancy-grid" "location-costmap")) + ;; implemented for optimizing costmaps but not integrated yet + (:file "quadtree" :depends-on ("package")))))) diff --git a/cram_common/cram_location_costmap/src/designator-integration.lisp b/cram_common/cram_location_costmap/src/designator-integration.lisp index fa2763e5cc..28b9d6e6bc 100644 --- a/cram_common/cram_location_costmap/src/designator-integration.lisp +++ b/cram_common/cram_location_costmap/src/designator-integration.lisp @@ -35,6 +35,9 @@ (defvar *costmap-cache* (tg:make-weak-hash-table :test 'eq :weakness :key)) (defvar *costmap-max-values (tg:make-weak-hash-table :test 'eq :weakness :key)) +(defun reset-costmap-cache () + (setf *costmap-cache* (tg:make-weak-hash-table :test 'eq :weakness :key))) + (defun get-cached-costmap (desig) (let ((first-designator (first-desig desig))) (or (gethash first-designator *costmap-cache*) @@ -79,17 +82,27 @@ (get-cached-costmap-maxvalue cm)))) (if (> costmap-value *costmap-valid-solution-threshold*) (let ((costmap-heights - (generate-heights cm (cl-transforms:x p) (cl-transforms:y p)))) + (generate-heights + cm + (cl-transforms:x p) + (cl-transforms:y p)))) (cond ((not costmap-heights) :accept) ((find-if (lambda (height) + ;; The z of the pose has to be within + ;; 1 cm of the costmap heights (< (abs (- height (cl-transforms:z p))) - 1e-3)) + 1e-2)) costmap-heights) - :accept))) + :accept) + (t + :reject))) :reject)) (cma:invalid-probability-distribution () - :maybe-reject))) + :maybe-reject) + (error (e) + (warn "[BTR:LOCATION-COSTMAP-POSE-VALIDATOR] Error: ~A~%" e) + :unknown))) :unknown)) diff --git a/cram_common/cram_location_costmap/src/facts.lisp b/cram_common/cram_location_costmap/src/facts.lisp index 20b0c36adc..c2656506c3 100644 --- a/cram_common/cram_location_costmap/src/facts.lisp +++ b/cram_common/cram_location_costmap/src/facts.lisp @@ -39,11 +39,13 @@ ;;; ...) ;;; examples are in table_costmap and semantic_map_costmap -(defun make-angle-to-point-generator (position &key (samples 1) sample-step) +(defun make-angle-to-point-generator (position + &key (samples 1) sample-step sample-offset) "Returns a function that takes an X and Y coordinate and returns a lazy-list of quaternions to face towards `position'" (make-orientation-generator (alexandria:rcurry #'angle-to-point-direction position) - :samples samples :sample-step sample-step)) + :samples samples :sample-step sample-step + :sample-offset sample-offset)) (defun angle-to-point-direction (x y position) "Returns a function that takes an X and Y coordinate and returns a @@ -52,23 +54,30 @@ quaternion to face towards `position'" (cl-transforms:pose (cl-transforms:origin position)) (cl-transforms:3d-vector position))) (p-rel (cl-transforms:v- point (cl-transforms:make-3d-vector x y 0)))) - (atan (cl-transforms:y p-rel) (cl-transforms:x p-rel)))) + (cl-transforms:normalize-angle + (atan (cl-transforms:y p-rel) (cl-transforms:x p-rel))))) -(defun make-orientation-generator (main-direction-function &key (samples 1) sample-step) +(defun make-orientation-generator (main-direction-function + &key (samples 1) sample-step sample-offset) "Returns a lazy-list of quaternions around the main direction generated by `main-direction-function' if PREVIOUS-ORIENTATION is NIL, otherwise PREVIOUS-ORIENTATION. `samples' indicates how many rotations should be returned. -If the value is greater than 1, the samples' orientations differ by `sample-step'." +If the value is greater than 1, the samples' orientations differ by `sample-step'. +The order is random, so the main direction is NOT prioritized." (flet ((make-angles (samples sample-step) - (cons (cl-transforms:euler->quaternion :az 0.0d0) - (loop for angle from sample-step - below (* sample-step (ceiling (/ samples 2))) - by sample-step - appending (list (cl-transforms:euler->quaternion :az angle) - (cl-transforms:euler->quaternion :az (- angle))))))) + (alexandria:shuffle + (cons + (cl-transforms:euler->quaternion :az (or sample-offset 0.0d0)) + (loop + for angle from sample-step + below (* sample-step (ceiling (/ samples 2))) + by sample-step + appending (list (cl-transforms:euler->quaternion :az angle) + (cl-transforms:euler->quaternion :az (- angle)))))))) (let ((angle-differences (if (and sample-step (> samples 1)) (make-angles samples sample-step) - (list (cl-transforms:make-identity-rotation))))) + (list (cl-transforms:euler->quaternion + :az (or sample-offset 0.0d0)))))) (lambda (x y previous-orientations) (or previous-orientations (let ((angle (funcall main-direction-function x y))) @@ -168,58 +177,66 @@ If the value is greater than 1, the samples' orientations differ by `sample-step (def-fact-group location-costmap-metadata (costmap-size costmap-origin costmap-resolution - orientation-samples orientation-sample-step - costmap-padding costmap-manipulation-padding + orientation-samples + orientation-sample-step + reachability-orientation-offset + costmap-padding + costmap-manipulation-padding costmap-in-reach-distance costmap-reach-minimal-distance visibility-costmap-size) ;; costmap dimensions in meters, diameter not radius ;; depends on the size of the environment the robot operates in - (<- (costmap-size ?width ?height) + (<- (costmap-size ?environment-name ?width ?height) (fail)) ;; the coordinate of the left bottom corner of the costmap in meters in map frame ;; depends on the environment - (<- (costmap-origin ?x ?y) + (<- (costmap-origin ?environment-name ?x ?y) (fail)) ;; size of one costmap cell in meters ;; the smaller the number the higher the accuracy and the slower the algorithms - (<- (costmap-resolution ?resolution) + (<- (costmap-resolution ?environment-name ?resolution) (fail)) ;; number of orientations to generate for orientation generators ;; mostly used in gaussian-cm - (<- (orientation-samples ?samples) + (<- (orientation-samples ?robot-name ?samples) (fail)) ;; when generating ORIENTATION-SAMPLES number of samples, ;; what should be the distance between different samples in radians - (<- (orientation-sample-step ?step-in-radian) + (<- (orientation-sample-step ?robot-name ?step-in-radian) + (fail)) + + ;; when generating ORIENTATION-SAMPLES number of samples, + ;; what should be the angle offset from looking directly at target + (<- (reachability-orientation-offset ?robot-name ?offset-in-radian) (fail)) ;; padding offset from obstacles, depends on the robot base dimension ;; mostly used for visibility - (<- (costmap-padding ?padding-in-meters) + (<- (costmap-padding ?robot-name ?padding-in-meters) (fail)) ;; padding offset from obstacles when manipulating objects ;; can be different from COSTMAP-PADDING if the arm needs extra padding when grasping - (<- (costmap-manipulation-padding ?padding-in-meters) + (<- (costmap-manipulation-padding ?robot-name ?padding-in-meters) (fail)) ;; maximum length at which a robot can reach an object from its base location - (<- (costmap-in-reach-distance ?distance-in-meters) + (<- (costmap-in-reach-distance ?robot-name ?distance-in-meters) (fail)) ;; minimum distance from which the robot can reach an object from its base location ;; actually should probably be merged with COSTMAP-MANIPULATION-PADDING ;; at least the numbers should be very close to each other - (<- (costmap-reach-minimal-distance ?distance-in-meters) + (<- (costmap-reach-minimal-distance ?robot-name ?distance-in-meters) (fail)) ;; maximum distance from which the robot can perceive an object ;; i.e. the radius of the visibility gaussian costmap - (<- (visibility-costmap-size ?radius-in-meters) + (<- (visibility-costmap-size ?robot-name ?radius-in-meters) (fail))) diff --git a/cram_common/cram_location_costmap/src/location-costmap.lisp b/cram_common/cram_location_costmap/src/location-costmap.lisp index 295a293065..ea706f471a 100644 --- a/cram_common/cram_location_costmap/src/location-costmap.lisp +++ b/cram_common/cram_location_costmap/src/location-costmap.lisp @@ -108,7 +108,7 @@ (defgeneric costmap-generator-name->score (name) (:documentation "Returns the score for the costmap generator with - name `name'. Greater scores result in earlier evaluation.") + name `name'. Greater scores result in later evaluation.") (:method ((name number)) name)) @@ -125,7 +125,7 @@ calls the generator functions and runs normalization." (setf (slot-value map 'cost-functions) (sort (remove-duplicates (slot-value map 'cost-functions) :key #'generator-name) - #'> :key (compose + #'< :key (compose #'costmap-generator-name->score #'generator-name))) (let ((new-cost-map (cma:make-double-matrix diff --git a/cram_common/cram_location_costmap/src/location-prolog-handlers.lisp b/cram_common/cram_location_costmap/src/location-prolog-handlers.lisp index e29980cf32..cc07f492b5 100644 --- a/cram_common/cram_location_costmap/src/location-prolog-handlers.lisp +++ b/cram_common/cram_location_costmap/src/location-prolog-handlers.lisp @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +13,7 @@ ;;; * Neither the name of Willow Garage, Inc. nor the names of its ;;; contributors may be used to endorse or promote products derived from ;;; this software without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -31,14 +31,20 @@ (defun costmap-metadata () (with-vars-bound (?width ?height ?resolution ?origin-x ?origin-y) - (lazy-car (prolog `(and (costmap-size ?width ?height) - (costmap-origin ?origin-x ?origin-y) - (costmap-resolution ?resolution)))) - (check-type ?width number) - (check-type ?height number) - (check-type ?resolution number) - (check-type ?origin-x number) - (check-type ?origin-y number) + (lazy-car (prolog `(and (rob-int:environment-name ?environment) + (costmap-size ?environment ?width ?height) + (costmap-origin ?environment ?origin-x ?origin-y) + (costmap-resolution ?environment ?resolution)))) + (unless (and (typep ?width 'number) + (typep ?height 'number) + (typep ?resolution 'number) + (typep ?origin-x 'number) + (typep ?origin-y 'number)) + (error "[CM:COSTMAP-METADATA] environment metadata is not defined.~%~ + Has the name of the environment in the URDF change~%~ + and you don't have the newest version? To check call~%~ + (rob-int:get-environment-name) and see if there is a + COSTMAP:COSTMAP-SIZE predicate defined anywhere for this name.")) (list :width ?width :height ?height :resolution ?resolution :origin-x ?origin-x :origin-y ?origin-y))) diff --git a/cram_common/cram_location_costmap/src/package.lisp b/cram_common/cram_location_costmap/src/package.lisp index 7e83cf1ebf..374e4d187b 100644 --- a/cram_common/cram_location_costmap/src/package.lisp +++ b/cram_common/cram_location_costmap/src/package.lisp @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +13,7 @@ ;;; * Neither the name of Willow Garage, Inc. nor the names of its ;;; contributors may be used to endorse or promote products derived from ;;; this software without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -109,8 +109,27 @@ #:costmap-in-reach-distance #:costmap-reach-minimal-distance #:visibility-costmap-size #:orientation-samples #:orientation-sample-step + #:reachability-orientation-offset ;; facts #:make-angle-to-point-generator #:make-orientation-generator - #:2d-pose-covariance) + #:2d-pose-covariance + ;; designator-integration + #:reset-costmap-cache + ;; quadtree + #:make-quadtree-internal + #:make-quadtree + #:matrix->quadtree + ;; these are too generic names, should be prefixed with quadtree- or smt + ;; #:boundary + ;; #:insert + ;; #:query + ;; #:object-equal + ;; #:same-coords-as + ;; #:point-intersect-p + #:clear-quadtree + #:get-in-quadtree + #:merge-quadtrees + #:normalize-quadtree + #:quadtree-map) (:import-from #:cram-math invalid-probability-distribution)) diff --git a/cram_common/cram_location_costmap/src/quadtree.lisp b/cram_common/cram_location_costmap/src/quadtree.lisp new file mode 100644 index 0000000000..7637786f7e --- /dev/null +++ b/cram_common/cram_location_costmap/src/quadtree.lisp @@ -0,0 +1,838 @@ +;;; +;;; Copyright (c) 2019, Thomas Lipps +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. +;;; + +(in-package :location-costmap) + +;; --------------------- BASE ------------------------ + +(defvar *max-depth* 50) +(defvar *middlepoint-offset* 0.00001) ;; [mm/10] + +(defstruct (quadtree (:constructor %make-quadtree)) + object + nw ne sw se + boundary + depth + max-depth) + +(defun make-quadtree (x0 y0 x1 y1 &key (max-depth *max-depth*)) + (%make-quadtree-internal x0 y0 x1 y1 0 max-depth)) + +(defun %make-quadtree-internal (x0 y0 x1 y1 depth max-depth) + ;; do not use this: use make-quadtree instead! + (declare (float x0 y0 x1 y1)) + (unless (<= 0 depth max-depth) + (error "The value ~S is an linvalid value as depth." depth)) + (%make-quadtree :boundary (list x0 y0 x1 y1) + :depth depth + :max-depth max-depth)) + +(defun boundary (quadtree) + (quadtree-boundary quadtree)) + +(defun quadtree-x0 (quadtree-boundary) + (when quadtree-boundary + (first quadtree-boundary))) + +(defun quadtree-y0 (quadtree-boundary) + (when quadtree-boundary + (second quadtree-boundary))) + +(defun quadtree-x1 (quadtree-boundary) + (when quadtree-boundary + (third quadtree-boundary))) + +(defun quadtree-y1 (quadtree-boundary) + (when quadtree-boundary + (fourth quadtree-boundary))) + +(defun node-p (quadtree) + (and (quadtree-nw quadtree) + t)) + +(defun leaf-p (quadtree) + (not (node-p quadtree))) + +(defun full-p (quadtree) + (quadtree-object quadtree)) + +(defun max-depth-p (quadtree) + (= (quadtree-depth quadtree) + (quadtree-max-depth quadtree))) + +(defun root-p (quadtree) + (= (quadtree-depth quadtree) 0)) + +(defun quadtree-leaves (quadtree) + (remove-if-not #'leaf-p (quadtree->list quadtree))) + +(defun subtrees (quadtree) + (when quadtree + (list (quadtree-nw quadtree) (quadtree-ne quadtree) + (quadtree-sw quadtree) (quadtree-se quadtree)))) + +(defun query (quadtree x y &optional trees) + (declare (type double-float x y)) + (let ((ret (query-tree quadtree x y '()))) + (when ret + (values (quadtree-object (first (last ret))) + (when trees + ret))))) + +(defun query-tree (quadtree x y path) + (declare (type double-float x y)) + (when (coord-intersect-p quadtree x y) + (if (node-p quadtree) + (or (query-tree (quadtree-nw quadtree) x y + (append path (list (quadtree-nw quadtree)))) + (query-tree (quadtree-ne quadtree) x y + (append path (list (quadtree-ne quadtree)))) + (query-tree (quadtree-sw quadtree) x y + (append path (list (quadtree-sw quadtree)))) + (query-tree (quadtree-se quadtree) x y + (append path (list (quadtree-se quadtree))))) + (when (quadtree-object quadtree) + path)))) + +(defun quadtree-resolution (qt) + (destructuring-bind (x0 y0 x1 y1) (quadtree-boundary qt) + (let ((res0 (round-to (abs (- x1 x0)) 5)) + (res1 (round-to (abs (- y1 y0)) 5))) + (if (equal res0 res1) + res0 + (error 'simple-error "oh no"))))) + +(defun clear-subtrees-of (quadtree) + (setf (quadtree-nw quadtree) nil + (quadtree-ne quadtree) nil + (quadtree-sw quadtree) nil + (quadtree-se quadtree) nil) + t) + +(defun clear-quadtree (quadtree) + (setf (quadtree-object quadtree) nil) + (clear-subtrees-of quadtree) + t) + +(defun object-equal (p1 p2) + (declare (type 3d-vector p1 p2)) + (and (same-coords-as p1 p2) + (same-value-as p1 p2))) + +(defun same-coords-as (p1 p2) + (declare (type 3d-vector p1 p2)) + (and (equal (x p1) + (x p2)) + (equal (y p1) + (y p2)))) + +(defun same-value-as (p1 p2) + (declare (type 3d-vector p1 p2)) + (equal (z p1) + (z p2))) + +;; --------------------- BASE INTERSECTION CALC -------------------- + +(defun 2d-dot-product (v-1 v-2) + "Returns the dot-product" + (+ (* (x v-1) (x v-2)) + (* (y v-1) (y v-2)))) + +(defun point-intersect-p (quadtree P) + "Calculates if point P is in the boundary of the given `quadtree'." + (declare (type 3d-vector P)) + (let* ((corner-points (quadtree-boundary->corner-points quadtree)) + (A (first corner-points)) ;; D---C + (B (second corner-points)) ;; | / | + (C (third corner-points)) ;; A---B + (AB (v- B A)) + (AP (v- P A)) + (BC (v- C B)) + (BP (v- P B))) + (and (<= 0 (2d-dot-product AB AP) (2d-dot-product AB AB)) + (<= 0 (2d-dot-product BC BP) (2d-dot-product BC BC))))) + +(defun coord-intersect-p (quadtree x y) + (declare (type double-float x y)) + (point-intersect-p quadtree (make-3d-vector x y 0.0d0))) + +(defun quadtree-boundary->corner-points (qt) + "Returns the points of the corners `A', `B', `C' and `D' of given +quadtree `qt' in a list." + (when qt + (destructuring-bind (x0 y0 x1 y1) (quadtree-boundary qt) ;; D---C + (let* ((A (make-3d-vector x0 y0 0.0d0)) ;; | M | + (C (make-3d-vector x1 y1 0.0d0)) ;; A---B + (AM (v* ;; calc middlepoint of boundary + (v- C A) + 0.5d0)) + (B (v+ + A AM + (rotate ;; calc point M, which is between a and c + (axis-angle->quaternion + (make-3d-vector 0 0 1) + (+ pi (/ pi 2))) ;; rotate around 270°C + AM))) + (D (v+ + A AM + (rotate ;; calc point M, which is between a and c + (axis-angle->quaternion + (make-3d-vector 0 0 1) + (/ pi 2)) ;; rotate around 90°C + AM)))) + (mapcar #'v-round-to (list A B C D)))))) + + +;; -------------------------- BASIC FUNS WITH QUADTREEs ---------------- + +(defun set-in-quadtree (quadtree x y) + (declare (type double-float x y)) + (insert quadtree (make-3d-vector x y 1.0d0))) + +(defun get-in-quadtree (quadtree x y &optional neighbor-p) + (declare (type double-float x y)) + (funcall (lambda (queried) + (if neighbor-p + (when (same-coords-as (make-3d-vector x y 0.0d0) queried) + queried) + queried)) + (query quadtree x y))) + +(defun quadtree-map (quadtree fun &key compose-old-and-new-fun) + "Maps a function `fun' over the objects saved in `quadtree': meaning +`fun' needs to take one argument which is of type `3d-vector' and + returns a `3d-vector' too. The input and output of `fun' can then be + composed with the function `compose-old-and-new-fun' which should a + `3d-vector'." + (when (and quadtree fun) + (loop for subtree in (subtrees quadtree) do + (with-slots (object) quadtree + (when (and subtree object) + (if compose-old-and-new-fun + (let ((composed (funcall compose-old-and-new-fun + object + (funcall fun object)))) + (declare (type 3d-vector composed)) + (setf object composed)) + (setf object (funcall fun object)))))) + quadtree)) + +(defun normalize-quadtree (quadtree) + (let* ((leaves-and-nodes (quadtree->list quadtree :with-leaves t)) + (leaves (remove-if #'node-p leaves-and-nodes)) + (sum 0.0d0)) + (loop for leave in leaves do + (incf sum (z (quadtree-object leave)))) + (loop for entry in leaves-and-nodes do + (with-slots (object) entry + (setf object (make-3d-vector (x object) + (y object) + (float (/ (z object) + sum)))))))) + +(defun matrix->quadtree (origin-x origin-y resolution matrix &optional (threshold 0.0d0)) + "Creates an quadtree from the matrix `matrix'. The elements from `matrix' will +be mapped to the centers of the points. Since adding zeros is important too, this +will be done too. `origin-x' and `origin-y' have to be the bottom left corner and +`resolution' is the width of a cell in the returned quadtree." + (declare (type double-float origin-x origin-y resolution) + (type (simple-array * 2) matrix)) + (let* ((width (coerce (* (array-dimension matrix 1) resolution) 'double-float)) + (height (coerce (* (array-dimension matrix 0) resolution) 'double-float)) + (x0 origin-x) + (x1 (+ origin-x width)) + (y0 origin-y) + (y1 (+ origin-y height)) + (qt (make-quadtree x0 y0 x1 y1))) + (dotimes (y (array-dimension matrix 1)) + (let ((backward-y (- (1- (array-dimension matrix 1)) y))) + (dotimes (x (array-dimension matrix 0)) + (when (>= (aref matrix backward-y x) threshold) + (insert qt + (make-3d-vector + (+ (/ resolution 2) + (+ origin-x (* x resolution))) + (- (+ origin-y (* y resolution) resolution) + (/ resolution 2)) + (aref matrix backward-y x))))))) + qt)) + + + +;; (defun merge-quadtrees (qt1 &rest quadtrees)) + +;; (defun quadtree-equal (q1 q2)) + +;; --------------------- SUBDIVIDING ------------------------ + +(defun subdevide (quadtree &key erease-object) + (unless (leaf-p quadtree) + (error "The quadtree ~A is already subdevided." quadtree)) + (destructuring-bind (x0 y0 x1 y1) (boundary quadtree) + (declare (double-float x0 y0 x1 y1)) + (let ((xmid (/ (+ x1 x0) 2.0)) + (ymid (/ (+ y1 y0) 2.0)) + (depth (1+ (the fixnum (quadtree-depth quadtree)))) + (max-depth (quadtree-max-depth quadtree))) + (setf (quadtree-nw quadtree) + (%make-quadtree-internal x0 ymid xmid y1 depth max-depth) + (quadtree-ne quadtree) + (%make-quadtree-internal xmid ymid x1 y1 depth max-depth) + (quadtree-sw quadtree) + (%make-quadtree-internal x0 y0 xmid ymid depth max-depth) + (quadtree-se quadtree) + (%make-quadtree-internal xmid y0 x1 ymid depth max-depth)))) + (let ((object (quadtree-object quadtree))) + (if object + (if erease-object + (progn + (insert (quadtree-nw quadtree) + (quadtree-empty-middlepoint (quadtree-nw quadtree))) + (insert (quadtree-ne quadtree) + (quadtree-empty-middlepoint (quadtree-ne quadtree))) + (insert (quadtree-sw quadtree) + (quadtree-empty-middlepoint (quadtree-sw quadtree))) + (insert (quadtree-se quadtree) + (quadtree-empty-middlepoint (quadtree-se quadtree))) + (setf (quadtree-object quadtree) + (quadtree-empty-middlepoint quadtree))) + (progn + (insert (quadtree-nw quadtree) object) + (insert (quadtree-ne quadtree) object) + (insert (quadtree-sw quadtree) object) + (insert (quadtree-se quadtree) object))) + (progn + (insert (quadtree-nw quadtree) + (quadtree-empty-middlepoint (quadtree-nw quadtree))) + (insert (quadtree-ne quadtree) + (quadtree-empty-middlepoint (quadtree-ne quadtree))) + (insert (quadtree-sw quadtree) + (quadtree-empty-middlepoint (quadtree-sw quadtree))) + (insert (quadtree-se quadtree) + (quadtree-empty-middlepoint (quadtree-se quadtree))) + (setf (quadtree-object quadtree) + (quadtree-empty-middlepoint quadtree))))) + quadtree) + +;; ------------------------- INSERTING -------------------------------- + +(defun intersects-with-subtrees-p (object subtrees) + "Returns if coords of given `object' intersect with all boundaries + of the given `subtrees'" + (declare (type 3d-vector object)) + (when (and object subtrees) + (every #'identity + (mapcar (lambda (st) + (point-intersect-p st object)) + subtrees)))) + + +(defun middlepoint-of-quadtree-p (object quadtree) + "Returns T, if the coords of `object' are the middlepoint of the + boundary in given `quadtree'." + (declare (type 3d-vector object)) + (when quadtree + (if (leaf-p quadtree) + (destructuring-bind (x0 y0 x1 y1) (boundary quadtree) ;; d---c + (let* ((A (make-3d-vector x0 y0 0.0d0)) ;; | / | + (C (make-3d-vector x1 y1 0.0d0)) ;; a---b + (M (v+ A + (v* ;; calc middlepoint of boundary + (v- c a) + 0.5d0)))) + (point-intersect-p (make-quadtree (- (x M) *middlepoint-offset*) + (- (y M) *middlepoint-offset*) + (+ (x M) *middlepoint-offset*) + (+ (y M) *middlepoint-offset*)) + object))) + (intersects-with-subtrees-p object (subtrees quadtree))))) + + +(defun add-offset-if-middlepoint (object quadtree) + (declare (type 3d-vector object)) + (when (middlepoint-of-quadtree-p object quadtree) + (setf object + (make-3d-vector (round-to (- (x object) *middlepoint-offset*) 5) + (round-to (- (y object) *middlepoint-offset*) 5) + (z object)))) + object) + +(defun quadtree-empty-middlepoint (quadtree) + (when quadtree + (destructuring-bind (x0 y0 x1 y1) (boundary quadtree) + (let ((START (make-3d-vector x0 y0 0.0d0)) + (END (make-3d-vector x1 y1 0.0d0))) + (v+ START + (v* + (v- END START) + 0.5d0)))))) + + +(defun insert (quadtree object &key wrt-resolution) + (cond + ;; When the object does not intersect the quadtree, just return nil. + ((not (if quadtree (point-intersect-p quadtree object))) nil) + ;; When the quadtree is a node, recursively insert the object to its children. + ((node-p quadtree) + (insert (quadtree-nw quadtree) object :wrt-resolution wrt-resolution) + (insert (quadtree-ne quadtree) object :wrt-resolution wrt-resolution) + (insert (quadtree-sw quadtree) object :wrt-resolution wrt-resolution) + (insert (quadtree-se quadtree) object :wrt-resolution wrt-resolution) + t) + ;; Insert the object to the quadtree, if leaf is free or if the + ;; resolution of the quadtree is smaller or equal to the given + ;; resolution. + ((and (not (full-p quadtree)) + (if wrt-resolution + (<= (quadtree-resolution quadtree) wrt-resolution) + t)) + (setf (quadtree-object quadtree) (add-offset-if-middlepoint object quadtree)) + t) + ;; If leaf is not free, but has same coords as object or + ;; resolution of this quadtree is smaller or equal to the given + ;; resolution, update the object + ((and (full-p quadtree) + (or + (if wrt-resolution + (<= (quadtree-resolution quadtree) wrt-resolution) + nil) + (same-coords-as (quadtree-object quadtree) object))) + (setf (quadtree-object quadtree) object) + t) + ;; When the quadtree is full and is not at its max depth, subdevide it and + ;; recursively insert the object. + ((and (not (max-depth-p quadtree)) + (if wrt-resolution + (> (quadtree-resolution quadtree) wrt-resolution) + t)) + (subdevide quadtree :erease-object wrt-resolution) + (insert quadtree object :wrt-resolution wrt-resolution)) + ;; Otherwise if the max-depth-p or the objects were equal (object-equal returned t), + ;; do nothing, since the object represents accordingly the given object. + (t + t))) + +;; --------------------------- MINIMIZING --------------------------- + +(defun max-quadtrees (quadtrees) + "Returns the biggest quadtress which are just these with the biggest +depth value." + (let ((maximum (alexandria::reduce #'max quadtrees :key #'quadtree-depth))) + (remove-if-not (alexandria:curry #'equal maximum) + quadtrees :key #'quadtree-depth))) + +(defun some-subtree-node-p (quadtree) + "Returns if some subtree from the given `quadtree' +is a node." + (some #'node-p (subtrees quadtree))) + +(defun quadtree->list (quadtree &key with-leaves) + (let ((parents `(,quadtree)) + (visited-parents '())) + ;; Traverse tree and save visited parents in given var + (loop while (first parents) do + (push (pop parents) visited-parents) + (loop for subtree in (subtrees (first visited-parents)) do + (when (node-p subtree) + (setf parents (append parents (list subtree)))))) + (if with-leaves + (remove-if-not (lambda (st) + (and (identity st) (leaf-p st) (full-p st))) + (alexandria::reduce #'append + (mapcar #'subtrees + visited-parents))) + visited-parents))) + + +(defun minimize-quadtree (quadtree) + ;; TODO: make quadtree more dynamic by removing blank spaces around + ;; the middle point by making the quadtree smaller: e. g. from + ;; 0 0 0 0 + ;; 0 1 1 0 + ;; 0 1 1 0 + ;; 0 0 0 0 + ;; to + ;; 1 1 + ;; 1 1 + (let ((nodes (quadtree->list quadtree))) + ;; Try to remove redundant subtrees + (loop while nodes do + (let ((current-max-quadtrees (max-quadtrees nodes))) + (when (every #'some-subtree-node-p current-max-quadtrees) + (return)) + (loop for parent in (remove-if #'some-subtree-node-p + current-max-quadtrees) + do (cleanup-leaves parent)) + (setf nodes (nthcdr (length current-max-quadtrees) nodes)))))) +;; since quadtree was searched in level order +;; visited-parents is sorted from a high to +;; low depth value + + +(defun pair-elements (l) + (when (> (length l) 1) + (append (list (subseq l 0 2)) (pair-elements (nthcdr 1 l))))) + +(defun clear-in-quadtree (quadtree x y &optional remove-subtrees-if-possible) + "Removes point with same coords and if subtrees of point are empty, +the the subtrees will be removed to save space: therfore the parent will +be updated" + (declare (type double-float x y)) + (let ((cleared-point (make-3d-vector x y 0.0d0))) + (multiple-value-bind (queried-point queried-trees) + (query quadtree x y t) + (when (same-coords-as cleared-point queried-point) + (setf (quadtree-object (first (last queried-trees 1))) + cleared-point) + (when remove-subtrees-if-possible + (let ((parent (first (last queried-trees 2)))) + (cleanup-leaves parent))))))) + +(defun cleanup-leaves (quadtree) +"If the filled subtrees of `quadtree' have the same value or are all empty, +these subtrees will be removed, since they are redundant." + (when quadtree + (let* ((non-empty-subtrees + (remove-if-not #'identity + (subtrees quadtree) + :key #'quadtree-object)) + (object-values-equal + (every #'identity (mapcar + (lambda (l) + (same-value-as (first l) (second l))) + (pair-elements + (mapcar #'quadtree-object + non-empty-subtrees)))))) + (when (and + object-values-equal + (every #'leaf-p non-empty-subtrees)) + (let ((value (if non-empty-subtrees + (quadtree-object (quadtree-nw quadtree)) + 0.0d0))) + (setf (quadtree-object quadtree) + (make-3d-vector + (x (quadtree-object quadtree)) + (y (quadtree-object quadtree)) + (z value))) + (clear-subtrees-of quadtree)))) + quadtree)) + + +;; ---------------------- HELPER FUN ---------------------- + +(defun round-to (number precision &optional (what #'round)) + (let ((div (expt 10 precision))) + (/ (funcall what (* number div)) div))) + +(defun v-round-to (v &optional (precision 3)) + "Rounds x and y of given vetor `v' w.r.t. the `precision'." + (declare (type 3d-vector v)) + (make-3d-vector (round-to (x v) precision) + (round-to (y v) precision) + (z v))) + +;; ---------------------- ROTATE -------------------------- + +(defun v-abs (v) + (declare (type 3d-vector v)) + (make-3d-vector (abs (x v)) (abs (y v)) (abs (z v)))) + +(defun rotate-quadtree (quadtree angle &optional M-root) + "TODO SHOULD BE CHANGED SINCE ROTATING BOUNDARIES NEEDS A LOT OF + CALCULATION (SEE BELOW)" + (destructuring-bind (x0 y0 x1 y1) (boundary quadtree) + (flet ((rotate-v (v) + (rotate + (axis-angle->quaternion + (make-3d-vector 0 0 1) + angle) + v))) + (let* ((START (make-3d-vector x0 y0 0.0d0)) + (END (make-3d-vector x1 y1 0.0d0)) + (M (v-abs (if M-root + M-root + (v+ + START + (v* + (v- END START) + 0.5d0))))) + (M-START (v- START M)) + (M-END (v- END M)) + (rotated-start (v+ (rotate-v M-START) + M)) + (rotated-end (v+ (rotate-v M-END) + M))) + (setf (quadtree-boundary quadtree) + (list (x rotated-start) + (y rotated-start) + (x rotated-end) + (y rotated-end))) + (when (quadtree-object quadtree) ;; TODO: check if below works 100% + (with-slots (object) quadtree + (let* ((M-of-quadtree (v* + (v- END START) + 0.5d0)) + (M-TO-M-of-quadtree (v- M M-of-quadtree)) + (rotated-obj (v+ + START + M + (rotate-v M-TO-M-of-quadtree)))) + (setf object + (make-3d-vector (x rotated-obj) + (y rotated-obj) + (z object)))))) + (mapcar (alexandria:rcurry #'rotate-quadtree angle M) + (remove-if-not #'identity (subtrees quadtree))))))) + + +;; ------- CALC OF INTERSECTING POINTS BETWEEN ROTATED QUADTREES ----------- + +#+this-part-is-commented-out-as-it-is-not-finished-yet +( + (defun quadtree-boundary->vectors (qt) + "Returns the boundary of the given quadtree `qt' as vectors AB, BC, + CD, DA in a list." + (mapcar #'v- (mapcar #'reverse (quadtree-boundary->edge-points qt)))) + + (defun quadtree-boundary->edge-points (qt) + "Returns the edges of the quadtree `qt' in a list containing lists + with start and end points (A, B, C or D) from each edge." + (when qt + (let* ((corner-points (quadtree-boundary->corner-points qt)) + (A (first corner-points)) + (B (second corner-points)) + (C (third corner-points)) + (D (fourth corner-points))) + (list `(,A ,B) `(,B ,C) `(,C ,D) `(,D ,A))))) + + + + (defun points->vector-points (points) + "Returns all (redundant) vectors/connections between each point in + `points'. The vectors are encoded as a list of a start and + end point. Therefore, a list of lists will be returned." + (when points + (let ((ret '())) + (loop for i from 0 to (1- (length points)) do + (loop for j from 0 to (1- (length points)) do + (when (not (equal j i)) + (push (list (nth i points) (nth j points)) ret)))) + ret))) + + + (defun intersecting-vector-points-lists (vec-points-list-1 + vec-points-list-2 &optional intersecting-counts-only-with-limited-vector-length-p) + "Gets two lists `vec-points-list-1' and `vec-points-list-2' which + are lists containing vectors in form of a start and end point. Meaning + vector AB is here a list: (list (point a) (point b)). Between each + of these sublists in `vec-points-list-1' and `vec-points-list-2' a + intersection point will be calculated (or the given + sublists/vectors are parallel to each other). A list of these + intersection points will be returned. If + `intersecting-counts-only-with-limited-vector-length-p' is T the + intersection between the given vectors/sublists has to be valid." + (when (and vec-points-list-1 vec-points-list-2) + (let ((ret '())) + (loop for vec-point-1 in vec-points-list-1 do + (loop for vec-point-2 in vec-points-list-2 do + (multiple-value-bind (intersected-point valid-intersection-p) + (point-of-intersection (first vec-point-1) (second vec-point-1) + (first vec-point-2) (second vec-point-2)) + (when intersected-point + (let ((round-intersected-point (v-round-to intersected-point))) + (when (or (not ret) + (not (member round-intersected-point ret :test #'v-equal))) + (if intersecting-counts-only-with-limited-vector-length-p + (when valid-intersection-p + (push round-intersected-point ret)) + (push round-intersected-point ret)))))))) + ret))) + + + (defun max-points-on-vector-points (ps vec-points) + "Takes points from `ps' and returns the points `min' and `max' in a + list, which are the farthest away from each other on the given vector + `vec-points'. `vec-points' is represented as a list of start (first) + and end (second) point of the vector." + (when (and ps (equal 2 (length vec-points))) + (let* ((points-on-vec (mapcar + #'v-round-to + (remove-if-not + (alexandria:rcurry #'point-on-vector-points-p vec-points) + ps))) + (min (first points-on-vec)) + (max (first points-on-vec))) + (when points-on-vec + (loop for p in points-on-vec do + (when (and (<= (x p) (x min)) + (<= (y p) (y min))) + (setf min p)) + (when (and (>= (x p) (x max)) + (>= (y p) (y max))) + (setf max p))) + (list min max))))) + + + (defun point-on-vector-points-p (p vec-points) + "Returns T if given point `p' is on the vector `vec-points' which is + represented as a list of a start (first) and end point (second) of the vector." + (declare (type 3d-vector p)) + (when (equal 2 (length vec-points)) + (point-on-vector-p (v- p (first vec-points)) + (v- (second vec-points) (first vec-points))))) + + + (defun point-on-vector-p (p vec) + "Returns T if given point `p' is on the given vector `vec'." + (declare (type 3d-vector p vec)) + (cond + ;; if (x vec) is zero + ((and (equal (x vec) 0.0d0) + (not (equal (y vec) 0.0d0))) + (and (equal (x p) 0.0d0) + (<= 0.0d0 (/ (y p) (y vec)) 1.0d0))) + ;; if (y vec) is zero + ((and (equal (y vec) 0.0d0) + (not (equal (x vec) 0.0d0))) + (and (equal (y p) 0.0d0) + (<= 0.0d0 (/ (x p) (x vec)) 1.0d0))) + ;; if (x vec) and (y vec) are zero + ((and (equal (x vec) 0.0d0) + (equal (y vec) 0.0d0)) + (and (equal (x p) 0.0d0) + (equal (y p) 0.0d0))) + ;; if neither (x vec) nor (y vec) are zero + (t + (let ((s (/ (x p) (x vec))) + (r (/ (y p) (y vec)))) + (and (equal s r) + (<= 0.0d0 s 1.0d0)))))) + + + (defun intersecting-points (qt1 qt2) + "Calculates the points bordering the area which the quadtrees + `qt1' and `qt2' both cover." + (when (and qt1 qt2 + (leaf-p qt1) + (leaf-p qt2)) + (let* ((qt1-edge-points (quadtree-boundary->edge-points qt1)) + (qt2-edge-points (quadtree-boundary->edge-points qt2)) + ;; calculates the intersection points between the edges + ;; of qt1 and qt2 + (intersecting-points-between-edges + (intersecting-vector-points-lists qt1-edge-points + qt2-edge-points)) + ;; creates new vectors from the intersection points from + ;; the edges of qt1 and qt2 <- bull + (vector-points-of-intersecting-points + (points->vector-points + (append intersecting-points-between-edges + (quadtree-boundary->corner-points qt1) + (quadtree-boundary->corner-points qt2)))) + ;; calculates all points which intersect with the edges of + ;; qt1 and qt2 + (all-intersecting-points + (append + (intersecting-vector-points-lists + vector-points-of-intersecting-points + qt2-edge-points + t) + (intersecting-vector-points-lists + vector-points-of-intersecting-points + qt1-edge-points + t))) + ;; removes all points which do not intersect within the + ;; boundaries of qt1 and qt2 + (intersecting-points-on-edges + (remove-if-not (lambda (p) + (and (point-intersect-p qt1 p) + (point-intersect-p qt2 p))) + all-intersecting-points)) + ;; calculates the points which are the farthest away + ;; on each edge of qt1 or qt2 + (max-intersecting-points-on-edges + (remove-if-not + #'identity + (mapcar (alexandria:curry + #'max-points-on-vector-points + intersecting-points-on-edges) + (append qt1-edge-points + qt2-edge-points))))) + (let ((ret '())) + (loop for pair in max-intersecting-points-on-edges + collect (loop for p in pair + collect (unless (member p ret :test #'v-equal) + (push p ret)))) + ret)))) + + + (defun v-equal (v w) + "Returns T, if x, y and z are equal between vector `v' and `w'." + (declare (type 3d-vector v w)) + (and (equal (x v) (x w)) + (equal (y v) (y w)) + (equal (z v) (z w)))) + + + (defun point-of-intersection (a b c d) + "This function calculates the possible intersection point between the vector AB + and the vector CD: meaning `a' is the start point of AB and `b' is the + end point (analog for `c', `d' and CD). It returns the intersecting + point and if the vectors intersected or the extension of + these. Explanation of the calculation is here: https://www.cambridge.org/core/services/aop-cambridge-core/content/view/C6F1EC3B8FA75FB4FADC3DBA35DE4D6C/9780511804120c7_p220-293_CBO.pdf/search_and_intersection.pdf" + (declare (type 3d-vector a b c d)) + (unless (or (v-equal a c) + (v-equal b d)) + (let ((denom (+ (* (x a) (- (y d) (y c))) + (* (x b) (- (y c) (y d))) + (* (x d) (- (y b) (y a))) + (* (x c) (- (y a) (y b)))))) + (unless (equal denom 0.0d0) + (let* ((num-s (+ (* (x a) (- (y d) (y c))) + (* (x c) (- (y a) (y d))) + (* (x d) (- (y c) (y a))))) + (num-r (* -1 + (+ (* (x a) (- (y c) (y b))) + (* (x b) (- (y a) (y c))) + (* (x c) (- (y b) (y a)))))) + (s (/ num-s denom)) + (r (/ num-r denom))) + + (values + (make-3d-vector (+ (x a) + (* s + (- (x b) (x a)))) + (+ (y d) + (* s + (- (y b) (y a)))) + 1.0d0) + (and (<= 0.0d0 s 1.0d0) + (<= 0.0d0 r 1.0d0)))))))) + ) diff --git a/cram_common/cram_manipulation_interfaces/cram-manipulation-interfaces.asd b/cram_common/cram_manipulation_interfaces/cram-manipulation-interfaces.asd index 75f07006bb..823192a675 100644 --- a/cram_common/cram_manipulation_interfaces/cram-manipulation-interfaces.asd +++ b/cram_common/cram_manipulation_interfaces/cram-manipulation-interfaces.asd @@ -39,7 +39,7 @@ cl-transforms-stamped cram-robot-interfaces ; for gripper transform calculations cram-plan-occasions-events ; for robot-free-arm - cram-utilities ; for working with prolog lazy lists + cram-designator-specification ; for location desig resolution ) :components ((:module "src" @@ -47,14 +47,26 @@ ((:file "package") (:file "object-designator-interfaces" :depends-on ("package")) - (:file "prolog" :depends-on ("package" "object-designator-interfaces")) - - (:file "object-hierarchy" :depends-on ("package" "prolog")) (:file "manipulation-interfaces" :depends-on ("package")) - (:file "gripper" :depends-on ("package" "manipulation-interfaces" "object-hierarchy")) + (:file "prolog" :depends-on ("package" + "object-designator-interfaces" + "manipulation-interfaces")) + (:file "object-hierarchy" :depends-on ("package" "prolog")) + + (:file "gripper" :depends-on ("package" + "manipulation-interfaces" + "object-hierarchy")) + (:file "carry" :depends-on ("package" + "manipulation-interfaces" + "object-hierarchy")) + (:file "likely-locations" :depends-on ("package" + "manipulation-interfaces" + "object-hierarchy")) (:file "grasps" :depends-on ("package" "manipulation-interfaces")) (:file "trajectories" :depends-on ("package" - "prolog" "manipulation-interfaces" "object-hierarchy")) + "prolog" + "manipulation-interfaces" + "object-hierarchy")) (:file "standard-grasps" :depends-on ("package")) (:file "standard-rotations" :depends-on ("package")) diff --git a/cram_common/cram_manipulation_interfaces/package.xml b/cram_common/cram_manipulation_interfaces/package.xml index 8ecf815887..e754b544cf 100644 --- a/cram_common/cram_manipulation_interfaces/package.xml +++ b/cram_common/cram_manipulation_interfaces/package.xml @@ -22,4 +22,5 @@ cl_transforms_stamped cram_robot_interfaces cram_plan_occasions_events + cram_designator_specification diff --git a/cram_common/cram_manipulation_interfaces/src/carry.lisp b/cram_common/cram_manipulation_interfaces/src/carry.lisp new file mode 100644 index 0000000000..088fdd2ac9 --- /dev/null +++ b/cram_common/cram_manipulation_interfaces/src/carry.lisp @@ -0,0 +1,33 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-manipulation-interfaces) + +(defmethod get-object-type-carry-config :heuristics 20 (object-type grasp) + (call-with-specific-type #'get-object-type-carry-config object-type grasp)) diff --git a/cram_common/cram_manipulation_interfaces/src/likely-locations.lisp b/cram_common/cram_manipulation_interfaces/src/likely-locations.lisp new file mode 100644 index 0000000000..f98eb7b491 --- /dev/null +++ b/cram_common/cram_manipulation_interfaces/src/likely-locations.lisp @@ -0,0 +1,44 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-manipulation-interfaces) + +(defmethod get-object-likely-location :heuristics 20 (object-type + environment-name + human-name + context) + (call-with-specific-type #'get-object-likely-location + object-type environment-name human-name context)) + +(defmethod get-object-destination :heuristics 20 (object-type + environment-name + human-name + context) + (call-with-specific-type #'get-object-destination + object-type environment-name human-name context)) diff --git a/cram_common/cram_manipulation_interfaces/src/manipulation-interfaces.lisp b/cram_common/cram_manipulation_interfaces/src/manipulation-interfaces.lisp index 76ead3b846..ce58dbdc47 100644 --- a/cram_common/cram_manipulation_interfaces/src/manipulation-interfaces.lisp +++ b/cram_common/cram_manipulation_interfaces/src/manipulation-interfaces.lisp @@ -42,7 +42,13 @@ (:documentation "Returns a (lazy) list of keywords that represent the possible grasp orientations for `object-type' given `arm' and `object-transform-in-base'.")) -(defgeneric get-action-trajectory (action-type arm grasp objects-acted-on +(defgeneric get-object-type-carry-config (object-type grasp) + (:method-combination cut:first-in-order-and-around) + (:documentation "When carrying an object, which arm configuration to use. +The return value is a symbol (keyword), which associates with a robot-specific +joint state, specified in the robot description.")) + +(defgeneric get-action-trajectory (action-type arm grasp location objects-acted-on &key &allow-other-keys) (:method-combination cut:first-in-order-and-around) (:documentation "Returns a list of TRAJ-SEGMENTs. @@ -50,6 +56,7 @@ grasp orientations for `object-type' given `arm' and `object-transform-in-base'. `action-type' describes for which type of action the trajectory will be, `arm' a single keyword eg. :left, `grasp' describes grasp orientation to use, e.g., :top, :left-side, +`location' is the location type of the action, e.g., counter-top or shelf `objects-acted-on' are designators describing the objects used by the action.")) (defgeneric get-location-poses (location-designator) @@ -57,7 +64,8 @@ grasp orientations for `object-type' given `arm' and `object-transform-in-base'. (:documentation "Returns a (lazy) list of cl-transforms-pose-stamped that, according to the reasoning engine, correspond to the given `location-designator'.") (:method :heuristics 20 (location-designator) - (desig:resolve-location-designator-through-generators-and-validators location-designator))) + (desig:resolve-location-designator-through-generators-and-validators + location-designator))) (defmethod desig:resolve-designator :around ((desig desig:location-designator) role) "We have to hijack DESIG:RESOLVE-DESIGNATOR because otherwise we would have to @@ -66,6 +74,22 @@ and man-int is way too high level to make it a dependency of CRAM_CORE. This hijacking is kind of an ugly hack that Gaya feels bad about :(." (get-location-poses desig)) +(defgeneric get-object-likely-location (object-type environment-name human-name context) + (:method-combination cut:first-in-order-and-around) + (:documentation "Returns a location designator representing the +location, where an object with given type `object-type' can typically be found at. +The likely location can depend on the `environment-name', +the human preferences represented as `human-name' +and `context' representing the name of the action context, e.g. :table-setting.")) + +(defgeneric get-object-destination (object-type environment-name human-name context) + (:method-combination cut:first-in-order-and-around) + (:documentation "Returns a location designator representing the +location, where an object with given type `object-type' usually should be brought to +in the given action context `context', e.g., :table-setting.. +The likely destination can additionally depend on the `environment-name' and +the human preferences represented as `human-name'.")) + (defgeneric get-container-opening-distance (container-name) (:method-combination cut:first-in-order-and-around) (:documentation "Returns a value describing the distance a container can diff --git a/cram_common/cram_manipulation_interfaces/src/object-designator-interfaces.lisp b/cram_common/cram_manipulation_interfaces/src/object-designator-interfaces.lisp index 08b57ea5b0..c3a123f4a9 100644 --- a/cram_common/cram_manipulation_interfaces/src/object-designator-interfaces.lisp +++ b/cram_common/cram_manipulation_interfaces/src/object-designator-interfaces.lisp @@ -49,3 +49,19 @@ (defun get-object-old-pose (object-designator) (car (getassoc :pose (desig:desig-prop-value object-designator :old-pose)))) + +#+a-hack-in-case-we-dont-want-to-use-perception +(defun get-object-transform (object-designator) + (let* ((object-type + (desig:desig-prop-value object-designator :type)) + (object-frame + (concatenate + 'string + (remove #\- (string-capitalize (symbol-name object-type))) + "1"))) + (cl-transforms-stamped:lookup-transform + cram-tf:*transformer* + cram-tf:*robot-base-frame* + object-frame + :time 0.0 + :timeout cram-tf:*tf-default-timeout*))) diff --git a/cram_common/cram_manipulation_interfaces/src/package.lisp b/cram_common/cram_manipulation_interfaces/src/package.lisp index e94841c18f..7df64a39d5 100644 --- a/cram_common/cram_manipulation_interfaces/src/package.lisp +++ b/cram_common/cram_manipulation_interfaces/src/package.lisp @@ -41,18 +41,31 @@ #:get-object-old-transform #:get-object-old-pose ;; prolog - #:object-type-subtype - #:object-type-direct-subtype - #:robot-free-hand + #:object-type-subtype #:object-type-direct-subtype + #:robot-free-hand #:joint-state-for-arm-config + #:object-rotationally-symmetric + #:orientation-matters #:unidirectional-attachment + #:location-always-reachable + #:object-is-a-robot + #:object-is-a-container + #:object-is-a-prismatic-container + #:object-is-a-revolute-container + #:object-or-its-reference-in-hand + #:location-reference-object + #:location-certain + #:location-always-stable ;; utils #:reasoning-engine-for-method ;; manipulation-interfaces #:get-action-gripping-effort #:get-action-gripper-opening - #:get-action-trajectory + #:get-object-type-carry-config #:get-action-grasps + #:get-action-trajectory #:get-location-poses + #:get-object-likely-location + #:get-object-destination #:get-container-opening-distance #:get-container-closing-distance ;; grasps @@ -60,8 +73,6 @@ #:calculate-face-vector #:object-type-grasp->robot-grasp #:robot-grasp->object-type-grasp - #:object-rotationally-symmetric - #:orientation-matters ;; trajectories #:make-traj-segment #:traj-segment-label @@ -72,24 +83,27 @@ #:calculate-gripper-pose-in-map ;; #:get-object-type-to-gripper-transform - #:get-object-type-to-gripper-pregrasp-transform - #:get-object-type-to-gripper-2nd-pregrasp-transform - #:get-object-type-to-gripper-lift-transform - #:get-object-type-to-gripper-2nd-lift-transform + #:get-object-type-to-gripper-pregrasp-transforms + #:get-object-type-wrt-base-frame-lift-transforms #:def-object-type-to-gripper-transforms #:get-object-grasping-poses ;; #:get-object-type-in-other-object-transform + #:get-z-offset-for-placing-with-dropping #:get-object-placement-transform #:def-object-type-in-other-object-transform #:get-object-look-from-pose ;; standard-grasps #:*x-across-z-grasp-rotation* + #:*x-across-z-grasp-rotation-2* #:*-x-across-z-grasp-rotation* + #:*-x-across-z-grasp-rotation-2* #:*x-across-y-grasp-rotation* #:*-x-across-y-grasp-rotation* #:*y-across-z-grasp-rotation* #:*-y-across-z-grasp-rotation* + #:*y-across-z-flipped-grasp-rotation* + #:*-y-across-z-flipped-grasp-rotation* #:*y-across-x-grasp-rotation* #:*-y-across-x-grasp-rotation* #:*z-across-x-grasp-rotation* diff --git a/cram_common/cram_manipulation_interfaces/src/prolog.lisp b/cram_common/cram_manipulation_interfaces/src/prolog.lisp index 513a0d468d..172a22985f 100644 --- a/cram_common/cram_manipulation_interfaces/src/prolog.lisp +++ b/cram_common/cram_manipulation_interfaces/src/prolog.lisp @@ -29,19 +29,15 @@ (in-package :cram-manipulation-interfaces) -(def-fact-group object-designators (desig:desig-location-prop desig:location-grounding) - - (<- (desig:desig-location-prop ?desig ?loc) - (desig:obj-desig? ?desig) - (lisp-fun get-object-pose-in-map ?desig ?loc) - (lisp-pred identity ?loc)) - - (<- (desig:location-grounding ?designator ?pose-stamped) - (desig:loc-desig? ?designator) - (desig:desig-prop ?designator (:of ?object-designator)) - (lisp-type ?object-designator desig:object-designator) - (desig:current-designator ?object-designator ?current-object-designator) - (desig:desig-location-prop ?current-object-designator ?pose-stamped))) +(defun symbol-to-prolog-rule (the-symbol &rest parameters) + (let ((interned-symbol + (find-symbol (string-upcase the-symbol) + (find-package :rob-int)))) + (if interned-symbol + (cram-utilities:var-value + '?result + (car (prolog `(,interned-symbol ,@parameters ?result)))) + the-symbol))) (def-fact-group object-type-hierarchy (object-type-direct-subtype) (<- (object-type-direct-subtype ?type ?direct-subtype) @@ -67,7 +63,7 @@ ;; knives, forks, etc, the orientation is important while for plates ;; the orientation doesn't matter at all. (<- (orientation-matters ?object-type-symbol) - (fail)) + (fail)) ;; The predicate UNIDIRECTIONAL-ATTACHMENTS holds attachments which ;; are only used for unidirectional/loose attachments. @@ -78,9 +74,242 @@ (fail))) -(def-fact-group manipulation-knowledge (robot-free-hand) +(def-fact-group manipulation-knowledge () + ;; most symbolic locations have a reference object + ;; this predicate finds the reference object of the given location desig + (<- (location-reference-object ?location-designator ?current-object-designator) + (desig:loc-desig? ?location-designator) + (desig:current-designator ?location-designator ?current-location-designator) + (or (spec:property ?current-location-designator (:in ?object-designator)) + (spec:property ?current-location-designator (:on ?object-designator)) + (spec:property ?current-location-designator (:above ?object-designator)) + (spec:property ?current-location-designator (:left-of ?object-designator)) + (spec:property ?current-location-designator (:right-of ?object-designator)) + (spec:property ?current-location-designator (:in-front-of ?object-designator)) + (spec:property ?current-location-designator (:behind ?object-designator)) + (spec:property ?current-location-designator (:near ?object-designator)) + (spec:property ?current-location-designator (:far-from ?object-designator)) + (spec:property ?current-location-designator (:of ?object-designator))) + (desig:current-designator ?object-designator ?current-object-designator)) + ;; gives one of robot's hands that is not holding anything (<- (robot-free-hand ?robot ?arm) (rob-int:robot ?robot) (rob-int:arm ?robot ?arm) - (not (cpoe:object-in-hand ?_ ?arm)))) + (not (cpoe:object-in-hand ?_ ?arm))) + + ;; says if the object or an object to which this object is attached, are in hand + (<- (object-or-its-reference-in-hand ?some-object-designator ?object-hand) + (desig:current-designator ?some-object-designator ?object-designator) + (or (cpoe:object-in-hand ?object-designator ?object-hand) + (and (spec:property ?object-designator (:location ?object-location)) + (man-int:location-reference-object ?object-location ?reference-obj) + (cpoe:object-in-hand ?reference-obj ?object-hand)))) + + ;; gives the joint state numbers for the given config, + ;; taking into consideration if there is an object in hand or not + (<- (joint-state-for-arm-config ?robot ?config ?arm ?joint-state) + (once + (or (-> (and (equal ?config :park) + (cpoe:object-in-hand ?object-designator ?arm ?grasp)) + (and (desig:current-designator ?object-designator ?current-object-desig) + (spec:property ?current-object-desig (:type ?object-type)) + (lisp-fun get-object-type-carry-config ?object-type ?grasp + ?carry-config) + (-> (lisp-pred identity ?carry-config) + (rob-int:robot-joint-states ?robot :arm ?arm ?carry-config + ?joint-state) + (rob-int:robot-joint-states ?robot :arm ?arm :carry + ?joint-state))) + (rob-int:robot-joint-states ?robot :arm ?arm ?config ?joint-state)) + (equal ?joint-state NIL)))) + + (<- (object-is-a-robot ?some-object-designator) + (desig:current-designator ?some-object-designator ?object-designator) + (or (desig:desig-prop ?object-designator (:type :robot)) + (desig:desig-prop ?object-designator (:type :environment)) + (and (rob-int:robot ?robot) + (desig:desig-prop ?object-designator (:part-of ?robot))) + (and (rob-int:environment-name ?environment) + (desig:desig-prop ?object-designator (:part-of ?environment))))) + + (<- (object-is-of-type ?some-object-designator ?type-to-assert) + (desig:current-designator ?some-object-designator ?object-designator) + (desig:desig-prop ?object-designator (:type ?object-type)) + (object-type-subtype ?type-to-assert ?object-type)) + + (<- (object-is-a-container ?some-object-designator) + (object-is-of-type ?some-object-designator :container)) + + (<- (object-is-a-prismatic-container ?some-object-designator) + (object-is-of-type ?some-object-designator :container-prismatic)) + + (<- (object-is-a-revolute-container ?some-object-designator) + (object-is-of-type ?some-object-designator :container-revolute)) + + ;; A location on/in the robot is always reachable + (<- (location-always-reachable ?location-designator) + (desig:loc-desig? ?location-designator) + (desig:current-designator ?location-designator ?current-location-designator) + (or (desig:desig-prop ?current-location-designator (:on ?object-designator)) + (desig:desig-prop ?current-location-designator (:in ?object-designator))) + (desig:current-designator ?object-designator ?current-object-designator) + (desig:desig-prop ?current-object-designator (:type :robot))) + ;; Also, a location on an item that is held by the robot is also always reachable + (<- (location-always-reachable ?location-designator) + (desig:loc-desig? ?location-designator) + (desig:current-designator ?location-designator ?current-location-designator) + (desig:desig-prop ?current-location-designator (:on ?object-designator)) + (desig:current-designator ?object-designator ?current-object-designator) + (cpoe:object-in-hand ?current-object-designator)) + ;; Also, a location of an object at a location that is always reachable + ;; is also always reachable + (<- (location-always-reachable ?location-designator) + (desig:loc-desig? ?location-designator) + (desig:current-designator ?location-designator ?current-location-designator) + (spec:property ?current-location-designator (:of ?object-designator)) + (desig:current-designator ?object-designator ?current-object-designator) + (spec:property ?current-object-designator (:location ?object-location)) + (man-int:location-always-reachable ?object-location)) + + (<- (location-certain ?some-location-designator) + (desig:loc-desig? ?some-location-designator) + (desig:current-designator ?some-location-designator ?location-designator) + (or (and (location-reference-object ?location-designator ?reference-object) + (or (object-is-a-robot ?reference-object) + (cpoe:object-in-hand ?reference-object))) + (spec:property ?location-designator (:pose ?_)) + (spec:property ?location-designator (:poses ?_)))) + + (<- (location-always-stable ?some-location-designator) + (desig:loc-desig? ?some-location-designator) + (desig:current-designator ?some-location-designator ?location-designator) + (or (spec:property ?location-designator (:attachment ?_)) + (spec:property ?location-designator (:attachments ?_)) + (spec:property ?location-designator (:above ?_))))) + + + +;; TODO: move to pick and place heuristics package, when it is created +(def-fact-group location-designator-stuff (desig:location-grounding + desig:desig-location-prop) + (<- (desig:desig-location-prop ?desig ?loc) + (desig:obj-desig? ?desig) + (lisp-fun get-object-pose-in-map ?desig ?loc) + (lisp-pred identity ?loc)) + + ;; Resolving (a location (of ?some-object)) + (<- (desig:location-grounding ?designator ?pose-stamped) + (desig:loc-desig? ?designator) + (desig:desig-prop ?designator (:of ?object-designator)) + (lisp-type ?object-designator desig:object-designator) + (desig:current-designator ?object-designator ?current-object-designator) + (desig:desig-location-prop ?current-object-designator ?pose-stamped)) + + ;; Resolving (a location + ;; (of (desig:an object + ;; (part-of ?robot) + ;; (link end-effector-link) + ;; (which-link left)))) + (<- (desig:desig-location-prop ?object-designator ?pose-stamped) + (desig:obj-desig? ?object-designator) + (desig:desig-prop ?object-designator (:part-of ?robot)) + (rob-int:robot ?robot) + (desig:desig-prop ?object-designator (:link ?link)) + (-> (desig:desig-prop ?object-designator (:which-link ?params)) + (lisp-fun symbol-to-prolog-rule ?link ?robot ?params ?link-name) + (lisp-fun symbol-to-prolog-rule ?link ?robot ?link-name)) + (lisp-fun cram-tf:frame-to-pose-in-fixed-frame ?link-name ?pose-stamped)) + + ;; Resolving (a location + ;; (for ?object) + ;; (on ?other-object) + ;; (attachment object-to-other-object)) + (<- (desig:location-grounding ?location-designator ?pose-stamped) + (desig:current-designator ?location-designator ?current-loc-desig) + (desig:desig-prop ?current-loc-desig (:for ?object-designator)) + (once + (or (desig:desig-prop ?current-loc-desig (:on ?other-object-designator)) + (desig:desig-prop ?current-loc-desig (:in ?other-object-designator)) + (desig:desig-prop ?current-loc-desig (:above ?other-object-designator)))) + (-> (desig:desig-prop ?current-loc-desig (:attachments ?attachments)) + (member ?attachment-type ?attachments) + (desig:desig-prop ?current-loc-desig (:attachment ?attachment-type))) + (desig:current-designator ?object-designator ?current-object-designator) + (spec:property ?current-object-designator (:type ?object-type)) + (spec:property ?current-object-designator (:name ?object-name)) + (desig:current-designator ?other-object-designator ?current-other-obj-desig) + (spec:property ?current-other-obj-desig (:type ?other-object-type)) + ;; + (-> (spec:property ?current-other-obj-desig (:urdf-name ?other-object-name)) + (and (lisp-fun roslisp-utilities:rosify-underscores-lisp-name + ?other-object-name ?link-name) + (symbol-value cram-tf:*fixed-frame* ?parent-frame) + (lisp-fun cram-tf:frame-to-transform-in-fixed-frame + ?link-name ?parent-frame + ?other-object-transform)) + (and (spec:property ?current-other-obj-desig (:name ?other-object-name)) + (-> (cpoe:object-in-hand ?current-other-obj-desig ?hand ?grasp ?link) + (and (rob-int:robot ?robot) + (-> (rob-int:end-effector-link ?robot ?arm ?link) + (and (rob-int:robot-tool-frame ?robot ?arm ?tool-frame) + (symbol-value cram-tf:*fixed-frame* ?parent-frame) + (lisp-fun cram-tf:frame-to-transform-in-fixed-frame + ?tool-frame ?parent-frame + ?map-t-gripper) + (lisp-fun get-object-type-to-gripper-transform + ?other-object-type ?other-object-name + ?arm ?grasp + ?object-t-std-gripper) + (lisp-fun cram-tf:transform-stamped-inv + ?object-t-std-gripper + ?std-gripper-t-object) + (rob-int:standard<-particular-gripper-transform + ?robot + ?std-gripper-t-gripper-not-stamped) + (lisp-fun + cl-transforms-stamped:transform->transform-stamped + ?tool-frame ?tool-frame 0.0 + ?std-gripper-t-gripper-not-stamped + ?std-gripper-t-gripper) + (lisp-fun cram-tf:transform-stamped-inv + ?std-gripper-t-gripper + ?gripper-t-std-gripper) + (lisp-fun cram-tf:apply-transform + ?gripper-t-std-gripper ?std-gripper-t-object + ?gripper-t-object) + (lisp-fun cram-tf:apply-transform + ?map-t-gripper ?gripper-t-object + ?other-object-transform)) + (lisp-fun get-object-transform-in-map + ?current-other-obj-desig + ?other-object-transform))) + (lisp-fun get-object-transform-in-map ?current-other-obj-desig + ?other-object-transform)))) + ;; + (lisp-fun get-object-placement-transform + ?object-name ?object-type + ?other-object-name ?other-object-type ?other-object-transform + ?attachment-type + ?attachment-transform-in-map) + (lisp-fun cram-tf:strip-transform-stamped ?attachment-transform-in-map + ?pose-stamped)) + + ;; Resolving (a location + ;; (reachable-for pr2) + ;; (location (on/in (an object + ;; (type robot + (<- (desig:location-grounding ?location-designator ?pose-stamped) + (desig:current-designator ?location-designator ?current-location-designator) + (or (rob-int:reachability-designator ?current-location-designator) + (rob-int:visibility-designator ?current-location-designator)) + (or (and (desig:desig-prop ?current-location-designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (desig:desig-prop ?object (:location ?some-location))) + (desig:desig-prop ?current-location-designator (:location ?some-location))) + (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, use the current robot pose + (location-always-reachable ?location) + (lisp-fun cram-tf:robot-current-pose ?pose-stamped))) diff --git a/cram_common/cram_manipulation_interfaces/src/standard-grasps.lisp b/cram_common/cram_manipulation_interfaces/src/standard-grasps.lisp index 974b494ea5..12064df871 100644 --- a/cram_common/cram_manipulation_interfaces/src/standard-grasps.lisp +++ b/cram_common/cram_manipulation_interfaces/src/standard-grasps.lisp @@ -37,10 +37,18 @@ '(( 0 0 -1) (-1 0 0) ( 0 1 0))) +(defparameter *x-across-z-grasp-rotation-2* + '((0 0 -1) + (1 0 0) + (0 -1 0))) (defparameter *-x-across-z-grasp-rotation* '((0 0 1) (1 0 0) (0 1 0))) +(defparameter *-x-across-z-grasp-rotation-2* + '(( 0 0 1) + (-1 0 0) + ( 0 -1 0))) (defparameter *x-across-y-grasp-rotation* '(( 0 0 -1) ( 0 -1 0) @@ -63,6 +71,14 @@ '((-1 0 0) ( 0 0 1) ( 0 1 0))) +(defparameter *y-across-z-flipped-grasp-rotation* + '((-1 0 0) + ( 0 0 -1) + ( 0 -1 0))) +(defparameter *-y-across-z-flipped-grasp-rotation* + '((1 0 0) + (0 0 1) + (0 -1 0))) (defparameter *y-across-x-grasp-rotation* '((0 1 0) (0 0 -1) diff --git a/cram_common/cram_manipulation_interfaces/src/trajectories.lisp b/cram_common/cram_manipulation_interfaces/src/trajectories.lisp index 20dfb87106..8f8e5eac84 100644 --- a/cram_common/cram_manipulation_interfaces/src/trajectories.lisp +++ b/cram_common/cram_manipulation_interfaces/src/trajectories.lisp @@ -1,6 +1,7 @@ ;;; ;;; Copyright (c) 2018, Gayane Kazhoyan ;;; Christopher Pollok +;;; Thomas Lipps ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -55,7 +56,7 @@ (ecase arm (:left cram-tf:*robot-left-tool-frame*) (:right cram-tf:*robot-right-tool-frame*))) - (standard-to-particular-gripper-transform ; g'Tg + (standard<-particular-gripper-transform ; g'Tg (cl-transforms-stamped:transform->transform-stamped gripper-tool-frame gripper-tool-frame @@ -64,7 +65,7 @@ '?transform (car (prolog:prolog `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:standard-to-particular-gripper-transform + (cram-robot-interfaces:standard<-particular-gripper-transform ?robot ?transform))))))) (base-to-standard-gripper-transform ; bTg' (cram-tf:multiply-transform-stampeds @@ -75,7 +76,7 @@ (cram-tf:multiply-transform-stampeds ; bTg' * g'Tg = bTg cram-tf:*robot-base-frame* gripper-tool-frame base-to-standard-gripper-transform ; bTg' - standard-to-particular-gripper-transform ; g'Tg + standard<-particular-gripper-transform ; g'Tg :result-as-pose-or-transform :pose))) (defun calculate-gripper-pose-in-map (base-to-object-transform arm @@ -108,54 +109,69 @@ Gripper is defined by a convention where Z is pointing towards the object.") (call-with-specific-type #'get-object-type-to-gripper-transform object-type object-name arm grasp))) -(defgeneric get-object-type-to-gripper-pregrasp-transform (object-type object-name - arm grasp grasp-transform) - (:documentation "Returns a transform stamped") - (:method (object-type object-name arm grasp grasp-transform) - (call-with-specific-type #'get-object-type-to-gripper-pregrasp-transform - object-type object-name arm grasp grasp-transform))) - -(defgeneric get-object-type-to-gripper-2nd-pregrasp-transform (object-type object-name - arm grasp grasp-transform) - (:documentation "Returns a transform stamped. Default value is NIL.") - (:method (object-type object-name arm grasp grasp-transform) - (call-with-specific-type #'get-object-type-to-gripper-2nd-pregrasp-transform - object-type object-name arm grasp grasp-transform))) - -(defgeneric get-object-type-to-gripper-lift-transform (object-type object-name - arm grasp grasp-transform) - (:documentation "Returns a transform stamped") - (:method (object-type object-name arm grasp grasp-transform) - (call-with-specific-type #'get-object-type-to-gripper-lift-transform - object-type object-name arm grasp grasp-transform))) - -(defgeneric get-object-type-to-gripper-2nd-lift-transform (object-type object-name - arm grasp grasp-transform) - (:documentation "Returns a transform stamped") - (:method (object-type object-name arm grasp grasp-transform) - (call-with-specific-type #'get-object-type-to-gripper-2nd-lift-transform - object-type object-name arm grasp grasp-transform))) +(defgeneric get-object-type-to-gripper-pregrasp-transforms (object-type object-name + arm grasp location + grasp-transform) + (:documentation "Returns a list of transform stampeds") + (:method (object-type object-name arm grasp location grasp-transform) + (call-with-specific-type #'get-object-type-to-gripper-pregrasp-transforms + object-type object-name arm grasp location + grasp-transform))) + +(defgeneric get-object-type-wrt-base-frame-lift-transforms (object-type + arm grasp location) + (:documentation "Returns a list of transform stampeds bTb representing the +lift and 2nd-lift offset of given `object-type' with `arm' and `grasp' +in `cram-tf:*robot-base-frame*'. Therefore, instantiated methods will +specify how much an object with given `object-type' will be lifted +up in meters after grasping it, where the offset is defined w.r.t. base frame. +Depending on the `location', different lifting trajectories can be defined.") + (:method (object-type arm grasp location) + (call-with-specific-type #'get-object-type-wrt-base-frame-lift-transforms + object-type arm grasp location))) + (defmacro def-object-type-to-gripper-transforms (object-type arm grasp-type &key - (grasp-translation ''(0.0 0.0 0.0)) - (grasp-rot-matrix ''((1.0 0.0 0.0) - (0.0 1.0 0.0) - (0.0 0.0 1.0))) - (pregrasp-offsets ''(0.0 0.0 0.0)) - (2nd-pregrasp-offsets ''(0.0 0.0 0.0)) - (lift-offsets ''(0.0 0.0 0.0)) - (2nd-lift-offsets ''(0.0 0.0 0.0))) + location-type + (grasp-translation + ''(0.0 0.0 0.0)) + (grasp-rot-matrix + ''((1.0 0.0 0.0) + (0.0 1.0 0.0) + (0.0 0.0 1.0))) + (pregrasp-offsets + ''(0.0 0.0 0.0)) + (2nd-pregrasp-offsets + ''(0.0 0.0 0.0)) + (lift-translation + ''(0.0 0.0 0.0)) + (lift-rotation + ''(0.0 0.0 0.0 1.0)) + (2nd-lift-translation + ''(0.0 0.0 0.0)) + (2nd-lift-rotation + ''(0.0 0.0 0.0 1.0))) + "`location-type' is the type of the location for the pregrasp and lift trajectories, + `grasp-translation' is the translation part of oTg-std, + `grasp-rot-matrix' is the rotation part, represented as a rotation matrix 2x2 list of lists, + `pregrasp-offsets' is a list of 3 values, which is the offset of the gripper in object frame, + `2nd-pregrasp-offsets' is the same as pregrasp offsets, for picking it goes after pregrasp, + `lift-translation' and `lift-rotation' are the transform of the gripper in robot base frame, + `2nd-lift-translation' and `2nd-lift-rotation' are similar, they go after lift in picking." `(let ((evaled-object-type ,object-type) (evaled-arm ,arm) (evaled-grasp-type ,grasp-type) + (evaled-location-type ,location-type) (evaled-grasp-translation ,grasp-translation) (evaled-grasp-rot-matrix ,grasp-rot-matrix) (evaled-pregrasp-offsets ,pregrasp-offsets) (evaled-2nd-pregrasp-offsets ,2nd-pregrasp-offsets) - (evaled-lift-offsets ,lift-offsets) - (evaled-2nd-lift-offsets ,2nd-lift-offsets)) + (evaled-lift-translation ,lift-translation) + (evaled-lift-rotation ,lift-rotation) + (evaled-2nd-lift-translation ,2nd-lift-translation) + (evaled-2nd-lift-rotation ,2nd-lift-rotation)) (let ((object-list (if (listp evaled-object-type) evaled-object-type @@ -164,8 +180,10 @@ Gripper is defined by a convention where Z is pointing towards the object.") (if (listp evaled-arm) evaled-arm (list evaled-arm)))) + (mapcar (lambda (object) (mapcar (lambda (arm) + (let ((transform (cl-transforms-stamped:make-transform-stamped (roslisp-utilities:rosify-underscores-lisp-name object) @@ -177,8 +195,31 @@ Gripper is defined by a convention where Z is pointing towards the object.") (third evaled-grasp-translation)) (cl-transforms:matrix->quaternion (make-array '(3 3) - :initial-contents evaled-grasp-rot-matrix))))) - + :initial-contents evaled-grasp-rot-matrix)))) + (lift-transform + (cl-transforms-stamped:make-transform + (cl-transforms:make-3d-vector + (first evaled-lift-translation) + (second evaled-lift-translation) + (third evaled-lift-translation)) + (cl-transforms:make-quaternion + (first evaled-lift-rotation) + (second evaled-lift-rotation) + (third evaled-lift-rotation) + (fourth evaled-lift-rotation)))) + (2nd-lift-transform + (cl-transforms-stamped:make-transform + (cl-transforms:make-3d-vector + (first evaled-2nd-lift-translation) + (second evaled-2nd-lift-translation) + (third evaled-2nd-lift-translation)) + (cl-transforms:make-quaternion + (first evaled-2nd-lift-rotation) + (second evaled-2nd-lift-rotation) + (third evaled-2nd-lift-rotation) + (fourth evaled-2nd-lift-rotation))))) + + evaled-location-type ; just to get rid of unused warning (pushnew evaled-grasp-type *known-grasp-types*) (defmethod get-object-type-to-gripper-transform ((object-type (eql object)) @@ -196,60 +237,49 @@ Gripper is defined by a convention where Z is pointing towards the object.") (error "Grasp transform not defined for object type ~a with arm ~a and grasp ~a~%" object-type arm grasp)))) - (defmethod get-object-type-to-gripper-pregrasp-transform ((object-type (eql object)) - object-name - (arm (eql arm)) - (grasp (eql evaled-grasp-type)) - grasp-transform) - (let ((pregrasp-offsets evaled-pregrasp-offsets)) - (if pregrasp-offsets - (destructuring-bind (x y z) pregrasp-offsets - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset x :y-offset y :z-offset z)) - (error "Pregrasp transform not defined for object type ~a with arm ~a and grasp ~a~%" - object-type arm grasp)))) - - (defmethod get-object-type-to-gripper-2nd-pregrasp-transform ((object-type (eql object)) - object-name - (arm (eql arm)) - (grasp (eql evaled-grasp-type)) - grasp-transform) - (let ((offsets evaled-2nd-pregrasp-offsets)) - (if offsets - (destructuring-bind (x y z) offsets - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset x :y-offset y :z-offset z)) - (error "2nd pregrasp transform not defined for object type ~a with arm ~a and grasp ~a~%" + (defmethod get-object-type-to-gripper-pregrasp-transforms ((object-type (eql object)) + object-name + (arm (eql arm)) + (grasp (eql evaled-grasp-type)) + ,(if location-type + '(location + (eql evaled-location-type)) + 'location) + grasp-transform) + (let ((pregrasp-offsets evaled-pregrasp-offsets) + (2nd-pregrasp-offsets evaled-2nd-pregrasp-offsets)) + (if (and pregrasp-offsets 2nd-pregrasp-offsets) + (list + (destructuring-bind (x y z) pregrasp-offsets + (cram-tf:translate-transform-stamped + grasp-transform + :x-offset x :y-offset y :z-offset z)) + (destructuring-bind (x y z) 2nd-pregrasp-offsets + (cram-tf:translate-transform-stamped + grasp-transform + :x-offset x :y-offset y :z-offset z))) + (error "Pregrasp transforms not defined for object type ~a with arm ~a and grasp ~a~%" object-type arm grasp)))) - (defmethod get-object-type-to-gripper-lift-transform ((object-type (eql object)) - object-name - (arm (eql arm)) - (grasp (eql evaled-grasp-type)) - grasp-transform) - (let ((offsets evaled-lift-offsets)) - (if offsets - (destructuring-bind (x y z) offsets - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset x :y-offset y :z-offset z)) - (error "Lift transform not defined for object type ~a with arm ~a and grasp ~a~%" - object-type arm grasp)))) - - (defmethod get-object-type-to-gripper-2nd-lift-transform ((object-type (eql object)) - object-name - (arm (eql arm)) - (grasp (eql evaled-grasp-type)) - grasp-transform) - (let ((offsets evaled-2nd-lift-offsets)) - (if offsets - (destructuring-bind (x y z) offsets - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset x :y-offset y :z-offset z)) - (error "2nd lift transform not defined for object type ~a with arm ~a and grasp ~a~%" + (defmethod get-object-type-wrt-base-frame-lift-transforms ((object-type (eql object)) + (arm (eql arm)) + (grasp (eql evaled-grasp-type)) + ,(if location-type + '(location + (eql evaled-location-type)) + 'location)) + (let ((this-lift-transform lift-transform) + (this-2nd-lift-transform 2nd-lift-transform)) + (if (and this-lift-transform this-2nd-lift-transform) + (list + (cl-transforms-stamped:transform->transform-stamped + cram-tf:*robot-base-frame* cram-tf:*robot-base-frame* 0.0 + this-lift-transform) + (cl-transforms-stamped:transform->transform-stamped + cram-tf:*robot-base-frame* cram-tf:*robot-base-frame* 0.0 + this-2nd-lift-transform)) + (error "Lift transforms w.r.t. base frame not defined ~ + for object type ~a with arm ~a and grasp ~a~%" object-type arm grasp)))) )) @@ -261,6 +291,7 @@ Gripper is defined by a convention where Z is pointing towards the object.") (defmethod get-action-trajectory :heuristics 20 ((action-type (eql :picking-up)) arm grasp + location objects-acted-on &key) (let* ((object @@ -269,11 +300,25 @@ Gripper is defined by a convention where Z is pointing towards the object.") (desig:desig-prop-value object :name)) (object-type (desig:desig-prop-value object :type)) + (oTg-std + (get-object-type-to-gripper-transform + object-type object-name arm grasp)) (bTo (man-int:get-object-transform object)) - (oTg-std - (man-int:get-object-type-to-gripper-transform - object-type object-name arm grasp))) + (oTb + (cram-tf:transform-stamped-inv bTo)) + (bTb-lifts + (get-object-type-wrt-base-frame-lift-transforms + object-type arm grasp location)) + (oTg-lifts + (mapcar (lambda (btb-lift) + (reduce #'cram-tf:apply-transform + `(,oTb ,bTb-lift ,bTo ,oTg-std) + :from-end T)) + bTb-lifts)) + (oTg-pregrasps + (get-object-type-to-gripper-pregrasp-transforms + object-type object-name arm grasp location oTg-std))) (mapcar (lambda (label transforms) (make-traj-segment @@ -283,30 +328,64 @@ Gripper is defined by a convention where Z is pointing towards the object.") '(:reaching :grasping :lifting) - `((,(man-int:get-object-type-to-gripper-pregrasp-transform - object-type object-name arm grasp oTg-std) - ,(man-int:get-object-type-to-gripper-2nd-pregrasp-transform - object-type object-name arm grasp oTg-std)) + `(,oTg-pregrasps (,oTg-std) - (,(man-int:get-object-type-to-gripper-lift-transform - object-type object-name arm grasp oTg-std) - ,(man-int:get-object-type-to-gripper-2nd-lift-transform - object-type object-name arm grasp oTg-std)))))) + ,oTg-lifts)))) (defmethod get-action-trajectory :heuristics 20 ((action-type (eql :placing)) arm grasp + location objects-acted-on &key target-object-transform-in-base) (let* ((object - (car objects-acted-on)) + (first objects-acted-on)) (object-name (desig:desig-prop-value object :name)) (object-type (desig:desig-prop-value object :type)) - (oTg-std + (other-object + (second objects-acted-on)) + (other-object-type + (desig:desig-prop-value other-object :type)) + (attachment + (third objects-acted-on)) + (bTo + target-object-transform-in-base) + (oTb + (cram-tf:transform-stamped-inv bTo)) + (drop-z-offset + (get-z-offset-for-placing-with-dropping + object-type other-object-type attachment)) + (bTb-drop-z-offset + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0 0 drop-z-offset) + (cl-transforms:make-identity-rotation))) + (oTg-std-no-z-offset (get-object-type-to-gripper-transform - object-type object-name arm grasp))) + object-type object-name arm grasp)) + (oTg-std + (reduce #'cram-tf:apply-transform + `(,oTb ,bTb-drop-z-offset ,bTo ,oTg-std-no-z-offset) + :from-end T)) + (bTb-lifts + (get-object-type-wrt-base-frame-lift-transforms + object-type arm grasp location)) + (oTg-lifts + (reverse + (mapcar + (lambda (btb-lift) + (reduce #'cram-tf:apply-transform + `(,oTb ,bTb-lift ,bTo ,oTg-std) + :from-end T)) + bTb-lifts))) + (oTg-pregrasps + (reverse + (get-object-type-to-gripper-pregrasp-transforms + object-type object-name arm grasp location oTg-std)))) (mapcar (lambda (label transforms) (make-traj-segment @@ -317,15 +396,9 @@ Gripper is defined by a convention where Z is pointing towards the object.") '(:reaching :putting :retracting) - `((,(man-int:get-object-type-to-gripper-2nd-lift-transform - object-type object-name arm grasp oTg-std) - ,(man-int:get-object-type-to-gripper-lift-transform - object-type object-name arm grasp oTg-std)) + `(,oTg-lifts (,oTg-std) - (,(man-int:get-object-type-to-gripper-2nd-pregrasp-transform - object-type object-name arm grasp oTg-std) - ,(man-int:get-object-type-to-gripper-pregrasp-transform - object-type object-name arm grasp oTg-std)))))) + ,oTg-pregrasps)))) @@ -338,22 +411,32 @@ Gripper is defined by a convention where Z is pointing towards the object.") other-object-type other-object-name attachment)) +(defgeneric get-z-offset-for-placing-with-dropping (object-type other-object-type attachment) + (:documentation "Returns a Z offset in the cram-tf:*robot-base-frame* in meters +for dropping given `object-type' on the `other-object-type', with the given +`attachemnt' placement pose type.") + (:method (object-type other-object-type attachment) + "Per default, the robot touches the object with the other object +before opening the gripper, such that no dropping offset is necessary." + 0.0)) + (defun get-object-placement-transform (object-name object-type - other-object-name other-object-type other-object-transform + other-object-name other-object-type + other-object-transform attachment-type) - "Returns a transform in robot base frame where the object named `object-name' should go" - (let* ((base-frame - cram-tf:*robot-base-frame*) + "Returns a transform in fixed frame where the object named `object-name' should go" + (let* ((fixed-frame + cram-tf:*fixed-frame*) (object-frame (roslisp-utilities:rosify-underscores-lisp-name object-name)) - (base-to-object-transform ; bTo = bToo * ooTo + (map-to-object-transform ; mTo = mToo * ooTo (cram-tf:multiply-transform-stampeds - base-frame + fixed-frame object-frame other-object-transform (get-object-type-in-other-object-transform ; ooTo object-type object-name other-object-type other-object-name attachment-type)))) - base-to-object-transform)) + map-to-object-transform)) diff --git a/cram_common/cram_mobile_pick_place_plans/cram-mobile-pick-place-plans.asd b/cram_common/cram_mobile_pick_place_plans/cram-mobile-pick-place-plans.asd index 39374e9286..cddc0a39e7 100644 --- a/cram_common/cram_mobile_pick_place_plans/cram-mobile-pick-place-plans.asd +++ b/cram_common/cram_mobile_pick_place_plans/cram-mobile-pick-place-plans.asd @@ -43,7 +43,7 @@ cram-designators cram-occasions-events cram-executive - cram-utilities ; for cut:var-value of prolog stuff + cram-utilities ; for cut:var-value of prolog stuff and equalize-lists cram-tf cram-plan-occasions-events diff --git a/cram_common/cram_mobile_pick_place_plans/src/atomic-action-designators.lisp b/cram_common/cram_mobile_pick_place_plans/src/atomic-action-designators.lisp index 4802f56cb8..6261b7570e 100644 --- a/cram_common/cram_mobile_pick_place_plans/src/atomic-action-designators.lisp +++ b/cram_common/cram_mobile_pick_place_plans/src/atomic-action-designators.lisp @@ -33,7 +33,8 @@ (<- (desig:action-grounding ?action-designator (go-to-target ?resolved-action-designator)) (spec:property ?action-designator (:type :going)) - (spec:property ?action-designator (:target ?location-designator)) + (spec:property ?action-designator (:target ?some-location-designator)) + (desig:current-designator ?some-location-designator ?location-designator) (desig:designator-groundings ?location-designator ?poses) (member ?pose-stamped ?poses) (desig:designator :action ((:type :going) @@ -48,6 +49,53 @@ + (<- (infer-prefer-base ?action-designator ?prefer-base) + ;; infer if the robot should prefer to move the base more than arms + ;; prefer-base is only true when we're opening prismatic containers + (-> (and (spec:property ?action-designator (:type :pulling)) + (spec:property ?action-designator (:container-object ?container-designator)) + (spec:property ?container-designator (:type ?container-type)) + (man-int:object-type-subtype :container-prismatic ?container-type)) + (equal ?prefer-base t) + (equal ?prefer-base nil))) + + (<- (infer-move-base ?action-designator ?move-base) + ;; infer if we should move the base at all or not + ;; we shouldn't move the base if we're getting something of our own back + (-> (and (or (spec:property ?action-designator (:type :reaching)) + (spec:property ?action-designator (:type :grasping))) + (or (and (spec:property ?action-designator + (:object ?some-object-designator)) + (desig:current-designator ?some-object-designator + ?object-designator) + (spec:property ?object-designator + (:location ?some-location-designator))) + (spec:property ?action-designator + (:location ?some-location-designator))) + (desig:current-designator ?some-location-designator ?location-designator) + (spec:property ?location-designator (:on ?on-object-designator)) + (spec:property ?on-object-designator (:name ?robot-name)) + (rob-int:robot ?robot-name)) + (equal ?move-base nil) + (equal ?move-base t))) + + (<- (infer-align-planes ?action-designator ?align-planes-left ?align-planes-right) + ;; infer if we should keep the object in hand upright + ;; that should currently always happen if we have an object in hand + (-> (cpoe:object-in-hand ?_ :left) + (equal ?align-planes-left t) + (equal ?align-planes-left nil)) + (-> (cpoe:object-in-hand ?_ :right) + (equal ?align-planes-right t) + (equal ?align-planes-right nil))) + + (<- (infer-motion-flags ?action-designator + ?prefer-base ?move-base + ?align-planes-left ?align-planes-right) + (infer-prefer-base ?action-designator ?prefer-base) + (infer-move-base ?action-designator ?move-base) + (infer-align-planes ?action-designator ?align-planes-left ?align-planes-right)) + (<- (desig:action-grounding ?action-designator (move-arms-in-sequence ?resolved-action-designator)) (or (spec:property ?action-designator (:type :reaching)) @@ -58,53 +106,48 @@ (equal ?left-poses nil))) (once (or (spec:property ?action-designator (:right-poses ?right-poses)) (equal ?right-poses nil))) + (infer-motion-flags ?action-designator + ?_ ?move-base ?align-planes-left ?align-planes-right) (desig:designator :action ((:type ?action-type) (:left-poses ?left-poses) (:right-poses ?right-poses) - (:collision-mode :avoid-all)) + (:collision-mode :avoid-all) + (:move-base ?move-base) + (:align-planes-left ?align-planes-left) + (:align-planes-right ?align-planes-right)) ?resolved-action-designator)) (<- (desig:action-grounding ?action-designator (move-arms-in-sequence ?resolved-action-designator)) - (or (spec:property ?action-designator (:type :grasping)) - (spec:property ?action-designator (:type :pulling))) + (spec:property ?action-designator (:type :grasping)) (spec:property ?action-designator (:type ?action-type)) (spec:property ?action-designator (:object ?object-designator)) (spec:property ?object-designator (:name ?object-name)) - (or (spec:property ?action-designator (:link ?object-link)) - (equal ?object-link nil)) (once (or (spec:property ?action-designator (:left-poses ?left-poses)) (equal ?left-poses nil))) (once (or (spec:property ?action-designator (:right-poses ?right-poses)) (equal ?right-poses nil))) - (or (and (spec:property ?action-designator (:type :grasping)) - (desig:designator :action ((:type ?action-type) - (:left-poses ?left-poses) - (:right-poses ?right-poses) - (:collision-mode :allow-hand) - (:collision-object-b ?object-name) - (:collision-object-b-link ?object-link)) - ?resolved-action-designator)) - (and (spec:property ?action-designator (:type :pulling)) - (spec:property ?action-designator (:container-object ?container-designator)) - (spec:property ?container-designator (:type ?container-type)) - (or (and (man-int:object-type-subtype :container-prismatic ?container-type) - (desig:designator :action ((:type ?action-type) - (:left-poses ?left-poses) - (:right-poses ?right-poses) - (:collision-mode :allow-hand) - (:collision-object-b ?object-name) - (:collision-object-b-link ?object-link) - (:move-the-ass t)) - ?resolved-action-designator)) - (desig:designator :action ((:type ?action-type) - (:left-poses ?left-poses) - (:right-poses ?right-poses) - (:collision-mode :allow-hand) - (:collision-object-b ?object-name) - (:collision-object-b-link ?object-link) - (:move-the-ass nil)) - ?resolved-action-designator))))) + (infer-motion-flags ?action-designator + ?prefer-base ?move-base + ?align-planes-left ?align-planes-right) + ;; infer collision-object-b and collision-object-b-link + (-> (cpoe:object-in-hand ?object-designator ?_ ?_ ?_) + (and (rob-int:robot ?robot) + (equal ?collision-object-b ?robot) + (equal ?object-link ?object-name)) + (and (equal ?collision-object-b ?object-name) + (equal ?object-link nil))) + (desig:designator :action ((:type ?action-type) + (:left-poses ?left-poses) + (:right-poses ?right-poses) + (:collision-mode :allow-hand) + (:collision-object-b ?collision-object-b) + (:collision-object-b-link ?object-link) + (:prefer-base ?prefer-base) + (:move-base ?move-base) + (:align-planes-left ?align-planes-left) + (:align-planes-right ?align-planes-right)) + ?resolved-action-designator)) (<- (desig:action-grounding ?action-designator (move-arms-in-sequence ?resolved-action-designator)) @@ -123,6 +166,8 @@ (equal ?left-poses nil))) (once (or (spec:property ?action-designator (:right-poses ?right-poses)) (equal ?right-poses nil))) + (infer-motion-flags ?action-designator + ?_ ?move-base ?align-planes-left ?align-planes-right) ;; putting should actually allow hand and attached if grasping allows hand (desig:designator :action ((:type :putting) (:left-poses ?left-poses) @@ -131,20 +176,43 @@ ) (:collision-object-b ?other-object-name) (:collision-object-b-link ?object-link) - (:collision-object-a ?object-name)) + (:collision-object-a ?object-name) + (:move-base ?move-base) + (:align-planes-left ?align-planes-left) + (:align-planes-right ?align-planes-right)) ?resolved-action-designator)) - (<- (desig:action-grounding ?action-designator (move-arms-in-sequence + (<- (desig:action-grounding ?action-designator (manipulate-environment ?resolved-action-designator)) - (or (spec:property ?action-designator (:type :pushing))) - (once (or (spec:property ?action-designator (:left-poses ?left-poses)) - (equal ?left-poses nil))) - (once (or (spec:property ?action-designator (:right-poses ?right-poses)) - (equal ?right-poses nil))) - (desig:designator :action ((:type :pushing) - (:left-poses ?left-poses) - (:right-poses ?right-poses) - (:collision-mode :allow-all)) + (or (and (spec:property ?action-designator (:type :pulling)) + (equal ?collision-mode :allow-hand)) + (and (spec:property ?action-designator (:type :pushing)) + (equal ?collision-mode :allow-arm))) + (or (and (spec:property ?action-designator (:left-poses ?poses)) + (equal ?arm :left)) + (and (spec:property ?action-designator (:right-poses ?poses)) + (equal ?arm :right))) + (spec:property ?action-designator (:type ?action-type)) + (spec:property ?action-designator (:object ?environment-object-designator)) + (spec:property ?environment-object-designator (:name ?environment-name)) + (spec:property ?action-designator (:link ?handle-link)) + (once (or (spec:property ?action-designator (:distance ?joint-angle)) + (equal ?joint-angle NIL))) + ;; infer the missing parameters + (infer-motion-flags ?action-designator + ?prefer-base ?move-base + ?align-planes-left ?align-planes-right) + (desig:designator :action ((:type ?action-type) + (:arm ?arm) + (:poses ?poses) + (:distance ?joint-angle) + (:collision-mode ?collision-mode) + (:collision-object-b ?environment-name) + (:collision-object-b-link ?handle-link) + (:prefer-base ?prefer-base) + (:move-base ?move-base) + (:align-planes-left ?align-planes-left) + (:align-planes-right ?align-planes-right)) ?resolved-action-designator)) (<- (desig:action-grounding ?action-designator (move-arms-into-configuration @@ -152,24 +220,44 @@ (spec:property ?action-designator (:type :positioning-arm)) (rob-int:robot ?robot) (-> (spec:property ?action-designator (:left-configuration ?left-config)) - (-> (equal ?left-config :park) - (-> (cpoe:object-in-hand ?_ :left) - (rob-int:robot-joint-states ?robot :arm :left :carry ?left-joint-states) - (rob-int:robot-joint-states ?robot :arm :left :park ?left-joint-states)) - (rob-int:robot-joint-states ?robot :arm :left ?left-config ?left-joint-states)) + (man-int:joint-state-for-arm-config ?robot ?left-config :left + ?left-joint-states) (equal ?left-joint-states nil)) (-> (spec:property ?action-designator (:right-configuration ?right-config)) - (-> (equal ?right-config :park) - (-> (cpoe:object-in-hand ?_ :right) - (rob-int:robot-joint-states ?robot :arm :right :carry ?right-joint-states) - (rob-int:robot-joint-states ?robot :arm :right :park ?right-joint-states)) - (rob-int:robot-joint-states ?robot :arm :right ?right-config ?right-joint-states)) + (man-int:joint-state-for-arm-config ?robot ?right-config :right + ?right-joint-states) (equal ?right-joint-states nil)) + (infer-align-planes ?action-designator ?align-planes-left ?align-planes-right) (desig:designator :action ((:type :positioning-arm) (:left-joint-states ?left-joint-states) - (:right-joint-states ?right-joint-states)) + (:right-joint-states ?right-joint-states) + (:align-planes-left ?align-planes-left) + (:align-planes-right ?align-planes-right)) ?resolved-action-designator)) + (<- (desig:action-grounding ?action-designator (park-arms ?resolved-action-desig)) + (spec:property ?action-designator (:type :parking-arms)) + ;; get the arms list from the designator or infer it + (once (or (spec:property ?action-designator (:arms ?arms-list)) + (-> (spec:property ?action-designator (:not-neck T)) + (and (rob-int:robot ?robot-name) + (rob-int:arms-that-are-not-neck ?robot-name ?arms-list)) + (and (rob-int:robot ?robot-name) + (rob-int:arms ?robot-name ?arms-list))))) + ;; see if left arm and right arm are present + ;; this is super non-general but has to be like this + ;; because positioning-arm is so non-general + (-> (member :left ?arms-list) + (equal ?left-arm-p T) + (equal ?left-arm-p NIL)) + (-> (member :right ?arms-list) + (equal ?right-arm-p T) + (equal ?right-arm-p NIL)) + (desig:designator :action ((:type :parking-arms) + (:left-arm ?left-arm-p) + (:right-arm ?right-arm-p)) + ?resolved-action-desig)) + (<- (desig:action-grounding ?action-designator (release ?action-designator)) @@ -178,7 +266,14 @@ (once (or (spec:property ?action-designator (:object ?_)) (true)))) - (<- (desig:action-grounding ?action-designator (grip ?augmented-action-designator)) + (<- (desig:action-grounding ?action-designator (grip ?action-designator)) + (spec:property ?action-designator (:type :gripping)) + (spec:property ?action-designator (:gripper ?_)) + (not (spec:property ?action-designator (:object ?_))) + (once (or (spec:property ?action-designator (:effort ?_)) + (true)))) + + (<- (desig:action-grounding ?action-designator (grip ?action-designator)) (spec:property ?action-designator (:type :gripping)) (spec:property ?action-designator (:gripper ?_)) (spec:property ?action-designator (:object ?object-designator)) @@ -188,16 +283,7 @@ (once (or (spec:property ?action-designator (:grasp ?_)) (true))) (once (or (spec:property ?action-designator (:effort ?_)) - (true))) - ;; make a new object designator that will be equated to the old one - ;; after the successful grasp - (desig:current-designator ?object-designator ?current-object-desig) - (lisp-fun desig:rename-designator-property-key ?current-object-desig - :pose :old-pose ?new-object-desig) - ;; extend the old action designator with a new OBJECT property - (equal ?new-description ((:grasped-object ?new-object-desig))) - (lisp-fun desig:copy-designator ?action-designator :new-description ?new-description - ?augmented-action-designator)) + (true)))) (<- (desig:action-grounding ?action-designator (set-gripper-to-position ?action-designator)) (spec:property ?action-designator (:type :setting-gripper)) diff --git a/cram_common/cram_mobile_pick_place_plans/src/atomic-action-plans.lisp b/cram_common/cram_mobile_pick_place_plans/src/atomic-action-plans.lisp index def2343bcb..aa4a24cf62 100644 --- a/cram_common/cram_mobile_pick_place_plans/src/atomic-action-plans.lisp +++ b/cram_common/cram_mobile_pick_place_plans/src/atomic-action-plans.lisp @@ -52,8 +52,8 @@ (defun go-with-torso (&key - ((:joint-angle ?joint-angle)) - &allow-other-keys) + ((:joint-angle ?joint-angle)) + &allow-other-keys) (declare (type (or number keyword) ?joint-angle)) "Go to `?joint-angle' with torso, if a failure happens propagate it up, robot-state-changed event." (unwind-protect @@ -79,12 +79,16 @@ ((:collision-object-b ?collision-object-b)) ((:collision-object-b-link ?collision-object-b-link)) ((:collision-object-a ?collision-object-a)) - ((:move-the-ass ?move-the-ass)) + ((:move-base ?move-base)) + ((:prefer-base ?prefer-base)) + ((:align-planes-left ?align-planes-left)) + ((:align-planes-right ?align-planes-right)) &allow-other-keys) (declare (type (or list cl-transforms-stamped:pose-stamped) left-poses right-poses) (type (or null keyword) ?collision-mode) (type (or null symbol) ?collision-object-b ?collision-object-a) - (type (or null string symbol) ?collision-object-b-link)) + (type (or null string symbol) ?collision-object-b-link) + (type boolean ?move-base ?prefer-base ?align-planes-left ?align-planes-right)) "Move arms through all but last poses of `left-poses' and `right-poses', while ignoring failures; and execute the last pose with propagating the failures." @@ -120,8 +124,14 @@ while ignoring failures; and execute the last pose with propagating the failures (collision-object-b-link ?collision-object-b-link)) (desig:when ?collision-object-a (collision-object-a ?collision-object-a)) - (desig:when ?move-the-ass - (move-the-ass ?move-the-ass)))) + (desig:when ?move-base + (move-base ?move-base)) + (desig:when ?prefer-base + (prefer-base ?prefer-base)) + (desig:when ?align-planes-left + (align-planes-left ?align-planes-left)) + (desig:when ?align-planes-right + (align-planes-right ?align-planes-right)))) (cram-occasions-events:on-event (make-instance 'cram-plan-occasions-events:robot-state-changed)))) @@ -152,16 +162,78 @@ while ignoring failures; and execute the last pose with propagating the failures (collision-object-b-link ?collision-object-b-link)) (desig:when ?collision-object-a (collision-object-a ?collision-object-a)) - (desig:when ?move-the-ass - (move-the-ass ?move-the-ass)))) + (desig:when ?move-base + (move-base ?move-base)) + (desig:when ?prefer-base + (prefer-base ?prefer-base)) + (desig:when ?align-planes-left + (align-planes-left ?align-planes-left)) + (desig:when ?align-planes-right + (align-planes-right ?align-planes-right)))) (cram-occasions-events:on-event (make-instance 'cram-plan-occasions-events:robot-state-changed))))) +(defun manipulate-environment (&key + ((:type ?type)) + ((:arm ?arm)) + ((:poses ?poses)) + ((:distance ?distance)) + ((:collision-mode ?collision-mode)) + ((:collision-object-b ?collision-object-b)) + ((:collision-object-b-link ?collision-object-b-link)) + ((:collision-object-a ?collision-object-a)) + ((:move-base ?move-base)) + ((:prefer-base ?prefer-base)) + ((:align-planes-left ?align-planes-left)) + ((:align-planes-right ?align-planes-right)) + &allow-other-keys) + (declare (type keyword ?type ?arm) + (type list ?poses) + (type (or number null) ?distance) + (type (or keyword null) ?collision-mode) + (type (or symbol null) ?collision-object-b ?collision-object-a) + (type (or string symbol null) ?collision-object-b-link) + (type boolean ?move-base ?prefer-base + ?align-planes-left ?align-planes-right)) + "Execute an environment manipulation trajectory. +In projection it would be executed by following the list of poses in cartesian space. +With a continuous motion planner one could have fluent arch trajectories etc. +`?type' is either :PUSHING or :PULLING." + + (unwind-protect + (exe:perform + (desig:a motion + (type ?type) + (arm ?arm) + (poses ?poses) + (desig:when ?distance + (joint-angle ?distance)) + (desig:when ?collision-mode + (collision-mode ?collision-mode)) + (desig:when ?collision-object-b + (collision-object-b ?collision-object-b)) + (desig:when ?collision-object-b-link + (collision-object-b-link ?collision-object-b-link)) + (desig:when ?collision-object-a + (collision-object-a ?collision-object-a)) + (desig:when ?move-base + (move-base ?move-base)) + (desig:when ?prefer-base + (prefer-base ?prefer-base)) + (desig:when ?align-planes-left + (align-planes-left ?align-planes-left)) + (desig:when ?align-planes-right + (align-planes-right ?align-planes-right)))) + (cram-occasions-events:on-event + (make-instance 'cram-plan-occasions-events:robot-state-changed)))) + (defun move-arms-into-configuration (&key ((:left-joint-states ?left-joint-states)) ((:right-joint-states ?right-joint-states)) + ((:align-planes-left ?align-planes-left)) + ((:align-planes-right ?align-planes-right)) &allow-other-keys) (declare (type list ?left-joint-states ?right-joint-states)) "Calls moving-arm-joints motion, while ignoring failures, and robot-state-changed event." @@ -179,7 +251,11 @@ while ignoring failures; and execute the last pose with propagating the failures (desig:when ?left-joint-states (left-joint-states ?left-joint-states)) (desig:when ?right-joint-states - (right-joint-states ?right-joint-states)))) + (right-joint-states ?right-joint-states)) + (desig:when ?align-planes-left + (align-planes-left ?align-planes-left)) + (desig:when ?align-planes-right + (align-planes-right ?align-planes-right)))) ;; (cpl:seq ;; (exe:perform ;; (desig:a motion @@ -224,7 +300,6 @@ while ignoring failures; and execute the last pose with propagating the failures ((:gripper ?left-or-right)) ((:effort ?effort)) ((:object object-designator)) - ((:grasped-object new-object-designator)) ((:grasp ?grasp)) &allow-other-keys) (declare (type (or keyword list) ?left-or-right) @@ -247,13 +322,14 @@ In any case, issue ROBOT-STATE-CHANGED event." (desig:when ?effort (effort ?effort)))) (roslisp:ros-info (pick-place grip) "Assert grasp into knowledge base") - (cram-occasions-events:on-event - (make-instance 'cpoe:object-attached-robot - :arm ?left-or-right - :object-name (desig:desig-prop-value object-designator :name) - :grasp ?grasp)) - (desig:equate object-designator new-object-designator) - new-object-designator)) + (when object-designator + (cram-occasions-events:on-event + (make-instance 'cpoe:object-attached-robot + :arm ?left-or-right + :object-name (desig:desig-prop-value object-designator :name) + :object-designator object-designator + :grasp ?grasp)) + (desig:current-desig object-designator)))) (cram-occasions-events:on-event (make-instance 'cram-plan-occasions-events:robot-state-changed)))) @@ -337,9 +413,11 @@ In any case, issue ROBOT-STATE-CHANGED event." (declare (type desig:object-designator ?object-designator)) "Call detecting motion on `?object-designator', retry on failure, issue perceived event, equate resulting designator to the original one." - (let ((retries (if (find :cad-model (desig:properties ?object-designator) :key #'car) - 1 - 4))) + (let ((retries 1 + ;; (if (find :cad-model (desig:properties ?object-designator) :key #'car) + ;; 1 + ;; 4) + )) (cpl:with-retry-counters ((perceive-retries retries)) (cpl:with-failure-handling ((common-fail:perception-low-level-failure (e) @@ -355,19 +433,38 @@ equate resulting designator to the original one." (resulting-designator (funcall object-chosing-function resulting-designators))) (if (listp resulting-designators) - (mapcar (lambda (desig) - (cram-occasions-events:on-event - (make-instance 'cram-plan-occasions-events:object-perceived-event - :object-designator desig - :perception-source :whatever)) - ;; doesn't make sense to equate all these desigs together - ;; (desig:equate ?object-designator desig) - ) - resulting-designators) + (mapc (lambda (desig) + (cram-occasions-events:on-event + (make-instance 'cram-plan-occasions-events:object-perceived-event + :object-designator desig + :perception-source :whatever)) + ;; doesn't make sense to equate all these desigs together + ;; (desig:equate ?object-designator desig) + ) + resulting-designators) (progn (cram-occasions-events:on-event (make-instance 'cram-plan-occasions-events:object-perceived-event :object-designator resulting-designators :perception-source :whatever)) (desig:equate ?object-designator resulting-designator))) - resulting-designator))))) + (desig:current-desig resulting-designator)))))) + + +(defun park-arms (&key + ((:left-arm ?left-arm-p)) + ((:right-arm ?right-arm-p)) + &allow-other-keys) + (declare (type boolean ?left-arm-p ?right-arm-p)) + "Puts the arms into a parking configuration" + (let* ((left-config (when ?left-arm-p :park)) + (right-config (when ?right-arm-p :park)) + (?goal `(cpoe:arms-positioned-at ,left-config ,right-config))) + (exe:perform + (desig:an action + (type positioning-arm) + (desig:when ?left-arm-p + (left-configuration park)) + (desig:when ?right-arm-p + (right-configuration park)) + (goal ?goal))))) diff --git a/cram_common/cram_mobile_pick_place_plans/src/high-level-plans.lisp b/cram_common/cram_mobile_pick_place_plans/src/high-level-plans.lisp index 4bdb7c67a5..2e7cec1bf6 100644 --- a/cram_common/cram_mobile_pick_place_plans/src/high-level-plans.lisp +++ b/cram_common/cram_mobile_pick_place_plans/src/high-level-plans.lisp @@ -84,9 +84,7 @@ (defun perceive-and-drive-and-pick-up-plan (?type &key (?arm '(:left :right)) ?color ?cad-model) (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (let ((object-description `((:type ,?type)))) (when ?color (push `(:color ,?color) object-description)) @@ -133,7 +131,7 @@ ;; cram-tf:*fixed-frame* ;; :use-zero-time t))) ;; -;; (let ((?pose-for-base (cl-tf:pose->pose-stamped +;; (let ((?pose-for-base (cl-transforms:pose->pose-stamped ;; "map" ;; 0.0 ;; (cl-transforms-stamped:make-identity-pose)))) diff --git a/cram_common/cram_mobile_pick_place_plans/src/pick-place-designators.lisp b/cram_common/cram_mobile_pick_place_plans/src/pick-place-designators.lisp index 041891a421..3bf5b0f7c4 100644 --- a/cram_common/cram_mobile_pick_place_plans/src/pick-place-designators.lisp +++ b/cram_common/cram_mobile_pick_place_plans/src/pick-place-designators.lisp @@ -38,11 +38,31 @@ (cram-tf:pose-stamped->transform-stamped target-pose-in-base child-frame-rosy))) +(defun split-attachments-desig (location-designator) + (let ((attachments (desig:desig-prop-value location-designator :attachments))) + (loop for attachment in attachments + collecting (desig:make-designator + :location + ;; cannot equate these guys because they will all end up + ;; being the same location designator + `((:attachment ,attachment) + ,@(remove :attachments (desig:properties location-designator) + :key #'car)))))) + + + (def-fact-group pick-and-place-plans (desig:action-grounding) - (<- (desig:action-grounding ?action-designator (perceive ?action-designator)) + (<- (desig:action-grounding ?action-designator (perceive ?resolved-action-desig)) (spec:property ?action-designator (:type :perceiving)) - (spec:property ?action-designator (:object ?_))) + (spec:property ?action-designator (:object ?object-designator)) + (-> (man-int:object-or-its-reference-in-hand ?object-designator ?object-hand) + (equal ?park-arms NIL) + (equal ?park-arms T)) + (desig:designator :action ((:type :perceiving) + (:object ?object-designator) + (:park-arms ?park-arms)) + ?resolved-action-desig)) (<- (desig:action-grounding ?action-designator (pick-up ?resolved-action-designator)) @@ -69,11 +89,20 @@ (member ?grasp ?grasps))) (lisp-fun man-int:get-action-gripping-effort ?object-type ?effort) (lisp-fun man-int:get-action-gripper-opening ?object-type ?gripper-opening) + ;; get the type of the picking location, because the trajectory + ;; might be different depending on the location type + (once (or (and (spec:property ?current-object-desig (:location ?obj-loc)) + (desig:current-designator ?obj-loc ?curr-obj-loc) + (man-int:location-reference-object ?curr-obj-loc ?obj-loc-obj) + (desig:current-designator ?obj-loc-obj ?curr-obj-loc-obj) + (spec:property ?curr-obj-loc-obj (:type ?location-type))) + (equal ?location-type NIL))) ;; calculate trajectory (equal ?objects (?current-object-desig)) (-> (equal ?arm :left) - (and (lisp-fun man-int:get-action-trajectory :picking-up ?arm ?grasp ?objects + (and (lisp-fun man-int:get-action-trajectory :picking-up + ?arm ?grasp ?location-type ?objects ?left-trajectory) (lisp-fun man-int:get-traj-poses-by-label ?left-trajectory :reaching ?left-reach-poses) @@ -85,7 +114,8 @@ (equal ?left-grasp-poses NIL) (equal ?left-lift-poses NIL))) (-> (equal ?arm :right) - (and (lisp-fun man-int:get-action-trajectory :picking-up ?arm ?grasp ?objects + (and (lisp-fun man-int:get-action-trajectory :picking-up + ?arm ?grasp ?location-type ?objects ?right-trajectory) (lisp-fun man-int:get-traj-poses-by-label ?right-trajectory :reaching ?right-reach-poses) @@ -96,8 +126,12 @@ (and (equal ?right-reach-poses NIL) (equal ?right-grasp-poses NIL) (equal ?right-lift-poses NIL))) - (or (lisp-pred identity ?left-trajectory) - (lisp-pred identity ?right-trajectory)) + (once (or (lisp-pred identity ?left-trajectory) + (lisp-pred identity ?right-trajectory))) + + (-> (lisp-pred identity ?left-grasp-poses) + (equal ?left-grasp-poses (?look-pose . ?_)) + (equal ?right-grasp-poses (?look-pose . ?_))) ;; put together resulting action designator (desig:designator :action ((:type :picking-up) @@ -106,6 +140,8 @@ (:gripper-opening ?gripper-opening) (:effort ?effort) (:grasp ?grasp) + (:location-type ?location-type) + (:look-pose ?look-pose) (:left-reach-poses ?left-reach-poses) (:right-reach-poses ?right-reach-poses) (:left-grasp-poses ?left-grasp-poses) @@ -121,14 +157,16 @@ ;; find in which hand the object is (-> (spec:property ?action-designator (:arm ?arm)) (-> (spec:property ?action-designator (:object ?object-designator)) - (or (cpoe:object-in-hand ?object-designator ?arm) - (format "WARNING: Wanted to place an object ~a with arm ~a, ~ - but it's not in the arm.~%" ?object-designator ?arm)) + (once (or (cpoe:object-in-hand ?object-designator ?arm) + (format "WARNING: Wanted to place an object ~a with arm ~a, ~ + but it's not in the arm.~%" + ?object-designator ?arm))) (cpoe:object-in-hand ?object-designator ?arm)) (-> (spec:property ?action-designator (:object ?object-designator)) - (or (cpoe:object-in-hand ?object-designator ?arm) - (format "WARNING: Wanted to place an object ~a ~ - but it's not in any of the hands.~%" ?object-designator)) + (once (or (cpoe:object-in-hand ?object-designator ?arm) + (format "WARNING: Wanted to place an object ~a ~ + but it's not in any of the hands.~%" + ?object-designator))) (cpoe:object-in-hand ?object-designator ?arm))) ;;; infer missing information @@ -139,7 +177,14 @@ ;; take object-pose from action-designator :target otherwise from object-designator pose (-> (spec:property ?action-designator (:target ?location-designator)) - (and (desig:current-designator ?location-designator ?current-location-designator) + (and (desig:current-designator ?location-designator ?current-loc-desig) + ;; if the location designator has ATTACHMENTS property, + ;; split it into a list of locations with ATTACHMENT property + (-> (desig:desig-prop ?current-loc-desig (:attachments ?_)) + (and (lisp-fun split-attachments-desig ?current-loc-desig + ?list-of-current-loc-desig-split) + (member ?current-location-designator ?list-of-current-loc-desig-split)) + (equal ?current-location-designator ?current-loc-desig)) (desig:designator-groundings ?current-location-designator ?poses) (member ?target-object-pose ?poses) (lisp-fun pose->transform-stamped-in-base ?target-object-pose ?object-name @@ -152,22 +197,35 @@ ?current-location-designator))) ;; placing happens on/in an object - (or (desig:desig-prop ?current-location-designator (:on ?other-object-designator)) - (desig:desig-prop ?current-location-designator (:in ?other-object-designator)) - (equal ?other-object-designator NIL)) - (-> (desig:desig-prop ?current-location-designator (:attachment ?placement-location-name)) - (true) - (equal ?placement-location-name NIL)) - - (-> (spec:property ?action-designator (:grasp ?grasp)) - (true) - (cpoe:object-in-hand ?object-designator ?arm ?grasp)) + (once (or (desig:desig-prop ?current-location-designator + (:on ?other-object-desig)) + (desig:desig-prop ?current-location-designator + (:in ?other-object-desig)) + (equal ?other-object-desig NIL))) + (desig:current-designator ?other-object-desig ?other-object-designator) + ;; and that other object can be a robot or not + (-> (man-int:object-is-a-robot ?other-object-designator) + (equal ?other-object-is-a-robot T) + (equal ?other-object-is-a-robot NIL)) + ;; and the placement can have a specific attachment or not + (once (or (desig:desig-prop ?current-location-designator + (:attachment ?placement-location-name)) + (equal ?placement-location-name NIL))) + ;; get the type of the placement location, because the trajectory + ;; might be different depending on the location type + (once (or (spec:property ?other-object-designator (:type ?location-type)) + (equal ?location-type NIL))) + ;; infer the grasp type + (once (or (spec:property ?action-designator (:grasp ?grasp)) + (cpoe:object-in-hand ?object-designator ?arm ?grasp))) ;; calculate trajectory - (equal ?objects (?current-object-designator)) + (equal ?objects (?current-object-designator + ?other-object-designator + ?placement-location-name)) (-> (equal ?arm :left) - (and (lisp-fun man-int:get-action-trajectory - :placing ?arm ?grasp ?objects + (and (lisp-fun man-int:get-action-trajectory :placing + ?arm ?grasp ?location-type ?objects :target-object-transform-in-base ?target-object-transform ?left-trajectory) (lisp-fun man-int:get-traj-poses-by-label ?left-trajectory :reaching @@ -180,8 +238,8 @@ (equal ?left-put-poses NIL) (equal ?left-retract-poses NIL))) (-> (equal ?arm :right) - (and (lisp-fun man-int:get-action-trajectory - :placing ?arm ?grasp ?objects + (and (lisp-fun man-int:get-action-trajectory :placing + ?arm ?grasp ?location-type ?objects :target-object-transform-in-base ?target-object-transform ?right-trajectory) (lisp-fun man-int:get-traj-poses-by-label ?right-trajectory :reaching @@ -193,17 +251,25 @@ (and (equal ?right-reach-poses NIL) (equal ?right-put-poses NIL) (equal ?right-retract-poses NIL))) - (or (lisp-pred identity ?left-trajectory) - (lisp-pred identity ?right-trajectory)) + (once (or (lisp-pred identity ?left-trajectory) + (lisp-pred identity ?right-trajectory))) + + (-> (lisp-pred identity ?left-put-poses) + (equal ?left-put-poses (?look-pose . ?_)) + (equal ?right-put-poses (?look-pose . ?