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supervisor.py
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supervisor.py
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# Copyright 2021 CNRS - Airbus SAS
# Author: Florent Lamiraux, Joseph Mirabel
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are
# met:
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. 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.
# 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
# HOLDER 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.
# Theses variables are defined:
# - robot, a SoT device
# - simulateTorqueFeedbackForEndEffector, a boolean
import time
from agimus_sot.react import TaskFactory, localizeObjectOnLoopTransition
from agimus_sot.action import Action
from dynamic_graph.ros.ros_publish import RosPublish
Action.maxControlSqrNorm = 20
# Action to be performed at start of pre-action of transition
# "ur10e/gripper > part/handle_{} | f_12"
class ObjectLocalization(object):
timeout = 5
def __init__(self, sotrobot, factory, gripper, handle):
self.sotrobot = sotrobot
self.objectLocalization = factory.tasks.getGrasp(gripper, handle)\
['pregrasp'].objectLocalization
# JESSY 05/12 setVisualServoingMode to False.
self.objectLocalization.setVisualServoingMode(False)
self.handle = handle
self.localizationFailedTopic = "/agimus/status/localization_failed"
self.localizationFailedPublisher = RosPublish("localizationFailedPublisher")
self.localizationFailedPublisher.add('string', 'localizationFailedPublisher-'+handle, self.localizationFailedTopic)
self.localizationFailedPublisher.signal('localizationFailedPublisher-'+handle).value = ""
def __call__(self):
ts = self.sotrobot.device.getTimeStep()
to = int(self.timeout / self.sotrobot.device.getTimeStep())
start_it = self.sotrobot.device.control.time
while True:
t = self.sotrobot.device.control.time
if t > start_it + to:
print("Failed to perform object localization")
self.localizationFailedPublisher.signal('trigger').recompute(t)
return False, "Failed to perform object localization"
self.objectLocalization.trigger(t)
if self.objectLocalization.done.value:
print("Successfully performed object localization")
return True, ""
time.sleep(ts)
def wait():
print("Waiting 1 second")
time.sleep(1)
return True, ""
def makeSupervisorWithFactory(robot):
from agimus_sot import Supervisor
from agimus_sot.factory import Factory, Affordance
from agimus_sot.srdf_parser import parse_srdf, attach_all_to_link
import pinocchio
from rospkg import RosPack
rospack = RosPack()
if not hasattr(robot, "camera_frame"):
robot.camera_frame = "camera_color_optical_frame"
srdf = {}
# retrieve objects from ros param
robotDict = globalDemoDict["robots"]
if len(robotDict) != 1:
raise RuntimeError("One and only one robot is supported for now.")
objectDict = globalDemoDict["objects"]
objects = list(objectDict.keys())
# parse robot and object srdf files
srdfDict = dict()
for r, data in robotDict.items():
srdfDict[r] = parse_srdf(srdf = data["srdf"]["file"],
packageName = data["srdf"]["package"],
prefix=r)
for o, data in objectDict.items():
objectModel = pinocchio.buildModelFromUrdf\
(rospack.get_path(data["urdf"]["package"]) +
data["urdf"]["file"])
srdfDict[o] = parse_srdf(srdf = data["srdf"]["file"],
packageName = data["srdf"]["package"],
prefix=o)
attach_all_to_link(objectModel, "base_link", srdfDict[o])
grippers = list(globalDemoDict["grippers"])
handlesPerObjects = list()
contactPerObjects = list()
for o in objects:
handlesPerObjects.append(sorted(list(srdfDict[o]["handles"].keys())))
contactPerObjects.append(sorted(list(srdfDict[o]["contacts"].keys())))
for w in ["grippers", "handles","contacts"]:
srdf[w] = dict()
for k, data in srdfDict.items():
srdf[w].update(data[w])
supervisor = Supervisor(robot, prefix=list(robotDict.keys())[0])
factory = Factory(supervisor)
factory.tasks = TaskFactory(factory)
factory.parameters["period"] = 0.01 # TODO soon: robot.getTimeStep()
factory.parameters["simulateTorqueFeedback"] = simulateTorqueFeedbackForEndEffector
factory.parameters["addTracerToAdmittanceController"] = False
# factory.parameters["addTimerToSotControl"] = True
factory.setGrippers(grippers)
factory.setObjects(objects, handlesPerObjects, contactPerObjects)
from hpp.corbaserver.manipulation import Rule
factory.setupFrames(srdf["grippers"], srdf["handles"], robot)
for k in handlesPerObjects[0]:
factory.handleFrames[k].hasVisualTag = True
factory.generate()
supervisor.makeInitialSot()
g = factory.grippers[0]
for h in factory.handles:
transitionName_12 = '{} > {} | f_12'.format(g, h)
goalName = '{} grasps {}'.format(g, h)
# Add visual servoing in post actions of transtion 'g > h | f_12'
# visual servoing is deactivated by default at this step to avoid
# undesirable effects when grasping an object.
supervisor.postActions[transitionName_12][goalName].sot = \
supervisor.actions[transitionName_12].sot
# Add a pre-action to the pre-action of transition 'g > h | f_12'
# in order to perform object localization before starting the
# motion.
ol = ObjectLocalization(robot, factory, g, h)
supervisor.preActions[transitionName_12].preActions.append(ol)
# For calibration handles, relocalize in contact
# VISUAL Commented for visual servoing
#if h.find('calibration') != -1:
# supervisor.postActions[transitionName_12][goalName].preActions.\
# append(ol)
id = factory.handles.index(h)
transitionName_21 = '{} < {} | 0-{}_21'.format(g, h, id)
supervisor.preActions[transitionName_21].preActions.append(wait)
localizeObjectOnLoopTransition(supervisor, factory.handles)
return factory, supervisor
# Use service /agimus/sot/set_base_pose to set initial config
factory, supervisor = makeSupervisorWithFactory(robot)
supervisor.plugTopicsToRos()
supervisor.plugSot("")