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ros_yolact_rl_grap_robot.py
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ros_yolact_rl_grap_robot.py
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#!/usr/bin/env python
import socket
import select
import struct
import time
import sys, os
import numpy as np
import utils
import urx
from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
from simulation import vrep
# ROS
import rospy
import rospkg
from std_msgs.msg import String
from std_srvs.srv import SetBool, SetBoolResponse, SetBoolRequest
from rospy.numpy_msg import numpy_msg
from yolact_ros_msgs.msg import Detections
from yolact_ros_msgs.msg import Detection
from yolact_ros_msgs.msg import Box
from yolact_ros_msgs.msg import Mask
from yolact_ros_msgs.msg import GraspPt
HOST = "192.168.0.3" # The remote host
PORT_30003 = 30003
l = 0.1
v = 0.07
a = 0.1
r = 0.05
class Robot(object):
def __init__(self, is_sim, obj_mesh_dir, num_obj, workspace_limits,
tcp_host_ip, tcp_port, rtc_host_ip, rtc_port,
is_testing, test_preset_cases, test_preset_file):
detections_sub = rospy.Subscriber("detections", numpy_msg(Detections), self.detection_cb)
graspPt_sub = rospy.Subscriber("com_info", numpy_msg(GraspPt), self.grasp_pt_cb)
self.start_clent = rospy.ServiceProxy('/start_instance_seg', SetBool)
self.detections_msgs = Detections()
self.grasp_pt_msgs = GraspPt()
self.grasp_pt_x = 0
self.grasp_pt_y = 0
self.grasp_pt_ang = 0
self.is_sim = is_sim
self.workspace_limits = workspace_limits
# If in simulation...
if self.is_sim:
# Define colors for object meshes (Tableau palette)
self.color_space = np.asarray([[78.0, 121.0, 167.0], # blue
[89.0, 161.0, 79.0], # green
[156, 117, 95], # brown
[242, 142, 43], # orange
[237.0, 201.0, 72.0], # yellow
[186, 176, 172], # gray
[255.0, 87.0, 89.0], # red
[176, 122, 161], # purple
[118, 183, 178], # cyan
[255, 157, 167]])/255.0 #pink
# Read files in object mesh directory
self.obj_mesh_dir = obj_mesh_dir
self.num_obj = num_obj
self.mesh_list = os.listdir(self.obj_mesh_dir)
# Randomly choose objects to add to scene
self.obj_mesh_ind = np.random.randint(0, len(self.mesh_list), size=self.num_obj)
self.obj_mesh_color = self.color_space[np.asarray(range(self.num_obj)) % 10, :]
# Make sure to have the server side running in V-REP:
# in a child script of a V-REP scene, add following command
# to be executed just once, at simulation start:
#
# simExtRemoteApiStart(19999)
#
# then start simulation, and run this program.
#
# IMPORTANT: for each successful call to simxStart, there
# should be a corresponding call to simxFinish at the end!
# MODIFY remoteApiConnections.txt
# Connect to simulator
vrep.simxFinish(-1) # Just in case, close all opened connections
self.sim_client = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP on port 19997
if self.sim_client == -1:
print('Failed to connect to simulation (V-REP remote API server). Exiting.')
exit()
else:
print('Connected to simulation.')
self.restart_sim()
self.is_testing = is_testing
self.test_preset_cases = test_preset_cases
self.test_preset_file = test_preset_file
# Setup virtual camera in simulation
self.setup_sim_camera()
# If testing, read object meshes and poses from test case file
if self.is_testing and self.test_preset_cases:
file = open(self.test_preset_file, 'r')
file_content = file.readlines()
self.test_obj_mesh_files = []
self.test_obj_mesh_colors = []
self.test_obj_positions = []
self.test_obj_orientations = []
for object_idx in range(self.num_obj):
file_content_curr_object = file_content[object_idx].split()
self.test_obj_mesh_files.append(os.path.join(self.obj_mesh_dir,file_content_curr_object[0]))
self.test_obj_mesh_colors.append([float(file_content_curr_object[1]),float(file_content_curr_object[2]),float(file_content_curr_object[3])])
self.test_obj_positions.append([float(file_content_curr_object[4]),float(file_content_curr_object[5]),float(file_content_curr_object[6])])
self.test_obj_orientations.append([float(file_content_curr_object[7]),float(file_content_curr_object[8]),float(file_content_curr_object[9])])
file.close()
self.obj_mesh_color = np.asarray(self.test_obj_mesh_colors)
# Add objects to simulation environment
self.add_objects()
