From b8474f482d699feb2c803baad4dc218c9dd590fe Mon Sep 17 00:00:00 2001 From: Andrew Lui Date: Sun, 7 Jul 2024 17:37:00 +1000 Subject: [PATCH 1/4] move the tools modules to task_trees.tools to avoid potential name clashes when task trees work with other packages. remove demos from the module list in the setup.py file. Update rviz_tools.py to make it the same release as rviz_marker_tool which include publishing of MarkerArray . Modified the BasicTask class and remove all pose specific parameters and functions to recover its intention as a generic task class. --- CMakeLists.txt | 2 +- demos/gridscan/behaviours_advanced.py | 4 +- demos/gridscan/behaviours_gridscan.py | 2 +- demos/gridscan/task_trees_manager_gridscan.py | 15 +- demos/pickndrop/behaviours_pnd.py | 2 +- demos/pickndrop/demo.py | 2 +- demos/pickndrop/task_trees_manager_pnd.py | 12 +- demos/pickndrop_estop/behaviours_pnd.py | 54 +++ .../pickndrop_estop/task_trees_manager_pnd.py | 14 +- .../pushblock/task_trees_manager_pushblock.py | 8 +- demos/pushblock_ros/ros_demo.py | 2 +- demos/pushblock_ros/ros_server.py | 2 +- demos/rviz_display/task_trees_manager_rviz.py | 8 +- demos/task_moves/task_move_4_gui.py | 2 +- setup.py | 2 +- task_trees/behaviours_base.py | 3 +- task_trees/behaviours_move.py | 2 +- task_trees/behaviours_move_sense.py | 2 +- task_trees/demos/pushblock/demo.py | 119 ++++++ .../demos/pushblock/docs/DemoPushBlock1.gif | Bin 0 -> 829318 bytes .../demos/pushblock/docs/PushBlockDesign.png | Bin 0 -> 133401 bytes .../docs/PushBlockReferenceFrames.png | Bin 0 -> 8471 bytes task_trees/demos/pushblock/task_scene.yaml | 90 +++++ .../pushblock/task_trees_manager_pushblock.py | 334 +++++++++++++++++ task_trees/scene_to_rviz.py | 10 +- task_trees/task_scene.py | 2 +- task_trees/task_trees_manager.py | 30 +- {tools => task_trees/tools}/__init__.py | 0 {tools => task_trees/tools}/logging_tools.py | 0 {tools => task_trees/tools}/pose_tools.py | 0 {tools => task_trees/tools}/rospkg_tools.py | 0 {tools => task_trees/tools}/rviz_tools.py | 345 ++++++++++++++---- 32 files changed, 923 insertions(+), 145 deletions(-) create mode 100644 demos/pickndrop_estop/behaviours_pnd.py create mode 100644 task_trees/demos/pushblock/demo.py create mode 100644 task_trees/demos/pushblock/docs/DemoPushBlock1.gif create mode 100644 task_trees/demos/pushblock/docs/PushBlockDesign.png create mode 100644 task_trees/demos/pushblock/docs/PushBlockReferenceFrames.png create mode 100644 task_trees/demos/pushblock/task_scene.yaml create mode 100644 task_trees/demos/pushblock/task_trees_manager_pushblock.py rename {tools => task_trees/tools}/__init__.py (100%) rename {tools => task_trees/tools}/logging_tools.py (100%) rename {tools => task_trees/tools}/pose_tools.py (100%) rename {tools => task_trees/tools}/rospkg_tools.py (100%) rename {tools => task_trees/tools}/rviz_tools.py (60%) diff --git a/CMakeLists.txt b/CMakeLists.txt index e377b2a..ebaf2fa 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -163,7 +163,7 @@ include_directories( ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination catkin_install_python(PROGRAMS - demos/pushblock/demo.py + task_trees/demos/pushblock/demo.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) diff --git a/demos/gridscan/behaviours_advanced.py b/demos/gridscan/behaviours_advanced.py index 9cdd3bd..0bee935 100644 --- a/demos/gridscan/behaviours_advanced.py +++ b/demos/gridscan/behaviours_advanced.py @@ -15,8 +15,8 @@ from py_trees.common import Status # robot control module from task_scene_gridscan import GridScanScene -from tools.logging_tools import logger -from demos.gridscan.behaviours_gridscan import DoMoveTankGrid +from task_trees.tools.logging_tools import logger +from behaviours_gridscan import DoMoveTankGrid # ----------------------------------------------------------------------------------------------------- # Advanced behaviours for illustrating the versatility of the ConditionalCommanderBehaviour base class diff --git a/demos/gridscan/behaviours_gridscan.py b/demos/gridscan/behaviours_gridscan.py index 3bc989f..a4d9282 100644 --- a/demos/gridscan/behaviours_gridscan.py +++ b/demos/gridscan/behaviours_gridscan.py @@ -16,7 +16,7 @@ # robot control module from task_trees.behaviours_move import SceneConditionalCommanderBehaviour from task_scene_gridscan import GridScanScene -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # ---------------------------------------------------------------------- # Custom Behaviour Classes diff --git a/demos/gridscan/task_trees_manager_gridscan.py b/demos/gridscan/task_trees_manager_gridscan.py index ee52753..a64a64d 100644 --- a/demos/gridscan/task_trees_manager_gridscan.py +++ b/demos/gridscan/task_trees_manager_gridscan.py @@ -23,11 +23,11 @@ from task_trees.behaviours_base import * from task_trees.task_trees_manager import BasicTaskTreesManager, TaskTreesManager, BasicTask, TaskStates from task_trees.scene_to_rviz import SceneToRViz -from demos.gridscan.behaviours_gridscan import SimCalibrate, DoMoveTankGrid -from demos.gridscan.behaviours_advanced import DoMoveTankGridVisualCDROS +from behaviours_gridscan import SimCalibrate, DoMoveTankGrid +from behaviours_advanced import DoMoveTankGridVisualCDROS -from tools.logging_tools import logger -import tools.pose_tools as pose_tools +from task_trees.tools.logging_tools import logger +import task_trees.tools.pose_tools as pose_tools # ------------------------------------- # Tasks specialized for this application @@ -55,6 +55,7 @@ def __init__(self, named_pose:str): class MoveGridPoseTask(BasicTask): def __init__(self, tile_x:int, tile_y:int, cell_x:int, cell_y:int): super(MoveGridPoseTask, self).__init__([tile_x, tile_y, cell_x, cell_y]) + # ---------------------------------------- # The TaskManager specialized for this application @@ -118,20 +119,20 @@ def query_grid_position_of_task(self): """ if not self.the_blackboard.exists('task'): raise TypeError(f'unable to query logical pose due to no task has been submitted') - return self.the_blackboard.task.get_goal_as_logical_pose() + return self.the_blackboard.task.get_param() # return the logical rotation of the accepted task, or raise TypeError if no task is submitted def query_logical_rpy_of_task(self): if not self.the_blackboard.exists('task'): raise TypeError(f'unable to query logical rotation due to no task has been submitted') - grid_position = self.the_blackboard.task.get_goal_as_logical_pose() + grid_position = self.the_blackboard.task.get_param() rpy = self.the_scene.compute_rpy_from_grid_position(grid_position) return rpy # internal function for obtaining the logical pose of the current task as xyzrpy def _get_task_target_xyzrpy(self) -> list: if self.the_blackboard.exists('task'): - logical_pose = self.the_blackboard.task.get_goal_as_logical_pose() + logical_pose = self.the_blackboard.task.get_param() return self.the_scene.compute_xyzrpy_from_grid_position(logical_pose) return False diff --git a/demos/pickndrop/behaviours_pnd.py b/demos/pickndrop/behaviours_pnd.py index 4daf101..cb39d5e 100644 --- a/demos/pickndrop/behaviours_pnd.py +++ b/demos/pickndrop/behaviours_pnd.py @@ -13,7 +13,7 @@ # robot control module import arm_commander.tools.moveit_tools as moveit_tools from task_trees.behaviours_base import ConditionalBehaviour, ConditionalCommanderBehaviour -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger from scan_model import ScanRegionModel # ---------------------------------------------------------------------- diff --git a/demos/pickndrop/demo.py b/demos/pickndrop/demo.py index 216224a..46597a4 100644 --- a/demos/pickndrop/demo.py +++ b/demos/pickndrop/demo.py @@ -18,7 +18,7 @@ from arm_commander.commander_moveit import GeneralCommander from task_trees_manager_pnd import PNDTaskTreesManager, ScanTask, PickUpObjectTask, DropObjectTask from task_trees.states import TaskStates -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # -- Test cases specialized for the PickNDrop Demo class DemoStates(Enum): diff --git a/demos/pickndrop/task_trees_manager_pnd.py b/demos/pickndrop/task_trees_manager_pnd.py index 63e5145..d4bd664 100644 --- a/demos/pickndrop/task_trees_manager_pnd.py +++ b/demos/pickndrop/task_trees_manager_pnd.py @@ -22,8 +22,8 @@ from task_trees.task_trees_manager import TaskTreesManager, BasicTask from task_trees.task_scene import Scene from task_trees.scene_to_rviz import SceneToRViz -import tools.pose_tools as pose_tools -from demos.pickndrop.behaviours_pnd import DoScanProgram +import task_trees.tools.pose_tools as pose_tools +from behaviours_pnd import DoScanProgram from scan_model import SingleLineScanModel, SteppingScanModel, FourCornersScanModel # ------------------------------------- @@ -52,6 +52,8 @@ class PickUpObjectTask(BasicTask): def __init__(self, xyz_world:list): super(PickUpObjectTask, self).