From 60bc1fbcd0414c3520c6b5184c66ba5515bd0c83 Mon Sep 17 00:00:00 2001 From: UW Amazon Manipulation Project Date: Tue, 18 Jul 2023 13:56:59 -0700 Subject: [PATCH] Remove extra files Moved some data files into config/data directories Co-Authored-By: Sanjar Normuradov Co-Authored-By: Nick Walker --- aurmr_tasks/frames.gv | 2 - aurmr_tasks/scripts/analyze_workspace_LOOPED | 113 --- .../scripts/analyze_workspace_launcher.py | 16 - aurmr_tasks/scripts/analyze_workspace_old | 347 --------- aurmr_tasks/scripts/manipData.txt | 0 aurmr_tasks/scripts/plot_data.py | 79 -- aurmr_tasks/scripts/plot_scores.png | Bin 252055 -> 0 bytes .../successScores_60-100-2_00-93-3.txt | 9 - .../successScores_600-1000-25_220-940-80.txt | 186 ----- .../successScores_62-100-2_00-93-3.txt | 37 - .../scripts/successScores_720-760_560-580.txt | 0 .../successScores_720-960-20_360-580-20.txt | 283 ------- .../scripts/successScores_780-820_560-580.txt | 0 .../scripts/successScores_830-830_360-470.txt | 0 .../scripts/successScores_830-830_480-580.txt | 0 .../scripts/successScores_832-832_412-412.txt | 1 - .../successScores_832-832_412-412_0.txt | 1 - .../scripts/successScores_832-834_412-414.txt | 0 .../scripts/successScores_840-880_560-580.txt | 0 .../scripts/successScores_900-960_560-580.txt | 0 .../scripts/successScores_940-960_520-540.txt | 2 - .../scripts/successScores_940-960_550-570.txt | 2 - aurmr_tasks/src/aurmr_tasks/common/tahoma.py | 2 +- .../src/aurmr_tasks/common/tahoma_old.py | 720 ------------------ manipData.txt | 0 .../pod1_recipe_790-00265-021_2.txt | 0 .../pod2_recipe_790-00265-022_2.txt | 0 tahoma_description/urdf/tahoma.xacro | 101 --- tahoma_description/urdf/tahoma_old.xacro | 198 ----- 29 files changed, 1 insertion(+), 2098 deletions(-) delete mode 100644 aurmr_tasks/frames.gv delete mode 100755 aurmr_tasks/scripts/analyze_workspace_LOOPED delete mode 100644 aurmr_tasks/scripts/analyze_workspace_launcher.py delete mode 100755 aurmr_tasks/scripts/analyze_workspace_old delete mode 100644 aurmr_tasks/scripts/manipData.txt delete mode 100644 aurmr_tasks/scripts/plot_data.py delete mode 100644 aurmr_tasks/scripts/plot_scores.png delete mode 100644 aurmr_tasks/scripts/successScores_60-100-2_00-93-3.txt delete mode 100644 aurmr_tasks/scripts/successScores_600-1000-25_220-940-80.txt delete mode 100644 aurmr_tasks/scripts/successScores_62-100-2_00-93-3.txt delete mode 100644 aurmr_tasks/scripts/successScores_720-760_560-580.txt delete mode 100644 aurmr_tasks/scripts/successScores_720-960-20_360-580-20.txt delete mode 100644 aurmr_tasks/scripts/successScores_780-820_560-580.txt delete mode 100644 aurmr_tasks/scripts/successScores_830-830_360-470.txt delete mode 100644 aurmr_tasks/scripts/successScores_830-830_480-580.txt delete mode 100644 aurmr_tasks/scripts/successScores_832-832_412-412.txt delete mode 100644 aurmr_tasks/scripts/successScores_832-832_412-412_0.txt delete mode 100644 aurmr_tasks/scripts/successScores_832-834_412-414.txt delete mode 100644 aurmr_tasks/scripts/successScores_840-880_560-580.txt delete mode 100644 aurmr_tasks/scripts/successScores_900-960_560-580.txt delete mode 100644 aurmr_tasks/scripts/successScores_940-960_520-540.txt delete mode 100644 aurmr_tasks/scripts/successScores_940-960_550-570.txt delete mode 100644 aurmr_tasks/src/aurmr_tasks/common/tahoma_old.py delete mode 100644 manipData.txt rename tahoma_description/{robots => config}/pod1_recipe_790-00265-021_2.txt (100%) rename tahoma_description/{robots => config}/pod2_recipe_790-00265-022_2.txt (100%) delete mode 100644 tahoma_description/urdf/tahoma_old.xacro diff --git a/aurmr_tasks/frames.gv b/aurmr_tasks/frames.gv deleted file mode 100644 index e7789b4..0000000 --- a/aurmr_tasks/frames.gv +++ /dev/null @@ -1,2 +0,0 @@ -digraph G { -"no tf data recieved"} \ No newline at end of file diff --git a/aurmr_tasks/scripts/analyze_workspace_LOOPED b/aurmr_tasks/scripts/analyze_workspace_LOOPED deleted file mode 100755 index 5b84437..0000000 --- a/aurmr_tasks/scripts/analyze_workspace_LOOPED +++ /dev/null @@ -1,113 +0,0 @@ -#!