_))) ;; put together resulting designator (desig:designator :action ((:type :placing) (:object ?current-object-designator) + (:target ?current-location-designator) (:other-object ?other-object-designator) + (:other-object-is-a-robot ?other-object-is-a-robot) (:arm ?arm) + (:grasp ?grasp) + (:location-type ?location-type) (:gripper-opening ?gripper-opening) - (:target ?current-location-designator) (:attachment-type ?placement-location-name) + (:look-pose ?look-pose) (:left-reach-poses ?left-reach-poses) (:right-reach-poses ?right-reach-poses) (:left-put-poses ?left-put-poses) diff --git a/cram_common/cram_mobile_pick_place_plans/src/pick-place-plans.lisp b/cram_common/cram_mobile_pick_place_plans/src/pick-place-plans.lisp index d6a7cce6c7..2333b48240 100644 --- a/cram_common/cram_mobile_pick_place_plans/src/pick-place-plans.lisp +++ b/cram_common/cram_mobile_pick_place_plans/src/pick-place-plans.lisp @@ -35,12 +35,17 @@ ;; As we would really like to have declare statements, our plans are simple defuns. ;; If in the future one would want to use def-cram-function for plan transformations, ;; one can always def-cram-function that calls a normal function. +;; Actually, the main thing we use in the task tree is the PERFORM calls, +;; which are already stored in the task tree. So there is no need for +;; def-cram-function as of now anymore. (defun pick-up (&key ((:object ?object-designator)) ((:arm ?arm)) ((:gripper-opening ?gripper-opening)) ((:effort ?grip-effort)) ((:grasp ?grasp)) + location-type + ((:look-pose ?look-pose)) ((:left-reach-poses ?left-reach-poses)) ((:right-reach-poses ?right-reach-poses)) ((:left-grasp-poses ?left-grasp-poses)) @@ -51,57 +56,76 @@ (declare (type desig:object-designator ?object-designator) (type keyword ?arm ?grasp) (type number ?gripper-opening ?grip-effort) - (type (or null list) ; yes, null is also list, but this is more readable + (type (or null list) ; yes, null is also a list, but this is more readable ?left-reach-poses ?right-reach-poses ?left-grasp-poses ?right-grasp-poses - ?left-lift-poses ?right-lift-poses)) + ?left-lift-poses ?right-lift-poses) + (ignore location-type)) "Open gripper, reach traj, grasp traj, close gripper, issue grasping event, lift." (cram-tf:visualize-marker (man-int:get-object-pose ?object-designator) :r-g-b-list '(1 1 0) :id 300) (cpl:par - (roslisp:ros-info (pick-place pick-up) "Opening gripper") - (exe:perform - (desig:an action - (type setting-gripper) - (gripper ?arm) - (position ?gripper-opening))) - (roslisp:ros-info (pick-place pick-up) "Reaching") + (roslisp:ros-info (pick-place pick-up) + "Looking, opening gripper and reaching") (cpl:with-failure-handling - ((common-fail:manipulation-low-level-failure (e) + ((common-fail:ptu-low-level-failure (e) (roslisp:ros-warn (pp-plans pick-up) - "Manipulation messed up: ~a~%Ignoring." + "Looking-at had a problem: ~a~%Ignoring." e) - ;; (return) - )) + (return))) (exe:perform (desig:an action - (type reaching) - (left-poses ?left-reach-poses) - (right-poses ?right-reach-poses))))) + (type looking) + (target (desig:a location + (pose ?look-pose)))))) + (let ((?goal `(cpoe:gripper-joint-at ,?arm ,?gripper-opening))) + (exe:perform + (desig:an action + (type setting-gripper) + (gripper ?arm) + (position ?gripper-opening) + (goal ?goal)))) + (cpl:with-failure-handling + ((common-fail:manipulation-low-level-failure (e) + (roslisp:ros-warn (pp-plans pick-up) + "Manipulation messed up: ~a~%Ignoring." + e) + (return))) + (let ((?goal `(cpoe:tool-frames-at ,?left-reach-poses ,?right-reach-poses))) + (exe:perform + (desig:an action + (type reaching) + (object ?object-designator) + (left-poses ?left-reach-poses) + (right-poses ?right-reach-poses) + (goal ?goal)))))) (roslisp:ros-info (pick-place pick-up) "Grasping") (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) (roslisp:ros-warn (pp-plans pick-up) "Manipulation messed up: ~a~%Ignoring." e) - (return) - )) + (return))) + (let ((?goal `(cpoe:tool-frames-at ,?left-grasp-poses ,?right-grasp-poses))) + (exe:perform + (desig:an action + (type grasping) + (object ?object-designator) + (left-poses ?left-grasp-poses) + (right-poses ?right-grasp-poses) + (goal ?goal))))) + (roslisp:ros-info (pick-place pick-up) "Gripping") + (let ((?goal `(cpoe:object-in-hand ,?object-designator ,?arm))) (exe:perform (desig:an action - (type grasping) + (type gripping) + (gripper ?arm) + (effort ?grip-effort) (object ?object-designator) - (left-poses ?left-grasp-poses) - (right-poses ?right-grasp-poses)))) - (roslisp:ros-info (pick-place pick-up) "Gripping") - (exe:perform - (desig:an action - (type gripping) - (gripper ?arm) - (effort ?grip-effort) - (object ?object-designator) - (grasp ?grasp))) + (grasp ?grasp) + (goal ?goal)))) (roslisp:ros-info (pick-place pick-up) "Lifting") (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) @@ -109,31 +133,35 @@ "Manipulation messed up: ~a~%Ignoring." e) (return))) - (exe:perform - (desig:an action - (type lifting) - (left-poses ?left-lift-poses) - (right-poses ?right-lift-poses)))) + (let ((?goal `(cpoe:tool-frames-at ,?left-lift-poses ,?right-lift-poses))) + (exe:perform + (desig:an action + (type lifting) + (left-poses ?left-lift-poses) + (right-poses ?right-lift-poses) + (goal ?goal))))) (roslisp:ros-info (pick-place place) "Parking") (exe:perform (desig:an action - (type positioning-arm) + (type parking-arms) ;; TODO: this will not work with dual-arm grasping ;; but as our ?arm is declared as a keyword, ;; for now this code is the right code - (desig:when (eql ?arm :left) - (left-configuration park)) - (desig:when (eql ?arm :right) - (right-configuration park))))) + (arms (?arm))))) (defun place (&key ((:object ?object-designator)) + ((:target ?target-location-designator)) ((:other-object ?other-object-designator)) + other-object-is-a-robot ((:arm ?arm)) + grasp + location-type ((:gripper-opening ?gripper-opening)) ((:attachment-type ?placing-location-name)) + ((:look-pose ?look-pose)) ((:left-reach-poses ?left-reach-poses)) ((:right-reach-poses ?right-reach-poses)) ((:left-put-poses ?left-put-poses)) @@ -146,12 +174,25 @@ (type keyword ?arm) (type (or null keyword) ?placing-location-name) (type number ?gripper-opening) - (type (or null list) ; yes, null is also list, but this is better reachability + (type (or null list) ; yes, null is also list, but this is better readable ?left-reach-poses ?right-reach-poses ?left-put-poses ?right-put-poses - ?left-retract-poses ?right-retract-poses)) + ?left-retract-poses ?right-retract-poses) + (ignore grasp location-type)) "Reach, put, assert assemblage if given, open gripper, retract grasp event, retract arm." + (roslisp:ros-info (pick-place place) "Looking") + (cpl:with-failure-handling + ((common-fail:ptu-low-level-failure (e) + (roslisp:ros-warn (pp-plans place) + "Looking-at had a problem: ~a~%Ignoring." + e) + (return))) + (exe:perform + (desig:an action + (type looking) + (target (desig:a location + (pose ?look-pose)))))) (roslisp:ros-info (pick-place place) "Reaching") (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) @@ -160,11 +201,14 @@ e) ;; (return) )) - (exe:perform - (desig:an action - (type reaching) - (left-poses ?left-reach-poses) - (right-poses ?right-reach-poses)))) + (let ((?goal `(cpoe:tool-frames-at ,?left-reach-poses ,?right-reach-poses))) + (exe:perform + (desig:an action + (type reaching) + (location ?target-location-designator) + (left-poses ?left-reach-poses) + (right-poses ?right-reach-poses) + (goal ?goal))))) (roslisp:ros-info (pick-place place) "Putting") (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) @@ -172,32 +216,50 @@ "Manipulation messed up: ~a~%Ignoring." e) (return))) - (exe:perform - (desig:an action - (type putting) - (object ?object-designator) - (desig:when ?other-object-designator - (supporting-object ?other-object-designator)) - (left-poses ?left-put-poses) - (right-poses ?right-put-poses)))) + (let ((?goal `(cpoe:tool-frames-at ,?left-put-poses ,?right-put-poses))) + (exe:perform + (desig:an action + (type putting) + (object ?object-designator) + (desig:when ?other-object-designator + (supporting-object ?other-object-designator)) + (left-poses ?left-put-poses) + (right-poses ?right-put-poses) + (goal ?goal))))) (when ?placing-location-name (roslisp:ros-info (boxy-plans connect) "Asserting assemblage connection in knowledge base") - (cram-occasions-events:on-event - (make-instance 'cpoe:object-attached-object - :object-name (desig:desig-prop-value ?object-designator :name) - :other-object-name (desig:desig-prop-value ?other-object-designator :name) - :attachment-type ?placing-location-name))) + (if other-object-is-a-robot + (cram-occasions-events:on-event + (make-instance 'cpoe:object-attached-robot + :link (roslisp-utilities:rosify-underscores-lisp-name + (desig:desig-prop-value ?other-object-designator :urdf-name)) + :not-loose t + :object-name (desig:desig-prop-value ?object-designator :name) + :other-object-name (desig:desig-prop-value ?other-object-designator :name) + :grasp ?placing-location-name)) + (cram-occasions-events:on-event + (make-instance 'cpoe:object-attached-object + :object-name (desig:desig-prop-value ?object-designator :name) + :other-object-name (desig:desig-prop-value ?other-object-designator :name) + :attachment-type ?placing-location-name)))) (roslisp:ros-info (pick-place place) "Opening gripper") - (exe:perform - (desig:an action - (type setting-gripper) - (gripper ?arm) - (position ?gripper-opening))) + (let ((?goal `(cpoe:gripper-joint-at ,?arm ,?gripper-opening))) + (exe:perform + (desig:an action + (type setting-gripper) + (gripper ?arm) + (position ?gripper-opening) + (goal ?goal)))) (roslisp:ros-info (pick-place place) "Retract grasp in knowledge base") (cram-occasions-events:on-event (make-instance 'cpoe:object-detached-robot :arm ?arm :object-name (desig:desig-prop-value ?object-designator :name))) + (roslisp:ros-info (pick-place place) "Updating object location in knowledge base") + (cram-occasions-events:on-event + (make-instance 'cpoe:object-location-changed + :object-designator ?object-designator + :location-designator ?target-location-designator)) (roslisp:ros-info (pick-place place) "Retracting") (cpl:with-failure-handling ((common-fail:manipulation-low-level-failure (e) @@ -205,54 +267,57 @@ "Manipulation messed up: ~a~%Ignoring." e) (return))) - (exe:perform - (desig:an action - (type retracting) - (left-poses ?left-retract-poses) - (right-poses ?right-retract-poses)))) + (let ((?goal `(cpoe:tool-frames-at ,?left-retract-poses ,?right-retract-poses))) + (exe:perform + (desig:an action + (type retracting) + (left-poses ?left-retract-poses) + (right-poses ?right-retract-poses) + (goal ?goal))))) (roslisp:ros-info (pick-place place) "Parking") (exe:perform (desig:an action - (type positioning-arm) - (desig:when (eql ?arm :left) - (left-configuration park)) - (desig:when (eql ?arm :right) - (right-configuration park))))) + (type parking-arms) + (arms (?arm))))) (defun perceive (&key ((:object ?object-designator)) + park-arms (object-chosing-function #'identity) &allow-other-keys) - (declare (type desig:object-designator ?object-designator)) + (declare (type desig:object-designator ?object-designator) + (type boolean park-arms) + (ignore object-chosing-function)) "Park arms and call DETECTING action." - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (when park-arms + (exe:perform + (desig:an action + (type parking-arms) + (not-neck T)))) (exe:perform (desig:an action (type detecting) (object ?object-designator)))) -;; (defun perform-phases-in-sequence (action-designator) -;; (declare (type desig:action-designator action-designator)) -;; (let ((phases (desig:desig-prop-value action-designator :phases))) -;; (mapc (lambda (phase) -;; (format t "Executing phase: ~%~a~%~%" phase) -;; (exe:perform phase)) -;; phases))) - -;; (cpl:def-cram-function pick-up (action-designator object arm grasp) -;; (perform-phases-in-sequence action-designator) -;; (cram-occasions-events:on-event -;; (make-instance 'cpoe:object-attached-robot :object object :arm arm :grasp grasp))) - +#+the-stuff-below-with-action-phases-is-a-bit-awkward +( + (defun perform-phases-in-sequence (action-designator) + (declare (type desig:action-designator action-designator)) + (let ((phases (desig:desig-prop-value action-designator :phases))) + (mapc (lambda (phase) + (format t "Executing phase: ~%~a~%~%" phase) + (exe:perform phase)) + phases))) -;; (cpl:def-cram-function place (action-designator object arm) -;; (perform-phases-in-sequence action-designator) -;; (cram-occasions-events:on-event -;; (make-instance 'cpoe:object-detached-robot :arm arm :object object))) + (cpl:def-cram-function pick-up (action-designator object arm grasp) + (perform-phases-in-sequence action-designator) + (cram-occasions-events:on-event + (make-instance 'cpoe:object-attached-robot :object object :arm arm :grasp grasp))) + (cpl:def-cram-function place (action-designator object arm) + (perform-phases-in-sequence action-designator) + (cram-occasions-events:on-event + (make-instance 'cpoe:object-detached-robot :arm arm :object object))) + ) diff --git a/cram_common/cram_object_knowledge/src/household.lisp b/cram_common/cram_object_knowledge/src/household.lisp deleted file mode 100644 index d01e503257..0000000000 --- a/cram_common/cram_object_knowledge/src/household.lisp +++ /dev/null @@ -1,327 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :objects) - -(defparameter *lift-z-offset* 0.15 "in meters") -(defparameter *lift-offset* `(0.0 0.0 ,*lift-z-offset*)) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(def-fact-group household-object-type-hierarchy (man-int:object-type-direct-subtype) - (<- (man-int:object-type-direct-subtype :household-item :cutlery)) - (<- (man-int:object-type-direct-subtype :household-item :plate)) - (<- (man-int:object-type-direct-subtype :household-item :tray)) - (<- (man-int:object-type-direct-subtype :household-item :bottle)) - (<- (man-int:object-type-direct-subtype :household-item :cup)) - (<- (man-int:object-type-direct-subtype :household-item :milk)) - (<- (man-int:object-type-direct-subtype :household-item :cereal)) - (<- (man-int:object-type-direct-subtype :household-item :bowl)) - - (<- (man-int:object-type-direct-subtype :cutlery :knife)) - (<- (man-int:object-type-direct-subtype :cutlery :fork)) - (<- (man-int:object-type-direct-subtype :cutlery :spoon)) - - (<- (man-int:object-type-direct-subtype :cereal :breakfast-cereal))) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :household-item))) - 50) -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :milk))) - 20) -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :cereal))) - 30) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :household-item))) - 0.10) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :cutlery))) - 0.04) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :plate))) - 0.02) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :tray))) - 0.02) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(def-fact-group pnp-object-knowledge (man-int:object-rotationally-symmetric - man-int:orientation-matters) - - (<- (object-rotationally-symmetric ?object-type) - (member ?object-type (;; :plate :bottle :drink :cup :bowl :milk - ))) - - (<- (orientation-matters ?object-type) - (member ?object-type (:knife :fork :spoon :cutlery :spatula)))) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;; CUTLERY ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *cutlery-grasp-z-offset* -0.015 ;; 0.015 - "in meters") ; because TCP is not at the edge -(defparameter *cutlery-pregrasp-z-offset* 0.20 "in meters") -(defparameter *cutlery-pregrasp-xy-offset* 0.10 "in meters") - -;; TOP grasp -(man-int:def-object-type-to-gripper-transforms '(:cutlery :fork :knife :spoon) - '(:left :right) :top - :grasp-translation `(0.0 0.0 ,*cutlery-grasp-z-offset*) - :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* - :pregrasp-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) - :2nd-pregrasp-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) - :lift-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) - :2nd-lift-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*)) - -;; BOTTOM grasp -;; Bottom grasp is commented out because the robot grasps the spoon through the -;; drawer, as in the last part of the grasping trajectory collisions are turned off -;; (man-int:def-object-type-to-gripper-transforms '(:cutlery :fork :knife :spoon) -;; '(:left :right) :bottom -;; :grasp-translation `(0.0 0.0 ,(- *cutlery-grasp-z-offset*)) -;; :grasp-rot-matrix man-int:*-z-across-x-grasp-rotation* -;; :pregrasp-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*)) -;; :2nd-pregrasp-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*)) -;; :lift-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*)) -;; :2nd-lift-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*))) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; PLATE ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *plate-diameter* 0.26 "in meters") -(defparameter *plate-grasp-y-offset* (- (/ *plate-diameter* 2) 0.015) "in meters") -(defparameter *plate-grasp-z-offset* 0.015 "in meters") -(defparameter *plate-grasp-roll-offset* (/ pi 6)) -(defparameter *plate-pregrasp-y-offset* 0.2 "in meters") -(defparameter *plate-2nd-pregrasp-z-offset* 0.03 "in meters") ; grippers can't go into table - -;; SIDE grasp -(man-int:def-object-type-to-gripper-transforms '(:plate :tray) :left :left-side - :grasp-translation `(0.0 ,*plate-grasp-y-offset* ,*plate-grasp-z-offset*) - :grasp-rot-matrix - `((0 1 0) - (,(sin *plate-grasp-roll-offset*) 0 ,(- (cos *plate-grasp-roll-offset*))) - (,(- (cos *plate-grasp-roll-offset*)) 0 ,(- (sin *plate-grasp-roll-offset*)))) - :pregrasp-offsets `(0.0 ,*plate-pregrasp-y-offset* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*plate-pregrasp-y-offset* ,*plate-2nd-pregrasp-z-offset*) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) -(man-int:def-object-type-to-gripper-transforms :plate :right :right-side - :grasp-translation `(0.0 ,(- *plate-grasp-y-offset*) ,*plate-grasp-z-offset*) - :grasp-rot-matrix - `((0 -1 0) - (,(- (sin *plate-grasp-roll-offset*)) 0 ,(cos *plate-grasp-roll-offset*)) - (,(- (cos *plate-grasp-roll-offset*)) 0 ,(- (sin *plate-grasp-roll-offset*)))) - :pregrasp-offsets `(0.0 ,(- *plate-pregrasp-y-offset*) ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,(- *plate-pregrasp-y-offset*) ,*plate-2nd-pregrasp-z-offset*) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; bottle ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *bottle-pregrasp-xy-offset* 0.15 "in meters") -(defparameter *bottle-grasp-xy-offset* 0.02 "in meters") -(defparameter *bottle-grasp-z-offset* 0.005 "in meters") - -;; SIDE grasp -(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :left-side - :grasp-translation `(0.0d0 ,(- *bottle-grasp-xy-offset*) ,*bottle-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*bottle-pregrasp-xy-offset* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*bottle-pregrasp-xy-offset* 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) -(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :right-side - :grasp-translation `(0.0d0 ,*bottle-grasp-xy-offset* ,*bottle-grasp-z-offset*) - :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,(- *bottle-pregrasp-xy-offset*) ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,(- *bottle-pregrasp-xy-offset*) 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; BACK grasp -(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :back - :grasp-translation `(,*bottle-grasp-xy-offset* 0.0d0 ,*bottle-grasp-z-offset*) - :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* - :pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; FRONT grasp -(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :front - :grasp-translation `(,*bottle-grasp-xy-offset* 0.0d0 ,*bottle-grasp-z-offset*) - :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* - :pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;; cup ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *cup-pregrasp-xy-offset* 0.15 "in meters") -(defparameter *cup-grasp-xy-offset* 0.02 "in meters") -(defparameter *cup-grasp-z-offset* 0.01 "in meters") -(defparameter *cup-top-grasp-x-offset* 0.03 "in meters") -(defparameter *cup-top-grasp-z-offset* 0.02 "in meters") - -;; TOP grasp -(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :top - :grasp-translation `(,(- *cup-top-grasp-x-offset*) 0.0d0 ,*cup-top-grasp-z-offset*) - :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* - :pregrasp-offsets *lift-offset* - :2nd-pregrasp-offsets *lift-offset* - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; SIDE grasp -(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :left-side - :grasp-translation `(0.0d0 ,(- *cup-grasp-xy-offset*) ,*cup-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*cup-pregrasp-xy-offset* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*cup-pregrasp-xy-offset* 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) -(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :right-side - :grasp-translation `(0.0d0 ,*cup-grasp-xy-offset* ,*cup-grasp-z-offset*) - :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,(- *cup-pregrasp-xy-offset*) ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,(- *cup-pregrasp-xy-offset*) 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; BACK grasp -(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :back - :grasp-translation `(,*cup-grasp-xy-offset* 0.0d0 ,*cup-grasp-z-offset*) - :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* - :pregrasp-offsets `(,(- *cup-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,(- *cup-pregrasp-xy-offset*) 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; FRONT grasp -(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :front - :grasp-translation `(,(- *cup-grasp-xy-offset*) 0.0d0 ,*cup-grasp-z-offset*) - :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* - :pregrasp-offsets `(,*cup-pregrasp-xy-offset* 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,*cup-pregrasp-xy-offset* 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; milk ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *milk-grasp-xy-offset* 0.01 "in meters") -(defparameter *milk-grasp-z-offset* 0.0 "in meters") -(defparameter *milk-pregrasp-xy-offset* 0.15 "in meters") -(defparameter *milk-lift-z-offset* 0.05 "in meters") - -;; BACK grasp -(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :back - :grasp-translation `(,*milk-grasp-xy-offset* 0.0d0 ,*milk-grasp-z-offset*) - :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* - :pregrasp-offsets `(,(- *milk-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,(- *milk-pregrasp-xy-offset*) 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; FRONT grasp -(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :front - :grasp-translation `(,(- *milk-grasp-xy-offset*) 0.0d0 ,*milk-grasp-z-offset*) - :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* - :pregrasp-offsets `(,*milk-pregrasp-xy-offset* 0.0 ,*lift-z-offset*) - :2nd-pregrasp-offsets `(,*milk-pregrasp-xy-offset* 0.0 0.0) - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; SIDE grasp -(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :left-side - :grasp-translation `(0.0d0 ,(- *milk-grasp-xy-offset*) ,*milk-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*milk-pregrasp-xy-offset* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*milk-pregrasp-xy-offset* 0.0) - :lift-offsets `(0.0 ,(- *milk-grasp-xy-offset*) ,*milk-lift-z-offset*) - :2nd-lift-offsets `(0.0 ,(- *milk-grasp-xy-offset*) ,*milk-lift-z-offset*)) -(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :right-side - :grasp-translation `(0.0d0 ,*milk-grasp-xy-offset* ,*milk-grasp-z-offset*) - :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,(- *milk-pregrasp-xy-offset*) ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,(- *milk-pregrasp-xy-offset*) 0.0) - :lift-offsets `(0.0 ,*milk-grasp-xy-offset* ,*milk-lift-z-offset*) - :2nd-lift-offsets `(0.0 ,*milk-grasp-xy-offset* ,*milk-lift-z-offset*)) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; cereal ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *cereal-grasp-z-offset* 0.04 "in meters") -(defparameter *cereal-grasp-xy-offset* 0.03 "in meters") -(defparameter *cereal-pregrasp-z-offset* 0.05 "in meters") -(defparameter *cereal-pregrasp-xy-offset* 0.15 "in meters") -(defparameter *cereal-postgrasp-xy-offset* 0.40 "in meters") -(defparameter *cereal-lift-z-offset* 0.1 "in meters") - -;; FRONT grasp -(man-int:def-object-type-to-gripper-transforms '(:cereal :breakfast-cereal) '(:left :right) :front - :grasp-translation `(,*cereal-grasp-xy-offset* 0.0d0 ,*cereal-grasp-z-offset*) - :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* - :pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 ,*cereal-pregrasp-z-offset*) - :2nd-pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 0.0) - :lift-offsets `(,*cereal-grasp-xy-offset* 0.0 ,*cereal-lift-z-offset*) - :2nd-lift-offsets `(,*cereal-postgrasp-xy-offset* 0.0 ,*cereal-lift-z-offset*)) - -;; TOP grasp -(man-int:def-object-type-to-gripper-transforms '(:cereal :breakfast-cereal) '(:left :right) :top - :grasp-translation `(0.0d0 0.0d0 ,*cereal-grasp-z-offset*) - :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* - :pregrasp-offsets *lift-offset* - :2nd-pregrasp-offsets *lift-offset* - :lift-offsets *lift-offset* - :2nd-lift-offsets *lift-offset*) - -;; BACK grasp -(man-int:def-object-type-to-gripper-transforms '(:cereal :breakfast-cereal) '(:left :right) :back - :grasp-translation `(,(- *cereal-grasp-xy-offset*) 0.0d0 ,*cereal-grasp-z-offset*) - :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* - :pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 ,*cereal-pregrasp-z-offset*) - :2nd-pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 0.0) - :lift-offsets `(,(- *cereal-grasp-xy-offset*) 0.0 ,*cereal-lift-z-offset*) - :2nd-lift-offsets `(,(- *cereal-postgrasp-xy-offset*) 0.0 ,*cereal-lift-z-offset*)) - - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;; bowl ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defparameter *bowl-grasp-x-offset* 0.07 "in meters") -(defparameter *bowl-grasp-z-offset* 0.0 "in meters") -(defparameter *bowl-pregrasp-z-offset* 0.30 "in meters") - -;; TOP grasp -(man-int:def-object-type-to-gripper-transforms :bowl '(:left :right) :top - :grasp-translation `(,(- *bowl-grasp-x-offset*) 0.0d0 ,*bowl-grasp-z-offset*) - :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* - :pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) - :2nd-pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) - :lift-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) - :2nd-lift-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*)) diff --git a/cram_common/cram_occupancy_grid_costmap/src/prolog.lisp b/cram_common/cram_occupancy_grid_costmap/src/prolog.lisp index 8ba0d65d9f..9abf63baa7 100644 --- a/cram_common/cram_occupancy_grid_costmap/src/prolog.lisp +++ b/cram_common/cram_occupancy_grid_costmap/src/prolog.lisp @@ -49,13 +49,23 @@ (true))) (<- (desig-costmap ?desig ?cm) - (cram-robot-interfaces:visibility-designator ?desig) - (costmap ?cm) - (costmap-padding ?padding) - (drivable-location-costmap ?cm ?padding)) - - (<- (desig-costmap ?desig ?cm) - (cram-robot-interfaces:reachability-designator ?desig) - (costmap ?cm) - (costmap-manipulation-padding ?padding) + (or (rob-int:visibility-designator ?desig) + (rob-int:reachability-designator ?desig)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (-> (desig:desig-prop ?desig (:object ?some-object)) + (and (desig:current-designator ?some-object ?object) + (-> (desig:desig-prop ?object (:location ?some-loc)) + (not (man-int:location-always-reachable ?some-loc)) + (true))) + (true)) + (-> (desig:desig-prop ?desig (:location ?some-location)) + (and (desig:current-designator ?some-location ?location) + (not (man-int:location-always-reachable ?location))) + (true)) + (costmap:costmap ?cm) + (rob-int:robot ?robot-name) + (-> (rob-int:visibility-designator ?desig) + (costmap:costmap-padding ?robot-name ?padding) + (costmap:costmap-manipulation-padding ?robot-name ?padding)) (drivable-location-costmap ?cm ?padding))) diff --git a/cram_common/cram_plan_occasions_events/src/default-plan-events.lisp b/cram_common/cram_plan_occasions_events/src/default-plan-events.lisp index 6607933a3b..ece9ab9705 100644 --- a/cram_common/cram_plan_occasions_events/src/default-plan-events.lisp +++ b/cram_common/cram_plan_occasions_events/src/default-plan-events.lisp @@ -28,8 +28,10 @@ (in-package :cram-plan-occasions-events) -;;; Note that we do not provide an event for object change. The reason +;;; Note that we do not provide an event for object pose change. The reason ;;; is that object changes are essentially object perception events. +;;; We do, however, provide an object location change, as location change +;;; can be asserted using the knowledge from successful plan execution. (defclass object-perceived-event (event) ((object-designator :initarg :object-designator :reader event-object-designator @@ -47,14 +49,21 @@ contains a symbol indicating the sensor that produces the perception.")) -;; NOTE(winkler): This contradicts the above notice; will be resolved -;; later after everything got cleaned up, as this is a conceptual -;; issue, not a code-one. -;; (defclass object-updated-event (object-perceived-event) ()) - -;; (defclass object-removed-event (event) -;; ((object-name :initarg :object-name :reader event-object-name -;; :initform :object-name))) +(defclass object-location-changed (event) + ((object-designator + :initarg :object-designator :reader event-object-designator + :initform (error + 'simple-error + :format-control "OBJECT-LOCATION-CHANGED requires an object.")) + (location-designator + :initarg :location-designator :reader event-location-designator + :initform (error + 'simple-error + :format-control "OBJECT-LOCATION-CHANGED requires a location."))) + (:documentation "Event that is generated whenever an object general location + is changed. The slot `object-designator' contains a reference to the + designator describing the perceived object and the slot `location-designator' + contains the new location designator, where the object is expected to have moved.")) (defclass robot-state-changed (event) () @@ -75,24 +84,37 @@ ((arm :initarg :arm :reader event-arm - :initform (error - 'simple-error - :format-control "OBJECT-ATTACHED-ROBOT event requires an arm.")) + :initform nil) + (link + :initarg :link + :reader event-link + :initform nil) (grasp :initarg :grasp :reader event-grasp - :initform nil - ;; (error 'simple-error - ;; :format-control "OBJECT-ATTACHED-ROBOT event requires GRASP.") - ))) + :initform nil) + (not-loose + :initarg :not-loose + :reader event-not-loose + :initform nil) + (other-object-name + :initarg :other-object-name + :reader event-other-object-name + :initform nil) + (object-designator + :initarg :object-designator + :reader event-object-designator + :initform nil))) (defclass object-detached-robot (object-connection-event) ((arm :initarg :arm :reader event-arm - :initform (error - 'simple-error - :format-control "OBJECT-DETACHED-ROBOT event requires an arm.")))) + :initform nil) + (link + :initarg :link + :reader event-link + :initform nil))) (defclass object-attached-object (object-connection-event) ((other-object-name @@ -110,18 +132,6 @@ (defclass object-detached-object (object-connection-event) ()) -;; (defclass object-articulation-event (event) -;; ((object-designator -;; :initarg :object-designator :reader event-object-designator -;; :initform (error -;; 'simple-error -;; :format-control "OBJECT-ARTICULATION-EVENT requires an object.")) -;; (opening-distance -;; :initarg :opening-distance :reader opening-distance -;; :initform (error -;; 'simple-error -;; :format-control "OBJECT-ARTICULATION-EVENT requires an opening distance.")))) - (defclass environment-manipulation-event (event) ((joint-name :documentation "The name of the joint that is being manipulated." @@ -153,29 +163,3 @@ (defclass container-opening-event (environment-manipulation-event) ()) (defclass container-closing-event (environment-manipulation-event) ()) - -;; (defclass object-gripped (cram-occasions-events:event) -;; ((arm :initarg :arm -;; :reader event-arm -;; :initform (error 'simple-error -;; :format-control "OBJECT-GRIPPED event requires ARM.")) -;; (object :initarg :object -;; :reader event-object -;; :initform (error 'simple-error -;; :format-control "OBJECT-GRIPPED event requires OBJECT.")) -;; (grasp :initarg :grasp -;; :reader event-grasp -;; :initform (error 'simple-error -;; :format-control "OBJECT-GRIPPED event requires GRASP."))) -;; (:documentation "Event that is generated whenever the robot successfully -;; closed a gripper around an object.")) - -;; (defclass object-released (cram-occasions-events:event) -;; ((arm :initarg :arm -;; :reader event-arm -;; :initform (error 'simple-error -;; :format-control "OBJECT-GRIPPED event requires OBJECT.")) -;; (object :initarg :object ; maybe some epic robots can release only one of two objects they hold -;; :reader event-object -;; :initform (error 'simple-error -;; :format-control "OBJECT-GRIPPED event requires OBJECT.")))) diff --git a/cram_common/cram_plan_occasions_events/src/occasion-declarations.lisp b/cram_common/cram_plan_occasions_events/src/occasion-declarations.lisp index f070bf9553..55a9b33d13 100644 --- a/cram_common/cram_plan_occasions_events/src/occasion-declarations.lisp +++ b/cram_common/cram_plan_occasions_events/src/occasion-declarations.lisp @@ -29,29 +29,67 @@ (in-package :cram-plan-occasions-events) -(def-fact-group occasions (object-in-hand object-placed-at object-picked object-put - loc looking-at arms-parked - container-state) +(def-fact-group occasions (object-in-hand + object-at-location robot-at-location + torso-at gripper-joint-at gripper-opened gripper-closed + arms-positioned-at tool-frames-at + looking-at + container-state + location-reset) + + (<- (object-in-hand ?object ?hand ?grasp ?link) + (fail)) + (<- (object-in-hand ?object ?hand ?grasp) + (fail)) + (<- (object-in-hand ?object ?hand) + (fail)) (<- (object-in-hand ?object) (fail)) - (<- (object-placed-at ?object ?location) + (<- (object-at-location ?object-designator ?location-designator) + (fail)) + (<- (robot-at-location ?location-designator) (fail)) - (<- (object-picked ?object) + (<- (torso-at ?joint-state) + (fail)) + (<- (torso-at ?joint-state ?delta) (fail)) - (<- (object-put ?object) + (<- (gripper-joint-at ?arm ?joint-state) + (fail)) + (<- (gripper-joint-at ?arm ?joint-state ?delta) (fail)) - (<- (loc ?robot-or-object ?location) + (<- (gripper-opened ?gripper) + (fail)) + (<- (gripper-opened ?gripper ?delta) (fail)) - (<- (looking-at ?location) + (<- (gripper-closed ?gripper) + (fail)) + (<- (gripper-closed ?gripper ?delta) (fail)) - (<- (arms-parked) + (<- (arms-positioned-at ?left-configuration ?right-configuration) + (fail)) + (<- (arms-positioned-at ?left-configuration ?right-configuration ?delta) + (fail)) + + (<- (tool-frames-at ?left-poses ?right-poses) + (fail)) + (<- (tool-frames-at ?left-poses ?right-poses ?delta-position ?delta-rotation) + (fail)) + + (<- (looking-at ?location-or-object-or-frame-or-direction-or-pose) + (fail)) + (<- (looking-at ?location-or-object-or-frame-or-direction-or-pose ?delta) + (fail)) + + (<- (container-state ?container-object-designator ?joint-state-or-keyword) + (fail)) + (<- (container-state ?container-object-designator ?joint-state-or-keyword ?delta) (fail)) - (<- (container-state ?container-object-designator ?joint-state) + (<- (location-reset ?location-designator) (fail))) diff --git a/cram_common/cram_plan_occasions_events/src/package.lisp b/cram_common/cram_plan_occasions_events/src/package.lisp index 73457dabbc..0a5b097e22 100644 --- a/cram_common/cram_plan_occasions_events/src/package.lisp +++ b/cram_common/cram_plan_occasions_events/src/package.lisp @@ -34,39 +34,40 @@ (:use #:common-lisp #:cram-occasions-events #:cram-prolog) - (:export #:object-perceived-event - #:event-object-designator - #:perception-source - #:robot-state-changed - #:object-connection-event - ;; #:object-articulation-event - #:object-attached-robot #:object-detached-robot - #:object-attached-object #:object-detached-object - ;; #:object-removed-event - ;; #:object-updated-event - #:event-object-name - #:event-other-object-name - #:event-attachment-type - #:event-arm - #:event-grasp - ;; #:object-designator #:opening-distance + (:export + ;; default-plan-events + #:object-perceived-event + #:object-location-changed + #:robot-state-changed + #:object-connection-event + #:object-attached-robot #:object-detached-robot + #:object-attached-object #:object-detached-object + #:environment-manipulation-event + #:container-opening-event #:container-closing-event - #:environment-manipulation-event - #:environment-event-joint-name - #:environment-event-arm - #:environment-event-object - #:environment-event-distance - ;; #:container-handle-grasping-event - #:container-opening-event - #:container-closing-event + #:perception-source + #:event-location-designator + #:event-object-designator + #:event-object-name + #:event-other-object-name + #:event-attachment-type + #:event-arm + #:event-link + #:event-grasp + #:event-not-loose + #:environment-event-joint-name + #:environment-event-arm + #:environment-event-object + #:environment-event-distance - ;; occasion-declarations - ;; Symbols used in plans and thus the execution trace. - #:object-in-hand - #:object-placed-at - #:object-picked - #:object-put - #:loc - #:looking-at - #:arms-parked - #:container-state)) + ;; occasion-declarations + ;; Symbols used in plans and thus the execution trace. + #:object-in-hand + #:object-at-location #:robot-at-location + #:torso-at #:gripper-joint-at + #:gripper-opened #:gripper-closed + #:arms-positioned-at #:tool-frames-at + #:looking-at + #:container-state + #:location-reset + #:location-accessible)) diff --git a/cram_common/cram_robot_interfaces/cram-robot-interfaces.asd b/cram_common/cram_robot_interfaces/cram-robot-interfaces.asd index 2b83180393..cfba74b66d 100644 --- a/cram_common/cram_robot_interfaces/cram-robot-interfaces.asd +++ b/cram_common/cram_robot_interfaces/cram-robot-interfaces.asd @@ -40,8 +40,8 @@ (:file "grasps" :depends-on ("package")) (:file "trajectories" :depends-on ("package")) (:file "arms" :depends-on ("package")) - (:file "ptu" :depends-on ("package")) + (:file "neck" :depends-on ("package")) (:file "robot" :depends-on ("package")) (:file "designator-utils" :depends-on ("package" "trajectories" "arms")) - (:file "utilities" :depends-on ("package")) - (:file "urdf" :depends-on ("package")))))) + (:file "urdf" :depends-on ("package" "robot")) + (:file "environment" :depends-on ("package")))))) diff --git a/cram_common/cram_robot_interfaces/src/arms.lisp b/cram_common/cram_robot_interfaces/src/arms.lisp index 2fad1528f9..086b120c2f 100644 --- a/cram_common/cram_robot_interfaces/src/arms.lisp +++ b/cram_common/cram_robot_interfaces/src/arms.lisp @@ -30,16 +30,13 @@ (in-package :cram-robot-interfaces) (def-fact-group arms (;; rules describing the robot arms - arm required-arms available-arms - arm-joints arm-links arm-base-joints arm-base-links arm-tool-joints - hand-links end-effector-link robot-tool-frame - gripper-joint gripper-link gripper-meter-to-joint-multiplier - ;; specific configurations - ;; robot-arms-parking-joint-states robot-arms-carrying-joint-states - ;; end-effector-parking-pose - ;; robot-pre-grasp-joint-states - planning-group - standard-to-particular-gripper-transform + arm + required-arms available-arms + arm-joints arm-links + hand-links hand-link hand-finger-link gripper-joint + end-effector-link robot-tool-frame + gripper-meter-to-joint-multiplier + standard<-particular-gripper-transform tcp-in-ee-pose) ;;;;;;;;;;;;;;;;;;;;;;;;; rules describing the robot arms @@ -65,69 +62,44 @@ (<- (arm-links ?robot ?arm ?links) (fail)) - ;; Unifies ?arm with the list of base joints for that arm (e.g., for the PR2 it's the torso). - (<- (arm-base-joints ?robot ?arm ?joints) - (fail)) - - ;; Unifies ?arm with a list of base links for that arm (e.g., for the PR2 it's the torso). - (<- (arm-base-links ?robot ?arm ?links) - (fail)) - - ;; Unifies ?arm with the list of tool joints for that arm - ;; (e.g., for the PR2 it's the palm and tool joints). - (<- (arm-tool-joints ?robot ?arm ?joints) - (fail)) - - ;; Unifies ?arm with a list of links for the hand of that arm. + ;; Unifies ?arm with a list of links for the hand of that arm. (<- (hand-links ?robot ?arm ?links) (fail)) - ;; Defines end-effector links for arms. - (<- (end-effector-link ?robot ?arm ?link-name) + ;; Unifies a ?link, which belongs to the hand of the robot on ?arm arm + (<- (hand-link ?robot ?arm ?link) (fail)) - ;; Defines tool frames for arms. - (<- (robot-tool-frame ?robot ?arm ?frame) + ;; Similar to hand-link but gives only the finger links (not palm etc.) + (<- (hand-finger-link ?robot ?arm ?link) (fail)) ;; Defines joints of robot's grippers (<- (gripper-joint ?robot ?arm ?joint) (fail)) - ;; Defines links of the grippers of the robot - (<- (gripper-link ?robot ?arm ?link) - (fail)) - + ;; Some grippers are commanded in radian, some in CM. + ;; To keep the interfaces consistent, we assume CM and each robot defines + ;; how to convert CM opening distance for the gripper into its own unit. (<- (gripper-meter-to-joint-multiplier ?robot ?multiplier) (fail)) - ;;;;;;;;;;;;;;;;;;;;;;;;; specific configurations - - ;; (<- (robot-arms-parking-joint-states ?robot ?joint-states) - ;; (fail)) - ;; (<- (robot-arms-parking-joint-states ?robot ?joint-states ?arm) - ;; (fail)) - - ;; (<- (robot-arms-carrying-joint-states ?robot ?joint-states) - ;; (fail)) - ;; (<- (robot-arms-carrying-joint-states ?robot ?joint-states ?arm) - ;; (fail)) - - ;; (<- (end-effector-parking-pose ?robot ?pose ?arm) - ;; (fail)) - - ;; (<- (robot-pre-grasp-joint-states ?robot ?joint-states) - ;; (fail)) + ;; Standard gripper has the Z pointing towards the object + ;; and X is aligned with the hand opening. + ;; If the particular robot's gripper is different, + ;; this predicate defines the cl-transforms:transform of + ;; standard-gripper_T_particular-gripper + (<- (standard<-particular-gripper-transform ?robot ?transform) + (fail)) - (<- (planning-group ?robot ?arms ?group-name) + ;; Defines end-effector links for arms. + (<- (end-effector-link ?robot ?arm ?link-name) (fail)) - (<- (standard-to-particular-gripper-transform ?robot ?transform) + ;; Defines tool frames for arms. + (<- (robot-tool-frame ?robot ?arm ?frame) (fail)) + ;; Defines cl-transforms:pose of ee_P_tcp (should be the same for all arms) (<- (tcp-in-ee-pose ?robot ?transform) (fail))) - - - - diff --git a/cram_common/cram_robot_interfaces/src/environment.lisp b/cram_common/cram_robot_interfaces/src/environment.lisp new file mode 100644 index 0000000000..a265e1f3a5 --- /dev/null +++ b/cram_common/cram_robot_interfaces/src/environment.lisp @@ -0,0 +1,56 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-robot-interfaces) + +(defparameter *environment-description-parameter* "kitchen_description" + "ROS parameter that contains the environment description URDF.") + +(defvar *environment-urdf* nil + "A cl-urdf object corresponding to parsed environment URDF.") + +(defvar *environment-name* nil + "Variable that stores the name of the current environment, +we assume that all the environment furniture is put together into one URDF.") + +(defun set-environment-name (new-name) + (setf *environment-name* new-name)) + +(defun get-environment-name () + (or *environment-name* + (error "[rob-int] Variable *ENVIRONMENT-NAME* is NIL.~%~ + Was it initialized from the URDF on the ROS parameter server?"))) + +(def-fact-group environment (environment-name) + (<- (environment-name ?environment-name) + (symbol-value *environment-name* ?environment-name) + (once (or (lisp-pred identity ?environment-name) + (lisp-pred error "[rob-int] Variable *ENVIRONMENT-NAME* is NIL.~%~ + Was it initialized from the URDF on the ~ + ROS parameter server?"))))) diff --git a/cram_common/cram_robot_interfaces/src/ptu.lisp b/cram_common/cram_robot_interfaces/src/neck.lisp similarity index 59% rename from cram_common/cram_robot_interfaces/src/ptu.lisp rename to cram_common/cram_robot_interfaces/src/neck.lisp index 45a954cd58..ac9f8a1785 100644 --- a/cram_common/cram_robot_interfaces/src/ptu.lisp +++ b/cram_common/cram_robot_interfaces/src/neck.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2015, Gayane Kazhoyan ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -28,9 +28,17 @@ (in-package :cram-robot-interfaces) -(def-fact-group ptu (camera-frame camera-minimal-height camera-maximal-height - robot-neck-links robot-neck-joints robot-neck-base-link - camera-in-neck-ee-pose) +(def-fact-group neck (camera-frame + camera-minimal-height camera-maximal-height + camera-horizontal-angle camera-vertical-angle + neck robot-neck-links robot-neck-joints robot-neck-base-link + camera-in-neck-ee-pose + neck-camera-z-offset + neck-camera-pose-unit-vector-multiplier + neck-camera-resampling-step + neck-camera-x-axis-limit neck-camera-y-axis-limit + neck-camera-z-axis-limit) + ;; Unifies ?frame with the name of the camera frame present on the ?robot (<- (camera-frame ?robot ?frame) (fail)) @@ -47,12 +55,44 @@ (<- (camera-maximal-height ?robot ?max-height) (fail)) + ;; view angle of the camera (assuming a fixed focal length) in horizontal axis + (<- (camera-horizontal-angle ?robot ?angle) + (fail)) + ;; view angle of the camera (assuming a fixed focal length) in vertical axis + (<- (camera-vertical-angle ?robot ?angle) + (fail)) + + ;; Unifies ?neck with the name of a body part that is present on the ?robot. + (<- (neck ?robot ?neck) + (fail)) + + ;; For necks with standard pan-tilt units (2 joints pan and tilt) (<- (robot-neck-links ?robot ?pan-link ?tilt-link) (fail)) (<- (robot-neck-joints ?robot ?pan-joint ?tilt-joint) (fail)) + + ;; For necks with more than 2 joints + (<- (robot-neck-links ?robot . ?neck-links) + (fail)) + (<- (robot-neck-joints ?robot . ?neck-joints) + (fail)) + ;; This link will be used for IK stuff (if IK will be used) (<- (robot-neck-base-link ?robot ?neck-base-link) (fail)) - + ;; neck_P_camera cl-transforms:pose (<- (camera-in-neck-ee-pose ?robot ?pose) + (fail)) + ;; for doing neck IK if the neck has more than 2 joints + (<- (neck-camera-z-offset ?robot ?number) + (fail)) + (<- (neck-camera-pose-unit-vector-multiplier ?robot ?number) + (fail)) + (<- (neck-camera-resampling-step ?robot ?number) + (fail)) + (<- (neck-camera-x-axis-limit ?robot ?number) + (fail)) + (<- (neck-camera-y-axis-limit ?robot ?number) + (fail)) + (<- (neck-camera-z-axis-limit ?robot ?number) (fail))) diff --git a/cram_common/cram_robot_interfaces/src/package.lisp b/cram_common/cram_robot_interfaces/src/package.lisp index 230e2e4310..dd67fd962b 100644 --- a/cram_common/cram_robot_interfaces/src/package.lisp +++ b/cram_common/cram_robot_interfaces/src/package.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -32,35 +32,41 @@ (:use #:common-lisp #:cram-prolog #:cram-designators) (:nicknames #:rob-int) (:export + ;; robot + #:*robot-description-parameter* #:*robot-urdf* + #:set-robot-name #:get-robot-name + #:robot #:robot-base-frame #:robot-odom-frame #:robot-torso-link-joint + #:robot-joint-states + #:robot-pose + #:arms #:arms-that-are-not-neck ;; arms #:arm #:required-arms #:available-arms - #:arm-joints #:arm-links #:arm-base-joints #:arm-base-links #:arm-tool-joints - #:hand-links #:end-effector-link #:robot-tool-frame - #:gripper-link #:gripper-joint #:gripper-meter-to-joint-multiplier - #:planning-group - #:standard-to-particular-gripper-transform + #:arm-joints #:arm-links + #:hand-links #:hand-link #:hand-finger-link #:gripper-joint + #:end-effector-link #:robot-tool-frame + #:gripper-meter-to-joint-multiplier + #:standard<-particular-gripper-transform #:tcp-in-ee-pose ;; designator utils #:compute-iks #:reachability-designator #:designator-reach-pose #:visibility-designator #:reachability-designator-p #:visibility-designator-p #:trajectory-desig? #:constraints-desig? - ;; ptu + ;; neck #:camera-frame #:camera-minimal-height #:camera-maximal-height - #:robot-neck-links #:robot-neck-joints #:robot-neck-base-link + #:camera-horizontal-angle #:camera-vertical-angle + #:neck #:robot-neck-links #:robot-neck-joints #:robot-neck-base-link #:camera-in-neck-ee-pose - ;; robot - #:robot #:robot-base-frame #:robot-odom-frame #:robot-torso-link-joint - #:current-robot-symbol #:current-robot-package #:current-robot-name - #:robot-joint-states - #:robot-pose + #:neck-camera-z-offset #:neck-camera-pose-unit-vector-multiplier + #:neck-camera-resampling-step + #:neck-camera-x-axis-limit #:neck-camera-y-axis-limit #:neck-camera-z-axis-limit ;; trajectories #:trajectory-point - ;; utilities - #:symbol-to-prolog-rule ;; urdf - #:*robot-urdf* #:get-joint-type #:get-joint-lower-limit #:get-joint-upper-limit #:get-joint-axis #:get-joint-origin #:get-joint-parent #:get-joint-child #:joint-lower-limit #:joint-upper-limit #:joint-type #:joint-axis #:joint-origin - #:joint-parent-link #:joint-child-link)) + #:joint-parent-link #:joint-child-link + ;; environment + #:*environment-description-parameter* #:*environment-urdf* + #:set-environment-name #:get-environment-name #:environment-name)) diff --git a/cram_common/cram_robot_interfaces/src/robot.lisp b/cram_common/cram_robot_interfaces/src/robot.lisp index 80b9ec7c61..8b8057f9b6 100644 --- a/cram_common/cram_robot_interfaces/src/robot.lisp +++ b/cram_common/cram_robot_interfaces/src/robot.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2015, Gayane Kazhoyan ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -28,11 +28,34 @@ (in-package :cram-robot-interfaces) -(def-fact-group robot (robot robot-base-frame robot-odom-frame - robot-torso-link-joint - robot-joint-states robot-pose) +(defparameter *robot-description-parameter* "robot_description" + "ROS parameter that contains the robot description.") + +(defvar *robot-urdf* nil + "A cl-urdf object corresponding to parsed robot urdf.") + +(defvar *robot-name* nil + "Variable that stores the name of the current robot, +so the robot whose brain this is.") + +(defun set-robot-name (new-name) + (setf *robot-name* new-name)) + +(defun get-robot-name () + (or *robot-name* (error "[rob-int] Variable *ROBOT-NAME* is NIL.~%~ + Have you initialized it from a URDF on the ~ + ROS parameter server?"))) + +(def-fact-group robot (robot + robot-base-frame robot-odom-frame + robot-torso-link-joint + robot-joint-states robot-pose) (<- (robot ?robot-name) - (fail)) + (symbol-value *robot-name* ?robot-name) + (once (or (lisp-pred identity ?robot-name) + (lisp-pred error "[rob-int] Variable *ROBOT-NAME* is NIL.~%~ + Have you initialized it from a URDF on the ~ + ROS parameter server?")))) (<- (robot-base-frame ?robot-name ?base-frame) (fail)) @@ -52,15 +75,13 @@ (fail))) -(defun current-robot-symbol () - (let ((robot-symbol - (cut:var-value '?r (car (prolog:prolog '(robot ?r)))))) - (if (cut:is-var robot-symbol) - NIL - robot-symbol))) - -(defun current-robot-package () - (symbol-package (current-robot-symbol))) +(def-fact-group utils (arms arms-that-are-not-neck) + (<- (arms ?robot-name ?arms) + (once (or (setof ?arm (rob-int:arm ?robot-name ?arm) ?arms) + (equal ?arms NIL)))) -(defun current-robot-name () - (symbol-name (current-robot-symbol))) + (<- (arms-that-are-not-neck ?robot-name ?arms) + (once (or (setof ?arm (and (rob-int:arm ?robot-name ?arm) + (not (rob-int:neck ?robot-name ?arm))) + ?arms) + (equal ?arms NIL))))) diff --git a/cram_common/cram_robot_interfaces/src/urdf.lisp b/cram_common/cram_robot_interfaces/src/urdf.lisp index dc4efeefe2..ac34fd5065 100644 --- a/cram_common/cram_robot_interfaces/src/urdf.lisp +++ b/cram_common/cram_robot_interfaces/src/urdf.lisp @@ -34,9 +34,6 @@ ;; Will need an SRDF parser to extract that information. Until then, a lot ;; of the predicates will be manually filled with data. -(defvar *robot-urdf* nil - "A cl-urdf object corresponding to parsed robot urdf.") - (defun get-joint-description (joint-name) (unless *robot-urdf* (error "[rob-int] ROBOT-URDF variable is not set!")) @@ -49,13 +46,19 @@ (defun get-joint-lower-limit (joint-name) (let* ((joint-description (get-joint-description joint-name))) - (when (and joint-description (not (equal (get-joint-type joint-name) :continuous))) - (cl-urdf:lower (cl-urdf:limits joint-description))))) + (when (and joint-description + (not (equal (get-joint-type joint-name) :continuous))) + (if (slot-boundp joint-description 'cl-urdf:limits) + (cl-urdf:lower (cl-urdf:limits joint-description)) + 0.0)))) (defun get-joint-upper-limit (joint-name) (let* ((joint-description (get-joint-description joint-name))) - (when (and joint-description (not (equal (get-joint-type joint-name) :continuous))) - (cl-urdf:upper (cl-urdf:limits joint-description))))) + (when (and joint-description + (not (equal (get-joint-type joint-name) :continuous))) + (if (slot-boundp joint-description 'cl-urdf:limits) + (cl-urdf:upper (cl-urdf:limits joint-description)) + 0.0)))) (defun get-joint-axis (joint-name) (let* ((joint-description (get-joint-description joint-name))) diff --git a/cram_common/cram_robot_pose_gaussian_costmap/src/current-pose-generator-and-pose-validator.lisp b/cram_common/cram_robot_pose_gaussian_costmap/src/current-pose-generator-and-pose-validator.lisp index d98aacd312..2ffd45f3c6 100644 --- a/cram_common/cram_robot_pose_gaussian_costmap/src/current-pose-generator-and-pose-validator.lisp +++ b/cram_common/cram_robot_pose_gaussian_costmap/src/current-pose-generator-and-pose-validator.lisp @@ -30,6 +30,7 @@ (in-package :gaussian-costmap) (defun robot-current-pose-tf-generator (desig) + (return-from robot-current-pose-tf-generator nil) (when (or (cram-robot-interfaces:reachability-designator-p desig) (cram-robot-interfaces:visibility-designator-p desig)) (when cram-tf:*transformer* @@ -37,6 +38,16 @@ (list (cram-tf:robot-current-pose)) (cl-transforms-stamped:transform-stamped-error () nil))))) +;; (defun robot-current-pose-bullet-generator (desig) +;; (when (or (cram-robot-interfaces:reachability-designator-p desig) +;; (cram-robot-interfaces:visibility-designator-p desig)) +;; (handler-case +;; (cut:var-value '?pose +;; (car (prolog `(and (btr:bullet-world ?w) +;; (cram-robot-interfaces:robot ?robot-name) +;; (btr:object-pose ?w ?robot-name ?pose))))) +;; (error () nil)))) + (desig:register-location-generator 3 robot-current-pose-tf-generator "We should move the robot only if we really need to move. Try the @@ -67,8 +78,10 @@ (defun reachable-location-validator (designator pose) (if (cram-robot-interfaces:reachability-designator-p designator) - (cut:with-vars-bound (?to-reach-pose ?min-distance ?max-distance - ?orientation-samples ?orientation-sample-step) + (cut:with-vars-bound (?to-reach-pose + ?min-distance ?max-distance + ?orientation-samples ?orientation-sample-step + ?orientation-offset) (cut:lazy-car (prolog:prolog `(and @@ -78,16 +91,24 @@ ;; (lisp-fun costmap:2d-pose-covariance ?poses 0.5 (?to-reach-point ?_)) (once (or (and (desig:desig-prop ,designator (:object ?some-object)) (desig:current-designator ?some-object ?object) - (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) - (lisp-pred identity ?to-reach-pose)) - (and (desig:desig-prop ,designator (:location ?some-location)) + (lisp-fun man-int:get-object-pose-in-map ?object + ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ,designator + (:location ?some-location)) (desig:current-designator ?some-location ?location) + (not (man-int:location-always-reachable ?location)) (desig:designator-groundings ?location ?to-reach-poses) (member ?to-reach-pose ?to-reach-poses)))) - (costmap:costmap-reach-minimal-distance ?min-distance) - (costmap:costmap-in-reach-distance ?max-distance) - (costmap:orientation-samples ?orientation-samples) - (costmap:orientation-sample-step ?orientation-sample-step)))) + (rob-int:robot ?robot-name) + (costmap:costmap-reach-minimal-distance ?robot-name ?min-distance) + (costmap:costmap-in-reach-distance ?robot-name ?max-distance) + (costmap:orientation-samples ?robot-name ?orientation-samples) + (costmap:orientation-sample-step ?robot-name ?orientation-sample-step) + (costmap:reachability-orientation-offset ?robot-name ?orientation-offset)))) (if (or (cut:is-var ?to-reach-pose) (cut:is-var ?min-distance) (cut:is-var ?max-distance)) @@ -115,7 +136,9 @@ (generated-angle (calculate-z-angle pose))) (if (and (< dist ?max-distance) (> dist ?min-distance) - (<= (abs (- perfect-angle generated-angle)) allowed-range)) + (<= (abs (- (abs (- perfect-angle generated-angle)) + (cl-transforms:normalize-angle ?orientation-offset))) + allowed-range)) :accept :reject)))) :unknown)) @@ -127,24 +150,30 @@ (defun visible-location-validator (designator pose) (if (cram-robot-interfaces:visibility-designator-p designator) - (cut:with-vars-bound (?to-see-pose ?max-distance - ?orientation-samples ?orientation-sample-step) + (cut:with-vars-bound (?to-see-pose + ?max-distance + ?orientation-samples ?orientation-sample-step) (cut:lazy-car (prolog:prolog - `(and (once (or (and (desig:desig-prop ,designator (:object ?some-object)) - (desig:current-designator ?some-object ?object) - ;; (btr-belief:object-designator-name ?object ?object-name) - ;; (btr:bullet-world ?world) - ;; (btr:object-pose ?world ?object-name ?to-see-pose) - (lisp-fun man-int:get-object-pose-in-map ?object ?to-see-pose) - (lisp-pred identity ?to-see-pose)) - (and (desig:desig-prop ,designator (:location ?some-location)) - (desig:current-designator ?some-location ?location) - (desig:designator-groundings ?location ?to-see-poses) - (member ?to-see-pose ?to-see-poses)))) - (costmap:visibility-costmap-size ?max-distance) - (costmap:orientation-samples ?orientation-samples) - (costmap:orientation-sample-step ?orientation-sample-step)))) + `(and (once + (or (and (desig:desig-prop ,designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object + ?to-see-pose) + (lisp-pred identity ?to-see-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ,designator (:location ?some-location)) + (desig:current-designator ?some-location ?location) + (not (man-int:location-always-reachable ?location)) + (desig:designator-groundings ?location ?to-see-poses) + (member ?to-see-pose ?to-see-poses)))) + (rob-int:robot ?robot-name) + (costmap:visibility-costmap-size ?robot-name ?max-distance) + (costmap:orientation-samples ?robot-name ?orientation-samples) + (costmap:orientation-sample-step ?robot-name + ?orientation-sample-step)))) (if (or (cut:is-var ?to-see-pose) (cut:is-var ?max-distance)) :unknown (let (;; DIST ist the distance from the suggested robot pose to to-see-pose @@ -177,13 +206,3 @@ (desig:register-location-validation-function 5 visible-location-validator "Verifies that visible location is indeed in close distance to pose") - -;; (defun robot-current-pose-bullet-generator (desig) -;; (when (or (cram-robot-interfaces:reachability-designator-p desig) -;; (cram-robot-interfaces:visibility-designator-p desig)) -;; (handler-case -;; (cut:var-value '?pose -;; (car (prolog `(and (btr:bullet-world ?w) -;; (cram-robot-interfaces:robot ?robot-name) -;; (btr:object-pose ?w ?robot-name ?pose))))) -;; (error () nil)))) diff --git a/cram_common/cram_robot_pose_gaussian_costmap/src/prolog.lisp b/cram_common/cram_robot_pose_gaussian_costmap/src/prolog.lisp index b3dd70aefc..fe9c9e8cde 100644 --- a/cram_common/cram_robot_pose_gaussian_costmap/src/prolog.lisp +++ b/cram_common/cram_robot_pose_gaussian_costmap/src/prolog.lisp @@ -38,26 +38,27 @@ (defmethod costmap-generator-name->score ((name pose-distribution-range-include-generator)) - 7) + 3) (defmethod costmap-generator-name->score ((name pose-distribution-range-exclude-generator)) - 6) + 4) (def-fact-group robot-pose-gaussian-costmap (desig-costmap) (<- (desig-costmap ?desig ?cm) - (cram-robot-interfaces:visibility-designator ?desig) + (rob-int:visibility-designator ?desig) ;; (bagof ?pose (desig-location-prop ?desig ?pose) ?poses) (once (or (and (desig:desig-prop ?desig (:object ?some-object)) (desig:current-designator ?some-object ?object) - ;; (btr-belief:object-designator-name ?object ?object-name) - ;; (btr:bullet-world ?world) - ;; (btr:object-pose ?world ?object-name ?to-see-pose) (lisp-fun man-int:get-object-pose-in-map ?object ?to-see-pose) - (lisp-pred identity ?to-see-pose)) + (lisp-pred identity ?to-see-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) (and (desig:desig-prop ?desig (:location ?some-location)) (desig:current-designator ?some-location ?location) + (not (man-int:location-always-reachable ?location)) (desig:designator-groundings ?location ?location-poses) ;; have to take one pose from all possibilities ;; as later we have a FORCE-LL on ?TO-SEE-POSES @@ -65,35 +66,43 @@ (member ?to-see-pose ?location-poses)))) (lisp-fun list ?to-see-pose ?to-see-poses) (lisp-fun 2d-pose-covariance ?to-see-poses 0.5 (?mean ?covariance)) - (costmap ?cm) - (costmap-add-function + (rob-int:robot ?robot-name) + (costmap:costmap ?cm) + (costmap:costmap-add-function pose-distribution - (make-gauss-cost-function ?mean ?covariance) + (costmap:make-gauss-cost-function ?mean ?covariance) ?cm) - (costmap:visibility-costmap-size ?distance) + (costmap:visibility-costmap-size ?robot-name ?distance) (instance-of pose-distribution-range-include-generator ?include-generator-id) - (costmap-add-function + (costmap:costmap-add-function ?include-generator-id - (make-range-cost-function ?mean ?distance) + (costmap:make-range-cost-function ?mean ?distance) ?cm) - (costmap:orientation-samples ?samples) - (costmap:orientation-sample-step ?sample-step) - (costmap-add-orientation-generator - (make-angle-to-point-generator ?mean :samples ?samples :sample-step ?sample-step) + (costmap:orientation-samples ?robot-name ?samples) + (costmap:orientation-sample-step ?robot-name ?sample-step) + (costmap:costmap-add-orientation-generator + (costmap:make-angle-to-point-generator + ?mean :samples ?samples :sample-step ?sample-step) ?cm) - (costmap-add-height-generator - (make-constant-height-function 0.0) + (costmap:costmap-add-height-generator + (costmap:make-constant-height-function 0.0) ?cm)) (<- (desig-costmap ?desig ?cm) - (cram-robot-interfaces:reachability-designator ?desig) + (rob-int:reachability-designator ?desig) ;; (bagof ?pose (cram-robot-interfaces:designator-reach-pose ?desig ?pose ?_) ?poses) (once (or (and (desig:desig-prop ?desig (:object ?some-object)) (desig:current-designator ?some-object ?object) (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) - (lisp-pred identity ?to-reach-pose)) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) (and (desig:desig-prop ?desig (:location ?some-location)) (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, + ;; don't use the costmap + (not (man-int:location-always-reachable ?location)) (desig:designator-groundings ?location ?location-poses) ;; have to take one pose from all possibilities ;; as later we have a FORCE-LL on ?TO-REACH-POSES @@ -101,37 +110,40 @@ (member ?to-reach-pose ?location-poses)))) (lisp-fun list ?to-reach-pose ?to-reach-poses) (lisp-fun cut:force-ll ?to-reach-poses ?poses-list) - (lisp-fun 2d-pose-covariance ?to-reach-poses 0.5 (?mean ?covariance)) - (costmap-in-reach-distance ?distance) - (costmap-reach-minimal-distance ?minimal-distance) - (costmap ?cm) - (forall - (member ?pose ?to-reach-poses) - (and - (instance-of pose-distribution-range-include-generator - ?include-generator-id) - (costmap-add-function - ?include-generator-id - (make-range-cost-function ?pose ?distance) ?cm) - (instance-of pose-distribution-range-exclude-generator - ?exclude-generator-id) - (costmap-add-function - ?exclude-generator-id - (make-range-cost-function ?pose ?minimal-distance :invert t) - ?cm))) - (costmap:orientation-samples ?samples) - (costmap:orientation-sample-step ?sample-step) - (costmap-add-orientation-generator - (make-angle-to-point-generator ?mean :samples ?samples :sample-step ?sample-step) + (lisp-fun costmap:2d-pose-covariance ?to-reach-poses 0.5 (?mean ?covariance)) + (costmap:costmap-in-reach-distance ?robot-name ?distance) + (costmap:costmap-reach-minimal-distance ?robot-name ?minimal-distance) + (costmap:costmap ?cm) + (forall (member ?pose ?to-reach-poses) + (and (instance-of pose-distribution-range-include-generator + ?include-generator-id) + (costmap:costmap-add-function + ?include-generator-id + (costmap:make-range-cost-function ?pose ?distance) ?cm) + (instance-of pose-distribution-range-exclude-generator + ?exclude-generator-id) + (costmap:costmap-add-function + ?exclude-generator-id + (costmap:make-range-cost-function + ?pose ?minimal-distance :invert t) + ?cm))) + (rob-int:robot ?robot-name) + (costmap:orientation-samples ?robot-name ?samples) + (costmap:orientation-sample-step ?robot-name ?sample-step) + (once (or (costmap:reachability-orientation-offset ?robot-name ?offset) + (equal ?offset 0.0))) + (costmap:costmap-add-orientation-generator + (costmap:make-angle-to-point-generator + ?mean :samples ?samples :sample-step ?sample-step :sample-offset ?offset) ?cm) - (costmap-add-height-generator + (costmap:costmap-add-height-generator (make-constant-height-function 0.0) ?cm)) ;; poses reachable-from ?pose for the robot ;; ?pose should usually be robot's current pose I suppose - (<- (desig-costmap ?desig ?cm) - (costmap ?cm) + (<- (costmap:desig-costmap ?desig ?cm) + (costmap:costmap ?cm) (desig-prop ?desig (:reachable-from ?from-what)) (or (and (lisp-type ?from-what symbol) ;; (cram-robot-interfaces:robot ?from-what) @@ -139,10 +151,13 @@ (and (lisp-type ?from-what cl-transforms:pose) (equal ?pose ?from-what))) (lisp-fun cl-transforms:origin ?pose ?point) - (costmap-in-reach-distance ?distance) - (costmap-add-function reachable-from-space - (make-range-cost-function ?point ?distance) - ?cm) - (costmap-add-function reachable-from-weighted - (make-location-cost-function ?pose ?distance) - ?cm))) + (rob-int:robot ?robot-name) + (costmap:costmap-in-reach-distance ?robot-name ?distance) + (costmap:costmap-add-function + reachable-from-space + (costmap:make-range-cost-function ?point ?distance) + ?cm) + (costmap:costmap-add-function + reachable-from-weighted + (costmap:make-location-cost-function ?pose ?distance) + ?cm))) diff --git a/cram_common/cram_simple_actionlib_client/package.xml b/cram_common/cram_simple_actionlib_client/package.xml index 6535945633..df4a93fc77 100644 --- a/cram_common/cram_simple_actionlib_client/package.xml +++ b/cram_common/cram_simple_actionlib_client/package.xml @@ -11,7 +11,7 @@ catkin roslisp - actionlib + actionlib_lisp roslisp_utilities cram_language diff --git a/cram_common/cram_simple_actionlib_client/src/simple-actionlib-client.lisp b/cram_common/cram_simple_actionlib_client/src/simple-actionlib-client.lisp index fb4b7b25db..8dd3e75dbf 100644 --- a/cram_common/cram_simple_actionlib_client/src/simple-actionlib-client.lisp +++ b/cram_common/cram_simple_actionlib_client/src/simple-actionlib-client.lisp @@ -109,9 +109,9 @@ do their magic invisibly in the background. (setf action-timeout (gethash name *action-timeouts*))) (cpl:with-failure-handling ((simple-error (e) - (format t "Actionlib error occured!~%~a~%Reinitializing...~%~%" e) - (init-simple-action-client name) - (cpl:retry))) + (format t "Actionlib error occured!~%~a~%Reinitializing...~%~%" e) + (init-simple-action-client name) + (cpl:retry))) (let ((actionlib:*action-server-timeout* 10.0) (client (get-simple-action-client name))) (if client diff --git a/cram_common/cram_tf/src/facts.lisp b/cram_common/cram_tf/src/facts.lisp index 82c3dcea31..bcdca7970a 100644 --- a/cram_common/cram_tf/src/facts.lisp +++ b/cram_common/cram_tf/src/facts.lisp @@ -102,18 +102,3 @@ (member ?pose ?poses)) (or (pose ?pose ?location) (equal ?location ?pose))))) - - -;; todo(@gaya): ugliest piece of code ever... -;; spent 2 years cleaning up cram, now spend another 2 messing it up again... -(def-fact-group robot-parts-location (desig-location-prop) - (<- (desig-location-prop ?object-designator ?pose-stamped) - (obj-desig? ?object-designator) - (desig-prop ?object-designator (:part-of ?robot)) - (cram-robot-interfaces:robot ?robot) - (desig-prop ?object-designator (:link ?link)) - (-> (desig-prop ?object-designator (:which-link ?params)) - (lisp-fun symbol-to-prolog-rule ?link ?robot-name ?params ?link-name) - (lisp-fun symbol-to-prolog-rule ?link ?robot-name ?link-name)) - (lisp-fun frame-to-pose-in-fixed-frame ?link-name ?pose-stamped))) - diff --git a/cram_common/cram_tf/src/package.lisp b/cram_common/cram_tf/src/package.lisp index fc8951e93c..60f4d72551 100644 --- a/cram_common/cram_tf/src/package.lisp +++ b/cram_common/cram_tf/src/package.lisp @@ -42,29 +42,31 @@ #:start-publishing-transforms #:stop-publishing-transforms ;; utilities #:poses-equal-p - #:frame-to-pose-in-fixed-frame + #:frame-to-pose-in-fixed-frame #:frame-to-transform-in-fixed-frame + #:3d-vector->list #:list->3d-vector #:pose->flat-list #:pose->flat-list-w-first #:pose->list #:flat-list->pose #:flat-list->transform #:flat-list-w-first->pose #:list->pose #:list->transform - #:ensure-pose-in-frame #:ensure-point-in-frame + #:ensure-pose-in-frame #:ensure-point-in-frame #:ensure-transform-in-frame #:translate-pose #:rotate-pose #:rotate-pose-in-own-frame #:rotate-transform-in-own-frame - #:tf-frame-converged #:pose->transform-stamped #:transform->pose-stamped #:transform-stamped-inv #:multiply-transform-stampeds #:strip-transform-stamped #:copy-transform-stamped #:translate-transform-stamped - #:pose-stamped->transform-stamped + #:pose-stamped->transform-stamped #:pose-stamped->point-stamped #:apply-transform - #:values-converged + #:values-converged #:tf-frame-converged #:pose-stampeds-converged + #:normalize-joint-angles + #:map-axis-aligned-axis #:map-axis-aligned-orientation #:angle-around-map-z ;; prolog facts #:pose #:pose-stamped #:position #:orientation #:poses-equal #:location-pose ;; robot current pose - #:robot-current-pose + #:robot-current-pose #:robot-current-transform ;; setup #:*transformer* #:*tf-default-timeout* diff --git a/cram_common/cram_tf/src/robot-current-pose.lisp b/cram_common/cram_tf/src/robot-current-pose.lisp index d160bab9dd..9e963cb592 100644 --- a/cram_common/cram_tf/src/robot-current-pose.lisp +++ b/cram_common/cram_tf/src/robot-current-pose.lisp @@ -55,3 +55,8 @@ :z 0.0))) (error 'transform-stamped-error :description "*transformer* is NIL. Have you called STARTUP-ROS?"))) + +(defun robot-current-transform (&key use-current-time-p) + (cram-tf:pose-stamped->transform-stamped + (robot-current-pose :use-current-time-p use-current-time-p) + cram-tf:*robot-base-frame*)) diff --git a/cram_common/cram_tf/src/setup.lisp b/cram_common/cram_tf/src/setup.lisp index be5eeb466d..b02b93a543 100644 --- a/cram_common/cram_tf/src/setup.lisp +++ b/cram_common/cram_tf/src/setup.lisp @@ -65,13 +65,13 @@ or in general at compile-time.") (defvar *robot-right-tool-frame* nil "Tool frame of the right arm. Initialized from CRAM robot desciption.") - (defun init-tf () (macrolet ((initialize-var (dynamic-var prolog-var) (let ((var-name (symbol-name dynamic-var))) `(if (is-var ,prolog-var) (roslisp:ros-info (cram-tf init-tf) - "~a is unknown. Did you load a robot description package?" + "~a is unknown. Did you load a ~ + robot description package?" ,var-name) (progn (setf ,dynamic-var ,prolog-var) @@ -79,18 +79,44 @@ or in general at compile-time.") "Set ~a to ~s." ,var-name ,prolog-var)))))) + ;; set *FIXED-FRAME* (setf *fixed-frame* "map") (roslisp:ros-info (cram-tf init-tf) "Set *fixed-frame* to ~s." *fixed-frame*) + ;; set the environment name based on the name in the urdf + (let ((environment-name + (roslisp-utilities:lispify-ros-underscore-name + (cl-urdf:name + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*environment-description-parameter*))) + :keyword))) + (rob-int:set-environment-name environment-name) + (roslisp:ros-info (cram-tf init-tf) "Environment name is ~a." environment-name)) + + ;; initialize *TRANSFORMER* (setf *transformer* (make-instance 'cl-tf:transform-listener)) (roslisp:ros-info (cram-tf init-tf) "Initialized *transformer* to a ~a." (type-of *transformer*)) + ;; set the TF-DEFAULT-TIMEOUT (when (roslisp:get-param "use_sim_time" nil) (setf *tf-default-timeout* 10.0)) (roslisp:ros-info (cram-tf init-tf) "*tf-default-timeout* is ~a." *tf-default-timeout*) + ;; set the robot name based on the name in the urdf + (let ((robot-name + (roslisp-utilities:lispify-ros-underscore-name + (cl-urdf:name + (cl-urdf:parse-urdf + (cut:replace-all ; our pr2 urdf has some garbage inside :( + (roslisp:get-param rob-int:*robot-description-parameter*) + "\\" " "))) + :keyword))) + (rob-int:set-robot-name robot-name) + (roslisp:ros-info (cram-tf init-tf) "Robot name is ~a." robot-name)) + + ;; set variables based on robot knowledge (ROB-INT package) (with-vars-bound (?odom-frame) (lazy-car (prolog `(and (robot ?robot) (robot-odom-frame ?robot ?odom-frame)))) @@ -103,15 +129,18 @@ or in general at compile-time.") (with-vars-bound (?torso-frame ?torso-joint) (lazy-car (prolog `(and (robot ?robot) - (robot-torso-link-joint ?robot ?torso-frame ?torso-joint)))) + (robot-torso-link-joint ?robot + ?torso-frame ?torso-joint)))) (initialize-var *robot-torso-frame* ?torso-frame) (initialize-var *robot-torso-joint* ?torso-joint)) - (with-vars-bound (?left-tool-frame ?right-tool-frame) + (with-vars-bound (?left-tool-frame) + (lazy-car (prolog `(and (robot ?robot) + (robot-tool-frame ?robot :left ?left-tool-frame)))) + (initialize-var *robot-left-tool-frame* ?left-tool-frame)) + (with-vars-bound (?right-tool-frame) (lazy-car (prolog `(and (robot ?robot) - (robot-tool-frame ?robot :left ?left-tool-frame) (robot-tool-frame ?robot :right ?right-tool-frame)))) - (initialize-var *robot-left-tool-frame* ?left-tool-frame) (initialize-var *robot-right-tool-frame* ?right-tool-frame)))) (defun destroy-tf () diff --git a/cram_common/cram_tf/src/utilities.lisp b/cram_common/cram_tf/src/utilities.lisp index 0cc733453d..700c55d4c0 100644 --- a/cram_common/cram_tf/src/utilities.lisp +++ b/cram_common/cram_tf/src/utilities.lisp @@ -38,7 +38,7 @@ (cl-transforms:orientation pose-2)) ang-sigma))) -(defun frame-to-pose-in-fixed-frame (frame-name) +(defun frame-to-pose-in-fixed-frame (frame-name &optional parent-frame) (when *transformer* (transform-pose-stamped *transformer* @@ -46,7 +46,26 @@ :pose (make-pose-stamped frame-name 0.0 (make-identity-vector) (make-identity-rotation)) - :target-frame *fixed-frame*))) + :target-frame (or parent-frame *fixed-frame*)))) + +(defun frame-to-transform-in-fixed-frame (frame-name &optional parent-frame) + (when *transformer* + (cl-transforms-stamped:lookup-transform + *transformer* + parent-frame frame-name + :timeout *tf-default-timeout* + :time 0.0))) + +(defun 3d-vector->list (3d-vector) + (let ((x (cl-transforms:x 3d-vector)) + (y (cl-transforms:y 3d-vector)) + (z (cl-transforms:z 3d-vector))) + (list x y z))) + +(defun list->3d-vector (position-list) + (destructuring-bind (x y z) + position-list + (cl-transforms:make-3d-vector x y z))) (defun pose->flat-list (pose) (let* ((xyz (cl-transforms:origin pose)) @@ -148,18 +167,31 @@ :timeout *tf-default-timeout* :use-current-ros-time use-current-ros-time)) -(defun translate-pose (pose &key (x-offset 0.0) (y-offset 0.0) (z-offset 0.0)) +(defun ensure-transform-in-frame (transform frame + &key use-current-ros-time use-zero-time) + (declare (type (or null cl-transforms-stamped:transform-stamped))) + (when transform + (let* ((child-frame + (cl-transforms-stamped:child-frame-id transform)) + (new-pose-stamped + (ensure-pose-in-frame (strip-transform-stamped transform) + frame + :use-current-ros-time use-current-ros-time + :use-zero-time use-zero-time))) + (pose-stamped->transform-stamped new-pose-stamped child-frame)))) + +(defun translate-pose (pose &key (x 0.0) (y 0.0) (z 0.0)) (let* ((pose-origin (cl-transforms:origin pose)) (new-origin (cl-transforms:copy-3d-vector pose-origin :x (let ((x-pose-origin (cl-transforms:x pose-origin))) - (+ x-pose-origin x-offset)) + (+ x-pose-origin x)) :y (let ((y-pose-origin (cl-transforms:y pose-origin))) - (+ y-pose-origin y-offset)) + (+ y-pose-origin y)) :z (let ((z-pose-origin (cl-transforms:z pose-origin))) - (+ z-pose-origin z-offset))))) + (+ z-pose-origin z))))) (etypecase pose (cl-transforms-stamped:pose-stamped (cl-transforms-stamped:copy-pose-stamped pose :origin new-origin)) @@ -223,20 +255,6 @@ (cl-transforms:transform (cl-transforms:copy-transform transform :rotation new-rotation))))) -(defun tf-frame-converged (goal-frame goal-pose-stamped delta-xy delta-theta) - (let* ((pose-in-frame - (cram-tf:ensure-pose-in-frame - goal-pose-stamped - goal-frame - :use-zero-time t)) - (goal-dist (max (abs (cl-transforms:x (cl-transforms:origin pose-in-frame))) - (abs (cl-transforms:y (cl-transforms:origin pose-in-frame))))) - (goal-angle (cl-transforms:normalize-angle - (cl-transforms:get-yaw - (cl-transforms:orientation pose-in-frame))))) - (and (<= goal-dist delta-xy) - (<= (abs goal-angle) delta-theta)))) - (defun pose->transform-stamped (parent-frame child-frame stamp pose) (let ((translation (cl-transforms:origin pose)) (rotation (cl-transforms:orientation pose))) @@ -271,37 +289,40 @@ Take xTy, ensure it's from x-frame. Multiply from the right with the yTz transform -- xTy * yTz == xTz." - (unless (string-equal (cl-transforms-stamped:frame-id x-y-transform) x-frame) - (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds X-Y-TRANSFORM did not have ~ - correct parent frame: ~a and ~a" - (cl-transforms-stamped:frame-id x-y-transform) x-frame)) - - (unless (string-equal (cl-transforms-stamped:child-frame-id y-z-transform) z-frame) - (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds Y-Z-TRANSFORM did not have ~ - correct child frame: ~a and ~a" - (cl-transforms-stamped:child-frame-id y-z-transform) z-frame)) - - (unless (string-equal (cl-transforms-stamped:child-frame-id x-y-transform) - (cl-transforms-stamped:frame-id y-z-transform)) - (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds X-Y-TRANSFORM and ~ - Y-Z-TRANSFORM did not have equal corresponding frames: ~a and ~a" - (cl-transforms-stamped:child-frame-id x-y-transform) - (cl-transforms-stamped:frame-id y-z-transform))) + (when (string-not-equal (cl-transforms-stamped:frame-id x-y-transform) + x-frame) + (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds X-Y-TRANSFORM~%~ + did not have correct parent frame: ~a and ~a" + (cl-transforms-stamped:frame-id x-y-transform) x-frame)) + + (when (string-not-equal (cl-transforms-stamped:child-frame-id y-z-transform) + z-frame) + (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds Y-Z-TRANSFORM~%~ + did not have correct child frame: ~a and ~a" + (cl-transforms-stamped:child-frame-id y-z-transform) z-frame)) + + (when (string-not-equal (cl-transforms-stamped:child-frame-id x-y-transform) + (cl-transforms-stamped:frame-id y-z-transform)) + (warn "~%~%~%~%!!!!!~%~%~%In multiply-transform-stampeds X-Y-TRANSFORM and~%~ + Y-Z-TRANSFORM did not have equal corresponding frames: ~a and ~a" + (cl-transforms-stamped:child-frame-id x-y-transform) + (cl-transforms-stamped:frame-id y-z-transform))) (let ((multiplied-transforms (cl-transforms:transform* x-y-transform y-z-transform)) - (timestamp (min (cl-transforms-stamped:stamp x-y-transform) - (cl-transforms-stamped:stamp y-z-transform)))) + (timestamp + (min (cl-transforms-stamped:stamp x-y-transform) + (cl-transforms-stamped:stamp y-z-transform)))) (ecase result-as-pose-or-transform (:pose (cl-transforms-stamped:pose->pose-stamped - x-frame + (cl-transforms-stamped:frame-id x-y-transform) timestamp (cl-transforms:transform->pose multiplied-transforms))) (:transform (cl-transforms-stamped:transform->transform-stamped - x-frame - z-frame + (cl-transforms-stamped:frame-id x-y-transform) + (cl-transforms-stamped:child-frame-id y-z-transform) timestamp multiplied-transforms))))) @@ -321,18 +342,20 @@ Multiply from the right with the yTz transform -- xTy * yTz == xTz." (or translation (cl-transforms-stamped:translation transform-stamped)) (or rotation (cl-transforms-stamped:rotation transform-stamped)))) -(defun translate-transform-stamped (transform &key (x-offset 0.0) (y-offset 0.0) (z-offset 0.0)) +(defun translate-transform-stamped (transform + &key (x-offset 0.0) (y-offset 0.0) (z-offset 0.0)) (copy-transform-stamped transform - :translation (let ((transform-translation (cl-transforms:translation transform))) - (cl-transforms:copy-3d-vector - transform-translation - :x (let ((x-transform-translation (cl-transforms:x transform-translation))) - (+ x-transform-translation x-offset)) - :y (let ((y-transform-translation (cl-transforms:y transform-translation))) - (+ y-transform-translation y-offset)) - :z (let ((z-transform-translation (cl-transforms:z transform-translation))) - (+ z-transform-translation z-offset)))))) + :translation + (let ((transform-translation (cl-transforms:translation transform))) + (cl-transforms:copy-3d-vector + transform-translation + :x (let ((x-transform-translation (cl-transforms:x transform-translation))) + (+ x-transform-translation x-offset)) + :y (let ((y-transform-translation (cl-transforms:y transform-translation))) + (+ y-transform-translation y-offset)) + :z (let ((z-transform-translation (cl-transforms:z transform-translation))) + (+ z-transform-translation z-offset)))))) (defun pose-stamped->transform-stamped (pose-stamped child-frame-id) (cl-transforms-stamped:make-transform-stamped @@ -342,6 +365,12 @@ Multiply from the right with the yTz transform -- xTy * yTz == xTz." (cl-transforms-stamped:origin pose-stamped) (cl-transforms-stamped:orientation pose-stamped))) +(defun pose-stamped->point-stamped (pose-stamped) + (cl-transforms-stamped:make-point-stamped + (cl-transforms-stamped:frame-id pose-stamped) + (cl-transforms-stamped:stamp pose-stamped) + (cl-transforms-stamped:origin pose-stamped))) + (defun apply-transform (left-hand-side-transform right-hand-side-transform) (cram-tf:multiply-transform-stampeds (cl-transforms-stamped:frame-id left-hand-side-transform) @@ -371,3 +400,157 @@ Multiply from the right with the yTz transform -- xTy * yTz == xTz." deltas (list deltas)))) ;; actually compare (every #'value-converged values goal-values deltas))) + +(defun tf-frame-converged (goal-frame goal-pose-stamped delta-xy delta-theta) + (let* ((pose-in-frame + (cram-tf:ensure-pose-in-frame + goal-pose-stamped + goal-frame + :use-zero-time t)) + (goal-dist (max (abs (cl-transforms:x (cl-transforms:origin pose-in-frame))) + (abs (cl-transforms:y (cl-transforms:origin pose-in-frame))) + (abs (cl-transforms:z (cl-transforms:origin pose-in-frame))))) + (goal-angle (cl-transforms:normalize-angle + (cl-transforms:get-yaw + (cl-transforms:orientation pose-in-frame))))) + (and (<= goal-dist delta-xy) + (<= (abs goal-angle) delta-theta)))) + +(defun pose-stampeds-converged (pose other-pose delta-position delta-rotation) + (declare (type (or null cl-transforms-stamped:pose-stamped) pose other-pose)) + (when (and pose other-pose) + (if (string-not-equal (cl-transforms-stamped:frame-id pose) + (cl-transforms-stamped:frame-id other-pose)) + (warn "[CRAM-TF:POSE-STAMPEDS-CONVERGED]: frames were not equal: ~a vs. ~a" + (cl-transforms-stamped:frame-id pose) + (cl-transforms-stamped:frame-id other-pose)) + (and (< (cl-transforms:v-norm + (cl-transforms:v- + (cl-transforms:origin pose) + (cl-transforms:origin other-pose))) + delta-position) + (< (abs + (cl-transforms:normalize-angle + (cl-transforms:angle-between-quaternions + (cl-transforms:orientation pose) + (cl-transforms:orientation other-pose)))) + delta-rotation))))) + + +(defun normalize-joint-angles (list-of-angles) + (mapcar #'cl-transforms:normalize-angle list-of-angles)) + + +(defun map-axis-aligned-axis (input-quaternion &optional (map-axis 2)) + (declare (type cl-transforms:quaternion input-quaternion)) + "Returns a list with (axis-index projection-positive), +where axis-index is a number 0, 1 or 2 (for x, y or z correspondingly), +depending on which axis is aligned with the given fixed frame `map-axis', +and projection-positive is T if the axis-index axis is pointing in the direction +of the `map-axis' or NIL if it looks in the opposite direction. +For example, if `map-axis' is 2, then we want to find which axis of +`input-quaternion' is aligned with map Z +and the projection-positive will T if axis-index looks up and NIL if it looks down. +projection-on-axis is a number between [-1; -0.57) V (0.57; 1], +which is the length of the projection of the `map-axis' +onto the correspondingly aligned object axis, +projection-positive is calculated based on the sing of projection-on-axis." + (let* ((rotation-matrix + (cl-transforms:quaternion->matrix input-quaternion)) + (map-axis-in-input-frame + `(,(aref rotation-matrix map-axis 0) + ,(aref rotation-matrix map-axis 1) + ,(aref rotation-matrix map-axis 2))) + (axis-index + 0) + (projection-on-axis-abs + (abs (nth axis-index map-axis-in-input-frame))) + (projection-on-axis + (nth axis-index map-axis-in-input-frame))) + (loop for i from 1 to 2 + do (when (> (abs (nth i map-axis-in-input-frame)) + projection-on-axis-abs) + (setf projection-on-axis-abs + (abs (nth i map-axis-in-input-frame)) + projection-on-axis + (nth i map-axis-in-input-frame) + axis-index + i))) + (list axis-index (> projection-on-axis 0)))) + +(defun map-axis-aligned-orientation (input-quaternion) + (declare (type cl-transforms:quaternion input-quaternion)) + "The returned orientation is of type cl-transforms:quaternion +and has its axes aligned with the identity axes of map (Z up, X forward, Y left), +i.e. the rotation matrix is a permutation and possibly negation of the identity. +For example, if the object is not flatly lying on the horizontal plane, +the axis-aligned orientation will put it on the plane and also correct +the angle around the map Z axis, such that the other two axes are aligned +with the X and Y of the map" + (destructuring-bind (axis-facing-up-index axis-positive-p) + (map-axis-aligned-axis input-quaternion) + (if axis-positive-p + (ecase axis-facing-up-index + (0 + ;; x is up, so align with y, i.e. y of object looks to the left + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 1 0) (/ pi -2))) + (1 + ;; y is up, so align with x, i.e. x of object looks forward + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 1 0 0) (/ pi 2))) + (2 + ;; z is up, so align with x and y + (cl-transforms:make-identity-rotation))) + (ecase axis-facing-up-index + (0 + ;; x is down, so align with y, i.e. y of object looks to the left + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 1 0) (/ pi 2))) + (1 + ;; y is down, so align with x, i.e. x of object looks forward + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 1 0 0) (/ pi -2))) + (2 + ;; z is down, so align with x and y + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 1 0) pi)))))) + +(defun angle-around-map-z (input-quaternion) + (declare (type cl-transforms:quaternion input-quaternion)) + "Calculates the angle between `input-quaternion' and +the corresponding axis-aligned orientation as per MAP-AXIS-ALIGNED-ORIENTATION, +assuming that the object is flatly lying on a horizontal plane, +i.e. that the angles around X and Y are 0." + ;; find out which axis in the `input-quaternion' is aligned with map Z + (destructuring-bind (axis-facing-up-index axis-positive-p) + (map-axis-aligned-axis input-quaternion) + ;; find the map axis-aligned orientation for `input-quaternion' + (let ((map-axis-aligned-quaternion + (map-axis-aligned-orientation input-quaternion))) + ;; find the angle between `input-quaternion' and map-axis-aligned-quaternion + ;; this angle is the orientation of input frame in axis-aligned frame + (multiple-value-bind (axis-aligned-R-input-angle axis-aligned-R-input-axis) + (cl-transforms:angle-between-quaternions + map-axis-aligned-quaternion + input-quaternion) + ;; angle-between-quaternions returns an angle and an axis, + ;; around which to rotate with the angle. + ;; the axis is going to be in axis-aligned coordinate frame + ;; and the angle might be clockwise or counterclockwise around that axis, + ;; so normalize it according to the right-hand rule + (let* ((axis-aligned-R-input-angle-normalized + (if (> (nth axis-facing-up-index + (3d-vector->list axis-aligned-R-input-axis)) + 0) + axis-aligned-R-input-angle + (* -1 axis-aligned-R-input-angle))) + ;; now that we know the angle between axis-aligned and input, + ;; we need to put that angle around map's Z axis. + ;; for that, we need to know if the vertical axis of `input-quaternion' + ;; is pointing up or down, if it points down we need to go clockwise + (angle-around-map-positive-Z + (if axis-positive-p + axis-aligned-R-input-angle-normalized + (* -1 axis-aligned-R-input-angle-normalized)))) + angle-around-map-positive-Z))))) diff --git a/cram_common/cram_tf/src/visualization.lisp b/cram_common/cram_tf/src/visualization.lisp index bd0ec96559..ce14517fcf 100644 --- a/cram_common/cram_tf/src/visualization.lisp +++ b/cram_common/cram_tf/src/visualization.lisp @@ -55,7 +55,7 @@ (cl-transforms-stamped:pose-stamped (cl-transforms-stamped:frame-id pose)) (t (or in-frame cram-tf:*fixed-frame*))) - ns "goal_locations" + ns "cram_goal_locations" id id type (roslisp:symbol-code 'visualization_msgs-msg: diff --git a/cram_core/cram_designators/src/cram-designators/package.lisp b/cram_core/cram_designators/src/cram-designators/package.lisp index 4ec477b1af..eee812fd5b 100644 --- a/cram_core/cram_designators/src/cram-designators/package.lisp +++ b/cram_core/cram_designators/src/cram-designators/package.lisp @@ -72,6 +72,7 @@ #:motion-designator #:motion-grounding #:location-designator #:*location-generator-max-retries* + #:*print-location-validation-function-results* #:register-location-generator #:register-location-validation-function #:list-location-generators diff --git a/cram_core/cram_executive/src/perform.lisp b/cram_core/cram_executive/src/perform.lisp index 916e64682b..8c556dd611 100644 --- a/cram_core/cram_executive/src/perform.lisp +++ b/cram_core/cram_executive/src/perform.lisp @@ -36,37 +36,45 @@ ((result :initarg :result :reader result :initform nil)) (:default-initargs :format-control "designator-goal-parsing-failure")) -(defun try-reference-designator (designator &optional (error-message "")) - (handler-case (reference designator) - (desig:designator-error () - (cpl:fail 'designator-reference-failure - :format-control "Designator ~a could not be resolved.~%~a" - :format-arguments (list designator error-message))))) +(defgeneric try-reference-designator (designator &optional error-message) + (:method (designator &optional (error-message "")) + (handler-case (reference designator) + (desig:designator-error () + (cpl:fail 'designator-reference-failure + :format-control "Designator ~a could not be resolved.~%~a" + :format-arguments (list designator error-message)))))) (defun convert-desig-goal-to-occasion (keyword-expression) - (handler-case (destructuring-bind (occasion &rest params) - keyword-expression - (cons ;; (intern (string-upcase occasion) :keyword) - occasion - params)) + (handler-case + (destructuring-bind (occasion &rest params) + keyword-expression + ;; (intern (string-upcase occasion) :keyword) + (cons occasion params)) (error (error-message) (cpl:fail 'designator-goal-parsing-failure :format-control "Designator goal ~a could not be parsed.~%~a" :format-arguments (list keyword-expression error-message))))) -(defun call-plan-with-designator-properties (plan-function action-designator) +(defun call-action-designator-plan (action-designator) (declare (type desig:action-designator action-designator)) "Returns the result of executing the plan function and the action-designator that was used as the parameter of the plan as multiple values." - (let ((designator-props-as-key-lambda-list - (let (plist) - (dolist (pair (desig:properties action-designator)) - (push (first pair) plist) - (push (second pair) plist)) - (nreverse plist)))) - (roslisp:ros-info (perform resolved) "~%~A~%~%" action-designator) - (values (apply plan-function designator-props-as-key-lambda-list) - action-designator))) + (destructuring-bind (plan-function referenced-action-designator) + (try-reference-designator action-designator) + (if (fboundp plan-function) + (let ((designator-props-as-key-lambda-list + (let (plist) + (dolist (pair (desig:properties referenced-action-designator)) + (push (first pair) plist) + (push (second pair) plist)) + (nreverse plist)))) + (roslisp:ros-info (perform resolved) "~%~A~%~%" + referenced-action-designator) + (values (apply plan-function designator-props-as-key-lambda-list) + referenced-action-designator)) + (cpl:fail "Action designator `~a' resolved to cram function `~a', ~ + but it isn't defined. Cannot perform action." + action-designator plan-function)))) (cpl:declare-goal perform (designator) (declare (ignore designator)) @@ -94,20 +102,16 @@ similar to what we have for locations.") (:method ((designator action-designator)) (roslisp:ros-info (perform action) "~%~A~%~%" designator) - (destructuring-bind (plan referenced-action-designator) - (try-reference-designator designator) - (if (fboundp plan) - (let ((desig-goal (desig-prop-value designator :goal))) + (let ((desig-goal (desig-prop-value designator :goal))) (if desig-goal (let ((occasion (convert-desig-goal-to-occasion desig-goal))) - (if (cram-occasions-events:holds occasion) - (warn 'simple-warning - :format-control "Action goal `~a' already achieved." - :format-arguments (list occasion)) - (call-plan-with-designator-properties plan referenced-action-designator)) - (unless (cram-occasions-events:holds occasion) - (cpl:fail "Goal `~a' of action `~a' was not achieved." - occasion designator))) - (call-plan-with-designator-properties plan referenced-action-designator))) - (cpl:fail "Action designator `~a' resolved to cram function `~a', ~ - but it isn't defined. Cannot perform action." designator plan))))) + (prog1 + (if (cram-occasions-events:holds occasion) + (roslisp:ros-info (perform action) + "Action goal `~a' already achieved." + (list occasion)) + (call-action-designator-plan designator)) + (unless (cram-occasions-events:holds occasion) + (warn "Goal `~a' of action `~a' was not achieved." + occasion designator)))) + (call-action-designator-plan designator))))) diff --git a/cram_core/cram_utilities/src/package.lisp b/cram_core/cram_utilities/src/package.lisp index a405f72cb4..a1fa081292 100644 --- a/cram_core/cram_utilities/src/package.lisp +++ b/cram_core/cram_utilities/src/package.lisp @@ -120,6 +120,7 @@ #:compare #:choose #:equalize-two-list-lengths #:equalize-lists-of-lists-lengths + #:recursive-alist-hash-table ;; time #:current-timestamp #:set-default-timestamp-function @@ -161,7 +162,7 @@ #:with-hash-table-locked ;; utils #:minimum #:maximum #:compare - #:execute-string + #:execute-string #:replace-all ;; semaphores, reexported from sb-thread ,@+semaphore-symbols+ ;; mailboxes, reexported from sb-concurrency diff --git a/cram_core/cram_utilities/src/utils.lisp b/cram_core/cram_utilities/src/utils.lisp index a6f6196b86..61df5c0136 100644 --- a/cram_core/cram_utilities/src/utils.lisp +++ b/cram_core/cram_utilities/src/utils.lisp @@ -165,19 +165,30 @@ removes deletes the file and the compiled file after loading it." -(defun equalize-two-list-lengths (first-list second-list) +(defun equalize-two-list-lengths (first-list second-list &key return-as-list) "Returns two lists of equal length as VALUES. To achieve equal length appends NILs at the end of the shorter of `first-list' and `second-list'." - (let* ((first-length (length first-list)) - (second-length (length second-list)) - (max-length (max first-length second-length))) - (values - (if (> max-length first-length) - (append first-list (make-list (- max-length first-length))) - first-list) - (if (> max-length second-length) - (append second-list (make-list (- max-length second-length))) - second-list)))) + (unless (listp first-list) + (setf first-list (list first-list))) + (unless (listp second-list) + (setf second-list (list second-list))) + (let* ((first-length + (length first-list)) + (second-length + (length second-list)) + (max-length + (max first-length second-length)) + (first-list-equalized + (if (> max-length first-length) + (append first-list (make-list (- max-length first-length))) + first-list)) + (second-list-equalized + (if (> max-length second-length) + (append second-list (make-list (- max-length second-length))) + second-list))) + (if return-as-list + (list first-list-equalized second-list-equalized) + (values first-list-equalized second-list-equalized)))) (defun equalize-lists-of-lists-lengths (first-list-of-lists second-list-of-lists) "Equalizes the length of lists inside of lists. E.g.: @@ -198,3 +209,35 @@ To achieve equal length appends NILs at the end of the shorter of `first-list' a (values first-result-l-of-ls second-result-l-of-ls))) + + +(defun recursive-alist-hash-table (alist &rest hash-table-initargs) + "Returns a hash table containing the keys and values of the association list +ALIST. Hash table is initialized using the HASH-TABLE-INITARGS. +This is a recursive version of alexandria:alist-hash-table." + (let ((table (apply #'make-hash-table hash-table-initargs))) + (dolist (cons alist) + (alexandria:ensure-gethash + (car cons) + table + (if (listp (cdr cons)) + (apply #'recursive-alist-hash-table (cdr cons) hash-table-initargs) + (cdr cons)))) + table)) + + +(defun replace-all (string part replacement &key (test #'char=)) + "Returns a new string in which all the occurences of the part +is replaced with replacement. + Taken from Common Lisp Cookbook." + (with-output-to-string (out) + (loop with part-length = (length part) + for old-pos = 0 then (+ pos part-length) + for pos = (search part string + :start2 old-pos + :test test) + do (write-string string out + :start old-pos + :end (or pos (length string))) + when pos do (write-string replacement out) + while pos))) diff --git a/cram_boxy/cram_boxy_assembly_demo/CMakeLists.txt b/cram_demos/cram_boxy_assembly_demo/CMakeLists.txt similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/CMakeLists.txt rename to cram_demos/cram_boxy_assembly_demo/CMakeLists.txt diff --git a/cram_boxy/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd b/cram_demos/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd similarity index 94% rename from cram_boxy/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd rename to cram_demos/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd index 5bf05bbeab..7d74455499 100644 --- a/cram_boxy/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd +++ b/cram_demos/cram_boxy_assembly_demo/cram-boxy-assembly-demo.asd @@ -46,33 +46,36 @@ cram-projection cram-occasions-events cram-utilities ; for EQUALIZE-LISTS-OF-LISTS-LENGTHS + cram-process-modules cram-common-failures cram-mobile-pick-place-plans cram-robot-interfaces ; for *robot-urdf* cram-object-knowledge - ;; cram-robosherlock + cram-manipulation-interfaces ; for standard rotations + - cram-physics-utils ; for reading "package://" paths + cram-physics-utils ; for reading "package://" paths cl-bullet ; for handling BOUNDING-BOX datastructures cram-bullet-reasoning cram-bullet-reasoning-belief-state cram-bullet-reasoning-utilities - cram-btr-visibility-costmap + cram-location-costmap cram-robot-pose-gaussian-costmap cram-occupancy-grid-costmap - cram-location-costmap - cram-manipulation-interfaces ; for standard rotations + cram-btr-visibility-costmap + cram-btr-spatial-relations-costmap + + cram-fetch-deliver-plans cram-urdf-projection ; for with-simulated-robot cram-boxy-description - ;; cram-boxy-low-level - cram-process-modules - ;; cram-boxy-process-modules - cram-boxy-plans ; for (a location (on ?obj) (attachment ?att) ...) ;; real robot + ;; cram-boxy-low-level + ;; cram-boxy-process-modules + ;; cram-robosherlock ) :components @@ -80,5 +83,6 @@ :components ((:file "package") (:file "setup" :depends-on ("package")) + (:file "costmaps" :depends-on ("package")) (:file "projection-demo" :depends-on ("package")) (:file "demo" :depends-on ("package" "projection-demo")))))) diff --git a/cram_boxy/cram_boxy_assembly_demo/launch/sandbox.launch b/cram_demos/cram_boxy_assembly_demo/launch/sandbox.launch similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/launch/sandbox.launch rename to cram_demos/cram_boxy_assembly_demo/launch/sandbox.launch diff --git a/cram_boxy/cram_boxy_assembly_demo/package.xml b/cram_demos/cram_boxy_assembly_demo/package.xml similarity index 93% rename from cram_boxy/cram_boxy_assembly_demo/package.xml rename to cram_demos/cram_boxy_assembly_demo/package.xml index f157768f89..109f72466e 100644 --- a/cram_boxy/cram_boxy_assembly_demo/package.xml +++ b/cram_demos/cram_boxy_assembly_demo/package.xml @@ -26,12 +26,13 @@ cram_projection cram_occasions_events cram_utilities + cram_process_modules cram_common_failures cram_mobile_pick_place_plans cram_robot_interfaces cram_object_knowledge - + cram_manipulation_interfaces cram_physics_utils cl_bullet @@ -39,17 +40,19 @@ cram_bullet_reasoning_belief_state cram_bullet_reasoning_utilities + cram_location_costmap cram_robot_pose_gaussian_costmap cram_occupancy_grid_costmap - cram_location_costmap - cram_manipulation_interfaces + cram_btr_visibility_costmap + cram_btr_spatial_relations_costmap + + cram_fetch_deliver_plans cram_urdf_projection cram_boxy_description - cram_process_modules - cram_boxy_plans + iai_maps diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/costmaps.lisp b/cram_demos/cram_boxy_assembly_demo/src/costmaps.lisp similarity index 67% rename from cram_pr2/cram_pr2_pick_place_demo/src/costmaps.lisp rename to cram_demos/cram_boxy_assembly_demo/src/costmaps.lisp index 003cfe7fcf..ba98bbb600 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/src/costmaps.lisp +++ b/cram_demos/cram_boxy_assembly_demo/src/costmaps.lisp @@ -31,22 +31,31 @@ (defun make-restricted-area-cost-function () (lambda (x y) - (if (> x 1.2) + (declare (ignore y)) + (if (> x -1.2) 0.0 - (if (and (> x 0.5) (> y -1.5) (< y 2.0)) - 1.0 - (if (and (> x 0.0) (> y -1.5) (< y 1.0)) - 1.0 - (if (and (< x 0.0) (> x -1.5) (> y -1.5) (< y 2.5)) - 1.0 - 0.0)))))) + 1.0))) (defmethod location-costmap:costmap-generator-name->score ((name (eql 'restricted-area))) 5) (def-fact-group demo-costmap (location-costmap:desig-costmap) (<- (location-costmap:desig-costmap ?designator ?costmap) - (or (cram-robot-interfaces:visibility-designator ?designator) - (cram-robot-interfaces:reachability-designator ?designator)) + (or (rob-int:visibility-designator ?designator) + (rob-int:reachability-designator ?designator)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (once (or (and (desig:desig-prop ?designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ?designator (:location ?some-location)) + (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, + ;; don't use the costmap + (not (man-int:location-always-reachable ?location))))) (location-costmap:costmap ?costmap) (location-costmap:costmap-add-function restricted-area diff --git a/cram_boxy/cram_boxy_projection/src/tf.lisp b/cram_demos/cram_boxy_assembly_demo/src/demo.lisp similarity index 79% rename from cram_boxy/cram_boxy_projection/src/tf.lisp rename to cram_demos/cram_boxy_assembly_demo/src/demo.lisp index 870675b0d2..b39ba012e7 100644 --- a/cram_boxy/cram_boxy_projection/src/tf.lisp +++ b/cram_demos/cram_boxy_assembly_demo/src/demo.lisp @@ -1,4 +1,5 @@ -;;; Copyright (c) 2012, Lorenz Moesenlechner +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -10,8 +11,8 @@ ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. ;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -26,10 +27,4 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(in-package :boxy-proj) - -(defmethod cram-occasions-events:on-event - update-tf ((event cram-plan-occasions-events:robot-state-changed)) - (when (eql cram-projection:*projection-environment* - 'cram-boxy-projection::boxy-bullet-projection-environment) - (cram-bullet-reasoning-belief-state:set-tf-from-bullet))) +(in-package :demo) diff --git a/cram_boxy/cram_boxy_assembly_demo/src/package.lisp b/cram_demos/cram_boxy_assembly_demo/src/package.lisp similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/src/package.lisp rename to cram_demos/cram_boxy_assembly_demo/src/package.lisp diff --git a/cram_demos/cram_boxy_assembly_demo/src/projection-demo.lisp b/cram_demos/cram_boxy_assembly_demo/src/projection-demo.lisp new file mode 100644 index 0000000000..d0711ccdf8 --- /dev/null +++ b/cram_demos/cram_boxy_assembly_demo/src/projection-demo.lisp @@ -0,0 +1,546 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defparameter *plate-x* -1.1115) +(defparameter *plate-y* 1.6) +(defparameter *plate-z* 0.8626) + +(defparameter *plate-rad-x* 0.36) +(defparameter *plate-rad-y* 0.60) +(defparameter *plate-rad-z* 0.008) +(defparameter *holder-bolt-rad-x* 0.05) +(defparameter *holder-bolt-rad-y* 0.025) +(defparameter *holder-bolt-rad-z* 0.0125) +(defparameter *bolt-rad-x* 0.01) +(defparameter *bolt-rad-y* 0.01) +(defparameter *bolt-rad-z* 0.0225) +(defparameter *holder-upperbody-rad-x* 0.085) +(defparameter *holder-upperbody-rad-y* 0.025) +(defparameter *holder-upperbody-rad-z* 0.021) +(defparameter *holder-bottom-wing-rad-x* 0.035) +(defparameter *holder-bottom-wing-rad-y* 0.045) +(defparameter *holder-bottom-wing-rad-z* 0.045) +(defparameter *holder-underbody-rad-x* 0.0925) +(defparameter *holder-underbody-rad-y* 0.025) +(defparameter *holder-underbody-rad-z* 0.024) +(defparameter *holder-plane-horizontal-rad-x* 0.1015) +(defparameter *holder-plane-horizontal-rad-y* 0.05) +(defparameter *holder-plane-horizontal-rad-z* 0.0335) +(defparameter *holder-window-rad-x* 0.026) +(defparameter *holder-window-rad-y* 0.025) +(defparameter *holder-window-rad-z* 0.017) +(defparameter *front-wheel-rad-z* 0.015) +(defparameter *nut-rad-z* 0.0075) +(defparameter *chassis-rad-z* 0.0515) +(defparameter *holder-plane-vertical-rad-x* 0.065) +(defparameter *holder-plane-vertical-rad-y* 0.06) +(defparameter *holder-plane-vertical-rad-z* 0.0175) +(defparameter *holder-top-wing-rad-x* 0.035) +(defparameter *holder-top-wing-rad-y* 0.0415) +(defparameter *holder-top-wing-rad-z* 0.045) + +(defparameter *yellow-plastic* '(0.949 0.807 0.082)) +(defparameter *gray-plastic* '(0.568 0.592 0.584)) +(defparameter *red-plane* '(0.878 0.376 0.243)) +(defparameter *cyan-plane* '(0.078 0.513 0.541)) +(defparameter *yellow-plane* '(0.964 0.847 0.584)) +(defparameter *transparent-plane* '(1 1 1)) +(defparameter *black-plane* '(0.184 0.152 0.121)) +(defparameter *gray-plane* '(0.482 0.537 0.549)) + +(defparameter *object-spawning-data* + `((big-wooden-plate :big-wooden-plate (0.823 0.698 0.513) + ((,*plate-rad-x* ,*plate-rad-y* ,(- *plate-rad-z*)) (0 0 0 1))) + (holder-bolt :holder-bolt ,*yellow-plastic* + ((,*holder-bolt-rad-x* ,*holder-bolt-rad-y* ,*holder-bolt-rad-z*) (0 0 0 1))) + (holder-upper-body :holder-upper-body ,*yellow-plastic* + ((,(+ 0.05 *holder-upperbody-rad-x*) 0.10 ,*holder-upperbody-rad-z*) + (0 0 0 1))) + (holder-bottom-wing :holder-bottom-wing ,*gray-plastic* + ((,(+ 0.1 *holder-bottom-wing-rad-x*) + ,(- 0.3 *holder-bottom-wing-rad-y*) + ,*holder-bottom-wing-rad-z*) + ,man-int:*rotation-around-z-90-list*)) + (holder-underbody :holder-underbody ,*yellow-plastic* + ((,(+ 0.05 *holder-underbody-rad-x*) 0.4 ,*holder-underbody-rad-z*) + (0 0 0 1))) + (holder-plane-horizontal :holder-plane-horizontal ,*yellow-plastic* + ((,(+ 0.05 *holder-plane-horizontal-rad-x*) + 0.6 + ,*holder-plane-horizontal-rad-z*) + (0 0 0 1))) + (holder-window :holder-window ,*gray-plastic* + ((,*holder-window-rad-x* + ,(+ 0.75 *holder-window-rad-y*) + ,*holder-window-rad-z*) + (0 0 0 1))) + (holder-plane-vertical :holder-plane-vertical ,*yellow-plastic* + ((,*holder-plane-vertical-rad-x* + ,(- 1.0 *holder-plane-vertical-rad-y*) + ,*holder-plane-vertical-rad-z*) + (0 0 0 1))) + (holder-top-wing :holder-top-wing ,*yellow-plastic* + ((,(+ 0.15 *holder-top-wing-rad-x*) + ,(- 1.15 *holder-top-wing-rad-y*) + ,*holder-top-wing-rad-z*) + ,man-int:*rotation-around-z-90-list*)) + + ;; rear wing is already well positioned + (rear-wing :rear-wing ,*yellow-plane* + ((0.079 0.599 0.056) + ,man-int:*rotation-around-z+90-list*)) + + ;; bolts are used intermediately + (bolt-1 :bolt ,*gray-plane* + ((0.015 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + (bolt-2 :bolt ,*gray-plane* + ((0.0325 0.0375 ,*bolt-rad-z*) (0 0 0 1))) + (bolt-3 :bolt ,*gray-plane* + ((0.05 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + (bolt-4 :bolt ,*gray-plane* + ((0.0675 0.0375 ,*bolt-rad-z*) (0 0 0 1))) + (bolt-5 :bolt ,*gray-plane* + ((0.085 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + + ;; first part of scenario on horizontal holder + (chassis :chassis ,*yellow-plane* + ((0.2 0.9 ,*chassis-rad-z*) ,man-int:*rotation-around-z-90-list*)) + (bottom-wing :bottom-wing ,*cyan-plane* + ((0.134 0.25 0.093) (0 0 0 1))) + (underbody :underbody ,*red-plane* + ((0.145 0.399 0.024) (0 0 0 1))) + (motor-grill :motor-grill ,*black-plane* + ((0.238 0.399 0.039) ,man-int:*rotation-around-y+90-list*)) + (upper-body :upper-body ,*red-plane* + ((0.119 0.1003 0.0482) (0 0 0 1))) + (top-wing :top-wing ,*cyan-plane* + ((0.18522 1.11423 0.08852) (0 0 0 1))) + (window :window ,*transparent-plane* + ((0.024 0.775 0.01962) (0 0 0 1))) + + ;; second part of scenario on vertical holder + (propeller :propeller ,*yellow-plane* + ((0.075 1.10 0) (0 0 0 1))) + (front-wheel-1 :front-wheel ,*black-plane* + ((0.15 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) + (front-wheel-2 :front-wheel ,*black-plane* + ((0.215 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) + (nut-1 :nut ,*gray-plane* + ((0.15 0.725 ,*nut-rad-z*) (0 0 0 1))) + (nut-2 :nut ,*gray-plane* + ((0.215 0.725 ,*nut-rad-z*) (0 0 0 1))))) + + +(defun spawn-objects-on-plate (&optional (spawning-data *object-spawning-data*)) + ;; (btr-utils:kill-all-objects) + ;; detach all objects from robot and environment + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + ;; detach all items from each other + (mapcar #'btr:detach-all-objects + (remove-if-not (lambda (obj) (typep obj 'btr:item)) + (btr:objects btr:*current-bullet-world*))) + ;; spawn objects at default poses + (let ((objects + (mapcar (lambda (object-name-type-pose-list) + (destructuring-bind (object-name object-type object-color + object-pose-list) + object-name-type-pose-list + (let ((object-relative-pose + (cram-tf:list->pose object-pose-list))) + (btr-utils:spawn-object + object-name + object-type + :mass 0.0 + :color object-color + :pose (cram-tf:pose->list + (cl-transforms:make-pose + (cl-transforms:v+ + (cl-transforms:make-3d-vector + (- *plate-x* *plate-rad-x*) + (- *plate-y* *plate-rad-y*) + (+ *plate-z* *plate-rad-z*)) + (cl-transforms:origin + object-relative-pose)) + (cl-transforms:orientation + object-relative-pose))))))) + spawning-data))) + + (btr:attach-object 'motor-grill 'underbody) + + objects)) + + +(defmethod exe:generic-perform :before (designator) + (format t "~%PERFORMING~%~A~%~%" designator)) + + +;;; ASSEMBLY STEPS: +;;; (1) put chassis on holder (bump inwards) +;;; (2) put bottom wing on chassis +;;; * maybe: dont hit the top-wing with the arm +;;; (3) put underbody on bottom wing +;;; (4) put upperbody on underbody +;;; (5) screw rear hole +;;; (6) put top wing on body +;;; (7) screw top wing +;;; (8) put window on body +;;; (9) screw window +;;; (10) put plane on vertical holder +;;; (11) put propeller on grill +;;; (12) screw propeller +;;; * put wheel on +;;; * screw nut onto wheel +;;; * put other wheel on +;;; * screw nut onto wheel +;;; * screw bottom body +(defun demo () + ;;(setf cram-robosherlock::*no-robosherlock-mode* t) + (spawn-objects-on-plate) + (setf btr:*visibility-threshold* 0.6) + + (urdf-proj:with-projected-robot + + (let ((wooden-plate + (desig:an object + (type big-wooden-plate) + (location (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name + kitchen-island-surface) + (part-of iai-kitchen))) + (side back) + (range 0.5)))))) + ;; 1 + (go-transport :chassis '(:side :left) :holder-plane-horizontal '(:range 0.3) + :horizontal-attachment + wooden-plate) + ;; 2 + (go-transport :bottom-wing '(:side :right) :chassis '(:range 0.3) + :wing-attachment + wooden-plate) + ;; 3 + (go-transport :underbody '(:side :right) :bottom-wing '(:range 0.3) + :body-attachment + wooden-plate) + + ;; we put the underbody on the bottom-wing but by doing that + ;; we also put it on the rear-wing. + ;; as there is no explicit placing action, the two will not be + ;; attached automatically. + ;; so we have to attach them manually unfortunately. + ;; this is required for later moving the whole plane onto another holder + (btr:attach-object 'underbody 'rear-wing) + + ;; 4 + (go-transport :upper-body '(:side :right) :underbody '(:range 0.3) + :body-on-body + wooden-plate) + ;; 5 + (go-transport :bolt '(:side :right) :upper-body '(:range 0.3) + :rear-thread + wooden-plate) + ;; 6 + (go-transport :top-wing '(:side :left) :upper-body '(:range 0.3) + :wing-attachment + wooden-plate) + ;; 7 + (go-transport :bolt :bolt :top-wing '(:range 0.3) + :middle-thread + wooden-plate) + ;; 8 + (go-transport :window '(:side :left) :top-wing '(:range 0.3) + :window-attachment + wooden-plate) + ;; 9 + (go-transport :bolt :bolt :window '(:range 0.3) + :window-thread + wooden-plate) + + ;; 10 + (go-transport :top-wing '(:range 0.3) :holder-plane-vertical '(:side :left) + ;; or `((,(- *base-x* 0.00) 1.45 0) (0 0 0 1)) + :vertical-attachment + wooden-plate) + + ;; 11 + (go-transport :propeller '(:side :left) :motor-grill '(:side :left) + ;; or `((,(- *base-x* 0.15) 1.8 0) (0 0 0 1)) + :propeller-attachment + wooden-plate) + + ;; 12 + (go-transport :bolt :bolt :propeller '(:side :left) + ;; or `((,*base-x* 1.85 0) (0 0 0 1)) + :propeller-thread + wooden-plate)))) + + +(defun go-transport (?object-type ?object-location-property + ?other-object-type ?other-object-location-property + ?attachment-type + ?wooden-plate) + (let* ((?object-location + (if (eq ?object-location-property :bolt) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name + kitchen-island-surface) + (part-of iai-kitchen))) + (side right) + (range-invert 0.9) + (side front)) + (desig:a location + (on ?wooden-plate) + ?object-location-property + (side front)))) + (?other-object-location + (desig:a location + (on ?wooden-plate) + ?other-object-location-property + (side front))) + (?object + (desig:an object + (type ?object-type) + (location ?object-location))) + (?other-object + (desig:an object + (type ?other-object-type) + (location ?other-object-location)))) + (exe:perform + (desig:an action + (type transporting) + (object ?object) + (arms (left)) + (target (desig:a location + (on ?other-object) + (for ?object) + (attachments (?attachment-type)))))))) + + + + +;;; ASSEMBLY STEPS: +;;; (1) put chassis on holder (bump inwards) +;;; (2) put bottom wing on chassis +;;; * maybe: dont hit the top-wing with the arm +;;; (3) put underbody on bottom wing +;;; (4) put upperbody on underbody +;;; (5) screw rear hole +;;; (6) put top wing on body +;;; (7) screw top wing +;;; (8) put window on body +;;; (9) screw window +;;; (10) put plane on vertical holder +;;; (11) put propeller on grill +;;; (12) screw propeller +;;; * put wheel on +;;; * screw nut onto wheel +;;; * put other wheel on +;;; * screw nut onto wheel +;;; * screw bottom body +(defun demo-hardcoded () + ;;(setf cram-robosherlock::*no-robosherlock-mode* t) + (spawn-objects-on-plate) + + (let* ((base-x + -2.4) + (base-very-left-side-left-hand-pose + `((,base-x 1.8 0) (0 0 0 1))) + (base-left-side-left-hand-pose + `((,base-x 1.5 0) (0 0 0 1))) + (base-somewhat-left-side-left-hand-pose + `((,base-x 1.3 0) (0 0 0 1))) + (base-middle-side-left-hand-pose + `((,base-x 1.1 0) (0 0 0 1))) + (base-right-side-left-hand-pose + `((,base-x 0.7 0) (0 0 0 1))) + (base-very-right-side-left-hand-pose + `((,(- base-x 0.2) 0.65 0) (0 0 0 1)))) + + (urdf-proj:with-projected-robot + ;; 1 + (go-connect :chassis base-very-left-side-left-hand-pose + :holder-plane-horizontal base-middle-side-left-hand-pose + :horizontal-attachment) + ;; 2 + (go-connect :bottom-wing base-very-right-side-left-hand-pose + :chassis base-left-side-left-hand-pose + :wing-attachment) + ;; 3 + (go-connect :underbody base-middle-side-left-hand-pose + :bottom-wing base-middle-side-left-hand-pose + :body-attachment) + + ;; we put the underbody on the bottom-wing but by doing that + ;; we also put it on the rear-wing. + ;; as there is no explicit placing action, the two will not be + ;; attached automatically. + ;; so we have to attach them manually unfortunately. + ;; this is required for later moving the whole plane onto another holder + (btr:attach-object 'underbody 'rear-wing) + + ;; 4 + (go-connect :upper-body base-right-side-left-hand-pose + :underbody base-left-side-left-hand-pose + :body-on-body) + ;; 5 + (go-connect :bolt base-right-side-left-hand-pose + :upper-body base-left-side-left-hand-pose + :rear-thread) + ;; 6 + (go-connect :top-wing base-left-side-left-hand-pose + :upper-body base-left-side-left-hand-pose + :wing-attachment) + ;; 7 + (go-connect :bolt base-right-side-left-hand-pose + :top-wing base-left-side-left-hand-pose + :middle-thread) + ;; 8 + (go-connect :window base-somewhat-left-side-left-hand-pose + :top-wing base-left-side-left-hand-pose + :window-attachment) + ;; 9 + (go-connect :bolt base-right-side-left-hand-pose + :window base-left-side-left-hand-pose + :window-thread) + + ;; 10 + (go-connect :top-wing base-somewhat-left-side-left-hand-pose + :holder-plane-vertical base-left-side-left-hand-pose + ;; or `((,(- *base-x* 0.00) 1.45 0) (0 0 0 1)) + :vertical-attachment) + + ;; 11 + (go-connect :propeller `((,(- base-x 0.15) 2 0) (0 0 0 1)) + :motor-grill base-left-side-left-hand-pose + ;; or `((,(- *base-x* 0.15) 1.8 0) (0 0 0 1)) + :propeller-attachment) + + ;; 12 + (go-connect :bolt base-right-side-left-hand-pose + :propeller base-left-side-left-hand-pose + ;; or `((,*base-x* 1.85 0) (0 0 0 1)) + :propeller-thread) + + ;;(go-connect :top-wing base-left-side-left-hand-pose + ;; :holder-plane-horizontal base-middle-side-left-hand-pose + ;; :horizontal-attachment) + + (exe:perform + (desig:an action + (type parking-arms)))))) + + +(defun go-connect (?object-type ?nav-goal ?other-object-type ?other-nav-goal + ?attachment-type) + (flet ((go-perceive (?object-type ?nav-goal) + ;; drive to right location + (let ((?pose (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* + 0.0 + (btr:ensure-pose ?nav-goal)))) + (exe:perform + (desig:an action + (type navigating) + (location (desig:a location + (pose ?pose)))))) + ;; look down + (exe:perform + (desig:an action + (type looking) + (direction down-left))) + ;; perceive object + (let ((?object + (exe:perform + (desig:an action + (type detecting) + (object (desig:an object (type ?object-type))))))) + ;; look away + (exe:perform + (desig:an action + (type looking) + (direction away))) + ?object))) + + ;; go and perceive object to pick + (let ((?object + (go-perceive ?object-type ?nav-goal))) + ;; pick it up + (exe:perform + (desig:an action + (type picking-up) + (arm left) + (object ?object))) + ;; go and perceive other object + (let ((?other-object + (go-perceive ?other-object-type ?other-nav-goal))) + ;; place + (exe:perform + (desig:an action + (type placing) + (arm left) + (object ?object) + (target (desig:a location + (on ?other-object) + (for ?object) + (attachment ?attachment-type))))) + ;; return object and other object + (values ?object ?other-object))))) + +#+examples +( + (boxy-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type looking) + (direction down)))) + + (boxy-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type detecting) + (object (desig:an object (type chassis)))))) + + (boxy-proj:with-simulated-robot + (exe:perform + (desig:an action + (type opening-gripper) + (gripper left)))) + + (boxy-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type placing) + (arm left)))) + ) diff --git a/cram_demos/cram_boxy_assembly_demo/src/setup.lisp b/cram_demos/cram_boxy_assembly_demo/src/setup.lisp new file mode 100644 index 0000000000..2af1253239 --- /dev/null +++ b/cram_demos/cram_boxy_assembly_demo/src/setup.lisp @@ -0,0 +1,48 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +;; roslaunch cram_boxy_assembly_demo sandbox.launch + +(defun init-projection () + ;; (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) + + (btr-belief:setup-world-database) + + (setf cram-tf:*tf-default-timeout* 2.0) + + (setf prolog:*break-on-lisp-errors* t) + + (cram-bullet-reasoning:clear-costmap-vis-object) + + (btr:add-objects-to-mesh-list "assembly_models" :directory "fixtures" :extension "stl") + (btr:add-objects-to-mesh-list "assembly_models" :directory "battat/convention" :extension "stl")) + +(roslisp-utilities:register-ros-init-function init-projection) diff --git a/cram_demos/cram_donbot_retail_demo/CMakeLists.txt b/cram_demos/cram_donbot_retail_demo/CMakeLists.txt new file mode 100644 index 0000000000..3e42586b32 --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cram_donbot_retail_demo) +find_package(catkin REQUIRED) +catkin_package() diff --git a/cram_pr2/cram_pr2_projection/cram-pr2-projection.asd b/cram_demos/cram_donbot_retail_demo/cram-donbot-retail-demo.asd similarity index 56% rename from cram_pr2/cram_pr2_projection/cram-pr2-projection.asd rename to cram_demos/cram_donbot_retail_demo/cram-donbot-retail-demo.asd index 0d4c57939a..7d54c8676b 100644 --- a/cram_pr2/cram_pr2_projection/cram-pr2-projection.asd +++ b/cram_demos/cram_donbot_retail_demo/cram-donbot-retail-demo.asd @@ -1,4 +1,5 @@ -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -26,39 +27,61 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-pr2-projection - :author "Gayane Kazhoyan" +(defsystem cram-donbot-retail-demo + :author "gaya" :license "BSD" - :depends-on (cram-projection - cram-prolog - cram-designators - cram-utilities - cram-bullet-reasoning - cram-bullet-reasoning-belief-state ; for event updating before ik requests - cram-tf - cram-robot-interfaces ; for ROBOT predicate and COMPUTE-IKS + :depends-on (roslisp-utilities ; for ros-init-function + cl-transforms cl-transforms-stamped - cl-tf + ;; cl-tf + ;; cl-tf2 + cram-tf + + cram-language + cram-executive + cram-designators + cram-prolog + cram-projection cram-occasions-events - cram-plan-occasions-events - cram-pr2-description ; to get kinematic structure names - cram-common-designators - cram-common-failures + cram-utilities ; for EQUALIZE-LISTS-OF-LISTS-LENGTHS cram-process-modules - alexandria ; for CURRY in low-level perception - roslisp-utilities ; for rosify-lisp-name - moveit_msgs-msg - moveit_msgs-srv) + + cram-common-failures + cram-mobile-pick-place-plans + cram-robot-interfaces ; for *robot-urdf* + cram-object-knowledge + cram-manipulation-interfaces ; for standard rotations + + cram-physics-utils ; for reading "package://" paths + cl-bullet ; for handling BOUNDING-BOX datastructures + cram-bullet-reasoning + cram-bullet-reasoning-belief-state + cram-bullet-reasoning-utilities + cram-urdf-projection ; for with-simulated-robot + cram-urdf-projection-reasoning + + cram-location-costmap + cram-btr-visibility-costmap + cram-robot-pose-gaussian-costmap + cram-btr-spatial-relations-costmap + ;; cram-occupancy-grid-costmap + + cram-fetch-deliver-plans + + cram-donbot-description + + ;; real robot + ;; cram-robosherlock + ;; cram-giskard + ;; cram-donbot-process-modules + ) + :components ((:module "src" :components ((:file "package") - (:file "projection-clock" :depends-on ("package")) - (:file "tf" :depends-on ("package")) - (:file "ik" :depends-on ("package")) - (:file "low-level" :depends-on ("package" "tf" "ik")) - (:file "process-modules" :depends-on ("package" "low-level")) - (:file "projection-environment" :depends-on ("package" "projection-clock" "tf" - "process-modules")))))) + (:file "costmaps" :depends-on ("package")) + (:file "setup" :depends-on ("package")) + (:file "demo" :depends-on ("package")))))) diff --git a/cram_demos/cram_donbot_retail_demo/launch/sandbox.launch b/cram_demos/cram_donbot_retail_demo/launch/sandbox.launch new file mode 100644 index 0000000000..4e2689c506 --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/launch/sandbox.