# If in real-settings...
else:
# ROS Publisher
self.urscript_pub = rospy.Publisher('/ur_driver/URScript', String, queue_size=10)
# Connect to robot client
self.tcp_host_ip = tcp_host_ip
self.tcp_port = tcp_port
# self.tcp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# Connect as real-time client to parse state data
self.rtc_host_ip = rtc_host_ip
self.rtc_port = rtc_port
# Default home joint configuration
# self.home_joint_config = [-np.pi, -np.pi/2, np.pi/2, -np.pi/2, -np.pi/2, 0]
#self.home_joint_config = [-(0.0/360.0)*2*np.pi, -(90/360.0)*2*np.pi, (90/360.0)*2*np.pi, \
# -(90/360.0)*2*np.pi, -(90.0/360.0)*2*np.pi, (0/360.0)*2*np.pi]
self.wait_joint_config = [-(50.0/360.0)*2*np.pi, -(120/360.0)*2*np.pi, (110/360.0)*2*np.pi, \
-(80/360.0)*2*np.pi, (90.0/360.0)*2*np.pi, (90/360.0)*2*np.pi]
# calibration home joint configuration
#self.home_joint_config = [-(0.0/360.0)*2*np.pi, -(90/360.0)*2*np.pi, (90/360.0)*2*np.pi, \
# -(0/360.0)*2*np.pi, (90.0/360.0)*2*np.pi, -(90/360.0)*2*np.pi]
self.home_joint_config = [-(0.0/360.0)*2*np.pi, -(90/360.0)*2*np.pi, (90/360.0)*2*np.pi, \
-(90/360.0)*2*np.pi, -(90.0/360.0)*2*np.pi, (90/360.0)*2*np.pi]
# calibration home joint configuration
self.action_joint_config = [-(0.0/360.0)*2*np.pi, -(90/360.0)*2*np.pi, (90/360.0)*2*np.pi, \
-(90/360.0)*2*np.pi, -(90.0/360.0)*2*np.pi, (90/360.0)*2*np.pi]
# Default joint speed configuration
self.joint_acc = 4 # Safe: 1.4 #8
self.joint_vel = 1.5 # Safe: 1.05 #3
# Joint tolerance for blocking calls
self.joint_tolerance = 0.01
# Default tool speed configuration
self.tool_acc = 1.2 # Safe: 0.5
self.tool_vel = 0.25 # Safe: 0.2
# Tool pose tolerance for blocking calls
self.tool_pose_tolerance = [0.002,0.002,0.002,0.01,0.01,0.01]
# Move robot to home pose
self.close_gripper()
self.go_home()
# Fetch RGB-D data from RealSense camera
from real.camera import Camera
self.camera = Camera()
self.cam_intrinsics = self.camera.intrinsics
# Load camera pose (from running calibrate.py), intrinsics and depth scale
self.cam_pose = np.loadtxt('real/camera_pose.txt', delimiter=' ')
self.cam_depth_scale = np.loadtxt('real/camera_depth_scale.txt', delimiter=' ')
def setup_sim_camera(self):
# Get handle to camera
sim_ret, self.cam_handle = vrep.simxGetObjectHandle(self.sim_client, 'Vision_sensor_persp', vrep.simx_opmode_blocking)
# Get camera pose and intrinsics in simulation
sim_ret, cam_position = vrep.simxGetObjectPosition(self.sim_client, self.cam_handle, -1, vrep.simx_opmode_blocking)
sim_ret, cam_orientation = vrep.simxGetObjectOrientation(self.sim_client, self.cam_handle, -1, vrep.simx_opmode_blocking)
cam_trans = np.eye(4,4)
cam_trans[0:3,3] = np.asarray(cam_position)
cam_orientation = [-cam_orientation[0], -cam_orientation[1], -cam_orientation[2]]
cam_rotm = np.eye(4,4)
cam_rotm[0:3,0:3] = np.linalg.inv(utils.euler2rotm(cam_orientation))
self.cam_pose = np.dot(cam_trans, cam_rotm) # Compute rigid transformation representating camera pose
self.cam_intrinsics = np.asarray([[618.62, 0, 320], [0, 618.62, 240], [0, 0, 1]])
self.cam_depth_scale = 1
# Get background image
self.bg_color_img, self.bg_depth_img = self.get_camera_data()
self.bg_depth_img = self.bg_depth_img * self.cam_depth_scale
def add_objects(self):
# Add each object to robot workspace at x,y location and orientation (random or pre-loaded)
self.object_handles = []
sim_obj_handles = []
for object_idx in range(len(self.obj_mesh_ind)):
curr_mesh_file = os.path.join(self.obj_mesh_dir, self.mesh_list[self.obj_mesh_ind[object_idx]])
if self.is_testing and self.test_preset_cases:
curr_mesh_file = self.test_obj_mesh_files[object_idx]
curr_shape_name = 'shape_%02d' % object_idx
drop_x = (self.workspace_limits[0][1] - self.workspace_limits[0][0] - 0.2) * np.random.random_sample() + self.workspace_limits[0][0] + 0.1
drop_y = (self.workspace_limits[1][1] - self.workspace_limits[1][0] - 0.2) * np.random.random_sample() + self.workspace_limits[1][0] + 0.1
object_position = [drop_x, drop_y, 0.15]
object_orientation = [2*np.pi*np.random.random_sample(), 2*np.pi*np.random.random_sample(), 2*np.pi*np.random.random_sample()]
if self.is_testing and self.test_preset_cases:
object_position = [self.test_obj_positions[object_idx][0], self.test_obj_positions[object_idx][1], self.test_obj_positions[object_idx][2]]
object_orientation = [self.test_obj_orientations[object_idx][0], self.test_obj_orientations[object_idx][1], self.test_obj_orientations[object_idx][2]]
object_color = [self.obj_mesh_color[object_idx][0], self.obj_mesh_color[object_idx][1], self.obj_mesh_color[object_idx][2]]
ret_resp,ret_ints,ret_floats,ret_strings,ret_buffer = vrep.simxCallScriptFunction(self.sim_client, 'remoteApiCommandServer',vrep.sim_scripttype_childscript,'importShape',[0,0,255,0], object_position + object_orientation + object_color, [curr_mesh_file, curr_shape_name], bytearray(), vrep.simx_opmode_blocking)
if ret_resp == 8:
print('Failed to add new objects to simulation. Please restart.')