/usr/bin/env python - -import random -import std_msgs -import visualization_msgs.msg - -import rospy -from smach import State - -from aurmr_tasks.common.tahoma import Tahoma - -import numpy as np -from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion -from tf_conversions import transformations - -from aurmr_perception.visualization import create_gripper_pose_markers - -import copy -from aurmr_tasks.pod import BIN_IDS - -def main(x_distance, loop_times): - # setup simulation - rospy.loginfo('Getting robot resources') - rospy.init_node("analyze_workspace") - simulation = rospy.get_param("/use_sim_time", False) - State.simulation = simulation - robot = Tahoma(simulation) - - # for storing manipulability data over 1 trial (manip %, green, white) - looped_data = open("looped_Data.csv", "w") - looped_data.write('manip %, green, white') - looped_data.write("\n") - - # box and whisker plot file for storing manipulability data over multiple trials - box_data = open("boxPlot_data.csv", "a") - box_data.write("\n") - - # manually change distance everytime program is run - box_data.write(str(x_distance) + ", ") - - # add pod collision boxes to planning scene - robot.add_pod_collision_geometry() - - # where robot position relative to bin gets hardcoded - align_to_bin_orientation = transformations.quaternion_from_euler(-1.57, 0, 0) - align_to_bin_quat = Quaternion(x=align_to_bin_orientation[0], y=align_to_bin_orientation[1], z=align_to_bin_orientation[2], w=align_to_bin_orientation[3]) - BIN_APPROACH_POSES = [] - BIN_INNER_POSES = [] - for bin_id in BIN_IDS: - frame_name = f"pod_bin_{bin_id}" - # change y value in pose, position to alter distance of pre-grasp pose from bin - BIN_APPROACH_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), pose=Pose(position=Point(x=.125, y=-0.10,z=.07), orientation=align_to_bin_quat))) - for j in range(10): - # Get some randomly offset poses in the bin to see if we'll be able to reach the inside - perturbed_quat = [align_to_bin_quat.x, align_to_bin_quat.y, align_to_bin_quat.z, align_to_bin_quat.w] + np.random.uniform(-.2, .2, 4) - perturbed_quat /= np.linalg.norm(perturbed_quat) - perturbed_quat_msg = Quaternion(x=perturbed_quat[0], y=perturbed_quat[1], z=perturbed_quat[2], w=perturbed_quat[3]) - BIN_INNER_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), pose=Pose(position=Point(x=.125 + random.uniform(-.1, .1), y=random.uniform(-0,.1),z=.07 + random.uniform(0, .05)), orientation=perturbed_quat_msg))) - - for i in range(loop_times): - print("trail: " + str(i)) - calculate_ik(looped_data, box_data, BIN_APPROACH_POSES, robot) - - looped_data.close() - box_data.close() - -def calculate_ik(file_name, file_name2, approaches, robot): - - REACHABLE_BIN_APPROACHES = [] - MANIPULABLE_APPROACHES = [] - - print("Determining approachable bins...") - - # cartesian manipulability test for bin approach poses - counter = 0 - for approach in enumerate(approaches): - - pose = copy.deepcopy(approach[1]) - manip = robot.compute_ik_cartesian(pose, pose.pose, rospy.Duration(0)) - - # not reachable or no viable path to bin pose - if (len(manip) == 0): - print(str(counter) + " has no viable path") - - else: - print("cond num " + str(counter) + " has a solution.") - REACHABLE_BIN_APPROACHES.append(approach) - - sorted = copy.deepcopy(manip) - sorted.sort() - - # how skewed is the data towards infinitiy (singularity)? how safely manipulatable is the object? - manipThreshold = 400 - - if (sorted[len(sorted)-1] >= manipThreshold): - print("solution but above manipulability threshold") - else : - MANIPULABLE_APPROACHES.append(approach) - - counter = counter + 1 - - ratio = len(MANIPULABLE_APPROACHES)/len(REACHABLE_BIN_APPROACHES) - - file_name.write(str(ratio * 100) + ", ") - file_name2.write(str(ratio * 100) + ", ") - - file_name.write(str(len(MANIPULABLE_APPROACHES)) + ", ") - file_name.write(str(len(REACHABLE_BIN_APPROACHES) - len(MANIPULABLE_APPROACHES)) + "\n") - -if __name__ == '__main__': - main(0.677,100) - - diff --git a/aurmr_tasks/scripts/analyze_workspace_launcher.py b/aurmr_tasks/scripts/analyze_workspace_launcher.py deleted file mode 100644 index 04ec076..0000000 --- a/aurmr_tasks/scripts/analyze_workspace_launcher.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python - -import rospy -import subprocess - -def main(): - pod_x = rospy.get_param('~pod_x', 'default_arg1_value') - pod_y = rospy.get_param('~pod_y', 'default_arg2_value') - - cmd = ['python', '/path/to/my_script.py', pod_x, pod_y] - - subprocess.call(cmd) - -if __name__ == '__main__': - rospy.init_node('my_script_launcher') - main() \ No newline at end of file diff --git a/aurmr_tasks/scripts/analyze_workspace_old b/aurmr_tasks/scripts/analyze_workspace_old deleted file mode 100755 index fa73cac..0000000 --- a/aurmr_tasks/scripts/analyze_workspace_old +++ /dev/null @@ -1,347 +0,0 @@ -#!