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + - /kitchen/cram_joint_states + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_donbot_retail_demo/package.xml b/cram_demos/cram_donbot_retail_demo/package.xml new file mode 100644 index 0000000000..19641d821d --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/package.xml @@ -0,0 +1,62 @@ + + cram_donbot_retail_demo + 0.7.0 + Demo code for shelf replenishment with Donbot + Gayane Kazhoyan + Gayane Kazhoyan + BSD + + http://cram-system.org + http://github.com/cram2/cram + + catkin + + roslisp_utilities + + cl_transforms + cl_transforms_stamped + + + cram_tf + + cram_language + cram_executive + cram_designators + cram_prolog + cram_projection + cram_occasions_events + cram_utilities + cram_process_modules + + cram_common_failures + cram_mobile_pick_place_plans + cram_robot_interfaces + cram_object_knowledge + cram_manipulation_interfaces + + cram_physics_utils + cl_bullet + cram_bullet_reasoning + cram_bullet_reasoning_belief_state + cram_bullet_reasoning_utilities + cram_urdf_projection + + cram_location_costmap + cram_btr_visibility_costmap + cram_robot_pose_gaussian_costmap + cram_btr_spatial_relations_costmap + + cram_donbot_description + + + + + + + + + + + + + diff --git a/cram_demos/cram_donbot_retail_demo/resource/balea-bottle.stl b/cram_demos/cram_donbot_retail_demo/resource/balea-bottle.stl new file mode 100644 index 0000000000..36f3f3b51a Binary files /dev/null and b/cram_demos/cram_donbot_retail_demo/resource/balea-bottle.stl differ diff --git a/cram_demos/cram_donbot_retail_demo/resource/dish-washer-tabs.stl b/cram_demos/cram_donbot_retail_demo/resource/dish-washer-tabs.stl new file mode 100644 index 0000000000..615ec62e5c Binary files /dev/null and b/cram_demos/cram_donbot_retail_demo/resource/dish-washer-tabs.stl differ diff --git a/cram_demos/cram_donbot_retail_demo/src/costmaps.lisp b/cram_demos/cram_donbot_retail_demo/src/costmaps.lisp new file mode 100644 index 0000000000..e42af32342 --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/src/costmaps.lisp @@ -0,0 +1,68 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-donbot-retail-demo) + +(defun make-restricted-area-cost-function () + (lambda (x y) + (if (> x 4.0) + 0.0 + (if (< x 0.0) + 0.0 + (if (> y 1.0) + 0.0 + (if (< y -1.0) + 0.0 + 1.0)))))) + +(defmethod location-costmap:costmap-generator-name->score ((name (eql 'restricted-area))) 5) + +(def-fact-group demo-costmap (location-costmap:desig-costmap) + (<- (location-costmap:desig-costmap ?designator ?costmap) + (or (rob-int:visibility-designator ?designator) + (rob-int:reachability-designator ?designator)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (once (or (and (desig:desig-prop ?designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ?designator (:location ?some-location)) + (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, + ;; don't use the costmap + (not (man-int:location-always-reachable ?location))))) + (location-costmap:costmap ?costmap) + (location-costmap:costmap-add-function + restricted-area + (make-restricted-area-cost-function) + ?costmap))) diff --git a/cram_demos/cram_donbot_retail_demo/src/demo.lisp b/cram_demos/cram_donbot_retail_demo/src/demo.lisp new file mode 100644 index 0000000000..cde119aa04 --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/src/demo.lisp @@ -0,0 +1,626 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-donbot-retail-demo) + +(defun spawn-objects-on-small-shelf (&optional (spawn? t)) + (sb-ext:gc :full t) + (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) + (btr:clear-costmap-vis-object) + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + #+only-for-the-real-robot-so-commenting-out-for-now + (unless cram-projection:*projection-environment* + (giskard::call-giskard-environment-service + :remove-all) + (when (btr:get-environment-object) + (giskard::call-giskard-environment-service + :add-environment + :name (roslisp-utilities:rosify-underscores-lisp-name + (rob-int:get-environment-name)) + :pose (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 (btr:pose (btr:get-environment-object))) + :joint-state-topic "kitchen/joint_states"))) + + (when (and spawn? cram-projection:*projection-environment*) + (btr-utils:spawn-object :balea-bottle-1 :balea-bottle :pose + '((1.9 -1.42 1.05) (0 0 0.7 0.7)) + :color '(1 1 1)) + (btr:add-object btr:*current-bullet-world* :box-item + :denkmitgeschirrreinigernature-1 + '((1.75 -1.45 1.06) (0 0 0.7 0.7)) + :mass 0.2 + :color '(0 1 0 1.0) + :size '(0.057 0.018 0.074) + :item-type :dish-washer-tabs) + ;; (btr:simulate btr:*current-bullet-world* 50) + (btr-utils:move-robot '((1.0 0 0) (0 0 0 1))))) + +(defun demo () + (spawn-objects-on-small-shelf) + + (let* ((?environment-name + (rob-int:get-environment-name)) + (?search-location + (desig:a location + (on (desig:an object + (type shelf) + (urdf-name shelf-2-base) + (owl-name "shelf_system_verhuetung") + (part-of ?environment-name) + (level 4))) + (side left) + (range 0.2))) + (?object + (an object + (type dish-washer-tabs) + (location ?search-location))) + (?target-location-shelf + (desig:a location + (on (desig:an object + (type environment) + (name ?environment-name) + (part-of ?environment-name) + (urdf-name shelf-1-level-2-link))) + (for ?object) + (attachments (dish-washer-tabs-shelf-1-front + dish-washer-tabs-shelf-1-back)))) + (?robot-name (rob-int:get-robot-name)) + (?intermediate-locaiton-robot + (desig:a location + (on (desig:an object + (type robot) + (name ?robot-name) + (part-of ?environment-name) + ;; (owl-name "donbot_tray") + (urdf-name plate))) + (for ?object) + (attachments (donbot-tray-front donbot-tray-back))))) + + (exe:perform + (desig:an action + (type transporting) + (object ?object) + (target ?intermediate-locaiton-robot) + ;; (target ?target-location-shelf) + )) + + (exe:perform + (desig:an action + (type transporting) + (object ?object) + (target ?target-location-shelf))) + + ;; (setf ?object + ;; (desig:copy-designator + ;; (perform (a motion + ;; (type :world-state-detecting) + ;; (object (an object + ;; (name denkmitgeschirrreinigernature-1))))) + ;; :new-description + ;; `((:location ,(a location + ;; (on (an object + ;; (type robot) + ;; (name ?robot-name) + ;; (urdf-name plate) + ;; (owl-name "donbot_tray")))))))) + + ;; look at separators + ;; (exe:perform + ;; (desig:an action + ;; (type looking) + ;; (direction right-separators))) + ;; (cpl:sleep 5.0) +)) + + + + + + + + + + + + + + + + + + + +(defun demo-hardcoded (&optional (?item-type :dish-washer-tabs) + (park-drive-look? t)) + + (spawn-objects-on-small-shelf) + + (let ((?object + (an object + (type ?item-type) + (location (a location + (on (an object + (type shelf) + (urdf-name shelf-2-level-3-link) + (owl-name "shelf_system_verhuetung"))))))) + + (?target-pose-front + (cl-transforms-stamped:make-pose-stamped + cram-tf:*fixed-frame* + 0.0 + (cl-transforms:make-3d-vector 4.06 -0.64 1.05) + (cl-transforms:make-quaternion 0 0 1 0))) + + (?target-pose-back + (cl-transforms-stamped:make-pose-stamped + cram-tf:*fixed-frame* + 0.0 + (cl-transforms:make-3d-vector 4.06 -0.64 1.05) + (cl-transforms:make-quaternion 0 0 0 1)))) + + (when park-drive-look? + ;; park arm + (exe:perform + (desig:an action + (type parking-arms) + (arms (left)))) + + ;; drive to pick up + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms-stamped:make-3d-vector + 2.2660367329915365d0 + ;; -0.16621163686116536d0 + -0.26 + 0.0) + (cl-transforms:make-quaternion + 0.0d0 0.0d0 -0.020739689469337463d0 0.9997849464416504d0)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?pose)))))) + + ;; look at the shelf + (exe:perform + (desig:an action + (type looking) + (direction right)))) + + ;; perceive + ;; TODO: make this using WITH-FAILURE-HANDLING and write about + ;; that in deliverable + (let (percept-believable + (?grasp :back)) + (loop until percept-believable + do (let* ((perceived-object + (exe:perform + (desig:an action + (type detecting) + (object ?object)))) + (perceived-object-pose + (btr:object-pose + (desig:desig-prop-value perceived-object :name))) + ;; (perceived-object-pose + ;; (man-int:get-object-pose-in-map perceived-object)) + (perceived-object-pose-z + (cl-transforms:z + (cl-transforms:origin perceived-object-pose))) + (perceived-object-orientation + (cl-transforms:orientation perceived-object-pose)) + (perceived-object-orientation-axis + (cl-transforms:quaternion->axis-angle + perceived-object-orientation)) + (perceived-object-orientation-angle + (* (nth-value + 1 + (cl-transforms:quaternion->axis-angle + perceived-object-orientation)) + (if (> (cl-transforms:z perceived-object-orientation-axis) + 0) + 1 + -1)))) + (if (> (cl-transforms:normalize-angle + perceived-object-orientation-angle) + 0) + (setf ?grasp :front) + (setf ?grasp :back)) + (setf percept-believable + (and (> perceived-object-pose-z 1.02) + (< perceived-object-pose-z 1.2) + (> (abs (cl-transforms:z + perceived-object-orientation-axis)) + (abs (cl-transforms:x + perceived-object-orientation-axis))) + (> (abs (cl-transforms:z + perceived-object-orientation-axis)) + (abs (cl-transforms:y + perceived-object-orientation-axis))) + (> (abs perceived-object-orientation-angle) 1.0) + (< (abs perceived-object-orientation-angle) 2.0))))) + + (let ((picking-up-action + (desig:an action + (type picking-up) + (grasp ?grasp) + (object ?object)))) + ;; (proj-reasoning:check-picking-up-collisions picking-up-action) + ;; picking up + (exe:perform picking-up-action)) + + ;; placing on the back + (let* ((?robot-name (rob-int:get-robot-name)) + (?robot-link-name "plate") + (?pose-in-map (cram-tf:frame-to-pose-in-fixed-frame ?robot-link-name)) + (?transform-in-map (cram-tf:pose-stamped->transform-stamped + ?pose-in-map ?robot-link-name)) + (?pose-in-base (cram-tf:ensure-pose-in-frame + ?pose-in-map cram-tf:*robot-base-frame* + :use-zero-time t)) + (?transform-in-base (cram-tf:pose-stamped->transform-stamped + ?pose-in-base ?robot-link-name)) + (?attachment (ecase ?grasp + (:front :donbot-tray-front) + (:back :donbot-tray-back)))) + (exe:perform + (an action + (type placing) + (object ?object) + (target (a location + (on (an object + (type robot) + (name ?robot-name) + (urdf-name plate) + (owl-name "donbot_tray") + (pose ((pose ?pose-in-base) + (transform ?transform-in-base) + (pose-in-map ?pose-in-map) + (transform-in-map ?transform-in-map))))) + (for ?object) + (attachment ?attachment))))) + + (setf ?object + (desig:copy-designator + (perform (a motion + (type :world-state-detecting) + (object (an object + (name denkmitgeschirrreinigernature-1))))) + :new-description + `((:location ,(a location + (on (an object + (type robot) + (name ?robot-name) + (urdf-name plate) + (owl-name "donbot_tray"))))))))) + + ;; park arm + (exe:perform + (desig:an action + (type parking-arms) + (arms (left)))) + + ;; drive to place + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms-stamped:make-3d-vector + ;; 2.7235169607604437d0 + 3.4 + -0.13619131858235267d0 + 0.0d0) + (cl-transforms:make-quaternion + 0.0d0 + 0.0d0 + 0.6886594891548157d0 + 0.7250849008560181d0)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?pose)))))) + + + ;; look at separators + ;; (exe:perform + ;; (desig:an action + ;; (type looking) + ;; (direction right-separators))) + ;; (cpl:sleep 5.0) + + ;; look at tray + ;; (exe:perform + ;; (desig:an action + ;; (type looking) + ;; (direction down))) + + ;; ;; reperceive object + ;; (let* ((?robot-name + ;; (rob-int:get-robot-name))) + ;; (setf ?object + ;; (perform + ;; (an action + ;; (type detecting) + ;; (object (an object + ;; (type ?item-type) + ;; (location (a location + ;; (on (an object + ;; (type robot) + ;; (name ?robot-name) + ;; (urdf-name plate) + ;; (owl-name "donbot_tray"))))))))))) + + + (exe:perform + (an action + (type picking-up) + (grasp ?grasp) + (object ?object))) + + ;; place on the big shelf + (let ((?target-pose + (ecase ?grasp + (:front ?target-pose-front) + (:back ?target-pose-back)))) + (exe:perform + (an action + (type placing) + (object ?object) + (target (a location + (pose ?target-pose))))))))) + + + + +(defun pick-object-from-small-shelf (&optional (?item-type :dish-washer-tabs) + (park-drive-look? t)) + (spawn-objects-on-small-shelf) + + (let ((?object + (an object + (type ?item-type) + (location (a location + (on (an object + (type shelf) + (urdf-name shelf-2-level-3-link) + (owl-name "shelf_system_verhuetung")))))))) + + (when park-drive-look? + ;; park arm + (exe:perform + (desig:an action + (type parking-arms) + (arms (left)))) + + ;; drive to pick up + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms-stamped:make-3d-vector + 2.2660367329915365d0 -0.16621163686116536d0 0.0) + (cl-transforms:make-quaternion + 0.0d0 0.0d0 -0.020739689469337463d0 0.9997849464416504d0)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?pose)))))) + + ;; look at the shelf + (exe:perform + (desig:an action + (type looking) + (direction right)))) + + ;; perceive + ;; TODO: make this using WITH-FAILURE-HANDLING and write about + ;; that in deliverable + (let (percept-believable + (?grasp :back)) + (loop until percept-believable + do (let* ((perceived-object + (exe:perform + (an action + (type detecting) + (object ?object)))) + (perceived-object-pose + (btr:object-pose + (desig:desig-prop-value perceived-object :name))) + ;; (perceived-object-pose + ;; (man-int:get-object-pose-in-map perceived-object)) + (perceived-object-pose-z + (cl-transforms:z + (cl-transforms:origin perceived-object-pose))) + (perceived-object-orientation + (cl-transforms:orientation perceived-object-pose)) + (perceived-object-orientation-axis + (cl-transforms:quaternion->axis-angle + perceived-object-orientation)) + (perceived-object-orientation-angle + (* (nth-value + 1 + (cl-transforms:quaternion->axis-angle + perceived-object-orientation)) + (if (> (cl-transforms:z perceived-object-orientation-axis) + 0) + (prog1 + 1 + (setf ?grasp :front)) + (prog1 + -1 + (setf ?grasp :back)))))) + (setf percept-believable + (and (> perceived-object-pose-z 1.02) + (< perceived-object-pose-z 1.2) + (> (abs (cl-transforms:z + perceived-object-orientation-axis)) + (abs (cl-transforms:x + perceived-object-orientation-axis))) + (> (abs (cl-transforms:z + perceived-object-orientation-axis)) + (abs (cl-transforms:y + perceived-object-orientation-axis))) + (> (abs perceived-object-orientation-angle) 1.0) + (< (abs perceived-object-orientation-angle) 2.0))))) + + (let ((picking-up-action + (an action + (type picking-up) + (grasp ?grasp) + (object ?object)))) + ;; (proj-reasoning:check-picking-up-collisions picking-up-action) + ;; picking up + (exe:perform picking-up-action))) + + ;; placing on the back + (let* ((?robot-name (rob-int:get-robot-name)) + (?robot-link-name "plate") + (?pose-in-map (cram-tf:frame-to-pose-in-fixed-frame ?robot-link-name)) + (?transform-in-map (cram-tf:pose-stamped->transform-stamped + ?pose-in-map ?robot-link-name)) + (?pose-in-base (cram-tf:ensure-pose-in-frame + ?pose-in-map cram-tf:*robot-base-frame* + :use-zero-time t)) + (?transform-in-base (cram-tf:pose-stamped->transform-stamped + ?pose-in-base ?robot-link-name))) + (exe:perform + (an action + (type placing) + (object ?object) + (target (a location + (on (an object + (type robot) + (name ?robot-name) + (urdf-name plate) + (owl-name "donbot_tray") + (pose ((pose ?pose-in-base) + (transform ?transform-in-base) + (pose-in-map ?pose-in-map) + (transform-in-map ?transform-in-map))))) + (for ?object) + (attachment donbot-tray-left)))))))) + + +(defun place-object-at-big-shelf (&optional (?item-type :dish-washer-tabs) + (park-drive-look? t) + (?target-pose + (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + '((4.048458 -0.64891 1.07) + (-0.7071067811865475d0 + 0.0d0 + 0.7071067811865475d0 + 0.0d0)))))) + ;; (spawn-objects-on-small-shelf nil) + (when park-drive-look? + ;; park arm + (exe:perform + (desig:an action + (type parking-arms) + (arms (left)))) + + ;; drive to place + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms-stamped:make-3d-vector + 2.7235169607604437d0 + -0.13619131858235267d0 + 0.0d0) + (cl-transforms:make-quaternion + 0.0d0 + 0.0d0 + 0.6886594891548157d0 + 0.7250849008560181d0)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?pose)))))) + + ;; look at separators + (exe:perform + (desig:an action + (type looking) + (direction right-separators))) + (cpl:sleep 5.0) + + ;; look at tray + (exe:perform + (desig:an action + (type looking) + (direction down)))) + + ;; pick up from the tray + (let* ((?robot-name + (rob-int:get-robot-name)) + (?obj + (perform + (an action + (type detecting) + (object (an object + (type ?item-type) + (location (a location + (on (an object + (type robot) + (name ?robot-name) + (urdf-name plate) + (owl-name "donbot_tray"))))))))))) + + (exe:perform + (an action + (type picking-up) + (grasp top) + (object ?obj))) + + ;; place on the big shelf + (exe:perform + (an action + (type placing) + (object ?obj) + (target (a location + (pose ?target-pose))))))) + + +#+stuff-to-test-real-robot-interfaces +(defun stuff-that-works () + (cram-process-modules:with-process-modules-running + (giskard:giskard-pm) + (cpl-impl::named-top-level (:name :top-level) + (exe:perform + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "base_footprint" 0.0 + (cl-transforms:make-3d-vector + -0.27012088894844055d0 + 0.5643729567527771d0 + 1.25943687558174133d0) + (cl-transforms:make-quaternion + -0.4310053586959839d0 + 0.24723316729068756d0 + 0.752766489982605d0 + 0.4318017065525055d0 )))) + (desig:a motion + (type moving-tcp) + (left-pose ?pose) + (collision-mode :allow-all))))))) diff --git a/cram_pr2/cram_urdf_bringup/src/package.lisp b/cram_demos/cram_donbot_retail_demo/src/package.lisp similarity index 95% rename from cram_pr2/cram_urdf_bringup/src/package.lisp rename to cram_demos/cram_donbot_retail_demo/src/package.lisp index d571944b81..3476e83093 100644 --- a/cram_pr2/cram_urdf_bringup/src/package.lisp +++ b/cram_demos/cram_donbot_retail_demo/src/package.lisp @@ -11,8 +11,8 @@ ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. ;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" @@ -29,10 +29,13 @@ (in-package :cl-user) -(defpackage cram-robots-bringup +(defpackage cram-donbot-retail-demo (:nicknames #:demo) (:use #:common-lisp #:cram-prolog #:desig #:exe) (:export ;; setup + ;; #:bla + ;; demo )) + diff --git a/cram_demos/cram_donbot_retail_demo/src/setup.lisp b/cram_demos/cram_donbot_retail_demo/src/setup.lisp new file mode 100644 index 0000000000..cfa40301d6 --- /dev/null +++ b/cram_demos/cram_donbot_retail_demo/src/setup.lisp @@ -0,0 +1,47 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-donbot-retail-demo) + +;; roslaunch cram_donbot_retail_demo sandbox.launch + +(defun init-projection () + ;; (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) + + (btr-belief:setup-world-database) + + (setf cram-tf:*tf-default-timeout* 2.0) + + (setf prolog:*break-on-lisp-errors* t) + + (cram-bullet-reasoning:clear-costmap-vis-object) + + (btr:add-objects-to-mesh-list "cram_donbot_retail_demo")) + +(roslisp-utilities:register-ros-init-function init-projection) diff --git a/cram_pr2/cram_pr2_projection/CMakeLists.txt b/cram_demos/cram_hsrb_pick_demo/CMakeLists.txt similarity index 74% rename from cram_pr2/cram_pr2_projection/CMakeLists.txt rename to cram_demos/cram_hsrb_pick_demo/CMakeLists.txt index a183cb39fa..4b5ba0e615 100644 --- a/cram_pr2/cram_pr2_projection/CMakeLists.txt +++ b/cram_demos/cram_hsrb_pick_demo/CMakeLists.txt @@ -1,4 +1,4 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_pr2_projection) +project(cram_hsrb_pick_demo) find_package(catkin REQUIRED) catkin_package() diff --git a/cram_pr2/cram_urdf_bringup/cram-urdf-bringup.asd b/cram_demos/cram_hsrb_pick_demo/cram-hsrb-pick-demo.asd similarity index 87% rename from cram_pr2/cram_urdf_bringup/cram-urdf-bringup.asd rename to cram_demos/cram_hsrb_pick_demo/cram-hsrb-pick-demo.asd index 2dcdd07f38..ed03f00e95 100644 --- a/cram_pr2/cram_urdf_bringup/cram-urdf-bringup.asd +++ b/cram_demos/cram_hsrb_pick_demo/cram-hsrb-pick-demo.asd @@ -28,8 +28,8 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-urdf-bringup - :author "gaya" +(defsystem cram-hsrb-pick-demo + :author "Vanessa Hassouna" :license "BSD" :depends-on (roslisp-utilities ; for ros-init-function @@ -50,6 +50,7 @@ cram-common-failures cram-mobile-pick-place-plans + cram-object-knowledge ;; cram-robosherlock @@ -64,13 +65,16 @@ cram-robot-pose-gaussian-costmap cram-occupancy-grid-costmap cram-location-costmap - - cram-urdf-projection - ) + cram-math + cram-urdf-projection + cram-hsrb-description) :components ((:module "src" :components ((:file "package") (:file "setup-urdf" :depends-on ("package")) - (:file "setup" :depends-on ("package")))))) + (:file "setup" :depends-on ("package" "setup-urdf")) + (:file "object-knowledge" :depends-on ("package")) + (:file "hsrb-pick-up" :depends-on ("package" "object-knowledge")) + (:file "demo" :depends-on ("package" "hsrb-pick-up")))))) diff --git a/cram_demos/cram_hsrb_pick_demo/launch/sandbox.launch b/cram_demos/cram_hsrb_pick_demo/launch/sandbox.launch new file mode 100644 index 0000000000..423d166fea --- /dev/null +++ b/cram_demos/cram_hsrb_pick_demo/launch/sandbox.launch @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cram_pr2/cram_urdf_bringup/package.xml b/cram_demos/cram_hsrb_pick_demo/package.xml similarity index 77% rename from cram_pr2/cram_urdf_bringup/package.xml rename to cram_demos/cram_hsrb_pick_demo/package.xml index 7f9f02ac64..ae60dbdce5 100644 --- a/cram_pr2/cram_urdf_bringup/package.xml +++ b/cram_demos/cram_hsrb_pick_demo/package.xml @@ -1,14 +1,11 @@ - cram_urdf_bringup + cram_hsrb_pick_demo 0.7.0 - Demo code for assembly objects with hsrb - Gayane Kazhoyan - Gayane Kazhoyan + Demo code for picking objects with hsrb + Vanessa Hassouna + Gayane Kazhoyan BSD - http://cram-system.org - http://github.com/cram2/cram - catkin roslisp_utilities @@ -28,6 +25,7 @@ cram_utilities cram_common_failures + cram_object_knowledge cram_mobile_pick_place_plans @@ -44,4 +42,5 @@ cram_location_costmap cram_urdf_projection + cram_hsrb_description diff --git a/cram_demos/cram_hsrb_pick_demo/src/demo.lisp b/cram_demos/cram_hsrb_pick_demo/src/demo.lisp new file mode 100644 index 0000000000..7687ffc53a --- /dev/null +++ b/cram_demos/cram_hsrb_pick_demo/src/demo.lisp @@ -0,0 +1,50 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;; Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defun spawn-pickup-cylinder-table () + "Spawn primitive cylinder as :pringles item and try to pick up from table." + (urdf-proj:with-simulated-robot + (btr:add-object btr:*current-bullet-world* :cylinder-item 'cylinder-1 + '((-0.7 -0.7 0.85) (0 0 1 1)) + :mass 0.2 + :size (cl-transforms:make-3d-vector 0.03 0.03 0.08) + :item-type :pringles) + (pick-up-object 'cylinder-1 :pringles))) + +(defun spawn-pickup-cylinder-air () + "Spawn primitive cylinder as :pringles item and try to pick up." + (urdf-proj:with-simulated-robot + (btr:add-object btr:*current-bullet-world* :cylinder-item 'cylinder-1 + '((0.7 0.0777 0.65) (0 0 1 1)) + :mass 0.2 :size (cl-transforms:make-3d-vector 0.03 0.03 0.08) + :item-type :pringles) + (pick-up-object 'cylinder-1 :pringles))) diff --git a/cram_demos/cram_hsrb_pick_demo/src/hsrb-pick-up.lisp b/cram_demos/cram_hsrb_pick_demo/src/hsrb-pick-up.lisp new file mode 100644 index 0000000000..d3d43f1076 --- /dev/null +++ b/cram_demos/cram_hsrb_pick_demo/src/hsrb-pick-up.lisp @@ -0,0 +1,171 @@ +;;; +;;; Copyright (c) 2020, Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defun pick-up-object (object-name object-type) + "move hsr and grasp the object" + (mirror-object-pose object-name) + (grasp-object object-name object-type)) + +(defun mirror-object-pose (object-name) + "moves the robot as the object while ignoring the enviroment" + (let* ((?object-pose (btr:object-pose object-name))) + (roslisp:with-fields (x y) (cl-transforms:origin ?object-pose) + ;; TODO This does not work on the real robot + ;; to make it work multiply the transforms instead of teleporting the robot + (btr-utils:move-robot + (cl-transforms:make-pose + (cl-transforms:make-3d-vector x y 0) + (cl-transforms:orientation ?object-pose))))) + ;; update that the robot-state changed otherwise the transformer dosen't update + (coe:on-event (make-instance 'cpoe:robot-state-changed))) + +(defun grasp-object (object-name object-type) + "places the robot in front-/left-/right-/back-side of the object and tries +to grasp the object, if that fails the next position in list will be tried" + (let* ((nav-pose + ;; TODO shuffle the list? + ;; applying append function to the successive subsets of the list + (reduce + #'append + ;; goes through each element in the sequence, and returns a new list + (mapcar + (lambda (list-poses) + (let ((tmp-list nil)) + (loop for a from 0.0 to 0.4 by 0.01 + do + ;; push element to list + (push + (roslisp:with-fields (x y) + (cl-transforms:origin (car list-poses)) + ;; check if the offset needs to be summed or subtracted + (if (or (eq (car (cdr list-poses)) :front) + (eq (car (cdr list-poses)) :back)) + (setf x (+ x + (if (> x 0) + a + (- a)))) + (setf y (+ y + (if (> y 0) + a + (- a))))) + ;; create new list with a stamped-pose and x/y w + ;; with edited offset and the grasping-side + (list + (cl-transforms-stamped:transform-pose-stamped + cram-tf:*transformer* + :pose + (cl-transforms-stamped:make-pose-stamped + "base_footprint" 0 + (cl-transforms:make-3d-vector x y 0) + (cl-transforms:orientation (car list-poses))) + :target-frame "map") + + ;; get grasping-side + (cdr list-poses))) + ;; push to my-list + tmp-list)) + ;; loop done and reverse tmp-list such that the lower value is first + (reverse tmp-list))) + ;;the basic list that goes through the mapcar + (list + (list (cl-transforms:make-pose + (cl-transforms:make-3d-vector 0.40 0.07769999504089356d0 0) + (cl-transforms:euler->quaternion :az pi)) + :front) + (list (cl-transforms:make-pose + (cl-transforms:make-3d-vector -0.40 -0.07769999504089356d0 0) + (cl-transforms:make-identity-rotation)) + :back) + (list (cl-transforms:make-pose + (cl-transforms:make-3d-vector -0.07769999504089356d0 0.40 0) + (cl-transforms:euler->quaternion :az (- (/ pi 2)))) + :left-side) + (list (cl-transforms:make-pose + (cl-transforms:make-3d-vector +0.07769999504089356d0 -0.4 0) + (cl-transforms:euler->quaternion :az (/ pi 2))) + :right-side))))) + ;; sets object-type to prolog variable + (?object-type object-type)) + + (cpl:with-retry-counters ((going-retry 500)) + ;; TODO if it takes to long to go through the whole list implement a stop + (cpl:with-failure-handling + (((or common-fail:low-level-failure + cl::simple-error + cl::simple-type-error) (e) + (roslisp:ros-warn (grasp-object fail) + "~%Failed with given msgs ~a~%" e) + ;; get rid of head of nav-pose by setting only the rest + (unless (eq nil (cdr nav-pose)) + (setf nav-pose (cdr nav-pose)) + + (cpl:do-retry going-retry + (roslisp:ros-warn (grasp-object fail) + "~%Failed with given msgs ~a~%" e) + (cpl:retry))) + (roslisp:ros-warn (grasp-object fail) + "~%No more retries~%"))) + ;; park-robot (percieve pose) + (btr-utils:park-robot) + (let* ((?nav-pose + (car (car nav-pose))) + (?object-pose + (cl-transforms-stamped:pose->pose-stamped + "map" 0 (btr:object-pose object-name)))) + ;; perform a action type going to first pose + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?nav-pose))))) + + ;;perform a action type looking towards the object + (exe:perform + (desig:an action + (type looking) + (target (desig:a location (pose ?object-pose)))))) + + (let* ((?object-desig + (exe:perform (desig:a motion + (type detecting) + (object (desig:an object + (type ?object-type)))))) + (?grasp (caadar nav-pose))) + + ;; perform a action type picking-up with given grasp and object + (exe:perform (desig:an action + (type picking-up) + (arm :left) + (grasp ?grasp) + (object ?object-desig)))))))) + + + + diff --git a/cram_demos/cram_hsrb_pick_demo/src/object-knowledge.lisp b/cram_demos/cram_hsrb_pick_demo/src/object-knowledge.lisp new file mode 100644 index 0000000000..553f7c34c0 --- /dev/null +++ b/cram_demos/cram_hsrb_pick_demo/src/object-knowledge.lisp @@ -0,0 +1,83 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;; Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defparameter *lift-z-offset* 0.05 "in meters") +(defparameter *lift-offset* `(0.0 0.0 ,*lift-z-offset*)) + +(defmethod man-int:get-action-gripping-effort :heuristics 20 + ((object-type (eql :pringles))) 50) + +(defmethod man-int:get-action-gripper-opening :heuristics 20 + ((object-type (eql :pringles))) 0.10) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; pringles ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +;; pregrasp offset for pringles size '((0.7 0.0777 0.65)) +(defparameter *pringles-pregrasp-xy-offset* 0.03) +(defparameter *pringles-grasp-xy-offset* 0.01 "in meters") +(defparameter *pringles-grasp-z-offset* 0.005 "in meters") + +;; SIDE grasp +(man-int:def-object-type-to-gripper-transforms :pringles :left :left-side + :grasp-translation `(0.0d0 ,(- *pringles-grasp-xy-offset*) ,*pringles-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*pringles-pregrasp-xy-offset* 0.01) + :2nd-pregrasp-offsets `(0.0 ,*pringles-pregrasp-xy-offset* 0.01) + :lift-translation `(0.0 0.0 ,*lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*lift-z-offset*)) + +(man-int:def-object-type-to-gripper-transforms :pringles :left :right-side + :grasp-translation `(0.0d0 ,*pringles-grasp-xy-offset* ,*pringles-grasp-z-offset*) + :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,(- *pringles-pregrasp-xy-offset*) 0.01) + :2nd-pregrasp-offsets `(0.0 ,(- *pringles-pregrasp-xy-offset*) 0.01) + :lift-translation `(0.0 0.0 ,*lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*lift-z-offset*)) + +;; BACK grasp +(man-int:def-object-type-to-gripper-transforms :pringles :left :back + :grasp-translation `(,*pringles-grasp-xy-offset* 0.0d0 ,*pringles-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *pringles-pregrasp-xy-offset*) 0.0 0.01) + :2nd-pregrasp-offsets `(,(- *pringles-pregrasp-xy-offset*) 0.0 0.01) + :lift-translation `(0.0 0.0 ,*lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*lift-z-offset*)) + +;; FRONT grasp +(man-int:def-object-type-to-gripper-transforms :pringles :left :front + :grasp-translation `(,*pringles-grasp-xy-offset* 0.0d0 ,*pringles-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,(+ *pringles-pregrasp-xy-offset*) 0.0 0.01) + :2nd-pregrasp-offsets `(,(+ *pringles-pregrasp-xy-offset*) 0.0 0.01) + :lift-translation `(0.0 0.0 ,*lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*lift-z-offset*)) diff --git a/cram_3d_world/cl_bullet/src/lisp/examples/cl-bullet-examples.asd b/cram_demos/cram_hsrb_pick_demo/src/package.lisp similarity index 82% rename from cram_3d_world/cl_bullet/src/lisp/examples/cl-bullet-examples.asd rename to cram_demos/cram_hsrb_pick_demo/src/package.lisp index 1b4b925601..259a59ae4e 100644 --- a/cram_3d_world/cl_bullet/src/lisp/examples/cl-bullet-examples.asd +++ b/cram_demos/cram_hsrb_pick_demo/src/package.lisp @@ -1,20 +1,21 @@ ;;; -;;; Copyright (c) 2010, Lorenz Moesenlechner +;;; Copyright (c) 2019, Gayane Kazhoyan +;; Vanessa Hassouna ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -26,13 +27,10 @@ ;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -;;; -(defsystem cl-bullet-examples - :author "Lorenz Moesenlechner " - :license "BSD" - - :depends-on (cl-bullet cl-transforms) - :components - ((:file "package") - (:file "hello-world" :depends-on ("package")))) +(in-package :cl-user) + +(defpackage cram-hsrb-pick-demo + (:nicknames #:demo) + (:use #:common-lisp #:cram-prolog #:cram-designators #:cram-executive) + (:export)) diff --git a/cram_demos/cram_hsrb_pick_demo/src/setup-urdf.lisp b/cram_demos/cram_hsrb_pick_demo/src/setup-urdf.lisp new file mode 100644 index 0000000000..32b02f422b --- /dev/null +++ b/cram_demos/cram_hsrb_pick_demo/src/setup-urdf.lisp @@ -0,0 +1,78 @@ +;;; +;;; Copyright (c) 2019, Vanessa Hassouna +;;; Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defparameter *collision-box* + "> + + + + + + + " + "The collision-box for base_footprint, since the URDF does not provide it.") + +(defparameter *tool-frame* + " + + + + + " + "The tool-frame for the HSRB, since the URDF does not provide one.") + +(defun get-urdf-hsrb (robot-description-parameter-name) + "Returns a correctly parsed HSRB URDF. +The URDF itself has some bugs and missing parts, so this function adds those." + (let* ((urdf-string + (substitute #\SPACE #\` + (roslisp:get-param robot-description-parameter-name))) + (urdf-object + (cl-urdf:parse-urdf + (concatenate 'string + ;; plus 15 because of base_footprint" + (subseq urdf-string + 0 + (+ 15 (search "base_footprint" urdf-string))) + *collision-box* + ;; plus 17 because of base_footprint"/> + (subseq + urdf-string + (+ 17 (search "base_footprint" urdf-string)) + (search " +;; Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defun init-projection () + (btr-belief:setup-world-database) + + (setf cram-tf:*tf-default-timeout* 2.0) + (setf cram-tf:*tf-broadcasting-enabled* t) + (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) + + (setf prolog:*break-on-lisp-errors* t) + + (btr:clear-costmap-vis-object) + + (btr:add-objects-to-mesh-list "cram_hsrb_pick_demo")) + + +(roslisp-utilities:register-ros-init-function init-projection) + + + diff --git a/cram_pr2/cram_pr2_cloud/CMakeLists.txt b/cram_demos/cram_integration_tests/CMakeLists.txt similarity index 72% rename from cram_pr2/cram_pr2_cloud/CMakeLists.txt rename to cram_demos/cram_integration_tests/CMakeLists.txt index 88df96d75e..82f40210f7 100644 --- a/cram_pr2/cram_pr2_cloud/CMakeLists.txt +++ b/cram_demos/cram_integration_tests/CMakeLists.txt @@ -1,5 +1,4 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_pr2_cloud) +project(cram_integration_tests) find_package(catkin REQUIRED) catkin_package() - diff --git a/cram_common/cram_robot_interfaces/src/utilities.lisp b/cram_demos/cram_integration_tests/cram-integration-tests-boxy.asd similarity index 79% rename from cram_common/cram_robot_interfaces/src/utilities.lisp rename to cram_demos/cram_integration_tests/cram-integration-tests-boxy.asd index 7bd669355e..bad873a371 100644 --- a/cram_common/cram_robot_interfaces/src/utilities.lisp +++ b/cram_demos/cram_integration_tests/cram-integration-tests-boxy.asd @@ -1,5 +1,4 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan +;;; Copyright (c) 2020, Christopher Pollok ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -27,12 +26,15 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(in-package :cram-robot-interfaces) +(defsystem cram-integration-tests-boxy + :author "Christopher Pollok" + :license "BSD" + + :depends-on (cram-integration-tests + cram-boxy-description) -(defun symbol-to-prolog-rule (the-symbol &rest parameters) - (let ((interned-symbol (find-symbol (string-upcase the-symbol)))) - (if interned-symbol - (cram-utilities:var-value - '?result - (car (prolog `(,interned-symbol ,@parameters ?result)))) - the-symbol))) + :components + ((:module "tests" + :components ((:file "package") + (:module "boxy" :depends-on ("package") + :components ((:file "setup"))))))) diff --git a/cram_demos/cram_integration_tests/cram-integration-tests-pr2.asd b/cram_demos/cram_integration_tests/cram-integration-tests-pr2.asd new file mode 100644 index 0000000000..d61c896dc3 --- /dev/null +++ b/cram_demos/cram_integration_tests/cram-integration-tests-pr2.asd @@ -0,0 +1,41 @@ +;;; Copyright (c) 2020, Christopher Pollok +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defsystem cram-integration-tests-pr2 + :author "Christopher Pollok" + :license "BSD" + + :depends-on (cram-integration-tests + cram-pr2-description) + + :components + ((:module "tests" + :components ((:file "package") + (:module "pr2" :depends-on ("package") + :components ((:file "setup") + (:file "goals-tests"))))))) diff --git a/cram_demos/cram_integration_tests/cram-integration-tests.asd b/cram_demos/cram_integration_tests/cram-integration-tests.asd new file mode 100644 index 0000000000..b2609e9438 --- /dev/null +++ b/cram_demos/cram_integration_tests/cram-integration-tests.asd @@ -0,0 +1,73 @@ +;;; Copyright (c) 2020, Christopher Pollok +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defsystem cram-integration-tests + :author "Christopher Pollok" + :license "BSD" + + :depends-on (roslisp-utilities ; for ros-init-function + + cl-transforms + cl-transforms-stamped + cl-tf + cram-tf + + cram-language + cram-executive + cram-designators + cram-prolog + cram-projection + cram-occasions-events + cram-utilities ; for EQUALIZE-LISTS-OF-LISTS-LENGTHS + + cram-common-failures + cram-mobile-pick-place-plans + cram-object-knowledge + + cram-physics-utils ; for reading "package://" paths + cl-bullet ; for handling BOUNDING-BOX datastructures + cram-bullet-reasoning + cram-bullet-reasoning-belief-state + cram-bullet-reasoning-utilities + + cram-location-costmap + cram-btr-visibility-costmap + cram-btr-spatial-relations-costmap + cram-robot-pose-gaussian-costmap + cram-occupancy-grid-costmap + + cram-urdf-projection ; for with-simulated-robot + cram-fetch-deliver-plans + cram-urdf-environment-manipulation + + lisp-unit) + + :components + ((:module "tests" + :components + ((:file "package"))))) diff --git a/cram_pr2/cram_pr2_pick_place_demo/launch/sandbox.launch b/cram_demos/cram_integration_tests/launch/pr2.launch similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/launch/sandbox.launch rename to cram_demos/cram_integration_tests/launch/pr2.launch diff --git a/cram_demos/cram_integration_tests/package.xml b/cram_demos/cram_integration_tests/package.xml new file mode 100644 index 0000000000..9fe6d1d3ce --- /dev/null +++ b/cram_demos/cram_integration_tests/package.xml @@ -0,0 +1,61 @@ + + cram_integration_tests + 0.8.0 + Integration tests using projection. + Christopher Pollok + Gayane Kazhoyan + BSD + + http://cram-system.org + http://github.com/cram2/cram + + catkin + + roslisp_utilities + + cl_transforms + cl_transforms_stamped + cl_tf + cram_tf + + cram_language + cram_executive + cram_designators + cram_prolog + cram_projection + cram_occasions_events + cram_utilities + + cram_common_failures + cram_mobile_pick_place_plans + cram_object_knowledge + + cram_physics_utils + cl_bullet + cram_bullet_reasoning + cram_bullet_reasoning_belief_state + cram_bullet_reasoning_utilities + + cram_location_costmap + cram_btr_visibility_costmap + cram_btr_spatial_relations_costmap + cram_robot_pose_gaussian_costmap + cram_occupancy_grid_costmap + + cram_urdf_projection + cram_fetch_deliver_plans + cram_urdf_environment_manipulation + + cram_pr2_description + cram_boxy_description + + lisp_unit + + + iai_maps + iai_kitchen + robot_state_publisher + pr2_description + pr2_arm_kinematics + map_server + diff --git a/cram_demos/cram_integration_tests/tests/boxy/setup.lisp b/cram_demos/cram_integration_tests/tests/boxy/setup.lisp new file mode 100644 index 0000000000..0b04257b5b --- /dev/null +++ b/cram_demos/cram_integration_tests/tests/boxy/setup.lisp @@ -0,0 +1,32 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-integration-tests) + + diff --git a/cram_demos/cram_integration_tests/tests/package.lisp b/cram_demos/cram_integration_tests/tests/package.lisp new file mode 100644 index 0000000000..da1aeb7263 --- /dev/null +++ b/cram_demos/cram_integration_tests/tests/package.lisp @@ -0,0 +1,31 @@ +;;; Copyright (c) 2020, Christopher Pollok +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defpackage :cram-integration-tests + (:nicknames :int-tests) + (:use :common-lisp :lisp-unit :cram-prolog :cram-designators :cram-executive)) diff --git a/cram_demos/cram_integration_tests/tests/pr2/goals-tests.lisp b/cram_demos/cram_integration_tests/tests/pr2/goals-tests.lisp new file mode 100644 index 0000000000..e9a1532016 --- /dev/null +++ b/cram_demos/cram_integration_tests/tests/pr2/goals-tests.lisp @@ -0,0 +1,342 @@ +;;; +;;; Copyright (c) 2020, Christopher Pollok +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-integration-tests) + +(defparameter *motions-executed* 0) + +(defmethod exe:generic-perform :after ((designator motion-designator)) + (incf *motions-executed*)) + +(defun reset-motions-counter () + (setf *motions-executed* 0)) + +(defun executed-motions? () + (> *motions-executed* 0)) + +(defun initialize () + (sb-ext:gc :full t) + (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) + (setf btr-belief:*spawn-debug-window* t) + (coe:clear-belief) + (reset-motions-counter)) + +(defun get-object-pose () + (let* ((map-T-surface + (cl-transforms:pose->transform + (btr:link-pose (btr:get-environment-object) "sink_area_surface"))) + (surface-T-object + (cl-transforms:pose->transform + (cram-tf:list->pose '((0.2 -0.15 0.1) (0 0 0 1))))) + (map-T-object + (cl-transforms:transform* map-T-surface surface-T-object))) + (cl-transforms:transform->pose map-T-object))) + +(defun spawn-object-on-sink-counter () + (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + (btr-utils:spawn-object :test-object :breakfast-cereal + :pose (get-object-pose))) + +(define-test navigation-goal + (initialize) + (let* ((?pose + (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms:make-3d-vector 0.7 0.7 0) + (cl-transforms:make-identity-rotation))) + (?goal + `(cpoe:robot-at-location ,(a location (pose ?pose)))) + (the-action + (an action + (type going) + (target (a location (pose ?pose))) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test arms-positioned-goal + (initialize) + (let* ((?goal + `(cpoe:arms-positioned-at :park :park)) + (the-action + (an action + (type positioning-arm) + (left-configuration park) + (right-configuration park) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform + (an action + (type positioning-arm) + (right-configuration carry-top) + (left-configuration carry-top))) + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test torso-at-goal + (initialize) + (let* ((?goal + `(cpoe:torso-at :lower-limit)) + (the-action + (an action + (type moving-torso) + (joint-angle lower-limit) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test gripper-joints-at-test + (initialize) + (let* ((?goal + `(cpoe:gripper-joint-at :left 0.05 0.005)) + (the-action + (an action + (type setting-gripper) + (gripper left) + (position 0.05) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test gripper-opened-test + (initialize) + (let* ((?goal + `(cpoe:gripper-opened :left 0.01)) + (the-action + (an action + (type opening-gripper) + (gripper left) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test gripper-closed-test + (initialize) + (let* ((?goal + `(cpoe:gripper-closed :left 0.01)) + (the-action + (an action + (type closing-gripper) + (gripper left) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform (an action + (type opening-gripper) + (gripper left))) + (reset-motions-counter) + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test look-at-goal + (initialize) + (let* ((?pose + (cl-transforms-stamped:make-pose-stamped + "map" 0.0 + (cl-transforms:make-3d-vector 0.7 0.7 1) + (cl-transforms:make-identity-rotation))) + (?look-pos + (a location (pose ?pose))) + (?goal + `(cpoe:looking-at ,?look-pos)) + (the-action + (an action + (type looking) + (target ?look-pos) + (goal ?goal))) + (executed-motions-initially? nil)) + (urdf-proj:with-simulated-robot + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test container-state-open-goal + (initialize) + (let* ((?container + (an object + (type drawer) + (urdf-name sink-area-left-upper-drawer-main) + (part-of iai-kitchen))) + (?goal + `(cpoe:container-state ,?container :open)) + (the-action + (an action + (type opening) + (object ?container) + (arm left) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (btr-utils:move-robot '((.5 .4 0) (0 0 0 1))) + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test container-state-close-goal + (initialize) + (let* ((?container + (an object + (type drawer) + (urdf-name sink-area-left-upper-drawer-main) + (part-of iai-kitchen))) + (?goal + `(cpoe:container-state ,?container :closed)) + (the-action + (an action + (type closing) + (object ?container) + (arm left) + (goal ?goal))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (btr:set-robot-state-from-joints + `((,"sink_area_left_upper_drawer_main_joint" ,0.4)) + (btr:get-environment-object)) + (btr-utils:move-robot '((.5 .4 0) (0 0 0 1))) + (perform the-action) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform the-action)) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) + +(define-test tool-frames-at + (initialize) + (let* ((?tool-pose + (btr:link-pose (btr:get-robot-object) cram-tf:*robot-right-tool-frame*)) + (?goal + `(cpoe:tool-frames-at nil ,?tool-pose)) + (the-action + (an action + (type reaching) + (right-poses (?tool-pose)) + (goal ?goal)))) + (urdf-proj:with-simulated-robot + (perform the-action))) + (lisp-unit:assert-false (executed-motions?))) + +(define-test picking-up-goal + (initialize) + (spawn-object-on-sink-counter) + (let ((?robot-pose + (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose '((.6 .6 0) (0 0 0 1))))) + (?look-pose + (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (get-object-pose))) + (executed-motions-initially? + nil)) + (urdf-proj:with-simulated-robot + (perform + (a motion + (type going) + (pose ?robot-pose))) + (perform + (an action + (type looking) + (target (a location + (pose ?look-pose))))) + (let* ((?object + (perform + (an action + (type perceiving) + (object (an object + (type breakfast-cereal)))))) + ;; We copy the object here because the original gets changed, + ;; in a way that referencing the pick up designator doesn't work anymore. + (?object-copy + (desig:copy-designator ?object)) + (?goal + `(cpoe:object-in-hand ,?object))) + (perform + (an action + (type picking-up) + (object ?object) + (goal ?goal))) + (setf executed-motions-initially? (executed-motions?)) + (reset-motions-counter) + (perform + (an action + (type picking-up) + (object ?object-copy) + (goal ?goal))))) + (lisp-unit:assert-true executed-motions-initially?)) + (lisp-unit:assert-false (executed-motions?))) diff --git a/cram_demos/cram_integration_tests/tests/pr2/setup.lisp b/cram_demos/cram_integration_tests/tests/pr2/setup.lisp new file mode 100644 index 0000000000..7e4d5cdcb8 --- /dev/null +++ b/cram_demos/cram_integration_tests/tests/pr2/setup.lisp @@ -0,0 +1,40 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-integration-tests) + +;; roslaunch cram_integration_tests pr2.launch + +(defun init-projection () + (cram-occasions-events:clear-belief) + (setf cram-tf:*tf-default-timeout* 0.1) + (setf prolog:*break-on-lisp-errors* t) + (btr:clear-costmap-vis-object)) + +(roslisp-utilities:register-ros-init-function init-projection) diff --git a/cram_common/cram_object_knowledge/CMakeLists.txt b/cram_demos/cram_object_knowledge/CMakeLists.txt similarity index 100% rename from cram_common/cram_object_knowledge/CMakeLists.txt rename to cram_demos/cram_object_knowledge/CMakeLists.txt diff --git a/cram_common/cram_object_knowledge/cram-object-knowledge.asd b/cram_demos/cram_object_knowledge/cram-object-knowledge.asd similarity index 84% rename from cram_common/cram_object_knowledge/cram-object-knowledge.asd rename to cram_demos/cram_object_knowledge/cram-object-knowledge.asd index c6c2a2551e..93b115a8bd 100644 --- a/cram_common/cram_object_knowledge/cram-object-knowledge.asd +++ b/cram_demos/cram_object_knowledge/cram-object-knowledge.asd @@ -32,11 +32,16 @@ :license "BSD" :depends-on (cram-prolog - cram-manipulation-interfaces) + cram-manipulation-interfaces + cram-designators ; mostly used for likely locations + cram-location-costmap ; for specifying the metadata + ) :components ((:module "src" :components ((:file "package") (:file "environment" :depends-on ("package")) (:file "household" :depends-on ("package")) - (:file "assembly" :depends-on ("package")))))) + (:file "assembly" :depends-on ("package")) + (:file "retail" :depends-on ("package")) + (:file "multiple-trajectory-poses" :depends-on ("package")))))) diff --git a/cram_common/cram_object_knowledge/package.xml b/cram_demos/cram_object_knowledge/package.xml similarity index 91% rename from cram_common/cram_object_knowledge/package.xml rename to cram_demos/cram_object_knowledge/package.xml index f3414cecbe..dd7add77c3 100644 --- a/cram_common/cram_object_knowledge/package.xml +++ b/cram_demos/cram_object_knowledge/package.xml @@ -17,4 +17,6 @@ cram_prolog cram_manipulation_interfaces + cram_designators + cram_location_costmap diff --git a/cram_common/cram_object_knowledge/src/assembly.lisp b/cram_demos/cram_object_knowledge/src/assembly.lisp similarity index 78% rename from cram_common/cram_object_knowledge/src/assembly.lisp rename to cram_demos/cram_object_knowledge/src/assembly.lisp index 1a623993af..61d71c0f4c 100644 --- a/cram_common/cram_object_knowledge/src/assembly.lisp +++ b/cram_demos/cram_object_knowledge/src/assembly.lisp @@ -66,6 +66,14 @@ 0.02) (defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :window))) 0.02) +(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :underbody))) + 0.05) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :assembly-item)) grasp) + :carry) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; CHASSIS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -77,8 +85,8 @@ :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; BOTTOM-WING ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -87,25 +95,25 @@ (defparameter *bottom-wing-grasp-z-offset* 0.02) ;; SIDE grasp -(man-int:def-object-type-to-gripper-transforms :bottom-wing :left :right-side - :grasp-translation `(,(- *bottom-wing-grasp-x-offset*) - ,*bottom-wing-grasp-y-offset* - ,*bottom-wing-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-x-grasp-rotation* - :pregrasp-offsets `(0 ,*default-z-offset* ,*default-z-offset*) - :2nd-pregrasp-offsets `(0 ,*default-z-offset* 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) - -(man-int:def-object-type-to-gripper-transforms :bottom-wing :right :right-side - :grasp-translation `(,*bottom-wing-grasp-x-offset* - ,(- *bottom-wing-grasp-y-offset*) - ,*bottom-wing-grasp-z-offset*) - :grasp-rot-matrix man-int:*-y-across-x-grasp-rotation* - :pregrasp-offsets `(0 ,(- *default-z-offset*) ,*default-z-offset*) - :2nd-pregrasp-offsets `(0 ,(- *default-z-offset*) 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) +;; (man-int:def-object-type-to-gripper-transforms :bottom-wing :left :right-side +;; :grasp-translation `(,(- *bottom-wing-grasp-x-offset*) +;; ,*bottom-wing-grasp-y-offset* +;; ,*bottom-wing-grasp-z-offset*) +;; :grasp-rot-matrix man-int:*y-across-x-grasp-rotation* +;; :pregrasp-offsets `(0 ,*default-z-offset* ,*default-z-offset*) +;; :2nd-pregrasp-offsets `(0 ,*default-z-offset* 0.0) +;; :lift-translation *default-lift-offsets* +;; :2nd-lift-translation *default-lift-offsets*) + +;; (man-int:def-object-type-to-gripper-transforms :bottom-wing :right :right-side +;; :grasp-translation `(,*bottom-wing-grasp-x-offset* +;; ,(- *bottom-wing-grasp-y-offset*) +;; ,*bottom-wing-grasp-z-offset*) +;; :grasp-rot-matrix man-int:*-y-across-x-grasp-rotation* +;; :pregrasp-offsets `(0 ,(- *default-z-offset*) ,*default-z-offset*) +;; :2nd-pregrasp-offsets `(0 ,(- *default-z-offset*) 0.0) +;; :lift-translation *default-lift-offsets* +;; :2nd-lift-translation *default-lift-offsets*) ;; BACK grasp (man-int:def-object-type-to-gripper-transforms :bottom-wing '(:left :right) :back @@ -115,8 +123,8 @@ :grasp-rot-matrix man-int:*-x-across-y-grasp-rotation* :pregrasp-offsets `(,(- *default-z-offset*) 0.0 ,*default-z-offset*) :2nd-pregrasp-offsets `(,(- *default-z-offset*) 0.0 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; UNDERBODY ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -129,16 +137,16 @@ :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) (man-int:def-object-type-to-gripper-transforms :underbody :right :top :grasp-translation `(0.0 ,(- *underbody-grasp-y-offset*) ,*underbody-grasp-z-offset*) :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; UPPER-BODY ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -151,8 +159,8 @@ :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; TOP-WING ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -168,8 +176,20 @@ :grasp-rot-matrix man-int:*-x-across-y-grasp-rotation* :pregrasp-offsets `(,(- *default-z-offset*) 0.0 ,*default-z-offset*) :2nd-pregrasp-offsets `(,(- *default-z-offset*) 0.0 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) + +;; SIDE grasp (for picking it up with the whole airplane later) +(man-int:def-object-type-to-gripper-transforms :top-wing :left :right-side + :grasp-translation `(,(- *top-wing-grasp-x-offset*) + ,(- *top-wing-grasp-y-offset*) + ,*top-wing-grasp-z-offset*) + :grasp-rot-matrix man-int:*-y-across-x-grasp-rotation* + :pregrasp-offsets `(0 ,(- *default-z-offset*) ,*default-z-offset*) + :2nd-pregrasp-offsets `(0 ,(- *default-z-offset*) 0.0) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) + ;;;;;;;;;;;;;;;;;;;;;;;;;;;; WINDOW ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -185,8 +205,8 @@ :grasp-rot-matrix man-int:*z-diagonal-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;; FRONT-WHEEL ;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -202,8 +222,8 @@ :grasp-rot-matrix man-int:*z-diagonal-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;; PROPELLER ;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -219,8 +239,8 @@ :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;; BOLT ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -230,8 +250,8 @@ :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* :pregrasp-offsets *default-lift-offsets* :2nd-pregrasp-offsets *default-lift-offsets* - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) + :lift-translation *default-lift-offsets* + :2nd-lift-translation *default-lift-offsets*) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -242,10 +262,14 @@ :attachment-rot-matrix man-int:*rotation-around-z-90-matrix*) (man-int:def-object-type-in-other-object-transform :bottom-wing :chassis :wing-attachment - :attachment-translation `(0.0 -0.02 0.04;; 0.0 - ) + :attachment-translation `(0.0 -0.02 0.0) :attachment-rot-matrix man-int:*identity-matrix*) +(defmethod man-int:get-z-offset-for-placing-with-dropping ((object (eql :bottom-wing)) + (other-object (eql :chassis)) + (attachment (eql :wing-attachment))) + 0.04) + (man-int:def-object-type-in-other-object-transform :underbody :bottom-wing :body-attachment :attachment-translation `(0.0 -0.025 0.02) :attachment-rot-matrix man-int:*rotation-around-z+90-matrix*) @@ -271,10 +295,12 @@ :attachment-rot-matrix man-int:*rotation-around-z-180-and-x+90-matrix*) (man-int:def-object-type-in-other-object-transform :bolt :upper-body :rear-thread - :attachment-translation `(-0.0525 0.0 -0.01;; -0.025 - ) + :attachment-translation `(-0.0525 0.0 -0.025) :attachment-rot-matrix man-int:*identity-matrix*) +(defmethod man-int:get-z-offset-for-placing-with-dropping ((object (eql :bolt)) other-object attachment) + 0.015) + (man-int:def-object-type-in-other-object-transform :top-wing :upper-body :wing-attachment :attachment-translation `(0.05 0.0 0.0025) :attachment-rot-matrix man-int:*rotation-around-z-90-matrix*) @@ -284,8 +310,7 @@ :attachment-rot-matrix man-int:*rotation-around-z-90-matrix*) (man-int:def-object-type-in-other-object-transform :bolt :top-wing :middle-thread - :attachment-translation `(0.0 0.025 0.01;; -0.005 - ) + :attachment-translation `(0.0 0.025 -0.005) :attachment-rot-matrix man-int:*identity-matrix*) (man-int:def-object-type-in-other-object-transform :window :top-wing :window-attachment @@ -293,12 +318,10 @@ :attachment-rot-matrix man-int:*rotation-around-z+90-matrix*) (man-int:def-object-type-in-other-object-transform :bolt :window :window-thread - :attachment-translation `(-0.0125 0.0 -0.005;; -0.02 - ) + :attachment-translation `(-0.0125 0.0 -0.02) :attachment-rot-matrix man-int:*identity-matrix*) (man-int:def-object-type-in-other-object-transform :bolt :propeller :propeller-thread - :attachment-translation `(0.0 0.0 0.01;; -0.02 - ) + :attachment-translation `(0.0 0.0 -0.02) :attachment-rot-matrix man-int:*identity-matrix*) diff --git a/cram_common/cram_object_knowledge/src/environment.lisp b/cram_demos/cram_object_knowledge/src/environment.lisp similarity index 68% rename from cram_common/cram_object_knowledge/src/environment.lisp rename to cram_demos/cram_object_knowledge/src/environment.lisp index a849b73cf5..a77938c57d 100644 --- a/cram_common/cram_object_knowledge/src/environment.lisp +++ b/cram_demos/cram_object_knowledge/src/environment.lisp @@ -29,13 +29,37 @@ (in-package :objects) +(def-fact-group costmap-metadata (costmap:costmap-size + costmap:costmap-origin + costmap:costmap-resolution) + (<- (costmap:costmap-size :iai-kitchen 12 12)) + (<- (costmap:costmap-origin :iai-kitchen -6 -6)) + (<- (costmap:costmap-resolution :iai-kitchen 0.04))) + +(def-fact-group retail-small-environment-metadata (costmap:costmap-size + costmap:costmap-origin + costmap:costmap-resolution) + (<- (costmap:costmap-size :dm-shelves 10 10)) + (<- (costmap:costmap-origin :dm-shelves -5 -5)) + (<- (costmap:costmap-resolution :dm-shelves 0.04))) + +(def-fact-group retail-environment-metadata (costmap:costmap-size + costmap:costmap-origin + costmap:costmap-resolution) + (<- (costmap:costmap-size :dm-room 10 10)) + (<- (costmap:costmap-origin :dm-room -5 -5)) + (<- (costmap:costmap-resolution :dm-room 0.04))) + (def-fact-group environment-object-type-hierarchy (man-int:object-type-direct-subtype) (<- (man-int:object-type-direct-subtype :container :container-prismatic)) (<- (man-int:object-type-direct-subtype :container-prismatic :drawer)) (<- (man-int:object-type-direct-subtype :container :container-revolute)) (<- (man-int:object-type-direct-subtype :container-revolute :fridge)) - (<- (man-int:object-type-direct-subtype :container-revolute :oven))) + (<- (man-int:object-type-direct-subtype :container-revolute :oven)) + (<- (man-int:object-type-direct-subtype :container-revolute :dishwasher)) + + (<- (man-int:object-type-direct-subtype :container :shelf))) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; @@ -62,9 +86,10 @@ ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defmethod man-int:get-container-opening-distance :heuristics 20 - ((container-name (eql :iai-fridge-door))) - 1.0) + ((container-name (eql :sink-area-dish-washer-main))) + ;; 0.78d0 ; 45 deg + 0.95d0) ; 54 deg -(defmethod man-int:get-container-opening-distance :heuristics 20 - ((container-name (eql :iai-fridge-main))) - 1.0) +;; (defmethod man-int:get-container-opening-distance :heuristics 20 +;; ((container-name (eql :iai-fridge-main))) +;; 1.0) diff --git a/cram_demos/cram_object_knowledge/src/household.lisp b/cram_demos/cram_object_knowledge/src/household.lisp new file mode 100644 index 0000000000..45e332b9ec --- /dev/null +++ b/cram_demos/cram_object_knowledge/src/household.lisp @@ -0,0 +1,898 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :objects) + +(defparameter *lift-z-offset* 0.07 "in meters") +(defparameter *lift-offset* `(0.0 0.0 ,*lift-z-offset*)) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(def-fact-group household-object-type-hierarchy (man-int:object-type-direct-subtype) + (<- (man-int:object-type-direct-subtype :household-item :cutlery)) + (<- (man-int:object-type-direct-subtype :household-item :plate)) + (<- (man-int:object-type-direct-subtype :household-item :tray)) + (<- (man-int:object-type-direct-subtype :household-item :bottle)) + (<- (man-int:object-type-direct-subtype :household-item :cup)) + (<- (man-int:object-type-direct-subtype :household-item :milk)) + (<- (man-int:object-type-direct-subtype :household-item :cereal)) + (<- (man-int:object-type-direct-subtype :household-item :bowl)) + + (<- (man-int:object-type-direct-subtype :cutlery :knife)) + (<- (man-int:object-type-direct-subtype :cutlery :fork)) + (<- (man-int:object-type-direct-subtype :cutlery :spoon)) + + (<- (man-int:object-type-direct-subtype :cereal :breakfast-cereal))) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-action-gripping-effort :heuristics 20 + ((object-type (eql :household-item))) + 50) +(defmethod man-int:get-action-gripping-effort :heuristics 20 + ((object-type (eql :milk))) + 20) +(defmethod man-int:get-action-gripping-effort :heuristics 20 + ((object-type (eql :cereal))) + 30) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-action-gripper-opening :heuristics 20 + ((object-type (eql :household-item))) + 0.10) +(defmethod man-int:get-action-gripper-opening :heuristics 20 + ((object-type (eql :cutlery))) + 0.04) +(defmethod man-int:get-action-gripper-opening :heuristics 20 + ((object-type (eql :plate))) + 0.02) +(defmethod man-int:get-action-gripper-opening :heuristics 20 + ((object-type (eql :tray))) + 0.02) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :household-item)) grasp) + :carry) +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :bowl)) grasp) + :carry-top) +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :cup)) (grasp (eql :top))) + :carry-top) +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :cereal)) (grasp (eql :top))) + :carry-top) +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :basket)) (grasp (eql :top))) + :carry-top-basket) +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :plate)) grasp) + :carry-side-gripper-vertical) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(def-fact-group pnp-object-knowledge (man-int:object-rotationally-symmetric + man-int:orientation-matters) + + (<- (object-rotationally-symmetric ?object-type) + (member ?object-type (;; :plate :bottle :drink :cup :bowl :milk + ))) + + (<- (orientation-matters ?object-type) + (member ?object-type (:knife :fork :spoon :cutlery :spatula)))) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;; CUTLERY ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *cutlery-grasp-z-offset* -0.015 ;; 0.015 + "in meters") ; because TCP is not at the edge +(defparameter *cutlery-pregrasp-z-offset* 0.20 "in meters") +(defparameter *cutlery-pregrasp-xy-offset* 0.10 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms '(:cutlery :fork :knife :spoon) + '(:left :right) :top + :grasp-translation `(0.0 0.0 ,*cutlery-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) + :lift-translation `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*cutlery-pregrasp-z-offset*)) + +;; BOTTOM grasp +;; Bottom grasp is commented out because the robot grasps the spoon through the +;; drawer, as in the last part of the grasping trajectory collisions are turned off +;; (man-int:def-object-type-to-gripper-transforms '(:cutlery :fork :knife :spoon) +;; '(:left :right) :bottom +;; :grasp-translation `(0.0 0.0 ,(- *cutlery-grasp-z-offset*)) +;; :grasp-rot-matrix man-int:*-z-across-x-grasp-rotation* +;; :pregrasp-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*)) +;; :2nd-pregrasp-offsets `(0.0 0.0 ,(- *cutlery-pregrasp-z-offset*)) +;; :lift-translation `(0.0 0.0 ,*cutlery-pregrasp-z-offset*) +;; :2nd-lift-translation `(0.0 0.0 ,*cutlery-pregrasp-z-offset*)) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; PLATE ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *plate-diameter* 0.26 "in meters") +(defparameter *plate-grasp-y-offset* (- (/ *plate-diameter* 2) 0.015) "in meters") +(defparameter *plate-grasp-z-offset* 0.015 "in meters") +(defparameter *plate-grasp-roll-offset* (/ pi 6)) +(defparameter *plate-pregrasp-y-offset* 0.2 "in meters") +(defparameter *plate-2nd-pregrasp-z-offset* 0.03 "in meters") ; grippers can't go into table + +;; SIDE grasp +(man-int:def-object-type-to-gripper-transforms '(:plate :tray) :left :left-side + :grasp-translation `(0.0 ,*plate-grasp-y-offset* ,*plate-grasp-z-offset*) + :grasp-rot-matrix + `((0 1 0) + (,(sin *plate-grasp-roll-offset*) 0 ,(- (cos *plate-grasp-roll-offset*))) + (,(- (cos *plate-grasp-roll-offset*)) 0 ,(- (sin *plate-grasp-roll-offset*)))) + :pregrasp-offsets `(0.0 ,*plate-pregrasp-y-offset* ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*plate-pregrasp-y-offset* ,*plate-2nd-pregrasp-z-offset*) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +(man-int:def-object-type-to-gripper-transforms :plate :right :right-side + :grasp-translation `(0.0 ,(- *plate-grasp-y-offset*) ,*plate-grasp-z-offset*) + :grasp-rot-matrix + `((0 -1 0) + (,(- (sin *plate-grasp-roll-offset*)) 0 ,(cos *plate-grasp-roll-offset*)) + (,(- (cos *plate-grasp-roll-offset*)) 0 ,(- (sin *plate-grasp-roll-offset*)))) + :pregrasp-offsets `(0.0 ,(- *plate-pregrasp-y-offset*) ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,(- *plate-pregrasp-y-offset*) ,*plate-2nd-pregrasp-z-offset*) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; bottle ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *bottle-pregrasp-xy-offset* 0.15 "in meters") +(defparameter *bottle-grasp-xy-offset* 0.02 "in meters") +(defparameter *bottle-grasp-z-offset* 0.005 "in meters") + +;; SIDE grasp +(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :left-side + :grasp-translation `(0.0d0 ,(- *bottle-grasp-xy-offset*) ,*bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*bottle-pregrasp-xy-offset* ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*bottle-pregrasp-xy-offset* 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :right-side + :grasp-translation `(0.0d0 ,*bottle-grasp-xy-offset* ,*bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,(- *bottle-pregrasp-xy-offset*) ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,(- *bottle-pregrasp-xy-offset*) 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; BACK grasp +(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :back + :grasp-translation `(,(- *bottle-grasp-xy-offset*) 0.0d0 ,*bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) + :2nd-pregrasp-offsets `(,(- *bottle-pregrasp-xy-offset*) 0.0 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; FRONT grasp +(man-int:def-object-type-to-gripper-transforms '(:drink :bottle) '(:left :right) :front + :grasp-translation `(,*bottle-grasp-xy-offset* 0.0d0 ,*bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,*bottle-pregrasp-xy-offset* 0.0 ,*lift-z-offset*) + :2nd-pregrasp-offsets `(,*bottle-pregrasp-xy-offset* 0.0 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;; cup ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *cup-pregrasp-xy-offset* 0.15 "in meters") +(defparameter *cup-grasp-xy-offset* 0.02 "in meters") +(defparameter *cup-grasp-z-offset* 0.01 "in meters") +(defparameter *cup-top-grasp-x-offset* 0.03 "in meters") +(defparameter *cup-top-grasp-z-offset* 0.02 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :top + :grasp-translation `(,(- *cup-top-grasp-x-offset*) 0.0d0 ,*cup-top-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* + :pregrasp-offsets *lift-offset* + :2nd-pregrasp-offsets *lift-offset* + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; SIDE grasp +(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :left-side + :grasp-translation `(0.0d0 ,(- *cup-grasp-xy-offset*) ,*cup-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-flipped-grasp-rotation* + :pregrasp-offsets `(0.0 ,*cup-pregrasp-xy-offset* ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*cup-pregrasp-xy-offset* 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :right-side + :grasp-translation `(0.0d0 ,*cup-grasp-xy-offset* ,*cup-grasp-z-offset*) + :grasp-rot-matrix man-int:*-y-across-z-flipped-grasp-rotation* + :pregrasp-offsets `(0.0 ,(- *cup-pregrasp-xy-offset*) ,*lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,(- *cup-pregrasp-xy-offset*) 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; BACK grasp +(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :back + :grasp-translation `(,*cup-grasp-xy-offset* 0.0d0 ,*cup-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *cup-pregrasp-xy-offset*) 0.0 ,*lift-z-offset*) + :2nd-pregrasp-offsets `(,(- *cup-pregrasp-xy-offset*) 0.0 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; FRONT grasp +(man-int:def-object-type-to-gripper-transforms :cup '(:left :right) :front + :grasp-translation `(,(- *cup-grasp-xy-offset*) 0.0d0 ,*cup-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,*cup-pregrasp-xy-offset* 0.0 ,*lift-z-offset*) + :2nd-pregrasp-offsets `(,*cup-pregrasp-xy-offset* 0.0 0.0) + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; milk ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *milk-grasp-xy-offset* 0.01 "in meters") +(defparameter *milk-grasp-z-offset* 0.03 "in meters") +(defparameter *milk-pregrasp-xy-offset* 0.15 "in meters") +(defparameter *milk-lift-z-offset* 0.15 "in meters") + +;; BACK grasp +(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :back + :grasp-translation `(,*milk-grasp-xy-offset* 0.0d0 ,*milk-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *milk-pregrasp-xy-offset*) 0.0 ,*milk-lift-z-offset*) + :2nd-pregrasp-offsets `(,(- *milk-pregrasp-xy-offset*) 0.0 0.0) + :lift-translation `(0.0 0.0 ,*milk-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*milk-lift-z-offset*)) + +;; FRONT grasp +(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :front + :grasp-translation `(,(- *milk-grasp-xy-offset*) 0.0d0 ,*milk-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,*milk-pregrasp-xy-offset* 0.0 ,*milk-lift-z-offset*) + :2nd-pregrasp-offsets `(,*milk-pregrasp-xy-offset* 0.0 0.0) + :lift-translation `(0.0 0.0 ,*milk-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*milk-lift-z-offset*)) + +;; SIDE grasp +(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :left-side + :grasp-translation `(0.0d0 ,(- *milk-grasp-xy-offset*) ,*milk-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*milk-pregrasp-xy-offset* ,*milk-lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*milk-pregrasp-xy-offset* 0.0) + :lift-translation `(0.0 0.0 ,*milk-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*milk-lift-z-offset*)) + +(man-int:def-object-type-to-gripper-transforms :milk '(:left :right) :right-side + :grasp-translation `(0.0d0 ,*milk-grasp-xy-offset* ,*milk-grasp-z-offset*) + :grasp-rot-matrix man-int:*-y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,(- *milk-pregrasp-xy-offset*) ,*milk-lift-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,(- *milk-pregrasp-xy-offset*) 0.0) + :lift-translation `(0.0 0.0 ,*milk-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*milk-lift-z-offset*)) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; cereal ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *cereal-grasp-z-offset* 0.04 "in meters") +(defparameter *cereal-grasp-xy-offset* 0.03 "in meters") +(defparameter *cereal-pregrasp-z-offset* 0.05 "in meters") +(defparameter *cereal-pregrasp-xy-offset* 0.15 "in meters") +(defparameter *cereal-postgrasp-xy-offset* 0.40 "in meters") +(defparameter *cereal-lift-z-offset* 0.1 "in meters") +(defparameter *cereal-small-lift-z-offset* 0.07 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms + '(:cereal :breakfast-cereal) '(:left :right) :top + :grasp-translation `(0.0d0 0.0d0 ,*cereal-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets *lift-offset* + :2nd-pregrasp-offsets *lift-offset* + :lift-translation *lift-offset* + :2nd-lift-translation *lift-offset*) + +;; FRONT grasp table +(man-int:def-object-type-to-gripper-transforms + '(:cereal :breakfast-cereal) '(:left :right) :front + :grasp-translation `(,*cereal-grasp-xy-offset* 0.0d0 ,*cereal-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 ,*cereal-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 0.0) + :lift-translation `(0.0 0.0 ,*cereal-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*cereal-lift-z-offset*)) + +;; FRONT grasp shelf +(man-int:def-object-type-to-gripper-transforms + '(:cereal :breakfast-cereal) '(:left :right) :front + :location-type :shelf + :grasp-translation `(,*cereal-grasp-xy-offset* 0.0d0 ,*cereal-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation* + :pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 ,*cereal-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(,*cereal-pregrasp-xy-offset* 0.0 0.0) + :lift-translation `(,*cereal-grasp-xy-offset* 0.0 ,*cereal-small-lift-z-offset*) + :2nd-lift-translation `(,*cereal-postgrasp-xy-offset* 0.0 ,*cereal-small-lift-z-offset*)) + +;; BACK grasp table +(man-int:def-object-type-to-gripper-transforms + '(:cereal :breakfast-cereal) '(:left :right) :back + :grasp-translation `(,(- *cereal-grasp-xy-offset*) 0.0d0 ,*cereal-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 ,*cereal-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 0.0) + :lift-translation `(0.0 0.0 ,*cereal-lift-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*cereal-lift-z-offset*)) + +;; BACK grasp shelf +(man-int:def-object-type-to-gripper-transforms + '(:cereal :breakfast-cereal) '(:left :right) :back + :location-type :shelf + :grasp-translation `(,(- *cereal-grasp-xy-offset*) 0.0d0 ,*cereal-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation* + :pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 ,*cereal-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(,(- *cereal-pregrasp-xy-offset*) 0.0 0.0) + :lift-translation `(,(- *cereal-grasp-xy-offset*) 0.0 ,*cereal-small-lift-z-offset*) + :2nd-lift-translation `(,(- *cereal-postgrasp-xy-offset*) 0.0 ,*cereal-small-lift-z-offset*)) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;; bowl ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *bowl-grasp-x-offset* 0.07 "in meters") +(defparameter *bowl-grasp-z-offset* 0.0 "in meters") +(defparameter *bowl-pregrasp-z-offset* 0.20 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms :bowl '(:left :right) :top + :grasp-translation `(,(- *bowl-grasp-x-offset*) 0.0d0 ,*bowl-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* + :pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*)) +(man-int:def-object-type-to-gripper-transforms :bowl '(:left :right) :top-front + :grasp-translation `(,*bowl-grasp-x-offset* 0.0d0 ,*bowl-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-y-grasp-rotation* + :pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*)) +(man-int:def-object-type-to-gripper-transforms :bowl '(:left :right) :top-left + :grasp-translation `(0.0d0 ,*bowl-grasp-x-offset* ,*bowl-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*)) +(man-int:def-object-type-to-gripper-transforms :bowl '(:left :right) :top-right + :grasp-translation `(0.0d0 ,(- *bowl-grasp-x-offset*) ,*bowl-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-pregrasp-offsets `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*) + :2nd-lift-translation `(0.0 0.0 ,*bowl-pregrasp-z-offset*)) + + + + + +;;;;;;;;;;;;;;;;;;;;;;;;; table setting locations ;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +;;;;;;;;;;;;;;;;;;;; utilities + +;;;;;;;; sink + +(defun make-location-on-sink-left (?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (owl-name "kitchen_sink_block_counter_top") + (part-of ?environment-name))) + (side left))) + +(defun make-location-on-sink-left-front (?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (owl-name "kitchen_sink_block_counter_top") + (part-of ?environment-name))) + (side left) + (side front) + (range-invert 0.5))) + +(defun make-location-on-sink-middle-front (?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (owl-name "kitchen_sink_block_counter_top") + (part-of ?environment-name))) + (side left) + (side front) + (range 0.5))) + +(defun make-location-in-sink (?object-type ?environment-name) + (desig:a location + (above (desig:an object + (type sink) + (urdf-name sink-area-sink) + (part-of ?environment-name))) + (side right) + (for (desig:an object (type ?object-type))) + ;; the "for" condition for spoon adds a height that is too high to reach + ;; so adding a little negative z-offset + (z-offset -0.1))) + +;;;;;;;;; sink drawers + +(defun make-location-in-sink-left-upper-drawer (?environment-name) + (desig:a location + (in (desig:an object + (type drawer) + (urdf-name sink-area-left-upper-drawer-main) + (owl-name "drawer_sinkblock_upper_open") + (part-of ?environment-name))) + (side front))) + +(defun make-location-in-sink-left-bottom-drawer (?environment-name) + (desig:a location + (in (desig:an object + (type drawer) + (urdf-name sink-area-left-bottom-drawer-main) + (part-of ?environment-name))) + (side front))) + +(defun make-location-in-sink-left-middle-drawer (?environment-name) + (desig:a location + (in (desig:an object + (type drawer) + (urdf-name sink-area-left-middle-drawer-main) + (owl-name "drawer_sinkblock_middle_open") + (part-of ?environment-name))) + (side front))) + +(defun make-location-in-sink-trash-drawer (?object-type ?environment-name) + (desig:a location + (above (desig:an object + (type drawer) + (urdf-name sink-area-trash-drawer-main) + (part-of ?environment-name))) + (z-offset 0.1) + (side front) + (side right) + (range 0.2) + (for (desig:an object (type ?object-type))))) + +;;;;;;;; vertical drawer + +(defun make-location-in-oven-right-drawer (?object-type ?environment-name) + (desig:a location + ;; (side front) + (in (desig:an object + (type drawer) + (urdf-name oven-area-area-right-drawer-main) + (owl-name "drawer_oven_right_open") + (part-of ?environment-name) + (level topmost))) + (side front) + (for (desig:an object (type ?object-type))))) + +;;;;;;;; fridge + +(defun make-location-in-fridge (?environment-name) + (desig:a location + (in (desig:an object + (type fridge) + (urdf-name iai-fridge-main) + (owl-name "drawer_fridge_upper_interior") + (part-of ?environment-name) + (level topmost))))) + +(defun make-location-in-fridge-door (?environment-name) + (desig:a location + (in (desig:an object + (type fridge) + (urdf-name iai-fridge-door) + (owl-name "drawer_fridge_door_open") + (part-of ?environment-name) + (level bottommost))))) + +;;;;;;;; kitchen island + +(defun make-location-on-kitchen-island-slots (?object-type ?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name kitchen-island-surface) + (owl-name "kitchen_island_counter_top") + (part-of ?environment-name))) + (for (desig:an object (type ?object-type))) + (side back) + (side right) + (range-invert 0.5) + (context table-setting) + (object-count 3))) + +(defun make-location-on-kitchen-island (?object-type ?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name kitchen-island-surface) + (owl-name "kitchen_island_counter_top") + (part-of ?environment-name))) + (for (desig:an object (type ?object-type))) + (side back) + (side right))) + +(defun make-cereal-location (?object-type ?environment-name) + (desig:a location + ;; (left-of (desig:an object (type ?other-object))) + ;; (far-from (desig:an object (type ?other-object))) + ;; (orientation axis-aligned) + (on (desig:an object + (type counter-top) + (urdf-name kitchen-island-surface) + (owl-name "kitchen_island_counter_top") + (part-of ?environment-name))) + (for (desig:an object (type ?object-type))) + (side back) + (side right))) + +(defun make-location-in-kitchen-island-left-upper-drawer (?environment-name) + (desig:a location + (in (desig:an object + (type drawer) + (urdf-name kitchen-island-left-upper-drawer-main) + (part-of ?environment-name))) + (side front))) + +;;;;;;;; dining table + +(defun make-location-on-dining-table-slots (?object-type ?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name dining-area-jokkmokk-table-main) + (part-of ?environment-name))) + (for (desig:an object (type ?object-type))) + (side right) + (context table-setting) + (object-count 2))) + +(defun make-location-on-dining-table (?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name dining-area-jokkmokk-table-main) + (part-of ?environment-name))) + (side right))) + +(defun make-location-in-center-of-dining-table (?object-type ?environment-name) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name dining-area-jokkmokk-table-main) + (part-of ?environment-name))) + (for (desig:an object (type ?object-type))) + (range 0.2) + (side right))) + +;;;;;;;;;; w.r.t. other object + +(defun make-location-right-of-other-object (?object-type ?other-object-type + ?other-object-location) + (let ((?other-object-designator + (desig:an object + (type ?other-object-type) + (location ?other-object-location)))) + (desig:a location + (right-of ?other-object-designator) + (near ?other-object-designator) + (for (desig:an object (type ?object-type))) + (orientation support-aligned)))) + +(defun make-location-right-of-behind-other-object (?object-type ?other-object-type + ?other-object-location) + (let ((?other-object-designator + (desig:an object + (type ?other-object-type) + (location ?other-object-location)))) + (desig:a location + (right-of ?other-object-designator) + ;; (behind ?other-object-designator) + (near ?other-object-designator) + (for (desig:an object (type ?object-type)))))) + +(defun make-location-left-of-far-other-object (?object-type ?other-object-type + ?other-object-location) + (let ((?other-object-designator + (desig:an object + (type ?other-object-type) + (location ?other-object-location)))) + (desig:a location + (left-of ?other-object-designator) + (far-from ?other-object-designator) + (for (desig:an object (type ?object-type)))))) + + +;;;;;;;;;;;;;;;;;;;; context TABLE-SETTING-COUNTER + +;;;;;;;; fetching locations + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting-counter))) + (make-location-on-sink-left-front environment))) + '(:plate)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting-counter))) + (make-location-on-sink-middle-front environment))) + '(:bottle :milk :cereal :breakfast-cereal :cup :bowl :mug)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting-counter))) + (make-location-in-sink-left-upper-drawer environment))) + '(:cutlery :spoon)) + +;;;;;;;;; destination locations + +(mapcar (lambda (object-type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting-counter))) + (make-location-on-kitchen-island-slots object-type environment))) + '(:bowl :plate)) + +(mapcar (lambda (object-type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting-counter))) + (make-location-on-kitchen-island object-type environment))) + '(:mug :bottle)) + +(mapcar (lambda (object-type-and-other-object-type) + (destructuring-bind (object-type other-object-type) + object-type-and-other-object-type + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting-counter))) + (make-location-right-of-other-object + object-type other-object-type + (make-location-on-kitchen-island-slots + other-object-type environment))))) + '((:spoon :bowl) + (:knife :plate))) + +(mapcar (lambda (object-type-and-other-object-type) + (destructuring-bind (object-type other-object-type) + object-type-and-other-object-type + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting-counter))) + (make-location-right-of-behind-other-object + object-type other-object-type + (make-location-on-kitchen-island-slots + other-object-type environment))))) + '((:cup :bowl))) + +(mapcar (lambda (object-type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting-counter))) + (make-cereal-location object-type environment))) + '(:cereal :breakfast-cereal)) + +(defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql :milk)) + environment human + (context (eql :table-setting-counter))) + (make-location-left-of-far-other-object + object-type :bowl + (make-location-on-kitchen-island-slots :bowl environment))) + +;;;;;;;;;;;;;;;;;;;; context TABLE-SETTING + +;;;;;;;;;; fetch locations + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting))) + (make-location-in-sink-left-upper-drawer environment))) + '(:cutlery :spoon)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting))) + (make-location-in-sink-left-middle-drawer environment))) + '(:bowl)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting))) + ;; (make-location-in-sink-left-bottom-drawer environment) + (make-location-in-kitchen-island-left-upper-drawer environment))) + '(:cup)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting))) + (make-location-in-fridge-door environment))) + '(:milk)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-setting))) + (make-location-in-oven-right-drawer object-type environment))) + '(:cereal :breakfast-cereal)) + +;;;;;;;; destination locations + +(mapcar (lambda (object-type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting))) + (make-location-on-dining-table-slots object-type environment))) + '(:bowl)) + +(mapcar (lambda (object-type-and-other-object-type) + (destructuring-bind (object-type other-object-type) + object-type-and-other-object-type + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting))) + (make-location-right-of-other-object + object-type other-object-type + (make-location-on-dining-table-slots + other-object-type environment))))) + '((:spoon :bowl))) + +(mapcar (lambda (object-type-and-other-object-type) + (destructuring-bind (object-type other-object-type) + object-type-and-other-object-type + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting))) + (make-location-right-of-behind-other-object + object-type other-object-type + (make-location-on-dining-table-slots + other-object-type environment))))) + '((:cup :bowl))) + +(mapcar (lambda (object-type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql object-type)) + environment human + (context (eql :table-setting))) + (make-location-in-center-of-dining-table object-type environment))) + '(:cereal :breakfast-cereal :milk)) + +;;;;;;;;;;;;;;;;;;;;;;;; table cleaning ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +;; This does not work. First, call-with-most-specific requires +;; a method to be defined for the given object-type, +;; if object-type is :household-item, then it is also +;; forwarded as :household-item to get-object-destination, +;; which is wrong. +;; Finally, get-object-destination of :table-setting is +;; no the same as object-likely-location of :table-cleaning, +;; as during setting we are relative to another object, +;; and during cleaning that object might already be taken away. +;; (defmethod man-int:get-object-likely-location (object-type +;; environment human +;; (context (eql :table-cleaning))) +;; (man-int:get-object-destination object-type environment human :table-setting)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-likely-location :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-cleaning))) + (make-location-on-dining-table environment))) + '(:bowl :spoon :cup :breakfast-cereal :milk + :cereal :mug :cutlery :plate :bottle)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-cleaning))) + (make-location-in-oven-right-drawer object-type environment))) + '(:cereal :breakfast-cereal)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-cleaning))) + (make-location-in-sink object-type environment))) + '(:bowl :cup :spoon :plate :mug :cutlery)) + +(mapcar (lambda (type) + (defmethod man-int:get-object-destination :heuristics 20 + ((object-type (eql type)) + environment human + (context (eql :table-cleaning))) + (make-location-in-sink-trash-drawer object-type environment))) + '(:milk :bottle)) + + +;;;;;;;;;;;;;;;;;; Predefined poses for placing on dish-washer-drawer ;;;;;;;;;;;;; + +(man-int:def-object-type-in-other-object-transform :bowl :drawer + :bowl-dish-washer-drawer-front-1 + :attachment-translation `(-0.115 -0.15 0.22) + :attachment-rot-matrix '((1 0 0) + (0 1 0) + (0 0 1))) + +(man-int:def-object-type-in-other-object-transform :bowl :drawer + :bowl-dish-washer-drawer-front-2 + :attachment-translation `(-0.115 0.15 0.22) + :attachment-rot-matrix '((1 0 0) + (0 1 0) + (0 0 1))) diff --git a/cram_demos/cram_object_knowledge/src/multiple-trajectory-poses.lisp b/cram_demos/cram_object_knowledge/src/multiple-trajectory-poses.lisp new file mode 100644 index 0000000000..025be0fcbe --- /dev/null +++ b/cram_demos/cram_object_knowledge/src/multiple-trajectory-poses.lisp @@ -0,0 +1,109 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :objects) + +(defmethod man-int:get-action-gripping-effort :heuristics 20 ((type (eql :shoe))) + 30) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-action-gripper-opening :heuristics 20 ((type (eql :shoe))) + 0.1) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;; SHOE ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-object-type-to-gripper-transform ((object-type (eql :shoe)) + object-name + arm + (grasp (eql :top))) + (cl-transforms-stamped:make-transform-stamped + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.0) + (cl-transforms:make-quaternion 1 0 0 0))) + +(defmethod man-int:get-object-type-to-gripper-pregrasp-transforms ((type (eql :shoe)) + object-name + arm + (grasp (eql :top)) + location + grasp-transform) + (list + (cl-transforms-stamped:make-transform-stamped + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.3) + (cl-transforms:make-quaternion 1 0 0 0)) + (cl-transforms-stamped:make-transform-stamped + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.2) + (cl-transforms:make-quaternion 1 0 0 0)) + (cl-transforms-stamped:make-transform-stamped + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.1) + (cl-transforms:make-quaternion 1 0 0 0)))) + +(defmethod man-int:get-object-type-wrt-base-frame-lift-transforms ((type (eql :shoe)) + arm + (grasp (eql :top)) + location) + (list + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.1) + (cl-transforms:make-identity-rotation)) + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.2) + (cl-transforms:make-identity-rotation)) + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 0.3) + (cl-transforms:make-identity-rotation)))) diff --git a/cram_common/cram_object_knowledge/src/package.lisp b/cram_demos/cram_object_knowledge/src/package.lisp similarity index 100% rename from cram_common/cram_object_knowledge/src/package.lisp rename to cram_demos/cram_object_knowledge/src/package.lisp diff --git a/cram_demos/cram_object_knowledge/src/retail.lisp b/cram_demos/cram_object_knowledge/src/retail.lisp new file mode 100644 index 0000000000..e0643d7da1 --- /dev/null +++ b/cram_demos/cram_object_knowledge/src/retail.lisp @@ -0,0 +1,483 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; 2019, Jonas Dech +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :objects) + +(defparameter *default-retail-z-offset* 0.05 "in meters") +(defparameter *default-retail-lift-offsets* `(0.0 0.0 ,*default-retail-z-offset*)) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(def-fact-group retail-object-type-hierarchy (man-int:object-type-direct-subtype) + (<- (man-int:object-type-direct-subtype :retail-item ?item-type) + (member ?item-type (:dish-washer-tabs + :balea-bottle :deodorant :juice-box + :denkmit :dove :heitmann :somat :basket)))) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-action-gripper-opening + :heuristics 20 ((object-type (eql :retail-item))) + 0.1) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-action-gripping-effort + :heuristics 20 ((object-type (eql :retail-item))) + ;; it's actually not the effort but the slippage parameter, + ;; because that's what donbot's gripper speaks... + 0.72) + +(defmethod man-int:get-action-gripping-effort + :heuristics 20 ((object-type (eql :dish-washer-tabs))) + 0.2) +(defmethod man-int:get-action-gripping-effort + :heuristics 20 ((object-type (eql :balea-bottle))) + 0.72) +(defmethod man-int:get-action-gripping-effort + :heuristics 20 ((object-type (eql :deodorant))) + 0.9) +(defmethod man-int:get-action-gripping-effort + :heuristics 20 ((object-type (eql :juice-box))) + 0.82) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defmethod man-int:get-object-type-carry-config :heuristics 20 + ((object-type (eql :retail-item)) grasp) + :carry) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; DISH-WASHER-TABS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *dish-washer-tabs-grasp-x-offset* 0.0 "in meters") +(defparameter *dish-washer-tabs-grasp-z-offset* 0.0 "in meters") +(defparameter *dish-washer-tabs-pregrasp-x-offset* 0.3 "in meters") +(defparameter *dish-washer-tabs-small-lift-z-offset* 0.01 "in meters") +(defparameter *dish-washer-tabs-lift-z-top-grasp-offset* 0.10 "in meters") +(defparameter *dish-washer-tabs-lift-z-other-grasp-offset* 0.05 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms :dish-washer-tabs '(:left :right) :top + :grasp-translation `(0.0 + 0.0 + ,*dish-washer-tabs-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-top-grasp-offset*)) + :2nd-pregrasp-offsets `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + :lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + :2nd-lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-top-grasp-offset*))) + +;; BACK grasp robot +(man-int:def-object-type-to-gripper-transforms :dish-washer-tabs '(:left :right) :back + :location-type :robot + :grasp-translation `(,(- *dish-washer-tabs-grasp-x-offset*) + 0.0 + ,*dish-washer-tabs-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation-2* + :pregrasp-offsets `(,(- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*)) + :2nd-pregrasp-offsets `(,(- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + :lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + :2nd-lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*))) + +;; FRONT grasp robot +(man-int:def-object-type-to-gripper-transforms :dish-washer-tabs '(:left :right) :front + :location-type :robot + :grasp-translation `(,*dish-washer-tabs-grasp-x-offset* + 0.0 + ,*dish-washer-tabs-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation-2* + :pregrasp-offsets `(,*dish-washer-tabs-pregrasp-x-offset* + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *default-retail-z-offset*)) + :2nd-pregrasp-offsets `(,*dish-washer-tabs-pregrasp-x-offset* + 0.0 + ,*dish-washer-tabs-grasp-z-offset*) + :lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + :2nd-lift-translation `(0.0 + 0.0 + ,(+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*))) + +;; BACK grasp shelf +;; util +(defun make-arm-transform (object-name arm x y z &optional rot-matrix) + (cl-transforms-stamped:make-transform-stamped + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector x y z) + (if rot-matrix + (cl-transforms:matrix->quaternion + (make-array '(3 3) :initial-contents rot-matrix)) + (cl-transforms:make-identity-rotation)))) +(defun make-base-transform (x y z) + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector x y z) + (cl-transforms:make-identity-rotation))) +;; grasp +(defmethod man-int:get-object-type-to-gripper-transform + ((object-type (eql :dish-washer-tabs)) + object-name + arm + (grasp (eql :back))) + (make-arm-transform + object-name arm + (- *dish-washer-tabs-grasp-x-offset*) + 0.0 + *dish-washer-tabs-grasp-z-offset* + man-int:*-x-across-z-grasp-rotation-2*)) +;; pregrasp +(defmethod man-int:get-object-type-to-gripper-pregrasp-transforms + ((type (eql :dish-washer-tabs)) + object-name + arm + (grasp (eql :back)) + location + grasp-transform) + (list + (make-arm-transform + object-name arm + (- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*) + man-int:*-x-across-z-grasp-rotation-2*) + (make-arm-transform + object-name arm + (- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*) + man-int:*-x-across-z-grasp-rotation-2*) + (make-arm-transform + object-name arm + (- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*) + man-int:*-x-across-z-grasp-rotation-2*))) +;; postgrasp +(defmethod man-int:get-object-type-wrt-base-frame-lift-transforms + ((type (eql :dish-washer-tabs)) + arm + (grasp (eql :back)) + location) + (list + (make-base-transform + 0.0 + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + (make-base-transform + 0.0 + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*)) + (make-base-transform + (- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*)))) + + +;; FRONT grasp shelf +;; grasp +(defmethod man-int:get-object-type-to-gripper-transform + ((object-type (eql :dish-washer-tabs)) + object-name + arm + (grasp (eql :front))) + (make-arm-transform + object-name arm + *dish-washer-tabs-grasp-x-offset* + 0.0 + *dish-washer-tabs-grasp-z-offset* + man-int:*x-across-z-grasp-rotation-2*)) +;; pregrasp +(defmethod man-int:get-object-type-to-gripper-pregrasp-transforms + ((type (eql :dish-washer-tabs)) + object-name + arm + (grasp (eql :front)) + location + grasp-transform) + (list + (make-arm-transform + object-name arm + *dish-washer-tabs-pregrasp-x-offset* + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*) + man-int:*x-across-z-grasp-rotation-2*) + (make-arm-transform + object-name arm + *dish-washer-tabs-pregrasp-x-offset* + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*) + man-int:*x-across-z-grasp-rotation-2*) + (make-arm-transform + object-name arm + *dish-washer-tabs-pregrasp-x-offset* + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*) + man-int:*x-across-z-grasp-rotation-2*))) +;; postgrasp +(defmethod man-int:get-object-type-wrt-base-frame-lift-transforms + ((type (eql :dish-washer-tabs)) + arm + (grasp (eql :front)) + location) + (list + (make-base-transform + 0.0 + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-small-lift-z-offset*)) + (make-base-transform + 0.0 + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*)) + (make-base-transform + *dish-washer-tabs-pregrasp-x-offset* + 0.0 + (+ *dish-washer-tabs-grasp-z-offset* + *dish-washer-tabs-lift-z-other-grasp-offset*)))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; BALEA-BOTTLE ;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *balea-bottle-grasp-z-offset* 0.0 "in meters") +(defparameter *balea-bottle-pregrasp-x-offset* 0.2 "in meters") + +;; TOP grasp +(man-int:def-object-type-to-gripper-transforms :balea-bottle '(:left :right) :top + :grasp-translation `(0.0 + 0.0 + ,*balea-bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets *default-retail-lift-offsets* + :2nd-pregrasp-offsets *default-retail-lift-offsets* + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +;; BACK grasp +(man-int:def-object-type-to-gripper-transforms :balea-bottle '(:left :right) :back + :grasp-translation `(0.0 + 0.0 + ,*balea-bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*-x-across-z-grasp-rotation-2* + :pregrasp-offsets `(,(- *balea-bottle-pregrasp-x-offset*) + 0.0 + ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(,(- *dish-washer-tabs-pregrasp-x-offset*) + 0.0 + ,*balea-bottle-grasp-z-offset*) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +;; FRONT grasp +(man-int:def-object-type-to-gripper-transforms :balea-bottle '(:left :right) :front + :grasp-translation `(0.0 + 0.0 + ,*balea-bottle-grasp-z-offset*) + :grasp-rot-matrix man-int:*x-across-z-grasp-rotation-2* + :pregrasp-offsets `(,*balea-bottle-pregrasp-x-offset* + 0.0 + ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(,*balea-bottle-pregrasp-x-offset* + 0.0 + ,*balea-bottle-grasp-z-offset*) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + + +;;;;;;;;;;;;;;; DENKMIT, DOVE, HEITMANN and SOMAT ;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defparameter *denkmit-pregrasp-xy-offste* 0.3 "in meters") +(defparameter *denkmit-grasp-xy-offset* 0.03 "in meters") +(defparameter *denkmit-grasp-z-offset* 0.03 "in meters") + +(man-int:def-object-type-to-gripper-transforms :denkmit '(:left :right) :left-side + :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +(man-int:def-object-type-to-gripper-transforms :dove '(:left :right) :left-side + :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +(man-int:def-object-type-to-gripper-transforms :heitmann '(:left :right) :left-side + :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +(man-int:def-object-type-to-gripper-transforms :somat '(:left :right) :left-side + :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) + :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* + :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*default-retail-z-offset*) + :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; BASKET ;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(man-int:def-object-type-to-gripper-transforms :basket '(:left :right) :top + :grasp-translation `(0.15 0.0 0.18) + :grasp-rot-matrix man-int:*z-across-x-grasp-rotation* + :pregrasp-offsets *default-retail-lift-offsets* + :2nd-pregrasp-offsets *default-retail-lift-offsets* + :lift-translation *default-retail-lift-offsets* + :2nd-lift-translation *default-retail-lift-offsets*) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; +;;;;;;;;;;;;;;;;;;;;;;; placing poses on robot, environment and basket + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :robot + :donbot-tray-front + :attachment-translation `(0.2 0.05 0.11) + :attachment-rot-matrix '((0 0 1) + (0 -1 0) + (1 0 0))) + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :robot + :donbot-tray-back + :attachment-translation `(0.2 0.05 0.11) + :attachment-rot-matrix '(( 0 0 1) + ( 0 1 0) + (-1 0 0))) + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :environment + :dish-washer-tabs-shelf-1-front + :attachment-translation `(0.39968 -0.26038335 0.1202) + :attachment-rot-matrix man-int:*rotation-around-z-90-matrix*) + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :environment + :dish-washer-tabs-shelf-1-back + :attachment-translation `(0.39968 -0.26038335 0.1202) + :attachment-rot-matrix man-int:*rotation-around-z+90-matrix*) + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :basket + :in-basket-front + :attachment-translation `(0.15 0.15 0.05;; -0.02 + ) + :attachment-rot-matrix '(( 0 0 1) + ( 0 1 0) + (-1 0 0))) + +(man-int:def-object-type-in-other-object-transform :dish-washer-tabs :basket + :in-basket-back + :attachment-translation `(0.15 0.15 0.05;; -0.02 + ) + :attachment-rot-matrix '(( 0 0 -1) + ( 0 -1 0) + (-1 0 0))) + +(man-int:def-object-type-in-other-object-transform :balea-bottle :environment + :balea-bottle-shelf-1-front + :attachment-translation `(0.3 -0.27 0.105) + :attachment-rot-matrix man-int:*rotation-around-z-90-matrix*) + +(man-int:def-object-type-in-other-object-transform :balea-bottle :environment + :balea-bottle-shelf-1-back + :attachment-translation `(0.3 -0.27 0.105) + :attachment-rot-matrix man-int:*rotation-around-z+90-matrix*) + +(man-int:def-object-type-in-other-object-transform :balea-bottle :robot + :donbot-tray-left + :attachment-translation `(0.2 0.1 0.1) + :attachment-rot-matrix '((0.43809 0.89892 0.005072) + (-0.89879 0.43811461 -0.01522) + (-0.0159 0.0021 0.999871))) + +(man-int:def-object-type-in-other-object-transform :heitmann :basket + :in-basket + :attachment-translation `(0.2 0.15 -0.005) + :attachment-rot-matrix '((1 0 0) + (0 1 0) + (0 0 1))) + +(man-int:def-object-type-in-other-object-transform :dove :basket + :in-basket + :attachment-translation `(0.1 0.15 -0.005) + :attachment-rot-matrix '((1 0 0) + (0 1 0) + (0 0 1))) + +(defmethod man-int:get-z-offset-for-placing-with-dropping (object + (other-object (eql :basket)) + attachment) + 0.15) diff --git a/cram_pr2/cram_pr2_pick_place_demo/CMakeLists.txt b/cram_demos/cram_pr2_pick_place_demo/CMakeLists.txt similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/CMakeLists.txt rename to cram_demos/cram_pr2_pick_place_demo/CMakeLists.txt diff --git a/cram_pr2/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo-tests.asd b/cram_demos/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo-tests.asd similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo-tests.asd rename to cram_demos/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo-tests.asd diff --git a/cram_pr2/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd b/cram_demos/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd similarity index 85% rename from cram_pr2/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd rename to cram_demos/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd index b076c0b7cb..16ac77e21a 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd +++ b/cram_demos/cram_pr2_pick_place_demo/cram-pr2-pick-place-demo.asd @@ -66,9 +66,13 @@ cram-urdf-projection ; for with-simulated-robot cram-urdf-projection-reasoning ; to set projection reasoning to T - ;; cram-pr2-description cram-fetch-deliver-plans - cram-urdf-environment-manipulation) + cram-urdf-environment-manipulation + + cram-pr2-description + cram-boxy-description + cram-donbot-description + cram-hsrb-description) :components ((:module "src" @@ -78,7 +82,11 @@ (:file "costmaps" :depends-on ("package")) (:file "projection-demo" :depends-on ("package" "costmaps")) (:file "demo" :depends-on ("package" "projection-demo" "costmaps")) - (:file "milestone-projection-demo" :depends-on ("package" "costmaps")) - (:file "data-generation-script" :depends-on ("package" "projection-demo" "costmaps")) + (:file "milestone-projection-demo" :depends-on ("package" + "projection-demo" + "costmaps")) + (:file "data-generation-script" :depends-on ("package" + "projection-demo" + "costmaps")) (:file "data-generation-plan" :depends-on ("package" "demo")) (:file "evaluation-plan" :depends-on ("package" "demo")))))) diff --git a/cram_pr2/cram_urdf_bringup/launch/sandbox.launch b/cram_demos/cram_pr2_pick_place_demo/launch/sandbox.launch similarity index 54% rename from cram_pr2/cram_urdf_bringup/launch/sandbox.launch rename to cram_demos/cram_pr2_pick_place_demo/launch/sandbox.launch index cbcb27deec..e6bf6e5a39 100644 --- a/cram_pr2/cram_urdf_bringup/launch/sandbox.launch +++ b/cram_demos/cram_pr2_pick_place_demo/launch/sandbox.launch @@ -1,14 +1,13 @@ - - - - - + + + + + + - /kitchen/cram_joint_states + @@ -29,23 +31,17 @@ - + + + + - + + - - - - - - - + '$(find pr2_description)/robots/pr2.urdf.xacro'"/> + @@ -56,37 +52,7 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cram_demos/cram_pr2_pick_place_demo/launch/sandbox_with_giskard.launch b/cram_demos/cram_pr2_pick_place_demo/launch/sandbox_with_giskard.launch new file mode 100644 index 0000000000..50397b37c1 --- /dev/null +++ b/cram_demos/cram_pr2_pick_place_demo/launch/sandbox_with_giskard.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/cram_pr2/cram_pr2_pick_place_demo/package.xml b/cram_demos/cram_pr2_pick_place_demo/package.xml similarity index 94% rename from cram_pr2/cram_pr2_pick_place_demo/package.xml rename to cram_demos/cram_pr2_pick_place_demo/package.xml index 7a7b9da945..ada99b1fec 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/package.xml +++ b/cram_demos/cram_pr2_pick_place_demo/package.xml @@ -39,10 +39,14 @@ cram_mobile_pick_place_plans cram_object_knowledge cram_cloud_logger - cram_pr2_description cram_fetch_deliver_plans cram_urdf_environment_manipulation + cram_pr2_description + cram_boxy_description + cram_donbot_description + cram_hsrb_description + iai_maps iai_kitchen diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/blue_metal_plate.stl b/cram_demos/cram_pr2_pick_place_demo/resource/blue_metal_plate.stl similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/blue_metal_plate.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/blue_metal_plate.stl diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/bottle.dae b/cram_demos/cram_pr2_pick_place_demo/resource/bottle.dae similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/bottle.dae rename to cram_demos/cram_pr2_pick_place_demo/resource/bottle.dae diff --git a/cram_demos/cram_pr2_pick_place_demo/resource/bowl.obj b/cram_demos/cram_pr2_pick_place_demo/resource/bowl.obj new file mode 100644 index 0000000000..f14870ddce --- /dev/null +++ b/cram_demos/cram_pr2_pick_place_demo/resource/bowl.obj @@ -0,0 +1,6905 @@ +# Blender v2.83.4 OBJ File: '' +# 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822/824/830 824/826/830 825/813/830 +f 814/816/817 816/819/817 825/813/817 +f 816/819/826 822/824/826 825/813/826 +f 824/826/831 821/814/831 825/813/831 +f 822/824/832 818/823/832 826/827/832 +f 818/823/829 824/826/829 826/827/829 +f 824/826/830 822/824/830 826/827/830 +f 821/814/833 814/816/833 827/815/833 +f 814/816/817 825/813/817 827/815/817 diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/fork.dae b/cram_demos/cram_pr2_pick_place_demo/resource/fork.dae similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/fork.dae rename to cram_demos/cram_pr2_pick_place_demo/resource/fork.dae diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/knife.dae b/cram_demos/cram_pr2_pick_place_demo/resource/knife.dae similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/knife.dae rename to cram_demos/cram_pr2_pick_place_demo/resource/knife.dae diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/milk.dae b/cram_demos/cram_pr2_pick_place_demo/resource/milk.dae similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/milk.dae rename to cram_demos/cram_pr2_pick_place_demo/resource/milk.dae diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/milk.stl b/cram_demos/cram_pr2_pick_place_demo/resource/milk.stl similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/milk.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/milk.stl diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/red_metal_plate.stl b/cram_demos/cram_pr2_pick_place_demo/resource/red_metal_plate.stl similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/red_metal_plate.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/red_metal_plate.stl diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/spoon.dae b/cram_demos/cram_pr2_pick_place_demo/resource/spoon.dae similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/spoon.dae rename to cram_demos/cram_pr2_pick_place_demo/resource/spoon.dae diff --git a/cram_boxy/cram_boxy_assembly_demo/resource/spoon.stl b/cram_demos/cram_pr2_pick_place_demo/resource/spoon.stl similarity index 100% rename from cram_boxy/cram_boxy_assembly_demo/resource/spoon.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/spoon.stl diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/tray-base.stl b/cram_demos/cram_pr2_pick_place_demo/resource/tray-base.stl similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/tray-base.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/tray-base.stl diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/tray.stl b/cram_demos/cram_pr2_pick_place_demo/resource/tray.stl similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/tray.stl rename to cram_demos/cram_pr2_pick_place_demo/resource/tray.stl diff --git a/cram_demos/cram_pr2_pick_place_demo/src/costmaps.lisp b/cram_demos/cram_pr2_pick_place_demo/src/costmaps.lisp new file mode 100644 index 0000000000..42092c9286 --- /dev/null +++ b/cram_demos/cram_pr2_pick_place_demo/src/costmaps.lisp @@ -0,0 +1,70 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defun make-restricted-area-cost-function () + (lambda (x y) + (if (> x 1.2) + 0.0 + (if (and (> x 0.5) (> y -1.5) (< y 2.0)) + 1.0 + (if (and (> x 0.0) (> y -1.5) (< y 1.0)) + 1.0 + (if (and (> x -1.5) (> y -1.5) (< y 2.5)) + 1.0 + (if (and (> x -4.0) (> y -1.0) (< y 1.0)) + 1.0 + 0.0))))))) + +(defmethod location-costmap:costmap-generator-name->score ((name (eql 'restricted-area))) 5) + +(def-fact-group demo-costmap (location-costmap:desig-costmap) + (<- (location-costmap:desig-costmap ?designator ?costmap) + (or (rob-int:visibility-designator ?designator) + (rob-int:reachability-designator ?designator)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (once (or (and (desig:desig-prop ?designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ?designator (:location ?some-location)) + (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, + ;; don't use the costmap + (not (man-int:location-always-reachable ?location))))) + (location-costmap:costmap ?costmap) + (location-costmap:costmap-add-function + restricted-area + (make-restricted-area-cost-function) + ?costmap))) diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/data-generation-plan.lisp b/cram_demos/cram_pr2_pick_place_demo/src/data-generation-plan.lisp similarity index 96% rename from cram_pr2/cram_pr2_pick_place_demo/src/data-generation-plan.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/data-generation-plan.lisp index bef2f334e5..d7b28f79bc 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/src/data-generation-plan.lisp +++ b/cram_demos/cram_pr2_pick_place_demo/src/data-generation-plan.lisp @@ -78,7 +78,7 @@ "kitchen_sink_block_counter_top") (part-of kitchen))))) - :z-offset z/2) + :z z/2) :orientation orientation))) (setf (btr:pose btr-object) pose-for-grasping)))) objects) @@ -121,7 +121,7 @@ (type counter-top) (urdf-name sink-area-surface) (owl-name "kitchen_sink_block_counter_top") - (part-of kitchen))) + (part-of iai-kitchen))) (for ?object))) (?second-location (desig:a location @@ -130,7 +130,7 @@ (type counter-top) (urdf-name kitchen-island) (owl-name "kitchen_island_counter_top") - (part-of kitchen))) + (part-of iai-kitchen))) (for ?object)))) (exe:perform (desig:an action @@ -142,9 +142,7 @@ (arm ?arm-to-use))) (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (btr:simulate btr:*current-bullet-world* 100) (let ((?new-object (exe:perform (desig:an action diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/data-generation-script.lisp b/cram_demos/cram_pr2_pick_place_demo/src/data-generation-script.lisp similarity index 97% rename from cram_pr2/cram_pr2_pick_place_demo/src/data-generation-script.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/data-generation-script.lisp index 3e9ba2299d..82367eef68 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/src/data-generation-script.lisp +++ b/cram_demos/cram_pr2_pick_place_demo/src/data-generation-script.lisp @@ -41,9 +41,7 @@ (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (let ((?pose (cl-transforms-stamped:make-pose-stamped "map" 0.0 @@ -173,9 +171,7 @@ -0.75 1.0 (+ 0.8573 z/2))))))) (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (exe:perform (desig:a motion (type moving-torso) diff --git a/cram_demos/cram_pr2_pick_place_demo/src/demo.lisp b/cram_demos/cram_pr2_pick_place_demo/src/demo.lisp new file mode 100644 index 0000000000..054bac70ec --- /dev/null +++ b/cram_demos/cram_pr2_pick_place_demo/src/demo.lisp @@ -0,0 +1,194 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defparameter *object-cad-models* + '(;; (:cup . "cup_eco_orange") + ;; (:bowl . "edeka_red_bowl") + )) + +(defparameter *object-colors* + '(;; (:spoon . "Black") + ;; (:spoon . "Blue") + ;; (:breakfast-cereal . "Yellow") + ;; (:milk . "Blue") + (:bowl . "Red") + (:cup . "Red"))) + +(defparameter *object-materials* + '((:spoon . "Steel"))) + +(defparameter *object-grasps* + '((:spoon . :top) + (:breakfast-cereal . :front) + (:milk . :front) + (:cup . :top) + (:bowl . :top))) + +(defun park-robot () + (cpl:with-failure-handling + ((cpl:plan-failure (e) + (declare (ignore e)) + (return))) + (exe:perform + (desig:an action + (type moving-torso) + (joint-angle upper-limit))) + (cpl:par + (exe:perform + (desig:an action + (type positioning-arm) + (left-configuration park) + (right-configuration park))) + (exe:perform (desig:an action (type opening-gripper) (gripper (left right)))) + (exe:perform (desig:an action (type looking) (direction forward)))) + (let ((?pose (cl-transforms-stamped:make-pose-stamped + cram-tf:*fixed-frame* + 0.0 + (cl-transforms:make-identity-vector) + (cl-transforms:make-identity-rotation)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location (pose ?pose)))))))) + +(defun start-logging () + (setf ccl::*is-logging-enabled* t) + (ccl::init-logging) + (ccl::start-episode)) + +(defun initialize () + (sb-ext:gc :full t) + + ;; (setf proj-reasoning::*projection-checks-enabled* t) + + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + (btr-utils:kill-all-objects) + (setf (btr:joint-state (btr:get-environment-object) + "sink_area_left_upper_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_left_middle_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_left_bottom_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "iai_fridge_door_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_door_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_tray_main") + 0.0 + (btr:joint-state (btr:get-environment-object) + "oven_area_area_right_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_trash_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "kitchen_island_left_upper_drawer_main_joint") + 0.0) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + + (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) + + (coe:clear-belief) + + (btr:clear-costmap-vis-object)) + +(defun finalize () + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + + (sb-ext:gc :full t)) + +(defun stop-logging () + (ccl::stop-episode)) + + +(cpl:def-cram-function demo-random (&optional + (random + nil) + (list-of-objects + '(:bowl :spoon :cup :milk :breakfast-cereal))) + + (initialize) + (when cram-projection:*projection-environment* + (spawn-objects-on-sink-counter :random random)) + + (park-robot) + + (dolist (?object-type list-of-objects) + (let* ((?arm-to-use + (cdr (assoc ?object-type *object-grasping-arms*))) + (?cad-model + (cdr (assoc ?object-type *object-cad-models*))) + (?color + (cdr (assoc ?object-type *object-colors*))) + (?material + (cdr (assoc ?object-type *object-materials*))) + (?object-to-fetch + (desig:an object + (type ?object-type) + (desig:when ?cad-model + (cad-model ?cad-model)) + (desig:when ?color + (color ?color)) + (desig:when ?material + (material ?material))))) + + (cpl:with-failure-handling + ((common-fail:high-level-failure (e) + (roslisp:ros-warn (pp-plans demo) "Failure happened: ~a~%Skipping..." e) + (return))) + + (exe:perform + (desig:an action + (type transporting) + (context table-setting-counter) + (object ?object-to-fetch) + ;; (desig:when ?arm-to-use + ;; (arms (?arm-to-use))) + ))) + + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + )) + + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + + (park-robot) + + (finalize) + + cpl:*current-path*) diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/evaluation-plan.lisp b/cram_demos/cram_pr2_pick_place_demo/src/evaluation-plan.lisp similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/src/evaluation-plan.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/evaluation-plan.lisp diff --git a/cram_demos/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp b/cram_demos/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp new file mode 100644 index 0000000000..e760791a8f --- /dev/null +++ b/cram_demos/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp @@ -0,0 +1,214 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Amar Fayaz +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demo) + +(defparameter *demo-object-spawning-poses* + '((:bowl + "sink_area_left_middle_drawer_main" + ((0.10 -0.1505 -0.062256) (0 0 -1 0))) + ;; (:cup + ;; "sink_area_left_bottom_drawer_main" + ;; ((0.11 0.12 -0.0547167) (0 0 -1 0))) + (:cup + "kitchen_island_left_upper_drawer_main" + ((0.11 0.08 -0.0547167) (0 0 -1 0))) + (:spoon + ;; "oven_area_area_middle_upper_drawer_main" + "sink_area_left_upper_drawer_main" + ((0.125 0 -0.0136) (0 -0.053938 -0.998538 -0.003418))) + ;; So far only this orientation works + (:breakfast-cereal + "oven_area_area_right_drawer_board_3_link" + ((0.123 -0.03 0.11) (0.0087786 0.005395 -0.838767 -0.544393))) + ;; ((:breakfast-cereal . ((1.398 1.490 1.2558) (0 0 0.7071 0.7071))) + ;; (:breakfast-cereal . ((1.1 1.49 1.25) (0 0 0.7071 0.7071))) + (:milk + ;; "iai_fridge_main_middle_level" + ;; ((0.10355 0.022 0.094) (0.00939 -0.00636 -0.96978 -0.2437)) + "iai_fridge_door_shelf1_bottom" + ((-0.01 -0.05 0.094) (0 0 0 1))))) + + +(defparameter *delivery-poses-relative* + `((:bowl + "kitchen_island_surface" + ((0.24 -0.5 0.0432199478149414d0) + (0.0 0.0 0.33465 0.94234))) + (:cup + "kitchen_island_surface" + ((0.21 -0.20 0.06) + (0.0 0.0 0.33465 0.94234))) + (:spoon + "kitchen_island_surface" + ((0.26 -0.32 0.025) + (0.0 0.0 1 0))) + (:milk + "kitchen_island_surface" + ((0.25 0 0.0983174006144206d0) + (0.0 0.0 -0.9 0.7))) + (:breakfast-cereal + "kitchen_island_surface" + ((0.32 -0.9 0.1) (0 0 0.6 0.4))))) + + +(defparameter *delivery-poses* + `((:bowl . ((-0.8399440765380859d0 1.2002920786539713d0 0.8932199478149414d0) + (0.0 0.0 0.33465 0.94234))) + (:cup . ((-0.8908212025960287d0 1.4991984049479166d0 0.9027448018391927d0) + (0.0 0.0 0.33465 0.94234))) + (:spoon . ((-0.8409400304158529d0 1.38009208679199219d0 0.8673268000284831d0) + (0.0 0.0 1 0))) + (:milk . ((-0.8495257695515951d0 1.6991498311360678d0 0.9483174006144206d0) + (0.0 0.0 -0.9 0.7))) + (:breakfast-cereal . ((-0.78 0.8 0.95) (0 0 0.6 0.4))))) + +(defparameter *cleaning-deliver-poses* + `((:bowl . ((1.45 -0.4 1.0) (0 0 0 1))) + (:cup . ((1.45 -0.4 1.0) (0 0 0 1))) + (:spoon . ((1.45 -0.4 1.0) (0 0 0 1))) + (:milk . ((1.2 -0.5 0.8) (0 0 1 0))) + (:breakfast-cereal . ((1.15 -0.5 0.8) (0 0 1 0))))) + + +(defun attach-object-to-the-world (object-type) + (when *demo-object-spawning-poses* + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* + (intern (format nil "~a-1" object-type) :keyword)) + :link (second (find object-type + *demo-object-spawning-poses* + :key #'car))))) + +(defun make-poses-list-relative (spawning-poses-list) + "Gets a list of ((:type \"frame\" cords-list) ...) +Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list in form + ((TYPE . POSE) ...)." + (when spawning-poses-list + (mapcar (lambda (type-and-frame-and-pose-list) + (destructuring-bind (type frame pose-list) + type-and-frame-and-pose-list + (let* ((map-T-surface + (cl-transforms:pose->transform + (btr:link-pose (btr:get-environment-object) frame))) + (surface-T-object + (cl-transforms:pose->transform + (cram-tf:list->pose pose-list))) + (map-T-object + (cl-transforms:transform* map-T-surface surface-T-object)) + (map-P-object + (cl-transforms:transform->pose map-T-object))) + `(,type . ,map-P-object)))) + spawning-poses-list))) + +(defun spawn-objects-on-fixed-spots (&key + (spawning-poses-relative + *demo-object-spawning-poses*) + (object-types + '(:breakfast-cereal :cup :bowl :spoon :milk))) + (btr-utils:kill-all-objects) + (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") + (btr:detach-all-objects (btr:get-robot-object)) + ;; spawn objects at default poses + (let* ((spawning-poses-absolute + (make-poses-list-relative spawning-poses-relative)) + (objects (mapcar (lambda (object-type) + (btr-utils:spawn-object + (intern (format nil "~a-1" object-type) :keyword) + object-type + :pose (cdr (assoc object-type + ;; *demo-object-spawning-poses* + spawning-poses-absolute + )))) + object-types))) + ;; stabilize world + ;; (btr:simulate btr:*current-bullet-world* 100) + objects) + + (mapcar #'attach-object-to-the-world object-types)) + + + +(defun setting-demo (&optional (object-list '(:bowl :spoon :cup + :milk :breakfast-cereal))) + (initialize) + (setf btr:*visibility-threshold* 0.7) + (when (or cram-projection:*projection-environment* + ;; dont want to add dependency on sim PMs, thus this stupid hack + (roslisp:get-param "/base_simulator/sim_frequency" nil)) + (spawn-objects-on-fixed-spots + :object-types object-list + :spawning-poses-relative *demo-object-spawning-poses*)) + ;; (park-robot) + + (dolist (?object-type object-list) + (let* ((?deliver-pose (cram-tf:ensure-pose-in-frame + (btr:ensure-pose + (cdr (assoc ?object-type *delivery-poses*))) + cram-tf:*fixed-frame*)) + (?deliver-location (a location (pose ?deliver-pose))) + (?color (cdr (assoc ?object-type *object-colors*))) + (?material (cdr (assoc ?object-type *object-materials*))) + ;; (?grasp (cdr (assoc ?object-type *object-grasps*))) + (?object (an object + (type ?object-type) + ;; (location ?fetch-location) + (desig:when ?color + (color ?color)) + (desig:when ?material + (material ?material))))) + (exe:perform + (an action + (type transporting) + (object ?object) + (context :table-setting) + ;; (grasps (:back :top :front)) + ;; (arms (left right)) + ;; (desig:when ?grasp + ;; (grasp ?grasp)) + ;; (target ?deliver-location) + ))))) + +(defun cleaning-demo (&optional (object-list '(:milk :breakfast-cereal + :bowl :spoon :cup))) + "Cleans up object to the designated locations by iterating over +`object-list' " + ;; (setup-for-demo object-list) + (when cram-projection:*projection-environment* + (spawn-objects-on-fixed-spots + :object-types object-list + :spawning-poses-relative *delivery-poses-relative*)) + + (dolist (?object-type object-list) + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?object-type))) + (context table-cleaning))))) diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/package.lisp b/cram_demos/cram_pr2_pick_place_demo/src/package.lisp similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/src/package.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/package.lisp diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/projection-demo.lisp b/cram_demos/cram_pr2_pick_place_demo/src/projection-demo.lisp similarity index 95% rename from cram_pr2/cram_pr2_pick_place_demo/src/projection-demo.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/projection-demo.lisp index d773d947ae..040ba432f6 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/src/projection-demo.lisp +++ b/cram_demos/cram_pr2_pick_place_demo/src/projection-demo.lisp @@ -92,7 +92,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i (map-T-object (cl-transforms:transform* map-T-surface surface-T-object)) (map-P-object - (cl-tf:transform->pose map-T-object))) + (cl-transforms:transform->pose map-T-object))) `(,type . ,map-P-object)))) (second spawning-poses))))) @@ -138,7 +138,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i (type drawer) (urdf-name sink-area-left-upper-drawer-main) - (part-of kitchen))) + (part-of iai-kitchen))) (side front) (range 0.2) (range-invert 0.12)) @@ -146,12 +146,12 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i (on (desig:an object (type counter-top) (urdf-name sink-area-surface) - (part-of kitchen))) + (part-of iai-kitchen))) ;; below only works for knowrob sem-map ;; (centered-with-padding 0.1) (side left) (side front)))) - :z-offset (/ aabb-z 2.0))) + :z (/ aabb-z 2.0))) ;; take the pose from the function input list (cdr (assoc object-type spawning-poses-absolute)))) ;; rotate new pose randomly around Z @@ -167,14 +167,15 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i ;; make sure generated poses are stable, especially important for random ones ;; TDOO: if unstable, call itself + ;; attach spoon to the drawer + (when (btr:object btr:*current-bullet-world* :spoon-1) + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* :spoon-1) + :link "sink_area_left_upper_drawer_main")) + ;; stabilize world (btr:simulate btr:*current-bullet-world* 100) - ;; attach spoon to the drawer - (btr:attach-object (btr:object btr:*current-bullet-world* :kitchen) - (btr:object btr:*current-bullet-world* :spoon-1) - :link "sink_area_left_upper_drawer_main") - ;; return list of BTR objects objects)) @@ -187,9 +188,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i (?ptu-goal *look-goal*)) (cpl:par (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (exe:perform (desig:a motion (type going) (pose ?navigation-goal)))) @@ -256,7 +255,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i ;; (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment ;; (cpl:top-level ;; (exe:perform -;; (let ((?pose (cl-tf:make-pose-stamped +;; (let ((?pose (cl-transforms-stamped:make-pose-stamped ;; cram-tf:*robot-base-frame* 0.0 ;; (cl-transforms:make-3d-vector -0.5 0 0) ;; (cl-transforms:make-identity-rotation)))) @@ -268,7 +267,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i ;; (exe:perform ;; (desig:a motion (type looking) (direction forward))) ;; (exe:perform -;; (let ((?pose (cl-tf:make-pose-stamped +;; (let ((?pose (cl-transforms-stamped:make-pose-stamped ;; cram-tf:*robot-base-frame* 0.0 ;; (cl-transforms:make-3d-vector 0.7 0.3 0.85) ;; (cl-transforms:make-identity-rotation)))) @@ -309,7 +308,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i ;; (desig:a location ;; (on "CounterTop") ;; (name "iai_kitchen_meal_table_counter_top"))) -;; :z-offset (/ aabb-z 2.0)))) +;; :z (/ aabb-z 2.0)))) ;; (btr-utils:move-object (btr:name btr-object) new-pose))) ;; objects) ;; ;; bottle gets special treatment @@ -362,9 +361,7 @@ Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list i ;; (cpl:par ;; (exe:perform ;; (desig:an action -;; (type positioning-arm) -;; (left-configuration park) -;; (right-configuration park))) +;; (type parking-arms))) ;; (exe:perform (desig:a motion ;; (type going) ;; (pose ?navigation-goal)))) diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/setup.lisp b/cram_demos/cram_pr2_pick_place_demo/src/setup.lisp similarity index 76% rename from cram_pr2/cram_pr2_pick_place_demo/src/setup.lisp rename to cram_demos/cram_pr2_pick_place_demo/src/setup.lisp index 25b83077a4..2c9a6c63bb 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/src/setup.lisp +++ b/cram_demos/cram_pr2_pick_place_demo/src/setup.lisp @@ -32,27 +32,13 @@ ;; roslaunch cram_pr2_pick_place_demo sandbox.launch (defun init-projection () - (def-fact-group costmap-metadata (costmap:costmap-size - costmap:costmap-origin - costmap:costmap-resolution - costmap:orientation-samples - costmap:orientation-sample-step) - (<- (costmap:costmap-size 12 12)) - (<- (costmap:costmap-origin -6 -6)) - (<- (costmap:costmap-resolution 0.04)) - (<- (costmap:orientation-samples 2)) - (<- (costmap:orientation-sample-step 0.3))) - - (setf cram-bullet-reasoning-belief-state:*robot-parameter* "robot_description") - (setf cram-bullet-reasoning-belief-state:*kitchen-parameter* "kitchen_description") - - (cram-occasions-events:clear-belief) + (coe:clear-belief) (setf cram-tf:*tf-default-timeout* 2.0) (setf prolog:*break-on-lisp-errors* t) - (cram-bullet-reasoning:clear-costmap-vis-object) + (btr:clear-costmap-vis-object) ;; (setf cram-tf:*tf-broadcasting-enabled* t) diff --git a/cram_pr2/cram_pr2_pick_place_demo/tests/package.lisp b/cram_demos/cram_pr2_pick_place_demo/tests/package.lisp similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/tests/package.lisp rename to cram_demos/cram_pr2_pick_place_demo/tests/package.lisp diff --git a/cram_pr2/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp b/cram_demos/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp similarity index 96% rename from cram_pr2/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp rename to cram_demos/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp index fda7101529..bae7e55195 100644 --- a/cram_pr2/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp +++ b/cram_demos/cram_pr2_pick_place_demo/tests/projection-demo-tests.lisp @@ -24,9 +24,7 @@ (defun move-surface (&key (x 0) (y 0) (z 0) (alpha 0.0)) (let* ((old-pose (btr:link-pose (btr:get-environment-object) "sink_area_surface")) (rotated-pose (cram-tf:rotate-pose old-pose :z alpha)) - (new-pose (cram-tf:translate-pose - rotated-pose - :x-offset x :y-offset y :z-offset z))) + (new-pose (cram-tf:translate-pose rotated-pose :x x :y y :z z))) (setf (btr:link-pose (btr:get-environment-object) "sink_area_surface") new-pose))) diff --git a/cram_pr2/cram_pr2_shopping_demo/CMakeLists.txt b/cram_demos/cram_pr2_shopping_demo/CMakeLists.txt similarity index 100% rename from cram_pr2/cram_pr2_shopping_demo/CMakeLists.txt rename to cram_demos/cram_pr2_shopping_demo/CMakeLists.txt diff --git a/cram_pr2/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd b/cram_demos/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd similarity index 90% rename from cram_pr2/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd rename to cram_demos/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd index a6387fffad..d038cc7d1d 100644 --- a/cram_pr2/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd +++ b/cram_demos/cram_pr2_shopping_demo/cram-pr2-shopping-demo.asd @@ -36,33 +36,35 @@ :depends-on (roslisp-utilities cl-transforms cl-transforms-stamped - cl-tf - cram-tf cram-language cram-executive cram-designators cram-prolog cram-projection cram-occasions-events + cram-common-failures + cram-object-knowledge cram-manipulation-interfaces - cram-physics-utils - cl-bullet + cram-tf + cram-bullet-reasoning cram-bullet-reasoning-belief-state cram-bullet-reasoning-utilities + + cram-location-costmap cram-btr-visibility-costmap + cram-btr-spatial-relations-costmap cram-robot-pose-gaussian-costmap - cram-location-costmap + cram-urdf-projection cram-mobile-pick-place-plans cram-pr2-description - cram-object-knowledge) + cram-fetch-deliver-plans) :components ((:module "src" :components ((:file "package") - (:file "grasping" :depends-on ("package")) - (:file "utils" :depends-on ("package")) - (:file "plans" :depends-on ("package" "utils" "grasping")))))) + (:file "setup" :depends-on ("package")) + (:file "plans" :depends-on ("package" "setup")))))) diff --git a/cram_demos/cram_pr2_shopping_demo/launch/world.launch b/cram_demos/cram_pr2_shopping_demo/launch/world.launch new file mode 100644 index 0000000000..bc59eca846 --- /dev/null +++ b/cram_demos/cram_pr2_shopping_demo/launch/world.launch @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - /kitchen/cram_joint_states + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cram_pr2/cram_pr2_shopping_demo/package.xml b/cram_demos/cram_pr2_shopping_demo/package.xml similarity index 86% rename from cram_pr2/cram_pr2_shopping_demo/package.xml rename to cram_demos/cram_pr2_shopping_demo/package.xml index 8db461b5b3..208c4bb348 100644 --- a/cram_pr2/cram_pr2_shopping_demo/package.xml +++ b/cram_demos/cram_pr2_shopping_demo/package.xml @@ -13,8 +13,6 @@ roslisp_utilities cl_transforms cl_transforms_stamped - cl_tf - cram_tf cram_language cram_executive cram_designators @@ -22,21 +20,25 @@ cram_projection cram_occasions_events cram_common_failures + cram_object_knowledge cram_manipulation_interfaces - cram_physics_utils - cl_bullet + cram_tf cram_bullet_reasoning cram_bullet_reasoning_belief_state cram_bullet_reasoning_utilities + cram_location_costmap cram_btr_visibility_costmap + cram_btr_spatial_relations_costmap cram_robot_pose_gaussian_costmap - cram_location_costmap cram_urdf_projection cram_mobile_pick_place_plans cram_pr2_description - cram_object_knowledge + cram_fetch_deliver_plans robot_state_publisher + joint_state_publisher + tf pr2_description pr2_arm_kinematics + iai_refills_lab diff --git a/cram_demos/cram_pr2_shopping_demo/resource/basket1.stl b/cram_demos/cram_pr2_shopping_demo/resource/basket1.stl new file mode 100644 index 0000000000..cd7a972583 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/basket1.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/basket2.dae b/cram_demos/cram_pr2_shopping_demo/resource/basket2.dae new file mode 100644 index 0000000000..48279188d2 --- /dev/null +++ b/cram_demos/cram_pr2_shopping_demo/resource/basket2.dae @@ -0,0 +1,1341 @@ + + + + + SketchUp 6.4.245 + + 2017-12-17T21:50:06Z + 2017-12-17T21:50:06Z + + Z_UP + + + + + + + 35 + 0 + 1 + 1000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.8463224 -0.02189584 0.5322208 126.0873 0.5326711 0.03478871 -0.845607 -34.08389 -3.469447e-18 0.9991548 0.04110575 42.55851 0 0 0 1 + + + + 0.8463223 -0.5326711 0 10.28253 0.5326711 0.8463223 0 10.99287 -0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 3.892457 -7.11058e-17 2.866858 3.655764 -7.11058e-17 3.073114 3.949213 -7.11058e-17 2.185975 3.503039 -2.931504e-16 3.627106 3.050582 -7.11058e-17 3.600473 2.07298 -2.931504e-16 3.972726 3.149508 -7.11058e-17 3.956831 2.310179 -2.931504e-16 4.465705 1.095378 -7.11058e-17 3.988236 0.2256372 -7.11058e-17 4.084641 0.8791916 -2.931504e-16 4.451951 1.512129 -2.931504e-16 4.561978 -0.2391257 -7.11058e-17 3.026582 -0.4186123 -7.11058e-17 3.186904 -0.3632656 -7.11058e-17 2.39065 0.2574336 -2.931504e-16 3.569452 + + + + + + + + + + -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 -3.474156e-18 -1 -9.381262e-17 + + + + + + + + + + + + + + +

