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reactive_assembly_v1.py
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reactive_assembly_v1.py
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#!/usr/bin/env python3
import pdb
import sys
import time
import pickle
import numpy as np
from copy import deepcopy
from threading import Thread
import adapy
import rospy
from std_msgs.msg import Float64MultiArray
from moveit_ros_planning_interface._moveit_roscpp_initializer import roscpp_init
from PyQt5.QtWidgets import *
from PyQt5.QtGui import *
from PyQt5.QtCore import *
from src import common
# set to False if operating real robot
IS_SIM = False
# directory path for each machine
directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
# urdf files path
urdf_filepath = "package://ada_manipulation_demos/urdfs"
# ------------------------------------------------------- MAIN ------------------------------------------------------- #
class AssemblyController(QMainWindow):
def __init__(self):
super(AssemblyController, self).__init__()
# initialize robot
self.ada = adapy.Ada(IS_SIM)
# ------------------------------------------ Create sim environment ---------------------------------------------- #
# objects in airplane assembly
storageURDFUri = urdf_filepath + "/storage.urdf"
storagePose = [0., -0.3, -0.77, 0, 0, 0, 0]
wingURDFUri = urdf_filepath + "/abstract_main_wing.urdf"
wingPose = [0.75, -0.3, 0., 0.5, 0.5, 0.5, 0.5]
tailURDFUri = urdf_filepath + "/abstract_tail_wing.urdf"
tailPose = [-0.7, -0.25, 0.088, 0.5, 0.5, 0.5, 0.5]
container1URDFUri = urdf_filepath + "/container_1.urdf"
container1_1Pose = [0.4, -0.4, 0., 0., 0., 0., 0.]
container1_2Pose = [-0.4, -0.4, 0., 0., 0., 0., 0.]
container1_3Pose = [0.55, -0.3, 0., 0., 0., 0., 0.]
container1_4Pose = [-0.55, -0.3, 0., 0., 0., 0., 0.]
container2URDFUri = urdf_filepath + "/container_2.urdf"
container2_1Pose = [0.4, -0.1, 0, 0., 0., 0., 0.]
container2_2Pose = [-0.4, -0.1, 0., 0., 0., 0., 0.]
container3URDFUri = urdf_filepath + "/container_3.urdf"
container3_1Pose = [0.6, 0., 0., 0., 0., 0., 0.]
container3_2Pose = [-0.6, 0., 0., 0., 0, 0, 0]
# grasp TSR and offsets
tailGraspPose = [[1., 0., 0.], [0., 1., 0.], [0., 0., 1]]
tailGraspOffset = [0., 0.175, 0.]
container1GraspPose = [[0., 1., 0., 0.], [1., 0., 0., -0.05], [0., 0., -1, 0.8], [0., 0., 0., 1.]]
container1GraspOffset = [0., 0., -0.07]
container2GraspPose = [[0., 1., 0., 0.], [1., 0., 0., -0.1], [0., 0., -1, 0.1], [0., 0., 0., 1.]]
container2GraspOffset = [0., -0.115, 0.]
container3GraspPose = [[-1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., -1., 0.1], [0., 0., 0., 1.]]
container3GraspOffset = [0., 0., 0.]