exit()
curr_shape_handle = ret_ints[0]
self.object_handles.append(curr_shape_handle)
if not (self.is_testing and self.test_preset_cases):
time.sleep(2)
self.prev_obj_positions = []
self.obj_positions = []
def restart_sim(self):
sim_ret, self.UR5_target_handle = vrep.simxGetObjectHandle(self.sim_client,'UR5_target',vrep.simx_opmode_blocking)
vrep.simxSetObjectPosition(self.sim_client, self.UR5_target_handle, -1, (-0.5,0,0.3), vrep.simx_opmode_blocking)
vrep.simxStopSimulation(self.sim_client, vrep.simx_opmode_blocking)
vrep.simxStartSimulation(self.sim_client, vrep.simx_opmode_blocking)
time.sleep(1)
sim_ret, self.RG2_tip_handle = vrep.simxGetObjectHandle(self.sim_client, 'UR5_tip', vrep.simx_opmode_blocking)
sim_ret, gripper_position = vrep.simxGetObjectPosition(self.sim_client, self.RG2_tip_handle, -1, vrep.simx_opmode_blocking)
while gripper_position[2] > 0.4: # V-REP bug requiring multiple starts and stops to restart
vrep.simxStopSimulation(self.sim_client, vrep.simx_opmode_blocking)
vrep.simxStartSimulation(self.sim_client, vrep.simx_opmode_blocking)
time.sleep(1)
sim_ret, gripper_position = vrep.simxGetObjectPosition(self.sim_client, self.RG2_tip_handle, -1, vrep.simx_opmode_blocking)
def check_sim(self):
# Check if simulation is stable by checking if gripper is within workspace
sim_ret, gripper_position = vrep.simxGetObjectPosition(self.sim_client, self.RG2_tip_handle, -1, vrep.simx_opmode_blocking)
sim_ok = gripper_position[0] > self.workspace_limits[0][0] - 0.1 and gripper_position[0] < self.workspace_limits[0][1] + 0.1 and gripper_position[1] > self.workspace_limits[1][0] - 0.1 and gripper_position[1] < self.workspace_limits[1][1] + 0.1 and gripper_position[2] > self.workspace_limits[2][0] and gripper_position[2] < self.workspace_limits[2][1]
if not sim_ok:
print('Simulation unstable. Restarting environment.')
self.restart_sim()
self.add_objects()
def get_task_score(self):
key_positions = np.asarray([[-0.625, 0.125, 0.0], # red
[-0.625, -0.125, 0.0], # blue
[-0.375, 0.125, 0.0], # green
[-0.375, -0.125, 0.0]]) #yellow
obj_positions = np.asarray(self.get_obj_positions())
obj_positions.shape = (1, obj_positions.shape[0], obj_positions.shape[1])
obj_positions = np.tile(obj_positions, (key_positions.shape[0], 1, 1))
key_positions.shape = (key_positions.shape[0], 1, key_positions.shape[1])
key_positions = np.tile(key_positions, (1 ,obj_positions.shape[1] ,1))
key_dist = np.sqrt(np.sum(np.power(obj_positions - key_positions, 2), axis=2))
key_nn_idx = np.argmin(key_dist, axis=0)
return np.sum(key_nn_idx == np.asarray(range(self.num_obj)) % 4)
def check_goal_reached(self):
goal_reached = self.get_task_score() == self.num_obj
return goal_reached
def get_obj_positions(self):
obj_positions = []
for object_handle in self.object_handles:
sim_ret, object_position = vrep.simxGetObjectPosition(self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
obj_positions.append(object_position)
return obj_positions
def get_obj_positions_and_orientations(self):
obj_positions = []
obj_orientations = []
for object_handle in self.object_handles:
sim_ret, object_position = vrep.simxGetObjectPosition(self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
sim_ret, object_orientation = vrep.simxGetObjectOrientation(self.sim_client, object_handle, -1, vrep.simx_opmode_blocking)
obj_positions.append(object_position)
obj_orientations.append(object_orientation)
return obj_positions, obj_orientations
def reposition_objects(self, workspace_limits):
# Move gripper out of the way
self.move_to([-0.1, 0, 0.3], None)
# sim_ret, UR5_target_handle = vrep.simxGetObjectHandle(self.sim_client,'UR5_target',vrep.simx_opmode_blocking)
# vrep.simxSetObjectPosition(self.sim_client, UR5_target_handle, -1, (-0.5,0,0.3), vrep.simx_opmode_blocking)
# time.sleep(1)
for object_handle in self.object_handles:
# Drop object at random x,y location and random orientation in robot workspace
drop_x = (workspace_limits[0][1] - workspace_limits[0][0] - 0.2) * np.random.random_sample() + workspace_limits[0][0] + 0.1
drop_y = (workspace_limits[1][1] - workspace_limits[1][0] - 0.2) * np.random.random_sample() + workspace_limits[1][0] + 0.1
object_position = [drop_x, drop_y, 0.15]
object_orientation = [2*np.pi*np.random.random_sample(), 2*np.pi*np.random.random_sample(), 2*np.pi*np.random.random_sample()]
vrep.simxSetObjectPosition(self.sim_client, object_handle, -1, object_position, vrep.simx_opmode_blocking)
vrep.simxSetObjectOrientation(self.sim_client, object_handle, -1, object_orientation, vrep.simx_opmode_blocking)
time.sleep(2)
def get_camera_data(self):
if self.is_sim:
# Get color image from simulation
sim_ret, resolution, raw_image = vrep.simxGetVisionSensorImage(self.sim_client, self.cam_handle, 0, vrep.simx_opmode_blocking)
color_img = np.asarray(raw_image)
color_img.shape = (resolution[1], resolution[0], 3)
color_img = color_img.astype(np.float)/255
color_img[color_img < 0] += 1
color_img *= 255
color_img = np.fliplr(color_img)