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--git a/cram_pr2/cram_pr2_shopping_demo/resource/somat.stl b/cram_demos/cram_pr2_shopping_demo/resource/high_res/somat.stl similarity index 100% rename from cram_pr2/cram_pr2_shopping_demo/resource/somat.stl rename to cram_demos/cram_pr2_shopping_demo/resource/high_res/somat.stl diff --git a/cram_demos/cram_pr2_shopping_demo/resource/kuehne_essig_essenz.stl b/cram_demos/cram_pr2_shopping_demo/resource/kuehne_essig_essenz.stl new file mode 100644 index 0000000000..ee370823ed Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/kuehne_essig_essenz.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/meister_proper_allzweckreiniger.stl b/cram_demos/cram_pr2_shopping_demo/resource/meister_proper_allzweckreiniger.stl new file mode 100644 index 0000000000..d01140da42 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/meister_proper_allzweckreiniger.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/sagrotan_allzweckreiniger.stl b/cram_demos/cram_pr2_shopping_demo/resource/sagrotan_allzweckreiniger.stl new file mode 100644 index 0000000000..f25c73a29b Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/sagrotan_allzweckreiniger.stl differ diff --git a/cram_pr2/cram_pr2_shopping_demo/resource/shelf.urdf b/cram_demos/cram_pr2_shopping_demo/resource/shelf.urdf similarity index 86% rename from cram_pr2/cram_pr2_shopping_demo/resource/shelf.urdf rename to cram_demos/cram_pr2_shopping_demo/resource/shelf.urdf index 2df2bf55bd..742ea91195 100644 --- a/cram_pr2/cram_pr2_shopping_demo/resource/shelf.urdf +++ b/cram_demos/cram_pr2_shopping_demo/resource/shelf.urdf @@ -43,15 +43,15 @@ - + - + - + - + @@ -61,13 +61,13 @@ - + - + @@ -75,15 +75,15 @@ - + - + - + - + @@ -93,13 +93,13 @@ - + - + @@ -107,15 +107,15 @@ - + - + - + - + @@ -125,13 +125,13 @@ - + - + @@ -139,15 +139,15 @@ - + - + - + - + @@ -157,13 +157,13 @@ - + - + @@ -172,25 +172,25 @@ - + - + - + - + @@ -222,7 +222,7 @@ - + diff --git a/cram_demos/cram_pr2_shopping_demo/resource/somat.stl b/cram_demos/cram_pr2_shopping_demo/resource/somat.stl new file mode 100644 index 0000000000..dcc9c41105 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/somat.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_pulver.stl b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_pulver.stl new file mode 100644 index 0000000000..2e8af99be1 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_pulver.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_classic.stl b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_classic.stl new file mode 100644 index 0000000000..06bfa6a196 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_classic.stl differ diff --git a/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_extra.stl b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_extra.stl new file mode 100644 index 0000000000..494fa187d4 Binary files /dev/null and b/cram_demos/cram_pr2_shopping_demo/resource/somat_spuelmaschienen_tabs_extra.stl differ diff --git a/cram_pr2/cram_pr2_shopping_demo/resource/table.urdf b/cram_demos/cram_pr2_shopping_demo/resource/table.urdf similarity index 100% rename from cram_pr2/cram_pr2_shopping_demo/resource/table.urdf rename to cram_demos/cram_pr2_shopping_demo/resource/table.urdf diff --git a/cram_pr2/cram_pr2_shopping_demo/src/package.lisp b/cram_demos/cram_pr2_shopping_demo/src/package.lisp similarity index 97% rename from cram_pr2/cram_pr2_shopping_demo/src/package.lisp rename to cram_demos/cram_pr2_shopping_demo/src/package.lisp index 5be3589ea2..b84017f170 100644 --- a/cram_pr2/cram_pr2_shopping_demo/src/package.lisp +++ b/cram_demos/cram_pr2_shopping_demo/src/package.lisp @@ -30,6 +30,7 @@ (in-package :cl-user) (defpackage cram-pr2-shopping-demo + (:nicknames #:pr2-shop-demo #:demo) (:use #:common-lisp #:cram-prolog) (:export)) diff --git a/cram_demos/cram_pr2_shopping_demo/src/plans.lisp b/cram_demos/cram_pr2_shopping_demo/src/plans.lisp new file mode 100644 index 0000000000..e433b77cf9 --- /dev/null +++ b/cram_demos/cram_pr2_shopping_demo/src/plans.lisp @@ -0,0 +1,106 @@ +;;; +;;; Copyright (c) 2019, Jonas Dech transform + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + (nth i levels)))))) + ;; Loop for the objects + (loop for j from 0 to (- (length level-poses) 1) + do (let* ((shelf-T-object + (cram-tf:list->transform `(,(nth j level-poses) (0 0 1 0)))) + (world-T-object + (cl-transforms:transform* world-T-shelf shelf-T-object))) + (push (cl-transforms:transform->pose world-T-object) tmp))) + (push (reverse tmp) res) + (setf tmp '()))) + (reverse res))) + + +(defun spawn-objects-new () + (let ((poses (convert-shelf-poses "shelf-1" *shelf-1-poses*)) + (object-types '((:denkmit-edelstahl-reiniger-spray + :denkmit-edelstahl-reiniger + :denkmit-glaskeramik-reiniger + :denkmit-maschienen-entkalker + :denkmit-entkalker + :kuehne-essig-essenz + :heitmann-citronensaeure) + (:finish-deo + :finish-spuelmaschienen-tabs-quantum + :finish-spuelmaschienen-tabs-classic + :finish-spuelmaschienen-tabs-classic-vorratspack) + (:finish-spuelmaschienen-pulver + :finish-spuelmaschienen-protector + :somat-spuelmaschienen-tabs-extra + :somat-spuelmaschienen-tabs-classic + :somat-spuelmaschienen-pulver) + (:denkmit-spezialsalz + :denkmit-spuelmaschienen-tabs-power + :denkmit-spuelmaschienen-tabs-revolution + :denkmit-spuelmaschienen-tabs-classic + :denkmit-spuelmaschienen-tabs-nature) + (:denkmit-maschienenpfleger + :denkmit-maschienenpfleger + :finish-maschienenpfleger + :finish-spezialsalz + :finish-klarspueler + :denkmit-spuelmaschienen-tabs-allinone) + (:domestos-allzweckreiniger + :sagrotan-allzweckreiniger + :denkmit-allzweckreiniger + :denkmit-allzweckreiniger-frueling + :meister-proper-allzweckreiniger + :denkmit-allzweckreiniger-limette + :der-general-allzweckreiniger)))) + ;; Loop for shelf level + (loop for i from 0 to (- (length poses) 1) + ;; loop for objects in the level + do (loop for j from 0 to (- (length (nth i poses)) 1) + do (spawn-object-n-times (nth j (nth i object-types)) + (cram-tf:pose->list (nth j(nth i poses))) + (+ (random 3) 1) + `(,(float (/ (random 10) 10)) + ,(float (/ (random 10) 10)) + ,(float (/ (random 10) 10)))))))) + +(defun spawn-object-n-times (type pose times color) + (loop for i from 0 to times + do (let ((name (intern (string-upcase (format nil "~a-~a" type i)) :keyword))) + (setf (second (first pose)) (+ (second (first pose)) 0.13)) + (when (btr:object btr:*current-bullet-world* name) + (setf i (+ i times) + name (intern (string-upcase (format nil "~a-~a" type i)) :keyword))) + (btr-utils:spawn-object name type :pose pose :color color)))) + +(defun spawn-shelf () + (let ((shelve-urdf + (cl-urdf:parse-urdf + (roslisp:get-param "shelf_description")))) + (prolog:prolog + `(and (btr:bullet-world ?world) + (rob-int:environment-name ?environment-name) + (assert (btr:object ?world :urdf ?environment-name ((0 0 0) (0 0 0 1)) + :urdf ,shelve-urdf + :collision-group :static-filter + :collision-mask (:default-filter + :character-filter))))))) + +(defun spawn-robot () + (setf rob-int:*robot-urdf* + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*robot-description-parameter*))) + (prolog:prolog + `(and (btr:bullet-world ?world) + (rob-int:robot ?robot) + (assert (btr:object ?world :urdf ?robot ((0 0 0) (0 0 0 1)) + :urdf ,rob-int:*robot-urdf*)) + (assert (btr:joint-state ?world ?robot (("torso_lift_joint" 0.15d0))))))) + +(defun spawn-basket () + (let* ((map-T-wrist (btr:link-pose (btr:get-robot-object) "l_wrist_roll_link")) + (wrist-T-basket (cl-transforms:make-transform + (cl-transforms:make-3d-vector 0.36 0 -0.15) + (cl-transforms:make-quaternion 0.0d0 -0.7071067811865475d0 + 0.0d0 0.7071067811865475d0))) + (map-T-basket (cl-transforms:transform* + (cl-transforms:pose->transform map-T-wrist) + wrist-T-basket)) + (basket-pose (cl-transforms:transform->pose map-T-basket))) + (btr:add-object btr:*current-bullet-world* :basket + :b + basket-pose + :mass 1 + :length 0.5 :width 0.3 :height 0.18 :handle-height 0.09) + (let ((basket-desig (desig:an object (type basket) (name b)))) + (coe:on-event + (make-instance 'cpoe:object-attached-robot + :link "l_wrist_roll_link" + :not-loose t + :grasp :top + :arm :left + :object-name :b + :object-designator basket-desig))))) + +(defun spawn-objects () + (let ((i 1)) + ;;Spawn objects in shelf 1 + (loop for j from -1.3 to -0.6 by 0.16 + do (let ((denkmit + (concatenate 'string + "denkmit" "-" (write-to-string j) "-" (write-to-string i))) + (heitmamn + (concatenate 'string + "heitmann" "-" (write-to-string j) "-" (write-to-string i))) + (dove + (concatenate 'string + "dove" "-" (write-to-string j) "-" (write-to-string i)))) + (btr-utils:spawn-object + (intern denkmit) :denkmit :pose `((,j 0.9 0.5) (0 0 1 0))) + (btr-utils:spawn-object + (intern heitmamn) :heitmann :pose `((,j 0.9 0.96) (0 0 1 0))) + (btr-utils:spawn-object + (intern dove) :dove :pose `((,j 0.9 0.73) (0 0 1 0))))) + (incf i) + ;; Spawn objects in shelf 2 + (loop for k from 0.6 to 1.4 by 0.12 + do (let ((denkmit + (concatenate 'string + "denkmit" "-" (write-to-string k) "-" (write-to-string i))) + (heitmamn + (concatenate 'string + "heitmann" "-" (write-to-string k) "-" (write-to-string i))) + (dove + (concatenate 'string + "dove" "-" (write-to-string k) "-" (write-to-string i)))) + ;; (btr-utils:spawn-object + ;; (intern denkmit) :denkmit :pose `((,k 0.7 0.68) (0 0 1 0)) :color '(1 0 0 1)) + (btr-utils:spawn-object + (intern heitmamn) :heitmann :pose `((,k 0.75 1.05) (0 0 1 0))) + (btr-utils:spawn-object + (intern dove) :dove :pose `((,k 0.75 1.39) (0 0 1 0))))) + (incf i) + ;; Spawn objects on the table + (loop for k from -3.7 to -3.3 by 0.12 + do (let ((denkmit + (concatenate 'string + "denkmit" "-" (write-to-string k) "-" (write-to-string i))) + (heitmamn + (concatenate 'string + "heitmann" "-" (write-to-string k) "-" (write-to-string i))) + (dove + (concatenate 'string + "dove" "-" (write-to-string k) "-" (write-to-string i)))) + (btr-utils:spawn-object + (intern denkmit) :denkmit :pose `((,k 0.1 0.7) (0 0 1 0)) :color '(1 0 0 1)))))) + + +(defun init () + ;; (roslisp:start-ros-node "shopping_demo") + + (cram-bullet-reasoning-belief-state::ros-time-init) + (cram-location-costmap::location-costmap-vis-init) + (cram-tf::init-tf) + + (prolog:prolog '(and + (btr:bullet-world ?world) + (btr:debug-window ?world))) + + (prolog:prolog '(and + (btr:bullet-world ?world) + (assert (btr:object ?world :static-plane + :floor + ((0 0 0) (0 0 0 1)) + :normal (0 0 1) :constant 0 + :collision-mask (:default-filter))))) + (btr:add-objects-to-mesh-list "cram_pr2_shopping_demo")) + + +(roslisp-utilities:register-ros-init-function init) +(roslisp-utilities:register-ros-init-function spawn-robot) +(roslisp-utilities:register-ros-init-function spawn-shelf) +(roslisp-utilities:register-ros-init-function spawn-objects) +;; (roslisp-utilities:register-ros-init-function spawn-objects-new) +(roslisp-utilities:register-ros-init-function spawn-basket) + diff --git a/cram_pr2/cram_pr2_shopping_demo/src/utils.lisp b/cram_demos/cram_pr2_shopping_demo/src/utils.lisp similarity index 82% rename from cram_pr2/cram_pr2_shopping_demo/src/utils.lisp rename to cram_demos/cram_pr2_shopping_demo/src/utils.lisp index 1fc19850dd..f04659a3e5 100644 --- a/cram_pr2/cram_pr2_shopping_demo/src/utils.lisp +++ b/cram_demos/cram_pr2_shopping_demo/src/utils.lisp @@ -35,23 +35,25 @@ (roslisp:get-param "shelf_description")))) (prolog:prolog `(and (btr:bullet-world ?world) - (assert (btr:object ?world :urdf :kitchen ((0 0 0) (0 0 0 1)) + (rob-int:environment-name ?environment-name) + (assert (btr:object ?world :urdf ?environment-name ((0 0 0) (0 0 0 1)) :urdf ,shelve-urdf)))))) (defun spawn-kitchen () - (let ((kitchen-urdf - (cl-urdf:parse-urdf - (roslisp:get-param "kitchen_description")))) - (prolog:prolog - `(and (btr:bullet-world ?world) - (assert (btr:object ?world :urdf :kitchen ((0 0 0) (0 0 0 1)) - :urdf ,kitchen-urdf)))))) + (setf rob-int:*environment-urdf* + (cl-urdf:parse-urdf + (roslisp:get-param rob-int:*environment-description-parameter*))) + (prolog:prolog + `(and (btr:bullet-world ?world) + (rob-int:environment-name ?environment-name) + (assert (btr:object ?world :urdf ?environment-name ((0 0 0) (0 0 0 1)) + :urdf ,rob-int:*environment-urdf*))))) (defun spawn-robot () (setf cram-robot-interfaces:*robot-urdf* (cl-urdf:parse-urdf - (roslisp:get-param "robot_description"))) + (roslisp:get-param rob-int:*robot-description-parameter*))) (prolog:prolog `(and (btr:bullet-world ?world) (cram-robot-interfaces:robot ?robot) @@ -125,14 +127,3 @@ :normal (0 0 1) :constant 0)))) (btr:add-objects-to-mesh-list "cram_pr2_shopping_demo")) -(def-fact-group costmap-metadata (costmap:costmap-size - costmap:costmap-origin - costmap:costmap-resolution - costmap:orientation-samples - costmap:orientation-sample-step) - (<- (location-costmap:costmap-size 12 12)) - (<- (location-costmap:costmap-origin -6 -6)) - (<- (location-costmap:costmap-resolution 0.04)) - (<- (location-costmap:orientation-samples 2)) - (<- (location-costmap:orientation-sample-step 0.1))) - diff --git a/cram_boxy/cram_boxy_designators/CMakeLists.txt b/cram_demos/cram_projection_demos/CMakeLists.txt similarity index 73% rename from cram_boxy/cram_boxy_designators/CMakeLists.txt rename to cram_demos/cram_projection_demos/CMakeLists.txt index da7e19ca43..c94add5961 100644 --- a/cram_boxy/cram_boxy_designators/CMakeLists.txt +++ b/cram_demos/cram_projection_demos/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_boxy_designators) +project(cram_projection_demos) find_package(catkin REQUIRED) catkin_package() diff --git a/cram_demos/cram_projection_demos/cram-projection-demos.asd b/cram_demos/cram_projection_demos/cram-projection-demos.asd new file mode 100644 index 0000000000..3878ff9571 --- /dev/null +++ b/cram_demos/cram_projection_demos/cram-projection-demos.asd @@ -0,0 +1,86 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defsystem cram-projection-demos + :author "Gayane Kazhoyan" + :maintainer "Gayane Kazhoyan" + :license "BSD" + + :depends-on (roslisp-utilities ; for ros-init-function + + cl-transforms + ;; cl-transforms-stamped + ;; cl-tf + + ;; cram_core + cram-prolog ; for restricted ground costmap and to set break on errors + cram-occasions-events ; for CLEAR-BELIEF + cram-designators ; for the plan, costmap + cram-executive ; for the plan + ;; cram-language + ;; cram-projection + ;; cram-utilities + + ;; cram_common + cram-tf ; to set the default timeout to a small number, tf utils + cram-location-costmap ; for the restricted ground costmap + cram-robot-interfaces ; for ENV-NAME, VIS/REACH-DESIG + cram-manipulation-interfaces ; for costmap, standard rotations + cram-object-knowledge ; for manipulation knowledge + cram-mobile-pick-place-plans ; for action desig implementations + ;; cram-common-failures + + ;; cram_3d_world + cram-bullet-reasoning + cram-bullet-reasoning-belief-state ; for handling events + cram-urdf-projection ; for with-simulated-robot + cram-fetch-deliver-plans ; for action desig implementations + cram-urdf-environment-manipulation ; for action desig implementations + + ;; costmaps + cram-btr-visibility-costmap + cram-btr-spatial-relations-costmap + cram-robot-pose-gaussian-costmap + ;; cram-occupancy-grid-costmap + + ;; robot descriptions + cram-pr2-description + cram-boxy-description + cram-donbot-description + ;; cram-hsrb-description + ) + :components + ((:module "src" + :components + ((:file "package") + (:file "costmaps" :depends-on ("package")) + (:file "setup" :depends-on ("package")) + (:file "assembly-demo" :depends-on ("package" "setup")) + (:file "household-demo" :depends-on ("package" "setup")) + (:file "retail-demo" :depends-on ("package" "setup")))))) diff --git a/cram_demos/cram_projection_demos/launch/everything.launch b/cram_demos/cram_projection_demos/launch/everything.launch new file mode 100644 index 0000000000..d6a2f92e9e --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/everything.launch @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - /kitchen/cram_joint_states + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/household_boxy.launch b/cram_demos/cram_projection_demos/launch/household_boxy.launch new file mode 100644 index 0000000000..18b4de22c8 --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/household_boxy.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/household_donbot.launch b/cram_demos/cram_projection_demos/launch/household_donbot.launch new file mode 100644 index 0000000000..53877c0ebe --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/household_donbot.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/household_pr2.launch b/cram_demos/cram_projection_demos/launch/household_pr2.launch new file mode 100644 index 0000000000..a69be36436 --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/household_pr2.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/household_pr2_with_giskard.launch b/cram_demos/cram_projection_demos/launch/household_pr2_with_giskard.launch new file mode 100644 index 0000000000..850d935fea --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/household_pr2_with_giskard.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/retail_boxy.launch b/cram_demos/cram_projection_demos/launch/retail_boxy.launch new file mode 100644 index 0000000000..9eab8882f7 --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/retail_boxy.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/retail_donbot.launch b/cram_demos/cram_projection_demos/launch/retail_donbot.launch new file mode 100644 index 0000000000..d62011aa52 --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/retail_donbot.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/launch/retail_pr2.launch b/cram_demos/cram_projection_demos/launch/retail_pr2.launch new file mode 100644 index 0000000000..44e4afe24d --- /dev/null +++ b/cram_demos/cram_projection_demos/launch/retail_pr2.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cram_demos/cram_projection_demos/package.xml b/cram_demos/cram_projection_demos/package.xml new file mode 100644 index 0000000000..8f3b74191c --- /dev/null +++ b/cram_demos/cram_projection_demos/package.xml @@ -0,0 +1,71 @@ + + cram_projection_demos + 0.7.0 + + A bunch of demos that work on a bunch of robots in a bunch of environments + + Gayane Kazhoyan + Gayane Kazhoyan + BSD + + catkin + + roslisp_utilities + + cl_transforms + + + + cram_prolog + cram_occasions_events + cram_designators + cram_executive + + + + + cram_tf + cram_location_costmap + cram_robot_interfaces + cram_manipulation_interfaces + cram_object_knowledge + cram_mobile_pick_place_plans + + + cram_bullet_reasoning + cram_bullet_reasoning_belief_state + cram_urdf_projection + cram_fetch_deliver_plans + cram_urdf_environment_manipulation + + cram_btr_visibility_costmap + cram_btr_spatial_relations_costmap + cram_robot_pose_gaussian_costmap + + + cram_pr2_description + cram_boxy_description + cram_donbot_description + + + + + xacro + joint_state_publisher + robot_state_publisher + map_server + tf2_ros + + pr2_description + pr2_arm_kinematics + + iai_boxy_description + iai_donbot_description + + ur_description + + iai_kitchen + iai_refills_lab + iai_maps + diff --git a/cram_boxy/cram_boxy_projection/CATKIN_IGNORE b/cram_demos/cram_projection_demos/resource/assembly/see_github.com_code-iai_assembly_models.git similarity index 100% rename from cram_boxy/cram_boxy_projection/CATKIN_IGNORE rename to cram_demos/cram_projection_demos/resource/assembly/see_github.com_code-iai_assembly_models.git diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/blue_metal_plate.stl b/cram_demos/cram_projection_demos/resource/household/blue_metal_plate.stl similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/blue_metal_plate.stl rename to cram_demos/cram_projection_demos/resource/household/blue_metal_plate.stl diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/bottle.dae b/cram_demos/cram_projection_demos/resource/household/bottle.dae similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/bottle.dae rename to cram_demos/cram_projection_demos/resource/household/bottle.dae diff --git a/cram_demos/cram_projection_demos/resource/household/bowl.obj b/cram_demos/cram_projection_demos/resource/household/bowl.obj new file mode 100644 index 0000000000..f14870ddce --- /dev/null +++ b/cram_demos/cram_projection_demos/resource/household/bowl.obj @@ -0,0 +1,6905 @@ +# Blender v2.83.4 OBJ File: '' +# www.blender.org +mtllib bowl_39.mtl +o Bowl_hull_1 +v 0.033177 -0.029301 -0.019176 +v -0.003464 0.040094 -0.026073 +v -0.003464 0.040094 -0.025642 +v -0.038369 -0.021546 -0.019609 +v -0.005614 -0.037064 -0.033400 +v 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-0.017669 -0.033400 +v 0.033177 0.029301 -0.019176 +v 0.008177 -0.036632 -0.033400 +v -0.036642 0.008195 -0.033400 +v -0.025434 0.036201 -0.019176 +v -0.015960 -0.034050 -0.033400 +v 0.032745 0.018532 -0.033400 +v 0.007745 -0.039654 -0.018744 +v -0.030175 0.022410 -0.033400 +v 0.024119 -0.028869 -0.033400 +v 0.002988 0.037496 -0.032969 +v -0.033620 -0.028438 -0.019609 +v 0.010759 0.040086 -0.023918 +v -0.039656 -0.010345 -0.024779 +v 0.040084 -0.013367 -0.022622 +v -0.037930 0.022841 -0.019176 +v -0.011643 -0.040086 -0.023486 +v -0.023707 -0.037064 -0.019609 +v 0.037917 -0.022841 -0.019176 +v 0.024119 0.028877 -0.033400 +v 0.037917 0.022833 -0.019176 +v -0.018534 0.039646 -0.020038 +v 0.039652 0.018532 -0.020038 +v 0.018514 -0.039654 -0.020038 +v -0.040096 -0.003438 -0.026073 +v -0.040104 0.015510 -0.021331 +v 0.034896 -0.013783 -0.033400 +v 0.040076 -0.003870 -0.026073 +v 0.037486 0.002991 -0.032969 +v 0.018090 0.040086 -0.019609 +v -0.036642 -0.008171 -0.033400 +v -0.033189 0.029301 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100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/breakfast_cereal.stl rename to cram_demos/cram_projection_demos/resource/household/breakfast_cereal.stl diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/buttermilk.dae b/cram_demos/cram_projection_demos/resource/household/buttermilk.dae similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/buttermilk.dae rename to cram_demos/cram_projection_demos/resource/household/buttermilk.dae diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/cereal.dae b/cram_demos/cram_projection_demos/resource/household/cereal.dae similarity index 100% rename from cram_pr2/cram_pr2_pick_place_demo/resource/cereal.dae rename to cram_demos/cram_projection_demos/resource/household/cereal.dae diff --git a/cram_demos/cram_projection_demos/resource/household/cube.stl b/cram_demos/cram_projection_demos/resource/household/cube.stl new file mode 100644 index 0000000000..7202c452ee Binary files /dev/null and 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a/cram_demos/cram_projection_demos/src/assembly-demo.lisp b/cram_demos/cram_projection_demos/src/assembly-demo.lisp new file mode 100644 index 0000000000..c90b1d69a3 --- /dev/null +++ b/cram_demos/cram_projection_demos/src/assembly-demo.lisp @@ -0,0 +1,428 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demos) + +(defparameter *plate-x* -1.1115) +(defparameter *plate-y* 1.6) +(defparameter *plate-z* 0.8626) + +(defparameter *plate-rad-x* 0.36) +(defparameter *plate-rad-y* 0.60) +(defparameter *plate-rad-z* 0.008) +(defparameter *holder-bolt-rad-x* 0.05) +(defparameter *holder-bolt-rad-y* 0.025) +(defparameter *holder-bolt-rad-z* 0.0125) +(defparameter *bolt-rad-x* 0.01) +(defparameter *bolt-rad-y* 0.01) +(defparameter *bolt-rad-z* 0.0225) +(defparameter *holder-upperbody-rad-x* 0.085) +(defparameter *holder-upperbody-rad-y* 0.025) +(defparameter *holder-upperbody-rad-z* 0.021) +(defparameter *holder-bottom-wing-rad-x* 0.035) +(defparameter *holder-bottom-wing-rad-y* 0.045) +(defparameter *holder-bottom-wing-rad-z* 0.045) +(defparameter *holder-underbody-rad-x* 0.0925) +(defparameter *holder-underbody-rad-y* 0.025) +(defparameter *holder-underbody-rad-z* 0.024) +(defparameter *holder-plane-horizontal-rad-x* 0.1015) +(defparameter *holder-plane-horizontal-rad-y* 0.05) +(defparameter *holder-plane-horizontal-rad-z* 0.0335) +(defparameter *holder-window-rad-x* 0.026) +(defparameter *holder-window-rad-y* 0.025) +(defparameter *holder-window-rad-z* 0.017) +(defparameter *front-wheel-rad-z* 0.015) +(defparameter *nut-rad-z* 0.0075) +(defparameter *chassis-rad-z* 0.0515) +(defparameter *holder-plane-vertical-rad-x* 0.065) +(defparameter *holder-plane-vertical-rad-y* 0.06) +(defparameter *holder-plane-vertical-rad-z* 0.0175) +(defparameter *holder-top-wing-rad-x* 0.035) +(defparameter *holder-top-wing-rad-y* 0.0415) +(defparameter *holder-top-wing-rad-z* 0.045) + +(defparameter *yellow-plastic* '(0.949 0.807 0.082)) +(defparameter *gray-plastic* '(0.568 0.592 0.584)) +(defparameter *red-plane* '(0.878 0.376 0.243)) +(defparameter *cyan-plane* '(0.078 0.513 0.541)) +(defparameter *yellow-plane* '(0.964 0.847 0.584)) +(defparameter *transparent-plane* '(1 1 1)) +(defparameter *black-plane* '(0.184 0.152 0.121)) +(defparameter *gray-plane* '(0.482 0.537 0.549)) + +(defparameter *object-spawning-data* + `((:big-wooden-plate + :big-wooden-plate + (0.823 0.698 0.513) + ((,*plate-rad-x* ,*plate-rad-y* ,(- *plate-rad-z*)) (0 0 0 1))) + (:holder-bolt + :holder-bolt + ,*yellow-plastic* + ((,*holder-bolt-rad-x* ,*holder-bolt-rad-y* ,*holder-bolt-rad-z*) (0 0 0 1))) + (:holder-upper-body + :holder-upper-body + ,*yellow-plastic* + ((,(+ 0.05 *holder-upperbody-rad-x*) 0.10 ,*holder-upperbody-rad-z*) (0 0 0 1))) + (:holder-bottom-wing + :holder-bottom-wing + ,*gray-plastic* + ((,(+ 0.1 *holder-bottom-wing-rad-x*) + ,(- 0.3 *holder-bottom-wing-rad-y*) + ,*holder-bottom-wing-rad-z*) + ,man-int:*rotation-around-z-90-list*)) + (:holder-underbody + :holder-underbody + ,*yellow-plastic* + ((,(+ 0.05 *holder-underbody-rad-x*) 0.4 ,*holder-underbody-rad-z*) (0 0 0 1))) + (:holder-plane-horizontal + :holder-plane-horizontal + ,*yellow-plastic* + ((,(+ 0.05 *holder-plane-horizontal-rad-x*) 0.6 ,*holder-plane-horizontal-rad-z*) + (0 0 0 1))) + (:holder-window + :holder-window + ,*gray-plastic* + ((,*holder-window-rad-x* ,(+ 0.75 *holder-window-rad-y*) ,*holder-window-rad-z*) + (0 0 0 1))) + (:holder-plane-vertical + :holder-plane-vertical + ,*yellow-plastic* + ((,*holder-plane-vertical-rad-x* + ,(- 1.0 *holder-plane-vertical-rad-y*) + ,*holder-plane-vertical-rad-z*) + (0 0 0 1))) + (:holder-top-wing + :holder-top-wing + ,*yellow-plastic* + ((,(+ 0.15 *holder-top-wing-rad-x*) + ,(- 1.15 *holder-top-wing-rad-y*) + ,*holder-top-wing-rad-z*) + ,man-int:*rotation-around-z-90-list*)) + + ;; rear wing is already well positioned + (:rear-wing + :rear-wing + ,*yellow-plane* + ((0.079 0.599 0.056) + ,man-int:*rotation-around-z+90-list*)) + + ;; bolts are used intermediately + (:bolt-1 + :bolt + ,*gray-plane* + ((0.015 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + (:bolt-2 + :bolt + ,*gray-plane* + ((0.0325 0.0375 ,*bolt-rad-z*) (0 0 0 1))) + (:bolt-3 + :bolt + ,*gray-plane* + ((0.05 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + (:bolt-4 + :bolt + ,*gray-plane* + ((0.0675 0.0375 ,*bolt-rad-z*) (0 0 0 1))) + (:bolt-5 + :bolt + ,*gray-plane* + ((0.085 0.0125 ,*bolt-rad-z*) (0 0 0 1))) + + ;; first part of scenario on horizontal holder + (:chassis + :chassis + ,*yellow-plane* + ((0.2 0.9 ,*chassis-rad-z*) ,man-int:*rotation-around-z-90-list*)) + (:bottom-wing + :bottom-wing + ,*cyan-plane* + ((0.134 0.25 0.093) (0 0 0 1))) + (:underbody + :underbody + ,*red-plane* + ((0.145 0.399 0.024) (0 0 0 1))) + (:motor-grill + :motor-grill + ,*black-plane* + ((0.238 0.399 0.039) ,man-int:*rotation-around-y+90-list*)) + (:upper-body + :upper-body + ,*red-plane* + ((0.119 0.1003 0.0482) (0 0 0 1))) + (:top-wing + :top-wing + ,*cyan-plane* + ((0.18522 1.11423 0.08852) (0 0 0 1))) + (:window + :window + ,*transparent-plane* + ((0.024 0.775 0.01962) (0 0 0 1))) + + ;; second part of scenario on vertical holder + (:propeller + :propeller + ,*yellow-plane* + ((0.075 1.10 0) (0 0 0 1))) + (:front-wheel-1 + :front-wheel + ,*black-plane* + ((0.15 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) + (:front-wheel-2 + :front-wheel + ,*black-plane* + ((0.215 0.775 ,*front-wheel-rad-z*) (0 0 0 1))) + (:nut-1 + :nut + ,*gray-plane* + ((0.15 0.725 ,*nut-rad-z*) (0 0 0 1))) + (:nut-2 + :nut + ,*gray-plane* + ((0.215 0.725 ,*nut-rad-z*) (0 0 0 1))))) + + +(defun spawn-assembly-objects (&optional (spawning-data *object-spawning-data*)) + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + ;; detach all items from each other + (mapcar #'btr:detach-all-objects + (remove-if-not (lambda (obj) (typep obj 'btr:item)) + (btr:objects btr:*current-bullet-world*))) + ;; spawn objects at default poses + (let ((objects + (mapcar (lambda (object-name-type-pose-list) + (destructuring-bind (object-name object-type object-color + object-pose-list) + object-name-type-pose-list + (let ((object-relative-pose + (cram-tf:list->pose object-pose-list))) + (unless (btr:object btr:*current-bullet-world* object-name) + (btr:add-object + btr:*current-bullet-world* + :mesh + object-name + (cl-transforms:make-identity-pose) + :mesh object-type + :mass 0.0 + :color object-color)) + (setf (btr:pose + (btr:object btr:*current-bullet-world* + object-name)) + (cl-transforms:make-pose + (cl-transforms:v+ + (cl-transforms:make-3d-vector + (- *plate-x* *plate-rad-x*) + (- *plate-y* *plate-rad-y*) + (+ *plate-z* *plate-rad-z*)) + (cl-transforms:origin + object-relative-pose)) + (cl-transforms:orientation + object-relative-pose)))))) + spawning-data))) + + (btr:attach-object :motor-grill :underbody) + + objects)) + +;;; ASSEMBLY STEPS: +;;; (1) put chassis on holder (bump inwards) +;;; (2) put bottom wing on chassis +;;; * maybe: dont hit the top-wing with the arm +;;; (3) put underbody on bottom wing +;;; (4) put upperbody on underbody +;;; (5) screw rear hole +;;; (6) put top wing on body +;;; (7) screw top wing +;;; (8) put window on body +;;; (9) screw window +;;; (10) put plane on vertical holder +;;; (11) put propeller on grill +;;; (12) screw propeller +;;; * put wheel on +;;; * screw nut onto wheel +;;; * put other wheel on +;;; * screw nut onto wheel +;;; * screw bottom body +(defun assembly-demo () + (urdf-proj:with-projected-robot + ;;(setf cram-robosherlock::*no-robosherlock-mode* t) + (spawn-assembly-objects) + (let ((old-visibility btr:*visibility-threshold*)) + (setf btr:*visibility-threshold* 0.4) + (unwind-protect + (let* ((?env-name + (rob-int:get-environment-name)) + (wooden-plate + (desig:an object + (type big-wooden-plate) + (location (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name + kitchen-island-surface) + (part-of ?env-name))) + ;; (side back) + (side front) + (range 0.3)))))) + ;; 1 + (go-transport :chassis '(:side :left) :holder-plane-horizontal '(:range 0.3) + :horizontal-attachment + wooden-plate) + ;; 2 + (go-transport :bottom-wing '(:side :right) :chassis '(:range 0.3) + :wing-attachment + wooden-plate) + ;; 3 + (go-transport :underbody '(:side :right) :bottom-wing '(:range 0.3) + :body-attachment + wooden-plate) + + ;; we put the underbody on the bottom-wing but by doing that + ;; we also put it on the rear-wing. + ;; as there is no explicit placing action, the two will not be + ;; attached automatically. + ;; so we have to attach them manually unfortunately. + ;; this is required for later moving the whole plane onto another holder + (btr:attach-object 'underbody 'rear-wing) + + ;; 4 + (go-transport :upper-body '(:side :right) :underbody '(:range 0.3) + :body-on-body + wooden-plate) + ;; 5 + (go-transport :bolt '(:side :right) :upper-body '(:range 0.3) + :rear-thread + wooden-plate) + ;; 6 + (go-transport :top-wing '(:side :left) :upper-body '(:range 0.3) + :wing-attachment + wooden-plate) + ;; 7 + (go-transport :bolt :bolt :top-wing '(:range 0.3) + :middle-thread + wooden-plate) + ;; 8 + (go-transport :window '(:side :left) :top-wing '(:range 0.3) + :window-attachment + wooden-plate) + ;; 9 + (go-transport :bolt :bolt :window '(:range 0.3) + :window-thread + wooden-plate) + + ;; 10 + (go-transport :top-wing '(:range 0.3) :holder-plane-vertical '(:side :left) + ;; or `((,(- *base-x* 0.00) 1.45 0) (0 0 0 1)) + :vertical-attachment + wooden-plate) + + ;; 11 + (go-transport :propeller '(:side :left) :motor-grill '(:side :left) + ;; or `((,(- *base-x* 0.15) 1.8 0) (0 0 0 1)) + :propeller-attachment + wooden-plate) + + ;; 12 + (go-transport :bolt :bolt :propeller '(:side :left) + ;; or `((,*base-x* 1.85 0) (0 0 0 1)) + :propeller-thread + wooden-plate)) + (setf btr:*visibility-threshold* old-visibility))))) + + +(defun go-transport (?object-type ?object-location-property + ?other-object-type ?other-object-location-property + ?attachment-type + ?wooden-plate) + (let* ((?env-name + (rob-int:get-environment-name)) + (?object-location + (if (eq ?object-location-property :bolt) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name kitchen-island-surface) + (part-of ?env-name))) + (range-invert 0.9) + (side right) + (side front)) + (desig:a location + (on ?wooden-plate) + ?object-location-property + (side front)))) + (?other-object-location + (desig:a location + (on ?wooden-plate) + ?other-object-location-property + (side front))) + (?object + (desig:an object + (type ?object-type) + (location ?object-location))) + (?other-object + (desig:an object + (type ?other-object-type) + (location ?other-object-location)))) + (exe:perform + (desig:an action + (type transporting) + (object ?object) + (target (desig:a location + (on ?other-object) + (for ?object) + (attachments (?attachment-type)))))))) + + +#+boxy-action-examples +( + (urdf-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type looking) + (direction down)))) + + (urdf-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type detecting) + (object (desig:an object (type chassis)))))) + + (urdf-proj:with-simulated-robot + (exe:perform + (desig:an action + (type opening-gripper) + (gripper left)))) + + (urdf-proj:with-projected-robot + (cram-executive:perform + (desig:an action + (type placing) + (arm left)))) + ) diff --git a/cram_demos/cram_projection_demos/src/costmaps.lisp b/cram_demos/cram_projection_demos/src/costmaps.lisp new file mode 100644 index 0000000000..886cfd406e --- /dev/null +++ b/cram_demos/cram_projection_demos/src/costmaps.lisp @@ -0,0 +1,113 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demos) + +(defun make-dm-room-restricted-area-cost-function () + (lambda (x y) + (if (> x 4.0) + 0.0 + (if (< x 0.0) + 0.0 + (if (> y 1.0) + 0.0 + (if (< y -1.0) + 0.0 + 1.0)))))) + +(defun make-small-retail-restricted-area-cost-function () + (lambda (x y) + (if (> x 2.0) + 0.0 + (if (< x -5.0) + 0.0 + (if (> y 1.0) + 0.0 + (if (< y -1.0) + 0.0 + 1.0)))))) + +(defun make-iai-kitchen-assembly-restricted-area-cost-function () + (lambda (x y) + (declare (ignore y)) + (if (> x -1.2) + 0.0 + 1.0))) + +(defun make-iai-kitchen-household-restricted-area-cost-function () + (lambda (x y) + (if (> x 1.2) + 0.0 + (if (and (> x 0.5) (> y -1.5) (< y 2.0)) + 1.0 + (if (and (> x 0.0) (> y -1.5) (< y 1.0)) + 1.0 + (if (and (> x -1.5) (> y -1.5) (< y 2.5)) + 1.0 + (if (and (> x -4.0) (> y -1.0) (< y 1.0)) + 1.0 + 0.0))))))) + +(defun make-restricted-area-cost-function () + (ecase (rob-int:get-environment-name) + (:iai-kitchen + (if (btr:object btr:*current-bullet-world* :big-wooden-plate) + (make-iai-kitchen-assembly-restricted-area-cost-function) + (make-iai-kitchen-household-restricted-area-cost-function))) + (:dm-room + (make-dm-room-restricted-area-cost-function)) + (:dm-shelves + (make-small-retail-restricted-area-cost-function)))) + +(defmethod costmap:costmap-generator-name->score ((name (eql 'restricted-area))) + 5) + +(def-fact-group demo-restricted-ground-costmap (costmap:desig-costmap) + (<- (costmap:desig-costmap ?designator ?costmap) + (or (rob-int:visibility-designator ?designator) + (rob-int:reachability-designator ?designator)) + ;; make sure that the location is not on the robot itself + ;; if it is, don't generate a costmap + (once (or (and (desig:desig-prop ?designator (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-reach-pose) + (lisp-pred identity ?to-reach-pose) + (-> (desig:desig-prop ?object (:location ?loc)) + (not (man-int:location-always-reachable ?loc)) + (true))) + (and (desig:desig-prop ?designator (:location ?some-location)) + (desig:current-designator ?some-location ?location) + ;; if the location is on the robot itself, + ;; don't use the costmap + (not (man-int:location-always-reachable ?location))))) + (costmap:costmap ?costmap) + (costmap:costmap-add-function + restricted-area + (make-restricted-area-cost-function) + ?costmap))) diff --git a/cram_demos/cram_projection_demos/src/household-demo.lisp b/cram_demos/cram_projection_demos/src/household-demo.lisp new file mode 100644 index 0000000000..8b2b6c6129 --- /dev/null +++ b/cram_demos/cram_projection_demos/src/household-demo.lisp @@ -0,0 +1,687 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demos) + +(defparameter *object-spawning-poses* + '("sink_area_surface" + (:breakfast-cereal . ((0.2 -0.15 0.1) (0 0 0 1))) + (:cup . ((0.2 -0.35 0.1) (0 0 0 1))) + (:bowl . ((0.18 -0.55 0.1) (0 0 0 1))) + (:spoon . ((0.15 -0.4 -0.05) (0 0 0 1))) + (:milk . ((0.07 -0.35 0.1) (0 0 0 1)))) + "Relative poses on sink area") + +(defparameter *object-placing-poses* + '((:breakfast-cereal . ((-0.78 0.9 0.95) (0 0 1 0))) + (:cup . ((-0.79 1.35 0.9) (0 0 0.7071 0.7071))) + (:bowl . ((-0.76 1.19 0.88) (0 0 0.7071 0.7071))) + (:spoon . ((-0.78 1.5 0.86) (0 0 0 1))) + (:milk . ((-0.75 1.7 0.95) (0 0 0.7071 0.7071)))) + "Absolute poses on kitchen_island.") + +(defparameter *demo-object-spawning-poses* + '((:bowl + "sink_area_left_middle_drawer_main" + ((0.10 -0.1505 -0.062256) (0 0 -1 0))) + (:cup + "sink_area_left_bottom_drawer_main" + ((0.11 0.12 -0.0547167) (0 0 -1 0))) + (:spoon + ;; "oven_area_area_middle_upper_drawer_main" + "sink_area_left_upper_drawer_main" + ((0.125 0 -0.0136) (0 -0.053938 -0.998538 -0.003418))) + ;; So far only this orientation works + (:breakfast-cereal + "oven_area_area_right_drawer_board_3_link" + ((0.123 -0.03 0.11) (0.0087786 0.005395 -0.838767 -0.544393))) + ;; ((:breakfast-cereal . ((1.398 1.490 1.2558) (0 0 0.7071 0.7071))) + ;; (:breakfast-cereal . ((1.1 1.49 1.25) (0 0 0.7071 0.7071))) + (:milk + ;; "iai_fridge_main_middle_level" + ;; ((0.10355 0.022 0.094) (0.00939 -0.00636 -0.96978 -0.2437)) + "iai_fridge_door_shelf1_bottom" + ((-0.01 -0.05 0.094) (0 0 0 1))))) + +(defparameter *delivery-poses-relative* + `((:bowl + "kitchen_island_surface" + ((0.24 -0.5 0.0432199478149414d0) + (0.0 0.0 0.33465 0.94234))) + (:cup + "kitchen_island_surface" + ((0.21 -0.20 0.06) + (0.0 0.0 0.33465 0.94234))) + (:spoon + "kitchen_island_surface" + ((0.26 -0.32 0.025) + (0.0 0.0 1 0))) + (:milk + "kitchen_island_surface" + ((0.25 0 0.0983174006144206d0) + (0.0 0.0 -0.9 0.7))) + (:breakfast-cereal + "kitchen_island_surface" + ((0.32 -0.9 0.1) (0 0 0.6 0.4))))) + +(defparameter *delivery-poses* + `((:bowl . ((-0.8399440765380859d0 1.2002920786539713d0 0.8932199478149414d0) + (0.0 0.0 0.33465 0.94234))) + (:cup . ((-0.8908212025960287d0 1.4991984049479166d0 0.9027448018391927d0) + (0.0 0.0 0.33465 0.94234))) + (:spoon . ((-0.8409400304158529d0 1.38009208679199219d0 0.8673268000284831d0) + (0.0 0.0 1 0))) + (:milk . ((-0.8495257695515951d0 1.6991498311360678d0 0.9483174006144206d0) + (0.0 0.0 -0.9 0.7))) + (:breakfast-cereal . ((-0.78 0.8 0.95) (0 0 0.6 0.4))))) + +(defparameter *cleaning-deliver-poses* + `((:bowl . ((1.45 -0.4 1.0) (0 0 0 1))) + (:cup . ((1.45 -0.4 1.0) (0 0 0 1))) + (:spoon . ((1.45 -0.4 1.0) (0 0 0 1))) + (:milk . ((1.2 -0.5 0.8) (0 0 1 0))) + (:breakfast-cereal . ((1.15 -0.5 0.8) (0 0 1 0))))) + +(defparameter *object-grasping-arms* + '(;; (:breakfast-cereal . :right) + ;; (:cup . :left) + ;; (:bowl . :right) + ;; (:spoon . :right) + ;; (:milk . :right) + )) + +(defparameter *object-cad-models* + '(;; (:cup . "cup_eco_orange") + ;; (:bowl . "edeka_red_bowl") + )) + +(defparameter *object-colors* + '((:spoon . "black") + (:breakfast-cereal . "yellow") + (:milk . "blue") + (:bowl . "red") + (:cup . "red"))) + +(defparameter *object-grasps* + '((:spoon . :top) + (:breakfast-cereal . :front) + (:milk . :front) + (:cup . :top) + (:bowl . :top))) + + + + +(defun spawn-objects-on-sink-counter (&key + (object-types + '(:breakfast-cereal + :cup + :bowl + :spoon + :milk)) + (spawning-poses-relative + *object-spawning-poses*) + (random + NIL)) + ;; make sure mesh paths are known, kill old objects and destroy all attachments + (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") + (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + + ;; spawn objects + (let* ((spawning-poses-absolute + (make-poses-relative spawning-poses-relative)) + (objects + (mapcar + (lambda (object-type) + (let* (;; generate object name of form :TYPE-1 + (object-name + (intern (format nil "~a-1" object-type) :keyword)) + ;; spawn object in Bullet World at default pose + (object + (btr-utils:spawn-object object-name object-type)) + ;; calculate new pose: either random or from input list + (object-pose + (if random + ;; generate a pose on a surface + (let* ((aabb-z + (cl-transforms:z + (cl-bullet:bounding-box-dimensions + (btr:aabb object))))) + (cram-tf:translate-pose + (desig:reference + (if (eq object-type :spoon) + (desig:a location + (in (desig:an object + (type drawer) + (urdf-name + sink-area-left-upper-drawer-main) + (part-of iai-kitchen))) + (side front) + (range 0.2) + (range-invert 0.12)) + (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (part-of iai-kitchen))) + ;; below only works for knowrob sem-map + ;; (centered-with-padding 0.1) + (side left) + (side front)))) + :z (/ aabb-z 2.0))) + ;; take the pose from the function input list + (cdr (assoc object-type spawning-poses-absolute)))) + ;; rotate new pose randomly around Z + (rotated-object-pose + (cram-tf:rotate-pose object-pose + :z (/ (* 2 pi) (random 10.0))))) + ;; move object to calculated pose on surface + (btr-utils:move-object object-name rotated-object-pose) + ;; return object + object)) + object-types))) + + ;; make sure generated poses are stable, especially important for random ones + ;; TDOO: if unstable, call itself + + ;; attach spoon to the drawer + (when (btr:object btr:*current-bullet-world* :spoon-1) + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* :spoon-1) + :link "sink_area_left_upper_drawer_main")) + + ;; stabilize world + (btr:simulate btr:*current-bullet-world* 100) + + ;; return list of BTR objects + objects)) + +(defun attach-object-to-the-world (object-type) + (when *demo-object-spawning-poses* + (btr:attach-object (btr:get-environment-object) + (btr:object btr:*current-bullet-world* + (intern (format nil "~a-1" object-type) :keyword)) + :link (second (find object-type + *demo-object-spawning-poses* + :key #'car))))) + + + +(defun spawn-objects-on-fixed-spots (&key + (spawning-poses-relative + *demo-object-spawning-poses*) + (object-types + '(:breakfast-cereal :cup :bowl :spoon :milk))) + (btr-utils:kill-all-objects) + (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") + (btr:detach-all-objects (btr:get-robot-object)) + ;; spawn objects at default poses + (let* ((spawning-poses-absolute + (make-poses-list-relative spawning-poses-relative)) + (objects (mapcar (lambda (object-type) + (btr-utils:spawn-object + (intern (format nil "~a-1" object-type) :keyword) + object-type + :pose (cdr (assoc object-type + ;; *demo-object-spawning-poses* + spawning-poses-absolute + )))) + object-types))) + ;; stabilize world + ;; (btr:simulate btr:*current-bullet-world* 100) + objects) + + (mapcar #'attach-object-to-the-world object-types)) + + + +(defun park-robot () + (cpl:with-failure-handling + ((cpl:plan-failure (e) + (declare (ignore e)) + (return))) + (cpl:par + (exe:perform + (desig:an action + (type positioning-arm) + (left-configuration park) + (right-configuration park))) + (exe:perform + (desig:an action + (type moving-torso) + (joint-angle upper-limit))) + (let ((?pose (cl-transforms-stamped:make-pose-stamped + cram-tf:*fixed-frame* + 0.0 + (cl-transforms:make-identity-vector) + (cl-transforms:make-identity-rotation)))) + (exe:perform + (desig:an action + (type going) + (target (desig:a location + (pose ?pose)))))) + (exe:perform (desig:an action (type opening-gripper) (gripper (left right)))) + (exe:perform (desig:an action (type looking) (direction forward)))))) + +(defun initialize () + (sb-ext:gc :full t) + + ;;(when ccl::*is-logging-enabled* + ;; (setf ccl::*is-client-connected* nil) + ;; (ccl::connect-to-cloud-logger) + ;; (ccl::reset-logged-owl)) + + ;; (setf proj-reasoning::*projection-checks-enabled* t) + + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + (btr-utils:kill-all-objects) + (setf (btr:joint-state (btr:get-environment-object) + "sink_area_left_upper_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_left_middle_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_left_bottom_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "iai_fridge_door_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_door_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_tray_main") + 0.0 + (btr:joint-state (btr:get-environment-object) + "oven_area_area_right_drawer_main_joint") + 0.0 + (btr:joint-state (btr:get-environment-object) + "sink_area_trash_drawer_main_joint") + 0) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + + (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) + + ;; (coe:clear-belief) + + (btr:clear-costmap-vis-object)) + +(defun finalize () + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + + ;;(when ccl::*is-logging-enabled* + ;; (ccl::export-log-to-owl "ease_milestone_2018.owl") + ;; (ccl::export-belief-state-to-owl "ease_milestone_2018_belief.owl")) + (sb-ext:gc :full t)) + + +(defun household-demo-random (&optional + (random + nil) + (list-of-objects + '(:bowl :spoon :cup :milk :breakfast-cereal))) + + (urdf-proj:with-simulated-robot + + (initialize) + (when cram-projection:*projection-environment* + (spawn-objects-on-sink-counter :random random)) + + (park-robot) + + ;; (an object + ;; (obj-part "drawer_sinkblock_upper_handle")) + + (dolist (?object-type list-of-objects) + (let* ( ;; (?arm-to-use + ;; (cdr (assoc ?object-type *object-grasping-arms*))) + (?cad-model + (cdr (assoc ?object-type *object-cad-models*))) + (?color + (cdr (assoc ?object-type *object-colors*))) + (?object-to-fetch + (desig:an object + (type ?object-type) + (desig:when ?cad-model + (cad-model ?cad-model)) + (desig:when ?color + (color ?color))))) + + (cpl:with-failure-handling + ((common-fail:high-level-failure (e) + (roslisp:ros-warn (pp-plans demo) "Failure happened: ~a~%Skipping..." e) + (return))) + + (exe:perform + (desig:an action + (type transporting) + (context table-setting-counter) + (object ?object-to-fetch) + ;; (desig:when ?arm-to-use + ;; (arms (?arm-to-use))) + ))) + + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + )) + + ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) + + (park-robot) + + (finalize) + + cpl:*current-path*)) + + + + +(defun household-demo (&optional (object-list '(:bowl :spoon :cup + :breakfast-cereal :milk))) + (urdf-proj:with-simulated-robot + + (initialize) + (setf btr:*visibility-threshold* 0.7) + (when cram-projection:*projection-environment* + (spawn-objects-on-fixed-spots + :object-types object-list + :spawning-poses-relative *demo-object-spawning-poses*)) + (park-robot) + + ;; set the table + (dolist (?object-type object-list) + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?object-type))) + (context table-setting)))) + + ;; clean up + ;; (when cram-projection:*projection-environment* + ;; (spawn-objects-on-fixed-spots + ;; :object-types object-list + ;; :spawning-poses-relative *delivery-poses-relative*)) + + (dolist (?object-type object-list) + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?object-type))) + (context table-cleaning)))))) + + + + + + + + + + + + + + + +#+stuff-for-testing-different-projection-stuff-in-household-domain-also-old-stuff +( + (defparameter *sink-nav-goal* + (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-3d-vector 0.75d0 0.70d0 0.0) + (cl-transforms:make-identity-rotation))) + (defparameter *island-nav-goal* + (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-3d-vector -0.2d0 1.5d0 0.0) + (cl-transforms:make-quaternion 0 0 1 0))) + (defparameter *look-goal* + (cl-transforms-stamped:make-pose-stamped + "base_footprint" + 0.0 + (cl-transforms:make-3d-vector 0.5d0 0.0d0 1.0d0) + (cl-transforms:make-identity-rotation))) + + + (defun go-to-sink-or-island (&optional (sink-or-island :sink)) + (let ((?navigation-goal (ecase sink-or-island + (:sink *sink-nav-goal*) + (:island *island-nav-goal*))) + (?ptu-goal *look-goal*)) + (cpl:par + (exe:perform (desig:an action + (type parking-arms))) + (exe:perform (desig:a motion + (type going) + (pose ?navigation-goal)))) + (exe:perform (desig:a motion + (type looking) + (pose ?ptu-goal))))) + + (defun pick-object (&optional (?object-type :breakfast-cereal) (?arm :right)) + (go-to-sink-or-island :sink) + (let* ((?object-desig + (desig:an object (type ?object-type))) + (?perceived-object-desig + (exe:perform (desig:an action + (type detecting) + (object ?object-desig))))) + (cpl:par + (exe:perform (desig:an action + (type looking) + (object ?perceived-object-desig))) + (exe:perform (desig:an action + (type picking-up) + (arm ?arm) + (object ?perceived-object-desig)))))) + + (defun place-object (?target-pose &optional (?arm :right)) + (go-to-sink-or-island :island) + (cpl:par + (exe:perform (desig:a motion + (type looking) + (pose ?target-pose))) + (exe:perform (desig:an action + (type placing) + (arm ?arm) + (target (desig:a location + (pose ?target-pose))))))) + + (defun demo-hard-coded () + (spawn-objects-on-sink-counter) + + (urdf-proj:with-simulated-robot + + (dolist (object-type '(:breakfast-cereal :cup :bowl :spoon :milk)) + + (let ((placing-target + (cl-transforms-stamped:pose->pose-stamped + "map" 0.0 + (cram-bullet-reasoning:ensure-pose + (cdr (assoc object-type *object-placing-poses*))))) + (arm-to-use + (cdr (assoc object-type *object-grasping-arms*)))) + + (pick-object object-type (or arm-to-use :left)) + (place-object placing-target (or arm-to-use :left)))))) + + + + (defun test-projection () + (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment + (cpl:top-level + (exe:perform + (let ((?pose (cl-transforms-stamped:make-pose-stamped + cram-tf:*robot-base-frame* 0.0 + (cl-transforms:make-3d-vector -0.5 0 0) + (cl-transforms:make-identity-rotation)))) + (desig:a motion (type going) (pose ?pose)))) + (exe:perform + (desig:a motion (type moving-torso) (joint-angle 0.3))) + (exe:perform + (desig:a motion (type opening-gripper) (gripper left))) + (exe:perform + (desig:a motion (type looking) (direction forward))) + (exe:perform + (let ((?pose (cl-transforms-stamped:make-pose-stamped + cram-tf:*robot-base-frame* 0.0 + (cl-transforms:make-3d-vector 0.7 0.3 0.85) + (cl-transforms:make-identity-rotation)))) + (desig:a motion (type moving-tcp) (left-pose ?pose))))))) + + (defun test-desigs () + (let ((?pose + (desig:reference + (desig:a location + (on "CounterTop") + (name "iai_kitchen_meal_table_counter_top"))))) + (desig:reference + (desig:a location + (to see) + (object (desig:an object (at (desig:a location (pose ?pose))))))))) + + (defun spawn-bottle () + (add-objects-to-mesh-list) + (btr-utils:kill-all-objects) + (btr-utils:spawn-object :bottle-1 :bottle :color '(1 0.5 0)) + (btr-utils:move-object :bottle-1 (cl-transforms:make-pose + (cl-transforms:make-3d-vector -2 -1.0 0.861667d0) + (cl-transforms:make-identity-rotation))) + ;; stabilize world + (btr:simulate btr:*current-bullet-world* 100)) + + (defun spawn-objects () + (let ((object-types (add-objects-to-mesh-list))) + ;; spawn at default location + (let ((objects (mapcar (lambda (object-type) + (btr-utils:spawn-object + (intern (format nil "~a-1" object-type) :keyword) + object-type)) + object-types))) + ;; move on top of counter tops + (mapcar (lambda (btr-object) + (let* ((aabb-z + (cl-transforms:z + (cl-bullet:bounding-box-dimensions + (btr:aabb btr-object)))) + (new-pose + (cram-tf:translate-pose + (desig:reference + (desig:a location + (on "CounterTop") + (name "iai_kitchen_meal_table_counter_top"))) + :z (/ aabb-z 2.0)))) + (btr-utils:move-object (btr:name btr-object) new-pose))) + objects) + ;; bottle gets special treatment + (btr-utils:move-object + :bottle-1 + (cl-transforms:make-pose + (cl-transforms:make-3d-vector -2 -1.0 0.861667d0) + (cl-transforms:make-identity-rotation))))) + ;; stabilize world + (btr:simulate btr:*current-bullet-world* 100)) + + + (defparameter *meal-table-left-base-pose* + (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-3d-vector -1.12d0 -0.42d0 0.0) + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) + (defparameter *meal-table-right-base-pose* + (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-3d-vector -2.0547d0 -0.481d0 0.0d0) + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) + (defparameter *meal-table-left-base-look-pose* + (cl-transforms-stamped:make-pose-stamped + "base_footprint" + 0.0 + (cl-transforms:make-3d-vector 0.75d0 -0.12d0 1.11d0) + (cl-transforms:make-identity-rotation))) + (defparameter *meal-table-right-base-look-pose* + (cl-transforms-stamped:make-pose-stamped + "base_footprint" + 0.0 + (cl-transforms:make-3d-vector 0.65335d0 0.076d0 0.758d0) + (cl-transforms:make-identity-rotation))) + (defparameter *meal-table-left-base-look-down-pose* + (cl-transforms-stamped:make-pose-stamped + "base_footprint" + 0.0 + (cl-transforms:make-3d-vector 0.7d0 -0.12d0 0.7578d0) + (cl-transforms:make-identity-rotation))) + + + (defun prepare () + (cpl:with-failure-handling + ((common-fail:low-level-failure (e) + (roslisp:ros-warn (demo step-0) "~a" e) + (return))) + + (let ((?navigation-goal *meal-table-right-base-pose*) + (?ptu-goal *meal-table-right-base-look-pose*)) + (cpl:par + (exe:perform + (desig:an action + (type parking-arms))) + (exe:perform (desig:a motion + (type going) + (pose ?navigation-goal)))) + (exe:perform (desig:a motion + (type looking) + (pose ?ptu-goal)))))) + (defun test-pr2-plans () + (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment + (cpl:top-level + (prepare)))) + + (defun test-projection-perception () + (spawn-objects) + (test-pr2-plans) + (cpl:sleep 1) + (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment + (cpl:top-level + (exe:perform + (let ((?object-designator + (desig:an object (type bottle)))) + (desig:a motion + (type detecting) + (object ?object-designator))))))) + ) diff --git a/cram_boxy/cram_boxy_projection/src/package.lisp b/cram_demos/cram_projection_demos/src/package.lisp similarity index 89% rename from cram_boxy/cram_boxy_projection/src/package.lisp rename to cram_demos/cram_projection_demos/src/package.lisp index ee8a1a5783..460beda5a0 100644 --- a/cram_boxy/cram_boxy_projection/src/package.lisp +++ b/cram_demos/cram_projection_demos/src/package.lisp @@ -27,12 +27,15 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defpackage cram-boxy-projection - (:nicknames #:boxy-proj) +(in-package :cl-user) + +(defpackage cram-projection-demos + (:nicknames #:demos) (:use #:common-lisp #:cram-prolog) (:export - ;; ik - ;; #:*torso-step* - ;; projection-environment - #:with-simulated-robot #:with-projected-robot - #:boxy-bullet-projection-environment)) + ;; household-demo + #:household-demo + ;; assembly-demo + #:assembly-demo + ;; retail-demo + #:retail-demo)) diff --git a/cram_demos/cram_projection_demos/src/retail-demo.lisp b/cram_demos/cram_projection_demos/src/retail-demo.lisp new file mode 100644 index 0000000000..33bf005414 --- /dev/null +++ b/cram_demos/cram_projection_demos/src/retail-demo.lisp @@ -0,0 +1,319 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demos) + +(defparameter *y* -0.38) +(defparameter *off* -0.07) +(defparameter *big-shelf-poses* + `(("level_5_link" + (:denkmit-edelstahl-reiniger-spray . ((-0.36 ,*y* 0.1) (0 0 0 1))) + (:denkmit-edelstahl-reiniger . ((-0.28 ,*y* 0.1) (0 0 0 1))) + (:denkmit-glaskeramik-reiniger . ((-0.19 ,*y* 0.1) (0 0 0 1))) + (:denkmit-maschienen-entkalker . ((-0.03 ,*y* 0.1) (0 0 0 1))) + (:denkmit-entkalker . ((0.14 ,*y* 0.1) (0 0 0 1))) + (:kuehne-essig-essenz . ((0.23 ,*y* 0.1) (0 0 0 1))) + (:heitmann-citronensaeure . ((0.32 ,*y* 0.11) (0 0 0 1)))) + + ("level_4_link" + (:finish-deo . ((-0.43 ,*y* 0.11) (0 0 0 1))) + (:finish-spuelmaschienen-tabs-quantum . ((-0.26 ,*y* 0.11) (0 0 0 1))) + (:finish-spuelmaschienen-tabs-classic . ((0.17 ,*y* 0.13) (0 0 0 1))) + (:finish-spuelmaschienen-tabs-classic-vorratspack . ((0.38 ,*y* 0.16) + (0 0 0 1)))) + + ("level_3_link" + (:finish-spuelmaschienen-pulver . ((-0.4 ,*y* 0.1) (0 0 0 1))) + (:finish-spuelmaschienen-protector . ((-0.26 ,*y* 0.1) (0 0 0 1))) + (:somat-spuelmaschienen-tabs-extra . ((-0.02 ,*y* 0.1) (0 0 0 1))) + (:somat-spuelmaschienen-tabs-classic . ((0.21 ,*y* 0.1) (0 0 0 1))) + (:somat-spuelmaschienen-pulver . ((0.4 ,*y* 0.1) (0 0 0 1)))) + + ("level_2_link" + (:denkmit-spezialsalz . ((-0.4 ,*y* 0.13) (0 0 0 1))) + (:denkmit-spuelmaschienen-tabs-power . ((-0.212 ,*y* 0.1) (0 0 0 1))) + (:denkmit-spuelmaschienen-tabs-revolution . ((-0.039 ,*y* 0.12) (0 0 0 1))) + (:denkmit-spuelmaschienen-tabs-classic . ((0.137 ,*y* 0.1) (0 0 0 1))) + ;; (:denkmit-spuelmaschienen-tabs-nature . ((0.43 ,*y* 0.1) (0 0 0 1))) + ) + + ("level_1_link" + (:denkmit-maschienenpfleger . ((-0.31 ,*y* 0.08) (0 0 0 1))) + (:denkmit-maschienenpfleger . ((-0.25 ,*y* 0.08) (0 0 0 1))) + (:finish-maschienenpfleger . ((-0.175 ,*y* 0.09) (0 0 0 1))) + (:finish-spezialsalz . ((-0.05 ,*y* 0.13) (0 0 0 1))) + (:finish-klarspueler . ((0.082 ,*y* 0.15) (0 0 0 1))) + (:denkmit-spuelmaschienen-tabs-allinone . ((0.203 ,*y* 0.14) (0 0 0 1)))) + + ("level_0_link" + (:domestos-allzweckreiniger . ((-0.43 ,(+ *y* *off*) 0.15) (0 0 0 1))) + (:sagrotan-allzweckreiniger . ((-0.30 ,(+ *y* *off*) 0.15) (0 0 0 1))) + (:denkmit-allzweckreiniger . ((-0.14 ,(+ *y* *off*) 0.14) (0 0 0 1))) + (:denkmit-allzweckreiniger-frueling . ((0.01 ,(+ *y* *off*) 0.15) (0 0 0 1))) + (:meister-proper-allzweckreiniger . ((0.15 ,(+ *y* *off*) 0.15) (0 0 0 1))) + (:denkmit-allzweckreiniger-limette . ((0.29 ,(+ *y* *off*) 0.145) (0 0 0 1))) + (:der-general-allzweckreiniger . ((0.42 ,(+ *y* *off*) 0.13) (0 0 0 1)))))) + +(defparameter *small-shelf-poses* + '("shelf_2_shelf_2_level_3_link" + (:balea-bottle . ((-0.15 -0.1 0.1) (0 0 0.5 0.5))) + (:dish-washer-tabs . ((0 -0.13 0.11) (0 0 0.5 0.5))))) + +(defparameter *basket-in-pr2-wrist* + (cl-transforms:make-transform + (cl-transforms:make-3d-vector 0.36 0 -0.15) + (cl-transforms:make-quaternion 0.0d0 -0.7071067811865475d0 + 0.0d0 0.7071067811865475d0))) + +(defparameter *basket-in-boxy-wrist* + (cl-transforms:make-transform + (cl-transforms:make-3d-vector 0 -0.15 0.48) + (cl-transforms:make-quaternion 0.5 0.5 0 0))) + +(defun spawn-object-n-times (type pose times color &optional offset-axis offset) + "`offset-axis' can be one of :x, :y or :z." + (loop for i from 0 to (1- times) + for name = (intern (string-upcase (format nil "~a-~a" type i)) :keyword) + do (when offset-axis + (setf pose (cram-tf:translate-pose pose offset-axis offset))) + ;; if object with name NAME already exists, create a new unique name + (when (btr:object btr:*current-bullet-world* name) + (setf i (+ i times) + name (intern (string-upcase (format nil "~a-~a" type i)) + :keyword))) + (btr:add-object btr:*current-bullet-world* :mesh name pose :mesh type + :mass 0.0 + :color color))) + +(defun spawn-objects-on-big-shelf () + (let ((type-and-pose-list + (make-poses-relative-multiple *big-shelf-poses* "shelf_1_"))) + (mapcar (lambda (type-and-pose) + (destructuring-bind (type . pose) type-and-pose + (spawn-object-n-times + type + pose + (+ (random 3) 1) ; times + `(,(float (/ (random 10) 10)) ; color + ,(float (/ (random 10) 10)) + ,(float (/ (random 10) 10))) + :x + 0.13))) + type-and-pose-list))) + +(defun spawn-objects-on-small-shelf () + (sb-ext:gc :full t) + (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) + (btr:clear-costmap-vis-object) + ;; (btr-utils:kill-all-objects) + (btr:detach-all-objects (btr:get-robot-object)) + (btr:detach-all-objects (btr:get-environment-object)) + (mapcar (lambda (type-and-pose) + (destructuring-bind (type . pose) type-and-pose + (spawn-object-n-times type pose 1 + (case type + (:dish-washer-tabs '(0 1 0)) + (t '(1.0 1.0 0.9)))))) + (make-poses-relative *small-shelf-poses*)) + ;; (btr:simulate btr:*current-bullet-world* 50) + (btr-utils:move-robot '((1.0 0 0) (0 0 0 1)))) + +(defun spawn-basket () + (let* ((left-ee-frame + (cut:var-value + '?end-effector-link + (car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:end-effector-link ?robot :left ?end-effector-link)))))) + (map-T-wrist + (btr:link-pose (btr:get-robot-object) left-ee-frame)) + (wrist-T-basket + (case (rob-int:get-robot-name) + (:pr2 *basket-in-pr2-wrist*) + (t *basket-in-boxy-wrist*))) + (map-T-basket + (cl-transforms:transform* + (cl-transforms:pose->transform map-T-wrist) + wrist-T-basket)) + (basket-pose + (cl-transforms:transform->pose map-T-basket)) + (basket-desig + (desig:an object (type basket) (name b)))) + (btr:add-object btr:*current-bullet-world* :basket + :b + basket-pose + :mass 1 + :length 0.5 :width 0.3 :height 0.18 :handle-height 0.09) + (coe:on-event + (make-instance 'cpoe:object-attached-robot + :link left-ee-frame + :not-loose t + :grasp :top + :arm :left + :object-name :b + :object-designator basket-desig)))) + + + +(defun retail-demo () + (urdf-proj:with-simulated-robot + + (setf btr:*visibility-threshold* 0.5) + (btr-utils:kill-all-objects) + (spawn-objects-on-small-shelf) + (spawn-objects-on-big-shelf) + (unless (eql (rob-int:get-robot-name) :iai-donbot) + (spawn-basket)) + + (let* ((?environment-name + (rob-int:get-environment-name)) + (?robot-name + (rob-int:get-robot-name)) + (?search-location + (desig:a location + (on (desig:an object + (type shelf) + (urdf-name shelf-2-base) + (owl-name "shelf_system_verhuetung") + (part-of ?environment-name) + (level 4))) + (side left) + (range 0.2))) + + (?dish-washer-tabs-desig + (desig:an object + (type dish-washer-tabs) + (location ?search-location))) + (?balea-bottle-desig + (desig:an object + (type balea-bottle) + (location ?search-location))) + (?target-location-shelf-dish-washer-tabs + (desig:a location + (on (desig:an object + (type environment) + (name ?environment-name) + (part-of ?environment-name) + (urdf-name shelf-1-level-2-link))) + (for ?dish-washer-tabs-desig) + (attachments (dish-washer-tabs-shelf-1-front + dish-washer-tabs-shelf-1-back)))) + (?target-location-shelf-balea-bottle + (desig:a location + (on (desig:an object + (type environment) + (name ?environment-name) + (part-of ?environment-name) + (urdf-name shelf-1-level-2-link))) + (for ?balea-bottle-desig) + (attachments (balea-bottle-shelf-1-front + balea-bottle-shelf-1-back)))) + (?target-location-tray-dish-washer-tabs + (desig:a location + (on (desig:an object + (type robot) + (name ?robot-name) + (part-of ?environment-name) + (owl-name "donbot_tray") + (urdf-name plate))) + (for ?dish-washer-tabs-desig) + (attachments (donbot-tray-front donbot-tray-back)))) + (?target-location-basket-dish-washer-tabs + (desig:a location + (on (desig:an object + (type basket) + (name b))) + (for ?dish-washer-tabs-desig) + (attachments (; in-basket-front + in-basket-back)))) + (?target-location-robot-dish-washer-tabs + (case ?robot-name + (:iai-donbot ?target-location-tray-dish-washer-tabs) + (t ?target-location-basket-dish-washer-tabs)))) + + (exe:perform + (desig:an action + (type transporting) + (object ?dish-washer-tabs-desig) + (target ?target-location-robot-dish-washer-tabs))) + (exe:perform + (desig:an action + (type transporting) + (object ?balea-bottle-desig) + (target ?target-location-shelf-balea-bottle))) + (exe:perform + (desig:an action + (type transporting) + (object ?dish-washer-tabs-desig) + (target ?target-location-shelf-dish-washer-tabs))) + + ;; look at separators + ;; (exe:perform + ;; (desig:an action + ;; (type looking) + ;; (direction right-separators))) + ;; (cpl:sleep 5.0) + ))) + + + + + + + + + + + + + + + +#+stuff-to-test-real-robot-interfaces +(defun stuff-that-works () + (cram-process-modules:with-process-modules-running + (giskard:giskard-pm) + (cpl-impl::named-top-level (:name :top-level) + (exe:perform + (let ((?pose (cl-transforms-stamped:make-pose-stamped + "base_footprint" 0.0 + (cl-transforms:make-3d-vector + -0.27012088894844055d0 + 0.5643729567527771d0 + 1.25943687558174133d0) + (cl-transforms:make-quaternion + -0.4310053586959839d0 + 0.24723316729068756d0 + 0.752766489982605d0 + 0.4318017065525055d0 )))) + (desig:a motion + (type moving-tcp) + (left-pose ?pose) + (collision-mode :allow-all))))))) diff --git a/cram_demos/cram_projection_demos/src/setup.lisp b/cram_demos/cram_projection_demos/src/setup.lisp new file mode 100644 index 0000000000..7f71b7dd79 --- /dev/null +++ b/cram_demos/cram_projection_demos/src/setup.lisp @@ -0,0 +1,121 @@ +;;; +;;; Copyright (c) 2017, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :demos) + +;; roslaunch cram_projection_demos ....launch + +(defun init-projection () + ;; (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) + (setf cram-tf:*tf-default-timeout* 0.5) ; projection tf is very fast + ;; (setf cram-tf:*tf-broadcasting-enabled* t) + + ;; (btr-belief:setup-world-database) + (coe:clear-belief) + + (setf prolog:*break-on-lisp-errors* t) + + (btr:clear-costmap-vis-object) + + (btr:add-objects-to-mesh-list "assembly_models" + :directory "fixtures" + :extension "stl") + (btr:add-objects-to-mesh-list "assembly_models" + :directory "battat/convention" + :extension "stl") + (btr:add-objects-to-mesh-list "cram_projection_demos" + :directory "resource/household") + (btr:add-objects-to-mesh-list "cram_projection_demos" + :directory "resource/retail")) + +(roslisp-utilities:register-ros-init-function init-projection) + + + +(defun make-poses-relative (spawning-poses &optional frame-prefix) + "Gets an associative list in a form of + (FRAME (TYPE . COORDINATES-LIST) + (TYPE2 . COORDS2) + ...), +where coordinates-list is defined in the FRAME coordinate frame. +If `frame-prefix' is given, instead of FRAME 'frame-prefixFRAME' is used. +Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame +and returns a list in form + ((TYPE . POSE) (TYPE2 . POSE2) ...)." + (when spawning-poses + (destructuring-bind (frame . type-and-pose-list) + spawning-poses + (let* ((map-T-surface + (cl-transforms:pose->transform + (btr:link-pose (btr:get-environment-object) + (concatenate 'string frame-prefix frame))))) + (mapcar (lambda (type-and-pose) + (destructuring-bind (type . pose-list) + type-and-pose + (let* ((surface-T-object + (cl-transforms:pose->transform + (cram-tf:list->pose pose-list))) + (map-T-object + (cl-transforms:transform* + map-T-surface surface-T-object)) + (map-P-object + (cl-transforms:transform->pose map-T-object))) + `(,type . ,map-P-object)))) + type-and-pose-list))))) + +(defun make-poses-relative-multiple (poses &optional frame-prefix) + "Gets a list of ((FRAME1 ((TYPE1 . COORDS1) (TYPE2 . COORDS2) ...)) + (FRAME2 ((TYPEN . COORDSN) ...))). +Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame +and returns a list in form + ((TYPE . POSE) ...)." + (mapcan (lambda (frame-and-list-of-type-and-coords) + (make-poses-relative frame-and-list-of-type-and-coords frame-prefix)) + poses)) + +(defun make-poses-list-relative (spawning-poses-list) + "Gets a list of ((:type \"frame\" cords-list) ...) +Converts these coordinates into CRAM-TF:*FIXED-FRAME* frame and returns a list in form + ((TYPE . POSE) ...)." + (when spawning-poses-list + (mapcar (lambda (type-and-frame-and-pose-list) + (destructuring-bind (type frame pose-list) + type-and-frame-and-pose-list + (let* ((map-T-surface + (cl-transforms:pose->transform + (btr:link-pose (btr:get-environment-object) frame))) + (surface-T-object + (cl-transforms:pose->transform + (cram-tf:list->pose pose-list))) + (map-T-object + (cl-transforms:transform* map-T-surface surface-T-object)) + (map-P-object + (cl-transforms:transform->pose map-T-object))) + `(,type . ,map-P-object)))) + spawning-poses-list))) diff --git a/cram_demos/cram_projection_demos/tests/package.lisp b/cram_demos/cram_projection_demos/tests/package.lisp new file mode 100644 index 0000000000..295ddd3bd4 --- /dev/null +++ b/cram_demos/cram_projection_demos/tests/package.lisp @@ -0,0 +1,3 @@ +(defpackage :cram-pr2-pick-place-demo-tests + (:nicknames :demo-tests) + (:use :common-lisp :lisp-unit)) diff --git a/cram_demos/cram_projection_demos/tests/projection-demo-tests.lisp b/cram_demos/cram_projection_demos/tests/projection-demo-tests.lisp new file mode 100644 index 0000000000..bae7e55195 --- /dev/null +++ b/cram_demos/cram_projection_demos/tests/projection-demo-tests.lisp @@ -0,0 +1,94 @@ +(in-package :cram-pr2-pick-place-demo-tests) + +(defparameter *relative-poses* + '("sink_area_surface" + ((:breakfast-cereal . ((0.2 -0.15 0.1) (0 0 0 1))) + (:cup . ((0.2 -0.35 0.1) (0 0 0 1))) + (:bowl . ((0.18 -0.55 0.1) (0 0 0 1))) + (:spoon . ((0.15 -0.4 -0.05) (0 0 0 1))) + (:milk . ((0.07 -0.35 0.1) (0 0 0 1)))))) + +(defun round-to (number precision &optional (what #'round)) + (let ((div (expt 10 precision))) + (/ (funcall what (* number div)) div))) + +(defun round-poses (type-pose-pairs &key (precision 3)) + (mapcar (lambda (type-pose-pair) + (with-slots (cl-transforms:x cl-transforms:y cl-transforms:z) + (cl-transforms:origin (cdr type-pose-pair)) + `(,(float (round-to cl-transforms:x precision)) + ,(float (round-to cl-transforms:y precision)) + ,(float (round-to cl-transforms:z precision))))) + type-pose-pairs)) + +(defun move-surface (&key (x 0) (y 0) (z 0) (alpha 0.0)) + (let* ((old-pose (btr:link-pose (btr:get-environment-object) "sink_area_surface")) + (rotated-pose (cram-tf:rotate-pose old-pose :z alpha)) + (new-pose (cram-tf:translate-pose rotated-pose :x x :y y :z z))) + (setf (btr:link-pose (btr:get-environment-object) "sink_area_surface") + new-pose))) + + +(define-test make-poses-relative-default + (let* ((goal '((1.335 0.44 0.94) ;; breakfast-cereal + (1.335 0.64 0.94) ;; cup + (1.355 0.84 0.94) ;; bowl + (1.385 0.69 0.79) ;; spoon + (1.465 0.64 0.94))) ;; milk + (poses (round-poses + (cram-pr2-pick-place-demo::make-poses-relative *relative-poses*)))) + (lisp-unit:assert-equal goal poses))) + + +(define-test make-poses-relative-x-move + (let ((goal '((2.335 0.44 0.94) ;; breakfast-cereal + (2.335 0.64 0.94) ;; cup + (2.355 0.84 0.94) ;; bowl + (2.385 0.69 0.79) ;; spoon + (2.465 0.64 0.94)))) ;; milk + (move-surface :x 1) + (unwind-protect + (let ((poses (round-poses + (cram-pr2-pick-place-demo::make-poses-relative *relative-poses*)))) + (lisp-unit:assert-equal goal poses)) + (move-surface :x -1)))) + +(define-test make-poses-relative-y-move + (let ((goal '((1.335 1.44 0.94) ;; breakfast-cereal + (1.335 1.64 0.94) ;; cup + (1.355 1.84 0.94) ;; bowl + (1.385 1.69 0.79) ;; spoon + (1.465 1.64 0.94)))) ;; milk + (move-surface :y 1) + (unwind-protect + (let ((poses (round-poses + (cram-pr2-pick-place-demo::make-poses-relative *relative-poses*)))) + (lisp-unit:assert-equal goal poses)) + (move-surface :y -1)))) + +(define-test make-poses-relative-z-move + (let ((goal '((1.335 0.44 1.94) ;; breakfast-cereal + (1.335 0.64 1.94) ;; cup + (1.355 0.84 1.94) ;; bowl + (1.385 0.69 1.79) ;; spoon + (1.465 0.64 1.94)))) ;; milk + (move-surface :z 1) + (unwind-protect + (let ((poses (round-poses + (cram-pr2-pick-place-demo::make-poses-relative *relative-poses*)))) + (lisp-unit:assert-equal goal poses)) + (move-surface :z -1)))) + + +(define-test make-poses-relative-alpha-move + (let ((goal '((1.735 0.14 0.94) ;; breakfast-cereal + (1.735 -0.06 0.94) ;; cup + (1.715 -0.26 0.94) ;; bowl + (1.685 -0.11 0.79) ;; spoon + (1.605 -0.06 0.94)))) ;; milk + (move-surface :alpha pi) + (unwind-protect + (let ((poses (round-poses + (cram-pr2-pick-place-demo::make-poses-relative *relative-poses*)))) + (lisp-unit:assert-equal goal poses)) + (move-surface :alpha (- pi))))) diff --git a/cram_pr2/cram_pr2_arm_kinematics/CMakeLists.txt b/cram_donbot/cram_donbot_description/CMakeLists.txt similarity index 72% rename from cram_pr2/cram_pr2_arm_kinematics/CMakeLists.txt rename to cram_donbot/cram_donbot_description/CMakeLists.txt index 78d5cb43a3..6c8417596d 100644 --- a/cram_pr2/cram_pr2_arm_kinematics/CMakeLists.txt +++ b/cram_donbot/cram_donbot_description/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_pr2_arm_kinematics) +project(cram_donbot_description) find_package(catkin REQUIRED) catkin_package() diff --git a/cram_boxy/cram_boxy_designators/cram-boxy-designators.asd b/cram_donbot/cram_donbot_description/cram-donbot-description.asd similarity index 85% rename from cram_boxy/cram_boxy_designators/cram-boxy-designators.asd rename to cram_donbot/cram_donbot_description/cram-donbot-description.asd index 57f044d7eb..c8bed648fc 100644 --- a/cram_boxy/cram_boxy_designators/cram-boxy-designators.asd +++ b/cram_donbot/cram_donbot_description/cram-donbot-description.asd @@ -1,4 +1,4 @@ -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -26,17 +26,17 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-boxy-designators +(defsystem cram-donbot-description :author "Gayane Kazhoyan" :maintainer "Gayane Kazhoyan" :license "BSD" - :depends-on (cram-designators - cram-prolog - cram-designator-specification - cram-tf) + :depends-on (cram-prolog + cram-robot-interfaces + cram-location-costmap ; for robot-specific costmap metadata + ) :components ((:module "src" :components ((:file "package") - (:file "motions" :depends-on ("package")))))) + (:file "knowledge" :depends-on ("package")))))) diff --git a/cram_pr2/cram_pr2_arm_kinematics/package.xml b/cram_donbot/cram_donbot_description/package.xml similarity index 50% rename from cram_pr2/cram_pr2_arm_kinematics/package.xml rename to cram_donbot/cram_donbot_description/package.xml index 4d946246e6..19cb2699a7 100644 --- a/cram_pr2/cram_pr2_arm_kinematics/package.xml +++ b/cram_donbot/cram_donbot_description/package.xml @@ -1,8 +1,8 @@ - cram_pr2_arm_kinematics + cram_donbot_description 0.7.0 - cram_pr2_arm_kinematics + Prolog predicates describing Donbot the robot Gayane Kazhoyan Gayane Kazhoyan @@ -10,14 +10,7 @@ catkin - cram_robot_interfaces - cram_pr2_description - cram_tf - cl_transforms_stamped - cl_transforms - moveit_msgs cram_prolog - cram_utilities - roslisp - pr2_arm_kinematics + cram_robot_interfaces + cram_location_costmap diff --git a/cram_donbot/cram_donbot_description/src/knowledge.lisp b/cram_donbot/cram_donbot_description/src/knowledge.lisp new file mode 100644 index 0000000000..8f44b4f551 --- /dev/null +++ b/cram_donbot/cram_donbot_description/src/knowledge.lisp @@ -0,0 +1,247 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :donbot-descr) + +(defparameter *tcp-in-ee-pose* + (cl-transforms:make-pose + (cl-transforms:make-3d-vector 0 0 0.2581d0) + (cl-transforms:make-quaternion 0 0 -0.7071067811849626d0 -0.7071067811881324d0))) + +(defparameter *standard-to-donbot-gripper-transform* + (cl-transforms-stamped:make-identity-transform)) + +(defparameter *ee-p-camera* + (cl-transforms:make-pose + (cl-transforms:make-3d-vector -0.04214122915220634d0 + 0.022506720839268142d0 + 0.1335101519901074d0) + (cl-transforms:make-quaternion -0.006114286700067816d0 + 0.003707211262453658d0 + -0.7139449315234562d0 + 0.7001653424975933d0))) + + +(def-fact-group donbot-metadata (robot-odom-frame + robot-base-frame robot-torso-link-joint + arm + neck + camera-frame + camera-minimal-height camera-maximal-height + camera-horizontal-angle camera-vertical-angle) + + (<- (robot-odom-frame :iai-donbot "odom")) + + (<- (robot-base-frame :iai-donbot "base_footprint")) + (<- (robot-torso-link-joint :iai-donbot "ur5_base_link" "arm_base_mounting_joint")) + + (<- (arm :iai-donbot :left)) + + (<- (neck :iai-donbot :left)) + + (<- (camera-frame :iai-donbot "camera_link")) ; rgb camera for barcodes etc. + (<- (camera-frame :iai-donbot "rs_camera_depth_optical_frame")) ; realsense, virtual + (<- (camera-frame :iai-donbot "rs_camera_color_optical_frame")) ; virtual + + ;; (<- (camera-minimal-height :iai-donbot 0.5)) + ;; (<- (camera-maximal-height :iai-donbot 1.2)) + + ;; These are values taken from the Kinect's wikipedia page for the 360 variant + (<- (camera-horizontal-angle donbot 0.99483)) + (<- (camera-vertical-angle donbot 0.75049))) + + +(def-fact-group donbot-arm-facts (arm-joints arm-links + hand-links hand-link hand-finger-link + gripper-joint gripper-meter-to-joint-multiplier + standard<-particular-gripper-transform + end-effector-link + robot-tool-frame + tcp-in-ee-pose + robot-joint-states) + + (<- (arm-joints :iai-donbot :left ("ur5_shoulder_pan_joint" + "ur5_shoulder_lift_joint" + "ur5_elbow_joint" + "ur5_wrist_1_joint" + "ur5_wrist_2_joint" + "ur5_wrist_3_joint"))) + + (<- (arm-links :iai-donbot :left ("ur5_shoulder_link" + "ur5_upper_arm_link" + "ur5_forearm_link" + "ur5_wrist_1_link" + "ur5_wrist_2_link" + "ur5_wrist_3_link"))) + + (<- (hand-links :iai-donbot :left ("wrist_collision" + "gripper_base_link" + "gripper_finger_left_link" + "gripper_finger_right_link" + "gripper_gripper_left_link" + "gripper_gripper_right_link"))) + + (<- (hand-link :iai-donbot :left ?link) + (bound ?link) + (or (and (lisp-fun search "gripper_" ?link ?pos) + (lisp-pred identity ?pos)) + (and (lisp-fun search "finger" ?link ?pos) + (lisp-pred identity ?pos)))) + + (<- (hand-finger-link :iai-donbot ?arm ?link) + (bound ?link) + (hand-link :iai-donbot ?arm ?link) + (lisp-fun search "finger" ?link ?pos) + (lisp-pred identity ?pos)) + + (<- (gripper-joint :iai-donbot :left "gripper_joint")) + + (<- (gripper-meter-to-joint-multiplier :iai-donbot 1.0)) + + (<- (standard<-particular-gripper-transform :iai-donbot ?transform) + (symbol-value *standard-to-donbot-gripper-transform* ?transform)) + + (<- (end-effector-link :iai-donbot :left "ur5_wrist_3_link")) + + (<- (robot-tool-frame :iai-donbot :left "refills_tool_frame")) + + (<- (tcp-in-ee-pose :iai-donbot ?pose) + (symbol-value *tcp-in-ee-pose* ?pose)) + + (<- (robot-joint-states :iai-donbot :arm :left :carry + ;; (("ur5_shoulder_pan_joint" 0.29503026604652405d0) + ;; ("ur5_shoulder_lift_joint" -1.8346226851092737d0) + ;; ("ur5_elbow_joint" 2.1440072059631348d0) + ;; ("ur5_wrist_1_joint" -3.4500272909747522d0) + ;; ("ur5_wrist_2_joint" -1.8935192267047327d0) + ;; ("ur5_wrist_3_joint" -1.425162140523092d0)) + ;; (("ur5_shoulder_pan_joint" 3.378162384033203d0) + ;; ("ur5_shoulder_lift_joint" -1.5641868750201624d0) + ;; ("ur5_elbow_joint" -0.9430778662310999d0) + ;; ("ur5_wrist_1_joint" -2.2492716948138636d0) + ;; ("ur5_wrist_2_joint" 1.5673996210098267d0) + ;; ("ur5_wrist_3_joint" -3.5105767885791224d0)) + (("ur5_shoulder_pan_joint" 3.234022855758667d0) + ("ur5_shoulder_lift_joint" -1.5068710486041468d0) + ("ur5_elbow_joint" -0.7870314756976526d0) + ("ur5_wrist_1_joint" -2.337625328694479d0) + ("ur5_wrist_2_joint" 1.5699548721313477d0) + ("ur5_wrist_3_joint" -1.6504042784320276d0)))) + (<- (robot-joint-states :iai-donbot :arm :left :park ?joint-states) + (robot-joint-states :iai-donbot :arm :left :carry ?joint-states)) + (<- (robot-joint-states :iai-donbot :arm :left :carry-top ?joint-states) + (robot-joint-states :iai-donbot :arm :left :carry ?joint-states)) + (<- (robot-joint-states :iai-donbot :arm :left :carry-side-gripper-vertical + ?joint-states) + (robot-joint-states :iai-donbot :arm :left :carry ?joint-states))) + + + +(def-fact-group donbot-neck-facts (robot-neck-links robot-neck-joints + robot-neck-base-link + camera-in-neck-ee-pose + neck-camera-z-offset + neck-camera-pose-unit-vector-multiplier + neck-camera-resampling-step + neck-camera-x-axis-limit + neck-camera-y-axis-limit + neck-camera-z-axis-limit + robot-joint-states) + + (<- (robot-neck-links :iai-donbot . ?links) + (arm-links :iai-donbot :left ?links)) + + (<- (robot-neck-joints :iai-donbot . ?joints) + (arm-joints :iai-donbot :left ?joints)) + + (<- (robot-neck-base-link :iai-donbot "ur5_base_link")) + + (<- (camera-in-neck-ee-pose :iai-donbot ?pose) + (symbol-value *ee-p-camera* ?pose)) + + (<- (neck-camera-z-offset :iai-donbot 0.6)) + (<- (neck-camera-pose-unit-vector-multiplier :iai-donbot 0.4)) + (<- (neck-camera-resampling-step :iai-donbot 0.1)) + (<- (neck-camera-x-axis-limit :iai-donbot 0.5)) + (<- (neck-camera-y-axis-limit :iai-donbot 0.5)) + (<- (neck-camera-z-axis-limit :iai-donbot 0.2)) + + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck :away + ?joint-states) + (robot-joint-states :iai-donbot :arm :left :carry ?joint-states)) + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck :forward + ?joint-states) + (robot-joint-states :iai-donbot :arm :left :carry ?joint-states)) + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck :down + (("ur5_shoulder_pan_joint" 4.130944728851318d0) + ("ur5_shoulder_lift_joint" 0.04936718940734863d0) + ("ur5_elbow_joint" -1.9734209219561976d0) + ("ur5_wrist_1_joint" -1.7624157110797327d0) + ("ur5_wrist_2_joint" 1.6369260549545288d0) + ("ur5_wrist_3_joint" -1.6503327528582972d0)))) + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck :right + (("ur5_shoulder_pan_joint" 1.6281344890594482d0) + ("ur5_shoulder_lift_joint" -1.4734271208392542d0) + ("ur5_elbow_joint" -1.1555221716510218d0) + ("ur5_wrist_1_joint" -0.9881671110736292d0) + ("ur5_wrist_2_joint" 1.4996352195739746d0) + ("ur5_wrist_3_joint" -1.4276765028582972d0)))) + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck :right-separators + (("ur5_shoulder_pan_joint" 1.4752850532531738d0) + ("ur5_shoulder_lift_joint" -1.4380276838885706d0) + ("ur5_elbow_joint" -1.9198325316058558d0) + ("ur5_wrist_1_joint" -0.0680769125567835d0) + ("ur5_wrist_2_joint" 1.704722285270691d0) + ("ur5_wrist_3_joint" -1.5686963240252894d0)))) + (<- (robot-joint-states :iai-donbot :neck ?there-is-only-one-neck + :right-separators-preplace-state + (("ur5_shoulder_pan_joint" 1.585883378982544d0) + ("ur5_shoulder_lift_joint" -0.49957687059511d0) + ("ur5_elbow_joint" -1.61414081255068d0) + ("ur5_wrist_1_joint" -1.1720898787127894d0) + ("ur5_wrist_2_joint" 1.37771737575531d0) + ("ur5_wrist_3_joint" -1.3602331320392054d0))))) + + +(def-fact-group location-costmap-metadata (costmap:costmap-padding + costmap:costmap-manipulation-padding + costmap:costmap-in-reach-distance + costmap:costmap-reach-minimal-distance + costmap:orientation-samples + costmap:orientation-sample-step + costmap:reachability-orientation-offset + costmap:visibility-costmap-size) + (<- (costmap:costmap-padding :iai-donbot 0.5)) + (<- (costmap:costmap-manipulation-padding :iai-donbot 0.5)) + (<- (costmap:costmap-in-reach-distance :iai-donbot 1.1)) + (<- (costmap:costmap-reach-minimal-distance :iai-donbot 0.1)) + (<- (costmap:orientation-samples :iai-donbot 1)) + (<- (costmap:orientation-sample-step :iai-donbot 0.3)) + (<- (costmap:reachability-orientation-offset :iai-donbot 1.57)) + (<- (costmap:visibility-costmap-size :iai-donbot 2.0))) diff --git a/cram_pr2/cram_pr2_cloud/src/package.lisp b/cram_donbot/cram_donbot_description/src/package.lisp similarity index 89% rename from cram_pr2/cram_pr2_cloud/src/package.lisp rename to cram_donbot/cram_donbot_description/src/package.lisp index 7467fc0f8b..d0ee197462 100644 --- a/cram_pr2/cram_pr2_cloud/src/package.lisp +++ b/cram_donbot/cram_donbot_description/src/package.lisp @@ -1,5 +1,5 @@ ;;; -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -29,7 +29,6 @@ (in-package :cl-user) -(defpackage cram-pr2-cloud - (:nicknames :pr2-cloud) - (:use #:common-lisp #:cram-prolog #:cram-tf ;; #:cram-designators - )) +(defpackage cram-donbot-description + (:nicknames #:donbot-descr) + (:use #:common-lisp #:cram-prolog #:cram-robot-interfaces)) diff --git a/cram_boxy/cram_boxy_plans/CMakeLists.txt b/cram_donbot/cram_donbot_low_level/CMakeLists.txt similarity index 73% rename from cram_boxy/cram_boxy_plans/CMakeLists.txt rename to cram_donbot/cram_donbot_low_level/CMakeLists.txt index 80d84b24d3..041c06eb2f 100644 --- a/cram_boxy/cram_boxy_plans/CMakeLists.txt +++ b/cram_donbot/cram_donbot_low_level/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_boxy_plans) +project(cram_donbot_low_level) find_package(catkin REQUIRED) catkin_package() diff --git a/cram_boxy/cram_boxy_projection/cram-boxy-projection.asd b/cram_donbot/cram_donbot_low_level/cram-donbot-low-level.asd similarity index 60% rename from cram_boxy/cram_boxy_projection/cram-boxy-projection.asd rename to cram_donbot/cram_donbot_low_level/cram-donbot-low-level.asd index cbaa0544b9..01df4f3f10 100644 --- a/cram_boxy/cram_boxy_projection/cram-boxy-projection.asd +++ b/cram_donbot/cram_donbot_low_level/cram-donbot-low-level.asd @@ -1,4 +1,5 @@ -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -26,35 +27,44 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-boxy-projection +(defsystem cram-donbot-low-level :author "Gayane Kazhoyan" + :maintainer "Gayane Kazhoyan" :license "BSD" - :depends-on (cram-projection - cram-prolog - cram-designators + :depends-on (roslisp + roslisp-msg-protocol ; for ros-message class type + roslisp-utilities + actionlib + cl-transforms-stamped + cl-transforms + cram-simple-actionlib-client + cram-language ; for with-failure-handling to the least cram-utilities - cram-bullet-reasoning + cram-prolog + ;; cram-math ; for degrees->radians cram-tf - cram-robot-interfaces ; for ROBOT predicate and COMPUTE-IKS - cl-transforms - cl-transforms-stamped - cl-tf - cram-occasions-events - cram-plan-occasions-events - cram-boxy-description ; to get kinematic structure names - cram-common-designators cram-common-failures - cram-process-modules - alexandria ; for CURRY in low-level perception - roslisp-utilities ; for rosify-lisp-name - cram-bullet-reasoning-belief-state ; for special projection variable definition - cram-ik-interface) + ;; for reading out arm joint names + cram-robot-interfaces + cram-joint-states + cram-donbot-description + ;; msgs for low-level communication + slipping_control_msgs-msg + slipping_control_msgs-srv + sun_tactile_common-msg + ;; geometry_msgs-msg ; for force-torque sensor wrench + ;; std_srvs-srv ; for zeroing force-torque sensor + ;; sensor_msgs-msg + ;; visualization_msgs-msg + ;; iai_wsg_50_msgs-msg + ;; control_msgs-msg ; neck message + ;; trajectory_msgs-msg ; also for neck + ;; ;; iai_control_msgs-msg ; neck message + ;; iai_dlr_msgs-msg + ) :components ((:module "src" :components ((:file "package") - (:file "tf" :depends-on ("package")) - (:file "low-level" :depends-on ("package" "tf")) - (:file "process-modules" :depends-on ("package" "low-level")) - (:file "projection-environment" :depends-on ("package" "tf" "process-modules")))))) + (:file "grippers" :depends-on ("package")))))) diff --git a/cram_donbot/cram_donbot_low_level/package.xml b/cram_donbot/cram_donbot_low_level/package.xml new file mode 100644 index 0000000000..c3556c6811 --- /dev/null +++ b/cram_donbot/cram_donbot_low_level/package.xml @@ -0,0 +1,39 @@ + + cram_donbot_low_level + 0.7.0 + + Low-level code for Donbot + + Gayane Kazhoyan + Gayane Kazhoyan + BSD + + catkin + + roslisp + roslisp_utilities + actionlib_lisp + cl_transforms_stamped + cl_transforms + cram_simple_actionlib_client + cram_language + cram_utilities + cram_prolog + + cram_tf + cram_common_failures + cram_robot_interfaces + cram_joint_states + cram_donbot_description + slipping_control_msgs + sun_tactile_common + + + + + + + + + + diff --git a/cram_donbot/cram_donbot_low_level/src/grippers.lisp b/cram_donbot/cram_donbot_low_level/src/grippers.lisp new file mode 100644 index 0000000000..e33bb19549 --- /dev/null +++ b/cram_donbot/cram_donbot_low_level/src/grippers.lisp @@ -0,0 +1,157 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of Willow Garage, Inc. nor the names of its +;;; contributors may be used to endorse or promote products derived from +;;; this software without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :donbot-ll) + +(defparameter *gripper-action-timeout* 20.0 "in seconds") + +(defparameter *gripper-velocity-convergence-delta* 0.00000001 "in meters/second") +(defparameter *gripper-convergence-delta* 0.005 "in meters") + +(defun make-gripper-action-clients () + (actionlib-client:make-simple-action-client + 'gripper-home-action + "wsg50/home_gripper_action" + "slipping_control_msgs/HomeGripperAction" + *gripper-action-timeout*) + + (actionlib-client:make-simple-action-client + 'gripper-grasp-action + "wsg50/grasp_action" + "slipping_control_msgs/GraspAction" + *gripper-action-timeout*) + + (actionlib-client:make-simple-action-client + 'gripper-zero-left-action + "wsg50/finger0/compute_bias_action" + "sun_tactile_common/ComputeBiasAction" + *gripper-action-timeout*) + (actionlib-client:make-simple-action-client + 'gripper-zero-right-action + "wsg50/finger1/compute_bias_action" + "sun_tactile_common/ComputeBiasAction" + *gripper-action-timeout*)) + +(roslisp-utilities:register-ros-init-function make-gripper-action-clients) + +(defun call-gripper-set-object-parameters-service (object-parameter) + (let ((service-name-0 "wsg50/ls_0/change_params") + (service-name-1 "wsg50/ls_1/change_params")) + (cpl:with-failure-handling + ((roslisp::ros-rpc-error (e) + (format t "ROS communication error occured!~%~a~%Retrying...~%~%" e) + (loop until (roslisp:wait-for-service service-name-0 10) + do (roslisp:ros-info (donbot-ll change-params) + "Waiting for ~a service server..." + service-name-0)) + (loop until (roslisp:wait-for-service service-name-1 10) + do (roslisp:ros-info (donbot-ll change-params) + "Waiting for ~a service server..." + service-name-1)) + (cpl:retry))) + (roslisp:call-service service-name-0 'slipping_control_msgs-srv:chlsparams + :mu object-parameter) + (roslisp:call-service service-name-1 'slipping_control_msgs-srv:chlsparams + :mu object-parameter)))) + + +(defun make-gripper-home-action-goal () + (roslisp:make-message + 'slipping_control_msgs-msg:HomeGripperGoal)) + +(defun call-gripper-home-action () + (actionlib-client:call-simple-action-client + 'gripper-home-action + :action-goal (make-gripper-home-action-goal))) + + +(defun make-gripper-zero-action-goal () + (roslisp:make-message + 'sun_tactile_common-msg:ComputeBiasGoal)) + +(defun call-gripper-zero-actions () + (actionlib-client:call-simple-action-client + 'gripper-zero-left-action + :action-goal (make-gripper-zero-action-goal)) + (actionlib-client:call-simple-action-client + 'gripper-zero-right-action + :action-goal (make-gripper-zero-action-goal))) + + +(defun make-gripper-grasp-action-goal () + (roslisp:make-message + 'slipping_control_msgs-msg:GraspGoal + :desired_force 20.0)) + +(defun call-gripper-grasp-action () + (actionlib-client:call-simple-action-client + 'gripper-grasp-action + :action-goal (make-gripper-grasp-action-goal)) + (cpl:sleep 7.0)) + + + + +(defun call-gripper-action (&key action-type-or-position left-or-right + effort-but-actually-slippage-parameter) + (declare (type (or keyword list) left-or-right) + (type (or null number) effort-but-actually-slippage-parameter) + (type (or null number keyword) action-type-or-position)) + "Goal position is given in meters." + + (unless (eq left-or-right :left) + (roslisp:ros-warn (donbot-ll gripper) + "Any gripper except left one is not supported.~%~ + Defaulting to left gripper.") + (setf left-or-right :left)) + + (unless effort-but-actually-slippage-parameter + (roslisp:ros-warn (donbot-ll gripper) + "effort-but-actually-slippage-parameter was not given..~%~ + Defaulting to 0.72.") + (setf effort-but-actually-slippage-parameter 0.72)) + + (etypecase action-type-or-position + (number + (roslisp:ros-warn (donbot-ll gripper) + "Gripper goals with numeric positions are not supported.~%~ + Simply opening the gripper.") + (call-gripper-home-action)) + (keyword + (ecase action-type-or-position + (:open + (call-gripper-home-action)) + (:close + (roslisp:ros-warn (donbot-ll gripper) + "Gripper goals to close gripper are not supported.~%~ + Not doing anything.")) + (:grip + (call-gripper-zero-actions) + (call-gripper-set-object-parameters-service + effort-but-actually-slippage-parameter) + (call-gripper-grasp-action)))))) diff --git a/cram_pr2/cram_pr2_arm_kinematics/src/package.lisp b/cram_donbot/cram_donbot_low_level/src/package.lisp similarity index 90% rename from cram_pr2/cram_pr2_arm_kinematics/src/package.lisp rename to cram_donbot/cram_donbot_low_level/src/package.lisp index 3b2e31ca29..80347b8e72 100644 --- a/cram_pr2/cram_pr2_arm_kinematics/src/package.lisp +++ b/cram_donbot/cram_donbot_low_level/src/package.lisp @@ -1,5 +1,5 @@ ;;; -;;; Copyright (c) 2016, Gayane Kazhoyan +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -29,7 +29,9 @@ (in-package :cl-user) -(defpackage cram-pr2-arm-kinematics - (:nicknames :pr2-ik-fk) +(defpackage cram-donbot-low-level + (:nicknames #:donbot-ll) (:use #:common-lisp) - (:export #:*use-arm-kinematics-interface*)) + (:export + ;; grippers + #:call-gripper-action)) diff --git a/cram_donbot/cram_donbot_process_modules/CMakeLists.txt b/cram_donbot/cram_donbot_process_modules/CMakeLists.txt new file mode 100644 index 0000000000..4193cefd29 --- /dev/null +++ b/cram_donbot/cram_donbot_process_modules/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cram_donbot_process_modules) +find_package(catkin REQUIRED) +catkin_package() + diff --git a/cram_donbot/cram_donbot_process_modules/cram-donbot-process-modules.asd b/cram_donbot/cram_donbot_process_modules/cram-donbot-process-modules.asd new file mode 100644 index 0000000000..323f019fb6 --- /dev/null +++ b/cram_donbot/cram_donbot_process_modules/cram-donbot-process-modules.asd @@ -0,0 +1,52 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defsystem cram-donbot-process-modules + :author "Gayane Kazhoyan" + :maintainer "Gayane Kazhoyan" + :license "BSD" + + :depends-on (cram-process-modules + cram-designators + cram-prolog + + cram-tf + cram-common-designators + + cram-donbot-low-level + + cram-bullet-reasoning-belief-state ; for WORLD-STATE-DETECTING + cram-robosherlock ; for WITH-REAL-ROBOT + cram-giskard) + :components + ((:module "src" + :components + ((:file "package") + (:file "definitions" :depends-on ("package")) + (:file "interface" :depends-on ("package" "definitions")))))) diff --git a/cram_boxy/cram_boxy_designators/package.xml b/cram_donbot/cram_donbot_process_modules/package.xml similarity index 57% rename from cram_boxy/cram_boxy_designators/package.xml rename to cram_donbot/cram_donbot_process_modules/package.xml index daf4cc8e60..597f51d4ea 100644 --- a/cram_boxy/cram_boxy_designators/package.xml +++ b/cram_donbot/cram_donbot_process_modules/package.xml @@ -1,8 +1,8 @@ - cram_boxy_designators + cram_donbot_process_modules 0.7.0 - Definitions of supported designators and their resolving mechanisms for Boxy + CRAM Middle-layer code for Donbot Gayane Kazhoyan Gayane Kazhoyan @@ -10,8 +10,12 @@ catkin + cram_process_modules cram_designators cram_prolog - cram_designator_specification cram_tf + cram_common_designators + cram_donbot_low_level + cram_robosherlock + cram_giskard diff --git a/cram_donbot/cram_donbot_process_modules/src/definitions.lisp b/cram_donbot/cram_donbot_process_modules/src/definitions.lisp new file mode 100644 index 0000000000..0a4c8f5bf6 --- /dev/null +++ b/cram_donbot/cram_donbot_process_modules/src/definitions.lisp @@ -0,0 +1,43 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :donbot-pm) + +;;;;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;; + +(cpm:def-process-module grippers-pm (motion-designator) + (destructuring-bind (command action-type-or-position which-gripper + &optional effort-but-actually-slippage-param) + (desig:reference motion-designator) + (ecase command + (cram-common-designators:move-gripper-joint + (donbot-ll:call-gripper-action + :action-type-or-position action-type-or-position + :left-or-right which-gripper + :effort-but-actually-slippage-parameter effort-but-actually-slippage-param))))) diff --git a/cram_donbot/cram_donbot_process_modules/src/interface.lisp b/cram_donbot/cram_donbot_process_modules/src/interface.lisp new file mode 100644 index 0000000000..6225399e2f --- /dev/null +++ b/cram_donbot/cram_donbot_process_modules/src/interface.lisp @@ -0,0 +1,62 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of Willow Garage, Inc. nor the names of its +;;; contributors may be used to endorse or promote products derived from +;;; this software without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :donbot-pm) + +(def-fact-group donbot-matching-pms (cpm:matching-process-module + cpm:available-process-module) + + (<- (cpm:matching-process-module ?motion-designator grippers-pm) + (or (desig:desig-prop ?motion-designator (:type :gripping)) + (desig:desig-prop ?motion-designator (:type :opening-gripper)) + (desig:desig-prop ?motion-designator (:type :closing-gripper)) + (desig:desig-prop ?motion-designator (:type :moving-gripper-joint)))) + + (<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm) + (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) + (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) + (desig:desig-prop ?motion-designator (:type :pulling)) + (desig:desig-prop ?motion-designator (:type :pushing)) + (desig:desig-prop ?motion-designator (:type :going)) + (desig:desig-prop ?motion-designator (:type :moving-torso)) + (desig:desig-prop ?motion-designator (:type :looking)))) + + (<- (cpm:available-process-module ?pm) + (member ?pm (grippers-pm giskard:giskard-pm)) + (not (cpm:projection-running ?_))) + + (<- (cpm:available-process-module btr-belief:world-state-detecting-pm))) + + +(defmacro with-real-robot (&body body) + `(cram-process-modules:with-process-modules-running + (donbot-pm:grippers-pm + rs:robosherlock-perception-pm giskard:giskard-pm + btr-belief:world-state-detecting-pm) + (cpl-impl::named-top-level (:name :top-level) + ,@body))) diff --git a/cram_boxy/cram_boxy_designators/src/package.lisp b/cram_donbot/cram_donbot_process_modules/src/package.lisp similarity index 87% rename from cram_boxy/cram_boxy_designators/src/package.lisp rename to cram_donbot/cram_donbot_process_modules/src/package.lisp index a888a2624e..00e8427c30 100644 --- a/cram_boxy/cram_boxy_designators/src/package.lisp +++ b/cram_donbot/cram_donbot_process_modules/src/package.lisp @@ -1,5 +1,5 @@ ;;; -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2019, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -29,9 +29,11 @@ (in-package :cl-user) -(defpackage cram-boxy-designators - (:nicknames #:boxy-desig) - (:use #:common-lisp #:cram-prolog #:cram-designator-specification) +(defpackage cram-donbot-process-modules + (:nicknames #:donbot-pm) + (:use #:common-lisp #:cram-prolog) (:export - ;; motions - #:move-tcp-wiggle)) + ;; definitions + #:grippers-pm + ;; interface + #:with-real-robot)) diff --git a/cram_external_interfaces/cram_giskard/cram-giskard.asd b/cram_external_interfaces/cram_giskard/cram-giskard.asd index 7c3ce5b3b1..c7254bd770 100644 --- a/cram_external_interfaces/cram_giskard/cram-giskard.asd +++ b/cram_external_interfaces/cram_giskard/cram-giskard.asd @@ -33,31 +33,62 @@ :depends-on (roslisp roslisp-utilities + cl-transforms cl-transforms-stamped - cram-tf - cram-common-failures + cram-designators cram-process-modules cram-prolog - cram-common-designators cram-occasions-events ; for updating giskard collision scene on events + + cram-simple-actionlib-client + cram-tf + cram-robot-interfaces + cram-common-failures + cram-common-designators cram-plan-occasions-events + cram-bullet-reasoning ; also for updating giskard collision scene cram-bullet-reasoning-belief-state ; for *kitchen-parameter* + cram-joint-states ; for joint-interface to send current joint state - cram-simple-actionlib-client + giskard_msgs-msg giskard_msgs-srv) :components ((:module "src" :components ((:file "package") - (:file "collision-scene" :depends-on ("package")) (:file "action-client" :depends-on ("package")) - (:file "cartesian-interface" :depends-on ("package" "action-client")) - (:file "joint-interface" :depends-on ("package" "action-client")) - (:file "base-goals" :depends-on ("package" "action-client" "joint-interface")) - (:file "torso-goals" :depends-on ("package" "action-client")) - (:file "process-module" :depends-on ("package" "cartesian-interface" "joint-interface" - "base-goals" "torso-goals")))))) + (:file "hash-table-conversions" :depends-on ("package")) + (:file "making-goal-messages" :depends-on ("package" "hash-table-conversions")) + (:file "arm-goals" :depends-on ("package" + "action-client" + "making-goal-messages")) + (:file "base-goals" :depends-on ("package" + "action-client" + "making-goal-messages")) + (:file "torso-goals" :depends-on ("package" + "making-goal-messages" + "action-client")) + (:file "gripper-goals" :depends-on ("package" + "making-goal-messages" + "action-client")) + (:file "neck-goals" :depends-on ("package" + "making-goal-messages" + "action-client")) + (:file "environment-manipulation-goals" :depends-on ("package" + "making-goal-messages" + "action-client")) + (:file "misc-goals" :depends-on ("package" + "making-goal-messages" + "action-client")) + (:file "collision-scene" :depends-on ("package")) + (:file "process-module" :depends-on ("package" + "arm-goals" + "base-goals" + "torso-goals" + "gripper-goals" + "neck-goals" + "environment-manipulation-goals")))))) diff --git a/cram_external_interfaces/cram_giskard/package.xml b/cram_external_interfaces/cram_giskard/package.xml index acd44d61f5..c4e50aa282 100644 --- a/cram_external_interfaces/cram_giskard/package.xml +++ b/cram_external_interfaces/cram_giskard/package.xml @@ -20,6 +20,7 @@ cram_process_modules cram_prolog cram_common_designators + cram_robot_interfaces cram_occasions_events cram_plan_occasions_events cram_bullet_reasoning diff --git a/cram_external_interfaces/cram_giskard/src/action-client.lisp b/cram_external_interfaces/cram_giskard/src/action-client.lisp index 9209f74121..7dd431c356 100644 --- a/cram_external_interfaces/cram_giskard/src/action-client.lisp +++ b/cram_external_interfaces/cram_giskard/src/action-client.lisp @@ -33,6 +33,53 @@ (actionlib-client:make-simple-action-client 'giskard-action "giskardpy/command" "giskard_msgs/MoveAction" - 60)) + 120)) (roslisp-utilities:register-ros-init-function make-giskard-action-client) + + +(defun call-action (&key action-goal action-timeout check-goal-function) + (declare (type giskard_msgs-msg:movegoal action-goal) + (type (or number null) action-timeout) + (type (or function null) check-goal-function)) + + ;; check if the goal has already been reached + (when (and check-goal-function + (not (funcall check-goal-function))) + (roslisp:ros-warn (giskard action-client) + "Giskard action goal already reached.") + (return-from call-action)) + + ;; call the actionlib action + (multiple-value-bind (result status) + (actionlib-client:call-simple-action-client + 'giskard-action + :action-goal action-goal + :action-timeout action-timeout) + + ;; print a debug statement if the status is unexpected + (case status + (:preempted + (roslisp:ros-warn (giskard action-client) + "Giskard action preempted.~%Result: ~a" result)) + (:timeout + (roslisp:ros-warn (giskard action-client) + "Giskard action timed out.")) + (:aborted + (roslisp:ros-warn (giskard cartesian) + "Giskard action aborted.~%Result: ~a" result))) + + ;; check if the goal was reached, if not, throw a failure + (when check-goal-function + (let ((failure (funcall check-goal-function))) + (when failure + (roslisp:ros-warn (giskard action-client) + "Giskard action goal was not reached.") + (cpl:fail failure)))) + + ;; this is only used by HPN: + ;; return the joint state, which is our observation + ;; (joints:full-joint-states-as-hash-table) + + ;; return the result and status + (values result status))) diff --git a/cram_external_interfaces/cram_giskard/src/arm-goals.lisp b/cram_external_interfaces/cram_giskard/src/arm-goals.lisp new file mode 100644 index 0000000000..cabb227684 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/arm-goals.lisp @@ -0,0 +1,270 @@ +;;; +;;; Copyright (c) 2016, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defparameter *arm-convergence-delta-xy* 0.03 ;; 0.005 + "in meters") +(defparameter *arm-convergence-delta-theta* 0.5 ;; 0.1 + "in radiants, about 30 degrees") +(defparameter *arm-convergence-delta-joint* 0.17 + "in radiants, about 10 degrees") + +(defun make-arm-cartesian-action-goal (left-pose right-pose + pose-base-frame collision-mode + &key + collision-object-b + collision-object-b-link + collision-object-a + prefer-base + align-planes-left align-planes-right + unmovable-joints) + (declare (type (or null cl-transforms-stamped:pose-stamped) left-pose right-pose) + (type (or null string) pose-base-frame) + (type boolean prefer-base align-planes-left align-planes-right) + (type (or null list) unmovable-joints)) + (let ((arms (append (when left-pose '(:left)) + (when right-pose '(:right))))) + (make-giskard-goal + :constraints (list + (make-avoid-joint-limits-constraint) + (when prefer-base (make-prefer-base-constraint)) + ;; (when align-planes-left + ;; (make-align-planes-constraint + ;; pose-base-frame + ;; "refills_finger" + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)) + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)))) + ;; (when align-planes-right + ;; (make-align-planes-constraint + ;; pose-base-frame + ;; "refills_finger" + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)) + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)))) + (when unmovable-joints (make-unmovable-joints-constraint + unmovable-joints))) + :cartesian-constraints (list (when left-pose + (make-simple-cartesian-constraint + pose-base-frame + cram-tf:*robot-left-tool-frame* + left-pose)) + (when right-pose + (make-simple-cartesian-constraint + pose-base-frame + cram-tf:*robot-right-tool-frame* + right-pose))) + :collisions (ecase collision-mode + (:avoid-all (make-avoid-all-collision 0.1)) + (:allow-all (make-allow-all-collision)) + (:allow-hand (list (make-avoid-all-collision 0.05) + (make-allow-hand-collision + arms collision-object-b + collision-object-b-link) + (make-allow-hand-collision + arms (rob-int:get-environment-name)))) + (:allow-arm (list (make-avoid-all-collision 0.05) + (make-allow-arm-collision + arms collision-object-b + collision-object-b-link) + (make-allow-arm-collision + arms (rob-int:get-environment-name)))) + (:allow-attached (list (make-avoid-all-collision 0.02) + (make-allow-attached-collision + collision-object-a + collision-object-b-link))))))) + +(defun make-arm-joint-action-goal (joint-state-left joint-state-right + align-planes-left align-planes-right) + (declare (type list joint-state-left joint-state-right) + (type boolean align-planes-left align-planes-right)) + (make-giskard-goal + :constraints (list + ;; (make-avoid-joint-limits-constraint) + ;; (when align-planes-left + ;; (make-align-planes-constraint + ;; cram-tf:*odom-frame* + ;; "refills_finger" + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)) + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)))) + ;; (when align-planes-right + ;; (make-align-planes-constraint + ;; cram-tf:*odom-frame* + ;; "refills_finger" + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)) + ;; (cl-transforms-stamped:make-vector-stamped + ;; cram-tf:*robot-base-frame* 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)))) + ) + :joint-constraints (list (make-simple-joint-constraint joint-state-left) + (make-simple-joint-constraint joint-state-right)) + :collisions (make-avoid-all-collision))) + + + +(defun ensure-arm-cartesian-goal-input (frame goal-pose) + (when goal-pose + (cram-tf:ensure-pose-in-frame goal-pose frame))) + +(defun ensure-arm-joint-goal-input (goal-configuration arm) + (if (and (listp goal-configuration) + (or (= (length goal-configuration) 7) + (= (length goal-configuration) 6))) + (get-arm-joint-names-and-positions-list arm goal-configuration) + (progn (roslisp:ros-warn (giskard joint) + "Joint goal ~a was not a list of 7 (or 6). Ignoring." + goal-configuration) + (get-arm-joint-names-and-positions-list arm)))) + + + +(defun ensure-arm-cartesian-goal-reached (goal-pose goal-frame) + (when goal-pose + (unless (cram-tf:tf-frame-converged + goal-frame goal-pose + *arm-convergence-delta-xy* *arm-convergence-delta-theta*) + (make-instance 'common-fail:manipulation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~ + ~a should have been at ~a ~ + with delta-xy of ~a and delta-angle of ~a." + goal-frame goal-pose + *arm-convergence-delta-xy* + *arm-convergence-delta-theta*))))) + +(defun ensure-arm-joint-goal-reached (goal-configuration arm) + (when goal-configuration + (let ((current-angles + (cram-tf:normalize-joint-angles + (second (get-arm-joint-names-and-positions-list arm)))) + (goal-angles + (cram-tf:normalize-joint-angles + (mapcar #'second goal-configuration)))) + (unless (cram-tf:values-converged + current-angles goal-angles *arm-convergence-delta-joint*) + (make-instance 'common-fail:manipulation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~a (~a)~%~ + should have been at~%~a~%with delta-joint of ~a." + arm current-angles goal-angles + *arm-convergence-delta-joint*)))))) + + + + +(defun call-arm-cartesian-action (&key + action-timeout + goal-pose-left goal-pose-right + pose-base-frame + collision-mode + collision-object-b collision-object-b-link + collision-object-a + move-base prefer-base + align-planes-left align-planes-right + unmovable-joints) + (declare (type (or number null) action-timeout) + (type (or cl-transforms-stamped:pose-stamped null) + goal-pose-left goal-pose-right) + (type (or string null) pose-base-frame) + (type boolean move-base prefer-base align-planes-left align-planes-right) + (type (or list null) unmovable-joints)) + + (unless (or goal-pose-left goal-pose-right) + (roslisp:ros-info (giskard cart) "Got an empty goal...") + ;; return NIL as observation if the goal is empty + (return-from call-arm-cartesian-action)) + + (when prefer-base + (setf move-base T)) + (if (and move-base (not pose-base-frame)) + (setf pose-base-frame cram-tf:*odom-frame*) + (setf pose-base-frame cram-tf:*robot-base-frame*)) + (setf goal-pose-left + (ensure-arm-cartesian-goal-input pose-base-frame goal-pose-left)) + (setf goal-pose-right + (ensure-arm-cartesian-goal-input pose-base-frame goal-pose-right)) + + (cram-tf:visualize-marker + (list goal-pose-left goal-pose-right) + :r-g-b-list '(1 0 1)) + + (call-action + :action-goal (make-arm-cartesian-action-goal + goal-pose-left goal-pose-right + pose-base-frame + collision-mode + :collision-object-b collision-object-b + :collision-object-b-link collision-object-b-link + :collision-object-a collision-object-a + :prefer-base prefer-base + :align-planes-left align-planes-left + :align-planes-right align-planes-right + :unmovable-joints unmovable-joints) + :action-timeout action-timeout + :check-goal-function (lambda () + (or (ensure-arm-cartesian-goal-reached + goal-pose-left cram-tf:*robot-left-tool-frame*) + (ensure-arm-cartesian-goal-reached + goal-pose-right cram-tf:*robot-right-tool-frame*))))) + + + +(defun call-arm-joint-action (&key + action-timeout + goal-configuration-left goal-configuration-right + align-planes-left align-planes-right) + (declare (type (or list null) goal-configuration-left goal-configuration-right) + (type (or number null) action-timeout)) + + (let ((joint-state-left + (ensure-arm-joint-goal-input goal-configuration-left :left)) + (joint-state-right + (ensure-arm-joint-goal-input goal-configuration-right :right))) + + (call-action + :action-goal (make-arm-joint-action-goal + joint-state-left joint-state-right + align-planes-left align-planes-right) + :action-timeout action-timeout + :check-goal-function (lambda () + (or (ensure-arm-joint-goal-reached + goal-configuration-left :left) + (ensure-arm-joint-goal-reached + goal-configuration-right :right)))))) diff --git a/cram_external_interfaces/cram_giskard/src/base-goals.lisp b/cram_external_interfaces/cram_giskard/src/base-goals.lisp index c69d776490..f2f2591bae 100644 --- a/cram_external_interfaces/cram_giskard/src/base-goals.lisp +++ b/cram_external_interfaces/cram_giskard/src/base-goals.lisp @@ -29,202 +29,42 @@ (in-package :giskard) -(defparameter *xy-goal-tolerance* 0.05 "in meters") -(defparameter *yaw-goal-tolerance* 0.1 "in radiants, about 6 degrees.") +(defparameter *base-convergence-delta-xy* 0.05 "in meters") +(defparameter *base-convergence-delta-theta* 0.1 "in radiants, about 6 degrees.") (defun make-giskard-base-action-goal (pose) (declare (type cl-transforms-stamped:pose-stamped pose)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal ;; :plan_only - :plan_and_execute - ) - :cmd_seq (vector - (roslisp:make-message - 'giskard_msgs-msg:movecmd - ;; THIS STUFF HAS A STATE - ;; RESET THE STATE EXPLICITLY IF YOU WANT A NON CART MOVEMENT AFTER THIS - :constraints - (vector (roslisp:make-message - 'giskard_msgs-msg:constraint - :type - "UpdateGodMap" - :parameter_value_pair - (let ((stream (make-string-output-stream))) - (yason:encode - (alexandria:alist-hash-table - `(("updates" - . - ,(alexandria:alist-hash-table - `(("rosparam" - . - ,(alexandria:alist-hash-table - `(("joint_weights" - . - ,(alexandria:alist-hash-table - `(("odom_x_joint" . 0.0001) - ("odom_y_joint" . 0.0001) - ("odom_z_joint" . 