# hard-coded grasps
self.graspConfig, self.deliveryRotation = {}, {}
self.graspConfig["long bolts"] = [-2.06624655, 4.37198852, 2.3886246, -2.84061763, 4.90123373, -6.59571791]
# [-2.11464507, 4.27069802, 2.12562682, -2.9179622, -1.1927828, -0.16230427]
self.deliveryRotation["long bolts"] = -1.34
self.graspConfig["short bolts"] = [ -7.07682948, 4.45124074, 2.65111774, -2.60687012, 17.12044212, -11.50343272]
# [-0.72561783, 4.31588712, 2.28856202, -2.71514972, -1.42200445, 1.01089267]
self.deliveryRotation["short bolts"] = 1.25
self.graspConfig["propeller nut"] = [0.49700125, 1.86043184, 3.78425230, 2.63384048, 1.44808279, 1.67817618]
# self.graspConfig["propeller nut"] = [-2.03877631, 4.09967790, 1.60438025, -0.19636232, 0.71718155, 2.21799853]
self.deliveryRotation["propeller nut"] = -1.1
self.graspConfig["tail screw"] = [-0.46015322, 4.47079882, 2.68192519, -2.584758426, -1.74260217, 1.457295330]
self.deliveryRotation["tail screw"] = 1.0
self.graspConfig["propeller blades"] = [-2.4191907, 3.9942575, 1.29241768, 3.05926906, -0.50726387, -0.52933128]
self.deliveryRotation["propeller blades"] = -1.1
self.graspConfig["tool"] = [-0.32843145, 4.02576609, 1.48440087, -2.87877031, -0.79457283, 1.40310179]
self.deliveryRotation["tool"] = 1.05
self.graspConfig["propeller hub"] = [3.00773842, 4.21352853, 1.98663177, -0.17330897, 1.01156224, -0.46210507]
self.deliveryRotation["propeller hub"] = -0.6
self.graspConfig["tail wing"] = [3.129024, 1.87404028, 3.40826295, 0.53502216, -1.86749865, -0.99044654]
self.deliveryRotation["tail wing"] = 0.7
self.graspConfig["main wing"] = [-2.86840265, 3.89315136, 1.47980743, -3.07256298, 0.95719655, 2.37149834]
self.deliveryRotation["main wing"] = -0.7
# initialize sim environment
self.world = self.ada.get_world()
viewer = self.ada.start_viewer("airplane_assembly_demo", "map")
# add parts to sim environment
storageInWorld = self.world.add_body_from_urdf(storageURDFUri, storagePose)
container1_1 = self.world.add_body_from_urdf(container1URDFUri, container1_1Pose)
container1_2 = self.world.add_body_from_urdf(container1URDFUri, container1_2Pose)
container1_3 = self.world.add_body_from_urdf(container1URDFUri, container1_3Pose)
container1_4 = self.world.add_body_from_urdf(container1URDFUri, container1_4Pose)
container2_1 = self.world.add_body_from_urdf(container2URDFUri, container2_1Pose)
container2_2 = self.world.add_body_from_urdf(container2URDFUri, container2_2Pose)
container3_1 = self.world.add_body_from_urdf(container3URDFUri, container3_1Pose)
# container3_2 = self.world.add_body_from_urdf(container3URDFUri, container3_2Pose)
tailWing = self.world.add_body_from_urdf(tailURDFUri, tailPose)
mainWing = self.world.add_body_from_urdf(wingURDFUri, wingPose)
# dict of all objects
self.objects = {"long bolts": [container1_1, container1_1Pose, container1GraspPose, container1GraspOffset],
"short bolts": [container1_2, container1_2Pose, container1GraspPose, container1GraspOffset],
"propeller nut": [container1_3, container1_3Pose, container1GraspPose, container1GraspOffset],
"tail screw": [container1_4, container1_4Pose, container1GraspPose, container1GraspOffset],
"propeller blades": [container2_1, container2_1Pose, container2GraspPose, container2GraspOffset],
"tool": [container2_2, container2_2Pose, container2GraspPose, container2GraspOffset],
"propeller hub": [container3_1, container3_1Pose, container3GraspPose, container3GraspOffset],
"tail wing": [tailWing, tailPose, tailGraspPose, tailGraspOffset],
"main wing": [mainWing],
"airplane body": []}
# ------------------------------------------------ Get robot config ---------------------------------------------- #
collision = self.ada.get_self_collision_constraint()
self.arm_skeleton = self.ada.get_arm_skeleton()
self.arm_state_space = self.ada.get_arm_state_space()
self.hand = self.ada.get_hand()
self.hand_node = self.hand.get_end_effector_body_node()
viewer.add_frame(self.hand_node)
# ------------------------------- Start executor for real robot (not needed for sim) ----------------------------- #
if not IS_SIM:
self.ada.start_trajectory_controllers()
self.armHome = [-1.57, 3.14, 1.23, -2.19, 1.8, 1.2]
waypoints = [(0.0, self.arm_skeleton.get_positions()), (1.0, self.armHome)]
trajectory = self.ada.compute_joint_space_path(waypoints) # self.ada.plan_to_configuration(self.armHome)
self.ada.execute_trajectory(trajectory)
self.hand.execute_preshape([0.15, 0.15])
# ------------------------------------------------- Assembly Info ------------------------------------------------ #
# objects yet to be delivered
self.remaining_objects = list(self.objects.keys())
# subscribe to action recognition
sub_act = rospy.Subscriber("/april_tag_detection", Float64MultiArray, self.callback, queue_size=1)
# initialize user sequence
self.time_step = 0
self.user_sequence = []
self.anticipated_action_name = []
self.suggested_objects = []
# ------------------------------------------------ GUI details --------------------------------------------------- #
# window title and size
self.setWindowTitle("Robot Commander")
self.setGeometry(0, 0, 1280, 720)
# prompt
query = QLabel(self)
query.setText("Which part(s) do you want?")