color_img = color_img.astype(np.uint8)
# Get depth image from simulation
sim_ret, resolution, depth_buffer = vrep.simxGetVisionSensorDepthBuffer(self.sim_client, self.cam_handle, vrep.simx_opmode_blocking)
depth_img = np.asarray(depth_buffer)
depth_img.shape = (resolution[1], resolution[0])
depth_img = np.fliplr(depth_img)
zNear = 0.01
zFar = 10
depth_img = depth_img * (zFar - zNear) + zNear
else:
# Get color and depth image from ROS service
color_img, depth_img = self.camera.get_data()
# color_img = self.camera.color_data.copy()
# depth_img = self.camera.depth_data.copy()
return color_img, depth_img
def parse_tcp_state_data(self, state_data, subpackage):
'''
# Read package header
data_bytes = bytearray()
data_bytes.extend(state_data)
data_length = struct.unpack("!i", data_bytes[0:4])[0];
robot_message_type = data_bytes[4]
assert(robot_message_type == 16)
byte_idx = 5
# Parse sub-packages
subpackage_types = {'joint_data' : 1, 'cartesian_info' : 4, 'force_mode_data' : 7, 'tool_data' : 2}
while byte_idx < data_length:
# package_length = int.from_bytes(data_bytes[byte_idx:(byte_idx+4)], byteorder='big', signed=False)
package_length = struct.unpack("!i", data_bytes[byte_idx:(byte_idx+4)])[0]
byte_idx += 4
package_idx = data_bytes[byte_idx]
if package_idx == subpackage_types[subpackage]:
byte_idx += 1
break
byte_idx += package_length - 4
def parse_joint_data(data_bytes, byte_idx):
actual_joint_positions = [0,0,0,0,0,0]
target_joint_positions = [0,0,0,0,0,0]
for joint_idx in range(6):
actual_joint_positions[joint_idx] = struct.unpack('!d', data_bytes[(byte_idx+0):(byte_idx+8)])[0]
target_joint_positions[joint_idx] = struct.unpack('!d', data_bytes[(byte_idx+8):(byte_idx+16)])[0]
byte_idx += 41
return actual_joint_positions
def parse_cartesian_info(data_bytes, byte_idx):
actual_tool_pose = [0,0,0,0,0,0]
for pose_value_idx in range(6):
actual_tool_pose[pose_value_idx] = struct.unpack('!d', data_bytes[(byte_idx+0):(byte_idx+8)])[0]
byte_idx += 8
return actual_tool_pose
def parse_tool_data(data_bytes, byte_idx):
byte_idx += 2
tool_analog_input2 = struct.unpack('!d', data_bytes[(byte_idx+0):(byte_idx+8)])[0]
return tool_analog_input2
parse_functions = {'joint_data' : parse_joint_data, 'cartesian_info' : parse_cartesian_info, 'tool_data' : parse_tool_data}
return parse_functions[subpackage](data_bytes, byte_idx)
'''
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.settimeout(10)
s.connect((HOST, PORT_30003))
time.sleep(1.00)
#print ""
packet_1 = s.recv(4) # msg size
packet_2 = s.recv(8) # time
packet_3 = s.recv(48) # q target
packet_4 = s.recv(48) # qd target
packet_5 = s.recv(48) # qdd target
packet_6 = s.recv(48) # I target
packet_7 = s.recv(48) # M target
#packet_8 = s.recv(48) # q actual
packet_81 = s.recv(8)
packet_81 = packet_81.encode("hex")
q1 = str(packet_81)
q1 = struct.unpack('!d', q1.decode('hex'))[0]
#print "q1 = ", q1 * 57.2958
packet_82 = s.recv(8)
packet_82 = packet_82.encode("hex")
q2 = str(packet_82)
q2 = struct.unpack('!d', q2.decode('hex'))[0]
#print "q2 = ", q2 * 57.2958
packet_83 = s.recv(8)
packet_83 = packet_83.encode("hex")
q3 = str(packet_83)
q3 = struct.unpack('!d', q3.decode('hex'))[0]
#print "q3 = ", q3 * 57.2958
packet_84 = s.recv(8)
packet_84 = packet_84.encode("hex")
q4 = str(packet_84)
q4 = struct.unpack('!d', q4.decode('hex'))[0]
#print "q4 = ", q4 * 57.2958
packet_85 = s.recv(8)
packet_85 = packet_85.encode("hex")
q5 = str(packet_85)
q5 = struct.unpack('!d', q5.decode('hex'))[0]
#print "q5 = ", q5 * 57.2958
packet_86 = s.recv(8)
packet_86 = packet_86.encode("hex")
q6 = str(packet_86)
q6 = struct.unpack('!d', q6.decode('hex'))[0]
#print "q6 = ", q6 * 57.2958
packet_9 = s.recv(48) # qd actual(joint current control)
#packet_10 = s.recv(48) # I actial
packet_10_1 = s.recv(8) # I actial
packet_10_1 = packet_10_1.encode("hex") #convert the data from \x hex notation to plain hex
current_1 = str(packet_10_1)
current_1 = struct.unpack('!d', packet_10_1.decode('hex'))[0]
#print "current_1 = ", current_1
packet_10_2 = s.recv(8) # I actial
packet_10_2 = packet_10_2.encode("hex") #convert the data from \x hex notation to plain hex
current_2 = str(packet_10_2)
current_2 = struct.unpack('!d', packet_10_2.decode('hex'))[0]
#print "current_2 = ", current_2
packet_10_3 = s.recv(8) # I actial
packet_10_3 = packet_10_3.encode("hex") #convert the data from \x hex notation to plain hex
current_3 = str(packet_10_3)
current_3 = struct.unpack('!d', packet_10_3.decode('hex'))[0]
#print "current_3 = ", current_3
packet_10_4 = s.recv(8) # I actial
packet_10_4 = packet_10_4.encode("hex") #convert the data from \x hex notation to plain hex
current_4 = str(packet_10_4)
current_4 = struct.unpack('!d', packet_10_4.decode('hex'))[0]
#print "current_4 = ", current_4
packet_10_5 = s.recv(8) # I actial
packet_10_5 = packet_10_5.encode("hex") #convert the data from \x hex notation to plain hex
current_5 = str(packet_10_5)
current_5 = struct.unpack('!d', packet_10_5.decode('hex'))[0]