0.0001)))))))) - :test #'equal)))) - stream) - (get-output-stream-string stream)))) - :cartesian_constraints - (vector (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :translation_3d) - :root_link cram-tf:*odom-frame* - :tip_link cram-tf:*robot-base-frame* - :goal (cl-transforms-stamped:to-msg pose)) - (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :rotation_3d) - :root_link cram-tf:*odom-frame* - :tip_link cram-tf:*robot-base-frame* - :goal (cl-transforms-stamped:to-msg pose))) - :joint_constraints - (let ((left-names-and-positions - (get-arm-joint-names-and-positions-list :left)) - (right-names-and-positions - (get-arm-joint-names-and-positions-list :right))) - (vector (roslisp:make-message - 'giskard_msgs-msg:jointconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:jointconstraint - :joint) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (apply #'vector - (append (first left-names-and-positions) - (first right-names-and-positions))) - :position (apply #'vector - (append (second left-names-and-positions) - (second right-names-and-positions))))))) - :collisions - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.1)))))) + (make-giskard-goal + :constraints (make-cartesian-constraint + cram-tf:*odom-frame* cram-tf:*robot-base-frame* pose + :avoid-collisions-much t) + :joint-constraints (make-current-joint-state-constraint '(:left :right)) + :collisions (make-avoid-all-collision))) -(defun ensure-giskard-base-input-parameters (pose) +(defun ensure-base-goal-input (pose) (cram-tf:ensure-pose-in-frame pose cram-tf:*fixed-frame*)) -(defun ensure-giskard-base-goal-reached (result status goal - convergence-delta-xy convergence-delta-theta) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted with result ~a" result) - (return-from ensure-giskard-base-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action timed out.")) - (when (eql status :aborted) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action aborted! With result ~a" result) - ;; (cpl:fail 'common-fail:manipulation-goal-not-reached - ;; :description "Giskard did not converge to goal because of collision") - ) - (unless (cram-tf:tf-frame-converged cram-tf:*robot-base-frame* goal - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:navigation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - cram-tf:*robot-base-frame* goal - convergence-delta-xy convergence-delta-theta)))) +(defun ensure-base-goal-reached (goal-pose) + (unless (cram-tf:tf-frame-converged + cram-tf:*robot-base-frame* goal-pose + *base-convergence-delta-xy* *base-convergence-delta-theta*) + (make-instance 'common-fail:navigation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~ + ~a should have been at ~a ~ + with delta-xy of ~a and delta-angle of ~a." + cram-tf:*robot-base-frame* goal-pose + *base-convergence-delta-xy* + *base-convergence-delta-theta*)))) -(defun call-giskard-base-action (&key - goal-pose action-timeout - (convergence-delta-xy *xy-goal-tolerance*) - (convergence-delta-theta *yaw-goal-tolerance*)) +(defun call-base-action (&key action-timeout goal-pose) (declare (type cl-transforms-stamped:pose-stamped goal-pose) - (type (or null number) action-timeout convergence-delta-xy convergence-delta-theta)) - (let ((goal-pose - (ensure-giskard-base-input-parameters goal-pose))) - (cram-tf:visualize-marker goal-pose :r-g-b-list '(0 1 0)) - (multiple-value-bind (result status) - (let ((goal (make-giskard-base-action-goal goal-pose))) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal goal - :action-timeout action-timeout)) - (ensure-giskard-base-goal-reached result status goal-pose - convergence-delta-xy convergence-delta-theta) - (joints:full-joint-states-as-hash-table)))) + (type (or null number) action-timeout)) + (setf goal-pose (ensure-base-goal-input goal-pose)) + (cram-tf:visualize-marker goal-pose :r-g-b-list '(0 1 0)) - - - - - - -;; header: -;; seq: 17 -;; stamp: -;; secs: 1560439219 -;; nsecs: 637718915 -;; frame_id: '' -;; goal_id: -;; stamp: -;; secs: 1560439219 -;; nsecs: 637681961 -;; id: "/giskard_interactive_marker-17-1560439219.638" -;; goal: -;; type: 1 -;; cmd_seq: -;; - -;; constraints: [] -;; joint_constraints: [] -;; cartesian_constraints: -;; - -;; type: "CartesianPosition" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; - -;; type: "CartesianOrientationSlerp" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; collisions: -;; - -;; type: 1 -;; min_dist: 0.0 -;; robot_links: [''] -;; body_b: "pr2" -;; link_bs: [''] + (call-action + :action-goal (make-giskard-base-action-goal goal-pose) + :action-timeout action-timeout + :check-goal-function (lambda () (ensure-base-goal-reached goal-pose)))) diff --git a/cram_external_interfaces/cram_giskard/src/cartesian-interface.lisp b/cram_external_interfaces/cram_giskard/src/cartesian-interface.lisp deleted file mode 100644 index 9d8b0ab18d..0000000000 --- a/cram_external_interfaces/cram_giskard/src/cartesian-interface.lisp +++ /dev/null @@ -1,393 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :giskard) - -(defparameter *giskard-convergence-delta-xy* 0.1 ;; 0.005 - "in meters") -(defparameter *giskard-convergence-delta-theta* 0.5 ;; 0.1 - "in radiants, about 6 degrees") - -(defun make-giskard-cartesian-action-goal (left-pose right-pose - pose-base-frame left-tool-frame right-tool-frame - collision-mode - &key - collision-object-b collision-object-b-link - collision-object-a - move-the-ass) - (declare (type (or null cl-transforms-stamped:pose-stamped) left-pose right-pose) - (type string pose-base-frame left-tool-frame right-tool-frame)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal ;; :plan_only - :plan_and_execute - ) - :cmd_seq (vector - (roslisp:make-message - 'giskard_msgs-msg:movecmd - ;; THIS STUFF HAS A STATE - ;; RESET THE STATE EXPLICITLY IF YOU WANT A NON CART MOVEMENT AFTER THIS - :constraints - (vector (roslisp:make-message - 'giskard_msgs-msg:constraint - :type - "UpdateGodMap" - :parameter_value_pair - (let ((stream (make-string-output-stream))) - (yason:encode - (alexandria:alist-hash-table - `(("updates" - . - ,(alexandria:alist-hash-table - `(("rosparam" - . - ,(alexandria:alist-hash-table - `(("joint_weights" - . - ,(alexandria:alist-hash-table - `(("odom_x_joint" . ,(if move-the-ass 0.0001 1.0)) - ("odom_y_joint" . ,(if move-the-ass 0.0001 1.0)) - ("odom_z_joint" . ,(if move-the-ass 0.0001 1.0))))))))) - :test #'equal)))) - stream) - (get-output-stream-string stream)))) - :cartesian_constraints - (map 'vector #'identity - (remove nil - (list - (when left-pose - (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :translation_3d) - :root_link pose-base-frame - :tip_link left-tool-frame - :goal (cl-transforms-stamped:to-msg left-pose))) - (when left-pose - (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :rotation_3d) - :root_link pose-base-frame - :tip_link left-tool-frame - :goal (cl-transforms-stamped:to-msg left-pose))) - (when right-pose - (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :translation_3d) - :root_link pose-base-frame - :tip_link right-tool-frame - :goal (cl-transforms-stamped:to-msg right-pose))) - (when right-pose - (roslisp:make-message - 'giskard_msgs-msg:cartesianconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:cartesianconstraint - :rotation_3d) - :root_link pose-base-frame - :tip_link right-tool-frame - :goal (cl-transforms-stamped:to-msg right-pose)))))) - :collisions - (case collision-mode - (:allow-all - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :allow_all_collisions)))) - (:avoid-all - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.1))) - (:allow-hand - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.05) - (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :allow_collision) - :robot_links (apply - #'vector - (append - (when left-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :left - ?hand-links)))))) - (when right-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :right - ?hand-links)))))))) - :body_b (if collision-object-b - (roslisp-utilities:rosify-underscores-lisp-name - collision-object-b) - (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :all)) - :link_bs (vector (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :all)) - ;; (if collision-object-b-link - ;; (vector (roslisp-utilities:rosify-underscores-lisp-name - ;; collision-object-b-link)) - ;; (vector (roslisp:symbol-code - ;; 'giskard_msgs-msg:collisionentry - ;; :all))) - ) - (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :allow_collision) - :robot_links (apply - #'vector - (append - (when left-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :left - ?hand-links)))))) - (when right-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :right - ?hand-links)))))))) - :body_b (roslisp-utilities:rosify-underscores-lisp-name - :kitchen) - :link_bs (vector (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :all))))) - (:allow-attached - (vector - (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.02) - (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :allow_collision) - :robot_links (if collision-object-a - (vector (roslisp-utilities:rosify-underscores-lisp-name - collision-object-a)) - (vector (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :all))) ; collision-object-a = attached-obj - :body_b "kitchen";; (roslisp-utilities:rosify-underscores-lisp-name - ;; collision-object-b-link) - :link_bs (if collision-object-b-link - (vector (roslisp-utilities:rosify-underscores-lisp-name - collision-object-b-link)) - (vector (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :all)))))) - (t - (vector (roslisp:make-message - 'giskard_msgs-msg:collisionentry - :type (roslisp:symbol-code - 'giskard_msgs-msg:collisionentry - :avoid_all_collisions) - :min_dist 0.1)))))))) - -(defun ensure-giskard-cartesian-input-parameters (frame left-pose right-pose) - (values (when left-pose - (cram-tf:ensure-pose-in-frame left-pose frame)) - (when right-pose - (cram-tf:ensure-pose-in-frame right-pose frame)))) - -(defun ensure-giskard-cartesian-goal-reached (result status goal-position-left goal-position-right - goal-frame-left goal-frame-right - convergence-delta-xy convergence-delta-theta) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted with result ~a" result) - (return-from ensure-giskard-cartesian-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action timed out.")) - (when (eql status :aborted) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action aborted! With result ~a" result) - ;; (cpl:fail 'common-fail:manipulation-goal-not-reached - ;; :description "Giskard did not converge to goal because of collision") - ) - (when goal-position-left - (unless (cram-tf:tf-frame-converged goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-left goal-position-left - convergence-delta-xy convergence-delta-theta)))) - (when goal-position-right - (unless (cram-tf:tf-frame-converged goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal: -~a should have been at ~a with delta-xy of ~a and delta-angle of ~a." - goal-frame-right goal-position-right - convergence-delta-xy convergence-delta-theta))))) - -(defun call-giskard-cartesian-action (&key - goal-pose-left goal-pose-right action-timeout - collision-mode collision-object-b collision-object-b-link - collision-object-a - move-the-ass - (pose-base-frame ;; cram-tf:*robot-base-frame* - cram-tf:*odom-frame*) - (left-tool-frame cram-tf:*robot-left-tool-frame*) - (right-tool-frame cram-tf:*robot-right-tool-frame*) - (convergence-delta-xy *giskard-convergence-delta-xy*) - (convergence-delta-theta *giskard-convergence-delta-theta*)) - (declare (type (or null cl-transforms-stamped:pose-stamped) goal-pose-left goal-pose-right) - (type (or null number) action-timeout convergence-delta-xy convergence-delta-theta) - (type (or null string) pose-base-frame left-tool-frame right-tool-frame)) - (if (or goal-pose-left goal-pose-right) - (multiple-value-bind (goal-pose-left goal-pose-right) - (ensure-giskard-cartesian-input-parameters pose-base-frame goal-pose-left goal-pose-right) - (cram-tf:visualize-marker (list goal-pose-left goal-pose-right) :r-g-b-list '(1 0 1)) - (multiple-value-bind (result status) - (let ((goal (make-giskard-cartesian-action-goal - goal-pose-left goal-pose-right - pose-base-frame left-tool-frame right-tool-frame - collision-mode - :collision-object-b collision-object-b - :collision-object-b-link collision-object-b-link - :collision-object-a collision-object-a - :move-the-ass move-the-ass))) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal goal - :action-timeout action-timeout)) - (ensure-giskard-cartesian-goal-reached result status goal-pose-left goal-pose-right - left-tool-frame right-tool-frame - convergence-delta-xy convergence-delta-theta) - (values result status) - ;; return the joint state, which is our observation - (joints:full-joint-states-as-hash-table))) - ;; return NIL as observation if the goal is empty - (and (roslisp:ros-info (pr2-ll giskard-cart) "Got an empty goal...") - NIL))) - - - - - - - - - -;; header: -;; seq: 17 -;; stamp: -;; secs: 1560439219 -;; nsecs: 637718915 -;; frame_id: '' -;; goal_id: -;; stamp: -;; secs: 1560439219 -;; nsecs: 637681961 -;; id: "/giskard_interactive_marker-17-1560439219.638" -;; goal: -;; type: 1 -;; cmd_seq: -;; - -;; constraints: [] -;; joint_constraints: [] -;; cartesian_constraints: -;; - -;; type: "CartesianPosition" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; - -;; type: "CartesianOrientationSlerp" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; collisions: -;; - -;; type: 1 -;; min_dist: 0.0 -;; robot_links: [''] -;; body_b: "pr2" -;; link_bs: [''] diff --git a/cram_external_interfaces/cram_giskard/src/collision-scene.lisp b/cram_external_interfaces/cram_giskard/src/collision-scene.lisp index 61dcc64eea..a699a95de6 100644 --- a/cram_external_interfaces/cram_giskard/src/collision-scene.lisp +++ b/cram_external_interfaces/cram_giskard/src/collision-scene.lisp @@ -38,17 +38,21 @@ "Initializes *robosherlock-service* ROS publisher" (let (ready) (loop repeat 12 ; for one minute then give up - until (setf ready (roslisp:wait-for-service *giskard-environment-service-name* 5)) - do (roslisp:ros-info (gisk-env-service) "Waiting for giskard environment service.")) + until (setf ready + (roslisp:wait-for-service *giskard-environment-service-name* 5)) + do (roslisp:ros-info (gisk-env-service) + "Waiting for giskard environment service.")) (if ready (prog1 (setf *giskard-environment-service* (make-instance 'roslisp:persistent-service :service-name *giskard-environment-service-name* :service-type 'giskard_msgs-srv:updateworld)) - (roslisp:ros-info (gisk-env-service) "Giskard environment service client created.")) + (roslisp:ros-info (gisk-env-service) + "Giskard environment service client created.")) (progn - (roslisp:ros-error (gisk-env-service) "Giskard environment service doesn't reply. Ignoring.") + (roslisp:ros-error (gisk-env-service) + "Giskard environment service doesn't reply. Ignoring.") nil)))) (defun get-giskard-environment-service () @@ -68,15 +72,20 @@ (defun make-giskard-environment-request (add-or-remove-or-attach-or-detach &key name - (pose (cl-transforms-stamped:make-pose-stamped - "map" - 0.0 - (cl-transforms:make-identity-vector) - (cl-transforms:make-identity-rotation))) - (dimensions '(1.0 1.0 1.0)) + pose + dimensions joint-state-topic) (declare (type keyword add-or-remove-or-attach-or-detach) - (type (or null string) name)) + (type (or null string) name) + (type (or null cl-transforms-stamped:pose-stamped) pose)) + (unless pose + (setf pose (cl-transforms-stamped:make-pose-stamped + "map" + 0.0 + (cl-transforms:make-identity-vector) + (cl-transforms:make-identity-rotation)))) + (unless dimensions + (setf dimensions '(1.0 1.0 1.0))) (ecase add-or-remove-or-attach-or-detach (:add (roslisp:make-request @@ -109,7 +118,7 @@ 'giskard_msgs-msg:worldbody :urdf_body) :name name - :urdf (roslisp:get-param cram-bullet-reasoning-belief-state::*kitchen-parameter* nil) + :urdf (roslisp:get-param rob-int:*environment-description-parameter* nil) :joint_state_topic joint-state-topic) :pose (cl-transforms-stamped:to-msg pose))) (:remove @@ -186,34 +195,54 @@ 'giskard_msgs-srv:error_msg) nil)))) +;;;;;;;;;;;;;;;;;;;;;;;; UTILS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defun reset-collision-scene () + (call-giskard-environment-service + :remove-all) + (when (btr:get-environment-object) + (call-giskard-environment-service + :add-environment + :name (roslisp-utilities:rosify-underscores-lisp-name + (rob-int:get-environment-name)) + :pose (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 (btr:pose (btr:get-environment-object))) + :joint-state-topic "kitchen/joint_states"))) ;;;;;;;;;;;;;;;;;;;;;;;; EVENT HANDLERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defmethod coe:on-event giskard-attach-object ((event cpoe:object-attached-robot)) (unless cram-projection:*projection-environment* - (let* ((object-name + (let* ((arm + (cpoe:event-arm event)) + (object-name (cpoe:event-object-name event)) (object-name-string (roslisp-utilities:rosify-underscores-lisp-name object-name)) (btr-object (btr:object btr:*current-bullet-world* object-name)) - (link (cut:var-value - '?ee-link - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:end-effector-link - ?robot ,(cpoe:event-arm event) - ?ee-link))))))) + (link (if (cpoe:event-arm event) + (cut:var-value + '?ee-link + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:end-effector-link ?robot ,arm ?ee-link))))) + (cpoe:event-link event)))) + (when (cut:is-var link) (error "[GISKARD OBJECT-ATTACHED] Couldn't find robot's EE link.")) (unless btr-object (error "[GISKARD OBJECT-ATTACHED] there was no corresponding btr object.")) + ;; TODO: hack for pivoting!! + (when (string-equal link "ur5_wrist_3_link") + (setf link "refills_finger")) + (let* ((map-to-ee-transform (cl-transforms-stamped:lookup-transform cram-tf:*transformer* cram-tf:*fixed-frame* link - :timeout 2 + :timeout cram-tf:*tf-default-timeout* :time 0)) (ee-to-map-transform (cram-tf:transform-stamped-inv map-to-ee-transform)) (map-to-obj-transform (cram-tf:pose->transform-stamped @@ -225,10 +254,26 @@ link object-name-string ee-to-map-transform map-to-obj-transform)) (ee-to-object-pose (cram-tf:strip-transform-stamped ee-to-object-transform))) + ;; TODO: another hack for pivoting!! + ;; take the object pose just directly from TF, + ;; giskard is publishing the tf frame + ;; giskard only publishes TF for attached objects, + ;; not the other objects in the collision scene + (handler-case + (setf ee-to-object-pose + (cram-tf:strip-transform-stamped + (cl-transforms-stamped:lookup-transform + cram-tf:*transformer* + link + object-name-string + :timeout cram-tf:*tf-default-timeout* + :time (roslisp:ros-time)))) + (cl-transforms-stamped:transform-stamped-error ())) - ;; (call-giskard-environment-service - ;; :remove - ;; :name object-name-string) + ;; remove the object first, maybe it was already attached to something + (call-giskard-environment-service + :remove + :name object-name-string) (call-giskard-environment-service :attach :name object-name-string @@ -239,20 +284,35 @@ (defmethod coe:on-event giskard-detach-object ((event cpoe:object-detached-robot)) (unless cram-projection:*projection-environment* - (let* ((object-name (cpoe:event-object-name event)) - (object-name-string (roslisp-utilities:rosify-underscores-lisp-name object-name))) - (call-giskard-environment-service - :detach - :name object-name-string)))) + (let* ((object-name + (cpoe:event-object-name event)) + (object-name-string + (roslisp-utilities:rosify-underscores-lisp-name object-name)) + (btr-object + (btr:object btr:*current-bullet-world* object-name))) + (when btr-object + (let ((attached-to-another-link-as-well? + (btr:object-attached (btr:get-robot-object) btr-object))) + (unless attached-to-another-link-as-well? + (call-giskard-environment-service + :detach + :name object-name-string))))))) (defmethod coe:on-event giskard-perceived ((event cpoe:object-perceived-event)) (unless cram-projection:*projection-environment* - (let* ((object-name (desig:desig-prop-value (cpoe:event-object-designator event) :name)) - (object-name-string (roslisp-utilities:rosify-underscores-lisp-name object-name)) - (btr-object (btr:object btr:*current-bullet-world* object-name))) + (let* ((object-name + (desig:desig-prop-value (cpoe:event-object-designator event) :name)) + (object-name-string + (roslisp-utilities:rosify-underscores-lisp-name object-name)) + (btr-object + (btr:object btr:*current-bullet-world* object-name)) + (robot-links-object-is-attached-to + (btr:object-attached (btr:get-robot-object) btr-object))) + ;; to update an object pose, first remove the old object together with the pose (call-giskard-environment-service :remove :name object-name-string) + ;; add it at the new perceived pose (call-giskard-environment-service :add :name object-name-string @@ -260,16 +320,39 @@ cram-tf:*fixed-frame* 0.0 (btr:pose btr-object)) :dimensions (with-slots (cl-transforms:x cl-transforms:y cl-transforms:z) (btr:calculate-bb-dims btr-object) - (list cl-transforms:x cl-transforms:y cl-transforms:z)))))) + (list cl-transforms:x cl-transforms:y cl-transforms:z))) + ;; reattach the object if it was attached somewhere + (when robot-links-object-is-attached-to + (let* ((link (car robot-links-object-is-attached-to)) + (map-to-link-transform + (cl-transforms-stamped:lookup-transform + cram-tf:*transformer* + cram-tf:*fixed-frame* + link + :timeout cram-tf:*tf-default-timeout* + :time 0)) + (link-to-map-transform + (cram-tf:transform-stamped-inv map-to-link-transform)) + (map-to-obj-transform + (cram-tf:pose->transform-stamped + cram-tf:*fixed-frame* + object-name-string + 0.0 + (btr:pose btr-object))) + (link-to-object-transform + (cram-tf:multiply-transform-stampeds + link object-name-string + link-to-map-transform map-to-obj-transform)) + (link-to-object-pose + (cram-tf:strip-transform-stamped link-to-object-transform))) + (call-giskard-environment-service + :attach + :name object-name-string + :pose link-to-object-pose + :dimensions (with-slots (cl-transforms:x cl-transforms:y cl-transforms:z) + (btr:calculate-bb-dims btr-object) + (list cl-transforms:x cl-transforms:y cl-transforms:z)))))))) (defmethod coe:clear-belief giskard-clear () (unless cram-projection:*projection-environment* - (call-giskard-environment-service - :remove-all) - (when (btr:get-environment-object) - (call-giskard-environment-service - :add-environment - :name (roslisp-utilities:rosify-underscores-lisp-name (btr:name (btr:get-environment-object))) - :pose (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 (btr:pose (btr:get-environment-object))) - :joint-state-topic "kitchen/joint_states")))) + (reset-collision-scene))) diff --git a/cram_external_interfaces/cram_giskard/src/environment-manipulation-goals.lisp b/cram_external_interfaces/cram_giskard/src/environment-manipulation-goals.lisp new file mode 100644 index 0000000000..e673d307e3 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/environment-manipulation-goals.lisp @@ -0,0 +1,181 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defun make-environment-manipulation-goal (open-or-close arm + handle-link joint-state + prefer-base) + (declare (type keyword open-or-close arm) + (type symbol handle-link) + (type (or number null) joint-state) + (type boolean prefer-base)) + (make-giskard-goal + :constraints (list + (when prefer-base (make-prefer-base-constraint)) + (make-open-or-close-constraint + open-or-close arm handle-link joint-state)) + :collisions (make-constraints-vector + (make-avoid-all-collision 0.05) + (ecase open-or-close + (:open (make-allow-hand-collision + (list arm) (rob-int:get-environment-name) handle-link)) + (:close (make-allow-arm-collision + (list arm) (rob-int:get-environment-name))))))) + +(defun call-environment-manipulation-action (&key + action-timeout + open-or-close arm + handle-link joint-angle + prefer-base) + (declare (type keyword open-or-close arm) + (type symbol handle-link) + (type (or number null) joint-angle action-timeout) + (type boolean prefer-base)) + + (call-action + :action-goal (make-environment-manipulation-goal + open-or-close arm handle-link joint-angle prefer-base) + :action-timeout action-timeout)) + + +#+the-plan +( + (setf (btr:joint-state (btr:get-environment-object) "iai_fridge_door_joint") + 0.0) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type parking-arms)))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type releasing) + (gripper right)))) + (giskard::call-grasp-bar-action :arm :right :bar-length 0.8) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type gripping) + (gripper right)))) + (giskard::call-environment-manipulation-action :open-or-close :open + :arm :right + :handle-link :iai-fridge-door-handle) + (giskard:call-giskard-cartesian-action + :goal-pose-right (cl-transforms-stamped:make-pose-stamped "r_gripper_tool_frame" 0.0 (cl-transforms:make-3d-vector -0.1 0 0) (cl-transforms:make-identity-rotation)) + :collision-mode :allow-all) + (coe:on-event (make-instance 'cpoe:robot-state-changed)) + (setf (btr:joint-state (btr:get-environment-object) + "iai_fridge_door_joint") 1.45) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + (giskard::call-environment-manipulation-action :open-or-close :close + :arm :right + :handle-link :iai-fridge-door-handle) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type releasing) + (gripper right)))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type parking-arms)))) + (setf (btr:joint-state (btr:get-environment-object) "iai_fridge_door_joint") + 0.0) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + ) + +#+the-dishwasher-plan +( + (setf (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_door_joint") + 0.0) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type parking-arms)))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type releasing) + (gripper right)))) + (giskard::call-grasp-bar-action + :arm :right + :bar-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-perpendicular-axis + (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 0 1)) + :bar-center (cl-transforms-stamped:make-point-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0.0 0 0)) + :bar-length 0.2) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type gripping) + (gripper right)))) + (giskard::call-environment-manipulation-action + :open-or-close :open + :arm :right + :handle-link :sink-area-dish-washer-door-handle + :joint-state (cram-math:degrees->radians 35)) + (coe:on-event (make-instance 'cpoe:robot-state-changed)) + (setf (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_door_joint") + (cram-math:degrees->radians 35)) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + (giskard::call-environment-manipulation-action + :open-or-close :close + :arm :right + :handle-link :sink-area-dish-washer-door-handle) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type releasing) + (gripper right)))) + (pr2-pms:with-real-robot + (exe:perform + (desig:an action + (type parking-arms)))) + (setf (btr:joint-state (btr:get-environment-object) + "sink_area_dish_washer_door_joint") + (cram-math:degrees->radians 0)) + (btr-belief::publish-environment-joint-state + (btr:joint-states (btr:get-environment-object))) + ) diff --git a/cram_external_interfaces/cram_giskard/src/gripper-goals.lisp b/cram_external_interfaces/cram_giskard/src/gripper-goals.lisp new file mode 100644 index 0000000000..61bc26cc05 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/gripper-goals.lisp @@ -0,0 +1,137 @@ +;;; +;;; Copyright (c) 2016, Gayane Kazhoyan +;;; 2020, Arthur Niedzwiecki +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defparameter *gripper-convergence-delta-joint* 0.005 "In meters.") + +(defun make-gripper-action-goal (arm joint-angle effort) + (declare (type keyword arm) + (type number joint-angle) + (ignore effort)) + (make-giskard-goal + :joint-constraints (make-gripper-joint-state-constraint arm joint-angle) + :collisions (make-allow-all-collision))) + +(defun ensure-gripper-goal-input (action-type-or-position arm effort) + (declare (type (or number keyword) action-type-or-position) + (type keyword arm) + (type (or number null) effort)) + (let* ((bindings + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:gripper-joint ?robot ,arm ?gripper-joint) + (rob-int:joint-lower-limit ?robot ?gripper-joint ?lower-limit) + (rob-int:joint-upper-limit ?robot ?gripper-joint ?upper-limit) + (rob-int:gripper-meter-to-joint-multiplier ?robot ?mult))))) + (gripper-joint + (cut:var-value '?gripper-joint bindings)) + (gripper-lower-limit + (cut:var-value '?lower-limit bindings)) + (gripper-upper-limit + (cut:var-value '?upper-limit bindings)) + (gripper-multiplier + (cut:var-value '?mult bindings))) + (when (cut:is-var gripper-joint) + (error "[giskard] Robot gripper joint was not defined.")) + (let ((position + (etypecase action-type-or-position + (number + (cond + ((< action-type-or-position gripper-lower-limit) + (roslisp:ros-warn (giskard gripper) + "POSITION (~a) cannot be < ~a. Clipping." + action-type-or-position gripper-lower-limit) + gripper-lower-limit) + ((> action-type-or-position gripper-upper-limit) + (roslisp:ros-warn (giskard gripper) + "POSITION (~a) shouldn't be > ~a. Clipping." + action-type-or-position gripper-upper-limit) + gripper-upper-limit) + (t + ;; in case the gripper is commanded in radian or so + (* gripper-multiplier action-type-or-position)))) + (keyword + (ecase action-type-or-position + (:open gripper-upper-limit) + (:close gripper-lower-limit) + (:grip gripper-lower-limit))))) + (effort + (or effort + (etypecase action-type-or-position + (number 30.0) + (keyword (ecase action-type-or-position + (:open 30.0) + (:close 30.0) + (:grip 15.0))))))) + (list position effort)))) + +(defun ensure-gripper-goal-reached (arm joint-angle) + (when (and joint-angle arm) + (let ((gripper-joint + (cut:var-value + '?gripper-joint + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:gripper-joint ?robot ,arm ?gripper-joint))))))) + (when (cut:is-var gripper-joint) + (error "[giskard] Robot gripper joint was not defined.")) + (let ((current-state (car (joints:joint-positions (list gripper-joint)))) + (goal-state joint-angle)) + (unless (cram-tf:values-converged current-state + goal-state + *gripper-convergence-delta-joint*) + (make-instance 'common-fail:manipulation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~ + arm: ~a, current state: ~a, goal state: ~a, ~ + delta joint: ~a." + arm current-state goal-state + *gripper-convergence-delta-joint*))))))) + +(defun call-gripper-action (&key + action-timeout + action-type-or-position arm effort) + (declare (type (or number null) action-timeout effort) + (type keyword arm) + (type (or number keyword) action-type-or-position)) + + (let* ((position-and-effort + (ensure-gripper-goal-input action-type-or-position arm effort)) + (goal-joint-angle + (first position-and-effort)) + (effort + (second position-and-effort))) + + (call-action + :action-goal (make-gripper-action-goal arm goal-joint-angle effort) + :action-timeout action-timeout + ;; :check-goal-function (lambda () + ;; (ensure-gripper-goal-reached arm goal-joint-angle)) + ))) diff --git a/cram_external_interfaces/cram_giskard/src/hash-table-conversions.lisp b/cram_external_interfaces/cram_giskard/src/hash-table-conversions.lisp new file mode 100644 index 0000000000..175ab1b4ad --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/hash-table-conversions.lisp @@ -0,0 +1,177 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defun alist->json-string (alist) + (let ((stream (make-string-output-stream))) + (yason:encode (cut:recursive-alist-hash-table alist :test #'equal) + stream) + (get-output-stream-string stream))) + +(defun hash-table->json-string (hash-table) + (let ((stream (make-string-output-stream))) + (yason:encode hash-table + stream) + (get-output-stream-string stream))) + + +(defgeneric to-hash-table (object) + (:documentation "Converts the object into a (nested) hash table.")) + +(defun make-point-hash-table (x y z) + (alexandria:alist-hash-table + `(("x" . ,x) + ("y" . ,y) + ("z" . ,z)) + :test #'equal)) + +(defun make-quaternion-hash-table (x y z w) + (alexandria:alist-hash-table + `(("x" . ,x) + ("y" . ,y) + ("z" . ,z) + ("w" . ,w)) + :test #'equal)) + +(defun make-header-hash-table (stamp frame-id) + (cut:recursive-alist-hash-table + `(("stamp" + . (("secs" . ,(floor stamp)) + ("nsecs" . ,(* (nth-value 1 (floor stamp)) 1.0d6)))) + ("frame_id" . ,frame-id) + ("seq" . 0)) + :test #'equal)) + +(defmethod to-hash-table ((object cl-transforms:3d-vector)) + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z)) + object + (make-point-hash-table x y z))) + +(defmethod to-hash-table ((object cl-transforms:quaternion)) + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z) + (w cl-transforms:w)) + object + (make-quaternion-hash-table x y z w))) + +(defmethod to-hash-table ((object cl-transforms:pose)) + (with-slots ((origin cl-transforms:origin) + (orientation cl-transforms:orientation)) + object + (cut:recursive-alist-hash-table + `(("origin" + . ,(to-hash-table origin)) + ("orientation" + . ,(to-hash-table orientation))) + :test #'equal))) + +(defmethod to-hash-table ((object cl-transforms:transform)) + (with-slots ((origin cl-transforms:translation) + (orientation cl-transforms:rotation)) + object + (cut:recursive-alist-hash-table + `(("translation" + . ,(to-hash-table origin)) + ("rotation" + . ,(to-hash-table orientation))) + :test #'equal))) + +(defmethod to-hash-table ((object cl-transforms-stamped:stamped)) + (with-slots ((stamp cl-transforms-stamped:stamp) + (frame-id cl-transforms-stamped:frame-id)) + object + (cut:recursive-alist-hash-table + `(("header" + . ,(make-header-hash-table stamp frame-id)))))) + +(defmethod to-hash-table ((object cl-transforms-stamped:vector-stamped)) + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z) + (stamp cl-transforms-stamped:stamp) + (frame-id cl-transforms-stamped:frame-id)) + object + (cut:recursive-alist-hash-table + `(("header" + . ,(make-header-hash-table stamp frame-id)) + ("vector" + . ,(make-point-hash-table x y z))) + :test #'equal))) + +(defmethod to-hash-table ((object cl-transforms-stamped:point-stamped)) + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z) + (stamp cl-transforms-stamped:stamp) + (frame-id cl-transforms-stamped:frame-id)) + object + (cut:recursive-alist-hash-table + `(("header" + . ,(make-header-hash-table stamp frame-id)) + ("point" + . ,(make-point-hash-table x y z))) + :test #'equal))) + +(defmethod to-hash-table ((object cl-transforms-stamped:pose-stamped)) + (with-slots ((origin cl-transforms:origin) + (orientation cl-transforms:orientation) + (stamp cl-transforms-stamped:stamp) + (frame-id cl-transforms-stamped:frame-id)) + object + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z)) + origin + (with-slots ((q1 cl-transforms:x) (q2 cl-transforms:y) + (q3 cl-transforms:z) (w cl-transforms:w)) + orientation + (cut:recursive-alist-hash-table + `(("header" + . ,(make-header-hash-table stamp frame-id)) + ("pose" + . (("position" + . ,(make-point-hash-table x y z)) + ("orientation" + . ,(make-quaternion-hash-table q1 q2 q3 w))))) + :test #'equal))))) + +(defmethod to-hash-table ((object cl-transforms-stamped:transform-stamped)) + (with-slots ((origin cl-transforms:translation) + (orientation cl-transforms:rotation) + (stamp cl-transforms-stamped:stamp) + (frame-id cl-transforms-stamped:frame-id)) + object + (with-slots ((x cl-transforms:x) (y cl-transforms:y) (z cl-transforms:z)) + origin + (with-slots ((q1 cl-transforms:x) (q2 cl-transforms:y) + (q3 cl-transforms:z) (w cl-transforms:w)) + orientation + (cut:recursive-alist-hash-table + `(("header" + . ,(make-header-hash-table stamp frame-id)) + ("transform" + . (("translation" + . ,(make-point-hash-table x y z)) + ("rotation" + . ,(make-quaternion-hash-table q1 q2 q3 w))))) + :test #'equal))))) diff --git a/cram_external_interfaces/cram_giskard/src/joint-interface.lisp b/cram_external_interfaces/cram_giskard/src/joint-interface.lisp deleted file mode 100644 index fbb01df1ad..0000000000 --- a/cram_external_interfaces/cram_giskard/src/joint-interface.lisp +++ /dev/null @@ -1,146 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :giskard) - -(defparameter *giskard-convergence-delta-joint* 0.17 "in radiants, about 10 degrees") - -(defun make-giskard-joint-action-goal (joint-state-left joint-state-right) - (declare (type list joint-state-left joint-state-right)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal :plan_and_execute) - :cmd_seq (vector - (roslisp:make-message - 'giskard_msgs-msg:movecmd - :joint_constraints (vector (roslisp:make-message - 'giskard_msgs-msg:jointconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:jointconstraint - :joint) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (apply #'vector - (first - joint-state-left)) - :position (apply #'vector - (second - joint-state-left)))) - (roslisp:make-message - 'giskard_msgs-msg:jointconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:jointconstraint - :joint) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (apply #'vector - (first - joint-state-right)) - :position (apply #'vector - (second - joint-state-right))))) - ;; :collisions (vector (roslisp:make-message - ;; 'giskard_msgs-msg:collisionentry - ;; :type (roslisp:symbol-code - ;; 'giskard_msgs-msg:collisionentry - ;; :avoid_all_collisions))) - )))) - -(defun get-arm-joint-names-and-positions-list (arm &optional joint-states) - (if joint-states - (list (mapcar #'first joint-states) - (mapcar #'second joint-states)) - (let ((joint-names - (cut:var-value '?joints - (cut:lazy-car - (prolog:prolog - `(cram-robot-interfaces:arm-joints - ,(intern "PR2" :cram-pr2-description) ,arm ?joints)))))) - (list joint-names - (joints:joint-positions joint-names))))) - -(defun ensure-giskard-joint-input-parameters (left-goal right-goal) - (flet ((ensure-giskard-joint-goal (goal arm) - (if (and (listp goal) (= (length goal) 7)) - (get-arm-joint-names-and-positions-list arm goal) - (and (roslisp:ros-warn (low-level giskard) - "Joint goal ~a was not a list of 7. Ignoring." - goal) - (get-arm-joint-names-and-positions-list arm))))) - (values (ensure-giskard-joint-goal left-goal :left) - (ensure-giskard-joint-goal right-goal :right)))) - -(defun ensure-giskard-joint-goal-reached (status - goal-configuration-left goal-configuration-right - convergence-delta-joint) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted.") - (return-from ensure-giskard-joint-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-joint) "Giskard action timed out.")) - (flet ((ensure-giskard-joint-arm-goal-reached (arm goal-configuration) - (when goal-configuration - (let ((configuration (second (get-arm-joint-names-and-positions-list arm)))) - (unless (cram-tf:values-converged (joints:normalize-joint-angles - configuration) - (joints:normalize-joint-angles - (mapcar #'second goal-configuration)) - convergence-delta-joint) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description (format nil "Giskard did not converge to goal:~%~ - ~a (~a)~%should have been at~%~a~%~ - with delta-joint of ~a." - arm - (joints:normalize-joint-angles - configuration) - (joints:normalize-joint-angles - (mapcar #'second goal-configuration)) - convergence-delta-joint))))))) - (when goal-configuration-left - (ensure-giskard-joint-arm-goal-reached :left goal-configuration-left)) - (when goal-configuration-right - (ensure-giskard-joint-arm-goal-reached :right goal-configuration-right)))) - -(defun call-giskard-joint-action (&key - goal-configuration-left goal-configuration-right action-timeout - (convergence-delta-joint *giskard-convergence-delta-joint*)) - (declare (type list goal-configuration-left goal-configuration-right) - (type (or null number) action-timeout convergence-delta-joint)) - (multiple-value-bind (joint-state-left joint-state-right) - (ensure-giskard-joint-input-parameters goal-configuration-left goal-configuration-right) - (multiple-value-bind (result status) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal (make-giskard-joint-action-goal joint-state-left joint-state-right) - :action-timeout action-timeout) - (ensure-giskard-joint-goal-reached status goal-configuration-left goal-configuration-right - convergence-delta-joint) - (values result status) - ;; return the joint state, which is our observation - (joints:full-joint-states-as-hash-table)))) diff --git a/cram_external_interfaces/cram_giskard/src/making-goal-messages.lisp b/cram_external_interfaces/cram_giskard/src/making-goal-messages.lisp new file mode 100644 index 0000000000..70d3a64292 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/making-goal-messages.lisp @@ -0,0 +1,438 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defparameter *avoid-joint-limits-percentage* 40) +(defparameter *prefer-base-low-cost* 0.0001) +(defparameter *avoid-collisions-distance* 0.10 "In cm, not used atm") +(defparameter *unmovable-joint-weight* 9001) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; UTILS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defun make-constraints-vector (&rest entries) + (if (vectorp (car entries)) + (car entries) + (if (every #'listp entries) + (apply #'vector (alexandria:flatten entries)) + (apply #'vector (remove NIL entries))))) + +(defun make-giskard-goal (&key constraints joint-constraints cartesian-constraints + collisions (goal-type :plan_and_execute)) + (roslisp:make-message + 'giskard_msgs-msg:MoveGoal + :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal goal-type) + :cmd_seq (vector + (roslisp:make-message + 'giskard_msgs-msg:movecmd + :constraints (make-constraints-vector constraints) + :cartesian_constraints (make-constraints-vector cartesian-constraints) + :joint_constraints (make-constraints-vector joint-constraints) + :collisions (make-constraints-vector collisions))))) + +(defun cram-name-list->ros-frame-vector (cram-names-list) + "@artnie used this function but actually other CRAM users probably don't need it..." + (if cram-names-list + (make-constraints-vector + (mapcar (lambda (symbol) + (roslisp-utilities:rosify-underscores-lisp-name symbol)) + (if (listp cram-names-list) + cram-names-list + (list cram-names-list)))) + (vector (roslisp:symbol-code 'giskard_msgs-msg:collisionentry :all)))) + +(defun get-arm-joint-names-and-positions-list (arm &optional joint-states) + "Returns a list of two elements: (joint-names joint-positions)" + (if joint-states + (list (mapcar #'first joint-states) + (mapcar #'second joint-states)) + (let ((joint-names + (cut:var-value + '?joints + (cut:lazy-car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:arm-joints ?robot ,arm ?joints))))))) + (unless (cut:is-var joint-names) + (list joint-names + (joints:joint-positions joint-names)))))) + +(defun get-neck-joint-names-and-positions-list (&optional joint-states) + "Returns a list of two elements: (joint-names joint-positions)" + (if joint-states + (list (mapcar #'first joint-states) + (mapcar #'second joint-states)) + (let ((joint-names + (cut:var-value + '?joints + (cut:lazy-car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:robot-neck-joints ?robot . ?joints))))))) + (unless (cut:is-var joint-names) + (list joint-names + (joints:joint-positions joint-names)))))) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; JSON CONSTRAINTS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defun make-avoid-joint-limits-constraint (&optional (percentage + *avoid-joint-limits-percentage*)) + (declare (type number percentage)) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "AvoidJointLimits" + :parameter_value_pair + (alist->json-string + `(("percentage" . ,percentage))))) + +(defun make-prefer-base-constraint (&optional (base-weight + *prefer-base-low-cost*)) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "UpdateGodMap" + :parameter_value_pair + (alist->json-string + `(("updates" + . (("rosparam" + . (("general_options" + . (("joint_weights" + . (("odom_x_joint" . ,base-weight) + ("odom_y_joint" . ,base-weight) + ("odom_z_joint" . ,base-weight))))))))))))) + +(defun make-align-planes-constraint (root-frame tip-frame root-vector tip-vector) + (declare (type string root-frame tip-frame) + (type cl-transforms-stamped:vector-stamped root-vector tip-vector)) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "AlignPlanes" + :parameter_value_pair + (alist->json-string + `(("root" . ,root-frame) + ("tip" . ,tip-frame) + ("root_normal" . ,(to-hash-table root-vector)) + ("tip_normal" . ,(to-hash-table tip-vector)))))) + +(defun make-align-planes-tool-frame-constraint (arm root-vector tip-vector) + (declare (type keyword arm) + (type cl-transforms-stamped:vector-stamped root-vector tip-vector)) + (let ((tool-frame + (cut:var-value + '?frame + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:robot-tool-frame ?robot ,arm ?frame))))))) + (when (cut:is-var tool-frame) + (error "[giskard] Tool frame was not defined.")) + (make-align-planes-constraint + cram-tf:*odom-frame* tool-frame root-vector tip-vector))) + +(defun make-pointing-constraint (root-frame tip-frame goal-pose + &optional pointing-vector) + (declare (type string root-frame tip-frame) + (type cl-transforms-stamped:pose-stamped goal-pose) + (type (or cl-transforms-stamped:vector-stamped null) pointing-vector)) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "Pointing" + :parameter_value_pair + (alist->json-string + `(("root" . ,root-frame) + ("tip" . ,tip-frame) + ("goal_point" . ,(to-hash-table + (cram-tf:pose-stamped->point-stamped + goal-pose))) + ,@(when pointing-vector + `(("pointing_axis" . ,(to-hash-table pointing-vector)))))))) + +(defun make-open-or-close-constraint (open-or-close arm handle-link goal-joint-state) + (declare (type keyword open-or-close arm) + (type keyword handle-link) + (type (or number null) goal-joint-state)) + (let ((tool-frame + (cut:var-value + '?frame + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:robot-tool-frame ?robot ,arm ?frame))))))) + (when (cut:is-var tool-frame) + (error "[giskard] Tool frame was not defined.")) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + (roslisp-utilities:rosify-lisp-name open-or-close) + :parameter_value_pair + (alist->json-string + `(("object_name" . ,(roslisp-utilities:rosify-underscores-lisp-name + (rob-int:get-environment-name))) + ("tip" . ,tool-frame) + ("handle_link" . ,(roslisp-utilities:rosify-underscores-lisp-name + handle-link)) + ,@(when goal-joint-state + `(("goal_joint_state" . ,goal-joint-state)))))))) + +(defun make-grasp-bar-constraint (arm root-link + tip-grasp-axis + bar-axis bar-center bar-length) + (let ((tool-frame + (cut:var-value + '?frame + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:robot-tool-frame ?robot ,arm ?frame))))))) + (when (cut:is-var tool-frame) + (error "[giskard] Tool frame was not defined.")) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "GraspBar" + :parameter_value_pair + (alist->json-string + `(("tip_grasp_axis" + . ,(to-hash-table tip-grasp-axis)) + ("bar_axis" + . ,(to-hash-table bar-axis)) + ("bar_center" + . ,(to-hash-table bar-center)) + ("tip" + . ,tool-frame) + ("bar_length" + . ,bar-length) + ("root" + . ,root-link)))))) + +(defun make-cartesian-constraint (root-frame tip-frame goal-pose + &key max-velocity avoid-collisions-much) + (declare (type string root-frame tip-frame) + (type cl-transforms-stamped:pose-stamped goal-pose) + (type (or number null) max-velocity) + (type boolean avoid-collisions-much)) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "CartesianPose" + :parameter_value_pair + (alist->json-string + `(("root_link" . ,root-frame) + ("tip_link" . ,tip-frame) + ("goal" . ,(to-hash-table goal-pose)) + ,@(when max-velocity + `(("translation_max_velocity" . ,max-velocity))) + ,@(when avoid-collisions-much + `(("weight" . ,(roslisp-msg-protocol:symbol-code + 'giskard_msgs-msg:constraint + :weight_below_ca)))))))) + +(defun make-joint-constraint (joint-state weights) + (declare (type list joint-state weights)) + "`joint-state' is a list of two elements: (joint-names joint-positions). +`weights' is a list of the same length as `joint-names' and `joint-positions'." + (mapcar (lambda (joint-name joint-position weight) + (roslisp:make-message + 'giskard_msgs-msg:constraint + :type + "JointPosition" + :parameter_value_pair + (alist->json-string + `(("joint_name" . ,joint-name) + ("goal" . ,joint-position) + ("weight" . ,weight))))) + (first joint-state) + (second joint-state) + weights)) + +(defun make-unmovable-joints-constraint (joint-names + &optional (weight *unmovable-joint-weight*)) + (make-joint-constraint + (list joint-names + (joints:joint-positions joint-names)) + (make-list (length joint-names) :initial-element weight ))) + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; NON-JSON CONSTRAINTS ;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defun make-simple-cartesian-constraint (root-link tip-link pose-stamped) + (declare (type string root-link tip-link) + (type cl-transforms-stamped:pose-stamped pose-stamped)) + (list (roslisp:make-message + 'giskard_msgs-msg:cartesianconstraint + :type (roslisp:symbol-code + 'giskard_msgs-msg:cartesianconstraint + :translation_3d) + :root_link root-link + :tip_link tip-link + :goal (cl-transforms-stamped:to-msg pose-stamped)) + (roslisp:make-message + 'giskard_msgs-msg:cartesianconstraint + :type (roslisp:symbol-code + 'giskard_msgs-msg:cartesianconstraint + :rotation_3d) + :root_link root-link + :tip_link tip-link + :goal (cl-transforms-stamped:to-msg pose-stamped)))) + +(defun make-simple-joint-constraint (joint-state) + (declare (type list joint-state)) + "`joint-state' is a list of two elements: (joint-names joint-positions)." + (roslisp:make-message + 'giskard_msgs-msg:jointconstraint + :type (roslisp:symbol-code + 'giskard_msgs-msg:jointconstraint + :joint) + :goal_state (roslisp:make-message + 'sensor_msgs-msg:jointstate + :name (apply #'vector (first joint-state)) + :position (apply #'vector (second joint-state))))) + +(defun make-current-joint-state-constraint (arms) + (let* ((joint-names-and-positions-lists + (mapcar #'get-arm-joint-names-and-positions-list arms)) + (joint-names + (mapcan #'first joint-names-and-positions-lists)) + (joint-positions + (mapcan #'second joint-names-and-positions-lists))) + (make-simple-joint-constraint (list joint-names joint-positions)))) + +(defun make-gripper-joint-state-constraint (arm joint-angle) + (let ((gripper-joint + (cut:var-value + '?joint + (car (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:gripper-joint ?robot ,arm ?joint))))))) + (when (cut:is-var gripper-joint) + (error "[giskard] Robot gripper joint was not defined.")) + (make-simple-joint-constraint `((,gripper-joint) (,joint-angle))))) + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; COLLISIONS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; + +(defun make-allow-all-collision () + (roslisp:make-message + 'giskard_msgs-msg:collisionentry + :type (roslisp:symbol-code + 'giskard_msgs-msg:collisionentry + :allow_all_collisions))) + +(defun make-avoid-all-collision (&optional (minimal-distance + *avoid-collisions-distance*)) + (declare (type number minimal-distance)) + (roslisp:make-message + 'giskard_msgs-msg:collisionentry + :type (roslisp:symbol-code + 'giskard_msgs-msg:collisionentry + :avoid_all_collisions) + :min_dist minimal-distance)) + +(defun make-allow-robot-links-collision (links body-b &optional body-b-link) + (declare (type list links) + (type (or null keyword) body-b body-b-link)) + (roslisp:make-message + 'giskard_msgs-msg:collisionentry + :type (roslisp:symbol-code + 'giskard_msgs-msg:collisionentry + :allow_collision) + :robot_links (make-constraints-vector links) + :body_b (if body-b + (roslisp-utilities:rosify-underscores-lisp-name body-b) + (roslisp:symbol-code 'giskard_msgs-msg:collisionentry :all)) + :link_bs (vector + (if body-b-link + (roslisp-utilities:rosify-underscores-lisp-name body-b-link) + (roslisp:symbol-code 'giskard_msgs-msg:collisionentry :all))))) + +(defun make-allow-arm-collision (arms body-b &optional body-b-link) + (declare (type list arms) + (type (or null keyword) body-b body-b-link)) + (let ((arm-links + (mapcan (lambda (arm) + (cut:var-value + '?arm-links + (car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:arm-links ?robot ,arm ?arm-links)))))) + arms))) + (make-allow-robot-links-collision arm-links body-b body-b-link))) + +(defun make-allow-hand-collision (arms body-b &optional body-b-link) + (declare (type list arms) + (type (or null keyword) body-b body-b-link)) + (let ((hand-links + (mapcan (lambda (hand) + (cut:var-value + '?hand-links + (car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:hand-links ?robot ,hand ?hand-links)))))) + arms))) + (make-allow-robot-links-collision hand-links body-b body-b-link))) + +(defun make-allow-fingers-collision (arms body-b &optional body-b-link) + (declare (type list arms) + (type (or null keyword) body-b body-b-link)) + (let ((finger-links + (mapcan (lambda (arm) + (cut:var-value + '?finger-links + (car + (prolog:prolog + `(and (rob-int:robot ?robot) + (rob-int:hand-links ?robot ,arm ?hand-links) + (setof ?finger-link + (and (member ?finger-link ?hand-links) + (rob-int:hand-finger-link + ?robot ,arm ?finger-link)) + ?finger-links)))))) + arms))) + (make-allow-robot-links-collision finger-links body-b body-b-link))) + +(defun make-allow-attached-collision (object-name environment-link) + (declare (type (or symbol null) object-name) + (type (or string null) environment-link)) + "`object-name' is the name of the attached object." + (roslisp:make-message + 'giskard_msgs-msg:collisionentry + :type (roslisp:symbol-code + 'giskard_msgs-msg:collisionentry + :allow_collision) + :robot_links (vector + (if object-name + (roslisp-utilities:rosify-underscores-lisp-name object-name) + (roslisp:symbol-code 'giskard_msgs-msg:collisionentry :all))) + :body_b (roslisp-utilities:rosify-underscores-lisp-name + (rob-int:get-environment-name)) + :link_bs (vector + (if environment-link + (roslisp-utilities:rosify-underscores-lisp-name environment-link) + (roslisp:symbol-code 'giskard_msgs-msg:collisionentry :all))))) diff --git a/cram_external_interfaces/cram_giskard/src/misc-goals.lisp b/cram_external_interfaces/cram_giskard/src/misc-goals.lisp new file mode 100644 index 0000000000..70e5f064f3 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/misc-goals.lisp @@ -0,0 +1,159 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defun make-grasp-bar-goal (arm + tip-grasp-axis bar-axis + tip-finger-axis bar-perpendicular-axis + bar-center + bar-length + root-link) + (declare (type keyword arm) + (type cl-transforms-stamped:vector-stamped + tip-grasp-axis bar-axis tip-finger-axis bar-perpendicular-axis) + (type cl-transforms-stamped:point-stamped bar-center) + (type string root-link) + (type number bar-length)) + (make-giskard-goal + :constraints (make-constraints-vector + (make-prefer-base-constraint) + (make-align-planes-tool-frame-constraint + arm bar-perpendicular-axis tip-finger-axis) + (make-grasp-bar-constraint + arm root-link tip-grasp-axis bar-axis bar-center bar-length)))) + +(defun call-grasp-bar-action (&key + arm root-link + tip-grasp-axis tip-finger-axis + bar-axis bar-perpendicular-axis + bar-center bar-length + action-timeout) + (declare (type (or keyword list) arm) + (type (or cl-transforms-stamped:vector-stamped null) + tip-grasp-axis bar-axis) + (type (or cl-transforms-stamped:point-stamped null) bar-center) + (type (or string null) root-link) + (type (or number null) bar-length action-timeout)) + + (call-action + :action-goal (print + (make-grasp-bar-goal + arm + tip-grasp-axis bar-axis + tip-finger-axis bar-perpendicular-axis + bar-center + bar-length root-link)) + :action-timeout action-timeout)) + + + +#+test-for-grasp-bar-action +( + (defun call-grasp-fridge-handle-action () + (call-grasp-bar-action + :arm :right + :tip-grasp-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 0 1)) + :tip-finger-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/iai_fridge_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 0 -1)) + :bar-perpendicular-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/iai_fridge_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-center (cl-transforms-stamped:make-point-stamped + "iai_kitchen/iai_fridge_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 0 0)) + :bar-length 0.8 + :root-link cram-tf:*odom-frame*)) + + (defun call-grasp-dishwasher-handle-action () + (call-grasp-bar-action + :arm :right + :tip-grasp-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 0 1)) + :tip-finger-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-perpendicular-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0 0 1)) + :bar-center (cl-transforms-stamped:make-point-stamped + "iai_kitchen/sink_area_dish_washer_door_handle" 0.0 + (cl-transforms:make-3d-vector 0.0 0 0)) + :bar-length 0.2 + :root-link cram-tf:*odom-frame*)) + + (defun call-grasp-dishwasher-tray-handle-action () + (call-grasp-bar-action + :arm :right + :tip-grasp-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 0 1)) + :tip-finger-axis (cl-transforms-stamped:make-vector-stamped + (ecase arm + (:left cram-tf:*robot-left-tool-frame*) + (:right cram-tf:*robot-right-tool-frame*)) + 0.0 + (cl-transforms:make-3d-vector 0 1 0)) + :bar-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_tray_handle_front_side" 0.0 + (cl-transforms:make-3d-vector 0 -1 0)) + :bar-perpendicular-axis (cl-transforms-stamped:make-vector-stamped + "iai_kitchen/sink_area_dish_washer_tray_handle_front_side" 0.0 + (cl-transforms:make-3d-vector 0 0 -1)) + :bar-center (cl-transforms-stamped:make-point-stamped + "iai_kitchen/sink_area_dish_washer_tray_handle_front_side" 0.0 + (cl-transforms:make-3d-vector 0.06 0 -0)) + :bar-length 0.20 + :root-link cram-tf:*odom-frame*)) + ) diff --git a/cram_external_interfaces/cram_giskard/src/neck-goals.lisp b/cram_external_interfaces/cram_giskard/src/neck-goals.lisp new file mode 100644 index 0000000000..0fb85bbf78 --- /dev/null +++ b/cram_external_interfaces/cram_giskard/src/neck-goals.lisp @@ -0,0 +1,174 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :giskard) + +(defparameter *neck-convergence-delta-xy* 0.01 "in meters") +(defparameter *neck-convergence-delta-joint* 0.1 "In radians, about 6 degrees") +(defparameter *cam* "ur5_wrist_3_link") +(defparameter *donbot-camera-offset* (cl-transforms:make-transform + (cl-transforms:make-3d-vector -0.3 0.8 0.4) + (cl-transforms:make-identity-rotation))) + +(defun make-neck-action-goal (goal-pose + &key + (root-link cram-tf:*robot-base-frame*) + camera-link + camera-offset) + (declare (type cl-transforms-stamped:pose-stamped goal-pose)) + (make-giskard-goal + :constraints (list (make-align-planes-constraint + root-link + camera-link + (cl-transforms-stamped:make-vector-stamped + cram-tf:*fixed-frame* 0.0 + (cl-transforms:make-3d-vector 1 0 0)) + (cl-transforms-stamped:make-vector-stamped + camera-link 0.0 + (cl-transforms:make-3d-vector 0 -1 0))) + (make-pointing-constraint + root-link + camera-link + goal-pose + ;; (cl-transforms-stamped:make-vector-stamped + ;; "rs_camera_depth_optical_frame" 0.0 + ;; (cl-transforms:make-3d-vector 0 0 1)) + )) + :cartesian-constraints (when camera-offset + (make-simple-cartesian-constraint + root-link camera-link + (cram-tf:strip-transform-stamped + (cram-tf:apply-transform + (cl-transforms-stamped:transform->transform-stamped + cram-tf:*fixed-frame* cram-tf:*fixed-frame* 0.0 + *donbot-camera-offset*) + (cram-tf:pose-stamped->transform-stamped + goal-pose "goal_pose"))))) + :collisions (make-avoid-all-collision))) + +(defun make-neck-joint-action-goal (joint-state) + (declare (type list joint-state)) + (make-giskard-goal + :joint-constraints (make-simple-joint-constraint joint-state) + :collisions (make-avoid-all-collision))) + + + + +(defun ensure-neck-goal-input () + (if (eq (rob-int:get-robot-name) :iai-donbot) + (list *cam* *donbot-camera-offset*) + (let ((camera-frame + (cut:var-value + '?frame + (car (prolog:prolog `(and (rob-int:robot ?robot) + (rob-int:camera-frame ?robot ?frame))))))) + (when (cut:is-var camera-frame) + (error "[giskard] Robot camera frame was not defined.")) + (list camera-frame)))) + +(defun ensure-neck-joint-goal-input (goal-configuration) + (if (and (listp goal-configuration) + (or (= (length goal-configuration) 7) + (= (length goal-configuration) 6))) + (get-neck-joint-names-and-positions-list goal-configuration) + (progn (roslisp:ros-warn (giskard neck) + "Joint goal ~a was not a list of 7 (or 6). Ignoring." + goal-configuration) + (get-neck-joint-names-and-positions-list)))) + + + + +(defun ensure-neck-goal-reached (goal-pose goal-frame) + "@artnie-s function, I actually doubt very much that it makes sense :)" + (when goal-pose + (let* ((pose-in-frame + (cram-tf:ensure-pose-in-frame goal-pose goal-frame)) + (goal-dist + (max (abs (cl-transforms:x (cl-transforms:origin pose-in-frame))) + (abs (cl-transforms:y (cl-transforms:origin pose-in-frame)))))) + (unless (<= goal-dist *neck-convergence-delta-xy*) + (make-instance 'common-fail:manipulation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~ + ~a should have been at ~a with delta-xy of ~a." + goal-frame goal-pose + *neck-convergence-delta-xy*)))))) + +(defun ensure-neck-joint-goal-reached (goal-configuration) + (when goal-configuration + (let ((current-angles + (cram-tf:normalize-joint-angles + (second (get-neck-joint-names-and-positions-list)))) + (goal-angles + (cram-tf:normalize-joint-angles + (mapcar #'second goal-configuration)))) + (unless (cram-tf:values-converged + current-angles goal-angles *neck-convergence-delta-joint*) + (make-instance 'common-fail:manipulation-goal-not-reached + :description (format nil "Giskard did not converge to goal:~%~ + Neck current angles: ~a~%~ + Neck goal angles: ~a~%~ + Convergence delta: ~a. " + current-angles goal-angles + *neck-convergence-delta-joint*)))))) + + + +(defun call-neck-action (&key action-timeout goal-pose) + (declare (type (or number null) action-timeout) + (type cl-transforms-stamped:pose-stamped goal-pose)) + + (let* ((camera-frame-and-offset (ensure-neck-goal-input)) + (camera-frame (first camera-frame-and-offset)) + (camera-offset (second camera-frame-and-offset))) + + (cram-tf:visualize-marker (list goal-pose) :r-g-b-list '(0 0 1)) + + (call-action + :action-goal (make-neck-action-goal goal-pose + :camera-link camera-frame + :camera-offset camera-offset) + :action-timeout action-timeout + ;; :check-goal-function (lambda () (ensure-neck-goal-reached + ;; goal-pose camera-frame)) + ))) + +(defun call-neck-joint-action (&key action-timeout goal-configuration) + (declare (type (or number null) action-timeout) + (type (or list null) goal-configuration)) + + (let ((joint-state + (ensure-neck-joint-goal-input goal-configuration))) + + (call-action + :action-goal (make-neck-joint-action-goal joint-state) + :action-timeout action-timeout + :check-goal-function (lambda () + (ensure-neck-joint-goal-reached goal-configuration))))) diff --git a/cram_external_interfaces/cram_giskard/src/package.lisp b/cram_external_interfaces/cram_giskard/src/package.lisp index dceff78c27..c0d4412d24 100644 --- a/cram_external_interfaces/cram_giskard/src/package.lisp +++ b/cram_external_interfaces/cram_giskard/src/package.lisp @@ -33,9 +33,23 @@ (:nicknames #:giskard) (:use #:common-lisp) (:export - ;; cartesian-interface - #:call-giskard-cartesian-action - ;; joint-interface - #:call-giskard-joint-action + ;; arm-goals + #:call-arm-cartesian-action + #:call-arm-joint-action + ;; base-goals + #:call-base-action + ;; torso-goals + #:call-torso-action + ;; gripper-goals + #:call-gripper-action + ;; neck-goals + #:call-neck-action + #:call-neck-joint-action + ;; environment-manipulation-goals + #:call-environment-manipulation-action + ;; misc-goals + #:call-grasp-bar-action + ;; collision-scene + #:reset-collision-scene ;; process-module #:giskard-pm)) diff --git a/cram_external_interfaces/cram_giskard/src/process-module.lisp b/cram_external_interfaces/cram_giskard/src/process-module.lisp index 4c53f98e7c..a08c17e71a 100644 --- a/cram_external_interfaces/cram_giskard/src/process-module.lisp +++ b/cram_external_interfaces/cram_giskard/src/process-module.lisp @@ -30,57 +30,56 @@ (in-package :giskard) (cpm:def-process-module giskard-pm (motion-designator) - (destructuring-bind (command argument-1 &rest rest-arguments) + (destructuring-bind (command argument-1 &rest rest-args) (desig:reference motion-designator) (ecase command (cram-common-designators:move-tcp - (call-giskard-cartesian-action :goal-pose-left argument-1 - :goal-pose-right (first rest-arguments) - :collision-mode (second rest-arguments) - :collision-object-b (third rest-arguments) - :collision-object-b-link (fourth rest-arguments) - :collision-object-a (fifth rest-arguments) - :move-the-ass (sixth rest-arguments))) + (giskard:call-arm-cartesian-action + :goal-pose-left argument-1 + :goal-pose-right (first rest-args) + :collision-mode (second rest-args) + :collision-object-b (third rest-args) + :collision-object-b-link (fourth rest-args) + :collision-object-a (fifth rest-args) + :move-base (sixth rest-args) + :prefer-base (seventh rest-args) + :align-planes-left (eighth rest-args) + :align-planes-right (ninth rest-args))) (cram-common-designators:move-joints - (call-giskard-joint-action :goal-configuration-left argument-1 - :goal-configuration-right (first rest-arguments))) + (giskard:call-arm-joint-action + :goal-configuration-left argument-1 + :goal-configuration-right (first rest-args) + :align-planes-left (second rest-args) + :align-planes-right (third rest-args))) + (cram-common-designators:move-arm-pull + (giskard:call-environment-manipulation-action + :open-or-close :open + :arm argument-1 + :handle-link (fifth rest-args) + :joint-angle (second rest-args) + :prefer-base (eighth rest-args))) + (cram-common-designators:move-arm-push + (giskard:call-environment-manipulation-action + :open-or-close :close + :arm argument-1 + :handle-link (fifth rest-args) + :joint-angle (second rest-args) + :prefer-base (eighth rest-args))) + (cram-common-designators:move-head + (when argument-1 + (giskard:call-neck-action + :goal-pose argument-1)) + (when (car rest-args) + (giskard:call-neck-joint-action + :goal-configuration (car rest-args)))) (cram-common-designators:move-base - (call-giskard-base-action :goal-pose argument-1)) + (giskard:call-base-action + :goal-pose argument-1)) (cram-common-designators:move-torso - (call-giskard-torso-action :goal-joint-state argument-1))))) - -(prolog:def-fact-group giskard-pm (cpm:matching-process-module - cpm:available-process-module) - - (prolog:<- (cpm:matching-process-module ?motion-designator giskard-pm) - (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) - (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) - (desig:desig-prop ?motion-designator (:type :going)) - (desig:desig-prop ?motion-designator (:type :moving-torso)))) - - (prolog:<- (cpm:available-process-module giskard-pm) - (prolog:not (cpm:projection-running ?_)))) - -;;; The examples below are deprecated, so the designator changed, but the idea is the same -;;; Examples: -;; -;; (cram-process-modules:with-process-modules-running -;; (giskard::giskard-pm) -;; (cpl:top-level -;; (cpm:pm-execute-matching -;; (desig:a motion (type moving-tcp) (right-pose ((0.5 0.5 1.5) (0 0 0 1))))))) -;; -;; (cram-process-modules:with-process-modules-running -;; (giskard::giskard-pm) -;; (cpl:top-level -;; (cpm:pm-execute-matching -;; (desig:a motion -;; (to move-arm) -;; (right ((0.5 -0.5 1.5) (0 0 0 1))) -;; (left ((0.5 0.5 1.5) (0 0 0 1))))))) -;; -;; (cram-process-modules:with-process-modules-running -;; (giskard::giskard-pm) -;; (cpl:top-level -;; (cpm:pm-execute-matching -;; (desig:a motion (to move-arm) (right (((1 1 1) (0 0 0 1)) nil ((1 1 1) (0 0 0 1)))))))) + (giskard:call-torso-action + :goal-joint-state argument-1)) + (cram-common-designators:move-gripper-joint + (giskard:call-gripper-action + :action-type-or-position argument-1 + :arm (first rest-args) + :effort (second rest-args)))))) diff --git a/cram_external_interfaces/cram_giskard/src/torso-goals.lisp b/cram_external_interfaces/cram_giskard/src/torso-goals.lisp index 9d5ed85ad2..4321854573 100644 --- a/cram_external_interfaces/cram_giskard/src/torso-goals.lisp +++ b/cram_external_interfaces/cram_giskard/src/torso-goals.lisp @@ -31,163 +31,66 @@ (defparameter *torso-convergence-delta-joint* 0.01 "in meters") -(defun make-giskard-torso-action-goal (joint-angle) +(defun make-torso-action-goal (joint-angle) (declare (type number joint-angle)) - (roslisp:make-message - 'giskard_msgs-msg:MoveGoal - :type (roslisp:symbol-code 'giskard_msgs-msg:MoveGoal ;; :plan_only - :plan_and_execute - ) - :cmd_seq (vector - (roslisp:make-message - 'giskard_msgs-msg:movecmd - :joint_constraints - (vector (roslisp:make-message - 'giskard_msgs-msg:jointconstraint - :type (roslisp:symbol-code - 'giskard_msgs-msg:jointconstraint - :joint) - :goal_state (roslisp:make-message - 'sensor_msgs-msg:jointstate - :name (vector cram-tf:*robot-torso-joint*) - :position (vector joint-angle)))))))) + (make-giskard-goal + :joint-constraints (make-simple-joint-constraint + `((,cram-tf:*robot-torso-joint*) (,joint-angle))))) -(defun ensure-torso-input-parameters (position) +(defun ensure-torso-goal-input (position) (declare (type (or keyword number) position)) (let* ((bindings (car (prolog:prolog `(and (rob-int:robot ?robot) - (btr:bullet-world ?w) (rob-int:robot-torso-link-joint ?robot ?_ ?joint) (rob-int:joint-lower-limit ?robot ?joint ?lower) (rob-int:joint-upper-limit ?robot ?joint ?upper))))) (lower-limit - (+ (cut:var-value '?lower bindings) 0.01)) ; don't push the robot so hard + (cut:var-value '?lower bindings)) (upper-limit - (- (cut:var-value '?upper bindings) 0.01)) ; no don't do it - (cropped-joint-angle - (etypecase position - (number (if (< position lower-limit) - lower-limit - (if (> position upper-limit) - upper-limit - position))) - (keyword (ecase position - (:upper-limit upper-limit) - (:lower-limit lower-limit) - (:middle (/ (- upper-limit lower-limit) 2))))))) - cropped-joint-angle)) - - - -(defun ensure-giskard-torso-goal-reached (result status goal convergence-delta) - (when (eql status :preempted) - (roslisp:ros-warn (low-level giskard) "Giskard action preempted with result ~a" result) - (return-from ensure-giskard-torso-goal-reached)) - (when (eql status :timeout) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action timed out.")) - (when (eql status :aborted) - (roslisp:ros-warn (pr2-ll giskard-cart) "Giskard action aborted! With result ~a" result) - ;; (cpl:fail 'common-fail:manipulation-goal-not-reached - ;; :description "Giskard did not converge to goal because of collision") - ) - (let ((current-position (car (joints:joint-positions (list cram-tf:*robot-torso-joint*))))) - (unless (cram-tf:values-converged current-position goal convergence-delta) - (cpl:fail 'common-fail:torso-goal-not-reached - :description (format nil "Giskard did not converge to torso goal:~ - goal: ~a, current: ~a, delta: ~a." - goal current-position convergence-delta))))) - -(defun call-giskard-torso-action (&key - goal-joint-state action-timeout - (convergence-delta *torso-convergence-delta-joint*)) + (cut:var-value '?upper bindings)) + (torso-joint + (cut:var-value '?joint bindings))) + (if (and (not (cut:is-var lower-limit)) + (not (cut:is-var upper-limit)) + lower-limit + upper-limit) + (progn + ;; don't push the robot so hard + (setf lower-limit (+ lower-limit 0.01) + upper-limit (- upper-limit 0.01)) + (etypecase position + (number (if (< position lower-limit) + lower-limit + (if (> position upper-limit) + upper-limit + position))) + (keyword (ecase position + (:upper-limit upper-limit) + (:lower-limit lower-limit) + (:middle (/ (- upper-limit lower-limit) 2)))))) + (or (car (joints:joint-positions (list torso-joint))) 0.0)))) + +(defun ensure-torso-goal-reached (goal) + (let ((current-position + (car (joints:joint-positions (list cram-tf:*robot-torso-joint*))))) + (when current-position + (unless (cram-tf:values-converged + current-position goal *torso-convergence-delta-joint*) + (make-instance 'common-fail:torso-goal-not-reached + :description (format nil "Giskard did not converge to torso goal:~ + goal: ~a, current: ~a, delta: ~a." + goal current-position + *torso-convergence-delta-joint*)))))) + +(defun call-torso-action (&key action-timeout goal-joint-state) (declare (type (or number keyword) goal-joint-state) - (type (or null number) action-timeout convergence-delta)) - (let ((goal-joint-state (ensure-torso-input-parameters goal-joint-state))) - (multiple-value-bind (result status) - (let ((goal (make-giskard-torso-action-goal goal-joint-state))) - (actionlib-client:call-simple-action-client - 'giskard-action - :action-goal goal - :action-timeout action-timeout)) - (ensure-giskard-torso-goal-reached result status goal-joint-state convergence-delta) - (values result status) - ;; return the joint state, which is our observation - (joints:full-joint-states-as-hash-table)))) - - - - - - - + (type (or number null) action-timeout)) + (setf goal-joint-state (ensure-torso-goal-input goal-joint-state)) -;; header: -;; seq: 17 -;; stamp: -;; secs: 1560439219 -;; nsecs: 637718915 -;; frame_id: '' -;; goal_id: -;; stamp: -;; secs: 1560439219 -;; nsecs: 637681961 -;; id: "/giskard_interactive_marker-17-1560439219.638" -;; goal: -;; type: 1 -;; cmd_seq: -;; - -;; constraints: [] -;; joint_constraints: [] -;; cartesian_constraints: -;; - -;; type: "CartesianPosition" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; - -;; type: "CartesianOrientationSlerp" -;; root_link: "odom" -;; tip_link: "base_footprint" -;; goal: -;; header: -;; seq: 0 -;; stamp: -;; secs: 0 -;; nsecs: 0 -;; frame_id: "base_footprint" -;; pose: -;; position: -;; x: 2.50292941928e-08 -;; y: 0.0 -;; z: 0.209769845009 -;; orientation: -;; x: 0.0 -;; y: 0.0 -;; z: 0.0 -;; w: 1.0 -;; collisions: -;; - -;; type: 1 -;; min_dist: 0.0 -;; robot_links: [''] -;; body_b: "pr2" -;; link_bs: [''] + (call-action + :action-goal (make-torso-action-goal goal-joint-state) + :action-timeout action-timeout + :check-goal-function (lambda () (ensure-torso-goal-reached goal-joint-state)))) diff --git a/cram_external_interfaces/cram_hpn/src/setup.lisp b/cram_external_interfaces/cram_hpn/src/setup.lisp index 7e24d73bed..88f542146f 100644 --- a/cram_external_interfaces/cram_hpn/src/setup.lisp +++ b/cram_external_interfaces/cram_hpn/src/setup.lisp @@ -66,45 +66,30 @@ name-to-pose))) (defun spawn-kitchen () - (let ((kitchen (or btr-belief:*kitchen-urdf* - (let ((kitchen-urdf-string - (roslisp:get-param btr-belief:*kitchen-parameter* nil))) - (when kitchen-urdf-string - (setf btr-belief:*kitchen-urdf* - (cl-urdf:parse-urdf kitchen-urdf-string))))))) - (assert - (cut:force-ll - (prolog `(and - (btr:bullet-world ?w) - (btr:assert ?w (btr:object :urdf :kitchen ((0 0 0) (0 0 0 1)) - :collision-group :static-filter - :collision-mask (:default-filter - :character-filter) - ,@(when kitchen - `(:urdf ,kitchen)) - :compound T)))))))) + (let ((kitchen-urdf-string + (roslisp:get-param rob-int:*environment-description-parameter* nil))) + (when kitchen-urdf-string + (setf rob-int:*environment-urdf* + (cl-urdf:parse-urdf kitchen-urdf-string)))) + (assert + (cut:force-ll + (prolog `(and + (btr:bullet-world ?w) + (btr:assert ?w (btr:object :urdf :kitchen ((0 0 0) (0 0 0 1)) + :collision-group :static-filter + :collision-mask (:default-filter + :character-filter) + ,@(when rob-int:*environment-urdf* + `(:urdf ,rob-int:*environment-urdf*)) + :compound T))))))) (defun init-projection () - (def-fact-group costmap-metadata (costmap:costmap-size - costmap:costmap-origin - costmap:costmap-resolution - costmap:orientation-samples - costmap:orientation-sample-step) - (<- (costmap:costmap-size 12 12)) - (<- (costmap:costmap-origin -6 -6)) - (<- (costmap:costmap-resolution 0.04)) - (<- (costmap:orientation-samples 2)) - (<- (costmap:orientation-sample-step 0.3))) - - (setf cram-bullet-reasoning-belief-state:*robot-parameter* "robot_description") - (setf cram-bullet-reasoning-belief-state:*kitchen-parameter* "kitchen_description") - (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) - (let ((robot (or rob-int:*robot-urdf* - (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf - (btr-belief::replace-all - (roslisp:get-param btr-belief:*robot-parameter*) "\\" " ")))))) + (let ((robot (setf rob-int:*robot-urdf* + (cl-urdf:parse-urdf + (cut:replace-all + (roslisp:get-param rob-int:*robot-description-parameter*) + "\\" " "))))) ;; set robot's URDF root link to *robot-base-frame* as that's how going actions works (setf (slot-value rob-int:*robot-urdf* 'cl-urdf:root-link) @@ -154,7 +139,7 @@ (let ((aabb (btr:aabb (btr:rigid-body (btr:get-environment-object) - (intern (format nil "KITCHEN.~(~a~)" name) :keyword))))) + (intern (format nil "ENVIRONMENT.~(~a~)" name) :keyword))))) (btr:add-object btr:*current-bullet-world* :box-item name diff --git a/cram_external_interfaces/cram_ik_interface/cram-ik-interface.asd b/cram_external_interfaces/cram_ik_interface/cram-ik-interface.asd index 35b042f95c..45442766a5 100644 --- a/cram_external_interfaces/cram_ik_interface/cram-ik-interface.asd +++ b/cram_external_interfaces/cram_ik_interface/cram-ik-interface.asd @@ -36,7 +36,9 @@ cl-transforms-stamped cram-tf moveit_msgs-msg - moveit_msgs-srv) + moveit_msgs-srv + ;; for representing joint states + sensor_msgs-msg) :components ((:module "src" :components diff --git a/cram_external_interfaces/cram_ik_interface/package.xml b/cram_external_interfaces/cram_ik_interface/package.xml index 652ed989cf..6b9b1981d6 100644 --- a/cram_external_interfaces/cram_ik_interface/package.xml +++ b/cram_external_interfaces/cram_ik_interface/package.xml @@ -19,4 +19,5 @@ cl_tf cram_tf moveit_msgs + sensor_msgs diff --git a/cram_external_interfaces/cram_ik_interface/src/ik.lisp b/cram_external_interfaces/cram_ik_interface/src/ik.lisp index 173755d63a..bc177314b6 100644 --- a/cram_external_interfaces/cram_ik_interface/src/ik.lisp +++ b/cram_external_interfaces/cram_ik_interface/src/ik.lisp @@ -30,6 +30,7 @@ (in-package :ik) (defparameter *ik-service-name* "kdl_ik_service/get_ik") +(defparameter *float-comparison-precision* 0.001d0) (defun call-ik-service (cartesian-pose base-link end-effector-link seed-state-msg) (declare (type cl-transforms-stamped:pose-stamped cartesian-pose) @@ -62,12 +63,7 @@ :no_ik_solution)) nil) (T - (error 'simple-error - :format-control "IK service failed: ~a" - :format-arguments (list - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - response-error-code)))))) + nil))) ;; PR2's IK kinematics solver sends garbage sometimes (simple-error (e) (declare (ignore e)) @@ -77,17 +73,31 @@ base-link end-effector-link seed-state-msg resampling-step resampling-axis - current-value lower-limit upper-limit) + current-value lower-limit upper-limit + &optional solution-valid-p) + (declare (type (or function null) solution-valid-p)) + "Calls the IK service to achieve the specified `cartesian-pose' by manipulating +the joints from `base-link' to `end-effector-link'. +`solution-valid-p' is a predicate that gets the joint state message as input +and returns T or NIL according to some validation criteria. +Mostly this is a collision check. +Returns two values: resulting joint state message and torso value. +If not valid solution was found, returns NIL." (labels ((call-ik-service-with-resampling-inner (cartesian-pose &key test-value current-value) (let ((ik-solution-msg - (call-ik-service cartesian-pose base-link end-effector-link seed-state-msg))) - (if ik-solution-msg + (call-ik-service cartesian-pose base-link end-effector-link + seed-state-msg))) + (if (and ik-solution-msg + ;; if `solution-valid-p' is bound, call it + ;; otherwise assume that the solution is valid + (or (not solution-valid-p) + (funcall solution-valid-p ik-solution-msg))) (values ik-solution-msg (or test-value current-value)) (when (or (not test-value) (> test-value lower-limit)) - ;; When we have no ik solution and have a valid test value to try, - ;; use it to resample. + ;; When we have no ik solution and have + ;; a valid test value to try, use it to resample. (let* ((next-test-value (if test-value (max lower-limit (- test-value resampling-step)) @@ -101,11 +111,7 @@ (pseudo-pose (cram-tf:translate-pose cartesian-pose - (ecase resampling-axis - (:x :x-offset) - (:y :y-offset) - (:z :z-offset)) - (- offset next-offset)))) + resampling-axis (- offset next-offset)))) (call-ik-service-with-resampling-inner pseudo-pose :test-value next-test-value @@ -120,3 +126,205 @@ :test-value nil :current-value current-value)) (roslisp:set-debug-level nil old-debug-lvl))))) + + +(defun get-joint-values-to-sample (lower-lim upper-lim sampling-step) + (declare (type number lower-lim upper-lim sampling-step)) + "Returns a list of values such that they lie within [`lower-lim'; `upper-lim'] +and the distance between the steps is `sampling-step'. +0.0 is always added to the list. +The values are sorted in ascending order based on their absolute magnitude. +E.g., if `lower-lim' = -4 and `upper-lim' = 4 and `sampling-step' = 1, +then return = (0.0 -1 1 -2 2 -3 3 -4 4)" + (remove-duplicates + (cons 0.0 + (sort + (loop for x = lower-lim then (+ x sampling-step) + until (> x upper-lim) + collect x) + (lambda (x y) + (< (abs x) (abs y))))) + ;; remove duplicates in case current value is + ;; exactly one of the sampling values + :test (lambda (x y) + (< (abs (- x y)) + *float-comparison-precision*)) + :from-end t)) + + +(defmacro find-ik-for ((goal-pose base-link tip-link seed-state-message + &optional solution-valid-p) + &body body) + "Method to find inverse kinematics for a given cartesian pose using resampling +Syntax: + (ik::find-ik-for (goal-pose base-link tip-link seed-state-message) + (ik::with-resampling (current-value resampling-axis + upper-limit lower-limit resampling-step) + (ik::with-resampling current-value2 resampling-axis2 ...) + ....)) +Resampling axis can only be :X, :Y or :Z" + `(let ((offseted-goal-pose ,goal-pose) + (base-link-evaled ,base-link) + (tip-link-evaled ,tip-link) + (seed-state-msg-evaled ,seed-state-message) + (solution-valid-p-evaled ,solution-valid-p) + (old-debug-level (roslisp:debug-level nil)) + new-joint-values) + (macrolet + ((with-resampling (&whole whole-form + (resampling-axis upper-limit lower-limit + resampling-step + &key (disable-resampling nil)) + &body body) + (let ((form-length (length whole-form))) + ;; Formulating a list of joint values to sample + `(let* ((original-goal-pose + offseted-goal-pose) + (sampling-values + (if ,disable-resampling + ;; stay at the default value if resampling is disalbled + (list 0.0d0) + (get-joint-values-to-sample + ,lower-limit ,upper-limit ,resampling-step))) + (result + (loop for value in sampling-values + do (setf offseted-goal-pose + (cram-tf:translate-pose + original-goal-pose + ,resampling-axis + (- value))) + (if (assoc ,resampling-axis new-joint-values) + (setf (cdr (assoc ,resampling-axis + new-joint-values)) + value) + (setf new-joint-values + (cons (cons ,resampling-axis value) + new-joint-values))) + (multiple-value-bind + (solution-msg joint-values) + + ;; Checking if the arguments contain + ;; &body clause or not. 2 is the + ;; current number of arguments without + ;; including the body. One being the + ;; form itself and the second being the + ;; list of values in the paranthesis. + (if (> ,form-length 2) + ;; If body is provided, call it + ;; with the current offseted value + ;; of pose (for retaining the loop + ;; value on nested calls). + (progn ,@body) + ;; else make the ik-service call + (call-ik-service + offseted-goal-pose + base-link-evaled + tip-link-evaled + seed-state-msg-evaled)) + ;; now we either got a solution from the + ;; ik service call, if we're leaf, + ;; or from our nested form. + ;; it can also be that we get NIL back + + ;; if we did get an answer, + ;; first, perform the collision check, + ;; and if that is successful, break the loop + (when solution-msg + ;; if collision check is not defined + ;; or the collision check is successful + ;; break the loop + ;; otherwise, we simply continue our loop + (let ((result-joint-values + (cons + (cons ,resampling-axis value) + joint-values))) + (when (or (not solution-valid-p-evaled) + (funcall solution-valid-p-evaled + solution-msg + new-joint-values)) + (return (list solution-msg + result-joint-values))))))))) + (setf offseted-goal-pose original-goal-pose) + (values (first result) (second result)))))) + (unwind-protect + (progn + (roslisp:set-debug-level nil 9) + ,@body) + (roslisp:set-debug-level nil old-debug-level))))) + + +(defmacro find-joint-values-for ((solution-valid-p) + &body body) + "Method to find joint-values by resamping and checking against +a validation function +Syntax: + (ik:find-joint-values-for (validation-function) + (ik::with-resampling (resampling-axis upper-limit + lower-limit resampling-step) + (ik::with-resampling (resampling-axis2 ...) + ....)) +Resampling axis can only be :X, :Y or :Z" + `(let ((solution-valid-p-evaled ,solution-valid-p) + (old-debug-level (roslisp:debug-level nil)) + (new-joint-values)) + (macrolet + ((with-resampling ((resampling-axis upper-limit lower-limit resampling-step) + &body body) + ;; Formulating a list of joint values to sample + `(let ((sampling-values + (get-joint-values-to-sample + ,lower-limit ,upper-limit ,resampling-step))) + + (loop for value in sampling-values + do (if (assoc ,resampling-axis new-joint-values) + (setf (cdr (assoc ,resampling-axis new-joint-values)) + value) + (setf new-joint-values + (cons (cons ,resampling-axis value) + new-joint-values))) + (let ((result-joint-values + (cons (cons ,resampling-axis value) + (progn ,@body)))) + ;; Return the joint values when the + ;; validation function passes, else + ;; continue the loop. + (when (funcall solution-valid-p-evaled new-joint-values) + (return result-joint-values))))))) + + (unwind-protect + (progn + (roslisp:set-debug-level nil 9) + ,@body) + (roslisp:set-debug-level nil old-debug-level))))) + + + +#+below-is-stuff-for-caching +((defun arm-pose-hash-code (arm-pose-list) + (let* ((pose (second arm-pose-list)) + (pose-list (cram-tf:pose->flat-list pose)) + (sum (abs (apply #'+ pose-list))) + (sum-big-precise-num (* sum 100000000)) + (pose-hash-code (floor sum-big-precise-num)) + (arm (first arm-pose-list)) + (overall-hash-code (ecase arm + (:left (+ pose-hash-code 10000)) + (:right (+ pose-hash-code 20000))))) + overall-hash-code)) + (defun arm-poses-equal-accurate (arm-pose-list-1 arm-pose-list-2) + (let* ((pose-1 (second arm-pose-list-1)) + (pose-2 (second arm-pose-list-2)) + (arm-1 (first arm-pose-list-1)) + (arm-2 (first arm-pose-list-2))) + (if (eql arm-1 arm-2) + (cram-tf:poses-equal-p pose-1 pose-2 0.000001d0 0.000010d0) + nil))) + (sb-ext:define-hash-table-test arm-poses-equal-accurate arm-pose-hash-code) + (defvar *ik-solution-cache* (make-hash-table :test 'arm-poses-equal-accurate)) + (setf (gethash (list left-or-right cartesian-pose) *ik-solution-cache*) + (list ik-solution-position resulting-torso-angle)) + (let ((hashed-result + (gethash (list left-or-right cartesian-pose) *ik-solution-cache*))) + (if hashed-result + (values (first hashed-result) (second hashed-result)) + (call-ik-stuff)))) diff --git a/cram_external_interfaces/cram_ik_interface/src/package.lisp b/cram_external_interfaces/cram_ik_interface/src/package.lisp index 95f952713c..fa08e54bd9 100644 --- a/cram_external_interfaces/cram_ik_interface/src/package.lisp +++ b/cram_external_interfaces/cram_ik_interface/src/package.lisp @@ -32,4 +32,8 @@ (:use #:common-lisp) (:export ;; ik - #:call-ik-service #:call-ik-service-with-resampling)) + #:call-ik-service + #:call-ik-service-with-resampling + #:find-ik-for + #:find-joint-values-for + #:with-resampling)) diff --git a/cram_external_interfaces/cram_joint_states/cram-joint-states.asd b/cram_external_interfaces/cram_joint_states/cram-joint-states.asd index de9c00baeb..f48b8fb682 100644 --- a/cram_external_interfaces/cram_joint_states/cram-joint-states.asd +++ b/cram_external_interfaces/cram_joint_states/cram-joint-states.asd @@ -35,9 +35,11 @@ roslisp-utilities cl-transforms cram-language ; for fluents + cram-tf sensor_msgs-msg) :components ((:module "src" :components ((:file "package") - (:file "joint-states" :depends-on ("package")))))) + (:file "joint-states" :depends-on ("package")) + (:file "monitoring" :depends-on ("package" "joint-states")))))) diff --git a/cram_external_interfaces/cram_joint_states/package.xml b/cram_external_interfaces/cram_joint_states/package.xml index 6976cecc34..02bac33325 100644 --- a/cram_external_interfaces/cram_joint_states/package.xml +++ b/cram_external_interfaces/cram_joint_states/package.xml @@ -14,5 +14,6 @@ roslisp_utilities cl_transforms cram_language + cram_tf sensor_msgs diff --git a/cram_external_interfaces/cram_joint_states/src/joint-states.lisp b/cram_external_interfaces/cram_joint_states/src/joint-states.lisp index eee51c0993..5f91623ef9 100644 --- a/cram_external_interfaces/cram_joint_states/src/joint-states.lisp +++ b/cram_external_interfaces/cram_joint_states/src/joint-states.lisp @@ -32,26 +32,28 @@ (defvar *joint-state-sub* nil "Subscriber for robot's joint state topic.") -(defvar *joint-state-sub-counter* 0 - "Counter to decrease the frequency of the subscriber callback") - -(defparameter *joint-state-sub-frequency-cut* 100 "in times") +(defparameter *joint-state-frequency* 10.0d0 + "How often to update the fluent in Hz") +(defvar *joint-state-timestamp* 0.0d0 + "Timestamp of the last fluent update in secs.") (defvar *robot-joint-states-msg* (cpl:make-fluent :name :robot-joint-states) "ROS message containing robot's current joint states.") (defun init-joint-state-sub () - "Initializes *joint-state-sub*" - (flet ((joint-state-sub-cb (joint-state-msg) - (incf *joint-state-sub-counter*) - (if (> *joint-state-sub-counter* *joint-state-sub-frequency-cut*) - (progn - (setf *joint-state-sub-counter* 0) - (setf (cpl:value *robot-joint-states-msg*) joint-state-msg))))) - (setf *joint-state-sub* - (roslisp:subscribe "joint_states" - "sensor_msgs/JointState" - #'joint-state-sub-cb)))) + "Initializes *joint-state-sub*, +updating `*robot-joint-states-msg*' with frequency given in `*joint-state-frequency*'." + (let ((update-every-?-secs (the double-float (/ 1.0d0 *joint-state-frequency*)))) + (declare (double-float update-every-?-secs)) + (flet ((joint-state-sub-cb (joint-state-msg) + (when (> (the double-float (- (roslisp:ros-time) *joint-state-timestamp*)) + update-every-?-secs) + (setf *joint-state-timestamp* (the double-float (roslisp:ros-time))) + (setf (cpl:value *robot-joint-states-msg*) joint-state-msg)))) + (setf *joint-state-sub* + (roslisp:subscribe "joint_states" + "sensor_msgs/JointState" + #'joint-state-sub-cb))))) (defun destroy-joint-state-sub () (setf *joint-state-sub* nil)) @@ -132,9 +134,6 @@ as multiple values." (roslisp:msg-slot-value last-joint-state-msg :header) :stamp)))) -(defun normalize-joint-angles (list-of-angles) - (mapcar #'cl-transforms:normalize-angle list-of-angles)) - (defun full-joint-states-as-hash-table (&optional state-fluent) (let ((last-joint-state-msg (cpl:value (or state-fluent *robot-joint-states-msg*)))) diff --git a/cram_external_interfaces/cram_joint_states/src/monitoring.lisp b/cram_external_interfaces/cram_joint_states/src/monitoring.lisp new file mode 100644 index 0000000000..b044da6fb6 --- /dev/null +++ b/cram_external_interfaces/cram_joint_states/src/monitoring.lisp @@ -0,0 +1,44 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :joints) + +(defun monitor-joint-state (joint-name comparison-function) + (unless joint-name + (setf joint-name "r_gripper_joint")) + (unless comparison-function + (setf comparison-function (lambda (joint-angle) (< joint-angle 0.002)))) + (cpl:wait-for + (cpl:fl-funcall (lambda (joint-state-msg-fluent) + (funcall comparison-function + (car (joints:joint-positions + (list joint-name) + joint-state-msg-fluent)))) + *robot-joint-states-msg*)) + (print "DONE")) diff --git a/cram_external_interfaces/cram_joint_states/src/package.lisp b/cram_external_interfaces/cram_joint_states/src/package.lisp index ba7b313d70..9ffae64b72 100644 --- a/cram_external_interfaces/cram_joint_states/src/package.lisp +++ b/cram_external_interfaces/cram_joint_states/src/package.lisp @@ -42,5 +42,4 @@ #:joint-states #:joint-positions #:joint-velocities - #:normalize-joint-angles #:full-joint-states-as-hash-table)) diff --git a/cram_external_interfaces/cram_nav_pcontroller/src/process-module.lisp b/cram_external_interfaces/cram_nav_pcontroller/src/process-module.lisp index 63189f6fb4..9971f71518 100644 --- a/cram_external_interfaces/cram_nav_pcontroller/src/process-module.lisp +++ b/cram_external_interfaces/cram_nav_pcontroller/src/process-module.lisp @@ -51,7 +51,7 @@ ;; ;; (cl-tf::with-tf-broadcasting ;; ((cl-tf:make-transform-broadcaster) -;; (cl-tf:make-transform-stamped +;; (cl-transforms-stamped:make-transform-stamped ;; "map" ;; "odom_combined" ;; 0.0 diff --git a/cram_external_interfaces/cram_robosherlock/cram-robosherlock.asd b/cram_external_interfaces/cram_robosherlock/cram-robosherlock.asd index dc25d41257..b90fa7762e 100644 --- a/cram_external_interfaces/cram_robosherlock/cram-robosherlock.asd +++ b/cram_external_interfaces/cram_robosherlock/cram-robosherlock.asd @@ -42,7 +42,6 @@ cram-designators cram-process-modules cram-prolog - cram-manipulation-interfaces cram-common-designators cram-simple-actionlib-client ;; robosherlock_msgs-srv diff --git a/cram_external_interfaces/cram_robosherlock/package.xml b/cram_external_interfaces/cram_robosherlock/package.xml index ec08ff0302..ecb7f27897 100644 --- a/cram_external_interfaces/cram_robosherlock/package.xml +++ b/cram_external_interfaces/cram_robosherlock/package.xml @@ -22,7 +22,6 @@ cram_process_modules cram_prolog cram_common_designators - cram_manipulation_interfaces cram_simple_actionlib_client robosherlock_msgs diff --git a/cram_external_interfaces/cram_robosherlock/src/package.lisp b/cram_external_interfaces/cram_robosherlock/src/package.lisp index 3d8fc9988b..5a17a501a1 100644 --- a/cram_external_interfaces/cram_robosherlock/src/package.lisp +++ b/cram_external_interfaces/cram_robosherlock/src/package.lisp @@ -31,7 +31,7 @@ (defpackage cram-robosherlock (:nicknames #:rs) - (:use #:common-lisp #:cram-manipulation-interfaces) + (:use #:common-lisp) (:export ;; robosherlock-json #:call-robosherlock-service diff --git a/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp b/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp index 163d70f7fb..e098ff10c0 100644 --- a/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp +++ b/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp @@ -29,11 +29,13 @@ (in-package :rs) +(defparameter *ros-action* "RoboSherlock/query_action") + (defun make-robosherlock-action-client () (actionlib-client:make-simple-action-client 'robosherlock-action - "RoboSherlock/query_action" "robosherlock_msgs/RSQueryAction" - 5)) + *ros-action* "robosherlock_msgs/RSQueryAction" + 120)) (roslisp-utilities:register-ros-init-function make-robosherlock-action-client) @@ -74,27 +76,39 @@ (destructuring-bind (key &rest values) key-value-pair (let ((value (car values))) - ;; below are the only keys supported by RS at the moment - ;; TODO: make sure that an already perceived object doesn't get reperceived with its original SHAPE and SIZE... + ;; below are the only keys supported by RS atm (if (or (eql key :type) (eql key :shape) (eql key :color) (eql key :location) - (eql key :size)) + (eql key :size) + (eql key :material)) (list key - (etypecase value ; RS is only case-sensitive on "TYPE"s - (keyword (remove #\- - (if (eql key :type) - (string-capitalize (symbol-name value)) - (string-downcase (symbol-name value))))) - (string value) - (list (mapcar (lambda (item) - (etypecase item - (keyword - (string-downcase (symbol-name item))) - (string - item))) - value)) + (etypecase value + ;; RS is only case-sensitive on "TYPE"s + (keyword + (remove #\- + (if (eql key :type) + (string-capitalize + (symbol-name + (case value + ;; (:bowl :ikea-red-bowl) + ;; (:cup :ikea-red-cup) + ;; (:spoon :soup-spoon) + (t value)))) + (string-downcase + (symbol-name value))))) + (string + value) + (list + (mapcar (lambda (item) + (etypecase item + (keyword + (string-downcase + (symbol-name item))) + (string + item))) + value)) (desig:location-designator (desig:desig-prop-value (or (desig:desig-prop-value value :on) @@ -118,8 +132,9 @@ (if (string-equal string "") nil (roslisp-utilities:lispify-ros-underscore-name string :keyword)))) - `((:name ,(to-keyword ;; (roslisp:msg-slot-value message :uid) - (format nil "~a-1" (roslisp:msg-slot-value message :type)))) + `((:name ,(to-keyword + ;; (roslisp:msg-slot-value message :uid) + (format nil "~a-1" (roslisp:msg-slot-value message :type)))) (:type ,(to-keyword (roslisp:msg-slot-value message :type))) (:shape ,(map 'list #'to-keyword (roslisp:msg-slot-value message :shape))) (:color ,(map 'list #'to-keyword (roslisp:msg-slot-value message :color))) @@ -139,20 +154,25 @@ :description "couldn't find the object")) (etypecase quantifier (keyword (ecase quantifier - ((:a :an) (parse-result (aref result 0)) - ;; this case should return a lazy list but I don't like them so... - ) + ;; this case should return a lazy list + ;; but I don't like them so... + ((:a :an) (parse-result (aref result 0))) (:the (if (= number-of-objects 1) (parse-result (aref result 0)) (cpl:fail 'common-fail:perception-low-level-failure - :description "There was more than one of THE object"))) + :description (format nil + "There was more ~ + than one of THE ~ + object")))) (:all (map 'list #'parse-result result)))) (number (if (= number-of-objects quantifier) (map 'list #'parse-result result) (cpl:fail 'common-fail:perception-low-level-failure - :description (format nil "perception returned ~a objects ~ - although there should've been ~a" - number-of-objects quantifier)))))))) + :description (format nil "perception returned ~a ~ + objects although there ~ + should've been ~a" + number-of-objects + quantifier)))))))) (defun map-rs-color-to-rgb-list (rs-color) (when (stringp rs-color) @@ -177,7 +197,7 @@ (if cad-model :templatealignment (if (eq type :spoon) - :2destimate + :3destimate ;:2destimate (if obj-part :handleannotator :3destimate))))) @@ -213,14 +233,40 @@ (ecase (second (find :type rs-answer :key #'car)) (:KoellnMuesliKnusperHonigNuss :breakfast-cereal) + (:muesli + :breakfast-cereal) + (:milk + :milk) (:CupEcoOrange :cup) (:EdekaRedBowl :bowl) + (:IkeaRedBowl + :bowl) + (:SoupSpoon + :spoon) + (:spoon + :spoon) + (:IkeaRedCup + :cup) + (:bowl + :bowl) + (:cup + :cup) + (:mug + :cup) (:WeideMilchSmall :milk) (:BLUEPLASTICSPOON - :spoon)))) + :spoon) + (:BALEAREINIGUNGSMILCHVITAL + :balea-bottle) + (:DENKMITGESCHIRRREINIGERNATURE + :dish-washer-tabs) + (:GarnierMineralUltraDry + :deodorant) + (:DMRoteBeteSaftBio + :juice-box)))) (setf rs-answer (subst-if `(:type ,cram-type) (lambda (x) @@ -241,8 +287,11 @@ ;; (find :color keyword-key-value-pairs-list :key #'car)) ;; (setf rs-answer (remove :color rs-answer :key #'car))) (setf rs-answer (remove :color rs-answer :key #'car)) ; <- if we don't do this - ; might end up asking about mutliple colors + ; might end up asking about mutliple colors + (setf rs-answer (remove :material rs-answer :key #'car)) ; <- if we don't do this + ; might end up asking about different materials (setf rs-answer (remove :shape rs-answer :key #'car)); <- SHAPE comes from original query + (setf rs-answer (remove :size rs-answer :key #'car)) ; <- don't care about size ;; (when (and (find :pose rs-answer :key #'car) ;; (find :pose keyword-key-value-pairs-list :key #'car)) ;; (remove :pose keyword-key-value-pairs-list :key #'car)) diff --git a/cram_external_interfaces/kdl_ik_service/README.md b/cram_external_interfaces/kdl_ik_service/README.md new file mode 100644 index 0000000000..4a30abfee4 --- /dev/null +++ b/cram_external_interfaces/kdl_ik_service/README.md @@ -0,0 +1,106 @@ +# KDL_IK_SERVICE + +Service to solve the Inverse Kinematics of the robot joint states from CRAM. + +The service can take in the base link and the tip link of the robotic appendage to be moved, the goal position of the tip link with respect to the base link and the current state of all the non-fixed joints between the base link and tip-link. + +### Format: +The service takes in requests in the form of *moveit_msgs/GetPositionIK*. For the full format structure, call the following command from the terminal: +```rossrv show moveit_msgs/GetPositionIK ``` +While not all the arguments are mandatory, it is essential to provide the ones marked below for the service to work +``` +ik_request: + pose_stamped: + header: + frame_id: '' + pose: + position: + x: + y: + z: + orientation: + x: + y: + z: + w: + ik_link_name: '' +``` +*Note: Replace the values in the angluar brackets(<>) with the actual values for testing* + +### Example: +Let's try this using the boxy robot. Bring up the boxy URDF and the IK service using the command +```roslaunch cram_boxy_assembly_demo sandbox.launch``` +in the terminal. + +We will try to move the left arm including the torso joint. Thus our base link is *base_footprint* and our tip link is *left_arm_7_link* + +Our goal pose is : +* position (x: 1.1285, y: 0.0999, z: 1.3212) +* orientation quaternion (x: 1, y: 0, z: 0, w: 0) +in the frame *base_footprint* + +Plug in the values as per the format provided above and invoke the service call in a fresh terminal window as shown below: +``` +rosservice call /kdl_ik_service/get_ik " +ik_request: + pose_stamped: + header: + frame_id: 'base_footprint' + pose: + position: + x: 1.285 + y: 0.0999 + z: 1.3212 + orientation: + x: 1 + y: 0 + z: 0 + w: 0 + ik_link_name: 'left_arm_7_link' +" +``` + +A response would be provided in the command line inlcluding the IK solution. + +#### Providing the seed state: +Since no joint state is provided for the IK solver in the previous situation, it is assumed that all the joint values are at 0. + +To provide the seed state of the robot joints along with the input request the input command can be modified as below: +``` +rosservice call /kdl_ik_service/get_ik " +ik_request: + robot_state: + joint_state: + name: + ['triangle_base_joint', + 'left_arm_0_joint', + 'left_arm_1_joint', + 'left_arm_2_joint', + 'left_arm_3_joint', + 'left_arm_4_joint', + 'left_arm_5_joint', + 'left_arm_6_joint'] + position: + [0, -1.858, 0.70751, 0.9614, -2.5922, -2.5922, -1.94065, 2] + pose_stamped: + header: + frame_id: 'base_footprint' + pose: + position: + x: 1.285 + y: 0.0999 + z: 1.3212 + orientation: + x: 1 + y: 0 + z: 0 + w: 0 + ik_link_name: 'left_arm_7_link' +" +``` +* The values under ```ik_request['robot_state']['joint_state']['position']``` are the values of the __non-fixed joints__ starting from the *base_footprint*. The values are ordered and read sequentially. +* The names under ```ik_request['robot_state']['joint_state']['name']``` are the names of the __non-fixed joints__ starting from *base_footprint* in order, and corresponds to the respective joint values. It is optional and is not used to calculate the IK, but is helpful in organizing the results. + +```lisp +Note: The results obtained are sensitive to the input seed state. If you get any invalid result with the existing seed state, try applying 0 as the seed state +``` \ No newline at end of file diff --git a/cram_external_interfaces/kdl_ik_service/launch/kdl_ik.launch b/cram_external_interfaces/kdl_ik_service/launch/kdl_ik.launch index 877ceb2116..cd83044f94 100644 --- a/cram_external_interfaces/kdl_ik_service/launch/kdl_ik.launch +++ b/cram_external_interfaces/kdl_ik_service/launch/kdl_ik.launch @@ -1,3 +1,5 @@ + + diff --git a/cram_external_interfaces/kdl_ik_service/scripts/start_ros_server.py b/cram_external_interfaces/kdl_ik_service/scripts/start_ros_server.py index d746d95251..4c9f9b7e05 100755 --- a/cram_external_interfaces/kdl_ik_service/scripts/start_ros_server.py +++ b/cram_external_interfaces/kdl_ik_service/scripts/start_ros_server.py @@ -8,11 +8,13 @@ def callback(request): # print "Got request %s"%(request) + debug_mode = rospy.get_param("ik_debug", False) + ik_logger = Logger(debug_mode) response = moveit_msgs.srv.GetPositionIKResponse() end_effector_link = request.ik_request.ik_link_name - print end_effector_link + ik_logger.log(end_effector_link) pose_stamped = request.ik_request.pose_stamped transform_stamped = geometry_msgs.msg.TransformStamped @@ -24,27 +26,27 @@ def callback(request): transform_stamped.transform.translation.y = pose_stamped.pose.position.y transform_stamped.transform.translation.z = pose_stamped.pose.position.z transform_stamped.transform.rotation = pose_stamped.pose.orientation - print transform_stamped + ik_logger.log(transform_stamped) base_link = transform_stamped.header.frame_id - print base_link + ik_logger.log(base_link) joint_state = request.ik_request.robot_state.joint_state - print joint_state + ik_logger.log(joint_state) timeout = request.ik_request.timeout - print timeout + ik_logger.log(timeout) response.solution.joint_state = joint_state - new_joint_state_vector, success = kdl_ik_service.ik.calculate_ik(base_link, end_effector_link, joint_state.position, transform_stamped) - print new_joint_state_vector + new_joint_state_vector, success = kdl_ik_service.ik.calculate_ik(base_link, end_effector_link, joint_state.position, transform_stamped, ik_logger.log) + ik_logger.log(new_joint_state_vector) response.solution.joint_state.position = new_joint_state_vector if success: response.error_code.val = response.error_code.SUCCESS else: response.error_code.val = response.error_code.NO_IK_SOLUTION - print response + ik_logger.log(response) return response @@ -55,5 +57,14 @@ def server_main(): rospy.spin() +class Logger(object): + def __init__(self, display_output=False): + self.display_output = display_output + + def log(self, line): + if self.display_output: + print line + + if __name__ == "__main__": server_main() diff --git a/cram_external_interfaces/kdl_ik_service/src/kdl_ik_service/ik.py b/cram_external_interfaces/kdl_ik_service/src/kdl_ik_service/ik.py index 7535e66100..d8cd27ef46 100644 --- a/cram_external_interfaces/kdl_ik_service/src/kdl_ik_service/ik.py +++ b/cram_external_interfaces/kdl_ik_service/src/kdl_ik_service/ik.py @@ -5,9 +5,33 @@ import tf2_kdl import math +# ======================== Hacks (TBF) =============================================================== +def hacky_urdf_parser_fix(urdf_str): + """ + Simon's function to get rid of transmission tags in the URDF. + The urdf_parser_py parser really doesn't like it when transmission XML nodes + don't have a hardwareInterface tag, which our transmissions of Boxy don't have. + So just throw those guys the hell out of the URDF string... + """ + # TODO this function is inefficient but the tested urdfs's aren't big enough for it to be a problem + fixed_urdf = '' + delete = False + black_list = ['transmission', 'gazebo'] + black_open = ['<{}'.format(x) for x in black_list] + black_close = [' 0: + delete = True + if len([x for x in black_close if x in line]) > 0: + delete = False + continue + if not delete: + fixed_urdf += line + '\n' + return fixed_urdf + # ================================= API =================================================== -def calculate_ik(base_link, tip_link, seed_joint_state, goal_transform_geometry_msg): +def calculate_ik(base_link, tip_link, seed_joint_state, goal_transform_geometry_msg, log_fun): """ Calculates the Inverse Kinematics from base_link to tip_link according to the given goal_transform_geometry_msg. The initial joint states would be considered from seed_joint_state. @@ -16,12 +40,13 @@ def calculate_ik(base_link, tip_link, seed_joint_state, goal_transform_geometry_ tip_link eg. - "left_arm_7_link" or "right_arm_7_link" """ robot_urdf_string = rospy.get_param('robot_description') - urdf_obj = urdf_parser_py.urdf.URDF.from_xml_string(robot_urdf_string) + robot_urdf_string_fixed = hacky_urdf_parser_fix(robot_urdf_string) + urdf_obj = urdf_parser_py.urdf.URDF.from_xml_string(robot_urdf_string_fixed) _, kdl_tree = kdl_parser_py.urdf.treeFromUrdfModel(urdf_obj) kdl_chain = kdl_tree.getChain(base_link, tip_link) num_joints = kdl_chain.getNrOfJoints() - print "number of joints: " + str(num_joints) + log_fun("number of joints: " + str(num_joints)) # Get Joint limits kdl_joint_limits_min, kdl_joint_limits_max = get_kdl_joint_limit_arrays(kdl_chain, urdf_obj) @@ -40,14 +65,22 @@ def calculate_ik(base_link, tip_link, seed_joint_state, goal_transform_geometry_ result_joint_state_kdl = solve_ik(ik_solver, num_joints, seed_joint_state_kdl, goal_frame_kdl) # check if calculated joint state results in the correct end-effector position using FK - goal_pose_reached = check_ik_result_using_fk(fk_solver, result_joint_state_kdl, goal_frame_kdl) + goal_pose_reached = check_ik_result_using_fk(fk_solver, result_joint_state_kdl, goal_frame_kdl,log_fun) + + if not goal_pose_reached: + # try with joint seed states as 0 + log_fun("Cannot reach goal using the IK solution with the provided seed state. Trying with zeros") + result_joint_state_kdl_with_zero_seed = solve_ik(ik_solver, num_joints, PyKDL.JntArray(num_joints), goal_frame_kdl) + goal_pose_reached = check_ik_result_using_fk(fk_solver, result_joint_state_kdl_with_zero_seed, goal_frame_kdl, + log_fun) + result_joint_state_kdl = result_joint_state_kdl_with_zero_seed if goal_pose_reached else result_joint_state_kdl # check if calculated joint state is within joint limits joints_within_limits = check_result_joints_are_within_limits(num_joints, result_joint_state_kdl, kdl_joint_limits_min, kdl_joint_limits_max) - print "Result Joint State Within Limits: " + str(joints_within_limits) - print "Can Reach Goal Pose With Solution: " + str(goal_pose_reached) + log_fun("Result Joint State Within Limits: " + str(joints_within_limits)) + log_fun("Can Reach Goal Pose With Solution: " + str(goal_pose_reached)) result_joint_state_vector = get_list_from_kdl_jnt_array(num_joints, result_joint_state_kdl) goal_pose_reached_successfully = goal_pose_reached and joints_within_limits @@ -119,17 +152,17 @@ def solve_ik(ik_solver, num_joints, seed_joint_state_kdl, goal_frame_kdl): return result_joint_state_kdl -def check_ik_result_using_fk(fk_solver, result_joint_state_kdl, goal_frame_kdl): +def check_ik_result_using_fk(fk_solver, result_joint_state_kdl, goal_frame_kdl, log_fun): fk_frame_kdl = PyKDL.Frame() fk_solver.JntToCart(result_joint_state_kdl, fk_frame_kdl) distance_vec = PyKDL.diff(fk_frame_kdl.p, goal_frame_kdl.p) norm = math.sqrt(PyKDL.dot(distance_vec, distance_vec)) - print "distance norm: " + str(norm) + log_fun("distance norm: " + str(norm)) relative_rotation = fk_frame_kdl.M.Inverse() * goal_frame_kdl.M distance_angle, _ = relative_rotation.GetRotAngle() - print "distance angle: " + str(distance_angle) + log_fun("distance angle: " + str(distance_angle)) goal_pose_reached = (norm < 0.005) and (abs(distance_angle) < 0.1) return goal_pose_reached diff --git a/cram_hsrb/README.md b/cram_hsrb/README.md new file mode 100644 index 0000000000..1dcfc0ba3f --- /dev/null +++ b/cram_hsrb/README.md @@ -0,0 +1,18 @@ + +### cram_hsrb + +HSR-specific code, including CRAM simulation-related code, demo code, +and, in future, HSR hardware-specific code. + +*What will you need to use cram_hsrb:* +[1.Toyota Research Institue HSR description](https://github.com/ToyotaResearchInstitute/hsr_description) + +[2.Toyota Research Institue HSR meshes](https://github.com/ToyotaResearchInstitute/hsr_meshes) + +*To start the demo you will need to:* + +`roslaunch cram_hsrb_pick_demo sandbox.launch` + +Load the package **cram_hsrb_pick_demo** + +You can start the demo with: `(demo::spawn-pickup-cylinder-air)` diff --git a/cram_pr2/cram_urdf_bringup/CMakeLists.txt b/cram_hsrb/cram_hsrb/CMakeLists.txt similarity index 60% rename from cram_pr2/cram_urdf_bringup/CMakeLists.txt rename to cram_hsrb/cram_hsrb/CMakeLists.txt index 2c091a1130..19174955be 100644 --- a/cram_pr2/cram_urdf_bringup/CMakeLists.txt +++ b/cram_hsrb/cram_hsrb/CMakeLists.txt @@ -1,4 +1,4 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_urdf_bringup) +project(cram_hsrb) find_package(catkin REQUIRED) -catkin_package() +catkin_metapackage() diff --git a/cram_hsrb/cram_hsrb/package.xml b/cram_hsrb/cram_hsrb/package.xml new file mode 100644 index 0000000000..2156000480 --- /dev/null +++ b/cram_hsrb/cram_hsrb/package.xml @@ -0,0 +1,21 @@ + + cram_hsrb + 0.7.0 + Metapackage for hsrb robot's code + Vanessa Hassouna + Gayane Kazhoyan + BSD + + http://cram-system.org + https://github.com/cram2/cram_common/issues + https://github.com/cram2/cram_common + + catkin + + cram_hsrb_description + cram_hsrb_pick_demo + + + + + diff --git a/cram_boxy/cram_boxy_projection/CMakeLists.txt b/cram_hsrb/cram_hsrb_description/CMakeLists.txt similarity index 73% rename from cram_boxy/cram_boxy_projection/CMakeLists.txt rename to cram_hsrb/cram_hsrb_description/CMakeLists.txt index 174dc0a635..68870db4d7 100644 --- a/cram_boxy/cram_boxy_projection/CMakeLists.txt +++ b/cram_hsrb/cram_hsrb_description/CMakeLists.txt @@ -1,4 +1,4 @@ cmake_minimum_required(VERSION 2.8.3) -project(cram_boxy_projection) +project(cram_hsrb_description) find_package(catkin REQUIRED) catkin_package() diff --git a/cram_hsrb/cram_hsrb_description/cram-hsrb-description.asd b/cram_hsrb/cram_hsrb_description/cram-hsrb-description.asd new file mode 100644 index 0000000000..4e17234ff4 --- /dev/null +++ b/cram_hsrb/cram_hsrb_description/cram-hsrb-description.asd @@ -0,0 +1,43 @@ +;;; Copyright (c) 2019, Gayane Kazhoyan +;; 2019, Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Intelligent Autonomous Systems Group/ +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software +;;; without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(defsystem cram-hsrb-description + :author "Vanessa Hassouna" + :license "BSD" + + :depends-on (cram-prolog + cram-location-costmap ; to specify robot-specific costmap metadata + cram-robot-interfaces) + + :components + ((:module "src" + :components + ((:file "package") + (:file "general-knowledge" :depends-on ("package")) + (:file "arms" :depends-on ("package")))))) diff --git a/cram_hsrb/cram_hsrb_description/package.xml b/cram_hsrb/cram_hsrb_description/package.xml new file mode 100644 index 0000000000..d5e5ac66f2 --- /dev/null +++ b/cram_hsrb/cram_hsrb_description/package.xml @@ -0,0 +1,16 @@ + + cram_hsrb_description + 0.7.0 + + Prolog predicates describing hsrb robot + + Vanessa Hassouna + Gayane Kazhoyan + BSD + + catkin + + cram_prolog + cram_location_costmap + cram_robot_interfaces + diff --git a/cram_hsrb/cram_hsrb_description/src/arms.lisp b/cram_hsrb/cram_hsrb_description/src/arms.lisp new file mode 100644 index 0000000000..d842163f03 --- /dev/null +++ b/cram_hsrb/cram_hsrb_description/src/arms.lisp @@ -0,0 +1,105 @@ +;;; +;;; Copyright (c) 2019, Vanessa Hassouna +;;; Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cram-hsrb-description) + +(defparameter *tcp-in-ee-pose* + (cl-transforms:make-pose + (cl-transforms:make-3d-vector 0.0d0 0.0d0 0.23090001999999998d0) + (cl-transforms:make-quaternion 0.0d0 + 0.0d0 + 0.7071067811865475d0 + 0.7071067811865476d0))) + +(defparameter *standard-to-hsrb-gripper-transform* + (cl-transforms-stamped:make-identity-transform)) + + +(def-fact-group hsrb-arm-facts (arm + arm-joints arm-links + hand-links hand-link hand-finger-link + gripper-joint + gripper-meter-to-joint-multiplier + standard<-particular-gripper-transform + end-effector-link + robot-tool-frame + tcp-in-ee-pose + robot-joint-states) + + (<- (arm :hsrb :left)) + + (<- (arm-joints :hsrb :left ("arm_flex_joint" + "arm_roll_joint" + "wrist_flex_joint" + "wrist_roll_joint"))) + + (<- (arm-links :hsrb :left ("arm_flex_link" + "arm_roll_link" + "wrist_flex_link" + "wrist_roll_link"))) + + (<- (hand-links :hsrb :left ("hand_l_distal_link" + "hand_l_spring_proximal_link" + "hand_palm_link" + "hand_r_distal_link" + "hand_r_spring_proximal_link"))) + + (<- (hand-link :hsrb :left ?link) + (bound ?link) + (lisp-fun search "hand" ?link ?pos) + (lisp-pred identity ?pos)) + + (<- (hand-finger-link :hsrb ?arm ?link) + (bound ?link) + (hand-link :hsrb ?arm ?link) + (lisp-fun search "palm" ?link ?pos) + (not (lisp-pred identity ?pos))) + + (<- (gripper-joint :hsrb :left "hand_motor_joint")) + + (<- (gripper-meter-to-joint-multiplier :hsrb 1.0)) + + (<- (standard<-particular-gripper-transform :hsrb ?transform) + (symbol-value *standard-to-hsrb-gripper-transform* ?transform)) + + (<- (end-effector-link :hsrb :left "wrist_roll_link")) + + (<- (robot-tool-frame :hsrb :left "gripper_tool_frame")) + + (<- (tcp-in-ee-pose :hsrb ?pose) + (symbol-value *tcp-in-ee-pose* ?pose)) + + (<- (robot-joint-states :hsrb :arm :left :carry + (("arm_flex_joint" 0) + ("arm_roll_joint" 1.5) + ("wrist_flex_joint" -1.85) + ("wrist_roll_joint" 0)))) + (<- (robot-joint-states :hsrb :arm :left :park ?joint-states) + (robot-joint-states :hsrb :arm :left :carry ?joint-states))) diff --git a/cram_hsrb/cram_hsrb_description/src/general-knowledge.lisp b/cram_hsrb/cram_hsrb_description/src/general-knowledge.lisp new file mode 100644 index 0000000000..0714947b51 --- /dev/null +++ b/cram_hsrb/cram_hsrb_description/src/general-knowledge.lisp @@ -0,0 +1,82 @@ +;;; +;;; Copyright (c) 2019, Vanessa Hassouna +;;; Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :hsrb-descr) + +(defparameter *forward-looking-position-in-base-frame* + (cl-transforms:make-3d-vector 10.0 0.0 1.5)) + +(def-fact-group hsrb-metadata (robot-odom-frame + robot-base-frame robot-torso-link-joint + arm + camera-frame + camera-horizontal-angle camera-vertical-angle + robot-neck-links robot-neck-joints + robot-joint-states robot-pose) + + (<- (robot-odom-frame :hsrb "odom")) + (<- (robot-base-frame :hsrb "base_footprint")) + (<- (robot-torso-link-joint :hsrb "arm_lift_link" "arm_lift_joint")) + + (<- (camera-frame :hsrb "head_center_camera_frame")) + (<- (camera-frame :hsrb "head_rgbd_sensor_link")) + + ;; These are values taken from the Kinect's wikipedia page for the 360 variant + (<- (camera-horizontal-angle :hsrb 0.99483)) + (<- (camera-vertical-angle :hsrb 0.75049)) + + (<- (robot-neck-links :hsrb "head_pan_link" "head_tilt_link")) + (<- (robot-neck-joints :hsrb "head_pan_joint" "head_tilt_joint")) + + (<- (robot-joint-states :hsrb :neck ?_ :forward ((?pan_joint 0.0) (?tilt_joint 0.0))) + (robot-neck-joints :hsrb ?pan_joint ?tilt_joint)) + + (<- (robot-pose :hsrb :neck ?