query.setFont(QFont('Arial', 28))
query.adjustSize()
query.move(95, 135)
# task info
assembly_image = QLabel(self)
pixmap = QPixmap(directory_syspath + "/media/actual_task.jpg")
pixmap = pixmap.scaledToWidth(1125)
assembly_image.setPixmap(pixmap)
assembly_image.adjustSize()
assembly_image.move(660, 145)
# inputs
options = deepcopy(self.remaining_objects)
# print the options
option_x, option_y = 210, 200
buttons = []
for opt in options:
opt_button = QPushButton(self)
opt_button.setText(opt)
opt_button.setFont(QFont('Arial', 20))
opt_button.setGeometry(option_x, option_y, 225, 50)
opt_button.setCheckable(True)
opt_button.setStyleSheet("QPushButton::checked {background-color : lightpink;}")
buttons.append(opt_button)
option_y += 50
self.option_buttons = buttons
# button for performing selected actions
option_x = 85
option_y += 60
self.selected_button = QPushButton(self)
self.selected_button.setText("Give me the selected parts.")
self.selected_button.setFont(QFont('Arial', 20))
self.selected_button.setGeometry(option_x, option_y, 500, 50)
self.selected_button.setStyleSheet("background-color : lightpink")
self.selected_button.setCheckable(True)
self.selected_button.clicked.connect(self.deliver_part)
# print current time step
self.step_label = QLabel(self)
self.step_label.setText("Current time step: " + str(self.time_step))
self.step_label.setFont(QFont('Arial', 36))
self.step_label.adjustSize()
self.step_label.move(715, 65)
# update timer
self.time_to_respond = 10
self.timer = QTimer()
self.timer.timeout.connect(self.update_application)
self.time_left = deepcopy(self.time_to_respond)
self.countdown = QLabel(self)
self.countdown.setText(str(self.time_left))
self.countdown.setFont(QFont('Arial', 36))
self.countdown.setStyleSheet("background-color: khaki")
self.countdown.adjustSize()
self.countdown.move(1720, 65)
self.countdown_timer = QTimer()
self.countdown_timer.timeout.connect(self.timer_update)
self.timer.start(self.time_to_respond*1000)
self.countdown_timer.start(1000)
def timer_update(self):
self.time_left -=1
self.countdown.setText(" " + str(self.time_left) + " ")
if self.time_left == 0:
self.time_left = deepcopy(self.time_to_respond)
self.countdown.setText(str(self.time_left))
def update_application(self):
# update time stamp
self.step_label.setText("Current time step: " + str(self.time_step))
# update suggested options
for opt_button in self.option_buttons:
# opt_button.setChecked(False)
if opt_button.text() not in self.remaining_objects:
opt_button.setChecked(False)
opt_button.setCheckable(False)
opt_button.setStyleSheet("QPushButton {color : lightgrey;}")
else:
opt_button.setStyleSheet("QPushButton::checked {background-color : lightpink;}")
# update action buttons
self.selected_button.setChecked(False)
def callback(self, data):
# current recognised action sequence
detected_sequence = [int(a) for a in data.data]
# current recognised parts
detected_parts = data.layout.dim[0].label.split(",")
# update action sequence
self.user_sequence = detected_sequence
self.time_step = len(self.user_sequence)
# update remaining parts
self.remaining_objects = [rem_obj for rem_obj in self.remaining_objects if rem_obj not in detected_parts]
def deliver_part(self):
# check which objects were selected by the user
if self.selected_button.isChecked():
objects_to_deliver = []
for option in self.option_buttons:
if option.isChecked():
objects_to_deliver.append(option.text())
else:
objects_to_deliver = []
# loop over all objects to be delivered
for chosen_obj in objects_to_deliver:
# instruct the user to retreive the parts that cannot be delivered by the robot
if chosen_obj in ["main wing", "airplane body", "none"]:
print("Cannot provide this part.")
msg = QMessageBox()
msg.setText("Get the parts you need while the robot waits.")
msg.setFont(QFont('Arial', 20))
msg.setWindowTitle("Robot Message")
QTimer.singleShot(10000, msg.close)
msg.exec_()
else:
# deliver parts requested by the user whenever possible
print("Providing the required part.")
