Calculate fov

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(pycram)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES pycram
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/pycram.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/pycram_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pycram.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

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+# PyCRAM
+
+Python 3 implementation of CRAM.
+
+PyCRAM requires [a specific fork of MacroPy](https://github.com/daugsten93/macropy), which, however, is already included in the source. So, you do not have to install it.
+
+## Authors
+
+* **Andy Augsten** <a.augsten@uni-bremen.de>
+* **Dustin Augsten** <augsten@uni-bremen.de>
+* **Jonas Dech** <jdech@uni-bremen-de>
+
+## Dependecies 
+To work with the Bullet World of PyCRAM the follwing packages are required. 
+* PyBullet
+* pathlib 
+* numpy
+
+## Run the Demo 
+### Prerequisites
+To run the demo one needs, all files in the resources folder along with the [pr2 description](https://github.com/PR2/pr2_common/tree/melodic-devel/pr2_description) and the description of the [kitchen](https://github.com/code-iai/iai_maps/tree/master/iai_kitchen). **Both descriptions must be in the same folder as this repository**.
+
+### Execute
+To execute the demo the follwing commands have to be executed:
+```
+cd demo
+```
+```
+python3 run.py
+```

demos/pycram_pr2_bullet_world_demo/demo.py

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+import process_modules
+import motion_designators # Needs to be imported to load Process Modules and designator solutions
+import pycram.bullet_world_reasoning as btr
+from pycram.designator import MotionDesignator
+from pycram.process_module import ProcessModule
+from pycram.bullet_world import BulletWorld, Object
+from pycram.language import macros, par
+
+world = BulletWorld()
+world.set_gravity([0, 0, -9.8])
+plane = Object("floor", "environment", "../resources/plane.urdf", world=world)
+robot = Object("pr2", "robot", "../resources/pr2.urdf")
+kitchen = Object("kitchen", "environment", "../resources/kitchen.urdf")
+milk = Object("milk", "milk", "../resources/milk.stl", [1.3, 1, 1])
+spoon = Object("spoon", "spoon", "../resources/spoon.stl", [1.35, 0.7, 0.8])
+cereal = Object("cereal", "cereal", "../resources/breakfast_cereal.stl", [1.3, 0.6, 1])
+bowl = Object("bowl", "bowl", "../resources/bowl.stl", [1.3, 0.8, 1])
+BulletWorld.robot = robot
+
+targets = {
+    'milk': [[-0.8, 1, 0.93], "left", False],
+    'bowl': [[-0.8, 1.2, 0.9], "right", False],
+    'cereal': [[-1, 1, 0.94], "right", False],
+    'spoon': [[-0.8, 1.2, 0.94], "right", False]
+}
+
+
+def move_object(object_type, target, arm):
+    gripper = "l_gripper_tool_frame" if arm == "left" else "r_gripper_tool_frame"
+    with par as s:
+        ProcessModule.perform(MotionDesignator([('type', 'move-arm-joints'), ('left-arm', 'park'), ('right-arm', 'park')]))
+        ProcessModule.perform(MotionDesignator([('type', 'moving'), ('target', [0.65, 0.7, 0]), ('orientation', [0, 0, 0, 1])]))
+
+    if object_type == "spoon":
+        ProcessModule.perform(MotionDesignator([('type', 'accessing'), ('drawer-joint', 'sink_area_left_upper_drawer_main_joint'), ('drawer-handle', 'sink_area_left_upper_drawer_handle'), ('arm', 'left'), ('distance', 0.3), ('part-of', kitchen)]))
+
+    ProcessModule.perform(MotionDesignator([('type', 'looking'), ('target', [1.3, 0.6, 1])]))
+
+    det_obj = ProcessModule.perform(MotionDesignator([('type', 'detecting'), ('object', object_type)]))
+
+    block = btr.blocking(det_obj, BulletWorld.robot, gripper)
+    block_new = list(filter(lambda obj: obj.type != "environment", block))
+
+    if block_new:
+        move_object(block_new[0].type, targets[block_new[0].type][0], targets[block_new[0].type][1])
+        ProcessModule.perform(MotionDesignator([('type', 'moving'), ('target', [0.65, 0.7, 0]), ('orientation', [0, 0, 0, 1])]))
+
+    ProcessModule.perform(MotionDesignator([('type', 'pick-up'), ('object', det_obj), ('arm', arm)]))
+
+    ProcessModule.perform(MotionDesignator([('type', 'move-arm-joints'), ('right-arm', 'park')]))
+
+    ProcessModule.perform(MotionDesignator([('type', 'moving'), ('target', [-0.3, 1, 0]), ('orientation', [0, 0, 1, 0])]))
+
+    if btr.reachable_pose(targets[object_type][0], robot, gripper):
+        ProcessModule.perform(MotionDesignator([('type', 'place'), ('object', det_obj), ('target', target), ('arm', arm)]))
+
+    ProcessModule.perform(MotionDesignator([('type', 'move-arm-joints'), ('left-arm', 'park'), ('right-arm', 'park')]))
+    print("placed: ", object_type)
+
+    if not btr.stable(det_obj):
+        raise btr.ReasoningError
+    targets[object_type][2] = True
+
+
+object_types = ['milk', 'bowl', 'cereal', 'spoon']
+for i in range(0, 4):
+    if not targets[object_types[i]][2]:
+        move_object(object_types[i], targets[object_types[i]][0], targets[object_types[i]][1])
+