_ :forward ?pose-stamped) + (robot-base-frame :hsrb ?base-frame) + (lisp-fun cl-transforms:make-identity-rotation ?identity-quaternion) + (symbol-value *forward-looking-position-in-base-frame* ?forward-point) + (lisp-fun cl-transforms-stamped:make-pose-stamped + ?base-frame 0.0 ?forward-point ?identity-quaternion + ?pose-stamped))) + +(def-fact-group location-costmap-metadata (costmap:costmap-padding + costmap:costmap-manipulation-padding + costmap:costmap-in-reach-distance + costmap:costmap-reach-minimal-distance + costmap:orientation-samples + costmap:orientation-sample-step + costmap:visibility-costmap-size) + (<- (costmap:costmap-padding :hsrb 0.2)) + (<- (costmap:costmap-manipulation-padding :hsrb 0.3)) + (<- (costmap:costmap-in-reach-distance :hsrb 0.5)) + (<- (costmap:costmap-reach-minimal-distance :hsrb 0.2)) + (<- (costmap:orientation-samples :hsrb 3)) + (<- (costmap:orientation-sample-step :hsrb 0.3)) + (<- (costmap:visibility-costmap-size :hsrb 2))) diff --git a/cram_hsrb/cram_hsrb_description/src/package.lisp b/cram_hsrb/cram_hsrb_description/src/package.lisp new file mode 100644 index 0000000000..0061783061 --- /dev/null +++ b/cram_hsrb/cram_hsrb_description/src/package.lisp @@ -0,0 +1,35 @@ +;;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;; Vanessa Hassouna +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cl-user) + +(defpackage cram-hsrb-description + (:nicknames #:hsrb-descr) + (:use #:common-lisp #:cram-prolog #:cram-robot-interfaces)) diff --git a/cram_knowrob/cram_cloud_logger/cram-cloud-logger.asd b/cram_knowrob/cram_cloud_logger/cram-cloud-logger.asd index 2c4004954a..fdf2c40572 100644 --- a/cram_knowrob/cram_cloud_logger/cram-cloud-logger.asd +++ b/cram_knowrob/cram_cloud_logger/cram-cloud-logger.asd @@ -8,18 +8,22 @@ :cram-utilities :cram-manipulation-interfaces :cram-executive - :cram-projection) + :cram-projection + :cram-physics-utils) :components - ((:module "src" + ((:module "src" :components ((:file "package") + (:module "mapper" + :components + ((:file "cram-2-knowrob-mapper"))) (:file "utils" :depends-on ("package")) + (:file "failure-handler" :depends-on ("mapper")) (:file "cloud-logger-client" :depends-on ("package" "utils")) - (:file "object-interface" :depends-on ("package" "utils" "cloud-logger-client")) (:file "cloud-logger-query-handler" :depends-on ("package" "cloud-logger-client" "utils")) (:file "prolog-query-handler" :depends-on ("package" "utils" "cloud-logger-client")) (:file "knowrob-action-name-handler" :depends-on ("package" "utils")) (:file "logging-functions" :depends-on ("package" "cloud-logger-query-handler")) (:file "action-parameter-handler" :depends-on ("package" "logging-functions")) - (:file "utils-for-perform" :depends-on ("package" "cloud-logger-query-handler" "prolog-query-handler" "object-interface" "knowrob-action-name-handler" "action-parameter-handler" "utils")) - (:file "failure-handler" :depends-on ("package" "utils-for-perform")))))) + (:file "utils-for-perform" :depends-on ("package" "cloud-logger-query-handler" "prolog-query-handler" "knowrob-action-name-handler" "action-parameter-handler" "utils" "failure-handler")) + (:file "object-interface" :depends-on ("package" "utils" "cloud-logger-client" "utils-for-perform")))))) diff --git a/cram_knowrob/cram_cloud_logger/src/action-parameter-handler.lisp b/cram_knowrob/cram_cloud_logger/src/action-parameter-handler.lisp index ff1bc3e1c2..947ec08d04 100644 --- a/cram_knowrob/cram_cloud_logger/src/action-parameter-handler.lisp +++ b/cram_knowrob/cram_cloud_logger/src/action-parameter-handler.lisp @@ -11,10 +11,11 @@ (let ((logging-function (get-logging-function-for-action-designator-parameter parameter-name)) (logging-args (list action-designator-logging-id parameter-value))) (execute-logging-function-with-arguments - logging-function logging-args)))) + action-designator-logging-id parameter-name logging-function logging-args)))) action-designator-parameters)) -(defun execute-logging-function-with-arguments - (logging-parameter-function logging-parameter-function-arguments) - (when logging-parameter-function - (apply logging-parameter-function logging-parameter-function-arguments))) +(defun execute-logging-function-with-arguments (action-designator-logging-id parameter-name logging-parameter-function logging-parameter-function-arguments) + (if logging-parameter-function + (apply logging-parameter-function logging-parameter-function-arguments) + (let ((parameter-name-str (write-to-string parameter-name))) + (when (string-not-equal ":TYPE" parameter-name-str) (send-comment action-designator-logging-id (concatenate 'string "Unknown Parameter: " parameter-name-str " -####- " (write-to-string (cadr logging-parameter-function-arguments)))))))) diff --git a/cram_knowrob/cram_cloud_logger/src/cloud-logger-client.lisp b/cram_knowrob/cram_cloud_logger/src/cloud-logger-client.lisp index 1349a84aa8..71947f1268 100644 --- a/cram_knowrob/cram_cloud_logger/src/cloud-logger-client.lisp +++ b/cram_knowrob/cram_cloud_logger/src/cloud-logger-client.lisp @@ -3,11 +3,14 @@ (defparameter *cloud-logger-client* nil) (defparameter *is-client-connected* nil) -(defparameter *is-logging-enabled* nil) +;;(defparameter *is-logging-enabled* nil) +(defvar *my-mutex* (sb-thread:make-mutex)) ;; Sebastian's setup on his PC (defparameter *host* "'https://localhost'") +;;(defparameter *host* "'https://192.168.101.42'") (defparameter *cert-path* "'/home/koralewski/Desktop/localhost.pem'") +;;(defparameter *cert-path* "'/home/ease/asil.pem'") ;;LOCAL PC ;;(defparameter *api-key* "'0nYZRYs5AxDeZAWhWBKYmLF1IJCtRM7gkYTqSV3Noyhl5V3yyxzSaA7Nxi8FFQsC'") ;;AI PC @@ -15,6 +18,7 @@ ;;(defparameter *api-key* "'DiI6fqr5I2ObbeMyI9cDyzjoEHjfz3E48O45M3bKAZh465PUvNtOPB9v8xodMCQT'") ;; Gaya's token on Asil's PC +;;(defparameter *api-key* "'MxtU9V2cdstw3ocKXbicBGp7fAeLNxjIvcmY4CJV96DeZd7obfgvw0mR3X5j8Yrz'") ;; Asil's host ;;(defparameter *host* "'https://192.168.101.42'") ;; Asil's certificate on ease@pr2a @@ -73,7 +77,8 @@ (defun send-prolog-query-1 (prolog-query) ;;(print prolog-query) (when *is-logging-enabled* - (handler-case + (sb-thread:with-mutex (*my-mutex*) + (handler-case (let ((query-id (get-id-from-query-result (json-prolog:prolog-simple-1 (concatenate 'string "send_prolog_query('" @@ -83,7 +88,7 @@ query-result)) (simple-error (e) (roslisp:ros-error (ccl) "error in json prolog: ~a~%" e) - (cpl:fail 'ccl-failure :format-control "Error in json prolog."))))) + (cpl:fail 'ccl-failure :format-control "Error in json prolog.")))))) (defun send-prolog-query (prolog-query) (json-prolog:prolog-simple diff --git a/cram_knowrob/cram_cloud_logger/src/cloud-logger-query-handler.lisp b/cram_knowrob/cram_cloud_logger/src/cloud-logger-query-handler.lisp index 097112fcb4..317eac47c0 100644 --- a/cram_knowrob/cram_cloud_logger/src/cloud-logger-query-handler.lisp +++ b/cram_knowrob/cram_cloud_logger/src/cloud-logger-query-handler.lisp @@ -1,5 +1,126 @@ (in-package :ccl) +(defun get-parent-folder-path() + (namestring (physics-utils:parse-uri "package://cram_cloud_logger/src"))) + +(defun send-load-neem-generation-interface () + (let ((path-to-interface-file (concatenate 'string "'"(get-parent-folder-path) "/neem-interface.pl'"))) + (ccl::send-query-1-without-result "ensure_loaded" path-to-interface-file))) + +(defun init-logging () + (send-load-neem-generation-interface)) + ;;(ccl::send-query-1-without-result "ros_logger_start" "")) + +(defun finish-logging () + (print "Finished")) + ;;(ccl::send-query-1-without-result "ros_logger_stop" "")) + +(defun get-grasp-type-lookup-table() + (let ((lookup-table (make-hash-table :test 'equal))) + (setf (gethash ":TOP" lookup-table) "TopGrasp") + (setf (gethash ":TOP-FRONT" lookup-table) "TopFrontGrasp") + (setf (gethash ":TOP-LEFT" lookup-table) "TopLeftGrasp") + (setf (gethash ":TOP-RIGHT" lookup-table) "TopRightGrasp") + (setf (gethash ":BOTTOM" lookup-table) "BottomGrasp") + (setf (gethash ":LEFT" lookup-table) "LeftGrasp") + (setf (gethash ":LEFT-SIDE" lookup-table) "LeftSideGrasp") + (setf (gethash ":RIGHT-SIDE" lookup-table) "RightSideGrasp") + (setf (gethash ":RIGHT" lookup-table) "RightGrasp") + (setf (gethash ":FRONT" lookup-table) "FrontGrasp") + (setf (gethash ":BACK" lookup-table) "BackGrasp") + lookup-table)) + +(defparameter *grasp-type-lookup-table* (get-grasp-type-lookup-table)) + +(defun start-situation (situation-uri) + (attach-time-to-situation "mem_event_begin" situation-uri)) + +(defun stop-situation (situation-uri) + (attach-time-to-situation "mem_event_end" situation-uri)) + +(defun attach-time-to-situation (predicate-name situation-uri) + (send-query-1-without-result predicate-name situation-uri)) + +(defun attach-event-to-situation (event-prolog-url situation-prolog-url) + (get-url-from-send-query-1 "SubAction" "add_subaction_with_task" situation-prolog-url "SubAction" event-prolog-url)) + +(defun send-belief-perceived-at (object-type transform object-id) + (send-query-1-without-result "belief_perceived_at" object-type transform object-id) + object-id) + +(defun send-belief-new-object-query (object-type) + (get-url-from-send-query-1 "Object" "belief_new_object" object-type "Object")) + +(defun set-event-status-to-succeeded (event-prolog-url) + (send-query-1-without-result "mem_event_set_succeeded" event-prolog-url)) + +(defun set-event-status-to-failed (event-prolog-url) + (send-query-1-without-result "mem_event_set_failed" event-prolog-url)) + +(defun send-attach-object-as-parameter-to-situation (object-url parameter-type-url event-prolog-url) + (break) + (send-query-1-without-result "add_participant_with_role" event-prolog-url object-url parameter-type-url)) + +(defun set-event-diagnosis (event-prolog-url diagnosis-url) + (send-query-1-without-result "mem_event_add_diagnosis" event-prolog-url diagnosis-url)) + +(defun start-episode () + (when *episode-name* + (progn + (print "Previous episode recording is still running. Stopping the recording ...") + (stop-episode))) + (ccl::clear-detected-objects) + (setf ccl::*episode-name* (get-url-from-send-query-1 "RootAction" "mem_episode_start" "RootAction"))) + +(defun stop-episode () + (send-query-1-without-result "mem_episode_stop" (concatenate 'string "'" (uiop:getenv "KNOWROB_MEMORY_DIR") "'")) + (setf ccl::*episode-name* nil)) + +(defun send-query-1-without-result (query-name &rest query-parameters) + (let ((query (create-query query-name query-parameters))) + (send-query-1 query) + (print "DONE REASONING"))) + +(defun send-query-1 (query) + (print query) + (json-prolog:prolog-simple-1 query)) + +(defun get-url-from-send-query-1 (url-parameter query-name &rest query-parameters) + (let* ((query (create-query query-name query-parameters)) + (query-result (send-query-1 query))) + (when (eq query-result nil) (break)) + (print "GOT-RESULT") + (ccl::get-url-variable-result-as-str-from-json-prolog-result url-parameter query-result))) + +(defun send-comment (action-inst comment) + (send-query-1-without-result "add_comment" action-inst (concatenate 'string "'"comment"'"))) + ;;(print "COMMENT")) + +(defun send-object-action-parameter (action-inst object-designator) + (let* ((object-name (get-designator-property-value-str object-designator :NAME)) + (object-ease-id (get-ease-object-id-of-detected-object-by-name object-name))) + (when object-ease-id + (send-query-1-without-result "add_participant_with_role" action-inst object-ease-id "'http://www.ease-crc.org/ont/SOMA.owl#AffectedObject'")))) + + +(defun send-grasp-action-parameter (action-inst grasp) + (let ((grasp-type (gethash (write-to-string grasp) *grasp-type-lookup-table*))) + (send-parameter action-inst grasp-type))) + +(defun send-parameter(action-inst region-type) + (let ((region-type-url (concatenate 'string "'""http://www.ease-crc.org/ont/SOMA.owl#" region-type "'"))) + (send-query-1-without-result "add_grasping_parameter" action-inst region-type-url))) + + + + + + + + + + +;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; CLOUD LOGGER RELATED STUFF (OLD) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defun send-cram-start-parent-action (owl-action-class task-context start-time prev-action parent-task action-inst) (send-prolog-query-1 @@ -67,13 +188,6 @@ (defun export-belief-state-to-owl (&optional (filename (concatenate 'string "default_belief_state_" (write-to-string (truncate (cram-utilities:current-timestamp))) ".owl"))) (json-prolog:prolog-simple-1 (concatenate 'string "rdf_save(" (concatenate 'string "'/home/ease/logs/" filename "'" "," "[graph('belief_state')])")))) - -(defun send-grasp-action-parameter (action-inst grasp) - (let ((a (convert-to-prolog-str action-inst)) - (b "knowrob:grasp") - (c (create-owl-literal "xsd:string" (convert-to-prolog-str (write-to-string grasp))))) - (send-rdf-query a b c))) - (defun send-task-success (action-inst is-sucessful) (let ((a (convert-to-prolog-str action-inst)) (b "knowrob:taskSuccess") @@ -102,22 +216,22 @@ (defun send-rdf-query (a b c) (send-prolog-query-1 (create-rdf-assert-query a b c))) -(defun send-object-action-parameter (action-inst object-designator) - (let ((object-instance-id (symbol-name (desig:desig-prop-value object-designator :NAME)))) - (when (not (string-equal object-instance-id "nil")) - (progn - (send-rdf-query - (convert-to-prolog-str action-inst) - "knowrob:objectActedOn" - (convert-to-prolog-str object-instance-id))))) +;;(defun send-object-action-parameter (action-inst object-designator) +;; (let ((object-instance-id (symbol-name (desig:desig-prop-value object-designator :NAME)))) +;; (when (not (string-equal object-instance-id "nil")) +;; (progn +;; (send-rdf-query +;; (convert-to-prolog-str action-inst) +;; "knowrob:objectActedOn" +;; (convert-to-prolog-str object-instance-id))))) - (let ((object-type (symbol-name (desig:desig-prop-value object-designator :TYPE)))) - (when (not (string-equal object-type "nil")) - (progn - (send-rdf-query - (convert-to-prolog-str action-inst) - "knowrob:objectType" - (convert-to-prolog-str object-type)))))) +;; (let ((object-type (symbol-name (desig:desig-prop-value object-designator :TYPE)))) +;; (when (not (string-equal object-type "nil")) +;; (progn +;; (send-rdf-query +;; (convert-to-prolog-str action-inst) +;; "knowrob:objectType" +;; (convert-to-prolog-str object-type)))))) @@ -152,7 +266,7 @@ (let ((x (cl-transforms:x 3d-vector)) (y (cl-transforms:y 3d-vector)) (z (cl-transforms:z 3d-vector))) - (concatenate 'string (format nil "~F" x) " " (format nil "~F" y) " " (format nil "~F" z)))) + (concatenate 'string "["(format nil "~F" x) "," (format nil "~F" y) "," (format nil "~F" z)"]"))) (defun send-create-quaternion (quaternion) @@ -160,7 +274,7 @@ (y (cl-transforms:y quaternion)) (z (cl-transforms:z quaternion)) (w (cl-transforms:w quaternion))) - (concatenate 'string (format nil "~F" x) " " (format nil "~F" y) " " (format nil "~F" z) " " (format nil "~F" w)))) + (concatenate 'string "["(format nil "~F" x) "," (format nil "~F" y) "," (format nil "~F" z) "," (format nil "~F" w) "]"))) (defun send-create-transform-pose-stamped (transform-pose) (let ((pose-stamped-instance-id (send-instance-from-class "Pose")) diff --git a/cram_knowrob/cram_cloud_logger/src/failure-handler.lisp b/cram_knowrob/cram_cloud_logger/src/failure-handler.lisp index 5274b5e5dc..0336d355d5 100644 --- a/cram_knowrob/cram_cloud_logger/src/failure-handler.lisp +++ b/cram_knowrob/cram_cloud_logger/src/failure-handler.lisp @@ -1,10 +1,54 @@ (in-package :ccl) -(defmethod cpl:fail :around (&rest args) - (call-next-method) - ;; (if *is-logging-enabled* - ;; (progn - ;; (log-failure (car ccl::*action-parents*) (car args)) - ;; (call-next-method)) - ;; (call-next-method)) - ) +(defun init-failure-mapper () + (let ((failure-mapper (make-instance 'ccl::cram-2-knowrob-mapper)) + (definition + '(("cram-common-failures:low-level-failure" "LowLevelFailure") + ("cram-common-failures:actionlib-action-timed-out" "ActionlibTimeout") + ("cram-common-failures:navigation-high-level-failure" "NavigationHighLevelFailure") + ("cram-common-failures:navigation-goal-in-collision" "NavigationGoalInCollision") + ("cram-common-failures:looking-high-level-failure" "LookingHighLevelFailure") + ("cram-common-failures:object-unreachable" "ObjectUnreachable") + ("cram-common-failures:manipulation-goal-in-collision" "ManipulationGoalInCollision") + ("cram-common-failures:object-unfetchable" "ObjectUnfetchable") + ("cram-common-failures:fetching-failed" "FetchingFailed") + ("cram-common-failures:object-undeliverable" "ObjectUndeliverable") + ("cram-common-failures:delivering-failed" "DeliveringFailed") + ("cram-common-failures:object-nowhere-to-be-found" "ObjectNowhereToBeFound") + ("cram-common-failures:searching-failed" "SearchingFailed") + ("cram-common-failures:environment-manipulation-impossible" "EnvironmentManipulationImpossible") + ("cram-common-failures:environment-unreachable" "EnvironmentUnreachable") + ("cram-common-failures:manipulation-low-level-failure" "ManipulationLowLevelFailure") + ("cram-common-failures:gripper-low-level-failure" "GripperLowLevelFailure") + ("cram-common-failures:gripper-closed-completely" "GripperClosedCompletely") + ("cram-common-failures:gripper-goal-not-reached" "GripperGoalNotReached") + ("cram-common-failures:manipulation-goal-not-reached" "ManipulationGoalNotReached") + ("cram-common-failures:manipulation-pose-unreachable" "ManipulationPoseUnreachable") + ("cram-common-failures:navigation-low-level-failure" "NavigationLowLevelFailure") + ("cram-common-failures:navigation-pose-unreachable" "NavigationPoseUnreachable") + ("cram-common-failures:navigation-goal-not-reached" "NavigationGoalNotReached") + ("cram-common-failures:perception-low-level-failure" "PerceptionLowLevelFailure") + ("cram-common-failures:perception-object-not-found" "PerceptionObjectNotFound") + ("cram-common-failures:perception-object-not-in-world" "PerceptionObjectNotInWorld") + ("cram-common-failures:ptu-low-level-failure" "PTULowLevelFailure") + ("cram-common-failures:ptu-goal-unreachable" "PTUGoalNotReached") + ("cram-common-failures:ptu-goal-not-reached" "PTUGoalUnreachable") + ("cram-common-failures:torso-low-level-failure" "TorsoLowLevelFailure") + ("cram-common-failures:torso-goal-unreachable" "TorsoGoalUnreachable") + ("cram-common-failures:torso-goal-not-reached" "TorsoGoalNotReached") + ("cram-designators:designator-error" "DesignatorError") + ("cram-executive:designator-reference-failure" "DesignatorReferenceFailure") + ("cram-executive:designator-goal-parsing-failure" "DesignatorGoalParsingFailure")))) + (ccl::add-definition-to-mapper definition failure-mapper) + failure-mapper)) + +(defparameter *failure-mapper* (init-failure-mapper)) + +(defun get-failure-uri (cram-failure-name) + (concatenate 'string "'http://www.ease-crc.org/ont/cram_failures.owl#CRAM" (get-failure-name cram-failure-name) "'")) + +(defun get-failure-name (cram-failure-name) + (let* ((lower-cram-failure-name (string-downcase cram-failure-name)) + (knowrob-failure-name (get-definition-from-mapper lower-cram-failure-name *failure-mapper*))) + (when (not knowrob-failure-name) (setf knowrob-failure-name "Failure")) + knowrob-failure-name)) diff --git a/cram_knowrob/cram_cloud_logger/src/knowrob-action-name-handler.lisp b/cram_knowrob/cram_cloud_logger/src/knowrob-action-name-handler.lisp index 1c3f7719e8..496ee9c760 100644 --- a/cram_knowrob/cram_cloud_logger/src/knowrob-action-name-handler.lisp +++ b/cram_knowrob/cram_cloud_logger/src/knowrob-action-name-handler.lisp @@ -1,64 +1,45 @@ (in-package :ccl) +(defun init-action-name-mapper () + (let ((action-name-mapper (make-instance 'ccl::cram-2-knowrob-mapper)) + (definition + '(("reaching" "Reaching") + ("retracting" "Retracting") + ("lifting" "Lifting") + ("putting" "Lowering") + ("setting-gripper" "Positioning") + ("positioning-arm" "Positioning") + ("opening" "Opening") + ("opening-gripper" "Opening") + ("closing" "Closing") + ("detecting" "Detecting") + ("placing" "Placing") + ("picking-up" "PickingUp") + ("releasing" "Releasing") + ("grasping" "Grasping") + ("gripping" "Grasping") + ("looking" "LookingAt") + ("going" "MovingTo") + ("navigating" "Navigating") + ("searching" "LookingFor") + ("fetching" "PickingUp") + ("delivering" "PuttingDown") + ("transporting" "Transporting") + ("turning-towards" "LookingFor") + ("sealing" "Sealing") + ("pushing" "Pushing") + ("pulling" "Pulling") + ("accessing" "Accessing")))) + (ccl::add-definition-to-mapper definition action-name-mapper) + action-name-mapper)) + +(defparameter *action-name-mapper* (init-action-name-mapper)) + (defun get-knowrob-action-name-uri (cram-action-name designator) - (concatenate 'string "knowrob:" (convert-to-prolog-str (get-knowrob-action-name cram-action-name designator)))) + (concatenate 'string "'http://www.ease-crc.org/ont/EASE-ACT.owl#" (get-knowrob-action-name cram-action-name designator) "'")) (defun get-knowrob-action-name (cram-action-name designator) - (let ((knowrob-action-name cram-action-name)) - (cond ((string-equal cram-action-name "reaching") - (setf knowrob-action-name "Reaching")) - ((string-equal cram-action-name "retracting") - (setf knowrob-action-name "Retracting")) - ((string-equal cram-action-name "lifting") - (setf knowrob-action-name "LiftingAnArm")) - ((string-equal cram-action-name "putting") - (setf knowrob-action-name "LoweringAnArm")) - ((string-equal cram-action-name "setting-gripper") - (setf knowrob-action-name "SettingAGripper")) - ((string-equal cram-action-name "opening") - (setf knowrob-action-name "OpeningAGripper")) - ((string-equal cram-action-name "closing") - (setf knowrob-action-name "ClosingAGripper")) - ((string-equal cram-action-name "detecting") - (setf knowrob-action-name "VisualPerception")) - ((string-equal cram-action-name "placing") - (setf knowrob-action-name "ReleasingGraspOfSomething")) - ((string-equal cram-action-name "picking-up") - (setf knowrob-action-name "AcquireGraspOfSomething")) - ((string-equal cram-action-name "releasing") - (setf knowrob-action-name "OpeningAGripper")) - ((string-equal cram-action-name "gripping") - (setf knowrob-action-name "ClosingAGripper")) - ((string-equal cram-action-name "looking") - (setf knowrob-action-name "LookingAtLocation")) - ((string-equal cram-action-name "going") - (setf knowrob-action-name "BaseMovement")) - ((string-equal cram-action-name "navigating") - (setf knowrob-action-name "MovingToLocation")) - ((string-equal cram-action-name "searching") - (setf knowrob-action-name "LookingForSomething")) - ((string-equal cram-action-name "fetching") - (setf knowrob-action-name "PickingUpAnObject")) - ((string-equal cram-action-name "delivering") - (setf knowrob-action-name "PuttingDownAnObject")) - ((string-equal cram-action-name "Transporting") - (setf knowrob-action-name "FetchAndDeliver")) - ((string-equal cram-action-name "Turning-Towards") - (setf knowrob-action-name "LookingForSomething")) - ((string-equal cram-action-name "SEALING") - (setf knowrob-action-name "MovingToOperate")) - ((string-equal cram-action-name "PUSHING") - (setf knowrob-action-name "Pushing")) - ((string-equal cram-action-name "PULLING") - (setf knowrob-action-name "Pulling")) - ((string-equal cram-action-name "ACCESSING") - (setf knowrob-action-name "MovingToOperate"))) - (if (string-equal knowrob-action-name "OpeningAGripper") - (if (desig:desig-prop-value designator :gripper) - (setf knowrob-action-name "OpeningAGripper") - (setf knowrob-action-name "OpeningADrawer"))) - (if (string-equal knowrob-action-name "ClosingAGripper") - (if (desig:desig-prop-value designator :gripper) - (setf knowrob-action-name "ClosingAGripper") - (setf knowrob-action-name "ClosingADrawer"))) + (let* ((lower-cram-action-name (string-downcase cram-action-name)) + (knowrob-action-name (get-definition-from-mapper lower-cram-action-name *action-name-mapper*))) + (when (not knowrob-action-name) (setf knowrob-action-name "PhysicalTask")) knowrob-action-name)) diff --git a/cram_knowrob/cram_cloud_logger/src/logging-functions.lisp b/cram_knowrob/cram_cloud_logger/src/logging-functions.lisp index ad9f15b421..93e04219ed 100644 --- a/cram_knowrob/cram_cloud_logger/src/logging-functions.lisp +++ b/cram_knowrob/cram_cloud_logger/src/logging-functions.lisp @@ -3,16 +3,17 @@ (defparameter action-designator-parameter-logging-functions (make-hash-table)) (defun define-all-action-designator-parameter-logging-functions () - (add-logging-function-for-action-designator-parameter 'send-effort-action-parameter :effort) - (add-logging-function-for-action-designator-parameter 'send-position-action-parameter :position) + ;;(add-logging-function-for-action-designator-parameter 'send-effort-action-parameter :effort) + ;;(add-logging-function-for-action-designator-parameter 'send-position-action-parameter :position) (add-logging-function-for-action-designator-parameter 'send-object-action-parameter :object) - (add-logging-function-for-action-designator-parameter 'send-arm-action-parameter :arm) - (add-logging-function-for-action-designator-parameter 'send-gripper-action-parameter :gripper) + ;;(add-logging-function-for-action-designator-parameter 'send-arm-action-parameter :arm) + ;;(add-logging-function-for-action-designator-parameter 'send-gripper-action-parameter :gripper) (add-logging-function-for-action-designator-parameter 'send-grasp-action-parameter :grasp) - (add-logging-function-for-action-designator-parameter 'send-left-pose-stamped-list-action-parameter :left-poses) - (add-logging-function-for-action-designator-parameter 'send-right-pose-stamped-list-action-parameter :right-poses) - (add-logging-function-for-action-designator-parameter 'send-location-action-parameter :location) - (add-logging-function-for-action-designator-parameter 'send-target-action-parameter :target)) + ;;(add-logging-function-for-action-designator-parameter 'send-left-pose-stamped-list-action-parameter :left-poses) + ;;(add-logging-function-for-action-designator-parameter 'send-right-pose-stamped-list-action-parameter :right-poses) + ;;(add-logging-function-for-action-designator-parameter 'send-location-action-parameter :location) + ;;(add-logging-function-for-action-designator-parameter 'send-target-action-parameter :target)) + ) (defun add-logging-function-for-action-designator-parameter (logging-function action-designator-parameter) (setf diff --git a/cram_knowrob/cram_cloud_logger/src/mapper/cram-2-knowrob-mapper.lisp b/cram_knowrob/cram_cloud_logger/src/mapper/cram-2-knowrob-mapper.lisp new file mode 100644 index 0000000000..164ebb47ac --- /dev/null +++ b/cram_knowrob/cram_cloud_logger/src/mapper/cram-2-knowrob-mapper.lisp @@ -0,0 +1,14 @@ +(in-package :ccl) + +(defclass cram-2-knowrob-mapper () + ((map :initform (make-hash-table :test 'equal)))) + +(defmethod add-definition-to-mapper (definition (mapper cram-2-knowrob-mapper)) + (loop for x in definition + do (let ((cram-key (car x)) + (knowrob-value (cadr x)) + (map (slot-value mapper 'map))) + (setf (gethash cram-key map) knowrob-value)))) + +(defmethod get-definition-from-mapper (definition (mapper cram-2-knowrob-mapper)) + (gethash definition (slot-value mapper 'map))) diff --git a/cram_knowrob/cram_cloud_logger/src/neem-interface.pl b/cram_knowrob/cram_cloud_logger/src/neem-interface.pl new file mode 100644 index 0000000000..1c649d2e68 --- /dev/null +++ b/cram_knowrob/cram_cloud_logger/src/neem-interface.pl @@ -0,0 +1,47 @@ +:- rdf_meta(mem_event_create(r,r,r)). +:- use_module(library('db/mongo/client')). + +mem_episode_start(Action) :- + tripledb_load('package://knowrob/owl/knowrob.owl',[graph(tbox),namespace(knowrob)]), + tell([is_episode(Episode), is_action(Action), has_type(Task,soma:'PhysicalTask'), + executes_task(Action,Task),is_setting_for(Episode,Action)]),!. + +mem_episode_stop(NeemPath) :- get_time(CurrentTime), atom_concat(NeemPath,'/',X1), atom_concat(X1,CurrentTime,X2), memorize(X2),tripledb_drop(),forall(mng_collection(roslog,Coll),mng_drop(roslog,Coll)). + +mem_event_set_failed(Action) :- tell(action_failed(Action)). + +mem_event_set_succeeded(Action) :- tell(action_succeeded(Action)). + +mem_event_add_diagnosis(Situation, Diagnosis) :- tell(satisfies(Situation, Diagnosis)). + +add_subaction_with_task(Action,SubAction,TaskType) :- tell([is_action(SubAction), has_type(Task,TaskType), executes_task(SubAction,Task), has_subevent(Action,SubAction)]), !. + +mem_event_end(Event) :- get_time(CurrentTime),ask(triple(Event,dul:'hasTimeInterval',TimeInterval)),tripledb_forget(TimeInterval, soma:'hasIntervalEnd', _),tell(holds(TimeInterval, soma:'hasIntervalEnd', CurrentTime)),!. + +mem_event_begin(Event) :- get_time(CurrentTime),tell(occurs(Event) since CurrentTime),!. + +belief_perceived_at(ObjectType, Frame, Object) :- get_time(CurrentTime),tell([has_type(Object,ObjectType),is_at(Object,Frame) since CurrentTime]). + + + +add_participant_with_role(Action, ObjectId, RoleType) :- tell([has_participant(Action,ObjectId), has_type(Role, RoleType), has_role(ObjectId,Role) during [0.0,0.0]]). + + +add_parameter(Task,ParameterType,RegionType) :- tell([has_type(Parameter, ParameterType), has_type(Region,RegionType),has_assignment(Parameter,Region) during [0.0,0.1], has_parameter(Task, Parameter)]). + +add_grasping_parameter(Action,GraspingOrientationType) :- ask(executes_task(Action, Task)), tell([has_type(GraspingOrientation,GraspingOrientationType), has_type(GraspingOrientationConcept,'http://www.ease-crc.org/ont/SOMA.owl#GraspingOrientation'), has_parameter(Task,GraspingOrientationConcept),holds(GraspingOrientationConcept, dul:classifies, GraspingOrientation),has_region(Action,GraspingOrientation)]),!. + +add_comment(Entity,Comment) :- tell(triple(Entity, 'http://www.w3.org/2000/01/rdf-schema#comment', Comment)). + +ros_logger_start :- process_create(path('rosrun'),['mongodb_log', 'mongodb_log.py','__name:=topic_logger', '--mongodb-name', 'roslog', '/tf_projection', '/tf'],[process(PID)]),asserta(ros_logger_pid(PID)). + +ros_logger_stop :- ros_logger_pid(PID), + retractall(ros_logger_pid(PID)), + process_create(path(rosnode), ['kill', '/topic_logger'], + [process(KillPID)]),process_wait(KillPID, _), + process_wait(PID, _), + process_create(path(rosnode),['cleanup'], + [stdin(pipe(In)), detached(true), process(TLPID)]), + writeln(In,'y'),flush_output(In), process_wait(TLPID, _), + print_message(informational,'Topic Logger stopped'). + diff --git a/cram_knowrob/cram_cloud_logger/src/object-interface.lisp b/cram_knowrob/cram_cloud_logger/src/object-interface.lisp index 8df211c435..a220f32263 100644 --- a/cram_knowrob/cram_cloud_logger/src/object-interface.lisp +++ b/cram_knowrob/cram_cloud_logger/src/object-interface.lisp @@ -1,97 +1,157 @@ (in-package :ccl) +(defmethod cram-manipulation-interfaces:get-action-gripping-effort :around (object-type) + (if *is-logging-enabled* + (let ((reasoning-id (log-reasoning-task "GetActionGrippingEffort"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string object-type))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) + (call-next-method))) -(defmethod man-int:calculate-object-faces :around (robot-to-object-transform) +(defmethod cram-manipulation-interfaces:get-action-gripper-opening :around (object-type) (if *is-logging-enabled* - (let ((pose-id (send-create-transform-pose-stamped robot-to-object-transform))) - (let ((query-id - (ccl::create-prolog-log-query-str - "calculate-object-faces" - (list pose-id))) - (query-result (call-next-method))) - (log-end-of-query query-id) - (log-result-of-query - query-id - (concatenate 'string (write-to-string (car query-result)) " " (write-to-string (cadr query-result)))) - query-result)) + (let ((reasoning-id (log-reasoning-task "GetActionGripperOpening"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string object-type))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) (call-next-method))) -(defmethod man-int:get-action-gripping-effort :around (object-type) + +(defmethod cram-manipulation-interfaces:get-action-grasps :around (object-type arm object-transform-in-base) (if *is-logging-enabled* - (let ((query-id - (ccl::create-prolog-log-query-str - "get-object-type-gripping-effort" - (list (write-to-string object-type)))) - (query-result (call-next-method))) - (log-end-of-query query-id) - query-result) + (let ((reasoning-id (log-reasoning-task "GetActionGrasps"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + query-result)) (call-next-method))) +(defmethod cram-manipulation-interfaces:get-container-closing-distance :around (container-name) + (if *is-logging-enabled* + (let ((reasoning-id (log-reasoning-task "GetContainerClosingDistance"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string container-name))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) + (call-next-method))) + +(defmethod cram-manipulation-interfaces:get-container-opening-distance :around (container-name) + (if *is-logging-enabled* + (let ((reasoning-id (log-reasoning-task "GetContainerOpeningDistance"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string container-name))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) + (call-next-method))) + +;;(defmethod cram-manipulation-interfaces:get-action-grasps :around (object-type arm object-transform-in-base) +;; (if *is-logging-enabled* +;; (let* ((query-result (call-next-method)) +;; (query-id (log-reasoning-task "cram-manipulation-interfaces:get-action-grasps" (write-to-string object-type) (write-to-string query-result))) +;; (pose-id (send-create-transform-pose-stamped object-transform-in-base))) +;; (send-rdf-query query-id +;; "knowrob:parameter2" +;; (convert-to-prolog-str pose-id)) +;; query-result) +;; (call-next-method))) + +(defmethod cram-manipulation-interfaces:get-action-trajectory :around (action-type arm grasp location objects-acted-on &key &allow-other-keys) + (if *is-logging-enabled* + (let ((reasoning-id (log-reasoning-task "GetActionTrajectory"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string action-type) + " -####- " (write-to-string arm) + " -####- " (write-to-string grasp) + " -####- " (write-to-string objects-acted-on))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) + (call-next-method))) -(defmethod man-int:get-action-grasps :around (object-type - arm - object-transform-in-base) +(defmethod cram-manipulation-interfaces:get-location-poses :around (location-designator) (if *is-logging-enabled* - (let ((query-id - (ccl::create-prolog-log-query-str - "get-object-type-grasps" - (list (write-to-string object-type) - (write-to-string nil) - (write-to-string nil) - (write-to-string nil) - (write-to-string arm)))) - (query-result (call-next-method))) - (log-end-of-query query-id) - query-result) + (let ((reasoning-id (log-reasoning-task "GetLocationPoses"))) + (ccl::start-situation reasoning-id) + (let ((query-result (call-next-method))) + (ccl::stop-situation reasoning-id) + (ccl::send-comment reasoning-id (concatenate 'string "INPUT -####- " (write-to-string location-designator))) + (ccl::send-comment reasoning-id (concatenate 'string "OUTPUT -####- " (write-to-string query-result))) + query-result)) (call-next-method))) -(defmethod man-int:get-action-gripper-opening :around (object-type) - ;;(format t "Asking for GRIPPER OPENING for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "GRIPPER OPENING Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) - -(defmethod man-int:get-object-type-to-gripper-lift-transform :around (object-type - object-name - arm - grasp - grasp-transform) - ;;(format t "Asking for GRIPPER LIFT TRANSFORMATION for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "GRIPPER LIFT TRANSFORMATION Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) - -(defmethod man-int:get-object-type-to-gripper-transform :around (object-type - object-name - arm - grasp) - ;;(format t "Asking for GRIPPER TRANSFORM for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "GRIPPER TRANSFORM Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) - -(defmethod man-int:get-object-type-to-gripper-pregrasp-transform :around (object-type - object-name - arm - grasp - grasp-transform) - ;;(format t "Asking for GRIPPER PREGRASP TRANSFORMATION for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "GRIPPER PREGRASP TRANSFORMATION Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) - -(defmethod man-int:get-object-type-to-gripper-2nd-pregrasp-transform :around (object-type - object-name - arm - grasp - grasp-transform) - ;;(format t "Asking for GRIPPER 2ND PREGRASP TRANSFORMATION for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "GRIPPER 2ND PREGRASP TRANSFORMATION Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) - -(defmethod man-int:get-object-grasping-poses :around (object-name object-type arm grasp object-transform) - ;;(format t "Asking for GRASPING POSES for the object: ~a~%" object-type) - (let ((query-result (call-next-method))) - ;;(format t "Asking for GRASPING POSES Result is ~a~% for the object: ~a~%" query-result object-type) - query-result)) +(defun log-reasoning-task (predicate-name) + (let ((reasoning-url (create-reasoning-url predicate-name))) + (attach-event-to-situation reasoning-url (get-parent-uri)))) + + +(defun create-reasoning-url (predicate-name) + (concatenate 'string "'http://www.ease-crc.org/ont/EASE-ACT.owl#" predicate-name "'")) + +;;(defun log-reasoning-task (predicate-name parameter reasoning-result) +;; (let +;; ((query-id (convert-to-prolog-str (get-value-of-json-prolog-dict +;; (cdaar +;; (send-cram-start-action +;; (concatenate 'string "knowrob:" (convert-to-prolog-str "ReasoningTask")) +;; " \\'TableSetting\\'" +;; (convert-to-prolog-str (get-timestamp-for-logging)) +;; "PV" +;; "ActionInst")) +;; "ActionInst")))) +;; (print "REASONING LOGGING") +;; ;;(send-init-reasoning-query query-id) +;; (send-predicate-query query-id predicate-name) +;; (print "REASONING LOGGING 1") +;; (send-parameter-query query-id parameter) +;; (print "REASONING LOGGING 2") +;; (send-link-reasoing-to-action query-id) +;; (print "REASONING LOGGING 3") +;; (send-result-query query-id reasoning-result) +;; (print "REASONING LOGGING 4") +;; query-id)) + + +(defun send-init-reasoning-query (query-id) + (send-prolog-query-1 + (create-query + "cram_start_action" + (list (concatenate 'string "knowrob:" (convert-to-prolog-str "PrologQuery")) + "\\'TableSetting\\'" + (get-timestamp-for-logging) + "PV" + query-id)))) + +(defun send-predicate-query (query-id predicate-name) + (send-rdf-query query-id + "knowrob:predicate" + (convert-to-prolog-str predicate-name))) + +(defun send-result-query (query-id result-query) + (send-rdf-query query-id + "knowrob:result" + (convert-to-prolog-str result-query))) + +(defun send-parameter-query (query-id parameter) + (send-rdf-query query-id + "knowrob:parameter" + (convert-to-prolog-str parameter))) + +(defun send-link-reasoing-to-action (query-id) + (send-rdf-query (convert-to-prolog-str (car *action-parents*)) + "knowrob:reasoningTask" + query-id)) + +(defun create-reasoning-task-query-id () + (convert-to-prolog-str (concatenate 'string "http://knowrob.org/kb/knowrob.owl#" "PrologQuery_" (format nil "~x" (random (expt 16 8)))))) + ;;(concatenate (concatenate 'string "knowrob:" (convert-to-prolog-str (concatenate 'string "PrologQuery_" (format nil "~x" (random (expt 16 8)))))))) diff --git a/cram_knowrob/cram_cloud_logger/src/prolog-query-handler.lisp b/cram_knowrob/cram_cloud_logger/src/prolog-query-handler.lisp index e25100cc97..292cd412e3 100644 --- a/cram_knowrob/cram_cloud_logger/src/prolog-query-handler.lisp +++ b/cram_knowrob/cram_cloud_logger/src/prolog-query-handler.lisp @@ -6,7 +6,8 @@ (defmethod prolog::prove-one :around (query binds &optional rethrow-cut) - (if *is-logging-enabled* + ;;(if *is-logging-enabled* + (if nil (let ((query-id (create-prolog-log-query (car query) '("http://knowrob.org/kb/knowrob.owl#no-parameter"))) @@ -82,9 +83,10 @@ (print "--------")))))) (defun send-batch-query () - (print "Sending batch query ...") - (if (cpl:value *prolog-queries*) - (send-prolog-query-1 (create-batch-query))) + (print "Preparing batch query ...") + ;;(if (cpl:value *prolog-queries*) + ;; (progn (print "Sending batch query ...") + ;; (send-prolog-query-1 (create-batch-query)))) (print "Batch query is done")) (defun create-obj-true-false-log-query (predicate-name) diff --git a/cram_knowrob/cram_cloud_logger/src/utils-for-perform.lisp b/cram_knowrob/cram_cloud_logger/src/utils-for-perform.lisp index 2e44036024..b521d770cc 100644 --- a/cram_knowrob/cram_cloud_logger/src/utils-for-perform.lisp +++ b/cram_knowrob/cram_cloud_logger/src/utils-for-perform.lisp @@ -30,67 +30,120 @@ (in-package :ccl) +(defun get-ease-object-lookup-table() + (let ((lookup-table (make-hash-table :test 'equal))) + (setf (gethash "BOWL" lookup-table) "'http://www.ease-crc.org/ont/SOMA.owl#Bowl'") + (setf (gethash "CUP" lookup-table) "'http://www.ease-crc.org/ont/SOMA.owl#Cup'") + (setf (gethash "DRAWER" lookup-table) "'http://www.ease-crc.org/ont/SOMA.owl#Drawer'") + lookup-table)) + (cpl:define-task-variable *action-parents* '()) (defparameter *action-siblings* (make-hash-table)) +(defparameter *detected-objects* (make-hash-table :test 'equal)) +(defparameter *episode-name* nil) +(defparameter *is-logging-enabled* nil) +(defparameter *ease-object-lookup-table* (get-ease-object-lookup-table)) + + +(defun clear-detected-objects () + (setf *detected-objects* (make-hash-table :test 'equal))) + +(defun get-ease-object-id-of-detected-object-by-name (object-name) + (gethash object-name *detected-objects*)) +(defun get-parent-uri() + (if (is-action-parent) + *episode-name* + (car *action-parents*))) + +(defun get-transform-of-detected-object (detected-object) + (let* + ((detected-object-transform (man-int:get-object-transform-in-map detected-object)) + (translate (cl-transforms-stamped:translation detected-object-transform)) + (quaternion (cl-transforms-stamped:rotation detected-object-transform))) + (concatenate + 'string "['map'," + (send-create-3d-vector translate) "," + (send-create-quaternion quaternion)"]"))) + +(defun is-action-parent () + (if (not *action-parents*) t nil)) + +(defun convert-to-ease-object-type-url (object-type) + (if (gethash object-type *ease-object-lookup-table*) + (gethash object-type *ease-object-lookup-table*) + "'http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#DesignedArtifact'")) + +(defun handle-detected-object (detected-object) + (let* ((object-name (get-designator-property-value-str detected-object :NAME)) + (detected-object-type (get-designator-property-value-str detected-object :TYPE)) + (object-type + (convert-to-ease-object-type-url detected-object-type))) + (if (gethash object-name *detected-objects*) + (print "Object exists") + (let ((object-id (send-belief-perceived-at object-type + (get-transform-of-detected-object detected-object) + (concatenate 'string + "'" "http://www.ease-crc.org/ont/SOMA.owl#" + (roslisp-utilities:rosify-underscores-lisp-name (make-symbol object-name)) "'")))) + (setf (gethash object-name *detected-objects*) object-id) + (when (string-equal object-type "'http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#DesignedArtifact'") + (send-comment object-id (concatenate 'string "Unknown Object: "(write-to-string detected-object-type)))))))) + (defmethod exe:generic-perform :around ((designator desig:action-designator)) (if *is-logging-enabled* - ;;This hack was needed for the milestone 2018 - ;;(if (and *is-logging-enabled* (not (string-equal (get-designator-property-value-str designator :TYPE) "grasping"))) (let ((action-id (log-perform-call designator)) - (is-parent-action nil) (cram-action-name (get-designator-property-value-str designator :TYPE))) (cpl:with-failure-handling ((cpl:plan-failure (e) - (log-cram-finish-action action-id) - (send-task-success action-id "false") - (log-failure action-id e) - ;;(format t "failure string: ~a" (write-to-string e)) - (if is-parent-action - (send-batch-query)))) - ;;(print designator) - (if cram-projection:*projection-environment* - (send-performed-in-projection action-id "true") - (send-performed-in-projection action-id "false")) - (log-cram-sub-action - (car *action-parents*) - action-id - (get-knowrob-action-name cram-action-name designator)) - (log-cram-sibling-action - (car *action-parents*) action-id (get-knowrob-action-name cram-action-name designator)) - (if (not *action-parents*) - (setq is-parent-action t)) + ;;(log-cram-finish-action action-id) + (set-event-status-to-failed action-id) + (set-event-diagnosis action-id (ccl::get-failure-uri (subseq (write-to-string e) 2 (search " " (write-to-string e))))) + ;;(log-failure action-id e) + ;;(equate action-id (log-perform-call (second (desig:reference designator))))) + (print "plan failure"))) + + ;;;;;;;;;;;;;;;; CHECK IF ENVIRONMENT IS A SIMULATION + ;;(if cram-projection:*projection-environment* + ;; (send-performed-in-projection action-id "true") + ;; (send-performed-in-projection action-id "false")) + + ;;;;;;;;;;;;;;;; LOG SUBACTIONS + ;;(log-cram-sub-action + ;; (car *action-parents*) + ;; action-id + ;; (get-knowrob-action-name cram-action-name designator)) + + ;;(log-cram-sibling-action + ;; (car *action-parents*) action-id (get-knowrob-action-name cram-action-name designator)) (push action-id *action-parents*) - (let ((perform-result (call-next-method))) - (log-cram-finish-action action-id) - (when (and perform-result (typep perform-result 'desig:object-designator)) - (let ((name (desig:desig-prop-value perform-result :name))) - (when name - (send-object-action-parameter action-id perform-result)))) - (send-task-success action-id "true") - (if is-parent-action - (send-batch-query)) - perform-result))) + + (ccl::start-situation action-id) + (multiple-value-bind (perform-result action-desig) + (call-next-method) + ;;(let ((referenced-action-id (log-perform-call action-desig))) + (let ((referenced-action-id "") + (action-designator-parameters (desig:properties (or action-desig designator)))) + (log-action-designator-parameters-for-logged-action-designator action-designator-parameters action-id) + (when (string-equal cram-action-name "detecting") + (handle-detected-object perform-result)) + (set-event-status-to-succeeded action-id) + (ccl::stop-situation action-id) + perform-result)))) (call-next-method))) +(defun equate (designator-id referenced-designator-id) + (send-rdf-query (convert-to-prolog-str designator-id) + "knowrob:equate" + (convert-to-prolog-str referenced-designator-id))) + (defun log-perform-call (designator) - (connect-to-cloud-logger) - (if *is-client-connected* - (let ((result "") - (cram-action-name (get-designator-property-value-str designator :TYPE)) - (action-designator-parameters (desig:properties designator))) - (setf result (get-value-of-json-prolog-dict - (cdaar - (send-cram-start-action - (get-knowrob-action-name-uri cram-action-name designator) - " \\'TableSetting\\'" - (convert-to-prolog-str (get-timestamp-for-logging)) - "PV" - "ActionInst")) - "ActionInst")) - (log-action-designator-parameters-for-logged-action-designator - action-designator-parameters result) - result) + (if *is-logging-enabled* + (let* ((cram-action-name (get-knowrob-action-name-uri (get-designator-property-value-str designator :TYPE) designator)) + (event-name-url (attach-event-to-situation cram-action-name (get-parent-uri)))) + (when (string-equal cram-action-name "'http://www.ease-crc.org/ont/SOMA.owl#PhysicalTask'") + (send-comment event-name-url (concatenate 'string "Unknown Action: " (get-designator-property-value-str designator :TYPE)))) + event-name-url) "NOLOGGING")) (defun log-failure (action-id failure-type) diff --git a/cram_knowrob/cram_cloud_logger/src/utils.lisp b/cram_knowrob/cram_cloud_logger/src/utils.lisp index 607bd91d30..5c0842857a 100644 --- a/cram_knowrob/cram_cloud_logger/src/utils.lisp +++ b/cram_knowrob/cram_cloud_logger/src/utils.lisp @@ -1,5 +1,20 @@ (in-package :ccl) +(defun get-url-variable-result-as-str-from-json-prolog-result (variable-name json-prolog-result) + (let* ((variable-name-key + (transform-variable-name-to-variable-key variable-name)) + (json-prolog-first-result + (car json-prolog-result)) + (prolog-string-url + (string (cdr (assoc variable-name-key json-prolog-first-result))))) + prolog-string-url)) + +(defun transform-variable-name-to-variable-key (variable-name) + (read-from-string (concatenate 'string "|?" variable-name "|"))) + +(defun convert-to-lisp-str (prolog-str) + (subseq prolog-str 1 (- (length prolog-str) 1))) + (defun get-designator-property-value-str (designator property-keyname) (string (cadr (assoc property-keyname (desig:properties designator))))) diff --git a/cram_json_prolog/.gitignore b/cram_knowrob/cram_json_prolog/.gitignore similarity index 100% rename from cram_json_prolog/.gitignore rename to cram_knowrob/cram_json_prolog/.gitignore diff --git a/cram_json_prolog/CHANGELOG.md b/cram_knowrob/cram_json_prolog/CHANGELOG.md similarity index 100% rename from cram_json_prolog/CHANGELOG.md rename to cram_knowrob/cram_json_prolog/CHANGELOG.md diff --git a/cram_json_prolog/CMakeLists.txt b/cram_knowrob/cram_json_prolog/CMakeLists.txt similarity index 100% rename from cram_json_prolog/CMakeLists.txt rename to cram_knowrob/cram_json_prolog/CMakeLists.txt diff --git a/cram_json_prolog/README.md b/cram_knowrob/cram_json_prolog/README.md similarity index 100% rename from cram_json_prolog/README.md rename to cram_knowrob/cram_json_prolog/README.md diff --git a/cram_json_prolog/cram-json-prolog.asd b/cram_knowrob/cram_json_prolog/cram-json-prolog.asd similarity index 87% rename from cram_json_prolog/cram-json-prolog.asd rename to cram_knowrob/cram_json_prolog/cram-json-prolog.asd index e52b2edadc..d107c41e35 100644 --- a/cram_json_prolog/cram-json-prolog.asd +++ b/cram_knowrob/cram_json_prolog/cram-json-prolog.asd @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2009, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +13,7 @@ ;;; * Neither the name of Willow Garage, Inc. nor the names of its ;;; contributors may be used to endorse or promote products derived from ;;; this software without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -27,8 +27,6 @@ ;;; POSSIBILITY OF SUCH DAMAGE. ;;; -;;;; -*- Mode: LISP -*- - (in-package :asdf) (defsystem "cram-json-prolog" @@ -41,7 +39,7 @@ :depends-on (:cram-utilities :cram-prolog :json_prolog_msgs-srv - :yason + :yason :roslisp :alexandria) @@ -49,7 +47,8 @@ ((:module "src" :components ((:file "package") - (:file "json-conversion" :depends-on ("package")) - (:file "prolog-interface" :depends-on ("package" "json-conversion")) - (:file "prolog-handlers" :depends-on ("package" "prolog-interface")) - (:file "server" :depends-on ("package")))))) + ;; (:file "server" :depends-on ("package")) + ;; (:file "json-conversion" :depends-on ("package")) + (:file "conversion" :depends-on ("package")) + (:file "prolog-interface" :depends-on ("package" "conversion")) + (:file "prolog-handlers" :depends-on ("package" "prolog-interface")))))) diff --git a/cram_json_prolog/package.xml b/cram_knowrob/cram_json_prolog/package.xml similarity index 100% rename from cram_json_prolog/package.xml rename to cram_knowrob/cram_json_prolog/package.xml diff --git a/cram_knowrob/cram_json_prolog/src/conversion.lisp b/cram_knowrob/cram_json_prolog/src/conversion.lisp new file mode 100644 index 0000000000..b8044c4977 --- /dev/null +++ b/cram_knowrob/cram_json_prolog/src/conversion.lisp @@ -0,0 +1,146 @@ +;;; +;;; Copyright (c) 2009, Lorenz Moesenlechner +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of Willow Garage, Inc. nor the names of its +;;; contributors may be used to endorse or promote products derived from +;;; this software without specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. +;;; + +(in-package :json-prolog) + +(defun prologify (s) + (flet ((contains-lower-case-char (symbol) + (and + (find-if (lambda (ch) + (let ((lch (char-downcase ch))) + (and (find lch "abcdefghijklmnopqrstuvwxyz") + (eq lch ch)))) + (symbol-name symbol)) + t))) + (if (contains-lower-case-char s) + (string s) + (string-downcase (substitute #\_ #\- (copy-seq (string s))))))) + +(defun lispify (s) + (string-upcase (string s))) + +(defun replace-all-2 (new old str) + (with-output-to-string (out) + (let ((pos (search old str))) + (cond (pos + (write-string (subseq str 0 pos) out) + (write-string new out) + (write-string + (replace-all-2 new old (subseq str (+ pos (length old)))) out)) + (t + (write-string str out))) + out))) + +(defun escape-quotes (str) + (replace-all-2 "\\'" "'" str)) + +(defun unescape-string (str) + (remove "\\" (copy-seq str))) + +(defun replace-complex-types (exp) + (mapcar (lambda (e) + (typecase e + (list (replace-complex-types e)) + (symbol (symbol-name e)) + ;; (string e) + (t e))) + exp)) + +(defun prolog->query-string (exp &key prologify) + "Recursively walks exp and converts every lisp-expression + into a simple prolog query representation." + (when exp + (typecase exp + (string (format nil "'~a'" exp)) + (number (write-to-string exp)) + (symbol + (cond ((is-var exp) + (when (find #\- (symbol-name exp)) + (error 'simple-error + :format-control "Variable name `~a' invalid. ~ + For prolog, it must not contain ~ + `-' characters." + :format-arguments (list exp))) + (subseq (symbol-name exp) 1)) + (t + (if prologify + (escape-quotes (prologify exp)) + (escape-quotes (symbol-name exp)))))) + (list + (cond ((eq (car exp) 'and) + (format nil "~{~A~^, ~}" + (mapcar 'prolog->query-string (cdr exp)))) + ((eq (car exp) 'or) + (format nil "~{~A~^; ~}" + (mapcar 'prolog->query-string (cdr exp)))) + ((eq (car exp) 'quote) + (format nil "[~{~A~^, ~}]" + (mapcar 'prolog->query-string (cadr exp)))) + ((eq (car exp) 'list) + (format nil "[~{~A~^, ~}]" + (mapcar 'prolog->query-string (cdr exp)))) + ((listp (car exp)) + (format nil "[~{~A~^, ~}]" + (mapcar 'prolog->query-string exp))) + (t + (format nil "~a(~{~A~^, ~})" + (car exp) (mapcar 'prolog->query-string (cdr exp)))))) + (t (prolog->query-string + (gensym (symbol-name (type-of exp))) + :prologify prologify))))) + +(defun json->prolog (exp &key (lispify nil) (package *package*)) + "Converts a json encoded string into its lisp prolog representation." + (flet ((map-operators (str) + (string-case str + (";" "OR") + ("," "AND") + (t str)))) + (when exp + (typecase exp + (string (let ((exp (map-operators (unescape-string exp)))) + (if lispify + (intern (lispify exp) package) + (intern (concatenate 'string "'" exp "'") + package)))) + (number exp) + (list (mapcar (alexandria:rcurry #'json->prolog :lispify lispify) exp)) + (hash-table + (let ((list (gethash "list" exp)) + (term (gethash "term" exp)) + (var (gethash "variable" exp))) + (cond (list (list 'quote (json->prolog list :lispify lispify))) + (term (json->prolog term :lispify lispify)) + (var (intern (concatenate 'string "?" var) package))))))))) + +(defun json-bdgs->prolog-bdgs (bdgs-str &key (lispify nil) (package *package*)) + (loop for var being the hash-keys in (yason:parse bdgs-str) + using (hash-value bdg) + collecting (cons (intern (concatenate 'string "?" var) package) + (json->prolog bdg :lispify lispify :package package)))) diff --git a/cram_json_prolog/src/json-conversion.lisp b/cram_knowrob/cram_json_prolog/src/json-conversion.lisp similarity index 99% rename from cram_json_prolog/src/json-conversion.lisp rename to cram_knowrob/cram_json_prolog/src/json-conversion.lisp index 9725ccb13c..c57f204537 100644 --- a/cram_json_prolog/src/json-conversion.lisp +++ b/cram_knowrob/cram_json_prolog/src/json-conversion.lisp @@ -63,7 +63,7 @@ (defun lispify (s) (string-upcase (string s))) -(defun replace-all (new old str) +(defun replace-all-2 (new old str) (with-output-to-string (out) (let ((pos (search old str))) (cond (pos @@ -74,7 +74,7 @@ out))) (defun escape-quotes (str) - (replace-all "\\'" "'" str)) + (replace-all-2 "\\'" "'" str)) (defun unescape-string (str) (remove "\\" (copy-seq str))) diff --git a/cram_json_prolog/src/package.lisp b/cram_knowrob/cram_json_prolog/src/package.lisp similarity index 89% rename from cram_json_prolog/src/package.lisp rename to cram_knowrob/cram_json_prolog/src/package.lisp index cf42d37566..ca59709ab9 100644 --- a/cram_json_prolog/src/package.lisp +++ b/cram_knowrob/cram_json_prolog/src/package.lisp @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2009, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +13,7 @@ ;;; * Neither the name of Willow Garage, Inc. nor the names of its ;;; contributors may be used to endorse or promote products derived from ;;; this software without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -39,9 +39,10 @@ #:prolog-simple-1 #:finish-query #:json-prolog - #:wait-for-prolog-service - #:with-type-atoms - #:init-type-atoms - #:clear-type-atoms - #:replace-complex-types - #:start-prolog-server)) + ;; #:wait-for-prolog-service + ;; #:with-type-atoms + ;; #:init-type-atoms + ;; #:clear-type-atoms + ;; #:replace-complex-types + ;; #:start-prolog-server + )) diff --git a/cram_json_prolog/src/prolog-handlers.lisp b/cram_knowrob/cram_json_prolog/src/prolog-handlers.lisp similarity index 100% rename from cram_json_prolog/src/prolog-handlers.lisp rename to cram_knowrob/cram_json_prolog/src/prolog-handlers.lisp diff --git a/cram_json_prolog/src/prolog-interface.lisp b/cram_knowrob/cram_json_prolog/src/prolog-interface.lisp similarity index 97% rename from cram_json_prolog/src/prolog-interface.lisp rename to cram_knowrob/cram_json_prolog/src/prolog-interface.lisp index a88f659f3c..b395b359fb 100644 --- a/cram_json_prolog/src/prolog-interface.lisp +++ b/cram_knowrob/cram_json_prolog/src/prolog-interface.lisp @@ -1,10 +1,10 @@ ;;; ;;; Copyright (c) 2009, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +13,7 @@ ;;; * Neither the name of Willow Garage, Inc. nor the names of its ;;; contributors may be used to endorse or promote products derived from ;;; this software without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -30,7 +30,7 @@ (in-package :json-prolog) (defvar *finish-marker* nil) -(defvar *service-namespace* "/json_prolog") +(defvar *service-namespace* "/rosprolog") (defvar *persistent-services* (make-hash-table :test 'equal)) @@ -116,7 +116,7 @@ 'json_prolog_msgs-srv:PrologQuery :id query-id :mode mode - :query (prolog->json exp :prologify prologify)) + :query (prolog->query-string exp :prologify prologify)) :lispify lispify :package package))) (defun prolog-1 (exp &key (mode 0) (prologify t) (lispify nil) (package *package*)) @@ -130,7 +130,7 @@ evaluates it." (let ((query-id (make-query-id))) (prolog-result->bdgs query-id - (call-prolog-service (concatenate 'string *service-namespace* "/simple_query") + (call-prolog-service (concatenate 'string *service-namespace* "/query") 'json_prolog_msgs-srv:PrologQuery :id query-id :mode mode @@ -141,7 +141,7 @@ evaluates it." "Like PROLOG-SIMPLE but closes the query after the first solution." (let ((bdgs (prolog-simple query-str :lispify lispify :mode mode :package package))) (finish-query bdgs))) - + (defun finish-query (result) (let ((*finish-marker* t)) (lazy-cdr (last result)) diff --git a/cram_json_prolog/src/server.lisp b/cram_knowrob/cram_json_prolog/src/server.lisp similarity index 100% rename from cram_json_prolog/src/server.lisp rename to cram_knowrob/cram_json_prolog/src/server.lisp diff --git a/cram_knowrob/cram_knowrob_cloud/src/cloud-interface.lisp b/cram_knowrob/cram_knowrob_cloud/src/cloud-interface.lisp index 45cb8b861f..67dfe3a40d 100644 --- a/cram_knowrob/cram_knowrob_cloud/src/cloud-interface.lisp +++ b/cram_knowrob/cram_knowrob_cloud/src/cloud-interface.lisp @@ -29,29 +29,13 @@ (in-package :kr-cloud) -(defun replace-all (string part replacement &key (test #'char=)) - "Returns a new string in which all the occurences of the part -is replaced with replacement. - Taken from Common Lisp Cookbook." - (with-output-to-string (out) - (loop with part-length = (length part) - for old-pos = 0 then (+ pos part-length) - for pos = (search part string - :start2 old-pos - :test test) - do (write-string string out - :start old-pos - :end (or pos (length string))) - when pos do (write-string replacement out) - while pos))) - (defun json-result->string (result-symbol) (when result-symbol (string-trim "'" (symbol-name result-symbol)))) (defun cloud-prolog-simple (query) (declare (type string query)) - (let* ((escaped-query (replace-all query "'" "\\'")) + (let* ((escaped-query (cut:replace-all query "'" "\\'")) (query-answer (json-prolog:prolog-simple-1 (format nil "send_prolog_query('~a', @(false), ID)." escaped-query) :mode 1 @@ -122,7 +106,7 @@ is replaced with replacement. episode-ids) stream) (get-output-stream-string stream))) - (episode-ids-string (replace-all episode-ids-yason-string "\"" "'"))) + (episode-ids-string (cut:replace-all episode-ids-yason-string "\"" "'"))) (cloud-prolog-simple "register_ros_package('knowrob_learning').") (cloud-prolog-simple diff --git a/cram_knowrob/cram_knowrob_manipulation_interfaces/src/cloud-interface.lisp b/cram_knowrob/cram_knowrob_manipulation_interfaces/src/cloud-interface.lisp index 504f54faa1..78e9d24e3e 100644 --- a/cram_knowrob/cram_knowrob_manipulation_interfaces/src/cloud-interface.lisp +++ b/cram_knowrob/cram_knowrob_manipulation_interfaces/src/cloud-interface.lisp @@ -29,29 +29,13 @@ (in-package :kr-assembly) -(defun replace-all (string part replacement &key (test #'char=)) - "Returns a new string in which all the occurences of the part -is replaced with replacement. - Taken from Common Lisp Cookbook." - (with-output-to-string (out) - (loop with part-length = (length part) - for old-pos = 0 then (+ pos part-length) - for pos = (search part string - :start2 old-pos - :test test) - do (write-string string out - :start old-pos - :end (or pos (length string))) - when pos do (write-string replacement out) - while pos))) - (defun json-result->string (result-symbol) (when result-symbol (string-trim "'" (symbol-name result-symbol)))) (defun cloud-prolog-simple (query) (declare (type string query)) - (let* ((escaped-query (replace-all query "'" "\\'")) + (let* ((escaped-query (cut:replace-all query "'" "\\'")) (query-answer (json-prolog:prolog-simple-1 (format nil "send_prolog_query('~a', @(false), ID)." escaped-query) :mode 1))) @@ -99,7 +83,7 @@ is replaced with replacement. episode-ids) stream) (get-output-stream-string stream))) - (episode-ids-string (replace-all episode-ids-yason-string "\"" "'"))) + (episode-ids-string (cut:replace-all episode-ids-yason-string "\"" "'"))) (cloud-prolog-simple "register_ros_package('knowrob_learning').") (cloud-prolog-simple diff --git a/cram_knowrob/cram_knowrob_vr/README.md b/cram_knowrob/cram_knowrob_vr/README.md index 7a4987033e..28250037a3 100644 --- a/cram_knowrob/cram_knowrob_vr/README.md +++ b/cram_knowrob/cram_knowrob_vr/README.md @@ -1,381 +1,6 @@ -(README.md for lisp_ease repository) # cram_knowrob_vr - -This package provides the functionality to import data which has been recorded in Virtual Reality and stored in a MongoDB Database (or OpenEase) into CRAM, so that it can be used within robot plans. -This currently means, that from a recorded episode, 'GraspingSomething' Events are extracted and for each event, the start and end time stamps are given, the positions of the object, the head of the user and the hand which has performed the grasping action at the start and end of the event are extracted. -The package also contains tools for adapting the poses from the Virtual Reality environment and map to the one used within CRAM and the CRAM bullet world simulation. - -## Initialisation of the Environment -In order to be able to use this package, several other programs need to be running. This paragraph will explain which files need to be launched in which order, for the system to be usable. - -There are two ways to use this. Either with just a local MongoDB or with OpenEase instead. The only Mongo way is more leightweight, while the OpenEase option allows for visualization of the data within OpenEase. From the CRAM perspective, nothing within the usability changes. - -### Only MongoDB (leightweight option) -Have a Mongo container set up with the Episode Data and run it in the backgroud. It can be set to autostart on boot so one does not have to worry abot it at all later on. - - -#### ROS -Once mongo is up and running, launch a roscore and the json_prolog ros node: - - roscore - - roslaunch json_prolog json_prolog.launch - -### OpenEase -Using OpenEase instead of just the MongoDB databse, would allow for visualization of the Data within OpenEase. - -In order to run this with local OpenEase instead of just the MongoDB database, one needs to make sure Mongo is not running beforehand, since otherwise OpenEase might not launch properly and this might lead to connection issues. - - mongo ;; starts the mongo console - use admin ;; gives you admin rights - db.shutdownServer() ;; shuts down the db server - -Once the dockerized version of OpenEase is installed, go to the *docker/scripts* folder and execute: - - ./start-webrob - -OpenEase should launch normally. The first time it is launched, a lot of files might need to be downloaded, so please be patient. It will also check some GitHub repositories for changes and updates, so don't be suprised if occasionally things are getting downloaded during startup. - -#### ROS -A rosbridge is needed in order to allow OpenEase to communicate with the local system, since otherwise it is contained within docker. -First, start a roscore in a separate terminal, so in case of needing to restart any of the components, they can be restarted separately. - - roscore - -After that, the launch file can be launched: - - roslaunch knowrob_roslog_launch knowrob_ease.launch - -The CRAM-bullet-world environment needs to be setup also, which can be done with the following: - - roslaunch cram_bullet_world_tutorial world.launch - -### Emacs -Startup emacs with whichever command you prefer, load the lisp_ease package and call the setup functions. It should be something among the lines of the following: - - emacs - M-x slime ;; starts the slime environment, aka. repl - - , r-s-l TAB ENTER ;; ros-load-system - lisp_ease ENTER ENTER ;; package name and confirm - - , in-package ENTER ;; in-package command - le ENTER ;; alias for the lisp_ease package and confirm - -Now one is in the package and can initialize what is needed there. - - -## Using the code -The following will describe how to access the VR data and use it within CRAM in order to make the robot perform plans within the bullet world environment. - -### Initialization (init.lisp) -In the init.lisp file, in the very first function (init-episde) a connection to the episode data and the MongoDB is established. For the episode data to be loaded correctly, the path of the episode data has to be adjusted accordingly to where the data lies on the disk. Aka the general Episode data and it's semantic map. - - -The connection to the MongoDB Database has to be established from CRAM. This can be done by calling: - - (init-full-simulation) - -Or, if preferred, step by step by calling the following: - - (init-episode) ;initializes the episode data and connects to the database - (init-bullet-world) ;launches the bullet world with kitchen and PR2 robot - (init-items) ;spawns the in VR used items in the bullet world and 3 axes objects for debugging - -The (init-full-simulation) function does the above 3 steps in one swoop. - -This can take a while to load, please be patient. - -### Preparing the experiment (demo-preparation.lisp) -In order for the robot to be able to perform a picking up action, the objects have to be first moved to the locations where the human within the VR interacted with them. To accomplish this, call: - - (demo-spawn-all-obj-in-place) - -Will move all the objects that have been used in the current VR episode, to the location at which they were in the beginning of the episode. - -### Running a pick-and-place-action (plan-execution.lisp) -In order to have the simulated robot pick an object up and bring it to the kitchen island, one can call: - - (execute-pick-and-place 'cup) - -The parameter of this function is the name of the object that should be manipulated. Currently six objects are supported, which are: muesli, cup, milk, bowl, fork and spoon. - -If anything goes wrong, try a different object or check the API for more debugging options. - - - -## Function descriptions -### init.lisp -#### (init-episode()) -Creates a ROS node and connects to the database (MongoDB), which contains the episode data. Note that the path to where the episode data and the semantic map are located, needs to be adjusted to your system. If other episode data is to be loaded, it has to be adjusted here accordingly. - -#### (init-bullet-world()) -Initializes the bullet-world, spawning the kitchen and the robot. It also adds the objects which were used in the recording process of the VR data and which are not part of the typical kitchen set, to the mesh list, so that they can later be spawned in the bullet world. Also contains costmap settings. (based on the bullet world tutorial) - -#### (init-items()) -Spawns all the kitchen items that were used in the VR data in the bullet world. Includes also three axes objects for debugging purposes. - -#### (init-full-simulation()) -Calls the three fucntions above in one swoop. - - -### items.lisp -Contains all the item spawning functions. - -#### (add-bowl (&optional (?name :edeka-red-bowl))) -Adds a new bowl object to the scene, at a hardcoded pose somewhere above the robot. (Since the bowl will be moved to where it was in the scenario, the initial pose does not matter.) -A new name can be given to the bowl, which is important if one needs more then one. If the ?name variable is not set, the default name will be: edeka-red-bowl. - -#### (add-cup (&optional (?name :cup-eco-orange))) -same as the above - -#### (add-muesli (&optional (?name :koelln-muesli-knusper-honig-nuss))) -same as the above - -#### (add-fork (&optional (?name :fork-blue-plastic))) -same as the above - -#### (add-spoon (&optional (?name :spoon-blue-plastic))) -same as the above - -#### (add-milk (&optional (?name :weide-milch-small))) -same as the above - -#### (add-axes (?optional (?name :axes))) -Adds an axes object which can be used for pose debugging at a random pose in the world. (Initial pose does not matter.) -A new name can be given to the axes object, which is important if one needs more then one. If the ?name variable is not set, the default name will be: axes. - - -### queries.lisp -Contains all the queries that can be used to access information stored in the MongoDB or OpenEase. These are used within the plans to determine where and object is, where the human was standing, etc. -Each query gets the name of an object as a parameter, and will output the pose or other information about this object, based on when a 'GraspingSomething' event occured. - -#### (base-query (object-type)) -Contains the query on which all the other queries are based, and which is used within the other queries. It asks for an Event based on the given type of the object. Also, the event has to contain an "objectActedOn", meaning it is a "GraspingSomething" event. It also asks for the Start and End time of the event. - -#### (get-event-by-object-type (object-type)) -Returns the event in which an "objectActedOn" event has been performed on the object of the given type. - -#### (get-object-location-at-start-by-object-type (object-type)) -Returns the location of an object of given type at the beginning of the event in the form of a cl-tf:transform. -Meaning, the pose which the object had before it was manipulated by the human. (pick up pose) - -#### (get-object-location-at-end-by-object-type (object-type)) -Returns the location of an object of given type at the end of the event in the form of a cl-tf:transform. -(placing pose) - -#### (get-hand (object-type)) -Returns which hand has been used to manipulate the given object. The result can be :left or :right. - -#### (get-hand-location-at-start-by-object-type (object-type)) -Returns a cl-tf:transform which describes the pose the humans hand had at the start of the "GraspingSomething" Event. The grasping pose the robot uses for his gripper is based on this pose. - -#### (get-hand-location-at-end-by-object-type (object-type)) -Returns a cl-tf:transform which describes the pose the humans hand had at the end of the "GraspingSomething" Event. - -#### (get-camera-location-at-start-by-object-type (object-type)) -Returns a cl-tf:transform which describes the pose of the humans head during the pick up action. The robots location during the pick up action within the environment is based on this pose. - -#### (get-camera-location-at-end-by-object-type (object-type)) -Returns a cl-tf:transform which describes the pose of the humans head at the placing action. The robots location during the placing action within the environment is based on this pose. - -#### (get-table-location ()) -Returns a cl-tf:transform of the pose of the kitchen-island-table within the environment, which is used for the calculation of the placing pose of the object. - -### openease-to-bullet.lisp -Contains all functions which manipulate the data that is obtained from the VR environment, so that it can be used in the plans. Some further manipulation is sometimes necessary depending on the use case of the data, some are more generic and therefore in a different file. - -#### (apply-bullet-transform (transform)) -Applies a transform to the given transform so that the position of the object within the bullet world is correct. Without this offset, the object would appear in a different spot within the bullet world as in the VR world, even if both environments are the same. There is an offset between the two worlds which is corrected by applying this function to the transform of an object or the robot. - -#### (apply-bullet-rotation (transform)) -Same as the above, just that it fixes the rotation only and not the 3d-vector offset between the two environments (VR and bullet world kitchen.) - -#### (quaternion-w-flip (pose)) -Flips the quaternion of the recived pose from wxyz (OpenEase standard) into xyzw (CRAM standard). Is not needed when using the data from the mongoBD directly, but when using OpenEase, it might need to be commented in again (in the make-pose function within the data-manipulation) file, depending on the used OpenEase version. - -#### (remove-z (pose)) -Removes the z component of a transform. Is used for deducing the position within the kitchen of the human/robot, since the only data one can deduce the positon from is the position of the camera/head of the human. - -#### (human-ro-tobot-hand-transform ()) -Defines the offset between the human hand from the virtual reality to the -robot standart gripper, which has been calculated manually. - - -### data-manipulation.lisp -Contains the remaining, more general data manipulating functions, which don't necessarily have anything to do with correcting the offset between the VR and bullet world. - -#### (make-pose (pose)) -Makes a proper cl-tf:transform out of the data received from the mongoDB or OpenEase, since in both cases the received result would have been a list of seven values. These are separated into the 3d vector and the quaternion here, which form the resulting transform. Also the correcting steps which fix the offsets between the two worlds and which were described in the previous file, are applied here. - -#### (apply-rotation (transform)) -Rotates the given transform around the z axis for pi/2. - -#### (add-pos-offset-to-transform (transform x y z)) -Adds a position offset to a given transform. Can be used to add an offset to the positon of an object, in order to test if the robot would still be able to interact with it, even if the position expected does not match. - -### designators.lisp -Contains the designator definitions for grasping the objects relevant for the current scenario, which are all the objects described and added in the items.lisp file. - -### movement.lisp -All the functions which move either the robot, parts of the robot or objects within the bullet world are collected here. - -#### (move-obj-with-offset (x-offset y-offset object)) -Moves the object to the given x and y offset. It does not change the z aspect of the object, since the usecase of this function is to just move an object on the surface of the table to test if the robot would still be able to interact with it, even after a change in position. - -#### (move-head (pose)) -Moves the head of the robot to the given pose. - -#### (move-object (transform object)) -Moves the given object to the given transform. - -#### (move-robot (transform)) -Moves the robot to the given transform. - -#### (move-torso-up (?angle)) -Moves the torso up by a given angle. - -### utils.lisp -Contains many of the utility functions. Some of them are just handy and make the usage a bit easier and basically don't have to be used and are therefore convenience functions. - -#### (object-type-filter-prolog (object-type)) -Maps the simple name of an object, e.g. 'cup to the proper one used within the mondoDB or OpenEase database, e.g. "CupEcoOrange". - -#### (object-type-filter-bullet (object-type)) -Maps the simple name of an object, e.g. 'cup to the proper one used within the bullet world, e.g. :cup-eco-orange - -#### (object-type-fixer (object-type)) -Since some names of the objects differ between the known names in bullet world and the names known to the database, this function makes sure that if they are mismatched, it will get fixed to the proper one so that the plans can still be executed. -This function can be removed once new data is recorded and the object names will be the same for the bullet world and the Virtual Reality. - -#### (move-object-to-starting-pose (object)) -Moves the object to it's starting position. Sarting position meaning where the object was located when the human started picking it up in the Virtual Reality. - -#### (place-offset-transform ()) -Contains the transform which describes the offset for placing an object. - -#### (parse-str (str)) -A string parser. Parses the output from knowrob into a proper string which can be used within prolog. - -#### (transform-to-pose-stamped (transform)) -Converts the given transform into a stamped one within the "map" frame and a time stamp of 0.0. - - -### robot-positions-calculations.lisp -Functions which calculate the positions the robot has to navigate to or to move his head or hand to, in order to interact with the objects. - -#### param: \*human-feet-offset* 0.05 -Sets the human-feet-offset, which corrects the robots positon. This is necessary in cases and episodes, where the human was standing too close to a table in the VR, and therefore if the robot would try to move to the same position, he would hit the base of the table, since the robots base (or foot) is a lot larger then the human one. -In some VR episodes this parameter is not needed at all and can be set to 0.0, but at the moment it is safer to keep it at 0.05. - -#### (set-grasp-base-pose (transform)) -Calculates the transform of where the robot should stand in order to interact -with an object. Based on data from Virtual Reality. This function removes the z -component of the Camera pose of the human and also fixes the quaternion so that -the robot won't tilt into the pane of the floor. - -#### (set-grasp-look-pose (transform)) -Transforms the given transform of the position of an object, into a pose -stamped, at which the robot will look for an object. - -#### (set-place-pose (transform)) -Takes the given transform of the placing the object pose, sets the -quaternion to an identity one and transforms the transform into a pose stamped. - -#### (place-pose-btr-island (type)) -Calculates the placing pose for an object, relative to the bullet world -kitchen island. This is needed, since the OpenEase kitchen island and the -bullet world kitchen island, are slightly offset to one another, and the offset -fixing the general semantic map offset, is not enough to fix it. - -### grasping.lisp -Implements several of the functions needed in order for the robot to perform a succesfull grasp, based on the one performed by the human in the Virtual Reality. Aka. Calculates the grasping pose, pre-pose and the lifting poses. - -#### (get-object-type-to-gripper-transform (object-type object-name arm grasp (eql :human-grasp))) -Calculates the object-type to gripper transform based on the transform the human has used in the Virtual Reality. - -#### (get-object-type-to-gripper-pregrasp-transform ((object-type object-name arm(grasp (eql :human-grasp)) grasp-transform)) -Calculates the object-type to gripper pre-transform based on the transform the human has used in the Virtual Reality. - -#### (get-object-type-to-gripper-2nd-pregrasp-transform (object-type object-name arm(grasp (eql :human-grasp)) grasp-transform)) -Calculates the object-type to gripper 2nd-pre-transform based on the transform the human has used in the Virtual Reality. - -#### (get-object-type-to-gripper-lift-transform ((object-type object-name arm(grasp (eql :human-grasp)) grasp-transform))) -Calculates the lift transform for the gripper. - - -#### (get-object-type-to-gripper-2nd-lift-transform ((object-type object-name arm(grasp (eql :human-grasp)) grasp-transform))) -Calculates the 2nd lift transform for the gripper. - -### plans.lisp -Contains all the plans for pick and place manipulation with designators. - -#### (move-to-object (?grasping-base-pose ?grasping-look-pose)) -Moves the robot into the position which the human had when interacting -with an object. The robot is placed at the spot where the human was standing and -is looking at the spot where the object was in Virtual Reality. - -#### (pick-up-obj (?type)) -Picks up an object of the given type. - -#### (pick-up-object (?grasping-base-pose ?grasping-look-pose ?type)) -A plan to pick up an object of the given time. This time the grasping base position and looking positon cam be passed to this function. - -#### (place-object (?placing-base-pose ?placing-look-pose ?place-pose ?obj-desig)) -A plan to place an object which is currently in one of the robots hands. - -#### (pick-and-place (?grasping-base-pose ?grasping-look-pose ?placing-base-pose ?placing-look-pose ?place-pose ?type)) -Picks up and object and places it down based on Virtual Reality data. - -### demo-preparation.lisp -Functions which prepare the environment for the pick and place execution. - -#### (demo-spawn-all-obj-in-place ()) -Spawns all the objects which are present in the current episode in the respective locations. - -### plan-execution.lisp -Executes some of the plans that are specified in the plan.lisp file. - -#### (execute-pick-and-place (type)) -Executes the pick and place plan on an object of the given type. -The positions of where the robot looks for the object and where he is placing -it down are the ones extracted from Virtual Reality. - -#### (execute-pick-up-object (type)) -Executes only the picking up action on an object given the type of the object. - -#### (execute-place-object (?obj-desig type)) -Executes the placing action given the object designator of the picked up and -held in hand object. The placing pose is the one used in VR for that kind of -object. -#### execute-move-to-object (type) -Moves the robot to the position where the human was standing in order to -grasp the object. - -### demo-plans.lisp -Contains some of the plan-executions used for demo puposes. - -#### (demo-all-pick-place ()) -Picks and places all objects of an episode one by one. Meaning the robot will always hold on to just one object and finish placing it before going back to picking up another one. - -#### (demo-all-obj ()) -For the entire episode, first place the object at the location where it was -for the robot to pick up, and then pick it up and place it. - -#### (execution-adjustment-test (type)) -Function to test if the newly done adjustments to the plans are still working. Calls one pick-up-object plan. - -### gaussian.lisp -(In progress) will contain an implementation auf gaussian functions for the base-pose of the robot and maybe more. - -### debugging-utils.lisp -Contains a lot of debuggin convenience functions, which the average user probably (hopefully) will not need. - -#### (reset-simulation ()) -Resets the simulation and respawns the objects. - -### utility-queries.lisp -Contains the lisp implementations of many of the prolog queries, so that they can be called easier, within lisp, with just a string as a parameter, instead of having to use the prolg-simple function. One can use them, but one can also just call prolog directly. Preference choice. +A tutorial explaining the usage of this package and it's capabilities can be found here +[http://cram-system.org/tutorials/advanced/unreal](http://cram-system.org/tutorials/advanced/unreal). diff --git a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd index 63450e6324..403685b132 100644 --- a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd +++ b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd @@ -46,6 +46,7 @@ cram-executive cram-designators cram-prolog + cram-utilities cram-common-failures cram-urdf-projection ;; cram-pr2-description @@ -80,9 +81,12 @@ (:file "designator-integration" :depends-on ("package" "init" ; for *kvr-enabled* "query-based-calculations")) + ;; experiment log csv file generator stuff + (:file "experiment-log-generator" :depends-on ("package")) ;; plans that call fetch and deliver actions (:file "fetch-and-deliver-based-demo" :depends-on ("package" "init" ; for *kvr-enabled* + "experiment-log-generator" "query-based-calculations" "designator-integration")) ;; (:file "plan-execution" :depends-on ("package")) diff --git a/cram_knowrob/cram_knowrob_vr/experiments/HEUR_BOXY_new_urdf_kitchen.csv b/cram_knowrob/cram_knowrob_vr/experiments/HEUR_BOXY_new_urdf_kitchen.csv new file mode 100644 index 0000000000..8051471d95 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/HEUR_BOXY_new_urdf_kitchen.csv @@ -0,0 +1,603 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,38,7,4,34.344462871551514 +0,CUP,SUM,0,0,0,0,0,21,35,44.70782518386841 +0,SPOON,SUM,0,0,0,0,0,7,7,16.770144939422607 +0,,SUM,0,0,0,0,38,35,46,95.82243299484253 +0,, +1,, +1,BOWL,SUM,1,0,1,0,8,743,176,0.0 +1,CUP,SUM,0,0,0,0,8,2,22,26.220234870910645 +1,SPOON,SUM,0,0,0,0,0,1,5,14.759235858917236 +1,,SUM,1,0,1,0,16,746,203,40.97947072982788 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,1,0,9.126543998718262 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+38,SPOON,SUM,0,0,0,0,0,0,7,15.383347034454346 +38,,SUM,1,0,1,0,0,1443,151,25.91352105140686 +38,, +39,, +39,BOWL,SUM,0,0,0,0,2,2,4,10.706947803497314 +39,CUP,SUM,0,0,0,0,0,1,17,18.701497077941895 +39,SPOON,SUM,1,0,1,0,24,528,180,0.0 +39,,SUM,1,0,1,0,26,531,201,29.40844488143921 +39,, +40,, +40,BOWL,SUM,0,0,0,0,16,27,37,33.59475612640381 +40,CUP,SUM,0,0,0,0,0,2,12,12.339104890823364 +40,SPOON,SUM,0,0,0,0,0,1,3,14.567800045013428 +40,,SUM,0,0,0,0,16,30,52,60.5016610622406 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,3,14,17.156768083572388 +41,CUP,SUM,0,0,0,0,0,1,59,24.2078697681427 +41,SPOON,SUM,0,0,0,0,0,23,20,22.904385805130005 +41,,SUM,0,0,0,0,0,27,93,64.26902365684509 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,2,2,8.719316005706787 +42,CUP,SUM,0,0,0,0,0,0,16,12.185566902160645 +42,SPOON,SUM,0,0,0,0,0,0,6,14.272743940353394 +42,,SUM,0,0,0,0,0,2,24,35.177626848220825 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,5,6,14.38601016998291 +43,CUP,SUM,0,0,0,0,0,5,34,24.549623012542725 +43,SPOON,SUM,1,0,1,0,8,1582,0,0.0 +43,,SUM,1,0,1,0,8,1592,40,38.935633182525635 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,2,0,8.6159508228302 +44,CUP,SUM,0,0,0,0,0,8,85,45.49362015724182 +44,SPOON,SUM,1,0,1,0,0,1110,104,0.0 +44,,SUM,1,0,1,0,0,1120,189,54.10957098007202 +44,, +45,, +45,BOWL,SUM,0,0,0,0,0,3,1,10.092656135559082 +45,CUP,SUM,0,0,0,0,2,2,13,16.90589714050293 +45,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +45,,SUM,1,0,1,0,4,1586,14,26.99855327606201 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,1,14,17.396122217178345 +46,CUP,SUM,0,0,0,0,0,26,44,48.18840789794922 +46,SPOON,SUM,0,0,0,0,0,13,12,23.09922504425049 +46,,SUM,0,0,0,0,0,40,70,88.68375515937805 +46,, +47,, +47,BOWL,SUM,1,0,1,0,16,905,144,0.0 +47,CUP,SUM,0,0,0,0,0,1,28,15.005815982818604 +47,SPOON,SUM,0,0,0,0,0,2,1,13.684960126876831 +47,,SUM,1,0,1,0,16,908,173,28.690776109695435 +47,, +48,, +48,BOWL,SUM,0,0,0,0,2,82,107,64.65864896774292 +48,CUP,SUM,0,0,0,0,8,5,28,27.67088508605957 +48,SPOON,SUM,0,0,0,0,0,1,3,15.887479066848755 +48,,SUM,0,0,0,0,10,88,138,108.21701312065125 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,0,10,12.93373990058899 +49,CUP,SUM,0,0,0,0,0,5,11,13.951781034469604 +49,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +49,,SUM,1,0,1,0,0,1586,21,26.885520935058594 +49,, +50,, +50,BOWL,SUM,0,0,0,0,0,5,3,10.53671407699585 +50,CUP,SUM,0,0,0,0,0,0,12,11.12476897239685 +50,SPOON,SUM,0,0,0,0,10,9,8,21.043680906295776 +50,,SUM,0,0,0,0,10,14,23,42.70516395568848 +50,, +51,, +51,BOWL,SUM,1,0,1,0,0,281,200,0.0 +51,CUP,SUM,0,0,0,0,0,0,8,8.018105030059814 +51,SPOON,SUM,0,0,0,0,0,0,21,24.36358618736267 +51,,SUM,1,0,1,0,0,281,229,32.381691217422485 +51,, +52,, +52,BOWL,SUM,1,0,1,0,0,278,198,0.0 +52,CUP,SUM,0,0,0,0,0,5,14,15.537199020385742 +52,SPOON,SUM,0,0,0,0,0,3,9,17.701005935668945 +52,,SUM,1,0,1,0,0,286,221,33.23820495605469 +52,, +53,, +53,BOWL,SUM,1,0,1,0,0,1466,28,0.0 +53,CUP,SUM,0,0,0,0,0,3,52,30.662821054458618 +53,SPOON,SUM,0,0,0,0,0,0,0,11.976227045059204 +53,,SUM,1,0,1,0,0,1469,80,42.63904809951782 +53,, +54,, +54,BOWL,SUM,0,0,0,0,0,1,27,24.158150911331177 +54,CUP,SUM,0,0,0,0,16,190,501,207.6888267993927 +54,SPOON,SUM,0,0,0,0,0,0,3,13.429229021072388 +54,,SUM,0,0,0,0,16,191,531,245.27620673179626 +54,, +55,, +55,BOWL,SUM,1,0,1,0,0,755,180,0.0 +55,CUP,SUM,0,0,0,0,0,2,12,11.600555896759033 +55,SPOON,SUM,0,0,0,0,0,3,9,16.74602699279785 +55,,SUM,1,0,1,0,0,760,201,28.346582889556885 +55,, +56,, +56,BOWL,SUM,0,0,0,0,0,2,14,15.138602018356323 +56,CUP,SUM,0,0,0,0,0,391,276,136.73033714294434 +56,SPOON,SUM,0,0,0,0,0,1,0,12.039993047714233 +56,,SUM,0,0,0,0,0,394,290,163.9089322090149 +56,, +57,, +57,BOWL,SUM,0,0,0,0,0,0,17,16.297691106796265 +57,CUP,SUM,0,0,0,0,0,7,38,23.73480200767517 +57,SPOON,SUM,1,0,1,0,0,1008,136,0.0 +57,,SUM,1,0,1,0,0,1015,191,40.032493114471436 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,2,1,11.857285976409912 +58,CUP,SUM,1,0,0,1,0,39,59,0.0 +58,SPOON,SUM,1,0,1,0,16,1270,42,0.0 +58,,SUM,2,0,1,1,16,1311,102,11.857285976409912 +58,, +59,, +59,BOWL,SUM,1,0,1,0,0,1302,72,0.0 +59,CUP,SUM,0,0,0,0,0,4,25,20.84594702720642 +59,SPOON,SUM,0,0,0,0,0,5,3,16.58079981803894 +59,,SUM,1,0,1,0,0,1311,100,37.42674684524536 +59,, +60,, +60,BOWL,SUM,0,0,0,0,0,2,0,9.670446157455444 +60,CUP,SUM,1,0,1,0,10,1227,255,0.0 +60,SPOON,SUM,0,0,0,0,0,0,0,11.657161951065063 +60,,SUM,1,0,1,0,10,1229,255,21.327608108520508 +60,, +61,, +61,BOWL,SUM,0,0,0,0,0,2,23,22.12329602241516 +61,CUP,SUM,0,0,0,0,24,96,6,37.71416091918945 +61,SPOON,SUM,0,0,0,0,8,4,12,26.535336017608643 +61,,SUM,0,0,0,0,32,102,41,86.37279295921326 +61,, +62,, +62,BOWL,SUM,0,0,0,0,0,30,38,40.22603392601013 +62,CUP,SUM,0,0,0,0,0,4,50,24.5029878616333 +62,SPOON,SUM,0,0,0,0,0,0,0,11.168511867523193 +62,,SUM,0,0,0,0,0,34,88,75.89753365516663 +62,, +63,, +63,BOWL,SUM,0,0,0,0,2,29,9,17.262409925460815 +63,CUP,SUM,0,0,0,0,0,4,79,39.233587980270386 +63,SPOON,SUM,0,0,0,0,0,0,4,13.402683019638062 +63,,SUM,0,0,0,0,2,33,92,69.89868092536926 +63,, +64,, +64,BOWL,SUM,0,0,0,0,0,1,1,9.82887601852417 +64,CUP,SUM,0,0,0,0,0,14,44,33.311142921447754 +64,SPOON,SUM,0,0,0,0,0,3,16,18.370910167694092 +64,,SUM,0,0,0,0,0,18,61,61.510929107666016 +64,, +65,, +65,BOWL,SUM,0,0,0,0,0,1,15,15.730149984359741 +65,CUP,SUM,0,0,0,0,0,1,10,12.230621099472046 +65,SPOON,SUM,1,0,1,0,24,1583,0,0.0 +65,,SUM,1,0,1,0,24,1585,25,27.960771083831787 +65,, +66,, +66,BOWL,SUM,0,0,0,0,0,0,6,18.226905822753906 +66,CUP,SUM,0,0,0,0,0,3,63,31.559123992919922 +66,SPOON,SUM,0,0,0,0,0,12,3,14.181736946105957 +66,,SUM,0,0,0,0,0,15,72,63.967766761779785 +66,, +67,, +67,BOWL,SUM,0,0,0,0,0,6,16,19.811497926712036 +67,CUP,SUM,0,0,0,0,0,62,25,39.2946138381958 +67,SPOON,SUM,0,0,0,0,0,3,12,23.838361024856567 +67,,SUM,0,0,0,0,0,71,53,82.9444727897644 +67,, +68,, +68,BOWL,SUM,0,0,0,0,0,1,8,17.17681908607483 +68,CUP,SUM,1,0,1,0,0,647,688,0.0 +68,SPOON,SUM,0,0,0,0,0,2,5,14.693490028381348 +68,,SUM,1,0,1,0,0,650,701,31.870309114456177 +68,, +69,, +69,BOWL,SUM,0,0,0,0,0,0,1,9.067167043685913 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+74,CUP,SUM,0,0,0,0,0,2,29,16.05211305618286 +74,SPOON,SUM,1,0,1,0,0,1293,76,0.0 +74,,SUM,1,0,1,0,0,1303,119,43.79286599159241 +74,, +75,, +75,BOWL,SUM,1,0,1,0,8,1499,28,0.0 +75,CUP,SUM,0,0,0,0,0,4,9,10.47593092918396 +75,SPOON,SUM,0,0,0,0,0,0,1,13.77982497215271 +75,,SUM,1,0,1,0,8,1503,38,24.25575590133667 +75,, +76,, +76,BOWL,SUM,0,0,0,0,2,4,10,21.04207491874695 +76,CUP,SUM,0,0,0,0,0,2,14,15.740460872650146 +76,SPOON,SUM,0,0,0,0,0,7,21,30.189975023269653 +76,,SUM,0,0,0,0,2,13,45,66.97251081466675 +76,, +77,, +77,BOWL,SUM,0,0,0,0,2,5,6,12.497574090957642 +77,CUP,SUM,0,0,0,0,16,5,67,42.84397506713867 +77,SPOON,SUM,1,0,1,0,8,711,180,0.0 +77,,SUM,1,0,1,0,26,721,253,55.34154915809631 +77,, +78,, +78,BOWL,SUM,0,0,0,0,0,1,11,18.88516616821289 +78,CUP,SUM,0,0,0,0,38,113,123,102.10998582839966 +78,SPOON,SUM,0,0,0,0,0,6,5,19.156291007995605 +78,,SUM,0,0,0,0,38,120,139,140.15144300460815 +78,, +79,, +79,BOWL,SUM,0,0,0,0,0,9,2,10.628620147705078 +79,CUP,SUM,0,0,0,0,0,5,44,29.97930598258972 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+37,SPOON,SUM,1,0,1,0,2,1241,44,0.0 +37,,SUM,1,0,1,0,4,1259,50,22.746554851531982 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,15,2,11.984149932861328 +38,CUP,SUM,1,0,1,0,0,564,101,0.0 +38,SPOON,SUM,0,0,0,0,0,155,0,24.09766387939453 +38,,SUM,1,0,1,0,0,734,103,36.08181381225586 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,71,4,16.21770405769348 +39,CUP,SUM,0,0,0,0,0,11,6,10.551981925964355 +39,SPOON,SUM,0,0,0,0,0,115,0,21.79610800743103 +39,,SUM,0,0,0,0,0,197,10,48.56579399108887 +39,, +40,, +40,BOWL,SUM,0,0,0,0,0,52,9,20.864085912704468 +40,CUP,SUM,1,0,0,1,0,409,72,0.0 +40,SPOON,SUM,0,0,0,0,2,361,4,44.54509997367859 +40,,SUM,1,0,0,1,2,822,85,65.40918588638306 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,20,4,14.121052980422974 +41,CUP,SUM,0,0,0,0,4,30,12,18.79146099090576 +41,SPOON,SUM,0,0,0,0,0,262,1,33.14855980873108 +41,,SUM,0,0,0,0,4,312,17,66.06107378005981 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,11,0,11.774681091308594 +42,CUP,SUM,0,0,0,0,0,7,2,9.787084817886353 +42,SPOON,SUM,0,0,0,0,0,165,2,27.280728101730347 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a/cram_knowrob/cram_knowrob_vr/experiments/VR_BOXY_orig_kitchen_new_var_only_data_offset_40.csv b/cram_knowrob/cram_knowrob_vr/experiments/VR_BOXY_orig_kitchen_new_var_only_data_offset_40.csv new file mode 100644 index 0000000000..c448831903 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/VR_BOXY_orig_kitchen_new_var_only_data_offset_40.csv @@ -0,0 +1,468 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,1,0,1,0,0,1730,8,0 +0,CUP,SUM,0,0,0,0,8,119,9,34.7705729008 +0,SPOON,SUM,0,0,0,0,0,413,4,68.6477711201 +0,,SUM,1,0,1,0,8,2262,21,103.4183440208 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,2,30,3,23.72239995 +1,CUP,SUM,0,0,0,0,0,18,0,15.6956329346 +1,SPOON,SUM,0,0,0,0,6,216,13,53.5215101242 +1,,SUM,0,0,0,0,8,264,16,92.9395430088 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,1,0,1,0,0,1478,9,0 +2,CUP,SUM,1,0,1,0,0,1171,56,0 +2,SPOON,SUM,1,0,1,0,2,1582,0,0 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b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_orig_data_offset_20.csv new file mode 100644 index 0000000000..dbd2b3f2e2 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_orig_data_offset_20.csv @@ -0,0 +1,303 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +51,, +51,BOWL,SUM,0,0,0,0,4,15,2,12.186187982559204 +51,CUP,SUM,0,0,0,0,0,10,3,8.694437980651855 +51,SPOON,SUM,0,0,0,0,2,312,4,31.935042142868042 +51,,SUM,0,0,0,0,6,337,9,52.8156681060791 +51,, +52,, +52,BOWL,SUM,0,0,0,0,6,7,0,12.447911977767944 +52,CUP,SUM,0,0,0,0,0,18,6,11.798091888427734 +52,SPOON,SUM,0,0,0,0,0,90,2,18.22928500175476 +52,,SUM,0,0,0,0,6,115,8,42.47528886795044 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,53,0,12.314332962036133 +53,CUP,SUM,0,0,0,0,0,5,6,8.704952001571655 +53,SPOON,SUM,0,0,0,0,0,124,3,23.981666088104248 +53,,SUM,0,0,0,0,0,182,9,45.000951051712036 +53,, +54,, 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a/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_16.csv b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_16.csv new file mode 100644 index 0000000000..21e0232680 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_16.csv @@ -0,0 +1,1203 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,4,4,24.54337191581726 +0,CUP,SUM,0,0,0,0,0,15,4,12.625468015670776 +0,SPOON,SUM,0,0,0,0,0,60,0,18.57148504257202 +0,,SUM,0,0,0,0,0,79,8,55.74032497406006 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,30,0,13.96725606918335 +1,CUP,SUM,0,0,0,0,0,43,10,20.207912921905518 +1,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +1,,SUM,1,1,0,0,0,1592,10,34.17516899108887 +1,, +2,, +2,BOWL,SUM,0,0,0,0,48,54,0,33.73983907699585 +2,CUP,SUM,0,0,0,0,0,19,1,9.874038934707642 +2,SPOON,SUM,0,0,0,0,0,1,2,17.35610294342041 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+34,, +34,BOWL,SUM,0,0,0,0,0,10,1,11.82559084892273 +34,CUP,SUM,1,0,1,0,4,282,104,0.0 +34,SPOON,SUM,0,0,0,0,0,35,0,17.37143898010254 +34,,SUM,1,0,1,0,4,327,105,29.19702982902527 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,11,0,11.765188932418823 +35,CUP,SUM,0,0,0,0,4,24,0,11.712680101394653 +35,SPOON,SUM,0,0,0,0,2,348,0,37.17798590660095 +35,,SUM,0,0,0,0,6,383,0,60.65585494041443 +35,, +36,, +36,BOWL,SUM,0,0,0,0,2,8,0,12.135576963424683 +36,CUP,SUM,0,0,0,0,0,52,14,16.575341939926147 +36,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +36,,SUM,1,0,1,0,2,1641,14,28.71091890335083 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,15,4,13.559428930282593 +37,CUP,SUM,0,0,0,0,0,117,20,38.380462884902954 +37,SPOON,SUM,0,0,0,0,0,76,0,19.234203100204468 +37,,SUM,0,0,0,0,0,208,24,71.17409491539001 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,51,6,15.883508205413818 +38,CUP,SUM,0,0,0,0,0,228,37,62.826393127441406 +38,SPOON,SUM,0,0,0,0,0,17,1,16.9480140209198 +38,,SUM,0,0,0,0,0,296,44,95.65791535377502 +38,, +39,, 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a/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_18.csv b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_18.csv new file mode 100644 index 0000000000..8867948906 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_18.csv @@ -0,0 +1,603 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,0,4,4,16.2374560833 +0,CUP,SUM,0,0,0,0,0,15,4,10.4704999924 +0,SPOON,SUM,0,0,0,0,0,60,0,16.8444399834 +0,,SUM,0,0,0,0,0,79,8,43.552396059 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,0,30,0,12.9731559753 +1,CUP,SUM,0,0,0,0,0,27,4,10.981454134 +1,SPOON,SUM,1,0,1,0,2,1581,0,0 +1,,SUM,1,0,1,0,2,1638,4,23.9546101093 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,0,0,0,0,0,83,15,24.8656001091 +2,CUP,SUM,0,0,0,0,0,19,0,10.3542590141 +2,SPOON,SUM,0,0,0,0,0,33,12,23.5872950554 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+57,SPOON,SUM,0,0,0,0,2,99,1,23.256818056106567 +57,,SUM,1,0,1,0,10,491,106,34.69618797302246 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,20,0,12.06305193901062 +58,CUP,SUM,0,0,0,0,0,6,0,9.834437847137451 +58,SPOON,SUM,0,0,0,0,0,0,0,14.92809510231018 +58,,SUM,0,0,0,0,0,26,0,36.82558488845825 +58,, +59,, +59,BOWL,SUM,0,0,0,0,2,22,1,13.901557922363281 +59,CUP,SUM,1,0,1,0,0,106,112,0.0 +59,SPOON,SUM,0,0,0,0,2,6,2,15.506977081298828 +59,,SUM,1,0,1,0,4,134,115,29.40853500366211 +59,, +60,, +60,BOWL,SUM,0,0,0,0,0,15,2,12.551536083221436 +60,CUP,SUM,0,0,0,0,2,15,4,11.155432939529419 +60,SPOON,SUM,0,0,0,0,0,4,2,17.48548197746277 +60,,SUM,0,0,0,0,2,34,8,41.19245100021362 +60,, +61,, +61,BOWL,SUM,0,0,0,0,0,25,1,14.159333944320679 +61,CUP,SUM,1,0,1,0,0,191,108,0.0 +61,SPOON,SUM,0,0,0,0,6,317,1,38.22180104255676 +61,,SUM,1,0,1,0,6,533,110,52.38113498687744 +61,, +62,, +62,BOWL,SUM,0,0,0,0,0,209,6,26.07548999786377 +62,CUP,SUM,0,0,0,0,2,55,9,19.54240393638611 +62,SPOON,SUM,0,0,0,0,0,67,0,19.240396976470947 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+99,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_23.csv b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_23.csv new file mode 100644 index 0000000000..014a5e2f86 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/VR_PR2_orig_kitchen_var_data_offset_23.csv @@ -0,0 +1,603 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,0,4,4,17.5716340542 +0,CUP,SUM,0,0,0,0,0,55,9,19.4416348934 +0,SPOON,SUM,0,0,0,0,2,6,4,16.9294860363 +0,,SUM,0,0,0,0,2,65,17,53.9427549839 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,56,33,0,36.8005242348 +1,CUP,SUM,0,0,0,0,0,82,19,32.4132249355 +1,SPOON,SUM,0,0,0,0,0,3,5,19.2923369408 +1,,SUM,0,0,0,0,56,118,24,88.5060861111 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,0,0,0,0,18,32,1,21.3079550266 +2,CUP,SUM,0,0,0,0,2,47,3,16.1786630154 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+115,CUP,SUM,0,0,0,0,0,5,57,27.0560419559 +115,SPOON,SUM,1,0,1,0,12,341,0,0 +115,,SUM,1,0,1,0,12,346,57,35.5593760014 +115,,,,,,,,,, +116,,,,,,,,,, +116,BOWL,SUM,0,0,0,0,0,9,0,9.5714070797 +116,CUP,SUM,0,0,0,0,0,30,12,14.8506498337 +116,SPOON,SUM,0,0,0,0,2,6,12,17.9250040054 +116,,SUM,0,0,0,0,2,45,24,42.3470609188 +116,,,,,,,,,, +117,,,,,,,,,, +117,BOWL,SUM,0,0,0,0,0,3,2,8.4649291039 +117,CUP,SUM,0,0,0,0,0,7,15,13.3390471935 +117,SPOON,SUM,0,0,0,0,0,0,4,12.6347830296 +117,,SUM,0,0,0,0,0,10,21,34.4387593269 +117,,,,,,,,,, +118,,,,,,,,,, +118,BOWL,SUM,1,1,0,0,0,42,0,0 +118,CUP,SUM,0,0,0,0,0,2,8,9.0611100197 +118,SPOON,SUM,0,0,0,0,0,5,0,12.9496879578 +118,,SUM,1,1,0,0,0,49,8,22.0107979774 +118,,,,,,,,,, +119,,,,,,,,,, +119,BOWL,SUM,1,0,1,0,2,5,50,0 +119,CUP,SUM,0,0,0,0,0,4,9,9.1399791241 +119,SPOON,SUM,1,0,1,0,0,342,0,0 +119,,SUM,2,0,2,0,2,351,59,9.1399791241 +119,,,,,,,,,, +120,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,2,1,9.1138739586 +120,CUP,SUM,0,0,0,0,8,7,20,16.5214138031 +120,SPOON,SUM,0,0,0,0,0,6,0,11.1972098351 +120,,SUM,0,0,0,0,8,15,21,36.8324975967 +120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,1,0,1,0,0,19,11,0 +121,CUP,SUM,0,0,0,0,0,6,8,9.2009871006 +121,SPOON,SUM,0,0,0,0,8,10,0,15.7024199963 +121,,SUM,1,0,1,0,8,35,19,24.9034070969 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,4,1,9.0722010136 +122,CUP,SUM,1,0,1,0,0,10,33,0 +122,SPOON,SUM,0,0,0,0,0,0,0,10.9185729027 +122,,SUM,1,0,1,0,0,14,34,19.9907739162 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,0,3,20,18.418582201 +123,CUP,SUM,0,0,0,0,0,9,48,23.9578020573 +123,SPOON,SUM,1,1,0,0,0,42,0,0 +123,,SUM,1,1,0,0,0,54,68,42.3763842583 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,1,0,1,0,0,18,44,0 +124,CUP,SUM,0,0,0,0,0,4,9,8.8620390892 +124,SPOON,SUM,0,0,0,0,8,5,0,15.1320450306 +124,,SUM,1,0,1,0,8,27,53,23.9940841198 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,3,6,11.5709300041 +125,CUP,SUM,0,0,0,0,16,6,20,20.8550000191 +125,SPOON,SUM,1,0,1,0,0,93,9,0 +125,,SUM,1,0,1,0,16,102,35,32.4259300232 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,8,0,9.8833200932 +126,CUP,SUM,0,0,0,0,0,11,87,43.4661738873 +126,SPOON,SUM,0,0,0,0,0,3,4,13.7089869976 +126,,SUM,0,0,0,0,0,22,91,67.058480978 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,1,0,1,0,0,41,44,0 +127,CUP,SUM,0,0,0,0,0,2,13,12.3954589367 +127,SPOON,SUM,0,0,0,0,0,2,0,11.9779598713 +127,,SUM,1,0,1,0,0,45,57,24.373418808 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,1,0,8.0316560268 +128,CUP,SUM,0,0,0,0,0,4,28,15.4799580574 +128,SPOON,SUM,1,0,1,0,8,342,0,0 +128,,SUM,1,0,1,0,8,347,28,23.5116140842 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,2,2,0,9.8502550125 +129,CUP,SUM,0,0,0,0,0,8,34,20.0191850662 +129,SPOON,SUM,0,0,0,0,0,3,0,10.942964077 +129,,SUM,0,0,0,0,2,13,34,40.8124041557 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,6,1,10.0340189934 +130,CUP,SUM,0,0,0,0,0,5,9,10.0756111145 +130,SPOON,SUM,0,0,0,0,0,2,0,11.1657710075 +130,,SUM,0,0,0,0,0,13,10,31.2754011154 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,2,3,0,15.1406280994 +131,CUP,SUM,1,0,1,0,0,13,101,0 +131,SPOON,SUM,0,0,0,0,16,7,12,24.9761459827 +131,,SUM,1,0,1,0,18,23,113,40.1167740822 +131,,,,,,,,,, +132,,,,,,,,,, +132,BOWL,SUM,1,0,1,0,0,310,6,0 +132,CUP,SUM,0,0,0,0,0,18,38,20.8264279366 +132,SPOON,SUM,1,1,0,0,0,42,0,0 +132,,SUM,2,1,1,0,0,370,44,20.8264279366 +132,,,,,,,,,, +133,,,,,,,,,, +133,BOWL,SUM,1,0,1,0,0,212,20,0 +133,CUP,SUM,0,0,0,0,8,7,8,12.9781098366 +133,SPOON,SUM,0,0,0,0,0,7,10,16.2347621918 +133,,SUM,1,0,1,0,8,226,38,29.2128720284 +133,,,,,,,,,, +134,,,,,,,,,, +134,BOWL,SUM,1,0,1,0,0,8,38,0 +134,CUP,SUM,0,0,0,0,0,2,8,8.2135541439 +134,SPOON,SUM,0,0,0,0,0,2,0,11.0819818974 +134,,SUM,1,0,1,0,0,12,46,19.2955360413 +134,,,,,,,,,, +135,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,4,8,12.0925822258 +135,CUP,SUM,0,0,0,0,0,9,94,36.1058969498 +135,SPOON,SUM,0,0,0,0,8,8,8,21.1426010132 +135,,SUM,0,0,0,0,8,21,110,69.3410801888 +135,,,,,,,,,, +136,,,,,,,,,, +136,BOWL,SUM,1,0,0,1,8,7,19,0 +136,CUP,SUM,0,0,0,0,32,24,9,26.795814991 +136,SPOON,SUM,0,0,0,0,0,18,19,33.696449995 +136,,SUM,1,0,0,1,40,49,47,60.492264986 +136,,,,,,,,,, +137,,,,,,,,,, +137,BOWL,SUM,0,0,0,0,0,1,0,9.9491641521 +137,CUP,SUM,0,0,0,0,0,3,8,7.7106821537 +137,SPOON,SUM,1,0,1,0,8,19,11,0 +137,,SUM,1,0,1,0,8,23,19,17.6598463058 +137,,,,,,,,,, +138,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,3,0,9.0378501415 +138,CUP,SUM,0,0,0,0,2,10,8,10.4377419949 +138,SPOON,SUM,0,0,0,0,8,4,0,16.6773099899 +138,,SUM,0,0,0,0,10,17,8,36.1529021263 +138,,,,,,,,,, +139,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,4,0,9.5939559937 +139,CUP,SUM,0,0,0,0,0,2,40,20.5960559845 +139,SPOON,SUM,0,0,0,0,0,3,0,11.9254970551 +139,,SUM,0,0,0,0,0,9,40,42.1155090332 +139,,,,,,,,,, +140,,,,,,,,,, +140,BOWL,SUM,1,0,1,0,0,342,0,0 +140,CUP,SUM,0,0,0,0,0,3,8,9.4786419868 +140,SPOON,SUM,0,0,0,0,0,0,0,12.455739975 +140,,SUM,1,0,1,0,0,345,8,21.9343819618 +140,,,,,,,,,, +141,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,11,0,17.7361288071 +141,CUP,SUM,0,0,0,0,8,5,8,12.6336388588 +141,SPOON,SUM,0,0,0,0,0,10,0,12.7326850891 +141,,SUM,0,0,0,0,16,26,8,43.102452755 +141,,,,,,,,,, +142,,,,,,,,,, +142,BOWL,SUM,1,0,1,0,2,36,10,0 +142,CUP,SUM,0,0,0,0,0,3,65,26.8453950882 +142,SPOON,SUM,0,0,0,0,0,1,0,11.6833760738 +142,,SUM,1,0,1,0,2,40,75,38.528771162 +142,,,,,,,,,, +143,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,0,4,0,9.954406023 +143,CUP,SUM,1,0,0,1,0,13,19,0 +143,SPOON,SUM,1,0,1,0,0,341,0,0 +143,,SUM,2,0,1,1,0,358,19,9.954406023 +143,,,,,,,,,, +144,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,0,2,10,13.8585529327 +144,CUP,SUM,0,0,0,0,0,14,69,29.1017830372 +144,SPOON,SUM,0,0,0,0,0,0,0,10.9305579662 +144,,SUM,0,0,0,0,0,16,79,53.8908939362 +144,,,,,,,,,, +145,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,7,0,9.9729058743 +145,CUP,SUM,1,0,1,0,0,11,88,0 +145,SPOON,SUM,0,0,0,0,8,4,0,15.4520478249 +145,,SUM,1,0,1,0,8,22,88,25.4249536991 +145,,,,,,,,,, +146,,,,,,,,,, +146,BOWL,SUM,1,0,1,0,2,312,4,0 +146,CUP,SUM,1,0,0,1,0,10,29,0 +146,SPOON,SUM,0,0,0,0,0,3,0,11.6363310814 +146,,SUM,2,0,1,1,2,325,33,11.6363310814 +146,,,,,,,,,, +147,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,0,0,0,8.9174051285 +147,CUP,SUM,0,0,0,0,0,21,129,45.5053060055 +147,SPOON,SUM,0,0,0,0,0,1,0,11.7565159798 +147,,SUM,0,0,0,0,0,22,129,66.1792271137 +147,,,,,,,,,, +148,,,,,,,,,, +148,BOWL,SUM,0,0,0,0,0,3,0,8.7557418346 +148,CUP,SUM,0,0,0,0,8,4,23,23.3109471798 +148,SPOON,SUM,1,0,1,0,0,246,5,0 +148,,SUM,1,0,1,0,8,253,28,32.0666890144 +148,,,,,,,,,, +149,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,1,1,9.2679650784 +149,CUP,SUM,0,0,0,0,16,5,8,16.1122260094 +149,SPOON,SUM,1,1,0,0,0,42,0,0 +149,,SUM,1,1,0,0,16,48,9,25.3801910877 +149,,,,,,,,,, +150,,,,,,,,,, +150,BOWL,SUM,0,0,0,0,0,5,0,8.4575488567 +150,CUP,SUM,0,0,0,0,0,3,8,7.8124678135 +150,SPOON,SUM,1,0,1,0,8,53,40,0 +150,,SUM,1,0,1,0,8,61,48,16.2700166702 +150,,,,,,,,,, +151,,,,,,,,,, +151,BOWL,SUM,1,0,1,0,0,12,11,0 +151,CUP,SUM,1,0,1,0,0,13,39,0 +151,SPOON,SUM,0,0,0,0,0,5,0,11.354501009 +151,,SUM,2,0,2,0,0,30,50,11.354501009 +151,,,,,,,,,, +152,,,,,,,,,, +152,BOWL,SUM,1,1,0,0,0,43,0,0 +152,CUP,SUM,1,1,0,0,0,42,0,0 +152,SPOON,SUM,0,0,0,0,24,5,2,23.744063139 +152,,SUM,2,2,0,0,24,90,2,23.744063139 +152,,,,,,,,,, +153,,,,,,,,,, +153,BOWL,SUM,0,0,0,0,0,6,1,9.4277830124 +153,CUP,SUM,1,0,1,0,0,15,33,0 +153,SPOON,SUM,0,0,0,0,24,2,0,21.9531230927 +153,,SUM,1,0,1,0,24,23,34,31.380906105 +153,,,,,,,,,, +154,,,,,,,,,, +154,BOWL,SUM,1,0,1,0,0,38,40,0 +154,CUP,SUM,0,0,0,0,0,2,8,7.8469769955 +154,SPOON,SUM,0,0,0,0,0,0,0,11.0993199348 +154,,SUM,1,0,1,0,0,40,48,18.9462969303 +154,,,,,,,,,, +155,,,,,,,,,, +155,BOWL,SUM,1,0,1,0,8,17,11,0 +155,CUP,SUM,0,0,0,0,0,8,8,8.7488908768 +155,SPOON,SUM,0,0,0,0,8,26,7,27.9686660767 +155,,SUM,1,0,1,0,16,51,26,36.7175569534 +155,,,,,,,,,, +156,,,,,,,,,, +156,BOWL,SUM,0,0,0,0,0,6,17,14.7358009815 +156,CUP,SUM,0,0,0,0,0,5,8,8.2655608654 +156,SPOON,SUM,0,0,0,0,22,5,0,23.0830249786 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+120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,0,0,0,0,0,2,0,8.9371979237 +121,CUP,SUM,0,0,0,0,0,6,67,30.8375749588 +121,SPOON,SUM,0,0,0,0,2,5,0,14.4463419914 +121,,SUM,0,0,0,0,2,13,67,54.2211148739 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,12,15,15.8068780899 +122,CUP,SUM,1,0,1,0,4,7,63,0 +122,SPOON,SUM,0,0,0,0,0,1,0,11.5770280361 +122,,SUM,1,0,1,0,4,20,78,27.383906126 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,8,0,0,12.0141150951 +123,CUP,SUM,0,0,0,0,2,5,14,15.7797811031 +123,SPOON,SUM,0,0,0,0,0,1,0,12.3976700306 +123,,SUM,0,0,0,0,10,6,14,40.1915662289 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,0,0,0,0,0,1,12,12.3331639767 +124,CUP,SUM,0,0,0,0,2,3,8,10.0667610168 +124,SPOON,SUM,0,0,0,0,0,1,0,12.356896162 +124,,SUM,0,0,0,0,2,5,20,34.7568211555 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,8,2,0,13.2340250015 +125,CUP,SUM,1,0,1,0,8,9,78,0 +125,SPOON,SUM,0,0,0,0,0,0,0,11.1414489746 +125,,SUM,1,0,1,0,16,11,78,24.3754739761 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,5,1,10.7816548347 +126,CUP,SUM,0,0,0,0,56,7,13,40.2000989914 +126,SPOON,SUM,0,0,0,0,0,6,5,15.1644020081 +126,,SUM,0,0,0,0,56,18,19,66.1461558342 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,0,0,0,0,0,6,4,9.8695020676 +127,CUP,SUM,0,0,0,0,0,4,17,13.8128650188 +127,SPOON,SUM,0,0,0,0,0,10,19,21.8556649685 +127,,SUM,0,0,0,0,0,20,40,45.5380320549 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,7,1,12.3377430439 +128,CUP,SUM,0,0,0,0,0,0,8,8.1055619717 +128,SPOON,SUM,0,0,0,0,0,3,0,13.2631878853 +128,,SUM,0,0,0,0,0,10,9,33.7064929008 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,0,22,12,17.484167099 +129,CUP,SUM,0,0,0,0,0,16,20,15.8541278839 +129,SPOON,SUM,0,0,0,0,2,9,0,14.2880139351 +129,,SUM,0,0,0,0,2,47,32,47.626308918 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,4,12,13.7268381119 +130,CUP,SUM,0,0,0,0,0,7,42,21.0261740685 +130,SPOON,SUM,0,0,0,0,0,1,0,11.6369509697 +130,,SUM,0,0,0,0,0,12,54,46.38996315 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,18,5,28,26.8971281052 +131,CUP,SUM,0,0,0,0,0,9,8,10.7678720951 +131,SPOON,SUM,0,0,0,0,0,7,0,12.0308258533 +131,,SUM,0,0,0,0,18,21,36,49.6958260536 +131,,,,,,,,,, +132,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,0,5,14,15.9205322266 +132,CUP,SUM,0,0,0,0,0,14,8,10.7989420891 +132,SPOON,SUM,1,0,1,0,0,14,11,0 +132,,SUM,1,0,1,0,0,33,33,26.7194743156 +132,,,,,,,,,, +133,,,,,,,,,, +133,BOWL,SUM,0,0,0,0,0,4,5,14.1082930565 +133,CUP,SUM,0,0,0,0,4,1,13,12.7270030975 +133,SPOON,SUM,0,0,0,0,16,13,4,36.9019489288 +133,,SUM,0,0,0,0,20,18,22,63.7372450829 +133,,,,,,,,,, +134,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,6,0,10.4737198353 +134,CUP,SUM,0,0,0,0,24,16,34,33.523555994 +134,SPOON,SUM,0,0,0,0,0,3,2,15.5895130634 +134,,SUM,0,0,0,0,24,25,36,59.5867888927 +134,,,,,,,,,, +135,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,2,0,9.5275111198 +135,CUP,SUM,0,0,0,0,2,2,23,16.0832350254 +135,SPOON,SUM,0,0,0,0,2,5,10,18.8270280361 +135,,SUM,0,0,0,0,4,9,33,44.4377741814 +135,,,,,,,,,, +136,,,,,,,,,, +136,BOWL,SUM,0,0,0,0,0,15,4,16.9680140018 +136,CUP,SUM,1,0,1,0,0,9,106,0 +136,SPOON,SUM,0,0,0,0,24,7,4,24.1122329235 +136,,SUM,1,0,1,0,24,31,114,41.0802469254 +136,,,,,,,,,, +137,,,,,,,,,, +137,BOWL,SUM,0,0,0,0,22,3,2,23.3682181835 +137,CUP,SUM,0,0,0,0,2,8,8,10.9837861061 +137,SPOON,SUM,0,0,0,0,0,3,0,13.0956449509 +137,,SUM,0,0,0,0,24,14,10,47.4476492405 +137,,,,,,,,,, +138,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,0,4,9.4308941364 +138,CUP,SUM,0,0,0,0,0,3,8,10.1117010117 +138,SPOON,SUM,0,0,0,0,8,0,0,17.3162419796 +138,,SUM,0,0,0,0,8,3,12,36.8588371277 +138,,,,,,,,,, +139,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,1,0,9.2899258137 +139,CUP,SUM,0,0,0,0,16,12,71,42.8380079269 +139,SPOON,SUM,0,0,0,0,0,8,19,22.1764428616 +139,,SUM,0,0,0,0,16,21,90,74.3043766022 +139,,,,,,,,,, +140,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,8,3,9,16.3059420586 +140,CUP,SUM,0,0,0,0,10,8,49,33.7361040115 +140,SPOON,SUM,1,0,1,0,0,9,11,0 +140,,SUM,1,0,1,0,18,20,69,50.0420460701 +140,,,,,,,,,, +141,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,1,0,16.6043851376 +141,CUP,SUM,1,0,1,0,20,7,126,0 +141,SPOON,SUM,1,0,1,0,32,12,11,0 +141,,SUM,2,0,2,0,60,20,137,16.6043851376 +141,,,,,,,,,, +142,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,8,0,0,17.4152309895 +142,CUP,SUM,0,0,0,0,0,7,109,45.5534880161 +142,SPOON,SUM,0,0,0,0,0,18,7,17.5913360119 +142,,SUM,0,0,0,0,8,25,116,80.5600550175 +142,,,,,,,,,, +143,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,17,12,20.6115529537 +143,CUP,SUM,0,0,0,0,0,1,11,10.9092340469 +143,SPOON,SUM,0,0,0,0,2,3,1,13.686756134 +143,,SUM,0,0,0,0,10,21,24,45.2075431347 +143,,,,,,,,,, +144,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,0,2,0,8.893504858 +144,CUP,SUM,0,0,0,0,0,1,29,18.4887700081 +144,SPOON,SUM,0,0,0,0,0,12,7,18.5192329884 +144,,SUM,0,0,0,0,0,15,36,45.9015078545 +144,,,,,,,,,, +145,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,5,4,13.5352010727 +145,CUP,SUM,0,0,0,0,2,6,13,19.6412708759 +145,SPOON,SUM,0,0,0,0,8,1,0,20.3212730885 +145,,SUM,0,0,0,0,10,12,17,53.4977450371 +145,,,,,,,,,, +146,,,,,,,,,, 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+42,,,,,,,,,, +42,,,,,,,,,, +43,BOWL,SUM,0,0,0,0,0,1,12,9.0865368843 +43,CUP,SUM,0,0,0,0,12,4,19,15.5288248062 +43,SPOON,SUM,0,0,0,0,0,0,3,11.1328909397 +43,,SUM,0,0,0,0,12,5,34,35.7482526302 +43,,,,,,,,,, +43,,,,,,,,,, +44,BOWL,SUM,0,0,0,0,8,0,2,11.315237999 +44,CUP,SUM,0,0,0,0,0,1,4,4.651941061 +44,SPOON,SUM,0,0,0,0,0,1,13,12.8725280762 +44,,SUM,0,0,0,0,8,2,19,28.8397071362 +44,,,,,,,,,, +44,,,,,,,,,, +45,BOWL,SUM,0,0,0,0,0,1,13,9.5758650303 +45,CUP,SUM,0,0,0,0,0,0,4,5.0230879784 +45,SPOON,SUM,0,0,0,0,0,2,18,14.3156619072 +45,,SUM,0,0,0,0,0,3,35,28.9146149158 +45,,,,,,,,,, +45,,,,,,,,,, +46,BOWL,SUM,0,0,0,0,0,0,0,7.5921308994 +46,CUP,SUM,1,0,0,1,0,0,12,0 +46,SPOON,SUM,0,0,0,0,0,3,32,16.3581438065 +46,,SUM,1,0,0,1,0,3,44,23.9502747059 +46,,,,,,,,,, +46,,,,,,,,,, +47,BOWL,SUM,0,0,0,0,48,0,4,29.631978035 +47,CUP,SUM,1,0,0,1,0,0,19,0 +47,SPOON,SUM,0,0,0,0,0,3,9,12.4314539433 +47,,SUM,1,0,0,1,48,3,32,42.0634319782 +47,,,,,,,,,, +47,,,,,,,,,, +48,BOWL,SUM,0,0,0,0,0,0,0,7.4364180565 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+75,SPOON,SUM,0,0,0,0,0,3,16,13.9246089458 +75,,SUM,1,0,0,1,0,7,45,24.4071669579 +75,,,,,,,,,, +75,,,,,,,,,, +76,BOWL,SUM,0,0,0,0,12,2,34,18.7302060127 +76,CUP,SUM,0,0,0,0,0,3,8,6.0940549374 +76,SPOON,SUM,0,0,0,0,0,5,4,12.4039719105 +76,,SUM,0,0,0,0,12,10,46,37.2282328606 +76,,,,,,,,,, +76,,,,,,,,,, +77,BOWL,SUM,0,0,0,0,0,0,5,9.1319749355 +77,CUP,SUM,0,0,0,0,8,0,15,13.1134939194 +77,SPOON,SUM,0,0,0,0,0,4,17,14.9392821789 +77,,SUM,0,0,0,0,8,4,37,37.1847510338 +77,,,,,,,,,, +77,,,,,,,,,, +78,BOWL,SUM,0,0,0,0,8,1,20,14.8515188694 +78,CUP,SUM,0,0,0,0,8,0,13,12.3796949387 +78,SPOON,SUM,0,0,0,0,0,1,4,11.7136240005 +78,,SUM,0,0,0,0,16,2,37,38.9448378086 +78,,,,,,,,,, +78,,,,,,,,,, +79,BOWL,SUM,0,0,0,0,0,0,1,8.2394759655 +79,CUP,SUM,0,0,0,0,24,0,14,21.2455749512 +79,SPOON,SUM,0,0,0,0,0,0,4,12.1253681183 +79,,SUM,0,0,0,0,24,0,19,41.610419035 +79,,,,,,,,,, +79,,,,,,,,,, +80,BOWL,SUM,1,0,1,0,0,7,44,0 +80,CUP,SUM,1,0,0,1,0,1,26,0 +80,SPOON,SUM,0,0,0,0,8,3,28,18.4933261871 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+86,BOWL,SUM,0,0,0,0,0,1,8,8.5583598614 +86,CUP,SUM,1,0,0,1,0,0,11,0 +86,SPOON,SUM,1,0,1,0,0,7,44,0 +86,,SUM,2,0,1,1,0,8,63,8.5583598614 +86,,,,,,,,,, +86,,,,,,,,,, +87,BOWL,SUM,0,0,0,0,0,0,0,6.9523279667 +87,CUP,SUM,1,0,0,1,8,0,11,0 +87,SPOON,SUM,0,0,0,0,0,1,11,12.9354829788 +87,,SUM,1,0,0,1,8,1,22,19.8878109455 +87,,,,,,,,,, +87,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,0,2,12,9.1349301338 +88,CUP,SUM,1,0,0,1,0,1,11,0 +88,SPOON,SUM,0,0,0,0,0,2,13,12.8090589046 +88,,SUM,1,0,0,1,0,5,36,21.9439890385 +88,,,,,,,,,, +88,,,,,,,,,, +89,BOWL,SUM,1,0,1,0,0,2,44,0 +89,CUP,SUM,1,0,0,1,8,1,12,0 +89,SPOON,SUM,0,0,0,0,0,0,1,10.7945160866 +89,,SUM,2,0,1,1,8,3,57,10.7945160866 +89,,,,,,,,,, +89,,,,,,,,,, +90,BOWL,SUM,0,0,0,0,8,5,14,14.5862650871 +90,CUP,SUM,1,0,0,1,6,1,17,0 +90,SPOON,SUM,0,0,0,0,0,0,20,13.5365991592 +90,,SUM,1,0,0,1,14,6,51,28.1228642464 +90,,,,,,,,,, +90,,,,,,,,,, +91,BOWL,SUM,1,0,1,0,0,4,44,0 +91,CUP,SUM,0,0,0,0,44,5,67,32.2395730019 +91,SPOON,SUM,0,0,0,0,0,1,16,13.6120769978 +91,,SUM,1,0,1,0,44,10,127,45.8516499996 +91,,,,,,,,,, +91,,,,,,,,,, +92,BOWL,SUM,0,0,0,0,16,0,0,14.298358202 +92,CUP,SUM,1,0,0,1,0,0,15,0 +92,SPOON,SUM,1,0,1,0,0,3,44,0 +92,,SUM,2,0,1,1,16,3,59,14.298358202 +92,,,,,,,,,, +92,,,,,,,,,, +93,BOWL,SUM,0,0,0,0,0,0,1,7.8226950169 +93,CUP,SUM,1,0,0,1,0,0,11,0 +93,SPOON,SUM,0,0,0,0,0,1,12,13.0035178661 +93,,SUM,1,0,0,1,0,1,24,20.826212883 +93,,,,,,,,,, +93,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,0,2,0,7.5843029022 +94,CUP,SUM,1,0,0,1,0,0,11,0 +94,SPOON,SUM,0,0,0,0,0,2,20,14.9923319817 +94,,SUM,1,0,0,1,0,4,31,22.5766348839 +94,,,,,,,,,, +94,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,8,5,36,16.9351811409 +95,CUP,SUM,1,0,0,1,0,0,18,0 +95,SPOON,SUM,0,0,0,0,8,0,1,14.2875897884 +95,,SUM,1,0,0,1,16,5,55,31.2227709293 +95,,,,,,,,,, +95,,,,,,,,,, +96,BOWL,SUM,0,0,0,0,8,1,20,14.1860098839 +96,CUP,SUM,0,0,0,0,0,6,16,10.7020220757 +96,SPOON,SUM,0,0,0,0,0,0,4,11.0964319706 +96,,SUM,0,0,0,0,8,7,40,35.9844639301 +96,,,,,,,,,, +96,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,1,8,8.6147010326 +97,CUP,SUM,1,0,0,1,12,0,19,0 +97,SPOON,SUM,0,0,0,0,0,0,4,10.9142560959 +97,,SUM,1,0,0,1,12,1,31,19.5289571285 +97,,,,,,,,,, +97,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,1,18,10.3255479336 +98,CUP,SUM,1,0,0,1,0,3,11,0 +98,SPOON,SUM,0,0,0,0,0,3,16,13.8381330967 +98,,SUM,1,0,0,1,0,7,45,24.1636810303 +98,,,,,,,,,, +98,,,,,,,,,, +99,BOWL,SUM,0,0,0,0,12,2,34,18.161044836 +99,CUP,SUM,0,0,0,0,0,3,8,5.0742509365 +99,SPOON,SUM,0,0,0,0,0,5,4,11.8395738602 +99,,SUM,0,0,0,0,12,10,46,35.0748696327 +99,,,,,,,,,, +99,,,,,,,,,, +100,BOWL,SUM,0,0,0,0,0,0,5,8.7887191772 +100,CUP,SUM,0,0,0,0,8,0,15,12.7108709812 +100,SPOON,SUM,0,0,0,0,0,4,17,14.5642330647 +100,,SUM,0,0,0,0,8,4,37,36.0638232231 +100,,,,,,,,,, +100,,,,,,,,,, +101,BOWL,SUM,0,0,0,0,8,1,20,15.477241993 +101,CUP,SUM,0,0,0,0,8,0,13,11.5720140934 +101,SPOON,SUM,0,0,0,0,0,1,4,11.5963890553 +101,,SUM,0,0,0,0,16,2,37,38.6456451416 +101,,,,,,,,,, +101,,,,,,,,,, +102,BOWL,SUM,0,0,0,0,0,0,1,7.4590368271 +102,CUP,SUM,0,0,0,0,24,0,14,19.8688409328 +102,SPOON,SUM,0,0,0,0,0,0,4,11.0847461224 +102,,SUM,0,0,0,0,24,0,19,38.4126238823 +102,,,,,,,,,, +102,,,,,,,,,, +103,BOWL,SUM,1,0,1,0,0,7,44,0 +103,CUP,SUM,1,0,0,1,0,1,26,0 +103,SPOON,SUM,0,0,0,0,8,3,28,18.3595449924 +103,,SUM,2,0,1,1,8,11,98,18.3595449924 +103,,,,,,,,,, +103,,,,,,,,,, +104,BOWL,SUM,0,0,0,0,0,1,12,8.926763773 +104,CUP,SUM,0,0,0,0,0,0,14,8.9727039337 +104,SPOON,SUM,0,0,0,0,0,0,2,10.5587990284 +104,,SUM,0,0,0,0,0,1,28,28.4582667351 +104,,,,,,,,,, +104,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,0,0,5,8.1286921501 +105,CUP,SUM,0,0,0,0,0,1,6,4.9638950825 +105,SPOON,SUM,0,0,0,0,0,1,13,12.9461500645 +105,,SUM,0,0,0,0,0,2,24,26.0387372971 +105,,,,,,,,,, +105,,,,,,,,,, +106,BOWL,SUM,0,0,0,0,0,0,21,10.974132061 +106,CUP,SUM,0,0,0,0,32,1,6,19.7350780964 +106,SPOON,SUM,0,0,0,0,8,2,15,17.5787100792 +106,,SUM,0,0,0,0,40,3,42,48.2879202366 +106,,,,,,,,,, +106,,,,,,,,,, +107,BOWL,SUM,0,0,0,0,8,0,0,10.2387311459 +107,CUP,SUM,1,0,0,1,8,1,17,0 +107,SPOON,SUM,1,0,1,0,0,6,44,0 +107,,SUM,2,0,1,1,16,7,61,10.2387311459 +107,,,,,,,,,, +107,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,0,0,4,7.4951879978 +108,CUP,SUM,1,0,0,1,0,0,11,0 +108,SPOON,SUM,0,0,0,0,8,1,0,14.4823901653 +108,,SUM,1,0,0,1,8,1,15,21.9775781631 +108,,,,,,,,,, +108,,,,,,,,,, +109,BOWL,SUM,0,0,0,0,0,1,8,8.4347259998 +109,CUP,SUM,1,0,0,1,0,0,11,0 +109,SPOON,SUM,1,0,1,0,0,7,44,0 +109,,SUM,2,0,1,1,0,8,63,8.4347259998 +109,,,,,,,,,, +109,,,,,,,,,, +110,BOWL,SUM,0,0,0,0,0,0,0,7.2712070942 +110,CUP,SUM,1,0,0,1,8,0,11,0 +110,SPOON,SUM,0,0,0,0,0,1,11,13.2354009151 +110,,SUM,1,0,0,1,8,1,22,20.5066080093 +110,,,,,,,,,, +110,,,,,,,,,, +111,BOWL,SUM,0,0,0,0,0,2,12,9.0649001598 +111,CUP,SUM,1,0,0,1,0,1,11,0 +111,SPOON,SUM,0,0,0,0,0,2,13,12.5656249523 +111,,SUM,1,0,0,1,0,5,36,21.6305251122 +111,,,,,,,,,, +111,,,,,,,,,, +112,BOWL,SUM,1,0,1,0,0,2,44,0 +112,CUP,SUM,1,0,0,1,8,1,12,0 +112,SPOON,SUM,0,0,0,0,0,0,1,10.7807719707 +112,,SUM,2,0,1,1,8,3,57,10.7807719707 +112,,,,,,,,,, +112,,,,,,,,,, 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+123,SPOON,SUM,0,0,0,0,0,4,17,14.4455640316 +123,,SUM,0,0,0,0,8,4,37,35.3933432102 +123,,,,,,,,,, +123,,,,,,,,,, +124,BOWL,SUM,0,0,0,0,8,1,20,14.8594589233 +124,CUP,SUM,0,0,0,0,8,0,13,11.2695820332 +124,SPOON,SUM,0,0,0,0,0,1,4,11.7643070221 +124,,SUM,0,0,0,0,16,2,37,37.8933479786 +124,,,,,,,,,, +124,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,0,1,8.0197639465 +125,CUP,SUM,0,0,0,0,24,0,14,19.7506270409 +125,SPOON,SUM,0,0,0,0,0,0,4,11.5545239449 +125,,SUM,0,0,0,0,24,0,19,39.3249149323 +125,,,,,,,,,, +125,,,,,,,,,, +126,BOWL,SUM,1,0,1,0,0,2,44,0 +126,CUP,SUM,0,0,0,0,0,1,4,5.1721148491 +126,SPOON,SUM,0,0,0,0,8,0,0,13.0090479851 +126,,SUM,1,0,1,0,8,3,48,18.1811628342 +126,,,,,,,,,, +126,,,,,,,,,, +127,BOWL,SUM,0,0,0,0,16,0,8,15.2236778736 +127,CUP,SUM,0,0,0,0,0,0,2,4.36302495 +127,SPOON,SUM,1,0,1,0,0,5,44,0 +127,,SUM,1,0,1,0,16,5,54,19.5867028236 +127,,,,,,,,,, +127,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,12,0,4,12.8249340057 +128,CUP,SUM,1,0,0,1,0,1,11,0 +128,SPOON,SUM,0,0,0,0,8,2,0,13.8053541183 +128,,SUM,1,0,0,1,20,3,15,26.6302881241 +128,,,,,,,,,, +128,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,0,4,20,10.4737799168 +129,CUP,SUM,0,0,0,0,0,0,7,5.3390471935 +129,SPOON,SUM,0,0,0,0,0,0,4,11.3812401295 +129,,SUM,0,0,0,0,0,4,31,27.1940672398 +129,,,,,,,,,, +129,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,0,0,6.9132730961 +130,CUP,SUM,0,0,0,0,0,0,5,5.2021479607 +130,SPOON,SUM,0,0,0,0,24,2,16,24.9408280849 +130,,SUM,0,0,0,0,24,2,21,37.0562491417 +130,,,,,,,,,, +130,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,0,0,0,7.442841053 +131,CUP,SUM,1,0,0,1,0,0,20,0 +131,SPOON,SUM,0,0,0,0,0,1,7,12.2038750648 +131,,SUM,1,0,0,1,0,1,27,19.6467161179 +131,,,,,,,,,, +131,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,8,0,0,10.5709779263 +132,CUP,SUM,1,0,0,1,0,0,11,0 +132,SPOON,SUM,0,0,0,0,0,0,0,9.6507899761 +132,,SUM,1,0,0,1,8,0,11,20.2217679024 +132,,,,,,,,,, +132,,,,,,,,,, +133,BOWL,SUM,0,0,0,0,0,0,4,7.9626989365 +133,CUP,SUM,0,0,0,0,0,2,12,8.0945000648 +133,SPOON,SUM,0,0,0,0,0,1,9,12.1706328392 +133,,SUM,0,0,0,0,0,3,25,28.2278318405 +133,,,,,,,,,, +133,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,3,41,14.8263459206 +134,CUP,SUM,0,0,0,0,0,6,124,16.8453440666 +134,SPOON,SUM,0,0,0,0,0,0,3,11.400769949 +134,,SUM,0,0,0,0,0,9,168,43.0724599361 +134,,,,,,,,,, +134,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,0,16,9.7629320621 +135,CUP,SUM,1,0,0,1,0,1,11,0 +135,SPOON,SUM,0,0,0,0,0,2,13,13.1192479134 +135,,SUM,1,0,0,1,0,3,40,22.8821799755 +135,,,,,,,,,, +135,,,,,,,,,, +136,BOWL,SUM,1,0,1,0,0,2,44,0 +136,CUP,SUM,1,0,0,1,8,1,11,0 +136,SPOON,SUM,0,0,0,0,0,0,6,11.6380388737 +136,,SUM,2,0,1,1,8,3,61,11.6380388737 +136,,,,,,,,,, +136,,,,,,,,,, +137,BOWL,SUM,1,0,1,0,0,5,44,0 +137,CUP,SUM,1,0,0,1,0,2,26,0 +137,SPOON,SUM,0,0,0,0,0,1,29,15.474766016 +137,,SUM,2,0,1,1,0,8,99,15.474766016 +137,,,,,,,,,, +137,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,1,24,11.4029591084 +138,CUP,SUM,0,0,0,0,0,0,9,6.1637639999 +138,SPOON,SUM,0,0,0,0,0,0,5,11.5713129044 +138,,SUM,0,0,0,0,0,1,38,29.1380360126 +138,,,,,,,,,, +138,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,1,8,8.4199180603 +139,CUP,SUM,1,0,0,1,0,0,11,0 +139,SPOON,SUM,0,0,0,0,0,1,12,12.3391251564 +139,,SUM,1,0,0,1,0,2,31,20.7590432167 +139,,,,,,,,,, +139,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,0,0,0,7.1711521149 +140,CUP,SUM,1,0,0,1,8,0,21,0 +140,SPOON,SUM,0,0,0,0,0,0,4,10.7804808617 +140,,SUM,1,0,0,1,8,0,25,17.9516329765 +140,,,,,,,,,, +140,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,0,8,11.9394841194 +141,CUP,SUM,0,0,0,0,0,0,8,6.0983099937 +141,SPOON,SUM,1,0,1,0,0,8,44,0 +141,,SUM,1,0,1,0,8,8,60,18.0377941132 +141,,,,,,,,,, +141,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,0,0,0,7.3077399731 +142,CUP,SUM,0,0,0,0,0,0,28,9.5341868401 +142,SPOON,SUM,0,0,0,0,0,2,12,13.3187139034 +142,,SUM,0,0,0,0,0,2,40,30.1606407166 +142,,,,,,,,,, +142,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,4,41,18.2916350365 +143,CUP,SUM,1,0,0,1,0,0,11,0 +143,SPOON,SUM,0,0,0,0,16,3,33,24.3468780518 +143,,SUM,1,0,0,1,24,7,85,42.6385130882 +143,,,,,,,,,, +143,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,16,2,28,19.8660678864 +144,CUP,SUM,1,0,0,1,0,0,11,0 +144,SPOON,SUM,0,0,0,0,0,3,36,16.9746391773 +144,,SUM,1,0,0,1,16,5,75,36.8407070637 +144,,,,,,,,,, +144,,,,,,,,,, +145,BOWL,SUM,1,0,1,0,8,4,44,0 +145,CUP,SUM,0,0,0,0,0,0,4,5.1251649857 +145,SPOON,SUM,0,0,0,0,8,0,11,16.9526100159 +145,,SUM,1,0,1,0,16,4,59,22.0777750015 +145,,,,,,,,,, +145,,,,,,,,,, +146,BOWL,SUM,0,0,0,0,0,1,7,8.3415880203 +146,CUP,SUM,0,0,0,0,0,4,2,4.9271879196 +146,SPOON,SUM,0,0,0,0,8,5,40,20.7019460201 +146,,SUM,0,0,0,0,8,10,49,33.9707219601 +146,,,,,,,,,, +146,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,8,0,0,10.2560710907 +147,CUP,SUM,1,0,0,1,0,1,11,0 +147,SPOON,SUM,0,0,0,0,0,1,8,11.237719059 +147,,SUM,1,0,0,1,8,2,19,21.4937901497 +147,,,,,,,,,, +147,,,,,,,,,, +148,BOWL,SUM,1,0,1,0,16,3,44,0 +148,CUP,SUM,0,0,0,0,0,0,2,4.7666490078 +148,SPOON,SUM,1,0,1,0,16,6,44,0 +148,,SUM,2,0,2,0,32,9,90,4.7666490078 +148,,,,,,,,,, +148,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,0,20,10.5354180336 +149,CUP,SUM,1,0,0,1,16,1,11,0 +149,SPOON,SUM,0,0,0,0,0,0,0,9.8192908764 +149,,SUM,1,0,0,1,16,1,31,20.35470891 +149,,,,,,,,,, +149,,,,,,,,,, +150,BOWL,SUM,1,0,1,0,8,5,44,0 +150,CUP,SUM,0,0,0,0,0,0,2,5.0044779778 +150,SPOON,SUM,0,0,0,0,0,0,8,11.6593260765 +150,,SUM,1,0,1,0,8,5,54,16.6638040543 +150,,,,,,,,,, +150,,,,,,,,,, +151,BOWL,SUM,1,0,1,0,8,3,44,0 +151,CUP,SUM,1,0,0,1,0,1,11,0 +151,SPOON,SUM,0,0,0,0,0,1,8,11.6332850456 +151,,SUM,2,0,1,1,8,5,63,11.6332850456 +151,,,,,,,,,, +151,,,,,,,,,, +152,BOWL,SUM,1,0,1,0,12,3,44,0 +152,CUP,SUM,0,0,0,0,0,0,14,7.9376020432 +152,SPOON,SUM,0,0,0,0,0,0,14,12.8907330036 +152,,SUM,1,0,1,0,12,3,72,20.8283350468 +152,,,,,,,,,, +152,,,,,,,,,, +153,BOWL,SUM,0,0,0,0,0,0,4,7.6115350723 +153,CUP,SUM,1,0,0,1,0,1,21,0 +153,SPOON,SUM,0,0,0,0,12,1,13,17.1059019566 +153,,SUM,1,0,0,1,12,2,38,24.7174370289 +153,,,,,,,,,, +153,,,,,,,,,, +154,BOWL,SUM,0,0,0,0,0,2,8,8.3896691799 +154,CUP,SUM,1,0,0,1,0,0,12,0 +154,SPOON,SUM,0,0,0,0,0,0,9,12.2362229824 +154,,SUM,1,0,0,1,0,2,29,20.6258921623 +154,,,,,,,,,, +154,,,,,,,,,, +155,BOWL,SUM,0,0,0,0,12,1,4,12.4635798931 +155,CUP,SUM,0,0,0,0,0,1,3,5.3243360519 +155,SPOON,SUM,0,0,0,0,0,1,7,12.2293059826 +155,,SUM,0,0,0,0,12,3,14,30.0172219276 +155,,,,,,,,,, +155,,,,,,,,,, +156,BOWL,SUM,1,0,1,0,0,5,44,0 +156,CUP,SUM,0,0,0,0,0,4,3,5.9744930267 +156,SPOON,SUM,0,0,0,0,0,0,6,11.7150859833 +156,,SUM,1,0,1,0,0,9,53,17.68957901 +156,,,,,,,,,, +156,,,,,,,,,, +157,BOWL,SUM,0,0,0,0,0,0,0,6.9688739777 +157,CUP,SUM,1,0,0,1,6,1,11,0 +157,SPOON,SUM,0,0,0,0,0,1,3,11.3017289639 +157,,SUM,1,0,0,1,6,2,14,18.2706029415 +157,,,,,,,,,, +157,,,,,,,,,, +158,BOWL,SUM,0,0,0,0,0,0,0,7.3001179695 +158,CUP,SUM,1,0,0,1,56,0,11,0 +158,SPOON,SUM,0,0,0,0,0,2,24,14.1748700142 +158,,SUM,1,0,0,1,56,2,35,21.4749879837 +158,,,,,,,,,, +158,,,,,,,,,, +159,BOWL,SUM,1,0,1,0,0,3,44,0 +159,CUP,SUM,1,0,0,1,0,4,32,0 +159,SPOON,SUM,0,0,0,0,0,0,0,10.8226408958 +159,,SUM,2,0,1,1,0,7,76,10.8226408958 +159,,,,,,,,,, +159,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,8,1,2,11.5318090916 +160,CUP,SUM,1,0,0,1,8,1,11,0 +160,SPOON,SUM,0,0,0,0,8,0,2,14.8526570797 +160,,SUM,1,0,0,1,24,2,15,26.3844661713 +160,,,,,,,,,, +160,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,0,0,4,8.0874228477 +161,CUP,SUM,1,0,1,0,0,1,37,0 +161,SPOON,SUM,0,0,0,0,12,0,2,16.7071819305 +161,,SUM,1,0,1,0,12,1,43,24.7946047783 +161,,,,,,,,,, +161,,,,,,,,,, +162,BOWL,SUM,0,0,0,0,0,1,12,10.2416059971 +162,CUP,SUM,0,0,0,0,0,1,2,5.6675229073 +162,SPOON,SUM,0,0,0,0,0,0,4,11.6093459129 +162,,SUM,0,0,0,0,0,2,18,27.5184748173 +162,,,,,,,,,, +162,,,,,,,,,, +163,BOWL,SUM,0,0,0,0,0,1,8,9.4575190544 +163,CUP,SUM,0,0,0,0,0,0,2,4.9495830536 +163,SPOON,SUM,0,0,0,0,0,0,0,11.0135099888 +163,,SUM,0,0,0,0,0,1,10,25.4206120968 +163,,,,,,,,,, +163,,,,,,,,,, +164,BOWL,SUM,1,0,1,0,0,3,44,0 +164,CUP,SUM,0,0,0,0,0,0,2,5.3534588814 +164,SPOON,SUM,0,0,0,0,12,1,13,19.4031159878 +164,,SUM,1,0,1,0,12,4,59,24.7565748692 +164,,,,,,,,,, +164,,,,,,,,,, +165,BOWL,SUM,0,0,0,0,0,0,18,10.1564729214 +165,CUP,SUM,1,0,0,1,16,0,28,0 +165,SPOON,SUM,0,0,0,0,0,3,22,14.9861021042 +165,,SUM,1,0,0,1,16,3,68,25.1425750256 +165,,,,,,,,,, +165,,,,,,,,,, +166,BOWL,SUM,1,0,1,0,0,7,44,0 +166,CUP,SUM,1,0,0,1,0,1,26,0 +166,SPOON,SUM,0,0,0,0,8,3,28,17.9515199661 +166,,SUM,2,0,1,1,8,11,98,17.9515199661 +166,,,,,,,,,, +166,,,,,,,,,, +167,BOWL,SUM,0,0,0,0,0,1,12,8.9237859249 +167,CUP,SUM,0,0,0,0,0,2,14,8.6281139851 +167,SPOON,SUM,0,0,0,0,0,0,2,10.656594038 +167,,SUM,0,0,0,0,0,3,28,28.208493948 +167,,,,,,,,,, +167,,,,,,,,,, +168,BOWL,SUM,0,0,0,0,0,1,5,7.8352839947 +168,CUP,SUM,0,0,0,0,0,1,6,4.5605678558 +168,SPOON,SUM,0,0,0,0,0,1,13,12.0963790417 +168,,SUM,0,0,0,0,0,3,24,24.4922308922 +168,,,,,,,,,, +168,,,,,,,,,, +169,BOWL,SUM,0,0,0,0,0,2,21,10.4310359955 +169,CUP,SUM,0,0,0,0,24,0,2,14.3583450317 +169,SPOON,SUM,0,0,0,0,0,2,27,16.2586390972 +169,,SUM,0,0,0,0,24,4,50,41.0480201244 +169,,,,,,,,,, +169,,,,,,,,,, +170,BOWL,SUM,0,0,0,0,0,0,0,6.6946909428 +170,CUP,SUM,0,0,0,0,0,0,5,5.1819331646 +170,SPOON,SUM,0,0,0,0,8,3,16,16.5373730659 +170,,SUM,0,0,0,0,8,3,21,28.4139971733 +170,,,,,,,,,, +170,,,,,,,,,, +171,BOWL,SUM,0,0,0,0,8,0,3,10.5527451038 +171,CUP,SUM,0,0,0,0,0,1,11,6.3168690205 +171,SPOON,SUM,0,0,0,0,0,1,13,13.1939871311 +171,,SUM,0,0,0,0,8,2,27,30.0636012554 +171,,,,,,,,,, +171,,,,,,,,,, +172,BOWL,SUM,0,0,0,0,8,1,0,10.0606548786 +172,CUP,SUM,0,0,0,0,20,3,21,17.4721519947 +172,SPOON,SUM,1,0,1,0,0,11,44,0 +172,,SUM,1,0,1,0,28,15,65,27.5328068733 +172,,,,,,,,,, +172,,,,,,,,,, +173,BOWL,SUM,0,0,0,0,0,6,32,12.4122409821 +173,CUP,SUM,1,0,0,1,16,1,11,0 +173,SPOON,SUM,0,0,0,0,0,1,10,11.7601418495 +173,,SUM,1,0,0,1,16,8,53,24.1723828316 +173,,,,,,,,,, +173,,,,,,,,,, +174,BOWL,SUM,1,0,1,0,8,4,44,0 +174,CUP,SUM,1,0,0,1,0,0,11,0 +174,SPOON,SUM,0,0,0,0,0,0,0,10.3760700226 +174,,SUM,2,0,1,1,8,4,55,10.3760700226 +174,,,,,,,,,, +174,,,,,,,,,, +175,BOWL,SUM,1,0,1,0,0,7,44,0 +175,CUP,SUM,0,0,0,0,0,1,2,4.8846178055 +175,SPOON,SUM,0,0,0,0,0,2,13,14.1282269955 +175,,SUM,1,0,1,0,0,10,59,19.0128448009 +175,,,,,,,,,, +175,,,,,,,,,, +176,BOWL,SUM,0,0,0,0,24,0,4,18.3240609169 +176,CUP,SUM,0,0,0,0,0,2,2,5.001157999 +176,SPOON,SUM,0,0,0,0,0,2,0,10.2332849503 +176,,SUM,0,0,0,0,24,4,6,33.5585038662 +176,,,,,,,,,, +176,,,,,,,,,, +177,BOWL,SUM,0,0,0,0,0,2,12,9.2105891705 +177,CUP,SUM,0,0,0,0,0,2,2,5.1137299538 +177,SPOON,SUM,0,0,0,0,24,4,0,21.7804300785 +177,,SUM,0,0,0,0,24,8,14,36.1047492027 +177,,,,,,,,,, +177,,,,,,,,,, +178,BOWL,SUM,1,0,1,0,8,6,44,0 +178,CUP,SUM,1,0,1,0,12,2,11,0 +178,SPOON,SUM,0,0,0,0,0,4,0,10.5202789307 +178,,SUM,2,0,2,0,20,12,55,10.5202789307 +178,,,,,,,,,, +178,,,,,,,,,, +179,BOWL,SUM,0,0,0,0,0,0,0,6.770236969 +179,CUP,SUM,1,0,0,1,8,0,17,0 +179,SPOON,SUM,0,0,0,0,0,1,4,10.974011898 +179,,SUM,1,0,0,1,8,1,21,17.744248867 +179,,,,,,,,,, +179,,,,,,,,,, +180,BOWL,SUM,1,0,1,0,8,4,44,0 +180,CUP,SUM,0,0,0,0,0,5,37,11.6026470661 +180,SPOON,SUM,1,0,1,0,8,10,44,0 +180,,SUM,2,0,2,0,16,19,125,11.6026470661 +180,,,,,,,,,, +180,,,,,,,,,, +181,BOWL,SUM,0,0,0,0,0,0,0,7.0572290421 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b/cram_knowrob/cram_knowrob_vr/experiments/old_10.12.2019/kvr_pr2_new_best.csv @@ -0,0 +1,144 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 +1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 +1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +2,CUP,SUM,1,1,0,0,0,1519,0,0.0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +2,,SUM,3,3,0,0,0,4557,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 +3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +4,CUP,SUM,1,1,0,0,0,1519,0,0.0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +4,,SUM,3,3,0,0,0,4557,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +5,CUP,SUM,1,1,0,0,0,1519,0,0.0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +5,,SUM,3,3,0,0,0,4557,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +6,CUP,SUM,1,1,0,0,0,1519,0,0.0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 +6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +7,CUP,SUM,1,1,0,0,0,1519,0,0.0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +7,,SUM,3,3,0,0,0,4557,0,0.0 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 +8,CUP,SUM,1,1,0,0,0,1519,0,0.0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 +8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +9,CUP,SUM,1,1,0,0,0,1519,0,0.0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +9,,SUM,3,3,0,0,0,4557,0,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 +10,CUP,SUM,1,1,0,0,0,1519,0,0.0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 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a/cram_knowrob/cram_knowrob_vr/experiments/old_10.12.2019/kvr_pr2_orig_orig_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/old_10.12.2019/kvr_pr2_orig_orig_best.csv new file mode 100644 index 0000000000..99afcf48a8 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_10.12.2019/kvr_pr2_orig_orig_best.