#print "current_5 = ", current_5
packet_10_6 = s.recv(8) # I actial
packet_10_6 = packet_10_6.encode("hex") #convert the data from \x hex notation to plain hex
current_6 = str(packet_10_6)
current_6 = struct.unpack('!d', packet_10_6.decode('hex'))[0]
#print "current_6 = ", current_6
packet_11 = s.recv(48) # I control
#print ""
packet_12 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), x
packet_12 = packet_12.encode("hex") #convert the data from \x hex notation to plain hex
x = str(packet_12)
x = struct.unpack('!d', packet_12.decode('hex'))[0]
#print "X = ", x * 1000
packet_13 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), y
packet_13 = packet_13.encode("hex") #convert the data from \x hex notation to plain hex
y = str(packet_13)
y = struct.unpack('!d', packet_13.decode('hex'))[0]
#print "Y = ", y * 1000
packet_10 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), z
packet_10 = packet_10.encode("hex") #convert the data from \x hex notation to plain hex
z = str(packet_10)
z = struct.unpack('!d', packet_10.decode('hex'))[0]
#print "Z = ", z * 1000
packet_15 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), rx
packet_15 = packet_15.encode("hex") #convert the data from \x hex notation to plain hex
Rx = str(packet_15)
Rx = struct.unpack('!d', packet_15.decode('hex'))[0]
#print "Rx = ", Rx
packet_16 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), ry
packet_16 = packet_16.encode("hex") #convert the data from \x hex notation to plain hex
Ry = str(packet_16)
Ry = struct.unpack('!d', packet_16.decode('hex'))[0]
#print "Ry = ", Ry
packet_17 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), rz
packet_17 = packet_17.encode("hex") #convert the data from \x hex notation to plain hex
Rz = str(packet_17)
Rz = struct.unpack('!d', packet_17.decode('hex'))[0]
#print "Rz = ", Rz
def parse_joint_data():
actual_joint_positions = [q1,q2,q3,q4,q5,q6]
return actual_joint_positions
def parse_cartesian_info():
actual_tool_pose = [x,y,z,Rx,Ry,Rz]
return actual_tool_pose
def parse_tool_data():
return self.check_motion_complete()
parse_functions = {'joint_data' : parse_joint_data, 'cartesian_info' : parse_cartesian_info, 'tool_data' : parse_tool_data}
s.close()
return parse_functions[subpackage]()
def parse_tcp_data(self, subpackage):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.settimeout(10)
s.connect((HOST, PORT_30003))
time.sleep(1.00)
#print ""
packet_1 = s.recv(4) # msg size
packet_2 = s.recv(8) # time
packet_3 = s.recv(48) # q target
packet_4 = s.recv(48) # qd target
packet_5 = s.recv(48) # qdd target
packet_6 = s.recv(48) # I target
packet_7 = s.recv(48) # M target
#packet_8 = s.recv(48) # q actual
packet_81 = s.recv(8)
packet_81 = packet_81.encode("hex")
q1 = str(packet_81)
q1 = struct.unpack('!d', q1.decode('hex'))[0]
#print "q1 = ", q1 * 57.2958
packet_82 = s.recv(8)
packet_82 = packet_82.encode("hex")
q2 = str(packet_82)
q2 = struct.unpack('!d', q2.decode('hex'))[0]
#print "q2 = ", q2 * 57.2958
packet_83 = s.recv(8)
packet_83 = packet_83.encode("hex")
q3 = str(packet_83)
q3 = struct.unpack('!d', q3.decode('hex'))[0]
#print "q3 = ", q3 * 57.2958
packet_84 = s.recv(8)
packet_84 = packet_84.encode("hex")
q4 = str(packet_84)
q4 = struct.unpack('!d', q4.decode('hex'))[0]
#print "q4 = ", q4 * 57.2958
packet_85 = s.recv(8)
packet_85 = packet_85.encode("hex")
q5 = str(packet_85)
q5 = struct.unpack('!d', q5.decode('hex'))[0]
#print "q5 = ", q5 * 57.2958
packet_86 = s.recv(8)
packet_86 = packet_86.encode("hex")
q6 = str(packet_86)
q6 = struct.unpack('!d', q6.decode('hex'))[0]
#print "q6 = ", q6 * 57.2958
packet_9 = s.recv(48) # qd actual(joint current control)
#packet_10 = s.recv(48) # I actial
packet_10_1 = s.recv(8) # I actial
packet_10_1 = packet_10_1.encode("hex") #convert the data from \x hex notation to plain hex
current_1 = str(packet_10_1)
current_1 = struct.unpack('!d', packet_10_1.decode('hex'))[0]
#print "current_1 = ", current_1
packet_10_2 = s.recv(8) # I actial
packet_10_2 = packet_10_2.encode("hex") #convert the data from \x hex notation to plain hex
current_2 = str(packet_10_2)
current_2 = struct.unpack('!d', packet_10_2.decode('hex'))[0]
#print "current_2 = ", current_2
packet_10_3 = s.recv(8) # I actial
packet_10_3 = packet_10_3.encode("hex") #convert the data from \x hex notation to plain hex
current_3 = str(packet_10_3)
current_3 = struct.unpack('!d', packet_10_3.decode('hex'))[0]
#print "current_3 = ", current_3
packet_10_4 = s.recv(8) # I actial
packet_10_4 = packet_10_4.encode("hex") #convert the data from \x hex notation to plain hex
current_4 = str(packet_10_4)
current_4 = struct.unpack('!d', packet_10_4.decode('hex'))[0]
#print "current_4 = ", current_4
packet_10_5 = s.recv(8) # I actial
packet_10_5 = packet_10_5.encode("hex") #convert the data from \x hex notation to plain hex
current_5 = str(packet_10_5)
current_5 = struct.unpack('!d', packet_10_5.decode('hex'))[0]
#print "current_5 = ", current_5
packet_10_6 = s.recv(8) # I actial