demos/pycram_pr2_bullet_world_demo/motion_designators.py

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+from pycram.designator import MotionDesignator
+from pycram.bullet_world import BulletWorld
+
+
+def pr2_motion_designators(desig):
+    """
+    This method defines the referencing of all available motion designator.
+    If a possible solution is found it will be appended to the list of solutions.
+    :param desig: The designator to be referenced
+    :return: A list with possible solution.
+    """
+    solutions = []
+
+    # Type: moving
+    if desig.check_constraints([('type', 'moving'), 'target']):
+        if desig.check_constraints(['orientation']):
+            solutions.append(desig.make_dictionary([('cmd', 'navigate'), 'target', 'orientation']))
+        solutions.append(desig.make_dictionary([('cmd', 'navigate'), 'target', ('orientation', BulletWorld.robot.get_orientation())]))
+
+    # Type: pick-up
+    if desig.check_constraints([('type', 'pick-up'), 'object']):
+        if desig.check_constraints([('arm', 'right')]):
+            solutions.append(desig.make_dictionary([('cmd', 'pick'), 'object', ('gripper', 'r_gripper_tool_frame')]))
+        solutions.append(desig.make_dictionary([('cmd', 'pick'), 'object', ('gripper', 'l_gripper_tool_frame')]))
+
+    # Type: place
+    if desig.check_constraints([('type', 'place'), 'target']):
+        if desig.check_constraints(['object']):
+            if desig.check_constraints([('arm', 'right')]):
+                solutions.append(desig.make_dictionary([('cmd', 'place'), 'target', 'object', ('gripper', 'r_gripper_tool_frame')]))
+            solutions.append(desig.make_dictionary([('cmd', 'place'), 'target', 'object', ('gripper', 'l_gripper_tool_frame')]))
+
+    # Type: accessing
+    if desig.check_constraints([('type', 'accessing'), 'drawer-joint', 'drawer-handle', 'part-of']):
+        if desig.check_constraints([('arm', 'right')]):
+            if desig.check_constraints('distance'):
+                solutions.append(desig.make_dictionary([('cmd', 'access'), 'drawer-joint', 'drawer-handle', ('gripper', 'r_gripper_tool_frame'), 'distance', 'part-of']))
+            solutions.append(desig.make_dictionary([('cmd', 'access'), 'drawer-joint', 'drawer-handle', ('gripper', 'r_gripper_tool_frame'), ('distance', 0.3), 'part-of']))
+        solutions.append(desig.make_dictionary([('cmd', 'access'), 'drawer-joint', 'drawer-handle', 'part-of', ('distance', 0.3), ('gripper', 'l_gripper_tool_frame'), 'part-of']))
+
+    # Type: move-tcp
+    if desig.check_constraints([('type', 'move-tcp'), 'target']):
+        if desig.check_constraints([('arm', 'right')]):
+            solutions.append(desig.make_dictionary([('cmd', 'move-tcp'), 'target', ('gripper', 'r_gripper_tool_frame')]))
+        solutions.append(desig.make_dictionary([('cmd', 'move-tcp'), 'target', ('gripper', 'l_gripper_tool_frame')]))
+
+    # Type: park-arms
+    if desig.check_constraints([('type', 'park-arms')]):
+        solutions.append(desig.make_dictionary([('cmd', 'park')]))
+
+    # Type: looking
+    if desig.check_constraints([('type', 'looking')]):
+        if desig.check_constraints(['target']):
+            solutions.append(desig.make_dictionary([('cmd', 'looking'), 'target']))
+        if desig.check_constraints(['object']):
+            solutions.append(desig.make_dictionary([('cmd', 'looking'), ('target', BulletWorld.current_bullet_world.
+                                                                         get_objects_by_name(desig.prop_value('object')).get_pose())]))
+
+    # Type: opening-gripper
+    if desig.check_constraints([('type', 'opening-gripper'), 'gripper']):
+        solutions.append(desig.make_dictionary([('cmd', 'move-gripper'), ('motion', 'open'), 'gripper']))
+
+    # Type: closing-gripper
+    if desig.check_constraints([('type', 'closing-gripper'), 'gripper']):
+        solutions.append(desig.make_dictionary([('cmd', 'move-gripper'), ('motion', 'close'), 'gripper']))
+
+    # Type: detecting
+    if desig.check_constraints([('type', 'detecting'), 'object']):
+        solutions.append(desig.make_dictionary([('cmd', 'detecting'), ('cam_frame', 'wide_stereo_optical_frame'), 'object']))
+
+    # Type: move-arm-joints
+    if desig.check_constraints([('type', 'move-arm-joints')]):
+        if desig.check_constraints(['left-arm', 'right-arm']):
+            solutions.append(desig.make_dictionary([('cmd', 'move-joints'), ('left-poses', desig.prop_value('left-arm')), ('right-poses', desig.prop_value('right-arm'))]))
+        if desig.check_constraints(['left-arm']):
+            solutions.append(desig.make_dictionary([('cmd', 'move-joints'), ('left-poses', desig.prop_value('left-arm')), ('right-poses', None)]))
+        if desig.check_constraints(['right-arm']):
+            solutions.append(desig.make_dictionary([('cmd', 'move-joints'), ('right-poses', desig.prop_value('right-arm')), ('left-poses', None)]))
+
+    # Type: world-state-detecting
+    if desig.check_constraints([('type', 'world-state-detecting')]):
+        solutions.append(desig.make_dictionary([('cmd', 'world-state-detecting'), 'object']))
+
+    return solutions
+
+
+MotionDesignator.resolvers.append(pr2_motion_designators)