# ---------------------------------------- Collision detection --------------------------------------- #
# collision_free_constraint = self.ada.set_up_collision_detection(ada.get_arm_state_space(), self.ada.get_arm_skeleton(),
# [obj])
# full_collision_constraint = self.ada.get_full_collision_constraint(ada.get_arm_state_space(),
# self.ada.get_arm_skeleton(),
# collision_free_constraint)
# collision = self.ada.get_self_collision_constraint()
# -------------------------------------- Plan path for grasping -------------------------------------- #
obj = self.objects[chosen_obj][0]
# use pre-computed grasp configuration if available
if chosen_obj in self.graspConfig.keys():
print("Running hard-coded...")
grasp_configuration = self.graspConfig[chosen_obj]
else:
print("Creating new TSR.")
objPose = self.objects[chosen_obj][1]
objGraspPose = self.objects[chosen_obj][2]
# grasp TSR for object
objTSR = common.createTSR(objPose, objGraspPose)
# marker = viewer.add_tsr_marker(objTSR)
# input("Marker look good?")
# perform IK to compute grasp configuration
ik_sampleable = adapy.create_ik(self.arm_skeleton, self.arm_state_space, objTSR, self.hand_node)
ik_generator = ik_sampleable.create_sample_generator()
configurations = []
samples, max_samples = 0, 10
while samples < max_samples and ik_generator.can_sample():
samples += 1
goal_state = ik_generator.sample(self.arm_state_space)
if len(goal_state) == 0:
continue
configurations.append(goal_state)
print("Found new configuration.")
grasp_configuration = configurations[0]
# plan path to grasp configuration
waypoints = [(0.0, self.armHome),(1.0, grasp_configuration)]
trajectory = self.ada.compute_joint_space_path(waypoints)
# ------------------------------------------ Execute path to grasp object --------------------------------- #
if not trajectory:
print("Failed to find a solution!")
else:
# execute the planned trajectory
self.ada.execute_trajectory(trajectory)
# lower gripper
if chosen_obj == 'main wing':
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [0.04, 0., 0.])
else:
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [0., 0., -0.045])
self.ada.execute_trajectory(traj)
# grasp the object
self.hand.execute_preshape([1.3, 1.3])
time.sleep(1.5)
self.hand.grab(obj)
# lift up grasped object
if chosen_obj == 'main wing':
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [0., 0., 0.10])
self.ada.execute_trajectory(traj)
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [-0.2, 0., 0.])
else:
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [0., 0., 0.15])
self.ada.execute_trajectory(traj)
# move grasped object to workbench
current_position = self.arm_skeleton.get_positions()
new_position = current_position.copy()
new_position[0] += self.deliveryRotation[chosen_obj]
waypoints = [(0.0, current_position), (1.0, new_position)]
traj = self.ada.compute_joint_space_path(waypoints)
self.ada.execute_trajectory(traj)
# ----------------------- Lower grasped object using Jacobian pseudo-inverse ------------------------ #
if chosen_obj == "main wing":
time.sleep(4)
else:
traj = self.ada.plan_to_offset("j2n6s200_hand_base", [0., 0., -0.10])
self.ada.execute_trajectory(traj)
self.hand.ungrab()
self.hand.execute_preshape([0.15, 0.15])
self.world.remove_skeleton(obj)
time.sleep(1)
# ------------------- Move robot back to home ------------------- #
waypoints = [(0.0, self.ada.get_arm_positions()), (1.0, self.armHome)]
traj = self.ada.compute_joint_space_path(waypoints)
self.ada.execute_trajectory(traj)
print("Finished executing actions.")
# MAIN
# initialise ros node
rospy.init_node("reactive_assembly")
roscpp_init('reactive_assembly', [])
app = QApplication(sys.argv)
win = AssemblyController()
win.showMaximized()
app.exec_()
try:
rospy.spin()
except KeyboardInterrupt:
print ("Shutting down")
input("Press Enter to Quit...")