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +20,, +20,BOWL,SUM,0,0,0,0,2,47,0,13.78581714630127 +20,CUP,SUM,1,0,0,1,2,188,58,0.0 +20,SPOON,SUM,0,0,0,0,0,125,0,20.95003318786621 +20,,SUM,1,0,0,1,4,360,58,34.73585033416748 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,53,0,13.247747898101807 +21,CUP,SUM,0,0,0,0,0,27,14,24.23551607131958 +21,SPOON,SUM,0,0,0,0,0,80,2,18.07046103477478 +21,,SUM,0,0,0,0,0,160,16,55.55372500419617 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,15,0,11.859118938446045 +22,CUP,SUM,0,0,0,0,0,33,13,19.584190845489502 +22,SPOON,SUM,0,0,0,0,16,63,2,24.22484803199768 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0000000000..e856c5c9cc --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_10.12.2019/kvr_pr2_orig_varhalf_best.csv @@ -0,0 +1,291 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +50,, +50,BOWL,SUM,0,0,0,0,0,14,4,10.599961042404175 +50,CUP,SUM,0,0,0,0,0,5,0,6.82976508140564 +50,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +50,,SUM,1,0,1,0,2,1600,4,17.429726123809814 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,12,0,8.819735050201416 +51,CUP,SUM,0,0,0,0,2,50,5,13.62477707862854 +51,SPOON,SUM,0,0,0,0,0,0,0,11.77640700340271 +51,,SUM,0,0,0,0,2,62,5,34.220919132232666 +51,, +52,, +52,BOWL,SUM,0,0,0,0,0,43,0,10.358792066574097 +52,CUP,SUM,0,0,0,0,2,12,4,7.626431941986084 +52,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +52,,SUM,1,0,1,0,2,1636,4,17.98522400856018 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,30,12,15.279633045196533 +53,CUP,SUM,0,0,0,0,0,16,7,8.061570882797241 +53,SPOON,SUM,1,0,1,0,0,1581,0,0.0 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+68,,,,,,,,,, +69,,,,,,,,,, +69,BOWL,SUM,0,0,0,0,2,3,5,11.9049670696 +69,CUP,SUM,0,0,0,0,0,4,8,8.1408231258 +69,SPOON,SUM,0,0,0,0,0,0,0,10.791675806 +69,,SUM,0,0,0,0,2,7,13,30.8374660015 +69,,,,,,,,,, +70,,,,,,,,,, +70,BOWL,SUM,0,0,0,0,0,5,20,15.617194891 +70,CUP,SUM,1,0,1,0,8,311,12,0 +70,SPOON,SUM,1,1,0,0,0,42,0,0 +70,,SUM,2,1,1,0,8,358,32,15.617194891 +70,,,,,,,,,, +71,,,,,,,,,, +71,BOWL,SUM,0,0,0,0,0,4,0,8.889605999 +71,CUP,SUM,1,0,1,0,2,22,55,0 +71,SPOON,SUM,0,0,0,0,0,0,0,11.9026219845 +71,,SUM,1,0,1,0,2,26,55,20.7922279835 +71,,,,,,,,,, +72,,,,,,,,,, +72,BOWL,SUM,0,0,0,0,0,3,0,8.3523201942 +72,CUP,SUM,0,0,0,0,0,11,9,11.3410670757 +72,SPOON,SUM,1,0,1,0,0,14,11,0 +72,,SUM,1,0,1,0,0,28,20,19.69338727 +72,,,,,,,,,, +73,,,,,,,,,, +73,BOWL,SUM,0,0,0,0,0,1,0,8.1731960773 +73,CUP,SUM,0,0,0,0,0,5,57,23.8641250134 +73,SPOON,SUM,0,0,0,0,0,2,0,11.1556720734 +73,,SUM,0,0,0,0,0,8,57,43.1929931641 +73,,,,,,,,,, +74,,,,,,,,,, +74,BOWL,SUM,0,0,0,0,0,0,0,8.307060957 +74,CUP,SUM,1,1,0,0,0,42,0,0 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+110,,,,,,,,,, +111,,,,,,,,,, +111,BOWL,SUM,1,1,0,0,48,9,0,0 +111,CUP,SUM,1,0,1,0,0,15,82,0 +111,SPOON,SUM,0,0,0,0,0,2,0,10.657889843 +111,,SUM,2,1,1,0,48,26,82,10.657889843 +111,,,,,,,,,, +112,,,,,,,,,, +112,BOWL,SUM,0,0,0,0,0,2,6,8.7813270092 +112,CUP,SUM,0,0,0,0,0,17,108,44.0257298946 +112,SPOON,SUM,0,0,0,0,0,1,0,11.0253348351 +112,,SUM,0,0,0,0,0,20,114,63.8323917389 +112,,,,,,,,,, +113,,,,,,,,,, +113,BOWL,SUM,0,0,0,0,16,1,0,16.831649065 +113,CUP,SUM,0,0,0,0,2,12,49,29.4508709908 +113,SPOON,SUM,0,0,0,0,0,1,0,10.8326590061 +113,,SUM,0,0,0,0,18,14,49,57.1151790619 +113,,,,,,,,,, +114,,,,,,,,,, +114,BOWL,SUM,0,0,0,0,0,10,1,10.4362258911 +114,CUP,SUM,0,0,0,0,10,4,8,13.4629919529 +114,SPOON,SUM,0,0,0,0,0,0,0,10.7700150013 +114,,SUM,0,0,0,0,10,14,9,34.6692328453 +114,,,,,,,,,, +115,,,,,,,,,, +115,BOWL,SUM,0,0,0,0,0,0,0,8.5033340454 +115,CUP,SUM,0,0,0,0,0,5,57,27.0560419559 +115,SPOON,SUM,1,0,1,0,12,341,0,0 +115,,SUM,1,0,1,0,12,346,57,35.5593760014 +115,,,,,,,,,, +116,,,,,,,,,, +116,BOWL,SUM,0,0,0,0,0,9,0,9.5714070797 +116,CUP,SUM,0,0,0,0,0,30,12,14.8506498337 +116,SPOON,SUM,0,0,0,0,2,6,12,17.9250040054 +116,,SUM,0,0,0,0,2,45,24,42.3470609188 +116,,,,,,,,,, +117,,,,,,,,,, +117,BOWL,SUM,0,0,0,0,0,3,2,8.4649291039 +117,CUP,SUM,0,0,0,0,0,7,15,13.3390471935 +117,SPOON,SUM,0,0,0,0,0,0,4,12.6347830296 +117,,SUM,0,0,0,0,0,10,21,34.4387593269 +117,,,,,,,,,, +118,,,,,,,,,, +118,BOWL,SUM,1,1,0,0,0,42,0,0 +118,CUP,SUM,0,0,0,0,0,2,8,9.0611100197 +118,SPOON,SUM,0,0,0,0,0,5,0,12.9496879578 +118,,SUM,1,1,0,0,0,49,8,22.0107979774 +118,,,,,,,,,, +119,,,,,,,,,, +119,BOWL,SUM,1,0,1,0,2,5,50,0 +119,CUP,SUM,0,0,0,0,0,4,9,9.1399791241 +119,SPOON,SUM,1,0,1,0,0,342,0,0 +119,,SUM,2,0,2,0,2,351,59,9.1399791241 +119,,,,,,,,,, +120,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,2,1,9.1138739586 +120,CUP,SUM,0,0,0,0,8,7,20,16.5214138031 +120,SPOON,SUM,0,0,0,0,0,6,0,11.1972098351 +120,,SUM,0,0,0,0,8,15,21,36.8324975967 +120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,1,0,1,0,0,19,11,0 +121,CUP,SUM,0,0,0,0,0,6,8,9.2009871006 +121,SPOON,SUM,0,0,0,0,8,10,0,15.7024199963 +121,,SUM,1,0,1,0,8,35,19,24.9034070969 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,4,1,9.0722010136 +122,CUP,SUM,1,0,1,0,0,10,33,0 +122,SPOON,SUM,0,0,0,0,0,0,0,10.9185729027 +122,,SUM,1,0,1,0,0,14,34,19.9907739162 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,0,3,20,18.418582201 +123,CUP,SUM,0,0,0,0,0,9,48,23.9578020573 +123,SPOON,SUM,1,1,0,0,0,42,0,0 +123,,SUM,1,1,0,0,0,54,68,42.3763842583 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,1,0,1,0,0,18,44,0 +124,CUP,SUM,0,0,0,0,0,4,9,8.8620390892 +124,SPOON,SUM,0,0,0,0,8,5,0,15.1320450306 +124,,SUM,1,0,1,0,8,27,53,23.9940841198 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,3,6,11.5709300041 +125,CUP,SUM,0,0,0,0,16,6,20,20.8550000191 +125,SPOON,SUM,1,0,1,0,0,93,9,0 +125,,SUM,1,0,1,0,16,102,35,32.4259300232 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,8,0,9.8833200932 +126,CUP,SUM,0,0,0,0,0,11,87,43.4661738873 +126,SPOON,SUM,0,0,0,0,0,3,4,13.7089869976 +126,,SUM,0,0,0,0,0,22,91,67.058480978 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,1,0,1,0,0,41,44,0 +127,CUP,SUM,0,0,0,0,0,2,13,12.3954589367 +127,SPOON,SUM,0,0,0,0,0,2,0,11.9779598713 +127,,SUM,1,0,1,0,0,45,57,24.373418808 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,1,0,8.0316560268 +128,CUP,SUM,0,0,0,0,0,4,28,15.4799580574 +128,SPOON,SUM,1,0,1,0,8,342,0,0 +128,,SUM,1,0,1,0,8,347,28,23.5116140842 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,2,2,0,9.8502550125 +129,CUP,SUM,0,0,0,0,0,8,34,20.0191850662 +129,SPOON,SUM,0,0,0,0,0,3,0,10.942964077 +129,,SUM,0,0,0,0,2,13,34,40.8124041557 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,6,1,10.0340189934 +130,CUP,SUM,0,0,0,0,0,5,9,10.0756111145 +130,SPOON,SUM,0,0,0,0,0,2,0,11.1657710075 +130,,SUM,0,0,0,0,0,13,10,31.2754011154 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,2,3,0,15.1406280994 +131,CUP,SUM,1,0,1,0,0,13,101,0 +131,SPOON,SUM,0,0,0,0,16,7,12,24.9761459827 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+116,SPOON,SUM,0,0,0,0,0,1,0,13.0033590794 +116,,SUM,0,0,0,0,0,7,9,31.9912571907 +116,,,,,,,,,, +117,,,,,,,,,, +117,BOWL,SUM,1,0,1,0,0,10,42,0 +117,CUP,SUM,0,0,0,0,0,3,28,21.7019751072 +117,SPOON,SUM,0,0,0,0,0,11,28,33.0930240154 +117,,SUM,1,0,1,0,0,24,98,54.7949991226 +117,,,,,,,,,, +118,,,,,,,,,, +118,BOWL,SUM,0,0,0,0,0,2,8,12.1588830948 +118,CUP,SUM,0,0,0,0,0,4,8,9.0444731712 +118,SPOON,SUM,0,0,0,0,0,7,0,12.9072160721 +118,,SUM,0,0,0,0,0,13,16,34.1105723381 +118,,,,,,,,,, +119,,,,,,,,,, +119,BOWL,SUM,0,0,0,0,8,21,11,20.5797851086 +119,CUP,SUM,1,0,1,0,0,8,53,0 +119,SPOON,SUM,0,0,0,0,0,11,4,15.5039110184 +119,,SUM,1,0,1,0,8,40,68,36.0836961269 +119,,,,,,,,,, +120,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,1,1,10.6489179134 +120,CUP,SUM,0,0,0,0,0,5,20,14.144382 +120,SPOON,SUM,0,0,0,0,0,3,0,12.9957549572 +120,,SUM,0,0,0,0,0,9,21,37.7890548706 +120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,0,0,0,0,0,2,0,8.9371979237 +121,CUP,SUM,0,0,0,0,0,6,67,30.8375749588 +121,SPOON,SUM,0,0,0,0,2,5,0,14.4463419914 +121,,SUM,0,0,0,0,2,13,67,54.2211148739 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,12,15,15.8068780899 +122,CUP,SUM,1,0,1,0,4,7,63,0 +122,SPOON,SUM,0,0,0,0,0,1,0,11.5770280361 +122,,SUM,1,0,1,0,4,20,78,27.383906126 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,8,0,0,12.0141150951 +123,CUP,SUM,0,0,0,0,2,5,14,15.7797811031 +123,SPOON,SUM,0,0,0,0,0,1,0,12.3976700306 +123,,SUM,0,0,0,0,10,6,14,40.1915662289 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,0,0,0,0,0,1,12,12.3331639767 +124,CUP,SUM,0,0,0,0,2,3,8,10.0667610168 +124,SPOON,SUM,0,0,0,0,0,1,0,12.356896162 +124,,SUM,0,0,0,0,2,5,20,34.7568211555 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,8,2,0,13.2340250015 +125,CUP,SUM,1,0,1,0,8,9,78,0 +125,SPOON,SUM,0,0,0,0,0,0,0,11.1414489746 +125,,SUM,1,0,1,0,16,11,78,24.3754739761 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,5,1,10.7816548347 +126,CUP,SUM,0,0,0,0,56,7,13,40.2000989914 +126,SPOON,SUM,0,0,0,0,0,6,5,15.1644020081 +126,,SUM,0,0,0,0,56,18,19,66.1461558342 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,0,0,0,0,0,6,4,9.8695020676 +127,CUP,SUM,0,0,0,0,0,4,17,13.8128650188 +127,SPOON,SUM,0,0,0,0,0,10,19,21.8556649685 +127,,SUM,0,0,0,0,0,20,40,45.5380320549 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,7,1,12.3377430439 +128,CUP,SUM,0,0,0,0,0,0,8,8.1055619717 +128,SPOON,SUM,0,0,0,0,0,3,0,13.2631878853 +128,,SUM,0,0,0,0,0,10,9,33.7064929008 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,0,22,12,17.484167099 +129,CUP,SUM,0,0,0,0,0,16,20,15.8541278839 +129,SPOON,SUM,0,0,0,0,2,9,0,14.2880139351 +129,,SUM,0,0,0,0,2,47,32,47.626308918 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,4,12,13.7268381119 +130,CUP,SUM,0,0,0,0,0,7,42,21.0261740685 +130,SPOON,SUM,0,0,0,0,0,1,0,11.6369509697 +130,,SUM,0,0,0,0,0,12,54,46.38996315 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,18,5,28,26.8971281052 +131,CUP,SUM,0,0,0,0,0,9,8,10.7678720951 +131,SPOON,SUM,0,0,0,0,0,7,0,12.0308258533 +131,,SUM,0,0,0,0,18,21,36,49.6958260536 +131,,,,,,,,,, +132,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,0,5,14,15.9205322266 +132,CUP,SUM,0,0,0,0,0,14,8,10.7989420891 +132,SPOON,SUM,1,0,1,0,0,14,11,0 +132,,SUM,1,0,1,0,0,33,33,26.7194743156 +132,,,,,,,,,, +133,,,,,,,,,, +133,BOWL,SUM,0,0,0,0,0,4,5,14.1082930565 +133,CUP,SUM,0,0,0,0,4,1,13,12.7270030975 +133,SPOON,SUM,0,0,0,0,16,13,4,36.9019489288 +133,,SUM,0,0,0,0,20,18,22,63.7372450829 +133,,,,,,,,,, +134,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,6,0,10.4737198353 +134,CUP,SUM,0,0,0,0,24,16,34,33.523555994 +134,SPOON,SUM,0,0,0,0,0,3,2,15.5895130634 +134,,SUM,0,0,0,0,24,25,36,59.5867888927 +134,,,,,,,,,, +135,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,2,0,9.5275111198 +135,CUP,SUM,0,0,0,0,2,2,23,16.0832350254 +135,SPOON,SUM,0,0,0,0,2,5,10,18.8270280361 +135,,SUM,0,0,0,0,4,9,33,44.4377741814 +135,,,,,,,,,, +136,,,,,,,,,, +136,BOWL,SUM,0,0,0,0,0,15,4,16.9680140018 +136,CUP,SUM,1,0,1,0,0,9,106,0 +136,SPOON,SUM,0,0,0,0,24,7,4,24.1122329235 +136,,SUM,1,0,1,0,24,31,114,41.0802469254 +136,,,,,,,,,, +137,,,,,,,,,, +137,BOWL,SUM,0,0,0,0,22,3,2,23.3682181835 +137,CUP,SUM,0,0,0,0,2,8,8,10.9837861061 +137,SPOON,SUM,0,0,0,0,0,3,0,13.0956449509 +137,,SUM,0,0,0,0,24,14,10,47.4476492405 +137,,,,,,,,,, +138,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,0,4,9.4308941364 +138,CUP,SUM,0,0,0,0,0,3,8,10.1117010117 +138,SPOON,SUM,0,0,0,0,8,0,0,17.3162419796 +138,,SUM,0,0,0,0,8,3,12,36.8588371277 +138,,,,,,,,,, +139,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,1,0,9.2899258137 +139,CUP,SUM,0,0,0,0,16,12,71,42.8380079269 +139,SPOON,SUM,0,0,0,0,0,8,19,22.1764428616 +139,,SUM,0,0,0,0,16,21,90,74.3043766022 +139,,,,,,,,,, +140,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,8,3,9,16.3059420586 +140,CUP,SUM,0,0,0,0,10,8,49,33.7361040115 +140,SPOON,SUM,1,0,1,0,0,9,11,0 +140,,SUM,1,0,1,0,18,20,69,50.0420460701 +140,,,,,,,,,, +141,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,1,0,16.6043851376 +141,CUP,SUM,1,0,1,0,20,7,126,0 +141,SPOON,SUM,1,0,1,0,32,12,11,0 +141,,SUM,2,0,2,0,60,20,137,16.6043851376 +141,,,,,,,,,, +142,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,8,0,0,17.4152309895 +142,CUP,SUM,0,0,0,0,0,7,109,45.5534880161 +142,SPOON,SUM,0,0,0,0,0,18,7,17.5913360119 +142,,SUM,0,0,0,0,8,25,116,80.5600550175 +142,,,,,,,,,, +143,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,17,12,20.6115529537 +143,CUP,SUM,0,0,0,0,0,1,11,10.9092340469 +143,SPOON,SUM,0,0,0,0,2,3,1,13.686756134 +143,,SUM,0,0,0,0,10,21,24,45.2075431347 +143,,,,,,,,,, +144,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,0,2,0,8.893504858 +144,CUP,SUM,0,0,0,0,0,1,29,18.4887700081 +144,SPOON,SUM,0,0,0,0,0,12,7,18.5192329884 +144,,SUM,0,0,0,0,0,15,36,45.9015078545 +144,,,,,,,,,, +145,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,5,4,13.5352010727 +145,CUP,SUM,0,0,0,0,2,6,13,19.6412708759 +145,SPOON,SUM,0,0,0,0,8,1,0,20.3212730885 +145,,SUM,0,0,0,0,10,12,17,53.4977450371 +145,,,,,,,,,, +146,,,,,,,,,, +146,BOWL,SUM,0,0,0,0,0,1,1,10.1164069176 +146,CUP,SUM,0,0,0,0,16,7,8,20.7620549202 +146,SPOON,SUM,1,0,1,0,0,11,11,0 +146,,SUM,1,0,1,0,16,19,20,30.8784618378 +146,,,,,,,,,, +147,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,8,9,30,29.637816906 +147,CUP,SUM,0,0,0,0,0,1,9,10.688603878 +147,SPOON,SUM,0,0,0,0,8,2,0,17.4911358356 +147,,SUM,0,0,0,0,16,12,39,57.8175566196 +147,,,,,,,,,, +148,,,,,,,,,, +148,BOWL,SUM,0,0,0,0,0,7,9,13.0492727757 +148,CUP,SUM,0,0,0,0,8,1,10,14.2250959873 +148,SPOON,SUM,0,0,0,0,0,5,11,21.153922081 +148,,SUM,0,0,0,0,8,13,30,48.428290844 +148,,,,,,,,,, +149,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,2,9,9,16.5710780621 +149,CUP,SUM,0,0,0,0,0,0,9,9.7253911495 +149,SPOON,SUM,0,0,0,0,0,2,0,10.9943780899 +149,,SUM,0,0,0,0,2,11,18,37.2908473015 +149,,,,,,,,,, +150,,,,,,,,,, +150,BOWL,SUM,0,0,0,0,14,3,2,20.5547230244 +150,CUP,SUM,0,0,0,0,0,2,37,18.9707920551 +150,SPOON,SUM,0,0,0,0,0,1,0,13.0611550808 +150,,SUM,0,0,0,0,14,6,39,52.5866701603 +150,,,,,,,,,, +151,,,,,,,,,, +151,BOWL,SUM,0,0,0,0,0,1,0,7.5482809544 +151,CUP,SUM,0,0,0,0,0,6,9,9.5270559788 +151,SPOON,SUM,0,0,0,0,0,16,0,14.7426860332 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+156,,SUM,0,0,0,0,2,7,8,32.1733539104 +156,,,,,,,,,, +157,,,,,,,,,, +157,BOWL,SUM,0,0,0,0,16,2,1,14.4753739834 +157,CUP,SUM,1,0,1,0,16,9,51,0 +157,SPOON,SUM,0,0,0,0,0,0,0,10.7643082142 +157,,SUM,1,0,1,0,32,11,52,25.2396821976 +157,,,,,,,,,, +158,,,,,,,,,, +158,BOWL,SUM,0,0,0,0,8,5,1,15.519356966 +158,CUP,SUM,1,0,1,0,0,8,77,0 +158,SPOON,SUM,0,0,0,0,2,8,5,16.472463131 +158,,SUM,1,0,1,0,10,21,83,31.991820097 +158,,,,,,,,,, +159,,,,,,,,,, +159,BOWL,SUM,0,0,0,0,0,1,4,11.1084070206 +159,CUP,SUM,0,0,0,0,2,2,9,9.9092440605 +159,SPOON,SUM,1,0,1,0,8,11,46,0 +159,,SUM,1,0,1,0,10,14,59,21.0176510811 +159,,,,,,,,,, +160,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,8,1,0,11.9087779522 +160,CUP,SUM,0,0,0,0,16,13,21,25.5116438866 +160,SPOON,SUM,0,0,0,0,2,4,4,14.2284789085 +160,,SUM,0,0,0,0,26,18,25,51.6489007473 +160,,,,,,,,,, +161,,,,,,,,,, +161,BOWL,SUM,0,0,0,0,2,2,0,8.7800588608 +161,CUP,SUM,0,0,0,0,0,0,8,8.5091378689 +161,SPOON,SUM,0,0,0,0,0,2,0,11.9040141106 +161,,SUM,0,0,0,0,2,4,8,29.1932108402 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+86,,SUM,2,0,1,1,0,8,63,8.5583598614 +86,,,,,,,,,, +86,,,,,,,,,, +87,BOWL,SUM,0,0,0,0,0,0,0,6.9523279667 +87,CUP,SUM,1,0,0,1,8,0,11,0 +87,SPOON,SUM,0,0,0,0,0,1,11,12.9354829788 +87,,SUM,1,0,0,1,8,1,22,19.8878109455 +87,,,,,,,,,, +87,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,0,2,12,9.1349301338 +88,CUP,SUM,1,0,0,1,0,1,11,0 +88,SPOON,SUM,0,0,0,0,0,2,13,12.8090589046 +88,,SUM,1,0,0,1,0,5,36,21.9439890385 +88,,,,,,,,,, +88,,,,,,,,,, +89,BOWL,SUM,1,0,1,0,0,2,44,0 +89,CUP,SUM,1,0,0,1,8,1,12,0 +89,SPOON,SUM,0,0,0,0,0,0,1,10.7945160866 +89,,SUM,2,0,1,1,8,3,57,10.7945160866 +89,,,,,,,,,, +89,,,,,,,,,, +90,BOWL,SUM,0,0,0,0,8,5,14,14.5862650871 +90,CUP,SUM,1,0,0,1,6,1,17,0 +90,SPOON,SUM,0,0,0,0,0,0,20,13.5365991592 +90,,SUM,1,0,0,1,14,6,51,28.1228642464 +90,,,,,,,,,, +90,,,,,,,,,, +91,BOWL,SUM,1,0,1,0,0,4,44,0 +91,CUP,SUM,0,0,0,0,44,5,67,32.2395730019 +91,SPOON,SUM,0,0,0,0,0,1,16,13.6120769978 +91,,SUM,1,0,1,0,44,10,127,45.8516499996 +91,,,,,,,,,, +91,,,,,,,,,, +92,BOWL,SUM,0,0,0,0,16,0,0,14.298358202 +92,CUP,SUM,1,0,0,1,0,0,15,0 +92,SPOON,SUM,1,0,1,0,0,3,44,0 +92,,SUM,2,0,1,1,16,3,59,14.298358202 +92,,,,,,,,,, +92,,,,,,,,,, +93,BOWL,SUM,0,0,0,0,0,0,1,7.8226950169 +93,CUP,SUM,1,0,0,1,0,0,11,0 +93,SPOON,SUM,0,0,0,0,0,1,12,13.0035178661 +93,,SUM,1,0,0,1,0,1,24,20.826212883 +93,,,,,,,,,, +93,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,0,2,0,7.5843029022 +94,CUP,SUM,1,0,0,1,0,0,11,0 +94,SPOON,SUM,0,0,0,0,0,2,20,14.9923319817 +94,,SUM,1,0,0,1,0,4,31,22.5766348839 +94,,,,,,,,,, +94,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,8,5,36,16.9351811409 +95,CUP,SUM,1,0,0,1,0,0,18,0 +95,SPOON,SUM,0,0,0,0,8,0,1,14.2875897884 +95,,SUM,1,0,0,1,16,5,55,31.2227709293 +95,,,,,,,,,, +95,,,,,,,,,, +96,BOWL,SUM,0,0,0,0,8,1,20,14.1860098839 +96,CUP,SUM,0,0,0,0,0,6,16,10.7020220757 +96,SPOON,SUM,0,0,0,0,0,0,4,11.0964319706 +96,,SUM,0,0,0,0,8,7,40,35.9844639301 +96,,,,,,,,,, +96,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,1,8,8.6147010326 +97,CUP,SUM,1,0,0,1,12,0,19,0 +97,SPOON,SUM,0,0,0,0,0,0,4,10.9142560959 +97,,SUM,1,0,0,1,12,1,31,19.5289571285 +97,,,,,,,,,, +97,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,1,18,10.3255479336 +98,CUP,SUM,1,0,0,1,0,3,11,0 +98,SPOON,SUM,0,0,0,0,0,3,16,13.8381330967 +98,,SUM,1,0,0,1,0,7,45,24.1636810303 +98,,,,,,,,,, +98,,,,,,,,,, +99,BOWL,SUM,0,0,0,0,12,2,34,18.161044836 +99,CUP,SUM,0,0,0,0,0,3,8,5.0742509365 +99,SPOON,SUM,0,0,0,0,0,5,4,11.8395738602 +99,,SUM,0,0,0,0,12,10,46,35.0748696327 +99,,,,,,,,,, +99,,,,,,,,,, +100,BOWL,SUM,0,0,0,0,0,0,5,8.7887191772 +100,CUP,SUM,0,0,0,0,8,0,15,12.7108709812 +100,SPOON,SUM,0,0,0,0,0,4,17,14.5642330647 +100,,SUM,0,0,0,0,8,4,37,36.0638232231 +100,,,,,,,,,, +100,,,,,,,,,, +101,BOWL,SUM,0,0,0,0,8,1,20,15.477241993 +101,CUP,SUM,0,0,0,0,8,0,13,11.5720140934 +101,SPOON,SUM,0,0,0,0,0,1,4,11.5963890553 +101,,SUM,0,0,0,0,16,2,37,38.6456451416 +101,,,,,,,,,, +101,,,,,,,,,, +102,BOWL,SUM,0,0,0,0,0,0,1,7.4590368271 +102,CUP,SUM,0,0,0,0,24,0,14,19.8688409328 +102,SPOON,SUM,0,0,0,0,0,0,4,11.0847461224 +102,,SUM,0,0,0,0,24,0,19,38.4126238823 +102,,,,,,,,,, +102,,,,,,,,,, +103,BOWL,SUM,1,0,1,0,0,7,44,0 +103,CUP,SUM,1,0,0,1,0,1,26,0 +103,SPOON,SUM,0,0,0,0,8,3,28,18.3595449924 +103,,SUM,2,0,1,1,8,11,98,18.3595449924 +103,,,,,,,,,, +103,,,,,,,,,, +104,BOWL,SUM,0,0,0,0,0,1,12,8.926763773 +104,CUP,SUM,0,0,0,0,0,0,14,8.9727039337 +104,SPOON,SUM,0,0,0,0,0,0,2,10.5587990284 +104,,SUM,0,0,0,0,0,1,28,28.4582667351 +104,,,,,,,,,, +104,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,0,0,5,8.1286921501 +105,CUP,SUM,0,0,0,0,0,1,6,4.9638950825 +105,SPOON,SUM,0,0,0,0,0,1,13,12.9461500645 +105,,SUM,0,0,0,0,0,2,24,26.0387372971 +105,,,,,,,,,, +105,,,,,,,,,, +106,BOWL,SUM,0,0,0,0,0,0,21,10.974132061 +106,CUP,SUM,0,0,0,0,32,1,6,19.7350780964 +106,SPOON,SUM,0,0,0,0,8,2,15,17.5787100792 +106,,SUM,0,0,0,0,40,3,42,48.2879202366 +106,,,,,,,,,, +106,,,,,,,,,, +107,BOWL,SUM,0,0,0,0,8,0,0,10.2387311459 +107,CUP,SUM,1,0,0,1,8,1,17,0 +107,SPOON,SUM,1,0,1,0,0,6,44,0 +107,,SUM,2,0,1,1,16,7,61,10.2387311459 +107,,,,,,,,,, +107,,,,,,,,,, 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+139,,,,,,,,,, +139,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,0,0,0,7.1711521149 +140,CUP,SUM,1,0,0,1,8,0,21,0 +140,SPOON,SUM,0,0,0,0,0,0,4,10.7804808617 +140,,SUM,1,0,0,1,8,0,25,17.9516329765 +140,,,,,,,,,, +140,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,0,8,11.9394841194 +141,CUP,SUM,0,0,0,0,0,0,8,6.0983099937 +141,SPOON,SUM,1,0,1,0,0,8,44,0 +141,,SUM,1,0,1,0,8,8,60,18.0377941132 +141,,,,,,,,,, +141,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,0,0,0,7.3077399731 +142,CUP,SUM,0,0,0,0,0,0,28,9.5341868401 +142,SPOON,SUM,0,0,0,0,0,2,12,13.3187139034 +142,,SUM,0,0,0,0,0,2,40,30.1606407166 +142,,,,,,,,,, +142,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,4,41,18.2916350365 +143,CUP,SUM,1,0,0,1,0,0,11,0 +143,SPOON,SUM,0,0,0,0,16,3,33,24.3468780518 +143,,SUM,1,0,0,1,24,7,85,42.6385130882 +143,,,,,,,,,, +143,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,16,2,28,19.8660678864 +144,CUP,SUM,1,0,0,1,0,0,11,0 +144,SPOON,SUM,0,0,0,0,0,3,36,16.9746391773 +144,,SUM,1,0,0,1,16,5,75,36.8407070637 +144,,,,,,,,,, +144,,,,,,,,,, +145,BOWL,SUM,1,0,1,0,8,4,44,0 +145,CUP,SUM,0,0,0,0,0,0,4,5.1251649857 +145,SPOON,SUM,0,0,0,0,8,0,11,16.9526100159 +145,,SUM,1,0,1,0,16,4,59,22.0777750015 +145,,,,,,,,,, +145,,,,,,,,,, +146,BOWL,SUM,0,0,0,0,0,1,7,8.3415880203 +146,CUP,SUM,0,0,0,0,0,4,2,4.9271879196 +146,SPOON,SUM,0,0,0,0,8,5,40,20.7019460201 +146,,SUM,0,0,0,0,8,10,49,33.9707219601 +146,,,,,,,,,, +146,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,8,0,0,10.2560710907 +147,CUP,SUM,1,0,0,1,0,1,11,0 +147,SPOON,SUM,0,0,0,0,0,1,8,11.237719059 +147,,SUM,1,0,0,1,8,2,19,21.4937901497 +147,,,,,,,,,, +147,,,,,,,,,, +148,BOWL,SUM,1,0,1,0,16,3,44,0 +148,CUP,SUM,0,0,0,0,0,0,2,4.7666490078 +148,SPOON,SUM,1,0,1,0,16,6,44,0 +148,,SUM,2,0,2,0,32,9,90,4.7666490078 +148,,,,,,,,,, +148,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,0,20,10.5354180336 +149,CUP,SUM,1,0,0,1,16,1,11,0 +149,SPOON,SUM,0,0,0,0,0,0,0,9.8192908764 +149,,SUM,1,0,0,1,16,1,31,20.35470891 +149,,,,,,,,,, +149,,,,,,,,,, +150,BOWL,SUM,1,0,1,0,8,5,44,0 +150,CUP,SUM,0,0,0,0,0,0,2,5.0044779778 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+47,SPOON,SUM,0,0,0,0,0,13,2,17.05501699447632 +47,,SUM,1,0,1,0,4,560,101,31.421611070632935 +47,, +48,, +48,BOWL,SUM,0,0,0,0,2,415,8,46.314335107803345 +48,CUP,SUM,0,0,0,0,0,17,11,17.968498945236206 +48,SPOON,SUM,0,0,0,0,0,37,0,18.874425172805786 +48,,SUM,0,0,0,0,2,469,19,83.15725922584534 +48,, +49,, +49,BOWL,SUM,0,0,0,0,14,662,11,75.74930500984192 +49,CUP,SUM,1,0,1,0,0,223,81,0.0 +49,SPOON,SUM,0,0,0,0,0,98,7,38.095966815948486 +49,,SUM,1,0,1,0,14,983,99,113.8452718257904 +49,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_last_run.csv b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_last_run.csv new file mode 100644 index 0000000000..872d531eff --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_last_run.csv @@ -0,0 +1,144 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 +1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 +1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +2,CUP,SUM,1,1,0,0,0,1519,0,0.0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +2,,SUM,3,3,0,0,0,4557,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 +3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +4,CUP,SUM,1,1,0,0,0,1519,0,0.0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +4,,SUM,3,3,0,0,0,4557,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +5,CUP,SUM,1,1,0,0,0,1519,0,0.0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +5,,SUM,3,3,0,0,0,4557,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +6,CUP,SUM,1,1,0,0,0,1519,0,0.0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 +6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +7,CUP,SUM,1,1,0,0,0,1519,0,0.0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +7,,SUM,3,3,0,0,0,4557,0,0.0 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 +8,CUP,SUM,1,1,0,0,0,1519,0,0.0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 +8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +9,CUP,SUM,1,1,0,0,0,1519,0,0.0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +9,,SUM,3,3,0,0,0,4557,0,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 +10,CUP,SUM,1,1,0,0,0,1519,0,0.0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +11,CUP,SUM,1,1,0,0,0,1519,0,0.0 +11,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +11,,SUM,3,3,0,0,0,4557,0,0.0 +11,, +12,, +12,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +12,CUP,SUM,1,1,0,0,0,1519,0,0.0 +12,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +12,,SUM,3,3,0,0,0,4557,0,0.0 +12,, +13,, +13,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +13,CUP,SUM,0,0,0,0,0,4,1,11.309921979904175 +13,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +13,,SUM,2,2,0,0,0,3042,1,11.309921979904175 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,56,4,19.901787042617798 +14,CUP,SUM,1,1,0,0,0,1519,0,0.0 +14,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +14,,SUM,2,2,0,0,0,3094,4,19.901787042617798 +14,, +15,, +15,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +15,CUP,SUM,0,0,0,0,0,80,19,35.60285711288452 +15,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +15,,SUM,2,2,0,0,0,3118,19,35.60285711288452 +15,, +16,, +16,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +16,CUP,SUM,1,1,0,0,0,1519,0,0.0 +16,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +16,,SUM,3,3,0,0,0,4557,0,0.0 +16,, +17,, +17,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +17,CUP,SUM,1,1,0,0,0,1519,0,0.0 +17,SPOON,SUM,0,0,0,0,0,14,0,15.217566013336182 +17,,SUM,2,2,0,0,0,3052,0,15.217566013336182 +17,, +18,, +18,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +18,CUP,SUM,1,0,1,0,0,1658,0,0.0 +18,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +18,,SUM,3,2,1,0,0,4696,0,0.0 +18,, +19,, +19,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +19,CUP,SUM,1,0,1,0,0,1638,0,0.0 +19,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +19,,SUM,3,2,1,0,0,4676,0,0.0 +19,, +20,, +20,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +20,CUP,SUM,1,1,0,0,0,1519,0,0.0 +20,SPOON,SUM,1,0,1,0,8,1582,0,0.0 +20,,SUM,3,2,1,0,8,4620,0,0.0 +20,, +21,, +21,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +21,CUP,SUM,1,1,0,0,0,1519,0,0.0 +21,SPOON,SUM,0,0,0,0,6,103,10,27.39035391807556 +21,,SUM,2,2,0,0,6,3141,10,27.39035391807556 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,62,8,19.67384910583496 +22,CUP,SUM,0,0,0,0,0,12,10,15.023195028305054 +22,SPOON,SUM,1,0,1,0,0,1405,28,0.0 +22,,SUM,1,0,1,0,0,1479,46,34.697044134140015 +22,, +23,, +23,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +23,CUP,SUM,0,0,0,0,0,10,10,12.614169836044312 diff --git a/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_new_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_new_best.csv new file mode 100644 index 0000000000..872d531eff --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_new_best.csv @@ -0,0 +1,144 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 +1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 +1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +2,CUP,SUM,1,1,0,0,0,1519,0,0.0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +2,,SUM,3,3,0,0,0,4557,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 +3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +4,CUP,SUM,1,1,0,0,0,1519,0,0.0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +4,,SUM,3,3,0,0,0,4557,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +5,CUP,SUM,1,1,0,0,0,1519,0,0.0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +5,,SUM,3,3,0,0,0,4557,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +6,CUP,SUM,1,1,0,0,0,1519,0,0.0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 +6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +7,CUP,SUM,1,1,0,0,0,1519,0,0.0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +7,,SUM,3,3,0,0,0,4557,0,0.0 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 +8,CUP,SUM,1,1,0,0,0,1519,0,0.0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 +8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +9,CUP,SUM,1,1,0,0,0,1519,0,0.0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +9,,SUM,3,3,0,0,0,4557,0,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 +10,CUP,SUM,1,1,0,0,0,1519,0,0.0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 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a/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_orig_orig_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_orig_orig_best.csv new file mode 100644 index 0000000000..99afcf48a8 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_orig_orig_best.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +20,, +20,BOWL,SUM,0,0,0,0,2,47,0,13.78581714630127 +20,CUP,SUM,1,0,0,1,2,188,58,0.0 +20,SPOON,SUM,0,0,0,0,0,125,0,20.95003318786621 +20,,SUM,1,0,0,1,4,360,58,34.73585033416748 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,53,0,13.247747898101807 +21,CUP,SUM,0,0,0,0,0,27,14,24.23551607131958 +21,SPOON,SUM,0,0,0,0,0,80,2,18.07046103477478 +21,,SUM,0,0,0,0,0,160,16,55.55372500419617 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,15,0,11.859118938446045 +22,CUP,SUM,0,0,0,0,0,33,13,19.584190845489502 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b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_orig_varhalf_best.csv new file mode 100644 index 0000000000..e856c5c9cc --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old_deadline_10.12.2019/kvr_pr2_orig_varhalf_best.csv @@ -0,0 +1,291 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +50,, +50,BOWL,SUM,0,0,0,0,0,14,4,10.599961042404175 +50,CUP,SUM,0,0,0,0,0,5,0,6.82976508140564 +50,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +50,,SUM,1,0,1,0,2,1600,4,17.429726123809814 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,12,0,8.819735050201416 +51,CUP,SUM,0,0,0,0,2,50,5,13.62477707862854 +51,SPOON,SUM,0,0,0,0,0,0,0,11.77640700340271 +51,,SUM,0,0,0,0,2,62,5,34.220919132232666 +51,, +52,, +52,BOWL,SUM,0,0,0,0,0,43,0,10.358792066574097 +52,CUP,SUM,0,0,0,0,2,12,4,7.626431941986084 +52,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +52,,SUM,1,0,1,0,2,1636,4,17.98522400856018 +52,, +53,, 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+56,BOWL,SUM,0,0,0,0,0,2,14,15.138602018356323 +56,CUP,SUM,0,0,0,0,0,391,276,136.73033714294434 +56,SPOON,SUM,0,0,0,0,0,1,0,12.039993047714233 +56,,SUM,0,0,0,0,0,394,290,163.9089322090149 +56,, +57,, +57,BOWL,SUM,0,0,0,0,0,0,17,16.297691106796265 +57,CUP,SUM,0,0,0,0,0,7,38,23.73480200767517 +57,SPOON,SUM,1,0,1,0,0,1008,136,0.0 +57,,SUM,1,0,1,0,0,1015,191,40.032493114471436 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,2,1,11.857285976409912 +58,CUP,SUM,1,0,0,1,0,39,59,0.0 +58,SPOON,SUM,1,0,1,0,16,1270,42,0.0 +58,,SUM,2,0,1,1,16,1311,102,11.857285976409912 +58,, +59,, +59,BOWL,SUM,1,0,1,0,0,1302,72,0.0 +59,CUP,SUM,0,0,0,0,0,4,25,20.84594702720642 +59,SPOON,SUM,0,0,0,0,0,5,3,16.58079981803894 +59,,SUM,1,0,1,0,0,1311,100,37.42674684524536 +59,, +60,, +60,BOWL,SUM,0,0,0,0,0,2,0,9.670446157455444 +60,CUP,SUM,1,0,1,0,10,1227,255,0.0 +60,SPOON,SUM,0,0,0,0,0,0,0,11.657161951065063 +60,,SUM,1,0,1,0,10,1229,255,21.327608108520508 +60,, +61,, +61,BOWL,SUM,0,0,0,0,0,2,23,22.12329602241516 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+32,CUP,SUM,0,0,0,0,2,7,7,11.36257791519165 +32,SPOON,SUM,0,0,0,0,0,14,0,14.125922918319702 +32,,SUM,1,0,1,0,2,1535,17,25.488500833511353 +32,, +33,, +33,BOWL,SUM,1,0,1,0,18,1352,14,0.0 +33,CUP,SUM,0,0,0,0,0,18,2,12.075277090072632 +33,SPOON,SUM,1,0,1,0,6,1406,28,0.0 +33,,SUM,2,0,2,0,24,2776,44,12.075277090072632 +33,, +34,, +34,BOWL,SUM,1,0,1,0,0,1126,52,0.0 +34,CUP,SUM,0,0,0,0,0,56,23,22.634598970413208 +34,SPOON,SUM,0,0,0,0,0,8,2,13.914203882217407 +34,,SUM,1,0,1,0,0,1190,77,36.548802852630615 +34,, +35,, +35,BOWL,SUM,1,0,1,0,0,1405,24,0.0 +35,CUP,SUM,0,0,0,0,2,45,11,16.06694793701172 +35,SPOON,SUM,1,0,1,0,32,1344,0,0.0 +35,,SUM,2,0,2,0,34,2794,35,16.06694793701172 +35,, +36,, +36,BOWL,SUM,1,0,1,0,0,1167,50,0.0 +36,CUP,SUM,0,0,0,0,0,67,25,32.0824818611145 +36,SPOON,SUM,0,0,0,0,0,168,15,31.008002996444702 +36,,SUM,1,0,1,0,0,1402,90,63.090484857559204 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,28,2,11.421064138412476 +37,CUP,SUM,0,0,0,0,0,17,4,9.12125301361084 +37,SPOON,SUM,0,0,0,0,0,54,4,17.439872980117798 +37,,SUM,0,0,0,0,0,99,10,37.98219013214111 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,5,0,10.175603866577148 +38,CUP,SUM,0,0,0,0,2,14,0,9.767898082733154 +38,SPOON,SUM,1,0,1,0,44,1275,0,0.0 +38,,SUM,1,0,1,0,46,1294,0,19.943501949310303 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,88,2,14.429382801055908 +39,CUP,SUM,1,0,1,0,6,466,104,0.0 +39,SPOON,SUM,1,0,1,0,0,1500,12,0.0 +39,,SUM,2,0,2,0,6,2054,118,14.429382801055908 +39,, +40,, +40,BOWL,SUM,0,0,0,0,0,22,4,13.247651100158691 +40,CUP,SUM,1,0,0,1,0,170,56,0.0 +40,SPOON,SUM,0,0,0,0,0,135,0,19.518676042556763 +40,,SUM,1,0,0,1,0,327,60,32.766327142715454 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,246,0,23.13299798965454 +41,CUP,SUM,0,0,0,0,6,134,60,55.227068185806274 +41,SPOON,SUM,0,0,0,0,0,51,0,16.17882800102234 +41,,SUM,0,0,0,0,6,431,60,94.53889417648315 +41,, +42,, +42,BOWL,SUM,1,0,1,0,0,1525,12,0.0 +42,CUP,SUM,1,0,1,0,2,230,110,0.0 +42,SPOON,SUM,0,0,0,0,0,251,2,28.711532831192017 +42,,SUM,2,0,2,0,2,2006,124,28.711532831192017 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,35,0,12.264400005340576 +43,CUP,SUM,0,0,0,0,0,68,30,40.84378695487976 +43,SPOON,SUM,0,0,0,0,2,59,4,19.810079097747803 +43,,SUM,0,0,0,0,2,162,34,72.91826605796814 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,8,2,10.819329977035522 +44,CUP,SUM,0,0,0,0,0,22,6,9.596866846084595 +44,SPOON,SUM,0,0,0,0,0,66,4,20.153451919555664 +44,,SUM,0,0,0,0,0,96,12,40.56964874267578 +44,, +45,, +45,BOWL,SUM,0,0,0,0,6,8,0,12.818115949630737 +45,CUP,SUM,1,0,1,0,0,279,111,0.0 +45,SPOON,SUM,0,0,0,0,0,235,2,28.728751182556152 +45,,SUM,1,0,1,0,6,522,113,41.54686713218689 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,20,2,11.27259612083435 +46,CUP,SUM,1,0,1,0,4,202,58,0.0 +46,SPOON,SUM,0,0,0,0,0,0,2,14.144083023071289 +46,,SUM,1,0,1,0,4,222,62,25.41667914390564 +46,, +47,, +47,BOWL,SUM,0,0,0,0,16,68,2,21.977657079696655 +47,CUP,SUM,0,0,0,0,0,18,2,9.477878093719482 +47,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +47,,SUM,1,0,1,0,16,1667,4,31.455535173416138 +47,, +48,, +48,BOWL,SUM,0,0,0,0,0,9,0,10.612251996994019 +48,CUP,SUM,1,0,1,0,0,345,108,0.0 +48,SPOON,SUM,0,0,0,0,0,42,4,17.2029390335083 +48,,SUM,1,0,1,0,0,396,112,27.81519103050232 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,4,0,10.36062502861023 +49,CUP,SUM,1,0,0,1,0,133,54,0.0 +49,SPOON,SUM,1,0,1,0,16,1407,0,0.0 +49,,SUM,2,0,1,1,16,1544,54,10.36062502861023 +49,, +50,, +50,BOWL,SUM,1,0,1,0,0,1584,0,0.0 +50,CUP,SUM,1,0,1,0,0,159,110,0.0 +50,SPOON,SUM,0,0,0,0,0,219,0,26.138139009475708 +50,,SUM,2,0,2,0,0,1962,110,26.138139009475708 +50,, +51,, +51,BOWL,SUM,0,0,0,0,2,126,4,19.865580797195435 +51,CUP,SUM,1,0,0,1,0,191,55,0.0 +51,SPOON,SUM,1,0,1,0,4,1581,0,0.0 +51,,SUM,2,0,1,1,6,1898,59,19.865580797195435 +51,, +52,, +52,BOWL,SUM,0,0,0,0,58,199,0,47.287779092788696 +52,CUP,SUM,0,0,0,0,0,47,13,14.591926097869873 +52,SPOON,SUM,0,0,0,0,0,64,1,17.259998083114624 +52,,SUM,0,0,0,0,58,310,14,79.1397032737732 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,17,1,12.33146595954895 +53,CUP,SUM,0,0,0,0,0,13,4,9.112069845199585 +53,SPOON,SUM,0,0,0,0,0,0,0,13.564654111862183 +53,,SUM,0,0,0,0,0,30,5,35.00818991661072 +53,, +54,, +54,BOWL,SUM,0,0,0,0,0,7,0,10.617570877075195 +54,CUP,SUM,0,0,0,0,0,15,7,14.73786997795105 +54,SPOON,SUM,0,0,0,0,2,107,1,21.468746185302734 +54,,SUM,0,0,0,0,2,129,8,46.82418704032898 +54,, +55,, +55,BOWL,SUM,0,0,0,0,6,21,0,12.889350175857544 +55,CUP,SUM,1,0,0,1,0,156,62,0.0 +55,SPOON,SUM,0,0,0,0,0,7,0,13.917734861373901 +55,,SUM,1,0,0,1,6,184,62,26.807085037231445 +55,, +56,, +56,BOWL,SUM,1,0,1,0,0,1150,50,0.0 +56,CUP,SUM,0,0,0,0,0,10,6,12.227536916732788 +56,SPOON,SUM,0,0,0,0,4,354,80,81.99061799049377 +56,,SUM,1,0,1,0,4,1514,136,94.21815490722656 +56,, +57,, +57,BOWL,SUM,1,0,1,0,26,1244,18,0.0 +57,CUP,SUM,0,0,0,0,0,11,0,9.134411096572876 +57,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +57,,SUM,2,0,2,0,26,2836,18,9.134411096572876 +57,, +58,, +58,BOWL,SUM,1,0,1,0,0,1387,32,0.0 +58,CUP,SUM,0,0,0,0,0,8,9,9.551911115646362 +58,SPOON,SUM,0,0,0,0,0,4,5,17.128108024597168 +58,,SUM,1,0,1,0,0,1399,46,26.68001914024353 +58,, +59,, +59,BOWL,SUM,0,0,0,0,0,5,2,10.678754091262817 diff --git a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp index dfe653d687..4fb0a487fc 100644 --- a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp @@ -82,9 +82,7 @@ If the result is anything but NIL, the world is stable." (cpl:seq (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))))))) + (type parking-arms))))))) ;;if in back 'cereal-5 diff --git a/cram_knowrob/cram_knowrob_vr/src/experiment-log-generator.lisp b/cram_knowrob/cram_knowrob_vr/src/experiment-log-generator.lisp new file mode 100644 index 0000000000..124f1bd58f --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/src/experiment-log-generator.lisp @@ -0,0 +1,268 @@ +;; +;;; Copyright (c) 2019, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :kvr) + +(defparameter *experiment-log-filename* "package://cram_knowrob_vr/experiments/failures") +(defparameter *experiment-log-extension* ".csv") + +(defparameter *experiment-log-detailed?* nil) + +(defvar *experiment-log-current-object* nil) + +(defvar *experiment-log-current-demo-run-vr* -1) +(defvar *experiment-log-current-demo-run-heur* -1) + +(defparameter *experiment-log-failures-to-count* + '(common-fail:searching-failed common-fail:fetching-failed common-fail:delivering-failed + common-fail:perception-low-level-failure common-fail:navigation-low-level-failure + common-fail:manipulation-low-level-failure common-fail:ptu-low-level-failure)) +(defvar *experiment-log-current-demo-run-object-failures* nil) + +(defvar *experiment-log-current-execution-time-bowl* 0) +(defvar *experiment-log-current-execution-time-cup* 0) +(defvar *experiment-log-current-execution-time-spoon* 0) + + +(defun experiment-log (string &key + (object-type *experiment-log-current-object*) + (demo-run (if *kvr-enabled* + *experiment-log-current-demo-run-vr* + *experiment-log-current-demo-run-heur*))) + (let ((file-path + (physics-utils:parse-uri + (format nil + "~a_~a~a" + *experiment-log-filename* + (if *kvr-enabled* "VR" "HEUR") + *experiment-log-extension*)))) + (unless (probe-file file-path) + (with-open-file (stream file-path + :direction :output + :if-exists :error + :if-does-not-exist :create) + (format stream "RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,~ + SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,~ + PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC~%~%~%"))) + (with-open-file (stream file-path + :direction :output + :if-exists :append + :if-does-not-exist :error) + (format stream "~a,~a,~a~%" demo-run (or object-type "") string)))) + +(defun read-last-line (file-uri) + (with-open-file (stream (physics-utils:parse-uri file-uri) + :direction :input + :if-does-not-exist nil) + (when stream + (let (last-non-empty-line) + (do ((line (read-line stream nil 'eof) + (read-line stream nil 'eof))) + ((eql line 'eof)) + (unless (string-equal + (string-trim + '(#\Space #\Newline #\Backspace #\Tab #\Linefeed #\Page #\Return #\Rubout) + (remove #\Space (remove #\, line))) + "") + (setf last-non-empty-line line))) + last-non-empty-line)))) + +(defun find-experiment-log-last-current-demo-run (&key vr?) + (let ((last-line + (read-last-line + (format nil "~a_~a~a" + *experiment-log-filename* + (if vr? + "VR" + "HEUR") + *experiment-log-extension*)))) + (if last-line + (let ((last-current-demo-run + (read-from-string (first (split-sequence:split-sequence #\, last-line))))) + (if (or (not (numberp last-current-demo-run)) (< last-current-demo-run 0)) + (error "YOUR LOG FILE IS CORRUPTED!") + last-current-demo-run)) + -1))) + +(defun set-experiment-log-current-demo-run () + (if *kvr-enabled* + (when (< *experiment-log-current-demo-run-vr* 0) + (setf *experiment-log-current-demo-run-vr* + (1+ (find-experiment-log-last-current-demo-run :vr? t)))) + (when (< *experiment-log-current-demo-run-heur* 0) + (setf *experiment-log-current-demo-run-heur* + (1+ (find-experiment-log-last-current-demo-run :vr? nil)))))) + +(defmethod cpl:fail :before (&rest args) + (let ((failure-symbol + (typecase (first args) + (symbol (first args)) + (string 'cpl:simple-plan-failure) + (cpl:plan-failure (type-of (first args))) + (t 'unknown-failure---------------------)))) + (when *experiment-log-detailed?* + (experiment-log + (cut:replace-all + (format nil "~a" failure-symbol) + '(#\Newline) " "))) + (when (and *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + (if (getf *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + (mapc (lambda (tracked-failure-symbol) + (when (subtypep failure-symbol tracked-failure-symbol) + (incf (getf (getf *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + tracked-failure-symbol)))) + *experiment-log-failures-to-count*) + (warn "Object ~a is not tracked for failures!" *experiment-log-current-object*))))) + + +(defun generate-empty-failure-property-list () + (let (new-prop-list) + (mapc (lambda (failure-symbol) + (setf (getf new-prop-list failure-symbol) 0)) + *experiment-log-failures-to-count*) + new-prop-list)) + +(defun get-experiment-log-failures (failure-symbol &optional object-type) + (let ((failure-num + (if object-type + (getf (getf *experiment-log-current-demo-run-object-failures* + object-type) + failure-symbol) + (+ (getf (getf *experiment-log-current-demo-run-object-failures* + 'bowl) + failure-symbol) + (getf (getf *experiment-log-current-demo-run-object-failures* + 'cup) + failure-symbol) + (getf (getf *experiment-log-current-demo-run-object-failures* + 'spoon) + failure-symbol))))) + (if (eql failure-symbol 'common-fail:perception-low-level-failure) + (/ failure-num 5) + failure-num))) + +(defun get-experiment-log-transport-duration (&optional object-type) + (if object-type + (case object-type + (bowl *experiment-log-current-execution-time-bowl*) + (cup *experiment-log-current-execution-time-cup*) + (spoon *experiment-log-current-execution-time-spoon*)) + (+ *experiment-log-current-execution-time-bowl* + *experiment-log-current-execution-time-cup* + *experiment-log-current-execution-time-spoon*))) + + +(defun experiment-log-current-demo-run-failures (&optional object-type) + (let* ((searching-failures + (get-experiment-log-failures + 'common-fail:searching-failed object-type)) + (fetching-failures + (get-experiment-log-failures + 'common-fail:fetching-failed object-type)) + (delivering-failures + (get-experiment-log-failures + 'common-fail:delivering-failed object-type)) + (transporting-failed + (+ searching-failures fetching-failures delivering-failures)) + (navigation-failures + (get-experiment-log-failures + 'common-fail:navigation-low-level-failure object-type)) + (manipulation-failures + (get-experiment-log-failures + 'common-fail:manipulation-low-level-failure object-type)) + (perception-failures + (get-experiment-log-failures + 'common-fail:perception-low-level-failure object-type)) + (duration + (get-experiment-log-transport-duration object-type))) + (experiment-log (format nil "SUM,~a,~a,~a,~a,~a,~a,~a,~f" + transporting-failed + searching-failures fetching-failures delivering-failures + perception-failures navigation-failures manipulation-failures + duration)) + (when *experiment-log-detailed?* + (experiment-log (format nil "~%"))))) + + +(defun experiment-log-start-demo-run () + (set-experiment-log-current-demo-run) + (setf *experiment-log-current-object* nil) + (if *experiment-log-detailed?* + (experiment-log (format nil "~%~%")) + (experiment-log (format nil ""))) + + (setf (getf *experiment-log-current-demo-run-object-failures* 'bowl) + (generate-empty-failure-property-list)) + (setf (getf *experiment-log-current-demo-run-object-failures* 'cup) + (generate-empty-failure-property-list)) + (setf (getf *experiment-log-current-demo-run-object-failures* 'spoon) + (generate-empty-failure-property-list)) + + (setf *experiment-log-current-execution-time-bowl* 0 + *experiment-log-current-execution-time-cup* 0 + *experiment-log-current-execution-time-spoon* 0)) + +(defun experiment-log-finish-demo-run () + (setf *experiment-log-current-object* nil) + (experiment-log-current-demo-run-failures) + (if *experiment-log-detailed?* + (experiment-log (format nil "~%~%")) + (experiment-log (format nil ""))) + (if *kvr-enabled* + (incf *experiment-log-current-demo-run-vr*) + (incf *experiment-log-current-demo-run-heur*))) + +(defun experiment-log-start-object-transport (object-type) + (setf *experiment-log-current-object* object-type) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* (roslisp:ros-time))) + (cup (setf *experiment-log-current-execution-time-cup* (roslisp:ros-time))) + (spoon (setf *experiment-log-current-execution-time-spoon* (roslisp:ros-time))))) + +(defun experiment-log-finish-object-transport-successful (object-type) + (when *experiment-log-detailed?* + (experiment-log (format nil "TRANSPORTING SUCCEEDED~%"))) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* + (- (roslisp:ros-time) *experiment-log-current-execution-time-bowl*))) + (cup (setf *experiment-log-current-execution-time-cup* + (- (roslisp:ros-time) *experiment-log-current-execution-time-cup*))) + (spoon (setf *experiment-log-current-execution-time-spoon* + (- (roslisp:ros-time) *experiment-log-current-execution-time-spoon*))))) + +(defun experiment-log-finish-object-transport-failed (object-type) + (when *experiment-log-detailed?* + (experiment-log (format nil "TRANSPORTING FAILED~%"))) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* 0)) + (cup (setf *experiment-log-current-execution-time-cup* 0)) + (spoon (setf *experiment-log-current-execution-time-spoon* 0)))) diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index 56f4543e57..2d0a7ad68b 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -29,12 +29,14 @@ (in-package :kvr) +;;; These are not used, as the objects are spawned randomly on the sink +;;; in randomly chosen 'buckets' (defparameter *object-spawning-poses* '((:bowl . ((1.6 0.5 0.87) (0 0 0.4 0.6))) (:cup . ((1.3 0.1 0.9) (0 0 -0.7 0.7))) (:spoon . ((1.43 0.4 0.85) (0 0 0.3 0.7))) - ;; (:breakfast-cereal . ((1.4 0.4 0.85) (0 0 0 1))) - ;; (:milk . ((1.4 0.62 0.95) (0 0 1 0))) + ;; (:breakfast-cereal . ((1.4 0.4 0.85) (0 0 0 1))) + ;; (:milk . ((1.4 0.62 0.95) (0 0 1 0))))) )) (defparameter *object-delivering-poses* @@ -46,9 +48,9 @@ )) (defparameter *object-delivering-poses-varied-kitchen* - '((bowl . ((-0.7846 0.3 0.89953) (0 0 0.1 0.9))) - (cup . ((-0.95 0.2 0.9) (0 0 0.99 0.07213))) - (spoon . ((-1.0573 0.35 0.86835) (0.0 -0.0 -0.5 0.5))))) + '((bowl . ((-0.68 0.95 0.89953) (0 0 0.1 0.9))) + (cup . ((-0.85 0.85 0.9) (0 0 0.99 0.07213))) + (spoon . ((-0.9573 1.0 0.86835) (0.0 -0.0 -0.5 0.5))))) ;; (defparameter *object-delivering-poses* ;; '((breakfast-cereal . ((1.4 0.4 0.85) (0 0 0 1))) @@ -77,18 +79,17 @@ (btr-utils:kill-all-objects) (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") (btr:detach-all-objects (btr:get-robot-object)) - (let* ((varied-kitchen? (> (cl-transforms:y - (cl-transforms:origin - (btr:pose - (btr:rigid-body - (btr:get-environment-object) - :|KITCHEN.sink_area|)))) - 1.0)) + (let* ((sink-area-y (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|ENVIRONMENT.sink_area|))))) (object-types '(:cup :bowl :spoon)) (delta-alpha (* 2 pi)) (delta-y 0.3) - (x0 (if varied-kitchen? 1.25 1.35)) - (y0 (if varied-kitchen? 1.0 (- 0.2))) + (x0 1.35) + (y0 (- sink-area-y 0.3)) (y-bucket-padding 0.2) (y-bucket-length 0.3) (y-buckets (alexandria:shuffle '(0 1 2)))) @@ -137,9 +138,7 @@ (cpl:par (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (let ((?pose (cl-transforms-stamped:make-pose-stamped cram-tf:*fixed-frame* 0.0 @@ -166,23 +165,20 @@ (setf proj-reasoning::*projection-checks-enabled* t) (btr:detach-all-objects (btr:get-robot-object)) - (btr:detach-all-objects (btr:object btr:*current-bullet-world* :kitchen)) + (btr:detach-all-objects (btr:get-environment-object)) (btr-utils:kill-all-objects) - (setf (btr:joint-state (btr:object btr:*current-bullet-world* :kitchen) + (setf (btr:joint-state (btr:get-environment-object) "sink_area_left_upper_drawer_main_joint") 0.0) (btr-belief::publish-environment-joint-state - (btr:joint-states (btr:object btr:*current-bullet-world* :kitchen))) + (btr:joint-states (btr:get-environment-object))) (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) (unless cram-projection:*projection-environment* (json-prolog:prolog-simple "rdf_retractall(A,B,C,belief_state).") ;; (cram-occasions-events:clear-belief) ; to clear giskard environment - ) - - ;; (setf cram-robot-pose-guassian-costmap::*orientation-samples* 3) - ) + )) (defun finalize () ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) @@ -199,250 +195,6 @@ ;; (ccl::connect-to-cloud-logger) ;; (ccl::reset-logged-owl)) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; EXPERIMENT LOG STUFF ;;;;;;;;;;;;;;;;;;;;; - -(defparameter *experiment-log-filename* "package://cram_knowrob_vr/experiments/failures") -(defparameter *experiment-log-extension* ".csv") - -(defparameter *experiment-log-detailed?* nil) - -(defvar *experiment-log-current-object* nil) - -(defvar *experiment-log-current-demo-run-vr* -1) -(defvar *experiment-log-current-demo-run-heur* -1) - -(defparameter *experiment-log-failures-to-count* - '(common-fail:searching-failed common-fail:fetching-failed common-fail:delivering-failed - common-fail:perception-low-level-failure common-fail:navigation-low-level-failure - common-fail:manipulation-low-level-failure common-fail:ptu-low-level-failure)) -(defvar *experiment-log-current-demo-run-object-failures* nil) - -(defvar *experiment-log-current-execution-time-bowl* 0) -(defvar *experiment-log-current-execution-time-cup* 0) -(defvar *experiment-log-current-execution-time-spoon* 0) - - -(defun experiment-log (string &key - (object-type *experiment-log-current-object*) - (demo-run (if *kvr-enabled* - *experiment-log-current-demo-run-vr* - *experiment-log-current-demo-run-heur*))) - (let ((file-path - (physics-utils:parse-uri - (format nil - "~a_~a~a" - *experiment-log-filename* - (if *kvr-enabled* "VR" "HEUR") - *experiment-log-extension*)))) - (unless (probe-file file-path) - (with-open-file (stream file-path - :direction :output - :if-exists :error - :if-does-not-exist :create) - (format stream "RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,~ - SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,~ - PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC~%~%~%"))) - (with-open-file (stream file-path - :direction :output - :if-exists :append - :if-does-not-exist :error) - (format stream "~a,~a,~a~%" demo-run (or object-type "") string)))) - -(defun read-last-line (file-uri) - (with-open-file (stream (physics-utils:parse-uri file-uri) - :direction :input - :if-does-not-exist nil) - (when stream - (let (last-non-empty-line) - (do ((line (read-line stream nil 'eof) - (read-line stream nil 'eof))) - ((eql line 'eof)) - (unless (string-equal - (string-trim - '(#\Space #\Newline #\Backspace #\Tab #\Linefeed #\Page #\Return #\Rubout) - (remove #\Space (remove #\, line))) - "") - (setf last-non-empty-line line))) - last-non-empty-line)))) - -(defun find-experiment-log-last-current-demo-run (&key vr?) - (let ((last-line - (read-last-line - (format nil "~a_~a~a" - *experiment-log-filename* - (if vr? - "VR" - "HEUR") - *experiment-log-extension*)))) - (if last-line - (let ((last-current-demo-run - (read-from-string (first (split-sequence:split-sequence #\, last-line))))) - (if (or (not (numberp last-current-demo-run)) (< last-current-demo-run 0)) - (error "YOUR LOG FILE IS CORRUPTED!") - last-current-demo-run)) - -1))) - -(defun set-experiment-log-current-demo-run () - (if *kvr-enabled* - (when (< *experiment-log-current-demo-run-vr* 0) - (setf *experiment-log-current-demo-run-vr* - (1+ (find-experiment-log-last-current-demo-run :vr? t)))) - (when (< *experiment-log-current-demo-run-heur* 0) - (setf *experiment-log-current-demo-run-heur* - (1+ (find-experiment-log-last-current-demo-run :vr? nil)))))) - -(defmethod cpl:fail :before (&rest args) - (let ((failure-symbol - (typecase (first args) - (symbol (first args)) - (string 'cpl:simple-plan-failure) - (cpl:plan-failure (type-of (first args))) - (t 'unknown-failure---------------------)))) - (when *experiment-log-detailed?* - (experiment-log - (btr-belief::replace-all - (format nil "~a" failure-symbol) - '(#\Newline) " "))) - (when (and *experiment-log-current-demo-run-object-failures* - *experiment-log-current-object*) - (if (getf *experiment-log-current-demo-run-object-failures* - *experiment-log-current-object*) - (mapc (lambda (tracked-failure-symbol) - (when (subtypep failure-symbol tracked-failure-symbol) - (incf (getf (getf *experiment-log-current-demo-run-object-failures* - *experiment-log-current-object*) - tracked-failure-symbol)))) - *experiment-log-failures-to-count*) - (warn "Object ~a is not tracked for failures!" *experiment-log-current-object*))))) - - -(defun generate-empty-failure-property-list () - (let (new-prop-list) - (mapc (lambda (failure-symbol) - (setf (getf new-prop-list failure-symbol) 0)) - *experiment-log-failures-to-count*) - new-prop-list)) - -(defun get-experiment-log-failures (failure-symbol &optional object-type) - (let ((failure-num - (if object-type - (getf (getf *experiment-log-current-demo-run-object-failures* - object-type) - failure-symbol) - (+ (getf (getf *experiment-log-current-demo-run-object-failures* - 'bowl) - failure-symbol) - (getf (getf *experiment-log-current-demo-run-object-failures* - 'cup) - failure-symbol) - (getf (getf *experiment-log-current-demo-run-object-failures* - 'spoon) - failure-symbol))))) - (if (eql failure-symbol 'common-fail:perception-low-level-failure) - (/ failure-num 5) - failure-num))) - -(defun get-experiment-log-transport-duration (&optional object-type) - (if object-type - (case object-type - (bowl *experiment-log-current-execution-time-bowl*) - (cup *experiment-log-current-execution-time-cup*) - (spoon *experiment-log-current-execution-time-spoon*)) - (+ *experiment-log-current-execution-time-bowl* - *experiment-log-current-execution-time-cup* - *experiment-log-current-execution-time-spoon*))) - - -(defun experiment-log-current-demo-run-failures (&optional object-type) - (let* ((searching-failures - (get-experiment-log-failures - 'common-fail:searching-failed object-type)) - (fetching-failures - (get-experiment-log-failures - 'common-fail:fetching-failed object-type)) - (delivering-failures - (get-experiment-log-failures - 'common-fail:delivering-failed object-type)) - (transporting-failed - (+ searching-failures fetching-failures delivering-failures)) - (navigation-failures - (get-experiment-log-failures - 'common-fail:navigation-low-level-failure object-type)) - (manipulation-failures - (get-experiment-log-failures - 'common-fail:manipulation-low-level-failure object-type)) - (perception-failures - (get-experiment-log-failures - 'common-fail:perception-low-level-failure object-type)) - (duration - (get-experiment-log-transport-duration object-type))) - (experiment-log (format nil "SUM,~a,~a,~a,~a,~a,~a,~a,~f" - transporting-failed - searching-failures fetching-failures delivering-failures - perception-failures navigation-failures manipulation-failures - duration)) - (when *experiment-log-detailed?* - (experiment-log (format nil "~%"))))) - - -(defun experiment-log-start-demo-run () - (set-experiment-log-current-demo-run) - (setf *experiment-log-current-object* nil) - (if *experiment-log-detailed?* - (experiment-log (format nil "~%~%")) - (experiment-log (format nil ""))) - - (setf (getf *experiment-log-current-demo-run-object-failures* 'bowl) - (generate-empty-failure-property-list)) - (setf (getf *experiment-log-current-demo-run-object-failures* 'cup) - (generate-empty-failure-property-list)) - (setf (getf *experiment-log-current-demo-run-object-failures* 'spoon) - (generate-empty-failure-property-list)) - - (setf *experiment-log-current-execution-time-bowl* 0 - *experiment-log-current-execution-time-cup* 0 - *experiment-log-current-execution-time-spoon* 0)) - -(defun experiment-log-finish-demo-run () - (setf *experiment-log-current-object* nil) - (experiment-log-current-demo-run-failures) - (if *experiment-log-detailed?* - (experiment-log (format nil "~%~%")) - (experiment-log (format nil ""))) - (if *kvr-enabled* - (incf *experiment-log-current-demo-run-vr*) - (incf *experiment-log-current-demo-run-heur*))) - -(defun experiment-log-start-object-transport (object-type) - (setf *experiment-log-current-object* object-type) - (case object-type - (bowl (setf *experiment-log-current-execution-time-bowl* (roslisp:ros-time))) - (cup (setf *experiment-log-current-execution-time-cup* (roslisp:ros-time))) - (spoon (setf *experiment-log-current-execution-time-spoon* (roslisp:ros-time))))) - -(defun experiment-log-finish-object-transport-successful (object-type) - (when *experiment-log-detailed?* - (experiment-log (format nil "TRANSPORTING SUCCEEDED~%"))) - (case object-type - (bowl (setf *experiment-log-current-execution-time-bowl* - (- (roslisp:ros-time) *experiment-log-current-execution-time-bowl*))) - (cup (setf *experiment-log-current-execution-time-cup* - (- (roslisp:ros-time) *experiment-log-current-execution-time-cup*))) - (spoon (setf *experiment-log-current-execution-time-spoon* - (- (roslisp:ros-time) *experiment-log-current-execution-time-spoon*))))) - -(defun experiment-log-finish-object-transport-failed (object-type) - (when *experiment-log-detailed?* - (experiment-log (format nil "TRANSPORTING FAILED~%"))) - (case object-type - (bowl (setf *experiment-log-current-execution-time-bowl* 0)) - (cup (setf *experiment-log-current-execution-time-cup* 0)) - (spoon (setf *experiment-log-current-execution-time-spoon* 0)))) - -;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; END OF EXPERIMENT LOG STUFF ;;;;;;;;;;;;;;; - - (defun demo (&optional (list-of-objects '(bowl @@ -456,122 +208,86 @@ (spawn-objects-on-sink-counter)) (park-robot) - (dolist (type list-of-objects) - - (experiment-log-start-object-transport type) - - (cpl:with-failure-handling - ((common-fail:high-level-failure (e) - (declare (ignore e)) - (experiment-log-finish-object-transport-failed type) - (return))) - - (if *kvr-enabled* - - (let* ((?bullet-type - (object-type-filter-bullet type)) - (?search-poses - (alexandria:shuffle - (cut:force-ll (look-poses-ll-for-searching type)))) - (?grasps - (alexandria:shuffle - (ecase ?bullet-type - (:bowl '(:top)) - (:cup '(::RIGHT-SIDE :FRONT :LEFT-SIDE :TOP :BACK)) - (:spoon '(:top))) - ;; (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)) - )) - (?arms - (alexandria:shuffle - '(:left :right) ;; (cut:force-ll (arms-for-fetching-ll type)) - )) - (bowl-pose - (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc 'bowl - (if (> (cl-transforms:y - (cl-transforms:origin - (btr:pose - (btr:rigid-body - (btr:get-environment-object) - :|KITCHEN.sink_area|)))) - 1.0) - *object-delivering-poses-varied-kitchen* - *object-delivering-poses*)))))) - (bowl-transform - (cram-tf:pose-stamped->transform-stamped bowl-pose "bowl")) - (?delivering-poses - (case ?bullet-type - (:bowl (list bowl-pose)) - (t - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type - (if (> (cl-transforms:y - (cl-transforms:origin - (btr:pose - (btr:rigid-body - (btr:get-environment-object) - :|KITCHEN.sink_area|)))) - 1.0) - *object-delivering-poses-varied-kitchen* - *object-delivering-poses*)))))) - ;; (alexandria:shuffle - ;; (cut:force-ll (object-poses-ll-for-placing type bowl-transform))) - )))) - - (exe:perform - (desig:an action - (type transporting) - (object (desig:an object (type ?bullet-type))) - (location (desig:a location (poses ?search-poses))) - (arms ?arms) - (grasps ?grasps) - (target (desig:a location (poses ?delivering-poses)))))) - - (let ((?bullet-type - (object-type-filter-bullet type)) - ;; (?arms - ;; (alexandria:shuffle '(:left :right))) - (?delivering-poses - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type - (if (> (cl-transforms:y - (cl-transforms:origin - (btr:pose - (btr:rigid-body - (btr:get-environment-object) - :|KITCHEN.sink_area|)))) - 1.0) - *object-delivering-poses-varied-kitchen* - *object-delivering-poses*)))))))) - - (exe:perform - (desig:an action - (type transporting) - (object (desig:an object (type ?bullet-type))) - (location (desig:a location - (on (desig:an object - (type counter-top) - (urdf-name sink-area-surface) - (part-of kitchen))) - (side front))) - (target (desig:a location (poses ?delivering-poses))))))) - - (experiment-log-finish-object-transport-successful type)) - - (experiment-log-current-demo-run-failures *experiment-log-current-object*)) - - (experiment-log-finish-demo-run) - - (park-robot) - - (finalize) - - cpl:*current-path*) + (unwind-protect + (dolist (type list-of-objects) + + (experiment-log-start-object-transport type) + + (cpl:with-failure-handling + ((common-fail:high-level-failure (e) + (declare (ignore e)) + (experiment-log-finish-object-transport-failed type) + (return))) + + (let* ((?delivering-poses + (list (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr + (assoc type + (if (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|ENVIRONMENT.sink_area|)))) + 1.0) + *object-delivering-poses-varied-kitchen* + *object-delivering-poses*))))))) + + (?bullet-type + (object-type-filter-bullet type))) + + (if *kvr-enabled* + + (let* ((?search-poses + (alexandria:shuffle + (cut:force-ll (look-poses-ll-for-searching type)))) + (?arms + (alexandria:shuffle + ;; (cut:force-ll (arms-for-fetching-ll type)) + '(:left :right))) + (?grasps + (alexandria:shuffle + (ecase ?bullet-type + (:bowl '(:top)) + (:cup '(::RIGHT-SIDE :FRONT :LEFT-SIDE :TOP :BACK)) + (:spoon '(:top)))))) + ;; (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)) + + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?bullet-type))) + (target (desig:a location (poses ?delivering-poses))) + + (location (desig:a location (poses ?search-poses))) + (arms ?arms) + (grasps ?grasps)))) + + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?bullet-type))) + (target (desig:a location (poses ?delivering-poses))) + + (location (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (part-of iai-kitchen))) + (side front))))))) + + (experiment-log-finish-object-transport-successful type)) + + (experiment-log-current-demo-run-failures *experiment-log-current-object*)) + + (experiment-log-finish-demo-run) + + (park-robot) + + (finalize) + + cpl:*current-path*)) diff --git a/cram_knowrob/cram_knowrob_vr/src/grasping.lisp b/cram_knowrob/cram_knowrob_vr/src/grasping.lisp index 8d2e3df5e5..6a80b95a2a 100644 --- a/cram_knowrob/cram_knowrob_vr/src/grasping.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/grasping.lisp @@ -71,39 +71,35 @@ RETURNS: a cl-transform." transform))) transform-stamped)) -(defmethod get-object-type-to-gripper-pregrasp-transform (object-type +(defmethod get-object-type-to-gripper-pregrasp-transforms (object-type object-name arm - (grasp (eql :human-grasp)) + (grasp (eql :human-grasp)) + location grasp-transform) - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset (- objects::*cereal-pregrasp-xy-offset*) - :z-offset objects::*lift-z-offset*)) + (list + (cram-tf:translate-transform-stamped + grasp-transform + :x-offset (- objects::*cereal-pregrasp-xy-offset*) + :z-offset objects::*lift-z-offset*) + (cram-tf:translate-transform-stamped + grasp-transform + :x-offset (- objects::*cereal-pregrasp-xy-offset*)))) -(defmethod get-object-type-to-gripper-2nd-pregrasp-transform (object-type - object-name - arm - (grasp (eql :human-grasp)) - grasp-transform) - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset (- objects::*cereal-pregrasp-xy-offset*))) - -(defmethod get-object-type-to-gripper-lift-transform (object-type - object-name - arm - (grasp (eql :human-grasp)) - grasp-transform) - (cram-tf:translate-transform-stamped - grasp-transform - :z-offset objects::*lift-z-offset*)) - -(defmethod get-object-type-to-gripper-2nd-lift-transform (object-type - object-name - arm - (grasp (eql :human-grasp)) - grasp-transform) - (cram-tf:translate-transform-stamped - grasp-transform - :x-offset 0.0)) +(defmethod get-object-type-wrt-base-frame-lift-transforms (object-type + arm + (grasp (eql :human-grasp)) + location) + (list + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 objects::*lift-z-offset*) + (cl-transforms:make-identity-rotation)) + (cl-transforms-stamped:make-transform-stamped + cram-tf:*robot-base-frame* + cram-tf:*robot-base-frame* + 0.0 + (cl-transforms:make-3d-vector 0.0 0.0 objects::*lift-z-offset*) + (cl-transforms:make-identity-rotation)))) diff --git a/cram_knowrob/cram_knowrob_vr/src/init.lisp b/cram_knowrob/cram_knowrob_vr/src/init.lisp index 699cc8e9f3..ea3ad87dd8 100644 --- a/cram_knowrob/cram_knowrob_vr/src/init.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/init.lisp @@ -37,13 +37,55 @@ ;;; rcg_f has the to date better grasps ;;; eval2 has best full set pick and place ;;; rcg_d different grasps + (in-package :kvr) (defvar *kvr-enabled* t) (defvar *episode-path* - "/home/cram/ros_workspace/episode_data/episodes/Own-Episodes/set-clean-table/" - "path of where the episode data is located") + (directory-namestring + (cram-physics-utils:parse-uri "package://episodes/Own-Episodes/set-clean-table/")) + "rospackage path of where the episode data is located") + +(defparameter *furniture-offsets-original-kitchen* + '(("sink_area_footprint_joint" + ((1.855d0 1.3d0 0.0d0) (0 0 1 0))) + ("oven_area_footprint_joint" + ((1.855d0 2.47d0 0.0d0) (0 0 1 0))) + ("kitchen_island_footprint_joint" + ((-1.365d0 0.59d0 0.0d0) (0 0 0 1))) + ("fridge_area_footprint_joint" + ((1.845d0 -0.73d0 0.0d0) (0 0 1 0))) + ("table_area_main_joint" + ((-2.4d0 -1.5d0 0.0d0) (0 0 1 0))))) + +(defparameter *furniture-offsets-flipped-sink-kitchen* + '(("sink_area_footprint_joint" + ((1.155d0 0.9d0 0.0d0) (0 0 0 1))) + ("oven_area_footprint_joint" + ((-0.155d0 2.97d0 0.0d0) (0 0 -0.5 0.5))) + ("kitchen_island_footprint_joint" + ((-0.60d0 -0.2d0 0.0d0) (0 0 0.5 0.5))) + ("fridge_area_footprint_joint" + ((-2.30d0 0.5d0 0.0d0) (0 0 0.5 0.5))) + ("table_area_main_joint" + ((1.6d0 -1.0d0 0.0d0) (0 0 0.5 0.5))))) + +(defparameter *furniture-offsets-realistic-kitchen-variation* + '(("sink_area_footprint_joint" + ((1.855d0 2.9d0 0.0d0) (0 0 1 0))) + ("oven_area_footprint_joint" + ((1.2d0 -1.8d0 0.0d0) (0 0 0.5 0.5))) + ("kitchen_island_footprint_joint" + ((-0.5d0 0.45d0 0.0d0) (0 0 0.5 0.5))) + ("fridge_area_footprint_joint" + ((-0.05d0 -1.78d0 0.0d0) (0 0 0.5 0.5))) + ("table_area_main_joint" + ((1.6d0 -1.0d0 0.0d0) (0 0 0.5 0.5))))) + +(defparameter *robot-starting-pose-in-realistic-kitchen-variation* + '((-1 2.0 0) (0 0 0 1))) + (defun load-multiple-episodes (&optional namedir-list) ;;make a list of all directories of episodes and load them @@ -131,18 +173,6 @@ semantic map kitchen." object-types))) objects))) -(defun init-location-costmap-parameters () - (def-fact-group costmap-metadata (costmap:costmap-size - costmap:costmap-origin - costmap:costmap-resolution - costmap:orientation-samples - costmap:orientation-sample-step) - (<- (location-costmap:costmap-size 5 5)) - (<- (location-costmap:costmap-origin -2.5 -2.5)) - (<- (location-costmap:costmap-resolution 0.04)) - (<- (location-costmap:orientation-samples 2)) - (<- (location-costmap:orientation-sample-step 0.1)))) - (defun init-full-simulation (&key namedir urdf-new-kitchen?) "Spawns all the objects which are necessary for the current scenario (Meaning: Kitchen, Robot, Muesli, Milk, Cup, Bowl, Fork and 3 Axis @@ -155,39 +185,52 @@ objects for debugging." (roslisp-utilities:startup-ros) (when urdf-new-kitchen? - (unless btr-belief:*kitchen-urdf* - (let ((kitchen-urdf-string - (roslisp:get-param btr-belief:*kitchen-parameter* nil))) - (when kitchen-urdf-string - (setf btr-belief:*kitchen-urdf* - (cl-urdf:parse-urdf kitchen-urdf-string))))) - (btr-belief:vary-kitchen-urdf)) + (let ((kitchen-urdf-string + (roslisp:get-param rob-int:*environment-description-parameter* nil))) + (when kitchen-urdf-string + (setf rob-int:*environment-urdf* + (cl-urdf:parse-urdf kitchen-urdf-string)))) + (btr-belief:vary-kitchen-urdf *furniture-offsets-realistic-kitchen-variation*)) (coe:clear-belief) (when urdf-new-kitchen? - (setf (btr:pose (btr:object btr:*current-bullet-world* (btr:get-robot-name))) - (cram-tf:list->pose '((-1 1.5 0) (0 0 0 1))))) + (setf (btr:pose (btr:object btr:*current-bullet-world* (rob-int:get-robot-name))) + (cram-tf:list->pose *robot-starting-pose-in-realistic-kitchen-variation*))) (cram-bullet-reasoning:clear-costmap-vis-object) (spawn-urdf-items) - (init-episode (or namedir - ;; (loop for i from 1 to 18 collecting (format nil "ep~a" i)) - '( - "original1" "original2" "original3" "original4" "original5" - "original6" "original7" "original8" "original9" "original10" - "original11" "original12" "original13" "original14" "original15" - "original16" "original17" "original18" "original19" "original20" - "original21" "original22" "original23" "original24" "original25" - "original26" "original27" - ;; "exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" - ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" - ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" - ))) + (init-episode + (or namedir + ;; (loop for i from 1 to 18 collecting (format nil "ep~a" i)) + '( + ;; "original1" "original2" "original3" "original4" "original5" + ;; "original6" "original7" "original8" "original9" "original10" + ;; "original11" "original12" "original13" "original14" "original15" + ;; "original16" "original17" "original18" "original19" "original20" + ;; "original21" "original22" "original23" "original24" "original25" + ;; "original26" "original27" + ;; "exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" + ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" + ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" + "cosy1" "cosy2" "cosy3" "cosy4" "cosy5" + "cosy6" "cosy7" + "cosy8" "cosy9" "cosy10" + "diagonal1" "diagonal2" "diagonal3" "diagonal4" "diagonal5" + "diagonal6" "diagonal7" "diagonal8" "diagonal9" "diagonal10" + ;; "spacy1" "spacy2" + ;; "spacy3" "spacy4" "spacy5" + ;; "spacy6" "spacy7" "spacy8" "spacy9" "spacy10" + "flipped_sink1" "flipped_sink2" "flipped_sink3" "flipped_sink4" + "flipped_sink5" "flipped_sink6" "flipped_sink7" "flipped_sink8" + "flipped_sink9" "flipped_sink10" + ;; "l_cosy1" "l_cosy2" "l_cosy3" + ;; "l_diagonal1" "l_diagonal2" "l_diagonal3" + ;; "l_spacy1" "l_spacy2" "l_spacy3" + ))) ;; (spawn-semantic-map) ;; (spawn-semantic-items) - - (init-location-costmap-parameters)) +) diff --git a/cram_knowrob/cram_knowrob_vr/src/mapping-urdf-semantic.lisp b/cram_knowrob/cram_knowrob_vr/src/mapping-urdf-semantic.lisp index 6a41d14d1d..1f0d63fdc9 100644 --- a/cram_knowrob/cram_knowrob_vr/src/mapping-urdf-semantic.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/mapping-urdf-semantic.lisp @@ -41,8 +41,8 @@ "Used in spawning semantic map and offsetting its objects") (defparameter *semantic-to-urdf* - '((|''IslandArea''| . :|KITCHEN.kitchen_island|) - (|''SinkArea''| . :|KITCHEN.sink_area|)) + '((|''IslandArea''| . :|ENVIRONMENT.kitchen_island|) + (|''SinkArea''| . :|ENVIRONMENT.sink_area|)) "semantic map . urdf") (defun match-kitchens (name) @@ -50,7 +50,7 @@ (defun get-all-objects-urdf () (btr:rigid-body-names - (btr:object btr:*current-bullet-world* :kitchen))) + (btr:get-environment-object))) (defun get-all-objects-semantic () (btr:rigid-body-names diff --git a/cram_knowrob/cram_knowrob_vr/src/move-utils.lisp b/cram_knowrob/cram_knowrob_vr/src/move-utils.lisp index a92c5d93f2..863f387848 100644 --- a/cram_knowrob/cram_knowrob_vr/src/move-utils.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/move-utils.lisp @@ -80,7 +80,7 @@ the episode. . " (move-object (cl-transforms:pose->transform (cram-tf:translate-pose (car (umap-P-uobj-through-surface-ll object "Start")) - :x-offset -0.1)) + :x -0.1)) (object-type-filter-bullet object))) (defun move-urdf-objects-to-start-pose () diff --git a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp index f19cb0dac6..df263d8085 100644 --- a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp @@ -227,20 +227,20 @@ Formula: umap-T-uobj = umap-T-usurface * ssurface-T-obj (lambda (surface-name-dim-transform-and-object-transform) (let* ((surface-name (first surface-name-dim-transform-and-object-transform)) - (surface-dimensions - (second surface-name-dim-transform-and-object-transform)) + ;; (surface-dimensions + ;; (second surface-name-dim-transform-and-object-transform)) (smap-T-ssurface (third surface-name-dim-transform-and-object-transform)) (smap-T-sobject (fourth surface-name-dim-transform-and-object-transform)) - (closest-edge-and-distance - (get-closest-edge-and-distance - smap-T-sobject smap-T-ssurface surface-dimensions)) - (closest-edge - (first closest-edge-and-distance)) - (closest-edge-distance - (second closest-edge-and-distance)) + ;; (closest-edge-and-distance + ;; (get-closest-edge-and-distance + ;; smap-T-sobject smap-T-ssurface surface-dimensions)) + ;; (closest-edge + ;; (first closest-edge-and-distance)) + ;; (closest-edge-distance + ;; (second closest-edge-and-distance)) (ssurface-T-sobject (cl-transforms:transform* @@ -259,15 +259,16 @@ Formula: umap-T-uobj = umap-T-usurface * ssurface-T-obj (cl-transforms:transform* umap-T-usurface ssurface-T-sobject)) - (usurface-dimensions - (btr:calculate-bb-dims usurface-obj)) + ;; (usurface-dimensions + ;; (btr:calculate-bb-dims usurface-obj)) - (uclosest-edge-and-distance - (get-closest-edge-and-distance - umap-T-uobj umap-T-usurface usurface-dimensions))) + ;; (uclosest-edge-and-distance + ;; (get-closest-edge-and-distance + ;; umap-T-uobj umap-T-usurface usurface-dimensions)) + ) - (print closest-edge-and-distance) - (print uclosest-edge-and-distance) + ;; (print closest-edge-and-distance) + ;; (print uclosest-edge-and-distance) (cl-transforms-stamped:make-pose-stamped cram-tf:*fixed-frame* 0.0 diff --git a/cram_knowrob/cram_semantic_map_costmap/cram-semantic-map-costmap.asd b/cram_knowrob/cram_semantic_map_costmap/cram-semantic-map-costmap.asd index 64b4ad337f..87874b9e9a 100644 --- a/cram_knowrob/cram_semantic_map_costmap/cram-semantic-map-costmap.asd +++ b/cram_knowrob/cram_semantic_map_costmap/cram-semantic-map-costmap.asd @@ -1,20 +1,20 @@ ;;; ;;; Copyright (c) 2010, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -31,7 +31,7 @@ (defsystem cram-semantic-map-costmap :author "Lorenz Moesenlechner" :license "BSD" - + :depends-on (cram-prolog cram-projection cl-transforms diff --git a/cram_knowrob/cram_semantic_map_costmap/src/facts.lisp b/cram_knowrob/cram_semantic_map_costmap/src/facts.lisp index 8ea3fffd94..f9b26ba429 100644 --- a/cram_knowrob/cram_semantic_map_costmap/src/facts.lisp +++ b/cram_knowrob/cram_semantic_map_costmap/src/facts.lisp @@ -92,18 +92,19 @@ ?cm)) (<- (desig-costmap ?desig ?cm) - (or (cram-robot-interfaces:visibility-designator ?desig) - (cram-robot-interfaces:reachability-designator ?desig)) - (costmap ?cm) + (or (rob-int:visibility-designator ?desig) + (rob-int:reachability-designator ?desig)) + (costmap:costmap ?cm) (semantic-map-objects ?objects) - (costmap-padding ?padding) - (costmap-add-function semantic-map-free-space - (make-semantic-map-costmap - ?objects :invert t :padding ?padding) - ?cm) + (rob-int:robot ?robot-name) + (costmap:costmap-padding ?robot-name ?padding) + (costmap:costmap-add-function semantic-map-free-space + (make-semantic-map-costmap + ?objects :invert t :padding ?padding) + ?cm) ;; Locations to see and to reach are on the floor, so we can use a ;; constant height of 0 - (costmap-add-cached-height-generator + (costmap:costmap-add-cached-height-generator (make-constant-height-function 0.0) ?cm)) diff --git a/cram_learning/cram_sim_log_generator/CMakeLists.txt b/cram_learning/cram_sim_log_generator/CMakeLists.txt index aa1feb9618..cbcd892121 100644 --- a/cram_learning/cram_sim_log_generator/CMakeLists.txt +++ b/cram_learning/cram_sim_log_generator/CMakeLists.txt @@ -197,4 +197,4 @@ include_directories( ## Add folders to be run by python nosetests # catkin_add_nosetests(test) -add_lisp_executable(cram-sim-log-generator cram-sim-log-generator cram-sim-log-generator::generate-neem) +add_lisp_executable(cram-sim-log-generator cram-sim-log-generator cram-sim-log-generator::main) diff --git a/cram_learning/cram_sim_log_generator/launch/neem-generation.launch b/cram_learning/cram_sim_log_generator/launch/neem-generation.launch index 924a70bed1..5a4e1e1021 100644 --- a/cram_learning/cram_sim_log_generator/launch/neem-generation.launch +++ b/cram_learning/cram_sim_log_generator/launch/neem-generation.launch @@ -1,7 +1,11 @@ - + + + + + diff --git a/cram_learning/cram_sim_log_generator/scripts/lol_launcher.py b/cram_learning/cram_sim_log_generator/scripts/lol_launcher.py new file mode 100644 index 0000000000..16d0518068 --- /dev/null +++ b/cram_learning/cram_sim_log_generator/scripts/lol_launcher.py @@ -0,0 +1,26 @@ +import subprocess +import rosnode +import time + +bashCommand = 'roslaunch json_prolog json_prolog_single.launch' +killCommand = 'pkill -f json_prolog' + +isStarted = False + +print "Killing JSON Prolog ...." +killProcess = subprocess.Popen(killCommand.split(), stdout=subprocess.PIPE) +time.sleep(5) +print 'Start json prolog ...' +subprocess.Popen(bashCommand.split(), stdout=subprocess.PIPE) + +while not isStarted: + isStarted = rosnode.rosnode_ping('/json_prolog', 1) + +time.sleep(5) +print 'Started' +#output, error = process.communicate() +#print output + + + + diff --git a/cram_learning/cram_sim_log_generator/scripts/neem_generation.py b/cram_learning/cram_sim_log_generator/scripts/neem_generation.py new file mode 100644 index 0000000000..6eab878ac6 --- /dev/null +++ b/cram_learning/cram_sim_log_generator/scripts/neem_generation.py @@ -0,0 +1,39 @@ +import subprocess +import rosnode +import time +import select +import threading + +killCommand = 'roslaunch cram_sim_log_generator neem-generation.launch' +#killCommand = 'python blocker.py' + + + +def start_neem_process(): + killProcess = subprocess.Popen(killCommand.split(),bufsize=1, stdout=subprocess.PIPE, universal_newlines=True) + nice = threading.Timer(360, killProcess.terminate) + nice.start() + + for line in iter(killProcess.stdout.readline,''): + nice.cancel() + print line.rstrip() + nice = threading.Timer(360, killProcess.terminate) + nice.start() + + +while True: + try: + print "start neem process" + start_neem_process() + except: + print "Error occurred" + + +print "Finished" + +#output, error = process.communicate() +#print output + + + + diff --git a/cram_learning/cram_sim_log_generator/src/main.lisp b/cram_learning/cram_sim_log_generator/src/main.lisp index 4b13ad535f..e40e11d8e3 100644 --- a/cram_learning/cram_sim_log_generator/src/main.lisp +++ b/cram_learning/cram_sim_log_generator/src/main.lisp @@ -1,33 +1,48 @@ (in-package :cslg) +(defparameter *mongo-logger* nil) +(defparameter num-experiments 1) +(defparameter connection-retries 0) +(defparameter *start-time* 0) +(defparameter *global-timer* 0) -(defun main (num-experiments) - (setf cram-bullet-reasoning-belief-state:*spawn-debug-window* nil) - (setf cram-tf:*tf-broadcasting-enabled* t) - (roslisp-utilities:startup-ros :name "cram" :anonymous nil) +(defun prepare-logging () + (setf connection-retries 0) + (print "Cleaning old ros nodes ...") + ;;(asdf-utils:run-program (concatenate 'string "echo 'y' | rosnode cleanup")) + (print "Cleaning old ros nodes done") + (print "Waiting for JSON Prolog to start ...") + ;;(asdf-utils:run-program (concatenate 'string "python ~/Desktop/lol_launcher.py")) + (print "JSON Prolog started") + (setf ccl::*is-client-connected* nil) (setf ccl::*is-logging-enabled* t) (setf ccl::*host* "'https://localhost'") (setf ccl::*cert-path* "'/home/koralewski/Desktop/localhost.pem'") - (setf ccl::*api-key* "'K103jdr40Rp8UX4egmRf42VbdB1b5PW7qYOOVvTDAoiNG6lcQoaDHONf5KaFcefs'") - (ccl::connect-to-cloud-logger) + ;;(setf ccl::*api-key* "'K103jdr40Rp8UX4egmRf42VbdB1b5PW7qYOOVvTDAoiNG6lcQoaDHONf5KaFcefs'") + (setf ccl::*api-key* "'uWZv7X1cQkdlZkx4R4uYSIQGyCr4zgyrYEgorw7XjICK0JyLQrmitf48hMCC4pYg'") + (loop while (and (not ccl::*is-client-connected*) (< connection-retries 10)) do + (progn + (ccl::connect-to-cloud-logger) + (setf connection-retries (+ connection-retries 1)))) + (when (not ccl::*is-client-connected*) + (/ 1 0))) + + +(defun main () + (ros-load:load-system "cram_pr2_description" :cram-pr2-description) + ;;(ros-load:load-system "cram_boxy_description" :cram-boxy-description) + ;;(setf cram-bullet-reasoning-belief-state:*spawn-debug-window* nil) + (setf cram-tf:*tf-broadcasting-enabled* t) + (roslisp-utilities:startup-ros :name "cram" :anonymous nil) ;;(setq roslisp::*debug-stream* nil) - (loop for x from 1 to num-experiments - do (let ((experiment-id (format nil "~d" (truncate (* 1000000 (cram-utilities:current-timestamp)))))) - (let ((experiment-save-path - (concatenate 'string - "~/projection-experiments/" experiment-id "/"))) - (ensure-directories-exist experiment-save-path) - (setq ccl::*prolog-query-save-path* experiment-save-path) - (format t "Starting experiment ~a~%" experiment-id) - (asdf-utils:run-program (concatenate 'string "rosrun mongodb_log mongodb_log -c " experiment-id " &")) - (unwind-protect -;; (urdf-proj:with-simulated-robot (demo::demo-random nil '(:bowl :spoon))) -;; (urdf-proj:with-simulated-robot (demo::demo-random)) - ;;(demo::generate-training-data nil '(:cup)) - (urdf-proj:with-simulated-robot (demo::evaluation-there-and-back-again)) - - (ccl::export-log-to-owl (concatenate 'string experiment-id ".owl")) - (format t "Done with experiment ~a~%" experiment-id) - (asdf-utils:run-program (concatenate 'string "docker cp seba:/home/ros/user_data/" experiment-id ".owl " experiment-save-path)) - (unwind-protect (asdf-utils:run-program "killall -r 'mongodb_log'")) - (unwind-protect (asdf-utils:run-program "killall -r 'mongod'")) - (ccl::reset-logged-owl)))))) + (print "Init bullet world") + (setf ccl::*is-logging-enabled* t) + (ccl::init-logging) + (loop for x from 0 to (- num-experiments 1) + do (progn + (print "Start") + (ccl::start-episode) + ;;(urdf-proj:with-simulated-robot (demo::demo-random nil )) + (urdf-proj:with-simulated-robot (demo::setting-demo)) + (ccl::stop-episode) + (print "End"))) + (ccl::finish-logging)) diff --git a/cram_pr2/.gitignore b/cram_pr2/.gitignore deleted file mode 100644 index 485790d6db..0000000000 --- a/cram_pr2/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -*.fasl -build/ -bin/ -*~ -*#* diff --git a/cram_pr2/cram_pr2_arm_kinematics/launch/arm_kinematics.launch b/cram_pr2/cram_pr2_arm_kinematics/launch/arm_kinematics.launch deleted file mode 100644 index 98ed468205..0000000000 --- a/cram_pr2/cram_pr2_arm_kinematics/launch/arm_kinematics.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/cram_pr2/cram_pr2_arm_kinematics/src/fk.lisp b/cram_pr2/cram_pr2_arm_kinematics/src/fk.lisp deleted file mode 100644 index cca6b82c59..0000000000 --- a/cram_pr2/cram_pr2_arm_kinematics/src/fk.lisp +++ /dev/null @@ -1,93 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-ik-fk) - -(defparameter *fk-service-names* '(:moveit "moveit/compute_fk" - :left "pr2_left_arm_kinematics/get_fk" - :right "pr2_right_arm_kinematics/get_fk")) - -(defvar *fk-solver-infos* '(:left nil :right nil) - "fk solver infos for the left and right arm fk solvers") - -(defparameter *fk-info-service-names* '(:left "pr2_left_arm_kinematics/get_fk_solver_info" - :right "pr2_right_arm_kinematics/get_fk_solver_info")) - -(defun get-fk-solver-info (left-or-right) - (or (getf *fk-solver-infos* left-or-right) - (setf (getf *fk-solver-infos* left-or-right) - (roslisp:with-fields (kinematic_solver_info) - (roslisp:call-service - (getf *fk-info-service-names* left-or-right) - 'moveit_msgs-srv:getkinematicsolverinfo) - kinematic_solver_info)))) - -(defun get-fk-solver-joints (left-or-right) - (roslisp:with-fields (joint_names) - (get-fk-solver-info left-or-right) - joint_names)) - -(defun get-fk-links (left-or-right) - (ecase left-or-right - (:left (vector "l_wrist_roll_link" "l_elbow_flex_link")) - (:right (vector "r_wrist_roll_link" "r_elbow_flex_link")))) - -(defun call-fk-service (left-or-right link-names-vector - &optional (fk-base-frame "torso_lift_link")) - (declare (type keyword left-or-right)) - (handler-case - (roslisp:with-fields ((response-error-code (val error_code)) - pose_stamped fk_link_names) - (progn - (roslisp:wait-for-service (getf *fk-info-service-names* left-or-right) 10.0) - (roslisp:call-service - (getf *fk-service-names* left-or-right) - "moveit_msgs/GetPositionFK" - (roslisp:make-request - "moveit_msgs/GetPositionFK" - (:frame_id :header) fk-base-frame - :fk_link_names (or link-names-vector (get-fk-links left-or-right)) - (:joint_state :robot_state) (make-zero-seed-state left-or-right)))) - (cond ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - (map 'list - (lambda (name pose-stamped-msg) - (list name (cl-transforms-stamped:from-msg pose-stamped-msg))) - fk_link_names - pose_stamped)) - (t (error 'simple-error - :format-control "FK service failed: ~a" - :format-arguments (list - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - response-error-code)))))) - (simple-error (e) - (format t "~a~%FK service call freaked out. Hmmm...~%" e)))) diff --git a/cram_pr2/cram_pr2_arm_kinematics/src/ik.lisp b/cram_pr2/cram_pr2_arm_kinematics/src/ik.lisp deleted file mode 100644 index 7b0b68b28a..0000000000 --- a/cram_pr2/cram_pr2_arm_kinematics/src/ik.lisp +++ /dev/null @@ -1,305 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-ik-fk) - -(defparameter *use-arm-kinematics-interface* nil - "The default interface is moveit interface with one compute_ik for both arms. -When `*use-arm-kinematics-interface*' is set, use separate services for each arm.") - - -(defparameter *ik-service-names* '(:moveit "moveit/compute_ik" - :left "pr2_left_arm_kinematics/get_ik" - :right "pr2_right_arm_kinematics/get_ik")) - -(defvar *ik-persistent-services* '(:moveit nil :left nil :right nil) - "a persistent service for ik requests") - -(defun init-ik-persistent-service (moveit-or-left-or-right) - (declare (type keyword moveit-or-left-or-right)) - "Initializes one of the corresponding *ik-persistent-services*" - (let ((service-name (getf *ik-service-names* moveit-or-left-or-right))) - (loop until (roslisp:wait-for-service service-name 5) - do (roslisp:ros-info (ik-service) "Waiting for ~a." service-name)) - (prog1 (setf (getf *ik-persistent-services* moveit-or-left-or-right) - (make-instance 'roslisp:persistent-service - :service-name service-name - :service-type 'moveit_msgs-srv:getpositionik)) - (roslisp:ros-info (ik-service) "~a client created." service-name)))) - -(defun get-ik-persistent-service (moveit-or-left-or-right) - (declare (type keyword moveit-or-left-or-right)) - (let ((service (getf *ik-persistent-services* moveit-or-left-or-right))) - (if (and service (roslisp:persistent-service-ok service)) - service - (init-ik-persistent-service moveit-or-left-or-right)))) - -(defun destroy-ik-persistent-services () - (mapcar (lambda (moveit-or-left-or-right) - (let ((service (getf *ik-persistent-services* moveit-or-left-or-right))) - (when service (roslisp:close-persistent-service service))) - (setf (getf *ik-persistent-services* moveit-or-left-or-right) nil)) - '(:moveit :left :right))) - -(roslisp-utilities:register-ros-cleanup-function destroy-ik-persistent-services) - - -(defun get-pr2-arm-joints-list (arm) - (cut:var-value '?joints - (car (prolog:prolog `(cram-robot-interfaces:arm-joints - cram-pr2-description:pr2 ,arm ?joints))))) - -(defun get-pr2-ee-link (arm) - (cut:var-value '?link - (car (prolog:prolog `(cram-robot-interfaces:end-effector-link - cram-pr2-description:pr2 ,arm ?link))))) - -(defun get-pr2-planning-group (arm) - (cut:var-value '?group - (car (prolog:prolog `(cram-robot-interfaces:planning-group - cram-pr2-description:pr2 ,arm ?group))))) - - -(defun make-zero-seed-state (left-or-right) - (let* ((joint-names (map 'vector #'identity (get-pr2-arm-joints-list left-or-right))) - (zero-vector (apply #'vector (make-list - (length joint-names) - :initial-element 0.0)))) - (roslisp:make-message - "sensor_msgs/JointState" - name joint-names - position zero-vector - velocity zero-vector - effort zero-vector))) - -;; (defun make-bullet-current-seed-state (left-or-right) -;; (let* ((joint-names-vector (get-ik-solver-joints left-or-right)) -;; (joint-names (map 'list #'identity joint-names-vector)) -;; (joint-states (map 'vector #'joint-state-position (joint-states joint-names))) -;; (zero-vector (apply #'vector (make-list -;; (length joint-names) -;; :initial-element 0.0)))) -;; (roslisp:make-message -;; "sensor_msgs/JointState" -;; name joint-names-vector -;; position joint-states -;; velocity zero-vector -;; effort zero-vector))) - - -;; (defun make-bullet-seed-states (robot-OBJECT robot-urdf joint-names &optional (steps 3)) -;; "Returns a sequence of possible seed states. The first seed state is -;; the current state represented by `robot' the other states are -;; generated by dividing the interval between the lower and the upper -;; limit of the joint into 1 + `steps' segments and using the corresponding -;; joint positions as seeds. `joint-names' is a list of strings" -;; (declare (type robot-object robot-OBJECT) (type urdf robot-urdf)) -;; (flet ((init-limits (urdf lower upper joint-name) -;; (let* ((joint (or (gethash joint-name (cl-urdf:joints urdf)) -;; (error 'simple-error -;; :format-control "Unknown joint `~a'" -;; :format-arguments (list joint-name)))) -;; (joint-limits (and (slot-boundp joint 'cl-urdf:limits) -;; (cl-urdf:limits joint)))) -;; (case (cl-urdf:joint-type joint) -;; ((:revolute :prismatic) -;; (setf (gethash joint-name lower) -;; (cl-urdf:lower joint-limits)) -;; (setf (gethash joint-name upper) -;; (cl-urdf:upper joint-limits))) -;; (:continuous -;; (setf (gethash joint-name lower) -;; (cl-urdf:lower joint-limits)) -;; (setf (gethash joint-name upper) -;; (* pi 2))) -;; (t (setf (gethash joint-name lower) 0.0) -;; (setf (gethash joint-name upper) 0.0)))))) -;; (let ((lower-limits (make-hash-table :test 'equal)) -;; (upper-limits (make-hash-table :test 'equal)) -;; (joint-names (map 'vector #'identity joint-names))) -;; (map 'nil (curry #'init-limits robot-urdf lower-limits upper-limits) joint-names) -;; (cons -;; (btr:make-robot-joint-state-msg robot-OBJECT :joint-names joint-names) -;; (cut:lazy-mapcar (lambda (joint-states) -;; (roslisp:make-msg -;; "sensor_msgs/JointState" -;; (stamp header) 0 -;; name joint-names -;; position (reverse -;; (map 'vector #'identity joint-states)) -;; velocity (make-array (length joint-names) -;; :element-type 'float -;; :initial-element 0.0) -;; effort (make-array (length joint-names) -;; :element-type 'float -;; :initial-element 0.0))) -;; (apply #'lazy-cross-product -;; (reverse -;; (loop for name across joint-names collecting -;; (loop for i from 0 below steps collecting -;; (+ (gethash name lower-limits) -;; (* i (/ (- (gethash name upper-limits) -;; (gethash name lower-limits)) -;; (- steps 1))))))))))))) - -(defun get-ee-pose-from-tcp-pose (tcp-pose - &optional (tcp-in-ee-pose (cl-transforms:make-identity-pose))) - (declare (type cl-transforms-stamped:pose-stamped tcp-pose) - (type cl-transforms:pose tcp-in-ee-pose)) - (let ((goal-trans (cl-transforms:transform* - (cl-transforms:reference-transform tcp-pose) - (cl-transforms:transform-inv - (cl-transforms:reference-transform tcp-in-ee-pose))))) - (cl-transforms-stamped:make-pose-stamped - (cl-transforms-stamped:frame-id tcp-pose) - (cl-transforms-stamped:stamp tcp-pose) - (cl-transforms:translation goal-trans) - (cl-transforms:rotation goal-trans)))) - - -(defun call-kinematics-ik-service (cartesian-pose - &key left-or-right seed-state - (ik-base-frame cram-tf:*robot-torso-frame*) - (tcp-in-ee-pose (cl-transforms:make-identity-pose))) - (declare (type keyword left-or-right) - (type cl-transforms-stamped:pose-stamped cartesian-pose)) - (let ((ik-link (get-pr2-ee-link left-or-right))) - (handler-case - (roslisp:with-fields ((error-code (val error_code)) - (joint-state (joint_state solution))) - (roslisp:call-persistent-service - (get-ik-persistent-service left-or-right) - (roslisp:make-request - "moveit_msgs/GetPositionIK" - (:ik_link_name :ik_request) ik-link - (:pose_stamped :ik_request) (cl-transforms-stamped:to-msg - (get-ee-pose-from-tcp-pose - (cl-transforms-stamped:transform-pose-stamped - cram-tf:*transformer* - :pose (cl-transforms-stamped:copy-pose-stamped - cartesian-pose :stamp 0.0) - :target-frame ik-base-frame - :timeout cram-tf:*tf-default-timeout*) - tcp-in-ee-pose)) - (:joint_state :robot_state :ik_request) (or seed-state - (make-zero-seed-state left-or-right)) - (:timeout :ik_request) 1.0)) - (if (eql error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - joint-state - (and (roslisp:ros-warn (call-kinematics-ik-service) - "IK service failed: ~a" - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - error-code)) - nil))) - (roslisp:service-call-error () - (roslisp:ros-warn (call-kinematics-ik-service) "No IK solution found.") - nil)))) - - -(defun strip-joint-state (joint-state-msg left-or-right) - "From the joint state message of a full robot extracts only the arm joints. -Uses SIDE EFFECTS!" - (flet ((take-indexed-elems-from-list-into-vector (the-list indices) - (map 'vector #'(lambda (a-position) (elt the-list a-position)) indices))) - - (let* ((joints (slot-value joint-state-msg 'sensor_msgs-msg:name)) - (indices (mapcar #'(lambda (item) (position item joints :test #'equal)) - (get-pr2-arm-joints-list left-or-right)))) - (roslisp:with-fields (header name position) - joint-state-msg - (roslisp:make-message - "sensor_msgs/JointState" - :header header - :name (take-indexed-elems-from-list-into-vector name indices) - :position (take-indexed-elems-from-list-into-vector position indices)))))) - -(defun call-moveit-ik-service (cartesian-pose - &key left-or-right - (ik-base-frame cram-tf:*robot-torso-frame*) - (tcp-in-ee-pose (cl-transforms:make-identity-pose))) - (declare (type cl-transforms-stamped:pose-stamped cartesian-pose) - (type keyword left-or-right)) - (let* ((pose (cl-transforms-stamped:transform-pose-stamped - cram-tf:*transformer* - :pose (cl-transforms-stamped:copy-pose-stamped - cartesian-pose :stamp 0.0) - :target-frame ik-base-frame - :timeout cram-tf:*tf-default-timeout*))) - (roslisp:with-fields ((solution (joint_state solution)) - (error-code (val error_code))) - (roslisp:call-persistent-service - (get-ik-persistent-service :moveit) - :ik_request - (roslisp:make-msg - "moveit_msgs/PositionIKRequest" - ;; we assume that the last joint in JOINT-NAMES is the end - ;; of the chain which is what we want for ik_link_name. - ;; :ik_link_name (elt link-names 0) <- moveit per default takes - ;; the last link in the chain - :pose_stamped (cl-transforms-stamped:to-msg - (get-ee-pose-from-tcp-pose pose tcp-in-ee-pose)) - ;; something is wrong with the seed state atm, so this will stay - ;; disabled for now - ;; :robot_state (roslisp:make-msg - ;; "moveit_msgs/RobotState" - ;; :joint_state (or seed-state - ;; (btr:make-robot-joint-state-msg robot))) - :group_name (get-pr2-planning-group left-or-right) - :timeout 1.0)) - (if (eql error-code (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - (strip-joint-state solution left-or-right) - (progn (roslisp:ros-warn (compute-iks) "IK moveit solver failed.") - nil))))) - -(defmethod cram-robot-interfaces:compute-iks (pose-stamped - &key link-name arm robot-state seed-state - (pose-stamped-frame - cram-tf:*robot-torso-frame*) - (tcp-in-ee-pose - (cl-transforms:make-identity-pose))) - (declare (ignore link-name robot-state)) - (let ((solution - (if *use-arm-kinematics-interface* - (call-kinematics-ik-service pose-stamped - :left-or-right arm - :seed-state seed-state - :ik-base-frame pose-stamped-frame - :tcp-in-ee-pose tcp-in-ee-pose) - (call-moveit-ik-service pose-stamped - :left-or-right arm - :ik-base-frame pose-stamped-frame - :tcp-in-ee-pose tcp-in-ee-pose)))) - (when solution - (list solution)))) diff --git a/cram_pr2/cram_pr2_cloud/cram-pr2-cloud.asd b/cram_pr2/cram_pr2_cloud/cram-pr2-cloud.asd deleted file mode 100644 index 6e4fe4d9ea..0000000000 --- a/cram_pr2/cram_pr2_cloud/cram-pr2-cloud.asd +++ /dev/null @@ -1,97 +0,0 @@ -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(defsystem cram-pr2-cloud - :author "Gayane Kazhoyan" - :maintainer "Gayane Kazhoyan" - :license "BSD" - - :depends-on (cl-transforms - cl-transforms-stamped - cl-tf2 - cram-tf - - cram-language - cram-prolog - cram-designators - cram-process-modules - cram-math - cram-occasions-events - cram-executive - cram-utilities ; for cut:var-value of prolog stuff - - cram-plan-occasions-events - ;; cram-bullet-reasoning-belief-state ; for event handling ; using own stuff for now - - giskard_msgs-msg - giskard_msgs-srv - - cram-common-failures - cram-robot-interfaces - cram-pr2-low-level - cram-pr2-process-modules - cram-mobile-pick-place-plans - - cram-knowrob-cloud - - cram-urdf-projection - cram-pr2-description - cram-bullet-reasoning-belief-state - cram-bullet-reasoning-utilities - - cram-location-costmap - cram-semantic-map-costmap - cram-robot-pose-gaussian-costmap - ;; pr2-reachability-costmap - ) - - :components - ((:module "src" - :components - ((:file "package") - (:file "tf-utilities" :depends-on ("package")) - (:file "geometry-calculations" :depends-on ("package" "tf-utilities")) - (:file "cloud-data" :depends-on ("package" "tf-utilities" "geometry-calculations")) - (:file "local-data" :depends-on ("package" - "tf-utilities" - "geometry-calculations" - "cloud-data")) - (:file "costmaps" :depends-on ("package" "local-data" "tf-utilities")) - (:file "projection-plans" :depends-on ("package")) - (:file "real-world-plans" :depends-on ("package" - "tf-utilities" - "local-data" - "projection-plans" - "costmaps")))))) - -;; tf-utilities -;; geometry-calculations -;; cloud-data -;; local-data -;; projection-plans -;; real-world-plans diff --git a/cram_pr2/cram_pr2_cloud/package.xml b/cram_pr2/cram_pr2_cloud/package.xml deleted file mode 100644 index 5d9fdaf25f..0000000000 --- a/cram_pr2/cram_pr2_cloud/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - cram_pr2_cloud - 0.7.0 - - cram_pr2_plans - - Gayane Kazhoyan - Gayane Kazhoyan - BSD - - catkin - - cl_transforms - cl_transforms_stamped - cl_tf2 - cram_tf - cram_language - cram_prolog - cram_designators - cram_process_modules - cram_math - cram_occasions_events - cram_executive - cram_utilities - cram_plan_occasions_events - giskard_msgs - cram_common_failures - cram_robot_interfaces - cram_pr2_low_level - cram_pr2_process_modules - cram_mobile_pick_place_plans - cram_knowrob_cloud - cram_urdf_projection - cram_pr2_description - cram_bullet_reasoning_belief_state - cram_bullet_reasoning_utilities - cram_location_costmap - cram_semantic_map_costmap - cram_robot_pose_gaussian_costmap - - diff --git a/cram_pr2/cram_pr2_cloud/src/cloud-data.lisp b/cram_pr2/cram_pr2_cloud/src/cloud-data.lisp deleted file mode 100644 index 043685acb9..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/cloud-data.lisp +++ /dev/null @@ -1,106 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defvar *cloud-handle-transform* nil) -(defvar *cloud-joint-transform* nil) - -(defun init-connection () - (kr-cloud::initialize-iai-cloud-connection) - (cpl:sleep 5)) - -(defun load-trajectory-episode () - (kr-cloud:load-episodes '(11) :old-db-or-new :new)) - -(defun load-gaussian-episodes () - (kr-cloud:load-episodes '(1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 - 20 21 22 23 24 25 26 27) - :old-db-or-new :old)) - -(defun cloud-handle-transform () - (or *cloud-handle-transform* - (multiple-value-bind (handle joint) - (robust-cloud-handle-and-joint-transform) - (setf *cloud-joint-transform* joint) - (setf *cloud-handle-transform* handle)))) - -(defun cloud-joint-transform () - (or *cloud-joint-transform* - (multiple-value-bind (handle joint) - (robust-cloud-handle-and-joint-transform) - (setf *cloud-handle-transform* handle) - (setf *cloud-joint-transform* joint)))) - -(defun robust-cloud-handle-and-joint-transform () - (calculate-robust-handle-and-joint-transform - (kr-cloud:semantic-map-object-transform "IAIFridgeDoorHandle") - (kr-cloud:semantic-map-object-transform "HingedJoint"))) - - -(defun cloud-handle-to-robot-transform (&optional (before-action "MoveFridgeHandle")) - (let ((cloud-map-to-handle (cloud-handle-transform)) - (cloud-map-to-robot (kr-cloud:robot-pose-before-action before-action))) - (apply-transform (cram-tf:transform-stamped-inv cloud-map-to-handle) - cloud-map-to-robot))) - -(defun cloud-joint-to-robot-transform (&optional (before-action "MoveFridgeHandle")) - (let ((cloud-map-to-joint (cloud-joint-transform)) - (cloud-map-to-robot (kr-cloud:robot-pose-before-action before-action))) - (apply-transform (cram-tf:transform-stamped-inv cloud-map-to-joint) - cloud-map-to-robot))) - -(defun cloud-handle-to-gripper-transforms (&optional (action "MoveFridgeHandle")) - (let ((cloud-map-to-handle (cloud-handle-transform)) - (cloud-map-to-gripper-list - (kr-cloud::gripper-trajectory-during-action :right action))) - (mapcar (lambda (cloud-map-to-gripper) - (apply-transform (cram-tf:transform-stamped-inv cloud-map-to-handle) - cloud-map-to-gripper)) - cloud-map-to-gripper-list))) - -(defun cloud-joint-to-gripper-transforms (&optional (action "MoveFridgeHandle")) - (let ((cloud-map-to-joint (cloud-joint-transform)) - (cloud-map-to-gripper-list - (kr-cloud::gripper-projected-trajectory-during-action :right action))) - (mapcar (lambda (cloud-map-to-gripper) - (apply-transform (cram-tf:transform-stamped-inv cloud-map-to-joint) - cloud-map-to-gripper)) - cloud-map-to-gripper-list))) - -(defun cloud-handle-to-robot-transform-distribution () - (let ((cloud-map-to-handle (cloud-handle-transform))) - (multiple-value-bind (cloud-map-to-robot-transform-mean covariance) - (kr-cloud::robot-pose-distribution) - (values (apply-transform - (cram-tf:transform-stamped-inv cloud-map-to-handle) - cloud-map-to-robot-transform-mean) - (apply-transform-to-covariance-matrix - (cram-tf:transform-stamped-inv cloud-map-to-handle) - covariance))))) diff --git a/cram_pr2/cram_pr2_cloud/src/costmaps.lisp b/cram_pr2/cram_pr2_cloud/src/costmaps.lisp deleted file mode 100644 index 3ebb589342..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/costmaps.lisp +++ /dev/null @@ -1,99 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -;; (defun init-stuff () -;; ;; (def-fact-group costmap-metadata () -;; ;; (<- (location-costmap:costmap-size 12 12)) -;; ;; (<- (location-costmap:costmap-origin -6 -6)) -;; ;; (<- (location-costmap:costmap-resolution 0.05)) - -;; ;; (<- (location-costmap:costmap-padding 0.2)) -;; ;; (<- (location-costmap:costmap-manipulation-padding 0.2)) -;; ;; (<- (location-costmap:costmap-in-reach-distance 0.9)) -;; ;; (<- (location-costmap:costmap-reach-minimal-distance 0.1))) - -;; (def-fact-group semantic-map-data () -;; (<- (semantic-map-object-name :kitchen))) - -;; ;; (setf pr2-reachability-costmap::*ik-reference-frame* cram-tf:*fixed-frame*) -;; ;; should be torso-frame if tf is running - -;; (sem-map:get-semantic-map) - -;; (setf prolog:*break-on-lisp-errors* t)) - -;; (roslisp-utilities:register-ros-init-function init-stuff) - -(defmethod location-costmap:costmap-generator-name->score ((name (eql 'reachability-cm))) 4) - -(defun make-mean-orientation-generator (mean-transform) - (lambda (x y previous-orientations) - (declare (ignore x y previous-orientations)) - (list (cl-transforms:rotation mean-transform)))) - -;; (defun make-first-pose-designator (trajectory) -;; (let ((?pose (strip-transform-stamped (first trajectory)))) -;; (desig:a location (pose ?pose)))) - -(def-fact-group robot-pose-cloud-reachability-costmap (location-costmap:desig-costmap) - (<- (location-costmap:desig-costmap ?designator ?cm) - (desig:desig-prop ?designator (:my-reachable-for ?robot)) - (cram-robot-interfaces:robot ?robot) - ;; (desig:desig-prop ?designator (:arm ?arm)) - (desig:desig-prop ?designator (:location ?location)) - (desig:desig-prop ?designator (:context ?context)) - (equal ?context "OpenFridge") - ;; (desig:desig-prop ?designator (:trajectory ?trajectory-in-map)) - ;; (lisp-fun make-first-pose-designator ?trajectory-in-map ?location) - ;; (desig:desig-prop ?designator (:target ?location)) - ;; (desig:current-designator ?location ?current-location-designator) - ;; (once (desig:designator-groundings ?current-location-designator ?poses) - ;; (member ?to-reach-pose ?poses)) - (location-costmap:costmap ?cm) - (location-costmap:costmap-resolution ?x) - (lisp-fun local-handle-to-robot-transform-distribution (?mean-transform ?covariance)) - (lisp-fun cl-transforms:translation ?mean-transform ?mean) - (location-costmap:costmap-add-function - reachability-cm - (location-costmap:make-gauss-cost-function ?mean ?covariance) - ?cm) - (location-costmap:costmap-add-orientation-generator - (make-mean-orientation-generator ?mean-transform) - ?cm))) - -(defun pose-to-reach-fridge () - (let ((?transform-to-reach (cram-tf:strip-transform-stamped (local-handle-transform))) - (?robot 'cram-pr2-description:pr2)) - (desig:reference (desig:a location - (my-reachable-for ?robot) - (location (desig:a location (pose ?transform-to-reach))) - (context "OpenFridge"))))) - diff --git a/cram_pr2/cram_pr2_cloud/src/geometry-calculations.lisp b/cram_pr2/cram_pr2_cloud/src/geometry-calculations.lisp deleted file mode 100644 index 9974854b9e..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/geometry-calculations.lisp +++ /dev/null @@ -1,150 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defun calculate-robust-handle-and-joint-transform (handle-transform joint-transform) - (return-from calculate-robust-handle-and-joint-transform - (values handle-transform joint-transform)) - (let* ((handle->joint-vector - (cl-transforms:v- - (cl-transforms-stamped:translation joint-transform) - (cl-transforms-stamped:translation handle-transform))) - (handle->joint-vector-projected-onto-xy - (cl-transforms:copy-3d-vector handle->joint-vector :z 0)) - (y-axis handle->joint-vector-projected-onto-xy) - (z-axis (cl-transforms:make-3d-vector 0 0 1)) - (x-axis (cl-transforms:cross-product y-axis z-axis)) - (orientation (cl-transforms:column-vectors->quaternion x-axis y-axis z-axis))) - (values - (copy-transform-stamped - handle-transform - :rotation orientation) - (copy-transform-stamped - joint-transform - :rotation orientation)))) - -(defun calculate-handle-to-gripper-transforms (map-to-handle map-to-joint - &optional (theta-max - (cma:degrees->radians 60))) - (let* ((joint-to-handle - (apply-transform (cram-tf:transform-stamped-inv map-to-joint) - map-to-handle)) - (handle-to-joint (cram-tf:transform-stamped-inv joint-to-handle))) - (mapcar (lambda (joint-to-circle-point) - (pose-stamped->transform-stamped - (cram-tf:rotate-pose - (strip-transform-stamped - (apply-transform handle-to-joint joint-to-circle-point)) - :z - (cram-math:degrees->radians 180)) - (cl-transforms-stamped:child-frame-id joint-to-circle-point))) - (loop for theta = 0.0 then (+ 0.1 theta) - while (< theta theta-max) - collect - (let ((rotation - (cl-tf:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) theta))) - (cl-transforms-stamped:make-transform-stamped - (cl-transforms-stamped:frame-id joint-to-handle) - cram-tf:*robot-right-tool-frame* - (cl-transforms-stamped:stamp joint-to-handle) - (cl-transforms:rotate rotation (cl-transforms:translation joint-to-handle)) - (cl-transforms:rotation joint-to-handle))))))) - -(defun filter-trajectory-of-big-rotations (transforms-list &optional (rotation-threshold 0.1)) - (remove NIL - (remove-duplicates - (maplist (lambda (x) - (when (>= (length x) 2) - (let* ((quaternion-diff - (cl-transforms:quaternion->axis-angle - (cl-transforms:q- (cl-transforms:rotation (second x)) - (cl-transforms:rotation (first x))))) - (max-val - (with-slots (cl-transforms:x cl-transforms:y cl-transforms:z) - quaternion-diff - (max (abs cl-transforms:x) - (abs cl-transforms:y) - (abs cl-transforms:z))))) - (if (< max-val rotation-threshold) - (first x) - NIL)))) - transforms-list)))) - -(defun array-to-list (array) - (let* ((dimensions (array-dimensions array)) - (depth (1- (length dimensions))) - (indices (make-list (1+ depth) :initial-element 0))) - (labels ((recurse (n) - (loop for j below (nth n dimensions) - do (setf (nth n indices) j) - collect (if (= n depth) - (apply #'aref array indices) - (recurse (1+ n)))))) - (recurse 0)))) - -(defun apply-transform-to-covariance-matrix (transform 2d-covariance-matrix) - "Cnew = R * C * R-1" - (let* ((covariance-list-double - (mapcar (lambda (x-list) - (mapcar (lambda (x) (* x 1.0d0)) x-list)) - (array-to-list 2d-covariance-matrix))) - (cov-matrix - (make-array '(3 3) - :element-type 'double-float - :initial-contents - (list (append (first covariance-list-double) '(0.0d0)) - (append (second covariance-list-double) '(0.0d0)) - '(0.0d0 0.0d0 1.0d0)))) - (rotation-matrix - (cl-transforms:quaternion->matrix (cl-transforms:rotation transform))) - (rotation-matrix-double - (make-array '(3 3) - :element-type 'double-float - :initial-contents (array-to-list rotation-matrix))) - (rotation-matrix-inv - (cl-transforms:invert-rot-matrix rotation-matrix)) - (rotation-matrix-inv-double - (make-array '(3 3) - :element-type 'double-float - :initial-contents (array-to-list rotation-matrix-inv))) - (new-cov-matrix - (cma:double-matrix-product - (cma:double-matrix-product rotation-matrix-double cov-matrix) - rotation-matrix-inv-double)) - (new-cov-list - (array-to-list new-cov-matrix) - ;; (array-to-list cov-matrix) - )) - (make-array '(2 2) - :initial-contents - (list - (subseq (first new-cov-list) 0 2) - (subseq (second new-cov-list) 0 2))))) diff --git a/cram_pr2/cram_pr2_cloud/src/local-data.lisp b/cram_pr2/cram_pr2_cloud/src/local-data.lisp deleted file mode 100644 index 0b4c39a537..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/local-data.lisp +++ /dev/null @@ -1,154 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defvar *local-handle-transform* nil) -(defvar *local-joint-transform* nil) - -(defparameter *offset* 0.0d0) - -(defun local-handle-transform () - (or *local-handle-transform* - (multiple-value-bind (handle joint) - (robust-local-handle-and-joint-transform) - (setf *local-joint-transform* joint) - (setf *local-handle-transform* (translate-transform-stamped - handle :x-offset *offset*))))) - -(defun local-joint-transform () - (or *local-joint-transform* - (multiple-value-bind (handle joint) - (robust-local-handle-and-joint-transform) - (setf *local-handle-transform* (translate-transform-stamped - handle :x-offset *offset*)) - (setf *local-joint-transform* joint)))) - -(defun robust-local-handle-and-joint-transform () - (calculate-robust-handle-and-joint-transform - (kr-cloud:local-semantic-map-object-transform "IAIFridgeDoorHandle") - (kr-cloud:local-semantic-map-object-transform "HingedJoint"))) - -;; direct robot pose - -(defun local-robot-pose-in-map-from-joint (&optional (before-action "MoveFridgeHandle")) - (let ((local-map-to-joint (local-joint-transform)) - (cloud-joint-to-robot (cloud-joint-to-robot-transform before-action))) - (apply-transform local-map-to-joint cloud-joint-to-robot))) - -(defun local-robot-pose-in-map-from-handle (&optional (before-action "MoveFridgeHandle")) - (let ((local-map-to-handle (local-handle-transform)) - (cloud-handle-to-robot (cloud-handle-to-robot-transform before-action))) - (apply-transform local-map-to-handle cloud-handle-to-robot))) - -;; trajectory - -(defun filter-trajectory (trajectory-in-base) - (filter-trajectory-of-big-rotations - (subseq trajectory-in-base 26 42) - 0.1)) - -(defun adjust-trajectory (trajectory transform-to-invert) - (let ((gripper-to-adjusted-gripper - (cram-tf:copy-transform-stamped - (cram-tf:transform-stamped-inv transform-to-invert) - :child-frame-id (cl-transforms-stamped:child-frame-id transform-to-invert)))) - (mapcar (lambda (map-to-gripper-transform) - (cram-tf:apply-transform map-to-gripper-transform gripper-to-adjusted-gripper)) - trajectory))) - -(defun local-gripper-trajectory-in-map (&optional (action "MoveFridgeHandle")) - (let ((local-map-to-handle (local-handle-transform)) - (cloud-handle-to-gripper-list - (let ((filtered-trajectory - (filter-trajectory - (cloud-handle-to-gripper-transforms action)))) - (adjust-trajectory filtered-trajectory (car filtered-trajectory))))) - (mapcar (lambda (cloud-handle-to-gripper) - (apply-transform local-map-to-handle cloud-handle-to-gripper)) - cloud-handle-to-gripper-list))) - -(defun gripper-trajectory-in-map->in-base (trajectory-in-map) - (let ((local-map-to-gripper-list trajectory-in-map) - (local-map-to-robot (current-robot-transform))) - (visualize-trajectory (mapcar #'strip-transform-stamped local-map-to-gripper-list)) - (mapcar (lambda (local-map-to-gripper) - (apply-transform (cram-tf:transform-stamped-inv local-map-to-robot) - local-map-to-gripper)) - local-map-to-gripper-list))) - -;; (defun original-trajectory-in-base-filtered () -;; (filter-trajectory -;; (gripper-trajectory-in-map->in-base -;; (local-gripper-trajectory-in-map)))) - -;; projected trajectory - -(defun local-gripper-projected-trajectory-in-map (&optional (action "MoveFridgeHandle")) - (let ((local-map-to-joint (local-joint-transform)) - (cloud-joint-to-gripper-list (cloud-joint-to-gripper-transforms action))) - (let ((map-to-gripper-trajectory - (filter-trajectory - (mapcar (lambda (cloud-joint-to-gripper) - (apply-transform local-map-to-joint cloud-joint-to-gripper)) - cloud-joint-to-gripper-list)))) - (let* ((local-map-to-handle (local-handle-transform)) - (handle-to-gripper-transform - (cram-tf:apply-transform - (cram-tf:transform-stamped-inv local-map-to-handle) - (car map-to-gripper-trajectory)))) - (adjust-trajectory map-to-gripper-trajectory handle-to-gripper-transform))))) - -;; (defun local-gripper-projected-trajectory-in-base (&optional (action "MoveFridgeHandle")) -;; (let ((local-map-to-gripper-list (local-gripper-projected-trajectory-in-map action)) -;; (local-map-to-robot (current-robot-transform))) -;; (visualize-trajectory (subseq (mapcar (lambda (trans) -;; (strip-transform-stamped -;; (translate-transform-stamped trans :z-offset 0.1))) -;; local-map-to-gripper-list) -;; 26 42)) -;; (mapcar (lambda (local-map-to-gripper) -;; (apply-transform (cram-tf:transform-stamped-inv local-map-to-robot) -;; local-map-to-gripper)) -;; local-map-to-gripper-list))) - -;; (defun local-gripper-projected-trajectory-in-base-filtered (&optional (action "MoveFridgeHandle")) -;; (filter-trajectory-in-base -;; (local-gripper-projected-trajectory-in-base))) - - - -;; distribution - -(defun local-handle-to-robot-transform-distribution () - (let ((local-map-to-handle (local-handle-transform))) - (multiple-value-bind (cloud-handle-to-robot-transform-mean covariance) - (cloud-handle-to-robot-transform-distribution) - (list (apply-transform local-map-to-handle cloud-handle-to-robot-transform-mean) - (apply-transform-to-covariance-matrix local-map-to-handle covariance))))) diff --git a/cram_pr2/cram_pr2_cloud/src/projection-plans.lisp b/cram_pr2/cram_pr2_cloud/src/projection-plans.lisp deleted file mode 100644 index 0bbb989a86..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/projection-plans.lisp +++ /dev/null @@ -1,125 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defun init () - (setf *cloud-handle-transform* nil) - (setf *cloud-joint-transform* nil) - (setf *local-handle-transform* nil) - (setf *local-joint-transform* nil) - (init-connection) - (load-trajectory-episode)) - - - - -(defmacro with-simulated-robot (&body body) - `(let ((results - (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment - (cpl:top-level - ,@body)))) - (car (cram-projection::projection-environment-result-result results)))) - -(defun visualize-cloud-handle-and-joint () - (btr-utils:spawn-object 'cloud-handle-original :mug - :pose (strip-transform-stamped - (kr-cloud:semantic-map-object-transform "IAIFridgeDoorHandle")) - :color '(1 0 0)) - (btr-utils:spawn-object 'cloud-handle :mug - :pose (strip-transform-stamped (cloud-handle-transform))) - (btr-utils:spawn-object 'cloud-joint-original :mondamin - :pose (strip-transform-stamped - (kr-cloud:semantic-map-object-transform "HingedJoint")) - :color '(1 0 0)) - (btr-utils:spawn-object 'cloud-joint :mondamin - :pose (strip-transform-stamped (cloud-joint-transform)))) - -(defun visualize-trajectory (poses) - (btr-utils:kill-all-objects) - (let ((i 0)) - (dolist (pose poses) - ;; (btr-utils:spawn-object - ;; (intern (format nil "fork-~a" i) :keyword) - ;; :fork - ;; :pose pose) - (btr-utils:spawn-object - (intern (format nil "cereal-~a" i) :keyword) - :visualization-box - :pose pose) - (cram-tf:visualize-marker pose :id (+ i 0) :r-g-b-list '(0.5 0 1)) - (incf i)))) - - -(defun local-gripper-trajectory-in-map-from-radius () - (let* ((local-map-to-handle (local-handle-transform)) - (local-handle-to-gripper-list - (calculate-handle-to-gripper-transforms local-map-to-handle - (local-joint-transform)))) - (mapcar (lambda (local-handle-to-gripper) - (apply-transform local-map-to-handle local-handle-to-gripper)) - local-handle-to-gripper-list))) - -(defun local-gripper-trajectory-in-base-from-radius () - (let* ((local-map-to-gripper-list (local-gripper-trajectory-in-map-from-radius)) - (local-map-to-robot (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - 0.0 - (btr:object-pose 'cram-pr2-description:pr2)))) - (mapcar (lambda (local-map-to-gripper) - (apply-transform (cram-tf:transform-stamped-inv local-map-to-robot) - local-map-to-gripper)) - local-map-to-gripper-list))) - - -(defun move-in-projection-to-fridge () - (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment - (cpl:top-level - (exe:perform - (let ((?pose (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector 0.5 -0.8 0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type going) (pose ?pose)))) - (exe:perform - (desig:a motion (type moving-torso) (joint-angle 0.3)))))) - -(defun execute-trajectory-in-projection () - (move-in-projection-to-fridge) - (let ((trajectory-in-base (local-gripper-trajectory-in-base-from-radius))) - (proj:with-projection-environment urdf-proj:urdf-bullet-projection-environment - (cpl:top-level - (mapc (lambda (via-point-transform) - (let ((?pose (strip-transform-stamped via-point-transform))) - (exe:perform - (desig:a motion - (type moving-tcp) - (right-pose ?pose))))) - trajectory-in-base))))) diff --git a/cram_pr2/cram_pr2_cloud/src/real-world-plans.lisp b/cram_pr2/cram_pr2_cloud/src/real-world-plans.lisp deleted file mode 100644 index b334d397d0..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/real-world-plans.lisp +++ /dev/null @@ -1,201 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defmacro with-real-robot (&body body) - `(cram-process-modules:with-process-modules-running - (pr2-pms::pr2-base-pm pr2-pms::pr2-arms-pm - pr2-pms::pr2-grippers-pm pr2-pms::pr2-ptu-pm) - (cpl:top-level - ,@body))) - -(defun test-gripper () - (with-real-robot - (exe:perform - (desig:a motion (type opening-gripper) (gripper left))))) - -(defun test-navigation () - (with-real-robot - (exe:perform - (let ((?pose (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector 0.5 -0.8 0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type going) (pose ?pose)))))) - -;; (defun test-manipulation () -;; (with-real-robot -;; (let ((?pose (local-robot-pose-in-map-from-handle))) -;; (exe:perform -;; (desig:an action (type going) (target (desig:a location (pose ?pose)))))) -;; (let ((?pose (strip-transform-stamped -;; (car (subseq (local-gripper-trajectory-in-base "MoveFridgeHandle") 23))))) -;; (exe:perform -;; (desig:a motion (type moving-tcp) (left-pose ?pose)))))) - -(defun test-manipulation () - (with-real-robot - (let ((?pose (strip-transform-stamped - (car (local-gripper-trajectory-in-base-from-radius))))) - (exe:perform - (desig:a motion (type moving-tcp) (left-pose ?pose)))))) - -(defun move-projected-pr2-away () - (btr-utils:move-object 'cram-pr2-description:pr2 - (cl-transforms:make-pose - (cl-transforms:make-3d-vector 0 0 0) - (cl-transforms:make-identity-rotation)))) - -(defun environment-articulation-plan (&key (projected-or-original :original) - (location-designator)) - (let* ((?handle-pose (strip-transform-stamped (local-handle-transform))) - (?arm (kr-cloud::arm-used-in-action "OpenFridge")) - (?robot 'cram-pr2-description:pr2) - (?location-for-robot (or location-designator - (desig:a location - (my-reachable-for ?robot) - (location (desig:a location (pose ?handle-pose))) - (context "OpenFridge")))) - (?target (ecase ?arm (:left :left-pose) (:right :right-pose)))) - - (btr-utils:kill-all-objects) - (move-projected-pr2-away) - (cram-bullet-reasoning::clear-costmap-vis-object) - (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - ;; (exe:perform (desig:a motion (type moving-torso) (joint-angle 0.15))) - - (cpl:with-failure-handling - (((or common-fail:actionlib-action-timed-out - common-fail:manipulation-low-level-failure) (e) - (roslisp:ros-warn (pr2-cloud open-fridge) "Plan failed: ~a. Retrying.~%" e) - (btr-utils:spawn-object 'red-dot :pancake-maker :color '(1 0 0 0.5) - :pose '((1.5 -1.05 1.6) (0 0 0 1))) - (cpl:sleep 0.5) - (exe:perform (desig:an action (type opening-gripper) (gripper right))) - (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - (move-projected-pr2-away) - (unless location-designator - (setf ?location-for-robot (desig:next-solution ?location-for-robot))) - (cpl:sleep 0.5) - (btr-utils:kill-object 'red-dot) - (cpl:retry))) - - (cpl:par - (exe:perform - (desig:an action (type going) (target ?location-for-robot))) - (exe:perform - (desig:an action (type opening-gripper) (gripper ?arm)))) - - (let ((?right-arm-init-config '(-0.6177226607749531d0 0.8595855682477204d0 - -0.22685404643554485d0 -2.1215879821638572d0 - -27.55566886200435d0 -1.9241091851082714d0 - 9.343508274913418d0))) - (exe:perform - (desig:a motion - (type moving-arm-joints) - (right-joint-states ?right-arm-init-config)))) - - (let ((?trajectory - (gripper-trajectory-in-map->in-base - (ecase projected-or-original - (:original - (local-gripper-trajectory-in-map - "MoveFridgeHandle")) - (:projected - (local-gripper-projected-trajectory-in-map - "MoveFridgeHandle")))))) - - (cpl:with-retry-counters ((reach-retry 2)) - (cpl:with-failure-handling - ((common-fail:low-level-failure (e) - (roslisp:ros-warn (pr2-cloud open-fridge) "~a" e) - (cpl:do-retry reach-retry - (cpl:retry)) - (return))) - (let ((?pose (strip-transform-stamped (first ?trajectory)))) - (cram-tf:visualize-marker ?pose) - (exe:perform - (desig:a motion - (type moving-tcp) - (?target ?pose)))))) - (exe:perform - (desig:an action (type gripping) (gripper ?arm) (effort 100))) - - (mapcar (lambda (transform) - (let ((?pose (strip-transform-stamped transform))) - (cpl:with-failure-handling - ((common-fail:manipulation-goal-not-reached (e) - (when location-designator - (roslisp:ros-warn (pr2-cloud execute-traj) "~a" e) - (roslisp:ros-warn (pr2-cloud execute-traj) "Ignoring.") - (return)))) - (exe:perform - (desig:a motion - (type moving-tcp) - (?target ?pose)))))) - (cdr ?trajectory)) - - (exe:perform - (desig:an action (type opening-gripper) (gripper ?arm))) - - (btr-utils:spawn-object 'green-dot :pancake-maker :color '(0 1 0 0.5) - :pose '((1.5 -1.05 1.6) (0 0 0 1))) - - (let ((?right-arm-init-config '(-2.040980560942328d0 0.2712278780562381d0 - -0.6460215625664274d0 -2.028500414744249d0 - -26.026134035944583d0 -1.1912449349507037d0 - 12.292977968464921d0))) - (exe:perform - (desig:a motion - (type moving-arm-joints) - (right-joint-states ?right-arm-init-config)))) - - ?location-for-robot)))) - - - -(defun main (&optional (real? t)) - (pr2-cloud::init) - (let ((location (with-simulated-robot - (pr2-cloud::environment-articulation-plan - :projected-or-original :projected)))) - (sleep 3.0) - (when real? - (with-real-robot - (pr2-cloud::environment-articulation-plan - :projected-or-original :projected - :location-designator location))))) - diff --git a/cram_pr2/cram_pr2_cloud/src/tf-utilities.lisp b/cram_pr2/cram_pr2_cloud/src/tf-utilities.lisp deleted file mode 100644 index d693be55ee..0000000000 --- a/cram_pr2/cram_pr2_cloud/src/tf-utilities.lisp +++ /dev/null @@ -1,45 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-cloud) - -(defun current-robot-transform () - (if (eql cram-projection:*projection-environment* - 'urdf-proj:urdf-bullet-projection-environment) - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - 0.0 - (btr:object-pose 'cram-pr2-description:pr2)) - (cl-transforms-stamped:lookup-transform - cram-tf:*transformer* - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - :timeout cram-tf:*tf-default-timeout* - :time 0.0))) diff --git a/cram_pr2/cram_pr2_description/src/arm-kinematics.lisp b/cram_pr2/cram_pr2_description/src/arm-kinematics.lisp index 9eba6fce78..6ffbd1b079 100644 --- a/cram_pr2/cram_pr2_description/src/arm-kinematics.lisp +++ b/cram_pr2/cram_pr2_description/src/arm-kinematics.