/usr/bin/env python -import sys -""" -If not added to sys.path, then -"from aurmr_tasks.common.tahoma import Tahoma", -"from aurmr_perception.visualization import create_gripper_pose_markers", -"from aurmr_tasks.pod import BIN_IDS" -will not be compiled -""" -sys.path.append('/home/patorrad/aurmr_ws/src/aurmr_tahoma') -print("\n-------------------") -print(sys.path) -print("-------------------\n") - -import math -import random -import std_msgs -import visualization_msgs.msg - -import rospy -from smach import State - -from aurmr_tasks.src.aurmr_tasks.common.tahoma import Tahoma -# from aurmr_tasks.common.tahoma import Tahoma - -import numpy as np -from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion, TransformStamped -from tf2_msgs.msg import TFMessage -from gazebo_msgs.msg import LinkStates -from tf_conversions import transformations - -from aurmr_perception.src.aurmr_perception.visualization import create_gripper_pose_markers -# from aurmr_perception.visualization import create_gripper_pose_markers - -import copy -from aurmr_tasks.src.aurmr_tasks.pod import BIN_IDS -# from aurmr_tasks.pod import BIN_IDS - -def main(TEST_MODE, BIN_POSE_RAND_N, dRoll, dPitch, dYaw): - # add pod collision boxes to planning scene - robot.add_pod_collision_geometry() - # print('\n--------') - # print(robot.scene.get_known_object_names()) - # print(robot.scene.get_object_poses(['back_frame'])) - # print('---------\n') - # robot.remove_pod_collision_geometry() - - # for creating histogram to manually set manipulability threshold - file = open("manipData.txt", "w") - - dYaw *= np.pi / 180 * 1/2 - # Redefine dRoll to use sampling weight function - dRoll = dRoll/2 if dRoll != 0 else 0.001 - # Redefine dRoll to use sampling weight function - dPitch = dPitch/2 if dPitch != 0 else 0.001 - - POD_BIN_HEIGHTS = robot.pod_sizes["pod_bin_heights"] - POD_BIN_FLAP_HEIGHT = robot.pod_sizes["pod_bin_flap_height"] - POD_BRACE_WIDTH = robot.pod_sizes["pod_brace_width"] - POD_BIN_WIDTH = POD_BRACE_WIDTH / 4 - POD_BRACE_FRAME_WIDTH = robot.pod_sizes["pod_brace_frame_width"] - pod_bin_row_id = 0 - - EEF_RADIUS = robot.end_effector["epick_end_effect_R"] - - ''' - x could be x,z pre-grasp position Cartesian coordinates relative to pod_bin reference frames - -POD_BIN_WIDTH/2 < x < POD_BIN_WIDTH/2 | -POD_BIN_HEIGHT/2 < z < POD_BIN_HEIGHT/2 - angle: dRoll (defines change in z), dPitch (defines change in x) - ''' - # Posititon Weight Sampling Function - # Both functions are symetrical to each other, so that's why we use math.abs(x) - # But, in general functions look like: - # If sgn(x) = (+) -> (1 + math.exp(-1)) / (1 + math.exp(+angle * (x - 1/angle))) - # If sgn(x) = (-) -> (1 + math.exp(-1)) / (1 + math.exp(-angle * (x + 1/angle))) - POSITION_WEIGHT_SAMPLING_FUNC = np.vectorize(lambda x, angle: (1 + math.exp(-1)) / (1 + math.exp(angle * (abs(x) - 1/angle)))) - - # Orientation Weight Sampling Function - # Both functions are the same: - # But, in general functions look like: - # If sgn(x) = (+) -> (1 - math.atan2(2 * (+angle) * math.exp(-angle * x), (1 + math.exp(-angle * x)**2)) / math.atan2(+angle, 2)) - # If sgn(x) = (-) -> (1 - math.atan2(2 * (-angle) * math.exp(+angle * x), (1 + math.exp(+angle * x)**2)) / math.atan2(-angle, 2)) - ORIENTATION_SAMPLING_FUNC = np.vectorize(lambda x, angle: sgn(-x) * (1 - math.atan2(2 * (-angle) * math.exp(angle * x), (1 + math.exp(angle * x)**2)) / math.atan2(-angle, 2))) - - # UR16e pose repeatability 0.05mm, from official technical specification - UR16e_POSE_REPEATABILITY = 0.0005 - pod_side_bin_half_width = (POD_BIN_WIDTH - POD_BRACE_FRAME_WIDTH - 2 * EEF_RADIUS)/2 - pod_midl_bin_half_width = (POD_BIN_WIDTH - 2 * EEF_RADIUS)/2 - # POSITIONS_X_SIDE_BIN and POSITIONS_X_MIDL_BIN has the same size, although not the same step - positions_x_side_bin = np.linspace(start=-pod_side_bin_half_width, stop=pod_side_bin_half_width, num=int(pod_side_bin_half_width/UR16e_POSE_REPEATABILITY)) / pod_side_bin_half_width - positions_x_midl_bin = np.linspace(start=-pod_midl_bin_half_width, stop=pod_midl_bin_half_width, num=int(pod_side_bin_half_width/UR16e_POSE_REPEATABILITY)) / pod_midl_bin_half_width - - # np.array (2, POSITIONS_X_NUM) of positions x for side (1st row) and middle (2nd row) bins - position_sampling_weights_x = np.vstack((POSITION_WEIGHT_SAMPLING_FUNC(positions_x_side_bin, dPitch), - POSITION_WEIGHT_SAMPLING_FUNC(positions_x_midl_bin, dPitch))) - # Normalize weights for each row - position_sampling_weights_x /= np.sum(position_sampling_weights_x, axis=1).reshape(-1, 1) - - align_to_bin_orientation = transformations.quaternion_from_euler(-np.pi/2, 0, 0, axes='rxyz') - # align_to_bin_orientation = transformations.quaternion_from_euler(0, 0, 0) - align_to_bin_quat = Quaternion(x=align_to_bin_orientation[0], y=align_to_bin_orientation[1], z=align_to_bin_orientation[2], w=align_to_bin_orientation[3]) - - BIN_APPROACH_POSES = [] - BIN_INNER_POSES = [] - for column_id, bin_id in enumerate(BIN_IDS, start=1): - frame_name = f"pod_bin_{bin_id}" - - # change y value in pose, position to alter pre-grasp pose distance -> if we change this value need to change xoffset of 2nd cartesian waypoint - # (.9398 (POD_SIZE)/4-.003 (WALL_WIDTH))/2 -> x = .115 - # perturbed_quat = transformations.quaternion_from_euler(-np.pi/2 + np.random.uniform(-dRoll, dRoll), np.random.uniform(-dYaw, dYaw), np.random.uniform(-dPitch, dPitch)) - # perturbed_quat_msg = Quaternion(x=perturbed_quat[0], y=perturbed_quat[1], z=perturbed_quat[2], w=perturbed_quat[3]) - - # Use different heights for bins in different rows - pod_bin_height = POD_BIN_HEIGHTS[pod_bin_row_id] - pod_bin_row_id += 1 if column_id % 4 == 0 else 0 - - # Set initial pose at the center* (pod height - pod flap height) of each (x,z) bin with perpendicular orientation (quat) - # Take into account the brace frame width for side bins - X_OFFSET = (POD_BIN_WIDTH - POD_BRACE_FRAME_WIDTH * int((column_id % 4 == 0) or (column_id % 4 == 1))) / 2 + POD_BRACE_FRAME_WIDTH * int(column_id % 4 == 1) - # Adjust y-offset if necessary - Y_OFFSET = .0 - Z_OFFSET = (pod_bin_height - POD_BIN_FLAP_HEIGHT) / 2 + POD_BIN_FLAP_HEIGHT - - BIN_APPROACH_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), pose=Pose(position=Point(x=X_OFFSET, y=Y_OFFSET, z=Z_OFFSET), orientation=align_to_bin_quat))) - # BIN_APPROACH_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), pose=Pose(position=Point(x=.125, y=0.02, z=.07), orientation=align_to_bin_quat))) - - if column_id % 4 == 1: - pod_bin_half_height = (pod_bin_height - 2 * EEF_RADIUS - POD_BIN_FLAP_HEIGHT)/2 - positions_z = np.arange(start=-pod_bin_half_height, stop=pod_bin_half_height, step=2*UR16e_POSE_REPEATABILITY) / pod_bin_half_height - position_sampling_weights_z = POSITION_WEIGHT_SAMPLING_FUNC(positions_z, dRoll) - # Give some extra priority to positions close to the bottom of bins (negative z) - position_sampling_weights_z[:int(pod_bin_half_height/(2*UR16e_POSE_REPEATABILITY))] += np.linspace(start=1.0, stop=0.0, num=int(pod_bin_half_height/(2*UR16e_POSE_REPEATABILITY))) - # Normalize weights - position_sampling_weights_z /= np.sum(position_sampling_weights_z) - - # Generate random set of x with given weights position_sampling_weights_x over given range positions_x_side_bin/positions_x_midl_bin - # Don't forget to multiply to pod_side_bin_half_width/pod_midl_bin_half_width as range positions_x_side_bin/positions_x_midl_bin lies within [-1, 1] - if (column_id % 4 == 0) or (column_id % 4 == 1): - rand_positions_x = np.random.choice(positions_x_side_bin, size=BIN_POSE_RAND_N, p=position_sampling_weights_x[0]) - else: - rand_positions_x = np.random.choice(positions_x_midl_bin, size=BIN_POSE_RAND_N, p=position_sampling_weights_x[1]) - # Generate random set of z with given weights position_sampling_weights_z over given range positions_z - # Don't forget to multiply to pod_bin_half_height as range positions_z lies within [-1, 1] - rand_positions_z = np.random.choice(positions_z, size=BIN_POSE_RAND_N, p=position_sampling_weights_z) - - # Compute rand orientation (roll, pitch) according to ORIENTATION_SAMPLING_FUNC - # Don't forgert to scale rand orientations to given max angle (dRoll, dPitch) as ORIENTATION_SAMPLING_FUNC lies within [-1, 1] - rand_orientation_pitch = ORIENTATION_SAMPLING_FUNC(rand_positions_x, dPitch) * dPitch * np.pi / 180 - rand_orientation_roll = ORIENTATION_SAMPLING_FUNC(rand_positions_z, dRoll ) * dRoll * np.pi / 180 - # Don't forget to scale rand positions to given max size (positions_x_side_bin/positions_x_midl_bin, pod_bin_half_height) as they lie within [-1, 1] - rand_positions_x *= pod_side_bin_half_width if ((column_id % 4 == 0) or (column_id % 4 == 1)) else pod_midl_bin_half_width - rand_positions_z *= pod_bin_half_height - - for j in range(BIN_POSE_RAND_N): - perturbed_quat = transformations.quaternion_from_euler(-np.pi/2 + rand_orientation_roll[j], rand_orientation_pitch[j], np.random.uniform(-dYaw, dYaw), axes='rxyz') - perturbed_quat_msg = Quaternion(x=perturbed_quat[0], y=perturbed_quat[1], z=perturbed_quat[2], w=perturbed_quat[3]) - BIN_INNER_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), - pose=Pose(position=Point(x=X_OFFSET + rand_positions_x[j], y=Y_OFFSET, z=Z_OFFSET + rand_positions_z[j]), - orientation=perturbed_quat_msg))) - - # for j in range(bin_pose_randN): - # Get some randomly offset poses in the bin to see if we'll be able to reach the inside - # perturbed_quat = [align_to_bin_quat.x, align_to_bin_quat.y, align_to_bin_quat.z, align_to_bin_quat.w] + np.random.uniform(-.2, .2, 4) - # perturbed_quat /= np.linalg.norm(perturbed_quat) - # perturbed_quat_msg = Quaternion(x=perturbed_quat[0], y=perturbed_quat[1], z=perturbed_quat[2], w=perturbed_quat[3]) - # perturbed_quat = transformations.quaternion_from_euler(-np.pi/2 + np.random.uniform(-dRoll, dRoll), np.random.uniform(-dPitch, dPitch), np.random.uniform(-dYaw, dYaw), axes='rxyz') - # perturbed_quat_msg = Quaternion(x=perturbed_quat[0], y=perturbed_quat[1], z=perturbed_quat[2], w=perturbed_quat[3]) - # BIN_INNER_POSES.append(PoseStamped(header=std_msgs.msg.Header(frame_id=frame_name), - # pose=Pose(position=Point(x=X_OFFSET + random.uniform(-.1, .1), y=Y_OFFSET + random.uniform(-0,.1), z=Z_OFFSET + random.uniform(0, .05)), - # orientation=perturbed_quat_msg))) - - # storing info variables - # change flag to run manipulabilitytest - reachability = True if not TEST_MODE else False - reachability_pub = rospy.Publisher("~/reachability", visualization_msgs.msg.MarkerArray, queue_size=1, latch=True) - REACHABLE_BIN_APPROACHES = [] # total poses = 572 - marker_colors = [] - - #reachability test for bin inner poses - if (reachability): - print("Determining reachable bins...") - - for i, pose in enumerate(BIN_INNER_POSES): - solution = robot.compute_ik(pose, rospy.Duration(0)) - if solution: - print("pose " + str(i) + " has solution") - REACHABLE_BIN_APPROACHES.append(pose) - marker_colors.append((0, 1, 0, 1)) - else: - print("pose " + str(i) + " not reachable") - marker_colors.append((1, 0, 0, 1)) - - print(len(REACHABLE_BIN_APPROACHES)) - print(len(BIN_INNER_POSES)) - - ratio = len(REACHABLE_BIN_APPROACHES)/len(BIN_INNER_POSES) - print("Reachability Score : " + str(ratio * 100)) - - reachability_pub.publish(create_gripper_pose_markers(BIN_INNER_POSES, marker_colors)) - # return (ratio * 100) - - # manipulability test for bin approach poses - else : - print("Determining manipulable bins...") - MANIPULABLE_APPROACHES = [] - - # cartesian manipulability test for bin approach poses - counter = 0 - for approach in enumerate(BIN_APPROACH_POSES): - print('-------------------------------------------') - pose = copy.deepcopy(approach[1]) - manip = robot.compute_ik_cartesian(pose, pose.pose, rospy.Duration(0)) - - # not reachable or no viable path to bin pose - if (len(manip) == 0): - print(str(counter)) - marker_colors.append((1, 0, 0, 1)) #red - else: - print("cond num " + str(counter) + " has a solution.") - REACHABLE_BIN_APPROACHES.append(approach) - for i in manip: - file.write(str(i) + ", ") - - sorted = copy.deepcopy(manip) - sorted.sort() - - # how skewed is the data towards infinitiy (singularity)? how safely manipulatable is the object? - manipThreshold = 400 - - if (sorted[len(sorted)-1] >= manipThreshold): - print("solution but above manipulability threshold") - marker_colors.append((1, 1, 1, 1)) #white - else : - marker_colors.append((0, 1, 0, 1)) #green - MANIPULABLE_APPROACHES.append(approach) - - counter = counter + 1 - - file.close() - - if (len(REACHABLE_BIN_APPROACHES) == 0) : - print("no bins reachable") - else : - ratio = len(MANIPULABLE_APPROACHES)/len(REACHABLE_BIN_APPROACHES) - print("Manipulability Score : " + str(ratio * 100)) - - print("Manipulatable Points (Green) : " + str(len(MANIPULABLE_APPROACHES))) - print("Reachable but not Manipulatable Points (White) : " + str(len(REACHABLE_BIN_APPROACHES) - len(MANIPULABLE_APPROACHES))) - - reachability_pub.publish(create_gripper_pose_markers(BIN_APPROACH_POSES, marker_colors)) - - - print("Published visualization data. Spinning to keep topic open.") - rospy.spin() - -def sgn(x): - if x < 0: - return -1 - elif x > 0: - return 1 - else: - return 0 - -# def callback(data, arg): -# pose_pub = arg -# transforms = data.transforms -# if transforms[0].header.frame_id == "base_link": -# print(transforms[0].transform.translation.x) -# transforms[0].transform.translation.x = 0.4 -# pose_pub.publish(transforms) - -# def pose(): -# rospy.init_node("analyze_workspace") -# pose_pub = rospy.Publisher('/tf_static', TFMessage, queue_size=1) -# pose_sub = rospy.Subscriber("/tf_static", TFMessage, callback, (pose_pub)) -# rospy.spin() - - -def podPose_subCallback(TFmessage): - for trnsfrm in TFmessage.transforms: - if trnsfrm.child_frame_id == "pod_base_link": - print("\ntf_static rostopic message: ") - print(f"x: {trnsfrm.transform.translation.x}, y: {trnsfrm.transform.translation.y}\n") - - -# def transform_msg(x=0.6, y=0.4125): -# transform = TransformStamped() -# transform.header.stamp = rospy.Time.now() -# transform.header.frame_id = 'base_link' -# transform.child_frame_id = 'pod_base_link' -# transform.transform.translation.x = x -# transform.transform.translation.y = y -# transform.transform.translation.z = 0.0 -# transform.transform.rotation.x = 0.0 -# transform.transform.rotation.y = 0.0 -# transform.transform.rotation.z = -0.706825181105366 -# transform.transform.rotation.w = 0.7073882691671998 -# return transform - - -# robot position relative to bin gets hardcoded in fc.launch file -if __name__ == '__main__': - rospy.loginfo('Getting robot resources') - rospy.init_node("analyze_workspace") - simulation = rospy.get_param("/use_sim_time", False) - State.simulation = simulation - robot = Tahoma(simulation) - bin_pose_randN = rospy.get_param("bin_pose_randN", 100) # Number of random pre-grasp poses for each bin - dRoll = rospy.get_param("deltaRoll", 8) # Roll change upper-limit in random pre-grasp pose generation (degrees) - dPitch = rospy.get_param("deltaPitch", 8) # Pitch change upper-limit in random pre-grasp pose generation (degrees) - dYaw = rospy.get_param("deltaYaw", 360) # Yaw change upper-limit in random pre-grasp pose generation (degrees) - - test_mode = rospy.get_param("test_mode", 0) # test_mode = 0: Reachibility | test_mode = 1: Manipulability - - # print(rospy.get_param("/use_sim_time", False)) - # print(rospy.get_param('/pod_sim_description')) - # rospy.init_node("analyze_workspace") - # pose_sub = rospy.Subscriber("tf", TFMessage, callback) - - # podPose_pub = rospy.Publisher('/tf_static', TFMessage, queue_size=1) - podPose_sub = rospy.Subscriber('/tf_static', TFMessage, podPose_subCallback) - - print(f"eef_link: {robot.eef_link}\n") - - # Pod positon in centimeters, won't work as pod pose already set by launch file - # xStart = 60 - # xStop = 81 - # xStep = 5 - # yStart = 41 - # yStop = 46 - # yStep = 5 - # with open('successScores.txt', 'a') as file: - # for x in range(xStart, xStop, xStep): - # for y in range(yStart, yStop, yStep): - # tf_msg = TFMessage() - # tf_msg.transforms.append(transform_msg(x / 100, y / 100)) - # podPose_pub.publish(tf_msg) - # file.write(str(x / 100) + " " + str(y / 100) + " ") - # file.write(str(round(main(), 4)) + "\n") - - # Tested Currently - # pod_x = rospy.get_param('pod_x') - # pod_y = rospy.get_param('pod_y') - # with open('successScores.txt', 'a') as file: - # file.write(str(pod_x) + " " + str(pod_y) + " " + str(round(main(), 4)) + "\n") - - main(test_mode, bin_pose_randN, dRoll, dPitch, dYaw) diff --git a/aurmr_tasks/scripts/manipData.txt b/aurmr_tasks/scripts/manipData.txt deleted file mode 100644 index e69de29..0000000 diff --git a/aurmr_tasks/scripts/plot_data.py b/aurmr_tasks/scripts/plot_data.py deleted file mode 100644 index 7ed4501..0000000 --- a/aurmr_tasks/scripts/plot_data.py +++ /dev/null @@ -1,79 +0,0 @@ -import matplotlib.pyplot as plt -import csv -import statistics - -# program to get box and whisker plot of manipulability %'s one one graph -def boxPlot_multiple(): - file = open("boxPlot_data.csv", 'r') - data = csv.reader(file, delimiter = ',') - emptyLine = next(data) - - data_dict = {} - - # key: distance of pod relative to bin - # value: 10 manipulability %'s - for line in data: - distance = float(line[0]) - percents = [float(line[1]), float(line[2]), float(line[3]), float(line[4]), float(line[5]), float(line[6]), float(line[7]), float(line[8]),float(line[9]), float(line[10])] - data_dict[distance] = percents - - print(str(distance)) - print("Manipulability % MEAN: " + str(statistics.mean(percents))) - print("Manipulability % STDEV: " + str(statistics.stdev(percents))) - print("---------------------------------------------") - - fig,ax = plt.subplots() - - ax.set_title('Box plot of manipulability percents for multiple distances') - ax.set_xlabel('distance of pod relative to robot(m)') - ax.set_ylabel('manipulability %') - - ax.boxplot(data_dict.values()) - ax.set_xticklabels(data_dict.keys()) - - plt.show() - -#program for determining manipulability threshold -def manip_threshold(): - file = open("manipData.txt", "r") - data = csv.reader(file, delimiter = ",") - - pts = [42,38,36,38,38,46,38,32,32,40] - - for pt in data: - for val in pt: - if (val != ' ') : - pts.append(float(val)) - - n,bins,patches = plt.hist(pts, 20, range = (30,50), density = True) - - plt.show() - -#program to get box and whisker plot of manipulability %'s -def boxPlot_single(): - header = [] - manipPercent = [] - green = [] - white = [] - - file = open("looped_Data.csv", 'r') - data = csv.reader(file, delimiter = ',') - header = next(data) - - for line in data: - manipPercent.append(float(line[0])) - green.append(float(line[1])) - white.append(float(line[2])) - - print("Manipulability % MEAN: " + str(statistics.mean(manipPercent))) - print("Manipulability % STDEV: " + str(statistics.stdev(manipPercent))) - - #box = plt.boxplot(manipPercent) - #fig = plt.figure() - #ax = fig.add_subplot() - - pts = plt.scatter(green, white) - -# robot position relative to bin 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REACHABLE - error_str = moveit_error_string(response.error_code.val) - print('er str', error_str) - success = error_str == 'SUCCESS' - if not success: - return False - - # manually clip joint states to fit joint_limits.yaml - joint_state = response.solution.joint_state - joint_state.position = np.clip(joint_state.position, -3.141592653589793, 3.141592653589793) - # print(joint_state.position) - - # get corresponding trajectory - path = self.move_group.plan(joint_state) - # print(path[0]) - joint_traj = path[1] - waypoints = joint_traj.joint_trajectory.points - - # if no waypoints -> NO REASONABLE PATH to pose - if (len(waypoints) == 0): - # print("no reasonable waypoints") - return False - - return waypoints - - def compute_ik_cartesian(self, pose_stamped, cartPos, timeout=rospy.Duration(5)): - # set robot state to home state each time method is run - self.move_group.set_start_state(self.get_home_state()) - - # compute the ik solution for the robot to move to the front of the bin - request = GetPositionIKRequest() - request.ik_request.pose_stamped = pose_stamped - request.ik_request.group_name = 'manipulator' - request.ik_request.timeout = timeout - response = self._compute_ik(request) - - # if no ik solution calculated return error -> NOT REACHABLE - error_str = moveit_error_string(response.error_code.val) - - # jacobian matrix for cartesian and compute ik waypoints - jacobians = [] - waypoints = [] - - success = error_str == 'SUCCESS' - if not success: - print("bin not reachable: no compute ik solution - ") - return waypoints - - # get joint states for moving to the position in front of the bin - joint_state = response.solution.joint_state - # manually clip joint states to fit joint_limits.yaml - joint_state.position = np.clip(joint_state.position, -3.141592653589793, 3.141592653589793) - joint_state_copy = copy.deepcopy(joint_state) - - # get robot trajectory from path to ik solution based on joint states - path = self.move_group.plan(joint_state) - print("ERROR CODE:") - print(path[3]) - joint_traj = path[1] - waypoints = joint_traj.joint_trajectory.points - # if no waypoints -> NO REASONABLE PATH to pose - if (len(waypoints) == 0): - print("no reasonable waypoints") - return waypoints - - # calculate jacobian matrix for each cartesian point - self.jacobian_matrix_wpts(waypoints, jacobians) - - # create and set new robot state to right in front of bin based on joint state solution from waypoints - new_state = self.move_group.get_current_state() - - lst = list(joint_state_copy.position) - lst[0:6] = waypoints[-1].positions - joint_state_copy.position = tuple(lst) - - new_state.joint_state = joint_state_copy - - self.move_group.set_start_state(new_state) - - # setup waypoints for cartesian path plan - wpts = [] - wpts.append(cartPos) - cartPos.position.x = cartPos.position.x + 0.25 # change x-offset to go all the way into the bin - wpts.append(cartPos) - - path = self.move_group.compute_cartesian_path(waypoints = wpts, eef_step = 0.01, jump_threshold = 6, avoid_collisions=True) - # get waypoints from cartesian path plan - waypoints = path[0].joint_trajectory.points - - # calculate jacobian matrix for each cartesian point - self.jacobian_matrix_wpts(waypoints, jacobians) - # get array of manipulability measures - condition_num = np.linalg.cond(jacobians) #using default norm value - return list(condition_num) - - def get_home_state(self): - return self.home_state - - # calculate jacobian matrix for each cartesian point - def jacobian_matrix_wpts(self, waypoints, jacobians): - for pt in waypoints: - jnts = pt.positions - matrix = np.array(self.move_group.get_jacobian_matrix(list(jnts))) - jacobians.append(matrix) - - return jacobians - - def get_jacobian_matrix(self): - current = self.move_group.get_joint_value_target() - matrix = np.array(self.move_group.get_jacobian_matrix(current)) - return matrix - - def cancel_all_goals(self): - self._move_group_client.cancel_all_goals() - self._joint_traj_client.cancel_all_goals() - - def clear_scene(self): - self.scene.clear() - print("cleared") - - def