packet_10_6 = packet_10_6.encode("hex") #convert the data from \x hex notation to plain hex
current_6 = str(packet_10_6)
current_6 = struct.unpack('!d', packet_10_6.decode('hex'))[0]
#print "current_6 = ", current_6
packet_11 = s.recv(48) # I control
#print ""
packet_12 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), x
packet_12 = packet_12.encode("hex") #convert the data from \x hex notation to plain hex
x = str(packet_12)
x = struct.unpack('!d', packet_12.decode('hex'))[0]
#print "X = ", x * 1000
packet_13 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), y
packet_13 = packet_13.encode("hex") #convert the data from \x hex notation to plain hex
y = str(packet_13)
y = struct.unpack('!d', packet_13.decode('hex'))[0]
#print "Y = ", y * 1000
packet_10 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), z
packet_10 = packet_10.encode("hex") #convert the data from \x hex notation to plain hex
z = str(packet_10)
z = struct.unpack('!d', packet_10.decode('hex'))[0]
#print "Z = ", z * 1000
packet_15 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), rx
packet_15 = packet_15.encode("hex") #convert the data from \x hex notation to plain hex
Rx = str(packet_15)
Rx = struct.unpack('!d', packet_15.decode('hex'))[0]
#print "Rx = ", Rx
packet_16 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), ry
packet_16 = packet_16.encode("hex") #convert the data from \x hex notation to plain hex
Ry = str(packet_16)
Ry = struct.unpack('!d', packet_16.decode('hex'))[0]
#print "Ry = ", Ry
packet_17 = s.recv(8) # Tool vector actual(48, x, y, z, rx, ry, tz), rz
packet_17 = packet_17.encode("hex") #convert the data from \x hex notation to plain hex
Rz = str(packet_17)
Rz = struct.unpack('!d', packet_17.decode('hex'))[0]
#print "Rz = ", Rz
def parse_joint_data():
actual_joint_positions = [q1,q2,q3,q4,q5,q6]
return actual_joint_positions
def parse_cartesian_info():
actual_tool_pose = [x,y,z,Rx,Ry,Rz]
return actual_tool_pose
def parse_tool_data():
return self.check_motion_complete()
parse_functions = {'joint_data' : parse_joint_data, 'cartesian_info' : parse_cartesian_info, 'tool_data' : parse_tool_data}
s.close()
return parse_functions[subpackage]()
def check_motion_complete(self):
rob = urx.Robot("192.168.0.3")
robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
time.sleep(0.25)
rob.get_object_detect()
time.sleep(0.3) # need to dalay time for execute get_object_detect()
# Check motion colplete through digital out pin[2]
motion_complete_flag = rob.get_digital_out(2)
rob.digital_output_reset()
time.sleep(0.25)
return motion_complete_flag
def parse_rtc_state_data(self, state_data):
# Read package header
data_bytes = bytearray()
data_bytes.extend(state_data)
data_length = struct.unpack("!i", data_bytes[0:4])[0];
assert(data_length == 812)
byte_idx = 4 + 8 + 8*48 + 24 + 120
TCP_forces = [0,0,0,0,0,0]
for joint_idx in range(6):
TCP_forces[joint_idx] = struct.unpack('!d', data_bytes[(byte_idx+0):(byte_idx+8)])[0]
byte_idx += 8
return TCP_forces
def close_gripper(self, async=False):
if self.is_sim:
gripper_motor_velocity = -0.5
gripper_motor_force = 100
sim_ret, RG2_gripper_handle = vrep.simxGetObjectHandle(self.sim_client, 'RG2_openCloseJoint', vrep.simx_opmode_blocking)
sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
vrep.simxSetJointForce(self.sim_client, RG2_gripper_handle, gripper_motor_force, vrep.simx_opmode_blocking)
vrep.simxSetJointTargetVelocity(self.sim_client, RG2_gripper_handle, gripper_motor_velocity, vrep.simx_opmode_blocking)
gripper_fully_closed = False
while gripper_joint_position > -0.047: # Block until gripper is fully closed
sim_ret, new_gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
# print(gripper_joint_position)
if new_gripper_joint_position >= gripper_joint_position:
return gripper_fully_closed
gripper_joint_position = new_gripper_joint_position
gripper_fully_closed = True
else:
rob = urx.Robot("192.168.0.3")
robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
time.sleep(0.25)
robotiqgrip.close_gripper()
rob.close()
gripper_fully_closed = True
'''
self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
tcp_command = "set_digital_out(8,True)\n"
self.tcp_socket.send(str.encode(tcp_command))
self.tcp_socket.close()
if async:
gripper_fully_closed = True
else:
time.sleep(1.5)
gripper_fully_closed = self.check_grasp()
'''
return gripper_fully_closed
def open_gripper(self, async=False):
if self.is_sim:
gripper_motor_velocity = 0.5
gripper_motor_force = 20
sim_ret, RG2_gripper_handle = vrep.simxGetObjectHandle(self.sim_client, 'RG2_openCloseJoint', vrep.simx_opmode_blocking)
sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
vrep.simxSetJointForce(self.sim_client, RG2_gripper_handle, gripper_motor_force, vrep.simx_opmode_blocking)
vrep.simxSetJointTargetVelocity(self.sim_client, RG2_gripper_handle, gripper_motor_velocity, vrep.simx_opmode_blocking)
while gripper_joint_position < 0.0536: # Block until gripper is fully open
sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
else:
rob = urx.Robot("192.168.0.3")
robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
time.sleep(0.25)
robotiqgrip.open_gripper()
rob.close()
'''
self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
tcp_command = "set_digital_out(8,True)\n"
self.tcp_socket.send(str.encode(tcp_command))
self.tcp_socket.close()
if async:
gripper_fully_closed = True
else:
time.sleep(1.5)
gripper_fully_closed = self.check_grasp()
'''
def pos_gripper(self, val, async=False):
if self.is_sim:
gripper_motor_velocity = 0.5
gripper_motor_force = 20
sim_ret, RG2_gripper_handle = vrep.simxGetObjectHandle(self.sim_client, 'RG2_openCloseJoint', vrep.simx_opmode_blocking)
sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
vrep.simxSetJointForce(self.sim_client, RG2_gripper_handle, gripper_motor_force, vrep.simx_opmode_blocking)
vrep.simxSetJointTargetVelocity(self.sim_client, RG2_gripper_handle, gripper_motor_velocity, vrep.simx_opmode_blocking)
while gripper_joint_position < 0.0536: # Block until gripper is fully open
sim_ret, gripper_joint_position = vrep.simxGetJointPosition(self.sim_client, RG2_gripper_handle, vrep.simx_opmode_blocking)
else:
print ("pos gripper, value:", val)
rob = urx.Robot("192.168.0.3")
robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
time.sleep(0.25)
if async:
gripper_fully_closed = True
else:
time.sleep(1.5)
gripper_fully_closed = self.check_grasp()
'''
self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
tcp_command = "set_digital_out(8,True)\n"
self.tcp_socket.send(str.encode(tcp_command))
self.tcp_socket.close()
if async:
gripper_fully_closed = True
else:
time.sleep(1.5)
gripper_fully_closed = self.check_grasp()
'''
def get_state(self):
self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port)) #tcp_socket.connect((tcp_host_ip, tcp_port))
state_data = self.tcp_socket.recv(2048) #state_data = tcp_socket.recv(2048)
self.tcp_socket.close()
return state_data
def move_to(self, tool_position, tool_orientation):
if self.is_sim:
# sim_ret, UR5_target_handle = vrep.simxGetObjectHandle(self.sim_client,'UR5_target',vrep.simx_opmode_blocking)
sim_ret, UR5_target_position = vrep.simxGetObjectPosition(self.sim_client, self.UR5_target_handle,-1,vrep.simx_opmode_blocking)
move_direction = np.asarray([tool_position[0] - UR5_target_position[0], tool_position[1] - UR5_target_position[1], tool_position[2] - UR5_target_position[2]])
move_magnitude = np.linalg.norm(move_direction)
move_step = 0.02*move_direction/move_magnitude
num_move_steps = int(np.floor(move_magnitude/0.02))
for step_iter in range(num_move_steps):
vrep.simxSetObjectPosition(self.sim_client,self.UR5_target_handle,-1,(UR5_target_position[0] + move_step[0], UR5_target_position[1] + move_step[1], UR5_target_position[2] + move_step[2]),vrep.simx_opmode_blocking)
sim_ret, UR5_target_position = vrep.simxGetObjectPosition(self.sim_client,self.UR5_target_handle,-1,vrep.simx_opmode_blocking)
vrep.simxSetObjectPosition(self.sim_client,self.UR5_target_handle,-1,(tool_position[0],tool_position[1],tool_position[2]),vrep.simx_opmode_blocking)
else:
#self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
#self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
tcp_command = "movel(p[%f,%f,%f,%f,%f,%f],a=%f,v=%f,t=0,r=0)\n" % (tool_position[0],tool_position[1],tool_position[2],tool_orientation[0],tool_orientation[1],tool_orientation[2],self.tool_acc,self.tool_vel)
#self.tcp_socket.send(str.encode(tcp_command))
#print("move_to(): ", tcp_command)
self.urscript_pub.publish(tcp_command)
#self.tcp_socket.close()
# Block until robot reaches target tool position
#print("Block until robot reaches target tool position")
#tcp_state_data = self.tcp_socket.recv(2048)
#actual_tool_pose = self.parse_tcp_state_data(tcp_state_data, 'cartesian_info')
actual_tool_pose = self.parse_tcp_data('cartesian_info')
while not all([np.abs(actual_tool_pose[j] - tool_position[j]) < self.tool_pose_tolerance[j] for j in range(3)]):
#print("while loop")
# [min(np.abs(actual_tool_pose[j] - tool_orientation[j-3]), np.abs(np.abs(actual_tool_pose[j] - tool_orientation[j-3]) - np.pi*2)) < self.tool_pose_tolerance[j] for j in range(3,6)]
# print([np.abs(actual_tool_pose[j] - tool_position[j]) for j in range(3)] + [min(np.abs(actual_tool_pose[j] - tool_orientation[j-3]), np.abs(np.abs(actual_tool_pose[j] - tool_orientation[j-3]) - np.pi*2)) for j in range(3,6)])
#tcp_state_data = self.tcp_socket.recv(2048)
prev_actual_tool_pose = np.asarray(actual_tool_pose).copy()
#actual_tool_pose = self.parse_tcp_state_data(tcp_state_data, 'cartesian_info')
actual_tool_pose = self.parse_tcp_data('cartesian_info')
time.sleep(0.01)
def guarded_move_to(self, tool_position, tool_orientation):
self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.rtc_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
self.rtc_socket.connect((self.rtc_host_ip, self.rtc_port))
# Read actual tool position
#tcp_state_data = self.tcp_socket.recv(2048)
