From 64c707567d6e00b1fc5b59cdcdec02325074ead8 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Sat, 13 May 2023 17:49:56 -0700 Subject: [PATCH] Working on getting head scanning working --- stretch_body/jupyter/example_head_scan.yaml | 2 +- .../example_head_scan_mhi_camera_depth.png | Bin 26900 -> 32241 bytes .../example_head_scan_mhi_image.npy.gz | Bin 45773 -> 54038 bytes .../jupyter/example_head_scan_mhi_rgb.png | Bin 84798 -> 205711 bytes .../example_head_scan_mhi_visualization.png | Bin 39880 -> 46720 bytes stretch_body/jupyter/funmap_experiments.ipynb | 156 +++--------------- 6 files changed, 28 insertions(+), 130 deletions(-) diff --git a/stretch_body/jupyter/example_head_scan.yaml b/stretch_body/jupyter/example_head_scan.yaml index 59c98ce..79031f0 100644 --- a/stretch_body/jupyter/example_head_scan.yaml +++ b/stretch_body/jupyter/example_head_scan.yaml @@ -105,4 +105,4 @@ robot_ang_rad: -0.0 robot_xy_pix: - 1331.3333333333333 - 1331.3333333333333 -timestamp: 1683802162.1055086 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m-zM>IkNkH;@c(r}!dh1RkXGFCDG!+cFcEZ(an)G+i2nom$<~qp diff --git a/stretch_body/jupyter/funmap_experiments.ipynb b/stretch_body/jupyter/funmap_experiments.ipynb index 8148174..b7ec589 100644 --- a/stretch_body/jupyter/funmap_experiments.ipynb +++ b/stretch_body/jupyter/funmap_experiments.ipynb @@ -26,21 +26,7 @@ "metadata": { "tags": [] }, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Defaulting to user installation because normal site-packages is not writeable\n", - "Collecting git+https://github.com/safijari/tiny_tf.git\n", - " Cloning https://github.com/safijari/tiny_tf.git to /tmp/pip-req-build-yq8q8atk\n", - " Running command git clone --filter=blob:none --quiet https://github.com/safijari/tiny_tf.git /tmp/pip-req-build-yq8q8atk\n", - " Resolved https://github.com/safijari/tiny_tf.git to commit 6d28b69dfde971f5ed63ff24de5c84b950690997\n", - " Preparing metadata (setup.py) ... \u001b[?25ldone\n", - "\u001b[?25hRequirement already satisfied: numpy in /home/hello-robot/.local/lib/python3.8/site-packages (from tiny-tf==1.2.0) (1.23.5)\n" - ] - } - ], + "outputs": [], "source": [ "!pip install git+https://github.com/safijari/tiny_tf.git" ] @@ -82,7 +68,6 @@ "cell_type": "markdown", "id": "ccc1cae3", "metadata": { - "jp-MarkdownHeadingCollapsed": true, "tags": [] }, "source": [ @@ -99,97 +84,11 @@ "tags": [] }, "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "--------- Homing Head ----\n", - "--------- Homing Lift ----\n", - "Homing Lift...\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "[INFO] [robot_monitor]: Guarded contact lift\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Hardstop detected at motor position (rad) 98.10670471191406\n", - "Marking Lift position to 1.097231 (m)\n", - "Marking Lift position to 0.000000 (m)\n", - "Lift homing successful\n", - "--------- Homing Arm ----\n", - "Homing Arm...\n", - "Hardstop detected at motor position (rad) 1.6194909811019897\n", - "Marking Arm position to 0.000000 (m)\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "[INFO] [robot_monitor]: Guarded contact arm\n", - "[INFO] [robot_monitor]: Wrist single tap: 15\n", - "[INFO] [robot_monitor]: Wrist single tap: 16\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Arm homing successful\n", - "Moving to first hardstop...\n", - "First hardstop contact at position (ticks): -25\n", - "-----\n", - "Homing offset was 1488\n", - "Marking current position to zero ticks\n", - "Homing offset is now 1510 (ticks)\n", - "-----\n", - "Current position (ticks): 40\n", - "Moving to calibrated zero: (rad)\n", - "Moving to first hardstop...\n", - "First hardstop contact at position (ticks): -26\n", - "-----\n", - "Homing offset was 2249\n", - "Marking current position to zero ticks\n", - "Homing offset is now 2269 (ticks)\n", - "-----\n", - "Current position (ticks): 62\n", - "Moving to calibrated zero: (rad)\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "[INFO] [robot_monitor]: Base bump event\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ "--------- Stowing Arm ----\n", - "Warning: Rate of calls to Pimu:trigger_motor_sync rate of 148.350157 above maximum frequency of 20.00 Hz. Motor commands dropped: 1\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "[INFO] [robot_monitor]: Base bump event\n", - "[INFO] [robot_monitor]: Wrist single