remove_pod_collision_geometry(self): - #self.scene.remove_world_object("col_01") - self.scene.clear() - - - def add_pod_collision_geometry(self, start=0, stop=1, step=1): - POD_SIZE = .9398 - HALF_POD_SIZE = POD_SIZE / 2 - WALL_WIDTH = 0.003 - I_QUAT = Quaternion(x=0, y=0, z=0, w=1) - ROT_90_Z_QUAT = Quaternion(x=0, y=0, z=.707, w=.707) - - - # reload collision boxes for testing puposes - print(self.scene.clear()) - - while start < stop : - start += step - # setup collision boxes - self.scene.add_box("col_01", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=0.045, y=HALF_POD_SIZE, z=1.45), - orientation=I_QUAT)), (WALL_WIDTH, POD_SIZE, 2.3)) - self.scene.add_box("col_02", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=0.5*HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.45), - orientation=I_QUAT)), (WALL_WIDTH, POD_SIZE, 2.3)) - self.scene.add_box("col_03", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.45), - orientation=I_QUAT)), (WALL_WIDTH, POD_SIZE, 2.3)) - self.scene.add_box("col_04", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=1.5*HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.45), - orientation=I_QUAT)), (WALL_WIDTH, POD_SIZE, 2.3)) - self.scene.add_box("col_05", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=POD_SIZE-0.045, y=HALF_POD_SIZE, z=1.45), - orientation=I_QUAT)), (WALL_WIDTH, POD_SIZE, 2.3)) - self.scene.add_box("row_01", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=0.34), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_02", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=0.56), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_03", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=0.70), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_04", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=0.89), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_05", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.04), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_06", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.16), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_07", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.38), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_08", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.51), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_09", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.66), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_10", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=1.79), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_11", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=2.01), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_12", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=2.14), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_13", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=2.29), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("row_14", PoseStamped(header=std_msgs.msg.Header(frame_id="pod_base_link"), - pose=Pose(position=Point(x=HALF_POD_SIZE, y=HALF_POD_SIZE, z=2.57), - orientation=I_QUAT)), (POD_SIZE, POD_SIZE, WALL_WIDTH)) - self.scene.add_box("back_frame", PoseStamped(header=std_msgs.msg.Header(frame_id="base_link"), - pose=Pose(position=Point(x=-0.28, y=0, z=1.27), - orientation=ROT_90_Z_QUAT)), (1.45, .2, 1.5)) - \ No newline at end of file diff --git a/manipData.txt b/manipData.txt deleted file mode 100644 index e69de29..0000000 diff --git a/tahoma_description/robots/pod1_recipe_790-00265-021_2.txt b/tahoma_description/config/pod1_recipe_790-00265-021_2.txt similarity index 100% rename from tahoma_description/robots/pod1_recipe_790-00265-021_2.txt rename to tahoma_description/config/pod1_recipe_790-00265-021_2.txt diff --git a/tahoma_description/robots/pod2_recipe_790-00265-022_2.txt b/tahoma_description/config/pod2_recipe_790-00265-022_2.txt similarity index 100% rename from tahoma_description/robots/pod2_recipe_790-00265-022_2.txt rename to tahoma_description/config/pod2_recipe_790-00265-022_2.txt diff --git a/tahoma_description/urdf/tahoma.xacro b/tahoma_description/urdf/tahoma.xacro index ecbc9dd..4a517b3 100644 --- a/tahoma_description/urdf/tahoma.xacro +++ b/tahoma_description/urdf/tahoma.xacro @@ -7,7 +7,6 @@ - - - - - - - --> - - - - - - - - - - - - - - - - - - diff --git a/tahoma_description/urdf/tahoma_old.xacro b/tahoma_description/urdf/tahoma_old.xacro deleted file mode 100644 index 3b1dcc0..0000000 --- a/tahoma_description/urdf/tahoma_old.xacro +++ /dev/null @@ -1,198 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - --> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -