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Update grasp_object to match new HelloNode API

feature/grasp_object_select
Binit Shah 9 months ago
parent
84b81e0fec
commit
0faa6cd9e5
1 changed files with 15 additions and 24 deletions
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  1. +15
    -24
      stretch_demos/nodes/grasp_object

+ 15
- 24
stretch_demos/nodes/grasp_object View File

@ -36,36 +36,28 @@ class GraspObjectNode(hm.HelloNode):
def __init__(self):
hm.HelloNode.__init__(self)
self.rate = 10.0
self.joint_states = None
self.joint_states_lock = threading.Lock()
# self.move_base = nv.MoveBase(self)
self.letter_height_m = 0.2
self.wrist_position = None
self.lift_position = None
self.manipulation_view = None
self.debug_directory = None
def joint_states_callback(self, joint_states):
with self.joint_states_lock:
self.joint_states = joint_states
wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states)
self.wrist_position = wrist_position
lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states)
self.lift_position = lift_position
self.left_finger_position, temp1, temp2 = hm.get_left_finger_state(joint_states)
def joint_states_loop(self):
self.wrist_position, _, _, _ = self.get_joint_state('joint_arm')
self.lift_position, _, _, _ = self.get_joint_state('joint_lift')
self.left_finger_position, _, _, _ = self.get_joint_state('joint_gripper_finger_left')
def look_at_surface(self, scan_time_s=None):
self.manipulation_view = mp.ManipulationView(self.tf2_buffer, self.debug_directory, self.get_tool())
self.manipulation_view = mp.ManipulationView(self._tf2_buffer, self.debug_directory, self.get_tool())
manip = self.manipulation_view
head_settle_time_s = 0.02 #1.0
manip.move_head(self.move_to_pose)
rospy.sleep(head_settle_time_s)
if scan_time_s is None:
manip.update(self.point_cloud, self.tf2_buffer)
manip.update(self.get_point_cloud(), self._tf2_buffer)
else:
start_time_s = time.time()
while ((time.time() - start_time_s) < scan_time_s):
manip.update(self.point_cloud, self.tf2_buffer)
manip.update(self.get_point_cloud(), self._tf2_buffer)
if self.debug_directory is not None:
dirname = self.debug_directory + 'grasp_object/'
# If the directory does not already exist, create it.
@ -101,7 +93,7 @@ class GraspObjectNode(hm.HelloNode):
# 2. Scan surface and find grasp target
self.look_at_surface(scan_time_s = 4.0)
grasp_target = self.manipulation_view.get_grasp_target(self.tf2_buffer)
grasp_target = self.manipulation_view.get_grasp_target(self._tf2_buffer)
if grasp_target is None:
return TriggerResponse(
success=False,
@ -109,7 +101,7 @@ class GraspObjectNode(hm.HelloNode):
)
# 3. Move to pregrasp pose
pregrasp_lift_m = self.manipulation_view.get_pregrasp_lift(grasp_target, self.tf2_buffer)
pregrasp_lift_m = self.manipulation_view.get_pregrasp_lift(grasp_target, self._tf2_buffer)
if self.tool == "tool_stretch_dex_wrist":
pregrasp_lift_m += 0.02
if (self.lift_position is None):
@ -139,7 +131,7 @@ class GraspObjectNode(hm.HelloNode):
pose = {'gripper_aperture': 0.125}
self.move_to_pose(pose)
pregrasp_mobile_base_m, pregrasp_wrist_extension_m = self.manipulation_view.get_pregrasp_planar_translation(grasp_target, self.tf2_buffer)
pregrasp_mobile_base_m, pregrasp_wrist_extension_m = self.manipulation_view.get_pregrasp_planar_translation(grasp_target, self._tf2_buffer)
rospy.loginfo('pregrasp_mobile_base_m = {0:.3f} m'.format(pregrasp_mobile_base_m))
rospy.loginfo('pregrasp_wrist_extension_m = {0:.3f} m'.format(pregrasp_wrist_extension_m))
rospy.loginfo('Drive to pregrasp location.')
@ -155,7 +147,7 @@ class GraspObjectNode(hm.HelloNode):
rospy.loginfo('negative wrist extension for pregrasp, so not extending or retracting.')
# 4. Grasp the object and lift it
grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m = self.manipulation_view.get_grasp_from_pregrasp(grasp_target, self.tf2_buffer)
grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m = self.manipulation_view.get_grasp_from_pregrasp(grasp_target, self._tf2_buffer)
rospy.loginfo('grasp_mobile_base_m = {0:3f} m, grasp_lift_m = {1:3f} m, grasp_wrist_extension_m = {2:3f} m'.format(grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m))
rospy.loginfo('Move the grasp pose from the pregrasp pose.')
@ -203,7 +195,7 @@ class GraspObjectNode(hm.HelloNode):
)
def visualization_publish_loop(self):
self.manip.update(self.point_cloud, self.tf2_buffer)
self.manip.update(self.get_point_cloud(), self._tf2_buffer)
height, width = self.manip.max_height_im.image.shape
robot_xy_pix = [width/2, 0]
@ -217,7 +209,7 @@ class GraspObjectNode(hm.HelloNode):
self.manip.publish_visualizations(self.voi_marker_pub, self.mhi_marker_pub)
def temp_trigger_grasp_object_service2(self, request):
# grasp_target = self.manip.get_grasp_target(self.tf2_buffer)
# grasp_target = self.manip.get_grasp_target(self._tf2_buffer)
grasp_target = True
if grasp_target is not None:
@ -238,8 +230,6 @@ class GraspObjectNode(hm.HelloNode):
rospy.loginfo('Using the following directory for debugging files: {0}'.format(self.debug_directory))
self.dryrun = rospy.get_param('~dryrun', False)
self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback)
self.trigger_grasp_object_service = rospy.Service('/grasp_object/trigger_grasp_object',
Trigger,
self.trigger_grasp_object_callback)
@ -265,11 +255,12 @@ class GraspObjectNode(hm.HelloNode):
self.surface_marker_pub = rospy.Publisher(
'/grasp_object/surface_marker', PointCloud2, queue_size=1)
self.manip = mp.ManipulationView(self.tf2_buffer, self.debug_directory, self.get_tool())
self.manip = mp.ManipulationView(self._tf2_buffer, self.debug_directory, self.get_tool())
self.manip.move_head(self.move_to_pose, head_settle_time=0.0)
rate = rospy.Rate(self.rate)
while not rospy.is_shutdown():
self.joint_states_loop()
self.visualization_publish_loop()
rate.sleep()

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