#actual_tool_pose = self.parse_tcp_state_data(tcp_state_data, 'cartesian_info')
actual_tool_pose = self.parse_tcp_data('cartesian_info')
execute_success = True
# Increment every cm, check force
self.tool_acc = 0.1 # 1.2 # 0.5
while not all([np.abs(actual_tool_pose[j] - tool_position[j]) < self.tool_pose_tolerance[j] for j in range(3)]):
# [min(np.abs(actual_tool_pose[j] - tool_orientation[j-3]), np.abs(np.abs(actual_tool_pose[j] - tool_orientation[j-3]) - np.pi*2)) < self.tool_pose_tolerance[j] for j in range(3,6)]
# Compute motion trajectory in 1cm increments
increment = np.asarray([(tool_position[j] - actual_tool_pose[j]) for j in range(3)])
if np.linalg.norm(increment) < 0.01:
increment_position = tool_position
else:
increment = 0.01*increment/np.linalg.norm(increment)
increment_position = np.asarray(actual_tool_pose[0:3]) + increment
# Move to next increment position (blocking call)
tcp_command = "movel(p[%f,%f,%f,%f,%f,%f],a=%f,v=%f,t=0,r=0)\n" % (increment_position[0],increment_position[1],increment_position[2],tool_orientation[0],tool_orientation[1],tool_orientation[2],self.tool_acc,self.tool_vel)
self.tcp_socket.send(str.encode(tcp_command))
time_start = time.time()
#tcp_state_data = self.tcp_socket.recv(2048)
#actual_tool_pose = self.parse_tcp_state_data(tcp_state_data, 'cartesian_info')
actual_tool_pose = self.parse_tcp_data('cartesian_info')
while not all([np.abs(actual_tool_pose[j] - increment_position[j]) < self.tool_pose_tolerance[j] for j in range(3)]):
# print([np.abs(actual_tool_pose[j] - increment_position[j]) for j in range(3)])
#tcp_state_data = self.tcp_socket.recv(2048)
#actual_tool_pose = self.parse_tcp_state_data(tcp_state_data, 'cartesian_info')
actual_tool_pose = self.parse_tcp_data('cartesian_info')
time_snapshot = time.time()
if time_snapshot - time_start > 1:
break
time.sleep(0.01)
# Reading TCP forces from real-time client connection
rtc_state_data = self.rtc_socket.recv(6496)
TCP_forces = self.parse_rtc_state_data(rtc_state_data)
# If TCP forces in x/y exceed 20 Newtons, stop moving
# print(TCP_forces[0:3])
if np.linalg.norm(np.asarray(TCP_forces[0:2])) > 20 or (time_snapshot - time_start) > 1:
print('Warning: contact detected! Movement halted. TCP forces: [%f, %f, %f]' % (TCP_forces[0], TCP_forces[1], TCP_forces[2]))
execute_success = False
break
time.sleep(0.01)
self.tool_acc = 1.2 # 1.2 # 0.5
self.tcp_socket.close()
self.rtc_socket.close()
return execute_success
def move_joints(self, joint_configuration):
#self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
#self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
tcp_command = "movej([%f" % joint_configuration[0]
for joint_idx in range(1,6):
tcp_command = tcp_command + (",%f" % joint_configuration[joint_idx])
tcp_command = tcp_command + "],a=%f,v=%f)\n" % (self.joint_acc+1.0, self.joint_vel+3.0)
#self.tcp_socket.send(str.encode(tcp_command))
#self.tcp_socket.close()
#print("move_joints(): ", tcp_command)
self.urscript_pub.publish(tcp_command)
# Block until robot reaches home state
actual_joint_positions = self.parse_tcp_data('joint_data')
while not all([np.abs(actual_joint_positions[j] - joint_configuration[j]) < self.joint_tolerance for j in range(6)]):
actual_joint_positions = self.parse_tcp_data('joint_data')
time.sleep(0.01)
def go_home(self):
self.move_joints(self.home_joint_config)
def go_wait_point(self):
self.move_joints(self.wait_joint_config)
def go_action_point(self):
self.move_joints(self.action_joint_config)
# Note: must be preceded by close_gripper()
def check_grasp(self):
#state_data = self.get_state()
#motion_complete = self.parse_tcp_state_data(state_data, 'tool_data')
motion_complete = self.check_motion_complete()
return motion_complete #tool_analog_input2 > 0.26
# Primitives ----------------------------------------------------------
def start_yolact_eval_service(self):
print ("Start_eval_service")
rospy.wait_for_service('start_instance_seg')
try:
response= self.start_clent(True)
return response
except rospy.ServiceException as e:
print ("Service call failed")
return False
def get_detections_msg(self):
return self.detections_msgs
def get_grasp_pt_msg(self):
return self.grasp_pt_msgs
def detection_cb(self, data):
self.detections_msgs = data
#for i in range(0, len(data.detections)):
#print("Class name: ", data.detections[i].class_name)
#print("Score: ", data.detections[i].score)
#print("Box: ", data.detections[i].box.x1, data.detections[i].box.y1, data.detections[i].box.x2, data.detections[i].box.y2)
#print("Mask: ", data.detections[i].mask.width, data.detections[i].mask.height, data.detections[i].mask.mask)
def grasp_pt_cb(self, data):
self.grasp_pt_msgs = data
print("Object number:", len(data.angle))
'''
for i in range(0, len(data.angle)):
#self.grasp_pt_x = data.com_x[i]
#self.grasp_pt_y = data.com_y[i]
#self.grasp_pt_ang = data.angle[i]
self.grasp_pt_x = data.com_x[0]
self.grasp_pt_y = data.com_y[0]
self.grasp_pt_ang = data.angle[0]
'''