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2012, CRAM team ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -34,7 +34,7 @@ (cl-transforms-stamped:make-identity-rotation))) (defparameter *standard-to-pr2-gripper-transform* - (cl-transforms-stamped:make-transform + (cl-transforms:make-transform (cl-transforms:make-identity-vector) (cl-transforms:matrix->quaternion #2A((0 1 0) @@ -69,75 +69,9 @@ ;; (cl-transforms:make-quaternion 0.9215513103717499d0 -0.387996037470125d0 ;; -0.014188589447636247d0 -9.701489976338351d-4))) -;; (defparameter *right-parking-joint-states* -;; '(("r_shoulder_pan_joint" -1.3810115229719555d0) -;; ("r_shoulder_lift_joint" 1.1282870348994702d0) -;; ("r_upper_arm_roll_joint" -1.7100000000000002d0) -;; ("r_elbow_flex_joint" -2.105735087282934d0) -;; ("r_forearm_roll_joint" -2.658135473603226d0) -;; ("r_wrist_flex_joint" -1.9927790883777252d0) -;; ("r_wrist_roll_joint" -2.5861844605475843d0))) -;; (defparameter *left-parking-joint-states* -;; '(("l_shoulder_pan_joint" 1.3810115229719555d0) -;; ("l_shoulder_lift_joint" 1.1282870348994702d0) -;; ("l_upper_arm_roll_joint" 1.71d0) -;; ("l_elbow_flex_joint" -2.105735087282934d0) -;; ("l_forearm_roll_joint" 2.6581354736032257d0) -;; ("l_wrist_flex_joint" -1.9927790883777252d0) -;; ("l_wrist_roll_joint" 2.586184460547585d0))) -(defparameter *left-carrying-joint-states* - '(("l_shoulder_pan_joint" 1.9652919379395388d0) - ("l_shoulder_lift_joint" -0.26499816732737785d0) - ("l_upper_arm_roll_joint" 1.3837617139225473d0) - ("l_elbow_flex_joint" -2.1224566064321584d0) - ("l_forearm_roll_joint" 16.99646118944817d0) - ("l_wrist_flex_joint" -0.07350789589924167d0) - ("l_wrist_roll_joint" 0.0))) -(defparameter *left-tucked-joint-states* - '(("l_shoulder_pan_joint" 0.1709440184822959d0) - ("l_shoulder_lift_joint" 1.1472294789783886d0) - ("l_upper_arm_roll_joint" 1.9124515764640622d0) - ("l_elbow_flex_joint" -1.66700794841958d0) - ("l_forearm_roll_joint" 6.255471931555043d0) - ("l_wrist_flex_joint" -0.07476630774212056d0) - ("l_wrist_roll_joint" -14.7079336142174d0))) - -(defparameter *right-carrying-joint-states* - '(("r_shoulder_pan_joint" -1.712587449591307d0) - ("r_shoulder_lift_joint" -0.2567290370386635d0) - ("r_upper_arm_roll_joint" -1.4633501125737374d0) - ("r_elbow_flex_joint" -2.1221670650093913d0) - ("r_forearm_roll_joint" 1.7663253481913623d0) - ("r_wrist_flex_joint" -0.07942669250968948d0) - ("r_wrist_roll_joint" 0.05106258161229582d0))) - -(defparameter *right-tucked-joint-states* - '(("r_shoulder_pan_joint" -0.08181428617939712d0) - ("r_shoulder_lift_joint" 0.9781030555170612d0) - ("r_upper_arm_roll_joint" -1.4665572091011352d0) - ("r_elbow_flex_joint" -1.6859729116108224d0) - ("r_forearm_roll_joint" -27.72481374424779d0) - ("r_wrist_flex_joint" -0.10621948550701799d0) - ("r_wrist_roll_joint" 7.662671673625887d0))) - - -(defun get-arm-base-joint-names (arm) - (declare (ignore arm)) - (list "torso_lift_joint")) - -(defun get-arm-tool-joint-names (arm) - (case arm - (:left - (list "l_gripper_palm_joint" "l_gripper_tool_joint")) - (:right - (list "r_gripper_palm_joint" "r_gripper_tool_joint")))) - -(defun get-arm-base-link-names (arm) - (declare (ignore arm)) - (list "torso_lift_link")) (defun get-arm-joint-names (arm) ;; TODO: the proper way to do this is to read them out of the srdl, @@ -221,130 +155,163 @@ "r_gripper_palm_link")))) (def-fact-group pr2-arm-kinematics-facts (arm - end-effector-link robot-tool-frame - gripper-link gripper-joint + arm-links arm-joints + hand-links hand-link hand-finger-link + gripper-joint gripper-meter-to-joint-multiplier - planning-group - robot-joint-states - ;; robot-arms-parking-joint-states - ;; robot-arms-carrying-joint-states - ;; end-effector-parking-pose - ;; robot-pre-grasp-joint-states - arm-joints arm-base-joints arm-tool-joints - arm-links arm-base-links - hand-links - standard-to-particular-gripper-transform - tcp-in-ee-pose) + standard<-particular-gripper-transform + end-effector-link robot-tool-frame + tcp-in-ee-pose + robot-joint-states) - (<- (arm pr2 :right)) - (<- (arm pr2 :left)) + (<- (arm :pr2 :right)) + (<- (arm :pr2 :left)) - (<- (end-effector-link pr2 :left "l_wrist_roll_link")) - (<- (end-effector-link pr2 :right "r_wrist_roll_link")) + (<- (arm-links :pr2 ?arm ?links) + (lisp-fun get-arm-link-names ?arm ?links)) - (<- (robot-tool-frame pr2 :left "l_gripper_tool_frame")) - (<- (robot-tool-frame pr2 :right "r_gripper_tool_frame")) + (<- (arm-joints :pr2 ?arm ?joints) + (lisp-fun get-arm-joint-names ?arm ?joints)) - (<- (gripper-link pr2 :left ?link) + (<- (hand-links :pr2 ?arm ?links) + (lisp-fun get-hand-link-names ?arm ?links)) + + (<- (hand-link :pr2 :left ?link) (bound ?link) (lisp-fun search "l_gripper" ?link ?pos) (lisp-pred identity ?pos)) - (<- (gripper-link pr2 :right ?link) + (<- (hand-link :pr2 :right ?link) (bound ?link) (lisp-fun search "r_gripper" ?link ?pos) (lisp-pred identity ?pos)) - (<- (gripper-joint pr2 :left "l_gripper_l_finger_joint")) - (<- (gripper-joint pr2 :left "l_gripper_r_finger_joint")) - (<- (gripper-joint pr2 :right "r_gripper_l_finger_joint")) - (<- (gripper-joint pr2 :right "r_gripper_r_finger_joint")) - - (<- (gripper-meter-to-joint-multiplier pr2 5.0)) - - (<- (planning-group pr2 :left "left_arm")) - (<- (planning-group pr2 :right "right_arm")) - (<- (planning-group pr2 (:left :right) "both_arms")) - (<- (planning-group pr2 (:right :left) "both_arms")) - - (<- (robot-joint-states pr2 :arm :left :carry ?joint-states) - (symbol-value *left-carrying-joint-states* ?joint-states)) - - (<- (robot-joint-states pr2 :arm :right :carry ?joint-states) - (symbol-value *right-carrying-joint-states* ?joint-states)) - - (<- (robot-joint-states pr2 :arm :left :park ?joint-states) - (symbol-value *left-carrying-joint-states* ?joint-states)) - - (<- (robot-joint-states pr2 :arm :right :park ?joint-states) - (symbol-value *right-carrying-joint-states* ?joint-states)) - - (<- (robot-joint-states pr2 :arm :left :tucked ?joint-states) - (symbol-value *left-tucked-joint-states* ?joint-states)) - - (<- (robot-joint-states pr2 :arm :right :tucked ?joint-states) - (symbol-value *right-tucked-joint-states* ?joint-states)) + (<- (hand-finger-link :pr2 ?arm ?link) + (bound ?link) + (hand-link :pr2 ?arm ?link) + (lisp-fun search "finger" ?link ?pos) + (lisp-pred identity ?pos)) - ;; (<- (robot-arms-carrying-joint-states pr2 ?joint-states) - ;; (symbol-value *right-carrying-joint-states* ?right-joint-states) - ;; (symbol-value *left-carrying-joint-states* ?left-joint-states) - ;; (append ?right-joint-states ?left-joint-states ?joint-states)) + (<- (gripper-joint :pr2 :left "l_gripper_l_finger_joint")) + (<- (gripper-joint :pr2 :left "l_gripper_r_finger_joint")) + (<- (gripper-joint :pr2 :right "r_gripper_l_finger_joint")) + (<- (gripper-joint :pr2 :right "r_gripper_r_finger_joint")) - ;; (<- (robot-arms-carrying-joint-states pr2 ?joint-states :left) - ;; (symbol-value *left-carrying-joint-states* ?joint-states)) + (<- (gripper-meter-to-joint-multiplier :pr2 5.0)) - ;; (<- (robot-arms-carrying-joint-states pr2 ?joint-states :right) - ;; (symbol-value *right-carrying-joint-states* ?joint-states)) + (<- (standard<-particular-gripper-transform :pr2 ?transform) + (symbol-value *standard-to-pr2-gripper-transform* ?transform)) - ;; (<- (robot-arms-parking-joint-states pr2 ?joint-states) - ;; (symbol-value *right-parking-joint-states* ?right-joint-states) - ;; (symbol-value *left-parking-joint-states* ?left-joint-states) - ;; (append ?right-joint-states ?left-joint-states ?joint-states)) + (<- (end-effector-link :pr2 :left "l_wrist_roll_link")) + (<- (end-effector-link :pr2 :right "r_wrist_roll_link")) - ;; (<- (robot-arms-parking-joint-states pr2 ?joint-states :left) - ;; (symbol-value *left-parking-joint-states* ?joint-states)) + (<- (robot-tool-frame :pr2 :left "l_gripper_tool_frame")) + (<- (robot-tool-frame :pr2 :right "r_gripper_tool_frame")) - ;; (<- (robot-arms-parking-joint-states pr2 ?joint-states :right) - ;; (symbol-value *right-parking-joint-states* ?joint-states)) + (<- (tcp-in-ee-pose :pr2 ?transform) + (symbol-value *tcp-in-ee-pose* ?transform)) - ;; (<- (end-effector-parking-pose pr2 ?pose :left) + ;; (<- (end-effector-parking-pose :pr2 ?pose :left) ;; (symbol-value *left-parking-end-effector-pose* ?pose)) - - ;; (<- (end-effector-parking-pose pr2 ?pose :right) + ;; (<- (end-effector-parking-pose :pr2 ?pose :right) ;; (symbol-value *right-parking-end-effector-pose* ?pose)) - ;; (<- (robot-pre-grasp-joint-states - ;; pr2 (("torso_lift_joint" 0.33) . ?parking-joint-states)) - ;; (robot-arms-parking-joint-states pr2 ?parking-joint-states)) - - ;; (<- (robot-pre-grasp-joint-states - ;; pr2 (("torso_lift_joint" 0.165) . ?parking-joint-states)) - ;; (robot-arms-parking-joint-states pr2 ?parking-joint-states)) - - ;; (<- (robot-pre-grasp-joint-states - ;; pr2 (("torso_lift_joint" 0.00) . ?parking-joint-states)) - ;; (robot-arms-parking-joint-states pr2 ?parking-joint-states)) - - (<- (arm-joints pr2 ?arm ?joints) - (lisp-fun get-arm-joint-names ?arm ?joints)) - - (<- (arm-base-joints pr2 ?arm ?joints) - (lisp-fun get-arm-base-joint-names ?arm ?joints)) - - (<- (arm-tool-joints pr2 ?arm ?joints) - (lisp-fun get-arm-tool-joint-names ?arm ?joints)) - - (<- (arm-links pr2 ?arm ?links) - (lisp-fun get-arm-link-names ?arm ?links)) - - (<- (arm-base-links pr2 ?arm ?links) - (lisp-fun get-arm-base-link-names ?arm ?links)) - - (<- (hand-links pr2 ?arm ?links) - (lisp-fun get-hand-link-names ?arm ?links)) - - (<- (standard-to-particular-gripper-transform pr2 ?transform) - (symbol-value *standard-to-pr2-gripper-transform* ?transform)) - - (<- (tcp-in-ee-pose pr2 ?transform) - (symbol-value *tcp-in-ee-pose* ?transform))) + (<- (robot-joint-states :pr2 :arm :left :carry + (("l_shoulder_pan_joint" 1.9652919379395388d0) + ("l_shoulder_lift_joint" -0.26499816732737785d0) + ("l_upper_arm_roll_joint" 1.3837617139225473d0) + ("l_elbow_flex_joint" -2.1224566064321584d0) + ("l_forearm_roll_joint" 16.99646118944817d0) + ("l_wrist_flex_joint" -0.07350789589924167d0) + ("l_wrist_roll_joint" 0.0)))) + (<- (robot-joint-states :pr2 :arm :left :park ?joint-states) + (robot-joint-states :pr2 :arm :left :carry ?joint-states)) + (<- (robot-joint-states :pr2 :arm :left :carry-top + ;; arm low -- collision avoidance hard atm + ;; (("l_shoulder_pan_joint" 1.3810115229719555d0) + ;; ("l_shoulder_lift_joint" 1.1282870348994702d0) + ;; ("l_upper_arm_roll_joint" 1.71d0) + ;; ("l_elbow_flex_joint" -2.105735087282934d0) + ;; ("l_forearm_roll_joint" 2.6581354736032257d0) + ;; ("l_wrist_flex_joint" -1.9927790883777252d0) + ;; ("l_wrist_roll_joint" 2.586184460547585d0)) + (("l_shoulder_pan_joint" 1.0252138037286773d0) + ("l_shoulder_lift_joint" -0.06966848987919201d0) + ("l_upper_arm_roll_joint" 1.1765832782526544d0) + ("l_elbow_flex_joint" -1.9323726623855864d0) + ("l_forearm_roll_joint" 1.3824994377973336d0) + ("l_wrist_flex_joint" -1.8416233909065576d0) + ("l_wrist_roll_joint" 2.907373693068033d0)))) + (<- (robot-joint-states :pr2 :arm :left :carry-top-basket + (("l_shoulder_pan_joint" 1.0) + ("l_shoulder_lift_joint" -0.5) + ("l_upper_arm_roll_joint" 3.14) + ("l_elbow_flex_joint" -1.5) + ("l_forearm_roll_joint" -0.2) + ("l_wrist_flex_joint" -0.55)))) + (<- (robot-joint-states :pr2 :arm :left :hand-over + (("l_shoulder_pan_joint" -0.3) + ("l_shoulder_lift_joint" -0.5) + ("l_upper_arm_roll_joint" 3.14) + ("l_elbow_flex_joint" -1.3) + ("l_forearm_roll_joint" 0) + ("l_wrist_flex_joint" -0.75)))) + (<- (robot-joint-states :pr2 :arm :left :carry-side-gripper-vertical + (("l_shoulder_pan_joint" 1.2469064067488675d0) + ("l_shoulder_lift_joint" 0.013567714247075813d0) + ("l_upper_arm_roll_joint" 1.3837617139225473d0) + ("l_elbow_flex_joint" -2.105735087282934d0) + ("l_forearm_roll_joint" 0.8809236347313467d0) + ("l_wrist_flex_joint" -0.9276887874976607d0) + ("l_wrist_roll_joint" 2.3644392879261957d0)))) + (<- (robot-joint-states :pr2 :arm :left :tucked + (("l_shoulder_pan_joint" 0.1709440184822959d0) + ("l_shoulder_lift_joint" 1.1472294789783886d0) + ("l_upper_arm_roll_joint" 1.9124515764640622d0) + ("l_elbow_flex_joint" -1.66700794841958d0) + ("l_forearm_roll_joint" 6.255471931555043d0) + ("l_wrist_flex_joint" -0.07476630774212056d0) + ("l_wrist_roll_joint" -14.7079336142174d0)))) + + (<- (robot-joint-states :pr2 :arm :right :carry + (("r_shoulder_pan_joint" -1.712587449591307d0) + ("r_shoulder_lift_joint" -0.2567290370386635d0) + ("r_upper_arm_roll_joint" -1.4633501125737374d0) + ("r_elbow_flex_joint" -2.1221670650093913d0) + ("r_forearm_roll_joint" 1.7663253481913623d0) + ("r_wrist_flex_joint" -0.07942669250968948d0) + ("r_wrist_roll_joint" 0.05106258161229582d0)))) + (<- (robot-joint-states :pr2 :arm :right :park ?joint-states) + (robot-joint-states :pr2 :arm :right :carry ?joint-states)) + (<- (robot-joint-states :pr2 :arm :right :carry-top + ;; arm low -- collision avoidance hard atm + ;; (("r_shoulder_pan_joint" -1.3810115229719555d0) + ;; ("r_shoulder_lift_joint" 1.1282870348994702d0) + ;; ("r_upper_arm_roll_joint" -1.7100000000000002d0) + ;; ("r_elbow_flex_joint" -2.105735087282934d0) + ;; ("r_forearm_roll_joint" -2.658135473603226d0) + ;; ("r_wrist_flex_joint" -1.9927790883777252d0) + ;; ("r_wrist_roll_joint" -2.5861844605475843d0)) + (("r_shoulder_pan_joint" -1.183809044088452d0) + ("r_shoulder_lift_joint" -0.30680923151650064d0) + ("r_upper_arm_roll_joint" -1.6439096470662296d0) + ("r_elbow_flex_joint" -2.0632453854762955d0) + ("r_forearm_roll_joint" -1.3016362275774522d0) + ("r_wrist_flex_joint" -1.284945123721191d0) + ("r_wrist_roll_joint" -1.974782974061931d0)))) + (<- (robot-joint-states :pr2 :arm :right :carry-side-gripper-vertical + (("r_shoulder_pan_joint" -0.7524126363048715d0) + ("r_shoulder_lift_joint" -0.2d0) + ("r_upper_arm_roll_joint" -1.7100000000000002d0) + ("r_elbow_flex_joint" -2.1221670650093913d0) + ("r_forearm_roll_joint" -0.5d0) + ("r_wrist_flex_joint" -0.7163017685583473d0) + ("r_wrist_roll_joint" 0.37943005734078916d0)))) + (<- (robot-joint-states :pr2 :arm :right :tucked + (("r_shoulder_pan_joint" -0.08181428617939712d0) + ("r_shoulder_lift_joint" 0.9781030555170612d0) + ("r_upper_arm_roll_joint" -1.4665572091011352d0) + ("r_elbow_flex_joint" -1.6859729116108224d0) + ("r_forearm_roll_joint" -27.72481374424779d0) + ("r_wrist_flex_joint" -0.10621948550701799d0) + ("r_wrist_roll_joint" 7.662671673625887d0))))) diff --git a/cram_pr2/cram_pr2_description/src/package.lisp b/cram_pr2/cram_pr2_description/src/package.lisp index 03ab1a0b83..7a4c5d8d33 100644 --- a/cram_pr2/cram_pr2_description/src/package.lisp +++ b/cram_pr2/cram_pr2_description/src/package.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -31,7 +31,4 @@ (defpackage cram-pr2-description (:use #:common-lisp #:cram-prolog - #:cram-robot-interfaces) - (:export - ;; pr2-knowledge - #:pr2)) + #:cram-robot-interfaces)) diff --git a/cram_pr2/cram_pr2_description/src/pr2-knowledge.lisp b/cram_pr2/cram_pr2_description/src/pr2-knowledge.lisp index 4bf5fa7ac0..c2d4705d7c 100644 --- a/cram_pr2/cram_pr2_description/src/pr2-knowledge.lisp +++ b/cram_pr2/cram_pr2_description/src/pr2-knowledge.lisp @@ -1,19 +1,19 @@ ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright ;;; notice, this list of conditions and the following disclaimer in the ;;; documentation and/or other materials provided with the distribution. ;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software +;;; Technische Universitaet Muenchen nor the names of its contributors +;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -28,37 +28,40 @@ (in-package :cram-pr2-description) -;; (def-tool (cl-transforms:make-3d-vector 1 0 0) 0.20) - (defparameter *forward-looking-position-in-base-frame* (cl-transforms:make-3d-vector 10.0 0.0 1.5)) -(def-fact-group pr2-metadata (robot - robot-base-frame robot-torso-link-joint +(def-fact-group pr2-metadata (robot-base-frame robot-torso-link-joint robot-odom-frame camera-frame camera-minimal-height camera-maximal-height + camera-horizontal-angle camera-vertical-angle robot-neck-links robot-neck-joints robot-joint-states robot-pose) - (<- (robot pr2)) - (<- (robot-odom-frame pr2 "odom_combined")) + (<- (robot-odom-frame :pr2 "odom_combined")) + + (<- (robot-base-frame :pr2 "base_footprint")) + (<- (robot-torso-link-joint :pr2 "torso_lift_link" "torso_lift_joint")) + + (<- (camera-frame :pr2 "head_mount_kinect_rgb_optical_frame")) + (<- (camera-frame :pr2 "openni_rgb_optical_frame")) + (<- (camera-frame :pr2 "narrow_stereo_optical_frame")) + + (<- (camera-minimal-height :pr2 1.27)) + (<- (camera-maximal-height :pr2 1.60)) - (<- (robot-base-frame pr2 "base_footprint")) - (<- (robot-torso-link-joint pr2 "torso_lift_link" "torso_lift_joint")) + ;; These are values taken from the Kinect's wikipedia page for the 360 variant + (<- (camera-horizontal-angle :pr2 0.99483)) ; ca 57 degrees + (<- (camera-vertical-angle :pr2 0.75049)) ; ca 43 degrees - (<- (camera-frame pr2 "head_mount_kinect_rgb_optical_frame")) - (<- (camera-frame pr2 "openni_rgb_optical_frame")) - (<- (camera-frame pr2 "narrow_stereo_optical_frame")) - (<- (camera-minimal-height pr2 1.27)) - (<- (camera-maximal-height pr2 1.60)) - (<- (robot-neck-links pr2 "head_pan_link" "head_tilt_link")) - (<- (robot-neck-joints pr2 "head_pan_joint" "head_tilt_joint")) + (<- (robot-neck-links :pr2 "head_pan_link" "head_tilt_link")) + (<- (robot-neck-joints :pr2 "head_pan_joint" "head_tilt_joint")) - (<- (robot-joint-states pr2 :neck ?_ :forward ((?pan_joint 0.0) (?tilt_joint 0.0))) - (robot-neck-joints pr2 ?pan_joint ?tilt_joint)) + (<- (robot-joint-states :pr2 :neck ?_ :forward ((?pan_joint 0.0) (?tilt_joint 0.0))) + (robot-neck-joints :pr2 ?pan_joint ?tilt_joint)) - (<- (robot-pose pr2 :neck ?_ :forward ?pose-stamped) - (robot-base-frame pr2 ?base-frame) + (<- (robot-pose :pr2 :neck ?_ :forward ?pose-stamped) + (robot-base-frame :pr2 ?base-frame) (lisp-fun cl-transforms:make-identity-rotation ?identity-quaternion) (symbol-value *forward-looking-position-in-base-frame* ?forward-point) (lisp-fun cl-transforms-stamped:make-pose-stamped @@ -69,9 +72,13 @@ costmap:costmap-manipulation-padding costmap:costmap-in-reach-distance costmap:costmap-reach-minimal-distance + costmap:orientation-samples + costmap:orientation-sample-step costmap:visibility-costmap-size) - (<- (costmap:costmap-padding 0.3)) - (<- (costmap:costmap-manipulation-padding 0.4)) - (<- (costmap:costmap-in-reach-distance 0.9)) - (<- (costmap:costmap-reach-minimal-distance 0.2)) - (<- (costmap:visibility-costmap-size 2))) + (<- (costmap:costmap-padding :pr2 0.3)) + (<- (costmap:costmap-manipulation-padding :pr2 0.4)) + (<- (costmap:costmap-in-reach-distance :pr2 1.0)) + (<- (costmap:costmap-reach-minimal-distance :pr2 0.2)) + (<- (costmap:orientation-samples :pr2 1)) + (<- (costmap:orientation-sample-step :pr2 0.3)) + (<- (costmap:visibility-costmap-size :pr2 2))) diff --git a/cram_pr2/cram_pr2_launch_files/CATKIN_IGNORE b/cram_pr2/cram_pr2_launch_files/CATKIN_IGNORE deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/cram_pr2/cram_pr2_launch_files/CMakeLists.txt b/cram_pr2/cram_pr2_launch_files/CMakeLists.txt deleted file mode 100644 index 0e07af6cf1..0000000000 --- a/cram_pr2/cram_pr2_launch_files/CMakeLists.txt +++ /dev/null @@ -1,5 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(cram_pr2_launch_files) -find_package(catkin REQUIRED) -catkin_package() - diff --git a/cram_pr2/cram_pr2_launch_files/launch/gazebo_kitchen_and_pr2.launch b/cram_pr2/cram_pr2_launch_files/launch/gazebo_kitchen_and_pr2.launch deleted file mode 100644 index ddc1dcd4c7..0000000000 --- a/cram_pr2/cram_pr2_launch_files/launch/gazebo_kitchen_and_pr2.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cram_pr2/cram_pr2_launch_files/launch/gazebo_localization.launch b/cram_pr2/cram_pr2_launch_files/launch/gazebo_localization.launch deleted file mode 100644 index 7c46052753..0000000000 --- a/cram_pr2/cram_pr2_launch_files/launch/gazebo_localization.launch +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cram_pr2/cram_pr2_launch_files/launch/nav_p_pr2.launch b/cram_pr2/cram_pr2_launch_files/launch/nav_p_pr2.launch deleted file mode 100644 index 934f43593f..0000000000 --- a/cram_pr2/cram_pr2_launch_files/launch/nav_p_pr2.launch +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - slowdown_far: 0.20 - slowdown_near: 0.08 - safety_dist: 0.06 - repelling_dist: 0.10 - repelling_gain: 0.5 - repelling_gain_max: 0.015 - - vel_ang_max: 0.6 - vel_lin_max: 0.1 - acc_ang_max: 0.4 - acc_lin_max: 0.4 - loop_rate: 30 - p: 1.2 - - xy_tolerance: 0.05 - th_tolerance: 0.1 - - n_lasers: 1 - complete_blind_spots: false - - global_frame: map - odom_frame: odom_combined - base_link_frame: base_link - - speed_filter_name: /nav_pcontroller - footprint: - front: 0.33 - rear: -0.33 - right: -0.33 - left: 0.33 - tolerance: 0.0 - - - diff --git a/cram_pr2/cram_pr2_launch_files/launch/pr2_static_localization.launch b/cram_pr2/cram_pr2_launch_files/launch/pr2_static_localization.launch deleted file mode 100644 index 4814cc2a3a..0000000000 --- a/cram_pr2/cram_pr2_launch_files/launch/pr2_static_localization.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - diff --git a/cram_pr2/cram_pr2_launch_files/launch/upload_maps_and_lowres_robot.launch b/cram_pr2/cram_pr2_launch_files/launch/upload_maps_and_lowres_robot.launch deleted file mode 100644 index 48e9756271..0000000000 --- a/cram_pr2/cram_pr2_launch_files/launch/upload_maps_and_lowres_robot.launch +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cram_pr2/cram_pr2_launch_files/package.xml b/cram_pr2/cram_pr2_launch_files/package.xml deleted file mode 100644 index 43587d978f..0000000000 --- a/cram_pr2/cram_pr2_launch_files/package.xml +++ /dev/null @@ -1,17 +0,0 @@ - - cram_pr2_launch_files - 0.7.0 - - cram_pr2_launch_files - - Gayane Kazhoyan - Gayane Kazhoyan - BSD - - catkin - - giskard_examples - nav_pcontroller - joint_trajectory_action - pr2_arm_kinematics - diff --git a/cram_pr2/cram_pr2_low_level/src/base-controller.lisp b/cram_pr2/cram_pr2_low_level/src/base-controller.lisp index 27c233c7b8..8bfd97bc50 100644 --- a/cram_pr2/cram_pr2_low_level/src/base-controller.lisp +++ b/cram_pr2/cram_pr2_low_level/src/base-controller.lisp @@ -304,7 +304,7 @@ with goal accuracy of 0.1 [m] navigation will have 12 [cm] error max.") (declare (type cl-transforms:point goal-point)) "Uses the current robot pose and calculates the angular velocity command to turn towards the `goal-point'. Clips the signal with certain maximal value." - (let* ((angle (cl-tf:normalize-angle + (let* ((angle (cl-transforms:normalize-angle (relative-angle-to goal-point (cpl:value *robot-base-frame-pose*)))) (direction (if (> angle 0) 1 -1))) (if (> (abs angle) *navigation-angular-velocity-max*) diff --git a/cram_pr2/cram_pr2_low_level/src/kinematics-trajectory.lisp b/cram_pr2/cram_pr2_low_level/src/kinematics-trajectory.lisp index 43034963d2..5fd6a3fce7 100644 --- a/cram_pr2/cram_pr2_low_level/src/kinematics-trajectory.lisp +++ b/cram_pr2/cram_pr2_low_level/src/kinematics-trajectory.lisp @@ -134,8 +134,9 @@ (roslisp:make-request "moveit_msgs/GetPositionIK" (:ik_link_name :ik_request) ik-link - (:pose_stamped :ik_request) (cl-tf:to-msg - (cl-tf:pose->pose-stamped ik-base-frame 0.0 cartesian-pose)) + (:pose_stamped :ik_request) (cl-transforms-stamped:to-msg + (cl-transforms-stamped:pose->pose-stamped + ik-base-frame 0.0 cartesian-pose)) (:joint_state :robot_state :ik_request) (make-zero-seed-state left-or-right) (:timeout :ik_request) 1.0)) (cond ((eql error-code @@ -170,8 +171,9 @@ (roslisp:make-request "moveit_msgs/GetPositionIK" (:ik_link_name :ik_request) ik-link - (:pose_stamped :ik_request) (cl-tf:to-msg - (cl-tf:pose->pose-stamped ik-base-frame 0.0 cartesian-pose)) + (:pose_stamped :ik_request) (cl-transforms-stamped:to-msg + (cl-transforms-stamped:pose->pose-stamped + ik-base-frame 0.0 cartesian-pose)) (:joint_state :robot_state :ik_request) (make-current-seed-state left-or-right) (:timeout :ik_request) 1.0))) (cond ((eql response-error-code diff --git a/cram_pr2/cram_pr2_low_level/src/ptu.lisp b/cram_pr2/cram_pr2_low_level/src/ptu.lisp index 16d540345b..5cc36ed262 100644 --- a/cram_pr2/cram_pr2_low_level/src/ptu.lisp +++ b/cram_pr2/cram_pr2_low_level/src/ptu.lisp @@ -118,7 +118,7 @@ (defun look-at-gripper (left-or-right) (call-ptu-action :pose - (cl-tf:make-pose-stamped + (cl-transforms-stamped:make-pose-stamped (ecase left-or-right (:left "l_gripper_tool_frame") (:right "r_gripper_tool_frame")) diff --git a/cram_pr2/cram_pr2_pick_place_demo/resource/bowl.dae b/cram_pr2/cram_pr2_pick_place_demo/resource/bowl.dae deleted file mode 100644 index 6aa795759c..0000000000 --- a/cram_pr2/cram_pr2_pick_place_demo/resource/bowl.dae +++ /dev/null @@ -1,63 +0,0 @@ - - - - - Blender User - Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa - - 2017-10-25T18:06:46 - 2017-10-25T18:06:46 - - Z_UP - - - - - - - 0.06953394 0.03718966 0.0278238 0.0691601 0.03039228 0.02527147 0.07407033 0.02616602 0.02833718 0.07684761 0.02172911 0.02802979 0.0728181 0.03214913 0.02770376 0.0632326 0.04208612 0.02548915 0.06465184 0.04413431 0.02769911 0.0684939 0.03845155 0.02603691 0.06467711 0.04599577 0.02744853 0.07115334 0.02304655 0.02444523 0.07775086 0.01701629 0.02865159 0.07460933 0.01594746 0.02646762 0.07769441 0.01198869 0.02865999 0.07857304 0.01027983 0.02776193 0.05741274 0.05278813 0.0272445 0.06223839 0.03870415 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- - - - - - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 0.001 0 0 0 0 -1.62921e-10 -0.001 0 0 0.001 -1.62921e-10 0 0 0 0 1 - - - - - - - diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/demo.lisp b/cram_pr2/cram_pr2_pick_place_demo/src/demo.lisp deleted file mode 100644 index 78b4b13b0f..0000000000 --- a/cram_pr2/cram_pr2_pick_place_demo/src/demo.lisp +++ /dev/null @@ -1,306 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -(defparameter *object-cad-models* - '(;; (:cup . "cup_eco_orange") - ;; (:bowl . "edeka_red_bowl") - )) - -(defparameter *object-colors* - '((:spoon . "blue") - (:breakfast-cereal . "yellow") - (:milk . "blue"))) - -(defparameter *object-grasps* - '((:spoon . :top) - (:breakfast-cereal . :front) - (:milk . :front) - (:cup . :top) - (:bowl . :top))) - -(cpl:def-cram-function park-robot () - (cpl:with-failure-handling - ((cpl:plan-failure (e) - (declare (ignore e)) - (return))) - (cpl:par - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - (let ((?pose (cl-transforms-stamped:make-pose-stamped - cram-tf:*fixed-frame* - 0.0 - (cl-transforms:make-identity-vector) - (cl-transforms:make-identity-rotation)))) - (exe:perform - (desig:an action - (type going) - (target (desig:a location - (pose ?pose)))))) - (exe:perform (desig:an action (type opening-gripper) (gripper (left right)))) - (exe:perform (desig:an action (type looking) (direction forward)))))) - -(defun initialize () - (sb-ext:gc :full t) - - ;;(when ccl::*is-logging-enabled* - ;; (setf ccl::*is-client-connected* nil) - ;; (ccl::connect-to-cloud-logger) - ;; (ccl::reset-logged-owl)) - - ;; (setf proj-reasoning::*projection-checks-enabled* t) - - (btr:detach-all-objects (btr:get-robot-object)) - (btr:detach-all-objects (btr:get-environment-object)) - (btr-utils:kill-all-objects) - (setf (btr:joint-state (btr:get-environment-object) - "sink_area_left_upper_drawer_main_joint") - 0.0 - (btr:joint-state (btr:get-environment-object) - "sink_area_left_middle_drawer_main_joint") - 0.0 - (btr:joint-state (btr:get-environment-object) - "iai_fridge_door_joint") - 0.0 - (btr:joint-state (btr:get-environment-object) - "oven_area_area_right_drawer_main_joint") - 0.0 - (btr:joint-state (btr:get-environment-object) - "sink_area_trash_drawer_main_joint") - 0) - (btr-belief::publish-environment-joint-state - (btr:joint-states (btr:get-environment-object))) - - (setf desig::*designators* (tg:make-weak-hash-table :weakness :key)) - - (coe:clear-belief) - - (btr:clear-costmap-vis-object) - - ;; (setf cram-robot-pose-guassian-costmap::*orientation-samples* 3) - ) - -(defun finalize () - ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) - - ;;(when ccl::*is-logging-enabled* - ;; (ccl::export-log-to-owl "ease_milestone_2018.owl") - ;; (ccl::export-belief-state-to-owl "ease_milestone_2018_belief.owl")) - (sb-ext:gc :full t)) - - -(cpl:def-cram-function demo-random (&optional - (random t) - (list-of-objects '(:bowl :spoon :cup :milk :breakfast-cereal))) - - (initialize) - (when cram-projection:*projection-environment* - (spawn-objects-on-sink-counter :random random)) - - (park-robot) - - (let ((object-fetching-locations - `((:breakfast-cereal . ,(desig:a location - (on (desig:an object - (type counter-top) - (urdf-name sink-area-surface) - (owl-name "kitchen_sink_block_counter_top") - (part-of kitchen))) - (side left) - (side front) - (range 0.5))) - (:cup . ,(desig:a location - (side left) - (on (desig:an object - (type counter-top) - (urdf-name sink-area-surface) - (owl-name "kitchen_sink_block_counter_top") - (part-of kitchen))))) - (:bowl . ,(desig:a location - (on (desig:an object - (type counter-top) - (urdf-name sink-area-surface) - (owl-name "kitchen_sink_block_counter_top") - (part-of kitchen))) - (side left) - (side front) - (range-invert 0.5))) - (:spoon . ,(desig:a location - (in (desig:an object - (type drawer) - (urdf-name sink-area-left-upper-drawer-main) - (owl-name "drawer_sinkblock_upper_open") - (part-of kitchen))) - (side front))) - (:milk . ,(desig:a location - (side left) - (side front) - (range 0.5) - (on;; in - (desig:an object - (type counter-top) - (urdf-name sink-area-surface ;; iai-fridge-main - ) - (owl-name "kitchen_sink_block_counter_top" - ;; "drawer_fridge_upper_interior" - ) - (part-of kitchen))))))) - (object-placing-locations - (let ((?pose - (cl-transforms-stamped:make-pose-stamped - "map" - 0.0 - (cl-transforms:make-3d-vector -0.78 0.8 0.95) - (cl-transforms:make-quaternion 0 0 0.6 0.4)))) - `((:breakfast-cereal . ,(desig:a location - (pose ?pose) - ;; (left-of (an object (type bowl))) - ;; (far-from (an object (type bowl))) - ;; (for (an object (type breakfast-cereal))) - ;; (on (desig:an object - ;; (type counter-top) - ;; (urdf-name kitchen-island-surface) - ;; (owl-name "kitchen_island_counter_top") - ;; (part-of kitchen))) - ;; (side back) - )) - (:cup . ,(desig:a location - (right-of (an object (type bowl))) - (behind (an object (type bowl))) - (near (an object (type bowl))) - (for (an object (type cup))))) - (:bowl . ,(desig:a location - (on (desig:an object - (type counter-top) - (urdf-name kitchen-island-surface) - (owl-name "kitchen_island_counter_top") - (part-of kitchen))) - (context table-setting) - (for (an object (type bowl))) - (object-count 3) - (side back) - (side right) - (range-invert 0.5))) - (:spoon . ,(desig:a location - (right-of (an object (type bowl))) - (near (an object (type bowl))) - (for (an object (type spoon))) - (orientation support-aligned))) - (:milk . ,(desig:a location - (left-of (an object (type bowl))) - (far-from (an object (type bowl))) - (for (an object (type milk))))))))) - - ;; (an object - ;; (obj-part "drawer_sinkblock_upper_handle")) - - (dolist (?object-type list-of-objects) - (let* ((?fetching-location - (cdr (assoc ?object-type object-fetching-locations))) - (?delivering-location - (cdr (assoc ?object-type object-placing-locations))) - (?arm-to-use - (cdr (assoc ?object-type *object-grasping-arms*))) - (?cad-model - (cdr (assoc ?object-type *object-cad-models*))) - (?color - (cdr (assoc ?object-type *object-colors*))) - (?object-to-fetch - (desig:an object - (type ?object-type) - (location ?fetching-location) - (desig:when ?cad-model - (cad-model ?cad-model)) - (desig:when ?color - (color ?color))))) - - ;; (when (eq ?object-type :bowl) - ;; (cpl:with-failure-handling - ;; ((common-fail:high-level-failure (e) - ;; (roslisp:ros-warn (pp-plans demo) "Failure happened: ~a~%Skipping the search" e) - ;; (return))) - ;; (let ((?loc (cdr (assoc :breakfast-cereal object-fetching-locations)))) - ;; (exe:perform - ;; (desig:an action - ;; (type searching) - ;; (object (desig:an object (type breakfast-cereal))) - ;; (location ?loc)))))) - - (cpl:with-failure-handling - ((common-fail:high-level-failure (e) - (roslisp:ros-warn (pp-plans demo) "Failure happened: ~a~%Skipping..." e) - (return))) - (exe:perform - (desig:an action - (type transporting) - (object ?object-to-fetch) - (location ?fetching-location) - (target ?delivering-location) - (desig:when ?arm-to-use - (arms (?arm-to-use))))) - ;; (if (eq ?object-type :bowl) - ;; (exe:perform - ;; (desig:an action - ;; (type transporting) - ;; (object ?object-to-fetch) - ;; ;; (arm right) - ;; (location ?fetching-location) - ;; (target ?delivering-location))) - ;; (if (eq ?object-type :breakfast-cereal) - ;; (exe:perform - ;; (desig:an action - ;; (type transporting) - ;; (object ?object-to-fetch) - ;; ;; (arm right) - ;; (location ?fetching-location) - ;; (target ?delivering-location))) - ;; (exe:perform - ;; (desig:an action - ;; (type transporting) - ;; (object ?object-to-fetch) - ;; (desig:when ?arm-to-use - ;; (arm ?arm-to-use)) - ;; (location ?fetching-location) - ;; (target ?delivering-location))))) - ) - - ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) - ))) - - ;; (setf proj-reasoning::*projection-reasoning-enabled* nil) - - (park-robot) - - (finalize) - - cpl:*current-path*) diff --git a/cram_pr2/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp b/cram_pr2/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp deleted file mode 100644 index 83bdf285dd..0000000000 --- a/cram_pr2/cram_pr2_pick_place_demo/src/milestone-projection-demo.lisp +++ /dev/null @@ -1,452 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; Amar Fayaz -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -(defparameter *demo-object-spawning-poses* - '((:bowl . ((1.45 1.05 0.48) (0 0 0 1))) ; left-middle-drawer - (:cup . ((1.42 0.7 0.48) (0 0 0 1))) ; left-middle-drawer - (:spoon . ((1.43 0.9 0.74132) (0 0 0 1))) ;; left-upper-drawer - ;; So far only this orientation works - (:breakfast-cereal . ((1.412 1.490 1.2558) (0 0 -0.55557d0 0.83147d0))) - ;; ((:breakfast-cereal . ((1.398 1.490 1.2558) (0 0 0.7071 0.7071))) - ;; (:breakfast-cereal . ((1.1 1.49 1.25) (0 0 0.7071 0.7071))) - (:milk . ((1.45 -1.04 0.955) (0 0 0 1))))) - -(defparameter *object-attachment-links* - '((:breakfast-cereal . "oven_area_area_right_drawer_board_3_link") - ;; (:milk . "sink_area_left_middle_drawer_main") - (:cup . "sink_area_left_middle_drawer_main") - (:bowl . "sink_area_left_middle_drawer_main") - ;; (:cup . "sink_area_left_middle_drawer_main") - (:spoon . "sink_area_left_upper_drawer_main") - ;; (:spoon . "oven_area_area_middle_upper_drawer_main") - )) - -(defparameter *fetch-locations* - `((:bowl . ,(a location - (in (an object - (type drawer) - (urdf-name sink-area-left-middle-drawer-main) - (owl-name "drawer_sinkblock_middle_open") - (part-of kitchen))))) - (:cup . ,(a location - (in (an object - (type drawer) - (urdf-name sink-area-left-middle-drawer-main) - (owl-name "drawer_sinkblock_middle_open") - (part-of kitchen))))) - (:spoon . ,(desig:a location - (in (desig:an object - (type drawer) - (urdf-name sink-area-left-upper-drawer-main) - (owl-name "drawer_sinkblock_upper_open") - (part-of kitchen))) - (side front))) - (:breakfast-cereal . ,(a location - (in (an object - (type drawer) - (urdf-name oven-area-area-right-drawer-main) - (owl-name "drawer_oven_right_open") - (part-of kitchen) - (level topmost))) - ;; (side front) - )) - (:milk . ,(a location (in (an object - (type fridge) - (urdf-name iai-fridge-main) - (owl-name "drawer_fridge_upper_interior") - (part-of kitchen) - (level topmost))))))) - - -(defparameter *delivery-locations* - `((:bowl . ,(a location - (on (an object - (type counter-top) - (urdf-name kitchen-island-surface) - (part-of kitchen))) - (for (an object - (type bowl))) - (side back) - (context table-setting) - (object-count 3) - (range-invert 0.5) - (side right))) - (:cup . ,(a location - (left-of (an object (type bowl))) - (near (an object (type bowl))) - (for (an object (type cup))))) - (:spoon . ,(a location - (right-of (an object (type bowl))) - (near (an object (type bowl))) - (for (an object (type spoon))) - (orientation support-aligned))) - (:milk . ,(desig:a location - (left-of (an object (type bowl))) - (far-from (an object (type bowl))) - (for (an object (type milk))))) - (:breakfast-cereal . ,(a location - (on - (an object - (type counter-top) - (urdf-name kitchen-island-surface) - (part-of kitchen))) - (for (an object (type breakfast-cereal))) - (side back) - (orientation axis-aligned) - (side right))))) - - -(defparameter *delivery-poses* - `((:bowl . ((-0.8399440765380859d0 1.2002920786539713d0 0.8932199478149414d0) - (0.0 0.0 0.33465 0.94234))) - (:cup . ((-0.8908212025960287d0 1.4991984049479166d0 0.9027448018391927d0) - (0.0 0.0 0.33465 0.94234))) - (:spoon . ((-0.8409400304158529d0 1.38009208679199219d0 0.8673268000284831d0) - (0.0 0.0 1 0))) - (:milk . ((-0.8495257695515951d0 1.6991498311360678d0 0.9483174006144206d0) - (0.0 0.0 -0.9 0.7))) - (:breakfast-cereal . ((-0.8497650782267253d0 0.8972648620605469d0 0.9625186920166016d0) - (0 0 0 1))))) - -(defparameter *cleaning-deliver-poses* - `((:bowl . ((1.45 -0.4 1.0) (0 0 0 1))) - (:cup . ((1.45 -0.4 1.0) (0 0 0 1))) - (:spoon . ((1.45 -0.4 1.0) (0 0 0 1))) - (:milk . ((1.2 -0.5 0.8) (0 0 1 0))) - (:breakfast-cereal . ((1.15 -0.5 0.8) (0 0 1 0))))) - - - - -(defun attach-objects-to-the-world (object-type) - (when (assoc object-type *object-attachment-links*) - (btr:attach-object (btr:object btr:*current-bullet-world* :kitchen) - (btr:object btr:*current-bullet-world* - (intern (format nil "~a-1" object-type) :keyword)) - :link (cdr (assoc object-type *object-attachment-links*))))) - -(defun spawn-objects-on-fixed-spots (&key (spawning-poses *demo-object-spawning-poses*) - (object-types '(:breakfast-cereal :cup :bowl :spoon :milk))) - (btr-utils:kill-all-objects) - (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") - (btr:detach-all-objects (btr:get-robot-object)) - ;; spawn objects at default poses - (let ((objects (mapcar (lambda (object-type) - (btr-utils:spawn-object - (intern (format nil "~a-1" object-type) :keyword) - object-type - :pose (cdr (assoc object-type spawning-poses)))) - object-types))) - ;; stabilize world - ;; (btr:simulate btr:*current-bullet-world* 100) - objects) - - (mapcar #'attach-objects-to-the-world object-types)) - - - -(defun setup-for-demo (object-list) - (initialize) - (when cram-projection:*projection-environment* - (spawn-objects-on-fixed-spots :object-types object-list :spawning-poses *delivery-poses*)) - ;; (park-robot) - ) - -;; Open the fridge manually - ;; Uncomment and include in `setup-for-demo' to get it working as long as the - ;; automatic opening of the fridge door when referring to container is still in work - ;; Can only be used with the milk situation right now, as keeping the fridge opened will block pr2 from - ;; accessing other drawers - - ;; (exe:perform - ;; (an action - ;; (type accessing) - ;; (arm right) - ;; (distance 1.4) - ;; (location - ;; (a location - ;; (in - ;; (an object - ;; (type container-revolute) - ;; ;; (urdf-name :iai_fridge_door) - ;; (urdf-name :iai_fridge_door_handle) - ;; (part-of kitchen)))))))) - -(defun projection-init () - (setf btr:*visibility-threshold* 0.7) - (setf cram-urdf-projection:*debug-short-sleep-duration* 0.5) - (setf cram-urdf-projection:*debug-long-sleep-duration* 1.0) - (setf cram-urdf-projection-reasoning::*projection-checks-enabled* t) - (spawn-objects-on-fixed-spots)) - -(defun perform-demo (&optional (object-list '(:milk))) - "Generic implementation, ideally this should work for all objects together. -Right now, only works with '(:milk) and '(:bowl :cup :spoon). There is a separate method -for :breakfast-cereal in the bottom. -To get this working with milk, all the code of accessing and sealing inside the transport plan has to be -commented out " - ;; (setup-for-demo object-list) - - (dolist (?object-type object-list) - (let* (;; (?deliver-location (cdr (assoc ?object-type *delivery-locations*))) - (?deliver-pose (cram-tf:ensure-pose-in-frame - (btr:ensure-pose - (cdr (assoc ?object-type *delivery-poses*))) - cram-tf:*fixed-frame*)) - (?deliver-location (a location (pose ?deliver-pose))) - (?fetch-location (cdr (assoc ?object-type *fetch-locations*))) - (?color (cdr (assoc ?object-type *object-colors*))) - (?grasp (cdr (assoc ?object-type *object-grasps*))) - (?object (an object - (type ?object-type) - (location ?fetch-location) - (desig:when ?color - (color ?color))))) - (exe:perform - (an action - (type transporting) - (object ?object) - (desig:when ?color - (color ?color)) - (grasps (:back :top :front)) - (arms (left right)) - ;; (desig:when ?grasp - ;; (grasp ?grasp)) - (location ?fetch-location) - (target ?deliver-location)))))) - -(defun cleaning-demo (&optional (object-list '(:milk))) - "Generic implementation, ideally this should work for all objects together. -Right now, only works with '(:milk) and '(:bowl :cup :spoon). There is a separate method -for :breakfast-cereal in the bottom. -To get this working with milk, all the code of accessing and sealing inside the transport plan has to be -commented out " - ;; (setup-for-demo object-list) - - (dolist (?object-type object-list) - (let* ((?deliver-pose (cram-tf:ensure-pose-in-frame - (btr:ensure-pose - (cdr (assoc ?object-type *cleaning-deliver-poses*))) - cram-tf:*fixed-frame*)) - (?deliver-location (a location (pose ?deliver-pose))) - (?fetch-location (a location - (on (an object - (type counter-top) - (urdf-name kitchen-island-surface) - (owl-name "kitchen_island_counter_top") - (part-of kitchen))) - (side back) - (side right))) - (?color (cdr (assoc ?object-type *object-colors*))) - (?grasp (cdr (assoc ?object-type *object-grasps*))) - (?object (an object - (type ?object-type) - (location ?fetch-location) - (desig:when ?color - (color ?color))))) - (when (or (eql ?object-type :milk) - (eql ?object-type :breakfast-cereal)) - (exe:perform (an action - (type accessing) - (arm left) - (location - (desig:a location - (in (an object - (type drawer) - (urdf-name sink-area-trash-drawer-main) - (owl-name "drawer_sinkblock_middle_open") - (part-of kitchen)))))))) - (let ((?obj (exe:perform - (an action - (type searching) - (object ?object) - (location ?fetch-location))))) - (exe:perform (desig:an action - (type fetching) - (object ?obj) - (grasps (?grasp)) - (arms (right)))) - (exe:perform (desig:an action - (type delivering) - (object ?obj) - (target ?deliver-location))) - (setf (btr:pose (btr:object btr:*current-bullet-world* - (desig:desig-prop-value ?obj :name))) - (cram-tf:translate-pose - (btr:pose (btr:object btr:*current-bullet-world* - (desig:desig-prop-value ?obj :name))) - :z-offset -0.3)) - (when (or (eql ?object-type :milk) - (eql ?object-type :breakfast-cereal)) - (btr:attach-object (btr:get-environment-object) - (btr:object btr:*current-bullet-world* - (desig:desig-prop-value ?obj :name)) - :link "sink_area_trash_drawer_main"))) - (when (or (eql ?object-type :milk) - (eql ?object-type :breakfast-cereal)) - (exe:perform (an action - (type sealing) - (arm left) - (location - (desig:a location - (in (an object - (type drawer) - (urdf-name sink-area-trash-drawer-main) - (owl-name "drawer_sinkblock_middle_open") - (part-of kitchen))))))))))) - - -(cpl:def-cram-function get-from-vertical-drawer (&optional ?open (?object :breakfast-cereal)) - "Grabbing the object (breakfast-cereal) from vertical drawer. -It doesn't seal the vertical drawer now -because there is some error when trying to close the drawer" - (when ?open - (perform - (an action - (type accessing) - (location (a location - (in (an object - (type drawer) - (urdf-name oven-area-area-right-drawer-handle) - ;;This should be referencing the container itself - (part-of kitchen))))) - (distance 0.35)))) - - ;; This plan is rudimentary and just aims to increase the fetch retries - (let* ((?f-loc (cdr (assoc ?object *fetch-locations*))) - (?perceived-object-designator - (perform (an action - (type searching) - (object (an object (type ?object))) - (location ?f-loc))))) - - (let ((?fetched-object - (cpl:with-retry-counters ((fetching-retry 3)) - (cpl:with-failure-handling - ((common-fail:object-unfetchable (e) - (declare (ignore e)) - (cpl:do-retry fetching-retry - (roslisp:ros-warn (milestone fetch-fail) - "~%Failed fetch from vertical drawer~%") - (cpl:retry)) - (roslisp:ros-warn (milestone fetch-fail) - "~%No more retries~%"))) - (perform - (an action - (type fetching) - (object ?perceived-object-designator)))))) - (?destination (cdr (assoc ?object *delivery-locations*)))) - - (perform (an action - (type delivering) - (object ?fetched-object) - (target ?destination)))))) - - - -(cpl:def-cram-function put-into-trash (&optional (?object :bowl)) - "Interim put into trash method as long as the dropping plan is not complete. - This will work only as long as the stability check inside deliver plan is commented out" - (let ((?perceived-object-designator - (perform (an action - (type searching) - (object (an object - (type ?object))) - (location (a location - (on (an object - (type counter-top) - (urdf-name kitchen-island-surface) - (part-of kitchen))) - (side back) - (side right))))))) - (let ((?fetched-object - (perform (an action - (type fetching) - (object ?perceived-object-designator))))) - (perform (an action - (type accessing) - (location (a location - (in (an object - (type drawer) - (urdf-name sink-area-trash-drawer-main) - (part-of kitchen))))) - (distance 0.4))) - - (perform (an action - (type delivering) - (object ?fetched-object) - (target (a location - (on (an object - (type drawer) - (urdf-name sink-area-trash-drawer-main) - (part-of kitchen))) - (side front) - (side right) - (for (an object (type ?object))) - (range 0.2)))))))) - ;; Sealing the trash drawer after putting in the trash. Doesn't work now as the dropped trash - ;; doesn't fall into the drawer, preventing the drawer from closing. Uncomment and include - ;; into `put-into-trash' as soon as this bug is fixed. - ;; (perform (an action - ;; (type sealing) - ;; (location (a location - ;; (in (an object - ;; (type drawer) - ;; (urdf-name sink-area-trash-drawer-main) - ;; (part-of-kitchen))))) - ;; (distance 0.4)))))) - -;; Ideal working for clean up (tried for fridge, doesn't work now) -;; (cpl:def-cram-function clean-up-demo (&optional (object-list '(:milk))) -;; -;; (dolist (?object object-list) -;; (let* ((f-loc `((:milk . ,(a location (in (an object -;; (type container) -;; (urdf-name iai-fridge-main) -;; (part-of kitchen) -;; (level topmost))) -;; (for (an object -;; (type milk))) -;; (side left) -;; (side front))))) -;; (?f (cdr (assoc ?object *delivery-locations*))) -;; (?d (cdr (assoc ?object f-loc))) -;; (?obj (an object -;; (type ?object) -;; (location ?f)))) -;; (exe:perform -;; (an action -;; ;; (arm left) -;; (type transporting) -;; (object ?obj) -;; (location ?f) -;; (target ?d)))))) diff --git a/cram_pr2/cram_pr2_process_modules/cram-pr2-process-modules.asd b/cram_pr2/cram_pr2_process_modules/cram-pr2-process-modules.asd index c68fceed61..ee8e466ecb 100644 --- a/cram_pr2/cram_pr2_process_modules/cram-pr2-process-modules.asd +++ b/cram_pr2/cram_pr2_process_modules/cram-pr2-process-modules.asd @@ -52,4 +52,5 @@ (:file "designators" :depends-on ("package")) (:file "grippers" :depends-on ("package")) (:file "ptu" :depends-on ("package")) - (:file "with-real-robot" :depends-on ("package")))))) + (:file "giskard" :depends-on ("package")) + (:file "with-real-robot" :depends-on ("package" "grippers" "ptu" "giskard")))))) diff --git a/cram_pr2/cram_pr2_projection/src/package.lisp b/cram_pr2/cram_pr2_process_modules/src/giskard.lisp similarity index 67% rename from cram_pr2/cram_pr2_projection/src/package.lisp rename to cram_pr2/cram_pr2_process_modules/src/giskard.lisp index 252d0d60a7..51dba06942 100644 --- a/cram_pr2/cram_pr2_projection/src/package.lisp +++ b/cram_pr2/cram_pr2_process_modules/src/giskard.lisp @@ -1,5 +1,5 @@ ;;; -;;; Copyright (c) 2017, Gayane Kazhoyan +;;; Copyright (c) 2016, Gayane Kazhoyan ;;; All rights reserved. ;;; ;;; Redistribution and use in source and binary forms, with or without @@ -27,24 +27,18 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defpackage cram-pr2-projection - (:nicknames #:pr2-proj) - (:use #:common-lisp - #:cram-prolog - ;; #:cram-bullet-reasoning - ;; #:cram-process-modules - ;; #:cram-projection - ;; #:cl-transforms-stamped - ;; #:cram-robot-interfaces - ;; #:cram-tf - ) - (:export - ;; projection-clock - #:action-duration #:projection-timestamp-function #:execute-as-action - ;; ik - #:*torso-step* - ;; projection-environment - #:with-simulated-robot #:with-projected-robot - #:pr2-bullet-projection-environment - ;; low-level - #:*debug-short-sleep-duration* #:*debug-long-sleep-duration*)) +(in-package :pr2-pms) + +(prolog:def-fact-group giskard-pm (cpm:matching-process-module + cpm:available-process-module) + + (prolog:<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm) + (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) + (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) + (desig:desig-prop ?motion-designator (:type :pulling)) + (desig:desig-prop ?motion-designator (:type :pushing)) + (desig:desig-prop ?motion-designator (:type :going)) + (desig:desig-prop ?motion-designator (:type :moving-torso)))) + + (prolog:<- (cpm:available-process-module giskard:giskard-pm) + (prolog:not (cpm:projection-running ?_)))) diff --git a/cram_pr2/cram_pr2_process_modules/src/with-real-robot.lisp b/cram_pr2/cram_pr2_process_modules/src/with-real-robot.lisp index 87c1b711b1..f8183e04ec 100644 --- a/cram_pr2/cram_pr2_process_modules/src/with-real-robot.lisp +++ b/cram_pr2/cram_pr2_process_modules/src/with-real-robot.lisp @@ -31,7 +31,7 @@ (defmacro with-real-robot (&body body) `(cram-process-modules:with-process-modules-running - (rs:robosherlock-perception-pm giskard:giskard-pm ;; navp:navp-pm - pr2-pms::pr2-grippers-pm pr2-pms::pr2-ptu-pm) + (rs:robosherlock-perception-pm ;; navp:navp-pm + pr2-grippers-pm pr2-ptu-pm giskard:giskard-pm) (cpl-impl::named-top-level (:name :top-level) ,@body))) diff --git a/cram_pr2/cram_pr2_projection/CATKIN_IGNORE b/cram_pr2/cram_pr2_projection/CATKIN_IGNORE deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/cram_pr2/cram_pr2_projection/THIS_PACKAGE_IS_DEPRECATED b/cram_pr2/cram_pr2_projection/THIS_PACKAGE_IS_DEPRECATED deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/cram_pr2/cram_pr2_projection/package.xml b/cram_pr2/cram_pr2_projection/package.xml deleted file mode 100644 index 2af5c2a34e..0000000000 --- a/cram_pr2/cram_pr2_projection/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - cram_pr2_projection - 0.7.0 - - Projection process modules for PR2 - - Gayane Kazhoyan - Gayane Kazhoyan - BSD - http://cram-system.org - https://github.com/cram2/cram_pr2/issues - https://github.com/cram2/cram_pr2 - - catkin - - cram_projection - cram_prolog - cram_designators - cram_utilities - cram_bullet_reasoning - cram_bullet_reasoning_belief_state - cram_tf - cram_robot_interfaces - cl_transforms - cl_transforms_stamped - cl_tf - cram_occasions_events - cram_plan_occasions_events - cram_pr2_description - cram_common_designators - cram_common_failures - cram_process_modules - roslisp_utilities - alexandria - moveit_msgs - - - diff --git a/cram_pr2/cram_pr2_projection/src/ik.lisp b/cram_pr2/cram_pr2_projection/src/ik.lisp deleted file mode 100644 index 7c645661bf..0000000000 --- a/cram_pr2/cram_pr2_projection/src/ik.lisp +++ /dev/null @@ -1,366 +0,0 @@ -;;; -;;; Copyright (c) 2016, Gayane Kazhoyan -;;; 2017, Christopher Pollok -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence/ -;;; Universitaet Bremen nor the names of its contributors may be used to -;;; endorse or promote products derived from this software without -;;; specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-proj) - - -(defparameter *ik-service-namespaces* '(:left "pr2_left_arm_kinematics" - :right "pr2_right_arm_kinematics")) - -(defvar *ik-persistent-services* '(:left nil :right nil) - "a persistent service for ik requests") - -(defvar *ik-solver-infos* '(:left nil :right nil) - "ik solver infos for the left and right arm ik solvers") - -(defvar *fk-solver-infos* '(:left nil :right nil) - "fk solver infos for the left and right arm fk solvers") - -(defun get-ik-persistent-service (left-or-right) - (declare (type keyword left-or-right)) - (let ((service (getf *ik-persistent-services* left-or-right))) - (if (and service (roslisp:persistent-service-ok service)) - service - (setf (getf *ik-persistent-services* left-or-right) - (make-instance 'roslisp:persistent-service - :service-name (concatenate 'string - (getf *ik-service-namespaces* left-or-right) - "/get_ik") - :service-type "moveit_msgs/GetPositionIK"))))) - -;; (defun get-ik-solver-info (left-or-right) -;; (or (getf *ik-solver-infos* left-or-right) -;; (setf (getf *ik-solver-infos* left-or-right) -;; (roslisp:with-fields (kinematic_solver_info) -;; (roslisp:call-service -;; (concatenate 'string -;; (getf *ik-service-namespaces* left-or-right) -;; "/get_ik_solver_info") -;; "pr2_arm_kinematics/GetKinematicSolverInfo") -;; kinematic_solver_info)))) - -(defun get-ik-solver-joints (left-or-right) - ;; (roslisp:with-fields (joint_names) - ;; (get-ik-solver-info left-or-right) - ;; joint_names) - (ecase left-or-right - (:left - #("l_shoulder_pan_joint" "l_shoulder_lift_joint" "l_upper_arm_roll_joint" - "l_elbow_flex_joint" "l_forearm_roll_joint" "l_wrist_flex_joint" - "l_wrist_roll_joint")) - (:right - #("r_shoulder_pan_joint" "r_shoulder_lift_joint" "r_upper_arm_roll_joint" - "r_elbow_flex_joint" "r_forearm_roll_joint" "r_wrist_flex_joint" - "r_wrist_roll_joint")))) - -(defun get-ik-solver-link (left-or-right) - ;; (roslisp:with-fields (link_names) - ;; (get-ik-solver-info left-or-right) - ;; (aref link_names 0)) - (ecase left-or-right - (:left "l_wrist_roll_link") - (:right "r_wrist_roll_link"))) - -;; (defun get-fk-solver-info (left-or-right) -;; (or (getf *fk-solver-infos* left-or-right) -;; (setf (getf *fk-solver-infos* left-or-right) -;; (roslisp:with-fields (kinematic_solver_info) -;; (roslisp:call-service -;; (concatenate 'string -;; (getf *ik-service-namespaces* left-or-right) -;; "/get_fk_solver_info") -;; "pr2_arm_kinematics/GetKinematicSolverInfo") -;; kinematic_solver_info)))) - -(defun get-fk-solver-joints (left-or-right) - ;; (roslisp:with-fields (joint_names) - ;; (get-fk-solver-info left-or-right) - ;; joint_names) - (get-ik-solver-joints left-or-right)) - -(defun get-fk-links (left-or-right) - (ecase left-or-right - (:left (vector "l_wrist_roll_link" "l_elbow_flex_link")) - (:right (vector "r_wrist_roll_link" "r_elbow_flex_link")))) - -(defun make-zero-seed-state (left-or-right) - (let* ((joint-names (get-ik-solver-joints left-or-right)) - (zero-vector (apply #'vector (make-list - (length joint-names) - :initial-element 0.0)))) - (roslisp:make-message - "sensor_msgs/JointState" - name joint-names - position zero-vector - velocity zero-vector - effort zero-vector))) - -;; (defun make-current-seed-state (left-or-right) -;; (let* ((joint-names-vector (get-ik-solver-joints left-or-right)) -;; (joint-names (map 'list #'identity joint-names-vector)) -;; (joint-states (map 'vector #'joint-state-position (joint-states joint-names))) -;; (zero-vector (apply #'vector (make-list -;; (length joint-names) -;; :initial-element 0.0)))) -;; (roslisp:make-message -;; "sensor_msgs/JointState" -;; name joint-names-vector -;; position joint-states -;; velocity zero-vector -;; effort zero-vector))) -;; TODO: use bullet instead - -(defun call-ik-persistent-service (left-or-right cartesian-pose - &optional (ik-base-frame "torso_lift_link")) - (declare (type keyword left-or-right) - (type cl-transforms:pose cartesian-pose)) - (let ((ik-link (get-ik-solver-link left-or-right))) - (roslisp:with-fields ((error-code error_code) - (joint-state (joint_state solution))) - (roslisp:call-persistent-service - (get-ik-persistent-service left-or-right) - (roslisp:make-request - "moveit_msgs/GetPositionIK" - (:ik_link_name :ik_request) ik-link - (:pose_stamped :ik_request) (cl-tf:to-msg - (cl-tf:pose->pose-stamped ik-base-frame 0.0 cartesian-pose)) - (:joint_state :robot_state :ik_request) (make-zero-seed-state left-or-right) - (:timeout :ik_request) 1.0)) - (cond ((eql error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) joint-state) - ((eql error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :no_ik_solution)) nil) - (t (error 'simple-error - "IK service failed: ~a" - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - error-code))))))) - -(defun call-ik-service (left-or-right cartesian-pose &optional seed-state) - (declare (type keyword left-or-right) - (type cl-transforms-stamped:pose-stamped cartesian-pose)) - (let ((ik-link (get-ik-solver-link left-or-right))) - (handler-case - (roslisp:with-fields ((response-error-code (val error_code)) - (joint-state (joint_state solution))) - (progn - (roslisp:wait-for-service (concatenate 'string - (getf *ik-service-namespaces* left-or-right) - "/get_ik") 10.0) - (roslisp:call-service - (concatenate 'string (getf *ik-service-namespaces* left-or-right) "/get_ik") - "moveit_msgs/GetPositionIK" - (roslisp:make-request - "moveit_msgs/GetPositionIK" - (:ik_link_name :ik_request) ik-link - (:pose_stamped :ik_request) (cl-transforms-stamped:to-msg - (cram-tf:ensure-pose-in-frame - cartesian-pose - cram-tf:*robot-torso-frame* - :use-zero-time T)) - (:joint_state :robot_state :ik_request) (or seed-state - (make-zero-seed-state left-or-right)) - (:timeout :ik_request) 1.0))) - (cond ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - joint-state) - ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :no_ik_solution)) - nil) - (T - (error 'simple-error - :format-control "IK service failed: ~a" - :format-arguments (list - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - response-error-code)))))) - (simple-error (e) - (declare (ignore e)) - nil)))) - - - -(defun arm-pose-hash-code (arm-pose-list) - (let* ((pose (second arm-pose-list)) - (pose-list (cram-tf:pose->flat-list pose)) - (sum (abs (apply #'+ pose-list))) - (sum-big-precise-num (* sum 100000000)) - (pose-hash-code (floor sum-big-precise-num)) - (arm (first arm-pose-list)) - (overall-hash-code (ecase arm - (:left (+ pose-hash-code 10000)) - (:right (+ pose-hash-code 20000))))) - overall-hash-code)) -(defun arm-poses-equal-accurate (arm-pose-list-1 arm-pose-list-2) - (let* ((pose-1 (second arm-pose-list-1)) - (pose-2 (second arm-pose-list-2)) - (arm-1 (first arm-pose-list-1)) - (arm-2 (first arm-pose-list-2))) - (if (eql arm-1 arm-2) - (cram-tf:poses-equal-p pose-1 pose-2 0.000001d0 0.000010d0) - nil))) -(sb-ext:define-hash-table-test arm-poses-equal-accurate arm-pose-hash-code) -(defvar *ik-solution-cache* (make-hash-table :test 'arm-poses-equal-accurate)) - -(defparameter *torso-step* 0.01) - -(defun call-ik-service-with-torso-resampling (left-or-right cartesian-pose - &key seed-state test-angle torso-angle - torso-lower-limit torso-upper-limit) - (labels ((call-ik-service-with-torso-resampling-inner (left-or-right cartesian-pose - &key seed-state test-angle - torso-angle - torso-lower-limit torso-upper-limit) - (let ((ik-solution-msg (call-ik-service left-or-right cartesian-pose seed-state))) - (if ik-solution-msg - (let ((ik-solution-position - (map 'list #'identity - (roslisp:msg-slot-value - ik-solution-msg 'sensor_msgs-msg:position))) - (resulting-torso-angle (or test-angle torso-angle))) - (setf (gethash (list left-or-right cartesian-pose) *ik-solution-cache*) - (list ik-solution-position resulting-torso-angle)) - (values ik-solution-position resulting-torso-angle)) - (when (or (not test-angle) (> test-angle torso-lower-limit)) - ;; When we have no ik solution and have a valid torso angle to try, - ;; use it to resample. - (let* ((next-test-angle - (if test-angle - (max torso-lower-limit (- test-angle *torso-step*)) - torso-upper-limit)) - (torso-offset - (if test-angle - (- test-angle torso-angle) - 0)) - (next-torso-offset - (- next-test-angle torso-angle)) - (pseudo-pose - (cram-tf:translate-pose cartesian-pose - :z-offset (- torso-offset - next-torso-offset)))) - (call-ik-service-with-torso-resampling-inner - left-or-right pseudo-pose - :seed-state seed-state - :test-angle next-test-angle - :torso-angle torso-angle - :torso-lower-limit torso-lower-limit - :torso-upper-limit torso-upper-limit))))))) - - (let ((hashed-result - (gethash (list left-or-right cartesian-pose) *ik-solution-cache*))) - (if hashed-result - (values (first hashed-result) (second hashed-result)) - (let ((old-debug-lvl (roslisp:debug-level NIL))) - (unwind-protect - (progn - (roslisp:set-debug-level NIL 9) - (call-ik-service-with-torso-resampling-inner - left-or-right cartesian-pose - :seed-state seed-state - :test-angle test-angle - :torso-angle torso-angle - :torso-lower-limit torso-lower-limit - :torso-upper-limit torso-upper-limit)) - (roslisp:set-debug-level NIL old-debug-lvl))))))) - - -(defun call-fk-service (left-or-right link-names-vector - &optional (fk-base-frame "torso_lift_link")) - (declare (type keyword left-or-right)) - (handler-case - (roslisp:with-fields ((response-error-code (val error_code)) - pose_stamped fk_link_names) - (progn - (roslisp:wait-for-service (concatenate 'string - (getf *ik-service-namespaces* left-or-right) - "/get_fk_solver_info") 10.0) - (roslisp:call-service - (concatenate 'string (getf *ik-service-namespaces* left-or-right) "/get_fk") - "moveit_msgs/GetPositionFK" - (roslisp:make-request - 'moveit_msgs-srv:getpositionfk - (:frame_id :header) fk-base-frame - :fk_link_names (or link-names-vector (get-fk-links left-or-right)) - (:joint_state :robot_state) ;; (make-current-seed-state left-or-right) - (make-zero-seed-state left-or-right)))) - (cond ((eql response-error-code - (roslisp-msg-protocol:symbol-code - 'moveit_msgs-msg:moveiterrorcodes - :success)) - (map 'list - (lambda (name pose-stamped-msg) - (list name (cl-transforms-stamped:from-msg pose-stamped-msg))) - fk_link_names - pose_stamped)) - (t (error 'simple-error - :format-control "FK service failed: ~a" - :format-arguments (list - (roslisp-msg-protocol:code-symbol - 'moveit_msgs-msg:moveiterrorcodes - response-error-code)))))) - (simple-error (e) - (format t "~a~%FK service call freaked out. Hmmm...~%" e)))) - -(defmethod cram-robot-interfaces:compute-iks (pose-stamped - &key link-name arm robot-state seed-state - (pose-stamped-frame - cram-tf:*robot-torso-frame*) - (tcp-in-ee-pose - (cl-transforms:make-identity-pose))) - (declare (ignore link-name robot-state)) - (let* ((tcp-pose (cl-transforms-stamped:transform-pose-stamped - cram-tf:*transformer* - :pose (cl-transforms-stamped:copy-pose-stamped - pose-stamped :stamp 0.0) - :target-frame pose-stamped-frame - :timeout cram-tf:*tf-default-timeout*)) - (goal-trans (cl-transforms:transform* - (cl-transforms:reference-transform tcp-pose) - (cl-transforms:transform-inv - (cl-transforms:reference-transform tcp-in-ee-pose)))) - (ee-pose (cl-transforms-stamped:make-pose-stamped - (cl-transforms-stamped:frame-id tcp-pose) - (cl-transforms-stamped:stamp tcp-pose) - (cl-transforms:translation goal-trans) - (cl-transforms:rotation goal-trans))) - (solution - (call-ik-service arm - ee-pose - seed-state))) - (when solution - (list solution)))) diff --git a/cram_pr2/cram_pr2_projection/src/low-level.lisp b/cram_pr2/cram_pr2_projection/src/low-level.lisp deleted file mode 100644 index 441aa9ee8a..0000000000 --- a/cram_pr2/cram_pr2_projection/src/low-level.lisp +++ /dev/null @@ -1,527 +0,0 @@ -;;; -;;; Copyright (c) 2011, Lorenz Moesenlechner -;;; 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-proj) - -(defparameter *debug-short-sleep-duration* 0.0 - "in seconds, sleeps after each movement during reasoning") -(defparameter *debug-long-sleep-duration* 0.0 - "in seconds, sleeps to show colliding configurations") - -(defparameter *be-strict-with-collisions* nil - "when grasping a spoon from table, fingers can collide with kitchen, so we might allow this") - -(defun robot-transform-in-map () - (let ((pose-in-map - (cut:var-value - '?pose - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (btr:object-pose ?w ?robot ?pose))))))) - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - (cut:current-timestamp) - pose-in-map))) - -;;;;;;;;;;;;;;;;; NAVIGATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun drive (target) - (declare (type cl-transforms-stamped:pose-stamped target)) - (let* ((world btr:*current-bullet-world*) - (world-state (btr::get-state world))) - (unwind-protect - (assert - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (btr:assert ?w (btr:object-pose ?robot ,target))))) - (when (btr:robot-colliding-objects-without-attached) - (unless (< (abs *debug-short-sleep-duration*) 0.0001) - (cpl:sleep *debug-short-sleep-duration*)) - (btr::restore-world-state world-state world) - (cpl:fail 'common-fail:navigation-pose-unreachable :pose-stamped target))))) - -;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun move-torso (joint-angle) - (declare (type number joint-angle)) - (let* ((bindings - (car - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?w) - (cram-robot-interfaces:robot-torso-link-joint ?robot ?_ ?joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?joint ?lower) - (cram-robot-interfaces:joint-upper-limit ?robot ?joint ?upper))))) - (lower-limit - (cut:var-value '?lower bindings)) - (upper-limit - (cut:var-value '?upper bindings)) - (cropped-joint-angle - (if (< joint-angle lower-limit) - lower-limit - (if (> joint-angle upper-limit) - upper-limit - joint-angle)))) - (prolog:prolog - `(btr:assert (btr:joint-state ?w ?robot ((?joint ,cropped-joint-angle)))) - bindings) - (unless (< (abs (- joint-angle cropped-joint-angle)) 0.0001) - (cpl:fail 'common-fail:torso-goal-not-reached - :description (format nil "Torso goal ~a was out of joint limits" joint-angle) - :torso joint-angle)))) - -;;;;;;;;;;;;;;;;; PTU ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun look-at-pose-stamped (pose-stamped) - (declare (type cl-transforms-stamped:pose-stamped pose-stamped)) - (let* ((bindings - (car - (prolog:prolog - '(and - (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:robot-neck-links ?robot ?pan-link ?tilt-link) - (cram-robot-interfaces:robot-neck-joints ?robot ?pan-joint ?tilt-joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?pan-joint ?pan-lower) - (cram-robot-interfaces:joint-upper-limit ?robot ?pan-joint ?pan-upper) - (cram-robot-interfaces:joint-lower-limit ?robot ?tilt-joint ?tilt-lower) - (cram-robot-interfaces:joint-upper-limit ?robot ?tilt-joint ?tilt-upper))))) - (pan-link - (cut:var-value '?pan-link bindings)) - (tilt-link - (cut:var-value '?tilt-link bindings)) - (pan-joint - (cut:var-value '?pan-joint bindings)) - (tilt-joint - (cut:var-value '?tilt-joint bindings)) - (pan-lower-limit - (cut:var-value '?pan-lower bindings)) - (pan-upper-limit - (cut:var-value '?pan-upper bindings)) - (tilt-lower-limit - (cut:var-value '?tilt-lower bindings)) - (tilt-upper-limit - (cut:var-value '?tilt-upper bindings)) - (pose-in-world - (cram-tf:ensure-pose-in-frame - pose-stamped - cram-tf:*fixed-frame* - :use-zero-time t)) - (pan-tilt-angles - (btr:calculate-pan-tilt (btr:get-robot-object) pan-link tilt-link pose-in-world)) - (pan-angle - (first pan-tilt-angles)) - (tilt-angle - (second pan-tilt-angles)) - (cropped-pan-angle - (if (< pan-angle pan-lower-limit) - pan-lower-limit - (if (> pan-angle pan-upper-limit) - pan-upper-limit - pan-angle))) - (cropped-tilt-angle - (if (< tilt-angle tilt-lower-limit) - tilt-lower-limit - (if (> tilt-angle tilt-upper-limit) - tilt-upper-limit - tilt-angle)))) - (prolog:prolog - `(and (btr:bullet-world ?w) - (cram-robot-interfaces:robot ?robot) - (btr:%object ?w ?robot ?robot-object) - (assert ?world - (btr:joint-state - ?robot ((,pan-joint ,cropped-pan-angle) - (,tilt-joint ,cropped-tilt-angle)))))) - (unless (and (< (abs (- pan-angle cropped-pan-angle)) 0.00001) - (< (abs (- tilt-angle cropped-tilt-angle)) 0.00001)) - (cpl:fail 'common-fail:ptu-goal-not-reached - :description "Look action wanted to twist the neck")))) - -(defun look-at (?goal-pose ?goal-configuration) - (if ?goal-configuration - (prolog:prolog - `(and (rob-int:robot ?robot) - (btr:bullet-world ?world) - (assert ?world (btr:joint-state ?robot ,?goal-configuration)))) - (look-at-pose-stamped ?goal-pose))) - -;;;;;;;;;;;;;;;;; PERCEPTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun extend-perceived-object-designator (input-designator name-pose-type-list) - (destructuring-bind (name pose type) name-pose-type-list - (let* ((pose-stamped-in-fixed-frame - (cl-transforms-stamped:make-pose-stamped - cram-tf:*fixed-frame* - (cut:current-timestamp) - (cl-transforms:origin pose) - (cl-transforms:orientation pose))) - (transform-stamped-in-fixed-frame - (cram-tf:pose-stamped->transform-stamped - pose-stamped-in-fixed-frame - (roslisp-utilities:rosify-underscores-lisp-name name))) - (pose-stamped-in-base-frame - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-base-frame* - (roslisp-utilities:rosify-underscores-lisp-name name) - (cram-tf:transform-stamped-inv (robot-transform-in-map)) - transform-stamped-in-fixed-frame - :result-as-pose-or-transform :pose)) - (transform-stamped-in-base-frame - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-base-frame* - (roslisp-utilities:rosify-underscores-lisp-name name) - (cram-tf:transform-stamped-inv (robot-transform-in-map)) - transform-stamped-in-fixed-frame - :result-as-pose-or-transform :transform))) - (let ((output-designator - (desig:copy-designator - input-designator - :new-description - `((:type ,type) - (:name ,name) - (:pose ((:pose ,pose-stamped-in-base-frame) - (:transform ,transform-stamped-in-base-frame) - (:pose-in-map ,pose-stamped-in-fixed-frame) - (:transform-in-map ,transform-stamped-in-fixed-frame))))))) - (setf (slot-value output-designator 'desig:data) - (make-instance 'desig:object-designator-data - :object-identifier name - :pose pose-stamped-in-fixed-frame)) - ;; (desig:equate input-designator output-designator) - output-designator)))) - -(defun detect (input-designator) - (declare (type desig:object-designator input-designator)) - - (let* ((object-name (desig:desig-prop-value input-designator :name)) - (object-type (desig:desig-prop-value input-designator :type)) - (quantifier (desig:quantifier input-designator)) - - ;; find all visible objects with name `object-name' and of type `object-type' - (name-pose-type-lists ; e.g.: ((mondamin-1 :mondamin ) (mug-2 :mug )) - (cut:force-ll - (cut:lazy-mapcar - (lambda (solution-bindings) - (cut:with-vars-strictly-bound (?object-name ?object-pose ?object-type) - solution-bindings - (list ?object-name ?object-pose ?object-type))) - (prolog:prolog `(and (cram-robot-interfaces:robot ?robot) - (btr:bullet-world ?world) - ,@(when object-name - `((prolog:== ?object-name ,object-name))) - (btr:object ?world ?object-name) - ,@(when object-type - `((prolog:== ?object-type ,object-type))) - (btr:item-type ?world ?object-name ?object-type) - (btr:visible ?world ?robot ?object-name) - (btr:pose ?world ?object-name ?object-pose))))))) - - ;; check if objects were found - (unless name-pose-type-lists - (cpl:fail 'common-fail:perception-object-not-found :object input-designator - :description (format nil "Could not find object ~a." input-designator))) - - ;; Extend the input-designator with the information found through visibility check: - ;; name & pose & type of the object, - ;; equate the input-designator to the new output-designator. - ;; If multiple objects are visible, return multiple equated objects, - ;; otherwise only take first found object. I.e. need to find :an object (not :all objects) - (case quantifier - (:all (mapcar (alexandria:curry #'extend-perceived-object-designator input-designator) - name-pose-type-lists)) - ((:a :an) (extend-perceived-object-designator - input-designator - (first name-pose-type-lists))) - (t (error "[PROJECTION DETECT]: Quantifier can only be a/an or all."))))) - -;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(defun one-gripper-action (action-type arm &optional maximum-effort) - (declare (ignore maximum-effort)) - "Opens or closes the specific gripper." - (mapc - - (lambda (solution-bindings) - (prolog:prolog - `(and - (btr:bullet-world ?world) - (assert ?world (btr:joint-state ?robot ((?joint ,(case action-type - (:open '?max-limit) - ((:close :grip) '?min-limit) - (t (if (numberp action-type) - (* action-type 5.0) - ;; commanded with meters - ;; but asserted with rads - (error "[PROJ GRIP] failed"))))))))) - solution-bindings)) - - (cut:force-ll - (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:gripper-joint ?robot ,arm ?joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?joint ?min-limit) - (cram-robot-interfaces:joint-upper-limit ?robot ?joint ?max-limit))))) - - ;; check if there is an object to grip - (when (eql action-type :grip) ; if action was gripping check if gripper collided with an item - (unless (prolog:prolog - `(and (btr:bullet-world ?world) - (cram-robot-interfaces:robot ?robot) - (btr:contact ?world ?robot ?object-name ?link) - (cram-robot-interfaces:gripper-link ?robot ,arm ?link) - (btr:%object ?world ?object-name ?object-instance) - ;; (or (prolog:lisp-type ?object-instance btr:item) - ;; (prolog:lisp-type ?object-instance btr:semantic-map-object)) - )) - (cpl:fail 'common-fail:gripper-closed-completely - :description "There was no object to grip")))) - -(defun gripper-action (action-type arm &optional maximum-effort) - (if (and arm (listp arm)) - (cpl:par - (one-gripper-action action-type (first arm) maximum-effort) - (one-gripper-action action-type (second arm) maximum-effort)) - (one-gripper-action action-type arm maximum-effort))) - -;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -;;; joint movement - -(defun move-joints (left-configuration right-configuration) - (declare (type list left-configuration right-configuration)) - (flet ((set-configuration (arm joint-values) - (when joint-values - (let ((joint-name-value-list - (if (listp (car joint-values)) - joint-values - (let ((joint-names - (cut:var-value - '?joints - (car (prolog:prolog - `(and (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:arm-joints ?robot ,arm - ?joints))))))) - (unless (= (length joint-values) (length joint-names)) - (error "[PROJECTION MOVE-JOINTS] length of joints list is incorrect")) - (mapcar (lambda (name value) - (list name (* value 1.0d0))) - joint-names joint-values))))) - (assert - (prolog:prolog - `(and - (btr:bullet-world ?world) - (cram-robot-interfaces:robot ?robot) - (assert ?world (btr:joint-state ?robot ,joint-name-value-list))))))))) - (set-configuration :left left-configuration) - (set-configuration :right right-configuration))) - -;;; cartesian movement - -(defparameter *gripper-length* 0.2 "PR2's gripper length in meters, for calculating TCP -> EE") - -(defun tcp-pose->ee-pose (tcp-pose) - (when tcp-pose - (cl-transforms-stamped:pose->pose-stamped - (cl-transforms-stamped:frame-id tcp-pose) - (cl-transforms-stamped:stamp tcp-pose) - (cl-transforms:transform-pose - (cl-transforms:pose->transform tcp-pose) - (cl-transforms:make-pose - (cl-transforms:make-3d-vector (- *gripper-length*) 0 0) - (cl-transforms:make-identity-rotation)))))) - -(defun ee-pose-in-base->ee-pose-in-torso (ee-pose-in-base) - (when ee-pose-in-base - (if (string-equal - (cl-transforms-stamped:frame-id ee-pose-in-base) - cram-tf:*robot-base-frame*) - ;; tPe: tTe = tTb * bTe = tTm * mTb * bTe = (mTt)-1 * mTb * bTe - (let* ((map-torso-transform - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-torso-frame* - 0.0 - (btr:link-pose - (btr:get-robot-object) - cram-tf:*robot-torso-frame*))) - (torso-map-transform - (cram-tf:transform-stamped-inv map-torso-transform)) - (map-base-transform - (cram-tf:pose->transform-stamped - cram-tf:*fixed-frame* - cram-tf:*robot-base-frame* - 0.0 - (btr:pose (btr:get-robot-object)))) - (torso-base-transform - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-torso-frame* - cram-tf:*robot-base-frame* - torso-map-transform - map-base-transform)) - (base-ee-transform - (cram-tf:pose-stamped->transform-stamped - ee-pose-in-base - ;; dummy link name for T x T to work - "end_effector_link"))) - (cram-tf:multiply-transform-stampeds - cram-tf:*robot-torso-frame* - "end_effector_link" - torso-base-transform - base-ee-transform - :result-as-pose-or-transform :pose)) - (error "Arm movement goals should be given in robot base frame")))) - -(defun get-ik-joint-positions (arm ee-pose) - (when ee-pose - (multiple-value-bind (ik-solution torso-angle) - (cut:with-vars-bound (?torso-angle ?lower-limit ?upper-limit) - (car (prolog:prolog - `(and - (cram-robot-interfaces:robot ?robot) - (cram-robot-interfaces:robot-torso-link-joint ?robot - ?_ ?torso-joint) - (cram-robot-interfaces:joint-lower-limit ?robot ?torso-joint - ?lower-limit) - (cram-robot-interfaces:joint-upper-limit ?robot ?torso-joint - ?upper-limit) - (btr:bullet-world ?world) - (btr:joint-state ?world ?robot ?torso-joint ?torso-angle)))) - (call-ik-service-with-torso-resampling - arm ee-pose - :torso-angle ?torso-angle - :torso-lower-limit ?lower-limit - :torso-upper-limit ?upper-limit - ;; seed-state ; is todo - )) - (unless ik-solution - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "~a is unreachable for EE." ee-pose))) - (values ik-solution torso-angle)))) - -(defun perform-collision-check (collision-mode left-tcp-pose right-tcp-pose) - (unless collision-mode - (setf collision-mode :avoid-all)) - (ecase collision-mode - (:allow-all - nil) - (:allow-attached - ;; allow-attached means the robot is not allowed to hit anything - ;; (except the object it is holding), - ;; but the object it is holding can create collisions with environment etc. - (when (and *be-strict-with-collisions* - (btr:robot-colliding-objects-without-attached)) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))) - (:allow-hand - ;; allow hand allows collisions between the hand and anything - ;; but not the rest of the robot - ;; therefore, we take a list of all links of the robot that are colliding - ;; with something, remove attached object collisions from this list, - ;; and then remove the hand links from the list. - ;; if the list is still not empty, there is a collision between - ;; a robot non-hand link and something else - (when (and *be-strict-with-collisions* - (set-difference - (mapcar #'cdr - (reduce (lambda (link-contacts attachment) - (remove (btr:object - btr:*current-bullet-world* - (car attachment)) - link-contacts - :key #'car)) - (append - (list (btr:link-contacts (btr:get-robot-object))) - (btr:attached-objects (btr:get-robot-object))))) - (append (when left-tcp-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :left ?hand-links)))))) - (when right-tcp-pose - (cut:var-value - '?hand-links - (car (prolog:prolog - `(and (rob-int:robot ?robot) - (rob-int:hand-links ?robot :right ?hand-links))))))) - :test #'string-equal)) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))) - (:avoid-all - ;; avoid all means the robot is not colliding with anything except the - ;; objects it is holding, and the objects it is holding only collides with robot - (when (or (btr:robot-colliding-objects-without-attached) - (some #'identity - (mapcar (lambda (attachment) - (remove (btr:get-robot-object) - (btr:find-objects-in-contact - btr:*current-bullet-world* - (btr:object - btr:*current-bullet-world* - (car attachment))))) - (btr:attached-objects (btr:get-robot-object))))) - (cpl:fail 'common-fail:manipulation-goal-not-reached - :description "Robot is in collision with environment."))))) - -(defun move-tcp (left-tcp-pose right-tcp-pose &optional collision-mode - collision-object-b collision-object-b-link collision-object-a) - (declare (type (or cl-transforms-stamped:pose-stamped null) left-tcp-pose right-tcp-pose)) - (multiple-value-bind (left-ik left-torso-angle) - (get-ik-joint-positions :left - (ee-pose-in-base->ee-pose-in-torso - (tcp-pose->ee-pose left-tcp-pose))) - (multiple-value-bind (right-ik right-torso-angle) - (get-ik-joint-positions :right - (ee-pose-in-base->ee-pose-in-torso - (tcp-pose->ee-pose right-tcp-pose))) - (cond - ((and left-torso-angle right-torso-angle) - (when (not (eq left-torso-angle right-torso-angle)) - (cpl:fail 'common-fail:manipulation-pose-unreachable - :description (format nil "In MOVE-TCP goals for the two arms ~ - require different torso angles)."))) - (move-torso left-torso-angle)) - (left-torso-angle (move-torso left-torso-angle)) - (right-torso-angle (move-torso right-torso-angle))) - (move-joints left-ik right-ik) - (perform-collision-check collision-mode left-tcp-pose right-tcp-pose)))) - -;;; constraint-based movement - -(defun move-with-constraints (constraints-string) - (declare (ignore constraints-string)) - (warn "Moving with constraints is not supported in projection! Ignoring.")) - - - - diff --git a/cram_pr2/cram_pr2_projection/src/process-modules.lisp b/cram_pr2/cram_pr2_projection/src/process-modules.lisp deleted file mode 100644 index bc39ed818f..0000000000 --- a/cram_pr2/cram_pr2_projection/src/process-modules.lisp +++ /dev/null @@ -1,103 +0,0 @@ -;;; -;;; Copyright (c) 2017, Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-proj) - -;;;;;;;;;;;;;;;;; NAVIGATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-navigation (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-base (drive argument))))) - -;;;;;;;;;;;;;;;;; TORSO ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-torso (motion-designator) - (destructuring-bind (command argument) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-torso (move-torso argument))))) - -;;;;;;;;;;;;;;;;; PTU ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-ptu (motion-designator) - (destructuring-bind (command goal-pose goal-configuration) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-head (look-at goal-pose goal-configuration))))) - -;;;;;;;;;;;;;;;;; PERCEPTION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-perception (motion-designator) - (destructuring-bind (command argument-1) (desig:reference motion-designator) - (ecase command - (cram-common-designators:detect (detect argument-1))))) - -;;;;;;;;;;;;;;;;; GRIPPERS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-grippers (motion-designator) - (destructuring-bind (command arg-1 arg-2 &rest arg-3) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-gripper-joint (gripper-action arg-1 arg-2 (car arg-3)))))) - -;;;;;;;;;;;;;;;;; ARMS ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; - -(cpm:def-process-module pr2-proj-arms (motion-designator) - (destructuring-bind (command arg-1 &rest arg-2) (desig:reference motion-designator) - (ecase command - (cram-common-designators:move-tcp (move-tcp arg-1 (first arg-2) (second arg-2) - (third arg-2) (fourth arg-2) (fifth arg-2))) - (cram-common-designators::move-joints (move-joints arg-1 (car arg-2))) - (cram-common-designators::move-with-constraints (move-with-constraints arg-1))))) - - -;;;;;;;;;;;;;;;;;;;;; PREDICATES ;;;;;;;;;;;;;;;;;;;;;;;; - -(def-fact-group pr2-matching-pms (cpm:matching-process-module) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-navigation) - (desig:desig-prop ?motion-designator (:type :going))) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-torso) - (desig:desig-prop ?motion-designator (:type :moving-torso))) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-ptu) - (desig:desig-prop ?motion-designator (:type :looking))) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-perception) - (desig:desig-prop ?motion-designator (:type :detecting))) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-grippers) - (or (desig:desig-prop ?motion-designator (:type :gripping)) - (desig:desig-prop ?motion-designator (:type :moving-gripper-joint)) - (desig:desig-prop ?motion-designator (:type :opening-gripper)) - (desig:desig-prop ?motion-designator (:type :closing-gripper)))) - - (<- (cpm:matching-process-module ?motion-designator pr2-proj-arms) - (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) - (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) - (desig:desig-prop ?motion-designator (:type :moving-with-constraints))))) diff --git a/cram_pr2/cram_pr2_projection/src/projection-clock.lisp b/cram_pr2/cram_pr2_projection/src/projection-clock.lisp deleted file mode 100644 index 0f19bd7f7e..0000000000 --- a/cram_pr2/cram_pr2_projection/src/projection-clock.lisp +++ /dev/null @@ -1,70 +0,0 @@ -;;; Copyright (c) 2012, Lorenz Moesenlechner -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -;;; The projection clock is used to generate timelines. -;;; Currently we are not using timelines, so this is disabled. - -(in-package :pr2-proj) - -(defvar *projection-clock* nil) - -(prolog:def-fact-group action-facts (action-duration) - ;; Declaration of the action-duration predicate - (prolog:<- (action-duration ?designator ?duration) - (prolog:fail))) - -(defun projection-timestamp-function () - (proj:clock-time *projection-clock*)) - -(defun action-duration (designator &key (default 0)) - (declare (type desig:action-designator designator)) - "Returns the duration of the action as a number. Please note that no - unit is given. This value is mainly used for ordering events and - blocking until an action is terminated." - (cut:with-vars-bound (?duration) - (cut:lazy-car (prolog:prolog `(action-duration ,designator ?duration))) - (if (cut:is-var ?duration) default ?duration))) - -(defun execute-as-action (designator action-function) - "Executes `action-function' as an action. First, it - generates an event for the action to be started. Then, waits for the - duration of the action as returned by ACTION-DURATION using - *PROJECTION-CLOCK*. Finally, calls `action-function' to trigger all - updates in the world." - (declare (type desig:action-designator designator) - (type function action-function)) - (let ((duration (action-duration designator))) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event btr:*current-bullet-world* `(action-started ,designator))) - (proj:clock-wait *projection-clock* duration) - (unwind-protect - (funcall action-function) - (btr:timeline-advance - btr:*current-timeline* - (btr:make-event btr:*current-bullet-world* `(action-finished ,designator)))))) diff --git a/cram_pr2/cram_pr2_projection/src/projection-environment.lisp b/cram_pr2/cram_pr2_projection/src/projection-environment.lisp deleted file mode 100644 index a047c64a47..0000000000 --- a/cram_pr2/cram_pr2_projection/src/projection-environment.lisp +++ /dev/null @@ -1,135 +0,0 @@ -;;; Copyright (c) 2012, Lorenz Moesenlechner -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-proj) - -(defvar *last-timeline* nil) - -;; (defmethod desig:resolve-designator :around (designator (role (eql 'projection-role))) -;; (cram-projection:with-partially-ordered-clock-disabled *projection-clock* -;; (call-next-method))) - -(cram-projection:define-projection-environment pr2-bullet-projection-environment - :special-variable-initializers - ((cram-tf:*transformer* - (make-instance 'cl-tf:transformer)) - ;; TODO: use custom tf topic "tf_sim" - ;; For that first change tf2_ros/TransformListener to accept custom topic names - (cram-tf:*broadcaster* - (cram-tf:make-tf-broadcaster - "tf_projection" - cram-tf:*tf-broadcasting-interval*)) - ;; (*current-bullet-world* (cl-bullet:copy-world btr:*current-bullet-world*)) - (cram-bullet-reasoning:*current-timeline* - (btr:timeline-init btr:*current-bullet-world*)) - (desig:*default-role* - 'projection-role) - (*projection-clock* - (make-instance 'cram-projection:partially-ordered-clock)) - ;; (cut:*timestamp-function* #'projection-timestamp-function) - (cram-bullet-reasoning-belief-state::*object-identifier-to-instance-mappings* - (alexandria:copy-hash-table - cram-bullet-reasoning-belief-state::*object-identifier-to-instance-mappings*)) - ;; (cram-semantic-map::*semantic-map* - ;; (sem-map-utils:copy-semantic-map-object (cram-semantic-map:get-semantic-map))) - (cet:*episode-knowledge* - cet:*episode-knowledge*)) - :process-module-definitions - (pr2-proj-navigation pr2-proj-torso pr2-proj-ptu pr2-proj-perception - pr2-proj-grippers pr2-proj-arms btr-belief:world-state-detecting-pm) - :startup (progn - (cram-bullet-reasoning-belief-state:set-tf-from-bullet) - (cram-bullet-reasoning-belief-state:update-bullet-transforms) - (cram-tf:start-publishing-transforms cram-tf:*broadcaster*)) - :shutdown (progn - (setf *last-timeline* cram-bullet-reasoning:*current-timeline*) - (cram-tf:stop-publishing-transforms cram-tf:*broadcaster*))) - - -(def-fact-group pr2-available-pms (cpm:available-process-module - cpm:projection-running) - - (<- (cpm:available-process-module ?pm) - (bound ?pm) - (once (member ?pm (pr2-proj-navigation pr2-proj-torso pr2-proj-ptu pr2-proj-perception - pr2-proj-grippers pr2-proj-arms btr-belief:world-state-detecting-pm))) - (symbol-value cram-projection:*projection-environment* pr2-bullet-projection-environment)) - - (<- (cpm::projection-running ?pm) - ;; (bound ?pm) - (once (member ?pm (pr2-proj-navigation pr2-proj-torso pr2-proj-ptu pr2-proj-perception - pr2-proj-grippers pr2-proj-arms btr-belief:world-state-detecting-pm))) - (symbol-value cram-projection:*projection-environment* pr2-bullet-projection-environment))) - - -(defmacro with-simulated-robot (&body body) - `(let ((results - (proj:with-projection-environment pr2-bullet-projection-environment - (cpl-impl::named-top-level (:name :top-level) - ,@body)))) - (car (cram-projection::projection-environment-result-result results)))) - -(defmacro with-projected-robot (&rest args) - "Alias for WITH-SIMULATED-ROBOT." - `(with-simulated-robot ,@args)) - - - - -#+below-is-a-very-simple-example-of-how-to-use-projection -( - (let ((robot (cl-urdf:parse-urdf (roslisp:get-param "robot_description"))) - (kitchen (cl-urdf:parse-urdf (roslisp:get-param "kitchen_description")))) - (prolog:prolog `(and - (btr:bullet-world ?w) - (btr:debug-window ?w) - (assert ?w (btr:object :static-plane floor ((0 0 0) (0 0 0 1)) - :normal (0 0 1) :constant 0)) - (assert ?w (btr:object :semantic-map sem-map ((0 0 0) (0 0 0 1)) - :urdf ,kitchen)) - (cram-robot-interfaces:robot ?robot) - (assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) - :urdf ,robot))))) - - (ros-load-manifest:load-system "cram_executive" :cram-executive) - - (proj:with-projection-environment pr2-proj::pr2-bullet-projection-environment - (cpl:top-level - (exe:perform - (let ((?pose (cl-tf:make-pose-stamped - cram-tf:*robot-base-frame* 0.0 - (cl-transforms:make-3d-vector -4 -5 0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type going) (pose ?pose)))) - (exe:perform - (let ((?pose (cl-tf:make-pose-stamped - cram-tf:*robot-base-frame* 0.0 - (cl-transforms:make-3d-vector 0.5 0.3 1.0) - (cl-transforms:make-identity-rotation)))) - (desig:a motion (type moving-tcp) (left-pose ?pose)))))) -) diff --git a/cram_pr2/cram_pr2_projection/src/tf.lisp b/cram_pr2/cram_pr2_projection/src/tf.lisp deleted file mode 100644 index ee6e6ca503..0000000000 --- a/cram_pr2/cram_pr2_projection/src/tf.lisp +++ /dev/null @@ -1,43 +0,0 @@ -;;; Copyright (c) 2012, Lorenz Moesenlechner -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :pr2-proj) - -(defmethod cram-occasions-events:on-event - update-tf ((event cram-plan-occasions-events:robot-state-changed)) - (when (eql cram-projection:*projection-environment* - 'pr2-bullet-projection-environment) - (cram-bullet-reasoning-belief-state:set-tf-from-bullet))) - -(defmethod cram-robot-interfaces:compute-iks - :before (pose-stamped &key link-name arm robot-state seed-state - pose-stamped-frame tcp-in-ee-pose) - (declare (ignore pose-stamped link-name arm robot-state seed-state - pose-stamped-frame tcp-in-ee-pose)) - (cram-bullet-reasoning-belief-state:set-tf-from-bullet)) - diff --git a/cram_pr2/cram_pr2_shopping_demo/launch/world.launch b/cram_pr2/cram_pr2_shopping_demo/launch/world.launch deleted file mode 100644 index d804c31a0d..0000000000 --- a/cram_pr2/cram_pr2_shopping_demo/launch/world.launch +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cram_pr2/cram_pr2_shopping_demo/src/grasping.lisp b/cram_pr2/cram_pr2_shopping_demo/src/grasping.lisp deleted file mode 100644 index 9d7a1d6098..0000000000 --- a/cram_pr2/cram_pr2_shopping_demo/src/grasping.lisp +++ /dev/null @@ -1,80 +0,0 @@ -;;; -;;; Copyright (c) 2019, Jonas Dech -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Institute for Artificial Intelligence / -;;; University of Bremen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :cram-pr2-shopping-demo) - -(defparameter *lift-z-offset* 0.05 "in meters") -(defparameter *default-lift-offsets* `(0 0 ,*lift-z-offset*)) - -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :denkmit))) 50) -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :dove))) 50) -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :heitmann))) 50) -(defmethod man-int:get-action-gripping-effort :heuristics 20 ((object-type (eql :somat))) 50) - -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :denkmit))) 0.1) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :dove))) 0.1) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :heitmann))) 0.1) -(defmethod man-int:get-action-gripper-opening :heuristics 20 ((object-type (eql :somat))) 0.1) - -(defparameter *denkmit-pregrasp-xy-offste* 0.00 "in meters") -(defparameter *denkmit-grasp-xy-offset* 0.00 "in meters") -(defparameter *denkmit-grasp-z-offset* 0.00 "in meters") - -(man-int:def-object-type-to-gripper-transforms :denkmit '(:left :right) :left-side - :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) - -(man-int:def-object-type-to-gripper-transforms :dove '(:left :right) :left-side - :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) - -(man-int:def-object-type-to-gripper-transforms :heitmann '(:left :right) :left-side - :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) - -(man-int:def-object-type-to-gripper-transforms :somat '(:left :right) :left-side - :grasp-translation `(0.0d0 ,*denkmit-grasp-xy-offset* ,*denkmit-grasp-z-offset*) - :grasp-rot-matrix man-int:*y-across-z-grasp-rotation* - :pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* ,*lift-z-offset*) - :2nd-pregrasp-offsets `(0.0 ,*denkmit-pregrasp-xy-offste* 0.0) - :lift-offsets *default-lift-offsets* - :2nd-lift-offsets *default-lift-offsets*) - diff --git a/cram_pr2/cram_pr2_shopping_demo/src/plans.lisp b/cram_pr2/cram_pr2_shopping_demo/src/plans.lisp deleted file mode 100644 index f3a2c622e6..0000000000 --- a/cram_pr2/cram_pr2_shopping_demo/src/plans.lisp +++ /dev/null @@ -1,195 +0,0 @@ -;;; -;;; Copyright (c) 2019, Jonas Dech quaternion - (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) - -(defparameter *pose-grasping-left* (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector -1 -0.35 0) - (cl-transforms:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) - -(defparameter *pose-grasping-right* (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector -2 -0.35 0) - (cl-transforms:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) - - -(defparameter *pose-near-table* (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector -2.45 0.5 0) - (cl-transforms:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) (/ pi 1)))) - -(defparameter *looking-pose-mid* (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector -1.5 -1.05 1.15) - (cl-transforms:make-identity-rotation))) - -(defparameter *pose-detecting* (cl-transforms-stamped:make-pose-stamped - "map" 0.0 - (cl-transforms:make-3d-vector -1.5 1 0) - (cl-transforms:axis-angle->quaternion - (cl-transforms:make-3d-vector 0 0 1) (/ pi -2)))) - -(defun move-object (?object ?destination) - (let ((?grasping-arm :right) - (?grasp-pose *pose-grasping*) - (?grasp-pose-left *pose-grasping-left*) - (?grasp-pose-right *pose-grasping-right*) - (?pose-near-table *pose-near-table*) - ?newobject - ?newtransform) - - (exe:perform - (desig:a motion - (type moving-torso) - (joint-angle 0))) - - (exe:perform - (desig:an action - (type going) - (target (desig:a location - (pose ?grasp-pose))))) - - (exe:perform - (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) - - (setf ?newobject (exe:perform - (desig:a motion - (type world-state-detecting) - (object ?object)))) - - - (setf ?newtransform (man-int:get-object-transform ?newobject)) - - ;; selecting the grasping arm - (if (< (cl-transforms:y (cl-transforms:translation ?newtransform)) 0) - (setf ?grasping-arm :right) - (setf ?grasping-arm :left)) - - ;; if the object is to far left move to the left - (when (> (cl-transforms:y (cl-transforms:translation ?newtransform)) 0.8) - (setf ?grasping-arm :left) - (exe:perform (desig:a action - (type going) - (target (desig:a location - (pose ?grasp-pose-left)))))) - ;; if it is to far on the right move to the right - (when (< (cl-transforms:y (cl-transforms:translation ?newtransform)) -0.8) - (setf ?grasping-arm :right) - (exe:perform (desig:a action - (type going) - (target (desig:a location - (pose ?grasp-pose-right)))))) - - (print ?grasping-arm) - - (exe:perform (desig:an action - (type picking-up) - (arm ?grasping-arm) - (grasp left-side) - (object ?newobject))) - - (exe:perform (desig:an action - (type going) - (target (desig:a location - (pose ?pose-near-table))))) - - ;; If the object was on the top shelf and the torso was lifted - (exe:perform (desig:a motion - (type moving-torso) - (joint-angle 0))) - - (exe:perform (desig:an action - (type placing) - (arm ?grasping-arm) - (object ?object) - (target (desig:a location - (pose ?destination))))))) -(defun collect-article () - (urdf-proj:with-simulated-robot - (let ((objects '(:heitmann :dove :denkmit)) - (y 0.2) - object-desigs - destination) - (setf object-desigs (try-detecting objects)) - (loop for ?object in object-desigs - do (setf destination (cl-transforms-stamped:make-pose-stamped - "map" 0 - (cl-transforms:make-3d-vector -3.1 y 0.75) - (cl-transforms:make-identity-rotation))) - (move-object ?object destination) - (btr:simulate btr:*current-bullet-world* 100) - (setf y (+ y 0.15)))))) - -(defun try-detecting (articles) - (let ((?pose-detecting *pose-detecting*) - (?percived-objects '()) - (?pose-grasping *pose-grasping*)) - - (exe:perform (desig:an action - (type going) - (target (desig:a location - (pose ?pose-detecting))))) - - (exe:perform (desig:a motion - (type moving-torso) - (joint-angle 0))) - - ;; Tries to detect every object in articles - (loop for ?article in articles - do (push - (exe:perform (desig:a motion - (type detecting) - (object (desig:an object - (type ?article))))) - ?percived-objects)) - - (exe:perform (desig:an action - (type going) - (target (desig:a location - (pose ?pose-grasping))))) - - ?percived-objects)) diff --git a/cram_pr2/cram_pr2_cloud/CATKIN_IGNORE b/cram_pr2/cram_pr2_sim_process_modules/CATKIN_IGNORE similarity index 100% rename from cram_pr2/cram_pr2_cloud/CATKIN_IGNORE rename to cram_pr2/cram_pr2_sim_process_modules/CATKIN_IGNORE diff --git a/cram_pr2/cram_pr2_sim_process_modules/CMakeLists.txt b/cram_pr2/cram_pr2_sim_process_modules/CMakeLists.txt new file mode 100644 index 0000000000..6095548678 --- /dev/null +++ b/cram_pr2/cram_pr2_sim_process_modules/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cram_pr2_sim_process_modules) +find_package(catkin REQUIRED) +catkin_package() + diff --git a/cram_pr2/cram_pr2_arm_kinematics/cram-pr2-arm-kinematics.asd b/cram_pr2/cram_pr2_sim_process_modules/cram-pr2-sim-process-modules.asd similarity index 80% rename from cram_pr2/cram_pr2_arm_kinematics/cram-pr2-arm-kinematics.asd rename to cram_pr2/cram_pr2_sim_process_modules/cram-pr2-sim-process-modules.asd index d05184bf35..a5478672f8 100644 --- a/cram_pr2/cram_pr2_arm_kinematics/cram-pr2-arm-kinematics.asd +++ b/cram_pr2/cram_pr2_sim_process_modules/cram-pr2-sim-process-modules.asd @@ -26,25 +26,25 @@ ;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE ;;; POSSIBILITY OF SUCH DAMAGE. -(defsystem cram-pr2-arm-kinematics +(defsystem cram-pr2-sim-process-modules :author "Gayane Kazhoyan" :maintainer "Gayane Kazhoyan" :license "BSD" - :depends-on (cram-robot-interfaces - cram-pr2-description - cram-tf - cl-transforms-stamped - cl-transforms - moveit_msgs-srv - moveit_msgs-msg + :depends-on (cram-process-modules cram-prolog - cram-utilities - roslisp) + cram-designators + cram-tf + cram-common-failures + cram-common-designators + cram-language ; for with-real-robot + cram-giskard + cram-urdf-projection) :components ((:module "src" :components ((:file "package") - (:file "ik" :depends-on ("package")) - (:file "fk" :depends-on ("package" "ik")))))) + (:file "giskard" :depends-on ("package")) + (:file "perception" :depends-on ("package")) + (:file "with-real-robot" :depends-on ("package" "giskard" "perception")))))) diff --git a/cram_boxy/cram_boxy_plans/package.xml b/cram_pr2/cram_pr2_sim_process_modules/package.xml similarity index 50% rename from cram_boxy/cram_boxy_plans/package.xml rename to cram_pr2/cram_pr2_sim_process_modules/package.xml index 919ef000bc..022102e759 100644 --- a/cram_boxy/cram_boxy_plans/package.xml +++ b/cram_pr2/cram_pr2_sim_process_modules/package.xml @@ -1,8 +1,8 @@ - cram_boxy_plans + cram_pr2_sim_process_modules 0.7.0 - CRAM plans for Boxy + cram_pr2_process_modules Gayane Kazhoyan Gayane Kazhoyan @@ -10,17 +10,13 @@ catkin - roslisp - cram_designators - cram_executive - cram_language + cram_process_modules cram_prolog - cram_occasions_events - cram_designator_specification + cram_designators + cram_tf cram_common_failures - cram_plan_occasions_events - cram_manipulation_interfaces - cram_object_knowledge - cl_transforms_stamped - cl_transforms + cram_common_designators + cram_language + cram_giskard + cram_urdf_projection diff --git a/cram_pr2/cram_pr2_sim_process_modules/src/giskard.lisp b/cram_pr2/cram_pr2_sim_process_modules/src/giskard.lisp new file mode 100644 index 0000000000..ceeb67ecc9 --- /dev/null +++ b/cram_pr2/cram_pr2_sim_process_modules/src/giskard.lisp @@ -0,0 +1,49 @@ +;;; +;;; Copyright (c) 2016, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :pr2-sim-pms) + +(prolog:def-fact-group giskard-pm (cpm:matching-process-module + cpm:available-process-module) + + (prolog:<- (cpm:matching-process-module ?motion-designator giskard:giskard-pm) + (or (desig:desig-prop ?motion-designator (:type :moving-tcp)) + (desig:desig-prop ?motion-designator (:type :moving-arm-joints)) + (desig:desig-prop ?motion-designator (:type :pulling)) + (desig:desig-prop ?motion-designator (:type :pushing)) + (desig:desig-prop ?motion-designator (:type :going)) + (desig:desig-prop ?motion-designator (:type :moving-torso)) + (desig:desig-prop ?motion-designator (:type :looking)) + (desig:desig-prop ?motion-designator (:type :gripping)) + (desig:desig-prop ?motion-designator (:type :opening-gripper)) + (desig:desig-prop ?motion-designator (:type :closing-gripper)) + (desig:desig-prop ?motion-designator (:type :moving-gripper-joint)))) + + (prolog:<- (cpm:available-process-module giskard:giskard-pm) + (prolog:not (cpm:projection-running ?_)))) diff --git a/cram_pr2/cram_pr2_sim_process_modules/src/package.lisp b/cram_pr2/cram_pr2_sim_process_modules/src/package.lisp new file mode 100644 index 0000000000..612bde0948 --- /dev/null +++ b/cram_pr2/cram_pr2_sim_process_modules/src/package.lisp @@ -0,0 +1,37 @@ +;;; +;;; Copyright (c) 2016, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :cl-user) + +(defpackage cram-pr2-sim-process-modules + (:nicknames :pr2-sim-pms) + (:use #:common-lisp #:cram-process-modules #:cram-prolog #:cram-designators) + (:export + ;; with-real-robot + #:with-real-robot)) diff --git a/cram_pr2/cram_pr2_sim_process_modules/src/perception.lisp b/cram_pr2/cram_pr2_sim_process_modules/src/perception.lisp new file mode 100644 index 0000000000..48e025b66a --- /dev/null +++ b/cram_pr2/cram_pr2_sim_process_modules/src/perception.lisp @@ -0,0 +1,49 @@ +;;; +;;; Copyright (c) 2020, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :pr2-sim-pms) + +(defun perceive (input-object-designator) + (urdf-proj::detect input-object-designator)) + +(cpm:def-process-module bullet-perception-pm (motion-designator) + (destructuring-bind (command argument-1) + (desig:reference motion-designator) + (ecase command + (cram-common-designators:detect + (perceive argument-1))))) + +(prolog:def-fact-group bullet-perception-pm (cpm:matching-process-module + cpm:available-process-module) + + (prolog:<- (cpm:matching-process-module ?motion-designator bullet-perception-pm) + (desig:desig-prop ?motion-designator (:type :detecting))) + + (prolog:<- (cpm:available-process-module bullet-perception-pm) + (prolog:not (cpm:projection-running ?_)))) diff --git a/cram_pr2/cram_pr2_sim_process_modules/src/with-real-robot.lisp b/cram_pr2/cram_pr2_sim_process_modules/src/with-real-robot.lisp new file mode 100644 index 0000000000..099feac250 --- /dev/null +++ b/cram_pr2/cram_pr2_sim_process_modules/src/with-real-robot.lisp @@ -0,0 +1,36 @@ +;;; +;;; Copyright (c) 2018, Gayane Kazhoyan +;;; All rights reserved. +;;; +;;; Redistribution and use in source and binary forms, with or without +;;; modification, are permitted provided that the following conditions are met: +;;; +;;; * Redistributions of source code must retain the above copyright +;;; notice, this list of conditions and the following disclaimer. +;;; * Redistributions in binary form must reproduce the above copyright +;;; notice, this list of conditions and the following disclaimer in the +;;; documentation and/or other materials provided with the distribution. +;;; * Neither the name of the Institute for Artificial Intelligence/ +;;; Universitaet Bremen nor the names of its contributors may be used to +;;; endorse or promote products derived from this software without +;;; specific prior written permission. +;;; +;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +;;; POSSIBILITY OF SUCH DAMAGE. + +(in-package :pr2-sim-pms) + +(defmacro with-real-robot (&body body) + `(cram-process-modules:with-process-modules-running + (giskard:giskard-pm bullet-perception-pm) + (cpl-impl::named-top-level (:name :top-level) + ,@body))) diff --git a/cram_pr2/cram_urdf_bringup/resource/blue_metal_plate.stl b/cram_pr2/cram_urdf_bringup/resource/blue_metal_plate.stl deleted file mode 100644 index 837155ce90..0000000000 Binary files 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179 122 587 5 82 588 174 82 589 192 82 590 174 123 591 175 123 592 193 123 593 3 124 594 2 124 595 172 124 596 189 125 597 172 125 598 173 125 599 9 126 600 170 126 601 185 126 602 170 127 603 171 127 604 184 127 605 7 128 606 6 128 607 192 128 608 177 129 609 192 129 610 193 129 611 43 130 612 44 130 613 206 130 614 217 131 615 206 131 616 207 131 617 37 132 618 202 132 619 201 132 620 202 133 621 203 133 622 200 133 623 47 72 624 198 72 625 215 72 626 198 134 627 199 134 628 214 134 629 40 135 630 194 135 631 213 135 632 194 136 633 195 136 634 212 136 635 43 137 636 217 137 637 211 137 638 217 138 639 216 138 640 210 138 641 45 139 642 46 139 643 215 139 644 209 140 645 215 140 646 214 140 647 38 141 648 39 141 649 213 141 650 213 142 651 212 142 652 204 142 653 41 143 654 42 143 655 211 143 656 197 144 657 211 144 658 210 144 659 44 145 660 45 145 661 209 145 662 206 146 663 209 146 664 208 146 665 37 147 666 38 147 667 205 147 668 202 148 669 205 148 670 204 148 671 47 72 672 36 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12 14 764 101 9 765 20 11 766 19 23 767 78 1 768 17 13 769 16 2 770 93 6 771 23 5 772 86 4 773 94 7 774 14 16 775 13 8 776 102 10 777 21 18 778 20 11 779 118 19 780 17 13 781 106 12 782 77 0 783 14 16 784 110 15 785 85 3 786 21 18 787 114 17 788 118 19 789 19 23 790 18 20 791 218 24 792 26 26 793 25 43 794 220 27 795 33 29 796 32 45 797 222 30 798 30 32 799 29 46 800 219 25 801 27 34 802 26 26 803 221 28 804 34 36 805 33 29 806 226 37 807 30 32 808 223 31 809 227 39 810 27 34 811 224 33 812 228 41 813 34 36 814 225 35 815 218 24 816 24 44 817 229 47 818 226 37 819 32 45 820 31 38 821 222 30 822 28 40 823 227 39 824 228 41 825 24 44 826 35 42 827 125 48 828 36 50 829 47 68 830 133 51 831 38 53 832 37 69 833 141 54 834 45 56 835 44 70 836 149 57 837 42 59 838 41 71 839 134 52 840 39 61 841 38 53 842 142 55 843 46 63 844 45 56 845 162 64 846 42 59 847 150 58 848 166 66 849 39 61 850 154 60 851 125 48 852 46 63 853 158 62 854 133 51 855 36 50 856 126 49 857 162 64 858 44 70 859 43 65 860 149 57 861 40 67 862 166 66 863 196 163 864 52 163 865 195 163 866 199 164 867 48 164 868 59 164 869 203 165 870 50 165 871 49 165 872 207 166 873 57 166 874 56 166 875 196 167 876 54 167 877 53 167 878 204 168 879 51 168 880 50 168 881 208 72 882 58 72 883 57 72 884 216 72 885 54 72 886 210 72 887 195 169 888 51 169 889 212 169 890 199 170 891 58 170 892 214 170 893 203 171 894 48 171 895 200 171 896 216 72 897 56 72 898 55 72 899 176 172 900 65 172 901 64 172 902 171 173 903 61 173 904 184 173 905 173 174 906 68 174 907 188 174 908 175 82 909 65 82 910 193 82 911 171 82 912 63 82 913 62 82 914 183 175 915 69 175 916 173 175 917 187 82 918 71 82 919 180 82 920 175 176 921 67 176 922 66 176 923 176 177 924 63 177 925 179 177 926 183 178 927 71 178 928 70 178 929 187 179 930 61 179 931 72 179 932 191 180 933 68 180 934 67 180 935 6 99 936 98 9 937 121 19 938 98 9 939 120 19 940 121 19 941 99 9 942 119 19 943 120 19 944 119 19 945 101 9 946 118 19 947 10 101 948 117 17 949 9 104 950 82 3 951 116 17 952 117 17 953 83 3 954 115 17 955 116 17 956 84 3 957 114 17 958 115 17 959 3 102 960 113 15 961 2 106 962 74 0 963 112 15 964 113 15 965 75 0 966 111 15 967 112 15 968 76 0 969 110 15 970 111 15 971 6 99 972 109 12 973 5 109 974 109 12 975 120 19 976 108 12 977 120 19 978 107 12 979 108 12 980 119 19 981 106 12 982 107 12 983 8 103 984 117 17 985 105 10 986 105 10 987 116 17 988 104 10 989 104 10 990 115 17 991 103 10 992 103 10 993 114 17 994 102 10 995 1 105 996 113 15 997 97 7 998 113 15 999 96 7 1000 97 7 1001 112 15 1002 95 7 1003 96 7 1004 111 15 1005 94 7 1006 95 7 1007 0 107 1008 89 4 1009 11 110 1010 90 6 1011 88 4 1012 89 4 1013 91 6 1014 87 4 1015 88 4 1016 92 6 1017 86 4 1018 87 4 1019 4 108 1020 109 12 1021 81 1 1022 81 1 1023 108 12 1024 80 1 1025 80 1 1026 107 12 1027 79 1 1028 79 1 1029 106 12 1030 78 1 1031 7 100 1032 105 10 1033 98 9 1034 98 9 1035 104 10 1036 99 9 1037 99 9 1038 103 10 1039 100 9 1040 100 9 1041 102 10 1042 101 9 1043 0 107 1044 97 7 1045 90 6 1046 90 6 1047 96 7 1048 91 6 1049 91 6 1050 95 7 1051 92 6 1052 92 6 1053 94 7 1054 93 6 1055 10 101 1056 89 4 1057 82 3 1058 82 3 1059 88 4 1060 83 3 1061 83 3 1062 87 4 1063 84 3 1064 84 3 1065 86 4 1066 85 3 1067 3 102 1068 81 1 1069 74 0 1070 74 0 1071 80 1 1072 75 0 1073 75 0 1074 79 1 1075 76 0 1076 76 0 1077 78 1 1078 77 0 1079 29 46 1080 169 66 1081 28 40 1082 146 57 1083 168 66 1084 169 66 1085 147 57 1086 167 66 1087 168 66 1088 148 57 1089 166 66 1090 167 66 1091 31 38 1092 138 54 1093 165 64 1094 165 64 1095 139 54 1096 164 64 1097 164 64 1098 140 54 1099 163 64 1100 163 64 1101 141 54 1102 162 64 1103 25 43 1104 129 49 1105 24 44 1106 130 51 1107 128 49 1108 129 49 1109 131 51 1110 127 49 1111 128 49 1112 132 51 1113 126 49 1114 127 49 1115 34 36 1116 122 48 1117 161 62 1118 122 48 1119 160 62 1120 161 62 1121 123 48 1122 159 62 1123 160 62 1124 124 48 1125 158 62 1126 159 62 1127 27 34 1128 169 66 1129 157 60 1130 169 66 1131 156 60 1132 157 60 1133 168 66 1134 155 60 1135 156 60 1136 167 66 1137 154 60 1138 155 60 1139 31 38 1140 153 58 1141 30 32 1142 165 64 1143 152 58 1144 153 58 1145 164 64 1146 151 58 1147 152 58 1148 163 64 1149 150 58 1150 151 58 1151 33 29 1152 161 62 1153 145 55 1154 145 55 1155 160 62 1156 144 55 1157 144 55 1158 159 62 1159 143 55 1160 143 55 1161 158 62 1162 142 55 1163 26 26 1164 157 60 1165 137 52 1166 137 52 1167 156 60 1168 136 52 1169 136 52 1170 155 60 1171 135 52 1172 135 52 1173 154 60 1174 134 52 1175 29 46 1176 153 58 1177 146 57 1178 146 57 1179 152 58 1180 147 57 1181 147 57 1182 151 58 1183 148 57 1184 148 57 1185 150 58 1186 149 57 1187 32 45 1188 145 55 1189 138 54 1190 145 55 1191 139 54 1192 138 54 1193 139 54 1194 143 55 1195 140 54 1196 140 54 1197 142 55 1198 141 54 1199 25 43 1200 137 52 1201 130 51 1202 130 51 1203 136 52 1204 131 51 1205 131 51 1206 135 52 1207 132 51 1208 132 51 1209 134 52 1210 133 51 1211 35 42 1212 129 49 1213 122 48 1214 122 48 1215 128 49 1216 123 48 1217 123 48 1218 127 49 1219 124 48 1220 124 48 1221 126 49 1222 125 48 1223 4 82 1224 189 82 1225 190 82 1226 190 82 1227 188 82 1228 191 82 1229 11 181 1230 185 181 1231 186 181 1232 186 182 1233 184 182 1234 187 182 1235 1 183 1236 181 183 1237 182 183 1238 182 184 1239 180 184 1240 183 184 1241 7 185 1242 178 185 1243 8 185 1244 177 82 1245 179 82 1246 178 82 1247 5 82 1248 190 82 1249 174 82 1250 174 186 1251 191 186 1252 175 186 1253 11 82 1254 181 82 1255 0 82 1256 186 82 1257 180 82 1258 181 82 1259 1 187 1260 172 187 1261 2 187 1262 182 188 1263 173 188 1264 172 188 1265 9 189 1266 178 189 1267 170 189 1268 170 82 1269 179 82 1270 171 82 1271 5 190 1272 192 190 1273 6 190 1274 174 191 1275 193 191 1276 192 191 1277 3 192 1278 172 192 1279 189 192 1280 189 193 1281 173 193 1282 188 193 1283 9 194 1284 185 194 1285 10 194 1286 170 195 1287 184 195 1288 185 195 1289 7 82 1290 192 82 1291 177 82 1292 177 196 1293 193 196 1294 176 196 1295 43 72 1296 206 72 1297 217 72 1298 217 197 1299 207 197 1300 216 197 1301 37 72 1302 201 72 1303 36 72 1304 202 198 1305 200 198 1306 201 198 1307 47 199 1308 215 199 1309 46 199 1310 198 200 1311 214 200 1312 215 200 1313 40 201 1314 213 201 1315 39 201 1316 194 202 1317 212 202 1318 213 202 1319 43 203 1320 211 203 1321 42 203 1322 217 204 1323 210 204 1324 211 204 1325 45 205 1326 215 205 1327 209 205 1328 209 206 1329 214 206 1330 208 206 1331 38 72 1332 213 72 1333 205 72 1334 213 207 1335 204 207 1336 205 207 1337 41 208 1338 211 208 1339 197 208 1340 197 209 1341 210 209 1342 196 209 1343 44 210 1344 209 210 1345 206 210 1346 206 211 1347 208 211 1348 207 211 1349 37 72 1350 205 72 1351 202 72 1352 202 212 1353 204 212 1354 203 212 1355 47 213 1356 201 213 1357 198 213 1358 198 214 1359 200 214 1360 199 214 1361 41 215 1362 194 215 1363 40 215 1364 197 216 1365 195 216 1366 194 216 1367 237 151 1368 229 47 1369 228 41 1370 240 153 1371 227 39 1372 236 157 1373 235 154 1374 220 27 1375 226 37 1376 241 152 1377 218 24 1378 229 47 1379 237 151 1380 225 35 1381 234 158 1382 236 157 1383 224 33 1384 233 160 1385 235 154 1386 223 31 1387 232 161 1388 234 158 1389 221 28 1390 231 162 1391 230 159 1392 224 33 1393 219 25 1394 232 161 1395 222 30 1396 240 153 1397 239 155 1398 221 28 1399 220 27 1400 238 156 1401 219 25 1402 218 24 1403 14 16 1404 238 156 1405 13 8 1406 21 18 1407 239 155 1408 20 11 1409 17 13 1410 232 161 1411 240 153 1412 15 21 1413 230 159 1414 14 16 1415 21 18 1416 234 158 1417 231 162 1418 18 20 1419 235 154 1420 232 161 1421 15 21 1422 236 157 1423 233 160 1424 23 5 1425 234 158 1426 22 22 1427 12 14 1428 238 156 1429 241 152 1430 20 11 1431 235 154 1432 19 23 1433 16 2 1434 240 153 1435 236 157 1436 23 5 1437 241 152 1438 237 151 1439

- - - - - - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6858804 -0.31737 0.654862 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452453 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6858804 -0.3173699 0.654862 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452451 5.343665 0 0 0 1 - - - - -0.290865 -0.7711005 0.5663934 4.076245 0.955171 -0.1998835 0.2183915 1.005454 -0.05518908 0.6045249 0.7946721 5.903862 0 0 0 1 - - - - 0.001 0 0 0 0 -4.37114e-11 -0.001 0 0 0.001 -4.37114e-11 0 0 0 0 1 - - - 1 0 0 0.7041132 0 1 0 -0.179476 0 0 1 1.00003 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 -3.806205 0.9551712 -0.1998833 0.2183912 -2.774845 -0.0551891 0.6045247 0.7946723 0.2407236 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 -3.648487 0.9551712 -0.1998833 0.2183912 3.463097 -0.0551891 0.6045247 0.7946723 0.2519307 0 0 0 1 - - - - 0.6858804 -0.31737 0.654862 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452453 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 0.6858804 -0.3173699 0.654862 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452451 5.343665 0 0 0 1 - - - - -0.290865 -0.7711005 0.5663934 4.076245 0.955171 -0.1998835 0.2183915 1.005454 -0.05518908 0.6045249 0.7946721 5.903862 0 0 0 1 - - - - 0.001 0 0 0 0 -4.37114e-11 -0.001 0 0 0.001 -4.37114e-11 0 0 0 0 1 - - - 1 0 0 0.7041132 0 1 0 -0.179476 0 0 1 1.00003 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - -0.2908646 -0.7711008 0.5663933 -3.806205 0.9551712 -0.1998833 0.2183912 -2.774845 -0.0551891 0.6045247 0.7946723 0.2407236 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663933 -3.648487 0.9551712 -0.1998833 0.2183912 3.463097 -0.0551891 0.6045247 0.7946723 0.2519307 0 0 0 1 - - - - - - - - \ No newline at end of file diff --git a/cram_pr2/cram_urdf_bringup/resource/red_metal_plate.stl b/cram_pr2/cram_urdf_bringup/resource/red_metal_plate.stl deleted file mode 100644 index 2c01c91899..0000000000 Binary files a/cram_pr2/cram_urdf_bringup/resource/red_metal_plate.stl and /dev/null differ diff --git a/cram_pr2/cram_urdf_bringup/src/setup-urdf.lisp b/cram_pr2/cram_urdf_bringup/src/setup-urdf.lisp deleted file mode 100644 index 8b5abdc67e..0000000000 --- a/cram_pr2/cram_urdf_bringup/src/setup-urdf.lisp +++ /dev/null @@ -1,98 +0,0 @@ -;;; -;;; Copyright (c) 2019, Vanessa Hassouna -;;; Gayane Kazhoyan -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - - -(defparameter *robot-parameter* "robot_description") - -;;the collision-box for base_footprint, since the urdf does not provide it -(defparameter *collision-box* - "> - - - - - - - ") - -;;the tool-frame for the hsrb, since the urdf does not provide one -(defparameter *tool-frame* - " - - - - - ") - - -;;call this function in your demo seutp.lisp it also takes care of the parameter in rob-int e.g -;; -;; (defun setup-bullet-world () -;; (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) -;; (let* ((robot (hsrb-proj::get-urdf)) -;; (kitchen (or *kitchen-urdf* ..... -(defun get-urdf-hsrb () - (let* ((robi (substitute #\SPACE #\` - (roslisp:get-param *robot-parameter*))) - (robot (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf - (concatenate 'string - ;;plus 15 because of base_footprint" - (subseq robi 0 (+ 15 (search "base_footprint" robi))) - *collision-box* - ;;plus 17 because of base_footprint"/> - (subseq robi (+ 17 (search "base_footprint" robi)) - (search " -;;; All rights reserved. -;;; -;;; Redistribution and use in source and binary forms, with or without -;;; modification, are permitted provided that the following conditions are met: -;;; -;;; * Redistributions of source code must retain the above copyright -;;; notice, this list of conditions and the following disclaimer. -;;; * Redistributions in binary form must reproduce the above copyright -;;; notice, this list of conditions and the following disclaimer in the -;;; documentation and/or other materials provided with the distribution. -;;; * Neither the name of the Intelligent Autonomous Systems Group/ -;;; Technische Universitaet Muenchen nor the names of its contributors -;;; may be used to endorse or promote products derived from this software -;;; without specific prior written permission. -;;; -;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE -;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -;;; POSSIBILITY OF SUCH DAMAGE. - -(in-package :demo) - -(defvar *kitchen-urdf* nil) -(defparameter *robot-parameter* "robot_description") -(defparameter *kitchen-parameter* "kitchen_description") - -(defun setup-bullet-world () - (setf btr:*current-bullet-world* (make-instance 'btr:bt-reasoning-world)) - - (let* ((robot-urdf (substitute #\SPACE #\` (roslisp:get-param *robot-parameter*))) - (robot (or rob-int:*robot-urdf* - (setf rob-int:*robot-urdf* - (cl-urdf:parse-urdf robot-urdf)))) - (kitchen (or *kitchen-urdf* - (let ((kitchen-urdf-string - (roslisp:get-param *kitchen-parameter* nil))) - (when kitchen-urdf-string - (setf *kitchen-urdf* (cl-urdf:parse-urdf - kitchen-urdf-string))))))) - - (if (search "hsrb" robot-urdf) - (setf robot (get-urdf-hsrb)) - (when (search "boxy" robot-urdf ) - (get-setup-boxy))) - - (assert - (cut:force-ll - (prolog `(and - (btr:bullet-world ?w) - (btr:debug-window ?w) - (btr:assert ?w (btr:object :static-plane :floor ((0 0 0) (0 0 0 1)) - :normal (0 0 1) :constant 0)) - (btr:assert ?w (btr:object :urdf :kitchen ((0 0 0) (0 0 0 1)) - :collision-group :static-filter - :collision-mask (:default-filter - :character-filter) - :urdf ,kitchen - :compound T)) - (-> (cram-robot-interfaces:robot ?robot) - (btr:assert ?w (btr:object :urdf ?robot ((0 0 0) (0 0 0 1)) :urdf ,robot)) - (warn "ROBOT was not defined. Have you loaded a robot package?"))))))) - - - (let ((robot-object (btr:get-robot-object))) - (if robot-object - (btr:set-robot-state-from-tf cram-tf:*transformer* robot-object) - (warn "ROBOT was not defined. Have you loaded a robot package?")))) - -(defun init-projection () - (def-fact-group costmap-metadata () - (<- (location-costmap:costmap-size 12 12)) - (<- (location-costmap:costmap-origin -6 -6)) - (<- (location-costmap:costmap-resolution 0.05)) - - (<- (location-costmap:costmap-padding 0.5)) - (<- (location-costmap:costmap-manipulation-padding 0.2)) - (<- (location-costmap:costmap-in-reach-distance 0.7)) - (<- (location-costmap:costmap-reach-minimal-distance 0.2)) - (<- (location-costmap:visibility-costmap-size 2.5))) - - (setf cram-tf:*tf-broadcasting-enabled* t) - - (setf cram-tf:*transformer* (make-instance 'cl-tf2:buffer-client)) - - (setup-bullet-world) - - (setf cram-tf:*tf-default-timeout* 2.0) - - (setf prolog:*break-on-lisp-errors* t) - - (cram-bullet-reasoning:clear-costmap-vis-object)) -(roslisp-utilities:register-ros-init-function init-projection) diff --git a/cram_tutorials/cram_bullet_world_tutorial/src/setup.lisp b/cram_tutorials/cram_bullet_world_tutorial/src/setup.lisp index 9d4568dce5..c3ee407b35 100644 --- a/cram_tutorials/cram_bullet_world_tutorial/src/setup.lisp +++ b/cram_tutorials/cram_bullet_world_tutorial/src/setup.lisp @@ -34,19 +34,14 @@ (defun init-projection () (def-fact-group costmap-metadata () - (<- (location-costmap:costmap-size 12 12)) - (<- (location-costmap:costmap-origin -6 -6)) - (<- (location-costmap:costmap-resolution 0.05)) - - (<- (location-costmap:costmap-padding 0.2)) - (<- (location-costmap:costmap-manipulation-padding 0.2)) - (<- (location-costmap:costmap-in-reach-distance 0.6)) - (<- (location-costmap:costmap-reach-minimal-distance 0.2))) - - (setf cram-bullet-reasoning-belief-state:*robot-parameter* "robot_description") - (setf cram-bullet-reasoning-belief-state:*kitchen-parameter* "kitchen_description") - - ;; (sem-map:get-semantic-map) + (<- (costmap:costmap-size :iai-kitchen 12 12)) + (<- (costmap:costmap-origin :iai-kitchen -6 -6)) + (<- (costmap:costmap-resolution :iai-kitchen 0.05)) + + (<- (costmap:costmap-padding :pr2 0.2)) + (<- (costmap:costmap-manipulation-padding :pr2 0.2)) + (<- (costmap:costmap-in-reach-distance :pr2 0.6)) + (<- (costmap:costmap-reach-minimal-distance :pr2 0.2))) (cram-occasions-events:clear-belief) diff --git a/cram_tutorials/cram_bullet_world_tutorial/src/tutorial.lisp b/cram_tutorials/cram_bullet_world_tutorial/src/tutorial.lisp index e3368729cc..c248f34ff0 100644 --- a/cram_tutorials/cram_bullet_world_tutorial/src/tutorial.lisp +++ b/cram_tutorials/cram_bullet_world_tutorial/src/tutorial.lisp @@ -32,14 +32,14 @@ (defun get-kitchen-urdf () (slot-value - (btr:object btr:*current-bullet-world* :kitchen) + (btr:get-environment-object) 'cram-bullet-reasoning:urdf)) (defun move-kitchen-joint (&key (joint-name "iai_fridge_door_joint") - (joint-angle 0.2d0) (kitchen-name :kitchen)) + (joint-angle 0.2d0)) (btr:set-robot-state-from-joints `((,joint-name ,joint-angle)) - (btr:object btr:*current-bullet-world* kitchen-name))) + (btr:get-environment-object))) (defun add-objects-to-mesh-list (&optional (ros-package "cram_bullet_world_tutorial")) (mapcar (lambda (object-filename-and-object-extension) @@ -73,10 +73,10 @@ (cl-transforms:make-identity-rotation))) (defparameter *pose-meal-table* - (cl-tf:make-pose-stamped + (cl-transforms-stamped:make-pose-stamped "map" 0.0 - (cl-tf:make-3d-vector -0.15 2.0 0) - (cl-tf:make-quaternion 0.0d0 0.0d0 -1.0d0 0.0d0))) + (cl-transforms:make-3d-vector -0.15 2.0 0) + (cl-transforms:make-quaternion 0.0d0 0.0d0 -1.0d0 0.0d0))) (defparameter *pose-counter* (cl-transforms-stamped:make-pose-stamped @@ -144,9 +144,7 @@ (desig:a motion (type moving-torso) (joint-angle 0.3))) (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park))) + (type parking-arms))) (navigate-to ?navigation-goal)) (look-at ?ptu-goal)) ;; Pick up bottle-1 with right arm. @@ -154,8 +152,8 @@ (pick-up ?perceived-bottle-1 :right) (exe:perform (desig:an action - (type positioning-arm) - (right-configuration park))) + (type parking-arms) + (arms (:right)))) ;; Move to the meal table (let ((?pose *pose-meal-table*)) (navigate-to ?pose)) @@ -165,17 +163,17 @@ ;; Move left arm out of sight (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park))) + (type parking-arms) + (arms (:left)))) ;; Place bottle-1 on second table (let ((?drop-pose *pose-bottle-2*)) (place-down ?drop-pose ?perceived-bottle-1 :right)) ;; Move right arm out of sight (exe:perform (desig:an action - (type positioning-arm) - (right-configuration park))) - ;; Move to the counter table + (type parking-arms) + (arms (:right)))) + ;; Move to the counter table (let ((?navigation-goal *pose-counter*)) (navigate-to ?navigation-goal)) ;; Place bottle-2 on the counter @@ -183,6 +181,4 @@ (place-down ?drop-pose ?perceived-bottle-2 :left)) (exe:perform (desig:an action - (type positioning-arm) - (left-configuration park) - (right-configuration park)))))))) + (type parking-arms)))))))) diff --git a/cram_tutorials/cram_pick_place_tutorial/src/setup.lisp b/cram_tutorials/cram_pick_place_tutorial/src/setup.lisp index 4ad1be18f2..8f66faafd2 100644 --- a/cram_tutorials/cram_pick_place_tutorial/src/setup.lisp +++ b/cram_tutorials/cram_pick_place_tutorial/src/setup.lisp @@ -35,19 +35,14 @@ (defun init-projection () (def-fact-group costmap-metadata () - (<- (location-costmap:costmap-size 12 12)) - (<- (location-costmap:costmap-origin -6 -6)) - (<- (location-costmap:costmap-resolution 0.05)) - - (<- (location-costmap:costmap-padding 0.2)) - (<- (location-costmap:costmap-manipulation-padding 0.2)) - (<- (location-costmap:costmap-in-reach-distance 0.6)) - (<- (location-costmap:costmap-reach-minimal-distance 0.2))) - - (setf cram-bullet-reasoning-belief-state:*robot-parameter* "robot_description") - (setf cram-bullet-reasoning-belief-state:*kitchen-parameter* "kitchen_description") - - ;; (sem-map:get-semantic-map) + (<- (costmap:costmap-size :iai-kitchen 12 12)) + (<- (costmap:costmap-origin :iai-kitchen -6 -6)) + (<- (costmap:costmap-resolution :iai-kitchen 0.05)) + + (<- (costmap:costmap-padding :pr2 0.2)) + (<- (costmap:costmap-manipulation-padding :pr2 0.2)) + (<- (costmap:costmap-in-reach-distance :pr2 0.6)) + (<- (costmap:costmap-reach-minimal-distance :pr2 0.2))) (cram-occasions-events:clear-belief) diff --git a/cram_tutorials/cram_pick_place_tutorial/src/tutorial.lisp b/cram_tutorials/cram_pick_place_tutorial/src/tutorial.lisp index 87134a2bf6..03824c94d9 100644 --- a/cram_tutorials/cram_pick_place_tutorial/src/tutorial.lisp +++ b/cram_tutorials/cram_pick_place_tutorial/src/tutorial.lisp @@ -32,15 +32,13 @@ (in-package :pp-tut) (defun get-kitchen-urdf () - (slot-value - (btr:object btr:*current-bullet-world* :kitchen) - 'cram-bullet-reasoning:urdf)) + (slot-value (btr:get-environment-object) 'btr:urdf)) (defun move-kitchen-joint (&key (joint-name "iai_fridge_door_joint") - (joint-angle 0.2d0) (kitchen-name :kitchen)) + (joint-angle 0.2d0)) (btr:set-robot-state-from-joints `((,joint-name ,joint-angle)) - (btr:object btr:*current-bullet-world* kitchen-name))) + (btr:get-environment-object))) (defun spawn-object (spawn-pose &optional (obj-type :bottle) (obj-name 'bottle-1) (obj-color '(1 0 0))) (unless (assoc obj-type btr::*mesh-files*) @@ -86,16 +84,18 @@ (etypecase object-or-pose (symbol (if (btr:object btr:*current-bullet-world* object-or-pose) - (btr:add-vis-axis-object object-or-pose size) + (btr:add-vis-axis-object object-or-pose :length size) (if (find-object-of-type object-or-pose) - (btr:add-vis-axis-object (btr:name (find-object-of-type object-or-pose)) size) + (btr:add-vis-axis-object + (btr:name (find-object-of-type object-or-pose)) + :length size) (warn "Unknown object, please either give an object name or object type.")))) (cl-transforms-stamped:pose-stamped (when (equalp (cl-transforms-stamped:frame-id object-or-pose) "base_footprint") (warn "Pose is not in MAP frame. It is visualized with respect to the MAP though.")) - (btr:add-vis-axis-object object-or-pose size)) + (btr:add-vis-axis-object object-or-pose :length size)) (cl-transforms:pose - (btr:add-vis-axis-object object-or-pose size))))) + (btr:add-vis-axis-object object-or-pose :length size))))) (defmethod print-object ((pose cl-transforms-stamped:pose-stamped) stream)