tap: 17\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ "--------- Stowing ToolStretchDexWrist ----\n", "--------- Stowing Lift ----\n" ] @@ -317,7 +216,7 @@ { "data": { "text/plain": [ - "" + "" ] }, "execution_count": 6, @@ -362,12 +261,18 @@ "# self.tf2_buffer = None\n", " self.joint_state = None\n", "# self.point_cloud = None\n", + " self.thread_shutdown_flag = threading.Event()\n", + " self.thread_shutdown_flag.clear()\n", " self.thread = threading.Thread(target=self._spin)\n", " self.thread.setDaemon(True)\n", " self.thread.start()\n", "\n", + " def stop(self):\n", + " self.thread_shutdown_flag.set()\n", + " self.thread.join(1)\n", + "\n", " def _spin(self):\n", - " while True:\n", + " while not self.thread_shutdown_flag.is_set():\n", " # update self.tf2_buffer\n", " tree = TFTree()\n", " q_curr = get_current_configuration(tool=robot.end_of_arm.name)\n", @@ -404,8 +309,17 @@ " np.clip(v, 0, cw-1, out=v)\n", " rgb = color_image[u, v] # rgb\n", "\n", - " # 5. Create point cloud matrix\n", - " points_arr = np.zeros((points.size(),), dtype=[\n", + " # 5. Filter out black points\n", + " non_black_mask = ~(rgb == 0).all(axis=1)\n", + " xyz = xyz[non_black_mask]\n", + " rgb = rgb[non_black_mask]\n", + " assert xyz.shape[0] == rgb.shape[0]\n", + " num_valid_points = rgb.shape[0]\n", + " if num_valid_points == 0:\n", + " continue\n", + "\n", + " # 6. Create point cloud matrix\n", + " points_arr = np.zeros((num_valid_points,), dtype=[\n", " ('x', np.float32),\n", " ('y', np.float32),\n", " ('z', np.float32),\n", @@ -420,7 +334,7 @@ " points_arr['b'] = rgb[:, 0]\n", " points_arr = ros_numpy.point_cloud2.merge_rgb_fields(points_arr)\n", "\n", - " # 6. Create PointCloud2 message\n", + " # 7. Create PointCloud2 message\n", " self.point_cloud = ros_numpy.msgify(PointCloud2, points_arr, stamp=time.time(), frame_id='camera_color_optical_frame')\n", "\n", " def move_to_pose(self, pose, return_before_done=False, custom_contact_thresholds=False):\n", @@ -538,7 +452,6 @@ "cell_type": "markdown", "id": "390a3f70-b7ed-4a08-b811-fd6819c2810a", "metadata": { - "jp-MarkdownHeadingCollapsed": true, "tags": [] }, "source": [ @@ -1767,13 +1680,12 @@ " # points = np.array([[x1,y1,z1], [x2,y2,z2]...]). The points\n", " # should be specified with respect to the coordinate system\n", " # defined by points_frame_id.\n", - " \n", " points_to_voi_mat, timestamp = self.voi.get_points_to_voi_matrix_with_tf2(points_frame_id, tf2_buffer)\n", "\n", " if points_to_voi_mat is not None: \n", " self.from_rgb_points(points_to_voi_mat, rgb_points)\n", " else:\n", - " rospy.logwarn('ROSMaxHeightImage.from_rgb_points_with_tf2: failed to update the image likely due to a failure to lookup the transform using TF2. points_frame_id = {0}, points_timestamp = {1}, timeout_s = {2}'.format(points_frame_id, points_timestamp, timeout_s))\n", + " rospy.logwarn('ROSMaxHeightImage.from_rgb_points_with_tf2: failed to update the image likely due to a failure to lookup the transform using TF2. points_frame_id = {0}'.format(points_frame_id))\n", "\n", " \n", " def to_point_cloud(self, color_map=None):\n", @@ -2188,7 +2100,7 @@ " yaml.dump(data, fid)\n", " print('Finished saving.')\n", "\n", - " \n", + "\n", " @classmethod\n", " def from_file(self, base_filename):\n", " print('HeadScan.from_file: base_filename =', base_filename)\n", @@ -2261,7 +2173,7 @@ "FakeRobot.move_to_pose: sleeping 1 second\n", "Moving to {'joint_head_pan': 0.1, 'joint_head_tilt': -1.2}\n", "FakeRobot.move_to_pose: sleeping 1 second\n", - "via rospy.loginfo: The head scan took 25.813185453414917 seconds.\n" + "via rospy.loginfo: The head scan took 24.87184500694275 seconds.\n" ] } ], @@ -2296,26 +2208,12 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 19, "id": "3cd042ff-9ddb-4276-ab8c-a1210bd1f866", "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "Exception in thread Thread-7:\n", - "Traceback (most recent call last):\n", - " File \"/usr/lib/python3.8/threading.py\", line 932, in _bootstrap_inner\n", - " self.run()\n", - " File \"/usr/lib/python3.8/threading.py\", line 870, in run\n", - " self._target(*self._args, **self._kwargs)\n", - " File \"/tmp/ipykernel_16300/3221415467.py\", line 26, in _spin\n", - "RuntimeError: wait_for_frames cannot be called before start()\n" - ] - } - ], + "outputs": [], "source": [ + "node.stop()\n", "robot.stop()\n", "pipeline.stop()" ]