__init__() self.xyz = xyz_world + def get_xyz(self): + return self.xyz class DropObjectTask(BasicTask): @@ -62,7 +64,9 @@ def __init__(self): class MovePoseTask(BasicTask): def __init__(self, xyz_world:list): super(MovePoseTask, self).__init__() - self.xyz = xyz_world + self.xyz = xyz_world + def get_xyz(self): + return self.xyz # ---------------------------------------- # The TaskManager specialized for this application @@ -161,7 +165,7 @@ def query_logical_pose_of_task(self): :rtype: unspecified as defined by the specific subclass of BasicTask """ if self.the_blackboard.exists('task'): - return self.the_blackboard.task.get_goal_as_logical_pose() + return self.the_blackboard.task.get_param() raise TypeError(f'unable to query logical pose due to no task has been submitted') # return the target position of the accepted task, or raise TypeError if no task is submitted diff --git a/demos/pickndrop_estop/behaviours_pnd.py b/demos/pickndrop_estop/behaviours_pnd.py new file mode 100644 index 0000000..cb39d5e --- /dev/null +++ b/demos/pickndrop_estop/behaviours_pnd.py @@ -0,0 +1,54 @@ +# Copyright 2024 - Andrew Kwok Fai LUI, +# Robotics and Autonomous Systems Group, REF, RI +# and the Queensland University of Technology + +__author__ = 'Andrew Lui' +__copyright__ = 'Copyright 2024' +__license__ = 'GPL' +__version__ = '1.0' +__email__ = 'ak.lui@qut.edu.au' +__status__ = 'Development' + +from py_trees.common import Status +# robot control module +import arm_commander.tools.moveit_tools as moveit_tools +from task_trees.behaviours_base import ConditionalBehaviour, ConditionalCommanderBehaviour +from task_trees.tools.logging_tools import logger +from scan_model import ScanRegionModel + +# ---------------------------------------------------------------------- +# Behaviour Classes for the Pick-n-Drop robot arm manipulation application + +class DoScanProgram(ConditionalCommanderBehaviour): + """ This behaviour moves the end-effector over a planar region according toa program + The orientation of the end-effector is fixed. + """ + def __init__(self, name, condition_fn=True, condition_policy=None, arm_commander=None, scan_program:ScanRegionModel=None): + """ the constructor, refers to the constructor ConditionalCommanderBehaviour for the description of the other parameters + :param scan_program: the scan program + :type scan_program: ScanRegionModel + """ + super(DoScanProgram, self).__init__(name=name, condition_fn=condition_fn, condition_policy=condition_policy, arm_commander=arm_commander) + if scan_program is None: + logger.error(f'{__class__.__name__} ({self.name}): parameter (scan_program) is None -> fix the missing value at behaviour construction') + raise AssertionError(f'A parameter should not be None nor missing') + self.scan_program:ScanRegionModel = scan_program + # the concrete implementation of the logic when the General Commander is READY + def update_when_ready(self): + xyz = self.scan_program.get_next_xyz() + if xyz is None: + self.scan_program.reset() + xyz = self.scan_program.get_next_xyz() + + # a heck to test the use of orientation constraint + self.arm_commander.add_path_constraints(moveit_tools.create_path_orientation_constraint( + self.arm_commander.END_EFFECTOR_LINK, self.arm_commander.pose_in_frame('the_table'), 0.05, 0.05, 6.28)) + # send the command to the General Commander in an asynchronous manner + self.arm_commander.move_to_position(x=xyz[0], y=xyz[1], z=xyz[2], cartesian=True, reference_frame='the_table', wait=False) + logger.info(f'DoScanProgram ({self.name}): started move to pose: {xyz} in reference frame "the_table"') + return Status.RUNNING + # the concrete implementation of the logic when the command is completed + def tidy_up(self): + super().tidy_up() + self.scan_program.done_current() + self.arm_commander.clear_path_constraints() diff --git a/demos/pickndrop_estop/task_trees_manager_pnd.py b/demos/pickndrop_estop/task_trees_manager_pnd.py index f717280..58c4ad0 100644 --- a/demos/pickndrop_estop/task_trees_manager_pnd.py +++ b/demos/pickndrop_estop/task_trees_manager_pnd.py @@ -18,14 +18,14 @@ # robot control module from arm_commander.commander_moveit import GeneralCommander, logger -import tools.pose_tools as pose_tools +import task_trees.tools.pose_tools as pose_tools from task_trees.behaviours_base import SimAttachObject, SimDetachObject from task_trees.behaviours_move import DoMoveNamedPose, DoMoveXYZ from task_trees.task_trees_manager import GuardedTaskTreesManager, BasicTask from task_trees.task_scene import Scene -from demos.pickndrop.behaviours_pnd import DoScanProgram +from behaviours_pnd import DoScanProgram from scan_model import SingleLineScanModel, SteppingScanModel, FourCornersScanModel # ------------------------------------- @@ -54,18 +54,20 @@ class PickUpObjectTask(BasicTask): def __init__(self, xyz_world:list): super(PickUpObjectTask, self).__init__() self.xyz = xyz_world - + def get_xyz(self): + return self.xyz class DropObjectTask(BasicTask): def __init__(self): super(DropObjectTask, self).__init__() - class MovePoseTask(BasicTask): def __init__(self, xyz_world:list): super(MovePoseTask, self).__init__() self.xyz = xyz_world - + def get_xyz(self): + return self.xyz + # ---------------------------------------- # The TaskManager specialized for this application class PNDTaskTreesManager(GuardedTaskTreesManager): @@ -157,7 +159,7 @@ def query_logical_pose_of_task(self): :rtype: unspecified as defined by the specific subclass of BasicTask """ if self.the_blackboard.exists('task'): - return self.the_blackboard.task.get_goal_as_logical_pose() + return self.the_blackboard.task.get_param() raise TypeError(f'unable to query logical pose due to no task has been submitted') # return the target position of the accepted task, or raise TypeError if no task is submitted diff --git a/demos/pushblock/task_trees_manager_pushblock.py b/demos/pushblock/task_trees_manager_pushblock.py index 77ee515..95d518d 100644 --- a/demos/pushblock/task_trees_manager_pushblock.py +++ b/demos/pushblock/task_trees_manager_pushblock.py @@ -25,7 +25,7 @@ from task_trees.task_trees_manager import TaskTreesManager, BasicTask from task_trees.task_scene import Scene from task_trees.scene_to_rviz import SceneToRViz -import tools.pose_tools as pose_tools +import task_trees.tools.pose_tools as pose_tools # ------------------------------------- # Tasks specialized for the Pick-n-Drop @@ -140,7 +140,7 @@ def query_logical_pose_of_task(self): :rtype: unspecified as defined by the specific subclass of BasicTask """ if self.the_blackboard.exists('task'): - return self.the_blackboard.task.get_goal_as_logical_pose() + return self.the_blackboard.task.get_param() raise TypeError(f'unable to query logical pose due to no task has been submitted') def query_current_reference_frame(self): @@ -155,7 +155,7 @@ def query_target_reference_frame(self): :rtype: str """ if self.the_blackboard.exists('task'): - target = self.the_blackboard.task.get_goal_as_logical_pose() + target = self.the_blackboard.task.get_param() return target raise TypeError(f'unable to query the target due to no task has been submitted') @@ -163,7 +163,7 @@ def query_target_reference_frame(self): # defined in the config file def query_rotation_from_target(self): if self.the_blackboard.exists('task'): - target = self.the_blackboard.task.get_goal_as_logical_pose() + target = self.the_blackboard.task.get_param() rotation = self.the_scene.query_config(target + ".rotation") return rotation raise TypeError(f'unable to query the rotation due to no task has been submitted or the target area is wrong') diff --git a/demos/pushblock_ros/ros_demo.py b/demos/pushblock_ros/ros_demo.py index 76e2f57..683d1c2 100644 --- a/demos/pushblock_ros/ros_demo.py +++ b/demos/pushblock_ros/ros_demo.py @@ -15,7 +15,7 @@ import rospy, actionlib from actionlib_msgs.msg import GoalStatus from task_trees.msg import TaskAction, TaskGoal, TaskFeedback, TaskResult -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # -- Test cases specialized for the Push Block Demo class PushBlockROSClientDemo(): diff --git a/demos/pushblock_ros/ros_server.py b/demos/pushblock_ros/ros_server.py index f7606f4..79e72ae 100644 --- a/demos/pushblock_ros/ros_server.py +++ b/demos/pushblock_ros/ros_server.py @@ -17,7 +17,7 @@ from arm_commander.commander_moveit import GeneralCommander, logger from task_trees.msg import TaskAction, TaskGoal, TaskResult from task_trees.states import COMPLETION_STATES -from demos.pushblock.task_trees_manager_pushblock import * +from task_trees.demos.pushblock.task_trees_manager_pushblock import * class PushBlockROSServer(): """ The server side of the application program for the PushBlock Demo that implements the behaviour tree diff --git a/demos/rviz_display/task_trees_manager_rviz.py b/demos/rviz_display/task_trees_manager_rviz.py index fb94d0a..202cab9 100644 --- a/demos/rviz_display/task_trees_manager_rviz.py +++ b/demos/rviz_display/task_trees_manager_rviz.py @@ -17,15 +17,11 @@ # robot control module from arm_commander.commander_moveit import GeneralCommander, logger -import arm_commander.tools.moveit_tools as moveit_tools -from task_trees.states import TaskStates -from task_trees.behaviours_base import SimAttachObject, SimDetachObject, PrintPosesInFrame, PrintPose from task_trees.behaviours_move import DoMoveNamedPose, DoMoveXYZ, DoMoveXYZRPY, DoRotate from task_trees.task_trees_manager import TaskTreesManager, BasicTask from task_trees.task_scene import Scene from task_trees.scene_to_rviz import SceneToRViz -import tools.pose_tools as pose_tools # ------------------------------------- # Tasks specialized for this demo @@ -44,7 +40,7 @@ def __init__(self, named_pose:str): # ---------------------------------------- # The TaskManager specialized for this application class RVizTaskTreesManager(TaskTreesManager): - """ This is a subclass specialized for the pick-n-drop application + """ This is a subclass specialized for the rviz demo """ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): """ the constructor @@ -90,7 +86,7 @@ def query_logical_pose_of_task(self): :rtype: unspecified as defined by the specific subclass of BasicTask """ if self.the_blackboard.exists('task'): - return self.the_blackboard.task.get_goal_as_logical_pose() + return self.the_blackboard.task.get_param() raise TypeError(f'unable to query logical pose due to no task has been submitted') # ------------------------------------------------- diff --git a/demos/task_moves/task_move_4_gui.py b/demos/task_moves/task_move_4_gui.py index 51438c8..8643742 100644 --- a/demos/task_moves/task_move_4_gui.py +++ b/demos/task_moves/task_move_4_gui.py @@ -15,7 +15,7 @@ from graphics import * import rospy from std_msgs.msg import Int8 -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # Require the python Tkinter module # sudo apt install python3-tk diff --git a/setup.py b/setup.py index fdacc5c..5253ea7 100644 --- a/setup.py +++ b/setup.py @@ -7,7 +7,7 @@ # fetch values from package.xml setup_args = generate_distutils_setup( - packages=['task_trees', 'demos', 'tools'], + packages=['task_trees'], package_dir={'': '.'}, python_requires='>=3.9', install_requires=req_packages diff --git a/task_trees/behaviours_base.py b/task_trees/behaviours_base.py index 683b47c..60fc8d1 100644 --- a/task_trees/behaviours_base.py +++ b/task_trees/behaviours_base.py @@ -20,7 +20,8 @@ from arm_commander.commander_moveit import GeneralCommander, GeneralCommanderStates from task_trees.states import TaskStates from task_trees.task_scene import Scene -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger + # ----------------------------------------------------------------- # The base behaviours as an extension to PyTrees for working # with other components in a robot arm manipulation application diff --git a/task_trees/behaviours_move.py b/task_trees/behaviours_move.py index 1be15b3..13b789f 100644 --- a/task_trees/behaviours_move.py +++ b/task_trees/behaviours_move.py @@ -14,7 +14,7 @@ from geometry_msgs.msg import Pose, PoseStamped # robot control module from task_trees.behaviours_base import ConditionalCommanderBehaviour, SceneConditionalCommanderBehaviour, PrintPose -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # ---------------------------------------------------------------------- # Move Behaviour Classes for robot arm manipulation applications diff --git a/task_trees/behaviours_move_sense.py b/task_trees/behaviours_move_sense.py index 8e69d62..73430cc 100644 --- a/task_trees/behaviours_move_sense.py +++ b/task_trees/behaviours_move_sense.py @@ -15,7 +15,7 @@ # robot control module from task_trees.behaviours_base import ConditionalBehaviour from task_trees.behaviours_move import DoMoveXYZ -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # ----------------------------------------------------------------------------------------------------- # Advanced behaviours for illustrating the use of a ROS message topic to alert an imminent risk, such # as collision, and to abort the move behaviour diff --git a/task_trees/demos/pushblock/demo.py b/task_trees/demos/pushblock/demo.py new file mode 100644 index 0000000..32e3cce --- /dev/null +++ b/task_trees/demos/pushblock/demo.py @@ -0,0 +1,119 @@ +#!/usr/bin/env python3 + +# Copyright 2024 - Andrew Kwok Fai LUI, +# Robotics and Autonomous Systems Group, REF, RI +# and the Queensland University of Technology + +__author__ = 'Andrew Lui' +__copyright__ = 'Copyright 2024' +__license__ = 'GPL' +__version__ = '1.0' +__email__ = 'ak.lui@qut.edu.au' +__status__ = 'Development' + +import random, sys, signal, time +import py_trees +# robot control module +from arm_commander.commander_moveit import GeneralCommander, logger +from task_trees.demos.pushblock.task_trees_manager_pushblock import * + +# -- Test cases specialized for the Push Block Demo +# -- NOTE: setup so that it can be installed as a rosrun demo program +class PushBlockDemoApplication(): + """ The application program for the PushBlock Demo + """ + def __init__(self): + signal.signal(signal.SIGINT, self.stop) + self.the_blackboard = py_trees.blackboard.Client() + self.the_blackboard.register_key(key='the_object', access=py_trees.common.Access.READ) + + self.arm_commander = GeneralCommander('panda_arm') + self.the_task_manager = PushBlockTaskTreesManager(self.arm_commander) + # self.the_task_manager.display_tree() + self._run_demo() + self.the_task_manager.spin() + + def stop(self, *args, **kwargs): + logger.info('stop signal received') + self.the_task_manager.shutdown() + sys.exit(0) + + def _run_test(self): + task_manager = self.the_task_manager + logger.info(f'=== Test 1') + logger.info(f'=== Submit a MoveNamedPoseTask (stow)') + task_manager.submit_task(the_task:=MoveNamedPoseTask('named_poses.stow')) + the_task.wait_for_completion() + logger.info(f'=== Submit a MoveNamedPoseTask (home)') + task_manager.submit_task(the_task:=MoveNamedPoseTask('named_poses.home')) + the_task.wait_for_completion() + logger.info(f'=== Test Finished') + + def _run_push_test(self): + task_manager = self.the_task_manager + the_task = None + logger.info(f'=== PushBlock Demo Started') + logger.info(f'=== Submit a MoveNamedPoseTask (home)') + task_manager.submit_task(the_task:=MoveNamedPoseTask('named_poses.home')) + the_task.wait_for_completion() + # generate the block for simulation + task_manager.generate_the_object() + # test push blocks to different areas + logger.info(f'=== Submit a PushBlockTask (2)') + task_manager.submit_task(the_task:=PushBlockTask('area_2')) + the_task.wait_for_completion() + logger.info(f'=== Submit a PushBlockTask (4)') + task_manager.submit_task(the_task:=PushBlockTask('area_4')) + the_task.wait_for_completion() + logger.info(f'=== Submit a PushBlockTask (3)') + task_manager.submit_task(the_task:=PushBlockTask('area_3')) + the_task.wait_for_completion() + logger.info(f'=== Submit a PushBlockTask (1)') + task_manager.submit_task(the_task:=PushBlockTask('area_1')) + the_task.wait_for_completion() + + def _run_demo(self): + task_manager = self.the_task_manager + the_task = None + logger.info(f'=== PushBlock Demo Started') + logger.info(f'=== Submit a MoveNamedPoseTask (home)') + task_manager.submit_task(the_task:=MoveNamedPoseTask('named_poses.home')) + the_task.wait_for_completion() + # generate the block for simulation + task_manager.setup_objects() + task_manager.generate_the_object() + # initialize variables + is_random = False + while True: + if not is_random: + while True: + target = input('Enter the area (1, 2, 3, 4), go home (H), or run random demo (R): ') + if target in ['1', '2', '3', '4', 'H', 'R']: + break + time.sleep(0.1) + if target == 'R': + is_random = True + if target == 'H': + task_manager.submit_task(the_task:=MoveNamedPoseTask('named_poses.home')) + the_task.wait_for_completion() + continue + if is_random: + target = random.randint(1, 4) + area = f'area_{target}' + if self.the_blackboard.the_object['area'] == area: + if not is_random: + logger.info(f'The area 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z{*ug%fgpbv$o%&&0GkiJ^MgI_(^utI3we_}=87ed!wEAqChsKrvV49vWLWwNF<6(M2S0f{e^-HLMw$MX`^iGXnh?srxqh)JW&v zCp25r^h;m7qobQBkP}n?N67OQu>SWL@xSG^|I7mZDR2jVs5Dy}-FbH5V@RMV^3p0& J6%t?k{|j$Kmbd@_ literal 0 HcmV?d00001 diff --git a/task_trees/demos/pushblock/task_scene.yaml b/task_trees/demos/pushblock/task_scene.yaml new file mode 100644 index 0000000..e1ba483 --- /dev/null +++ b/task_trees/demos/pushblock/task_scene.yaml @@ -0,0 +1,90 @@ +--- +scene: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + objects: + block_1: + type: box + model_file: null + dimensions: [0.10, 0.10, 0.35] + xyz: [0.4, -0.10, 0.175] + rpy: [0, 0, 0] + block_2: + type: box + model_file: null + dimensions: [0.10, 0.10, 0.35] + xyz: [0.6, -0.10, 0.175] + rpy: [0, 0, 0] + block_3: + type: box + model_file: null + dimensions: [0.10, 0.10, 0.35] + xyz: [0.6, 0.10, 0.175] + rpy: [0, 0, 0] + block_4: + type: box + model_file: null + dimensions: [0.10, 0.10, 0.35] + xyz: [0.4, 0.10, 0.175] + rpy: [0, 0, 0] + area_1: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.4, 0.0, 0.125] + rpy: [0, 0, 1.57] + area_2: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, -0.10, 0.125] + rpy: [0, 0, 3.14] + area_3: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.6, 0.0, 0.125] + rpy: [0, 0, -1.57] + area_4: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, 0.10, 0.125] + rpy: [0, 0, 0] + area_5: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, 0.0, 0.125] + rpy: [0, 0, 0] +subscenes: + area: + positions: + hover: [null, null, 0.40] + down: [null, null, 0.27] + start: [0, 0.11, null] + centre: [0, -0.015, null] # -0.01 + restart: [0, -0.185, null] + end: [0, -0.06, null] + area_1: + rotation: rotations.alpha + area_2: + rotation: rotations.beta + area_3: + rotation: rotations.beta + area_4: + rotation: rotations.alpha + diff --git a/task_trees/demos/pushblock/task_trees_manager_pushblock.py b/task_trees/demos/pushblock/task_trees_manager_pushblock.py new file mode 100644 index 0000000..95d518d --- /dev/null +++ b/task_trees/demos/pushblock/task_trees_manager_pushblock.py @@ -0,0 +1,334 @@ +#!/usr/bin/env python3 + +# Copyright 2024 - Andrew Kwok Fai LUI, +# Robotics and Autonomous Systems Group, REF, RI +# and the Queensland University of Technology + +__author__ = 'Andrew Lui' +__copyright__ = 'Copyright 2024' +__license__ = 'GPL' +__version__ = '1.0' +__email__ = 'ak.lui@qut.edu.au' +__status__ = 'Development' + +import os, math, random +import py_trees +from py_trees.composites import Sequence, Parallel, Composite, Selector + +# robot control module +from arm_commander.commander_moveit import GeneralCommander, logger +import arm_commander.tools.moveit_tools as moveit_tools + +from task_trees.states import TaskStates +from task_trees.behaviours_base import SimAttachObject, SimDetachObject, PrintPosesInFrame, PrintPose +from task_trees.behaviours_move import DoMoveNamedPose, DoMoveXYZ, DoMoveXYZRPY, DoRotate +from task_trees.task_trees_manager import TaskTreesManager, BasicTask +from task_trees.task_scene import Scene +from task_trees.scene_to_rviz import SceneToRViz +import task_trees.tools.pose_tools as pose_tools +# ------------------------------------- +# Tasks specialized for the Pick-n-Drop + +# A sequence of behaviours for moving the arm to one of the named pose +class MoveNamedPoseTask(BasicTask): + def __init__(self, named_pose:str): + """ the constructor + :param named_pose: one of the named pose defined in the configuration file + :type named_pose: str + """ + if named_pose is None or type(named_pose) is not str or len(named_pose) == 0: + logger.error(f'{__class__.__name__}: parameter (named_pose) is not an non-empty string -> fix the missing value at behaviour construction') + raise AssertionError(f'A parameter is invalid') + super(MoveNamedPoseTask, self).__init__(named_pose) + +# A sequence of behaviours for moving the arm to one of the named pose +class PushBlockTask(BasicTask): + def __init__(self, area:str): + """ the constructor + :param area: one of the named pose defined in the configuration file + :type area: str + """ + super(PushBlockTask, self).__init__(area) + if not (area is not None or type(area) is not str or not area.startswith('area_')): + logger.error(f'{__class__.__name__}: parameter (area) is not a string starts with "area_" -> fix the value at behaviour construction') + raise AssertionError(f'A parameter is invalid') + +class MoveAreaTask(BasicTask): + def __init__(self, area:str): + """ the constructor + :param area: one of the named pose defined in the configuration file + :type area: str + """ + super(MoveAreaTask, self).__init__(area) + if not (area is not None or type(area) is not str or not area.startswith('area_')): + logger.error(f'{__class__.__name__}: parameter (area) is not a string starts with "area_" -> fix the value at behaviour construction') + raise AssertionError(f'A parameter is invalid') + +# ---------------------------------------- +# The TaskManager specialized for this application +class PushBlockTaskTreesManager(TaskTreesManager): + """ This is a subclass specialized for the pick-n-drop application + """ + def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): + """ the constructor + :param arm_commander: a general commander for a particular arm manipulator + :type arm_commander: GeneralCommander + :param spin_period_ms: the tick_tock period, defaults to 10 seconds + :type spin_period_ms: int, optional + """ + super(PushBlockTaskTreesManager, self).__init__(arm_commander) + # load the task scene + config_file = os.path.join(os.path.dirname(__file__), 'task_scene.yaml') + self.the_scene = Scene(config_file) + # setup visualization in rviz + self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) + self.scene_to_rviz.display_bbox_regions('regions', rgba=[1.0, 0.0, 1.0, 0.2]) + object_area1 = self.the_scene.get_object_config('area_1') + self.scene_to_rviz.add_custom_transform('area', object_area1.xyz, object_area1.rpy, arm_commander.get_world_reference_frame()) + self.scene_to_rviz.display_positions('area.positions', rgba=[1.0, 1.0, 0.0, 0.8]) + # setup the robotic manipulation platform through the commander + self.arm_commander.abort_move(wait=True) + self.arm_commander.reset_world() + # self.arm_commander.set_workspace_walls(*(self.the_scene.query_config('regions.workspace'))) + # setup name poses + self._define_named_poses(self.the_scene) + + # setup the blackboard and the two blackboard keys 'seen_object' + self.the_blackboard.register_key(key='the_object', access=py_trees.common.Access.WRITE) + + # build and install the behavior tree + self._set_initialize_branch(self.create_initialize_branch()) + self._add_task_branch(self.create_move_namedpose_task_branch(), MoveNamedPoseTask) + self._add_task_branch(self.create_push_block_task_branch(), PushBlockTask) + + # install and unleash the behaviour tree + self._install_bt_and_spin(self.bt, spin_period_ms) + + # ----------------------------------------- + # Functions for the simulation (demo) + def setup_objects(self): + # setup objects + # for object_name in self.the_scene.list_object_names(): + # the_object = self.the_scene.get_object_config(object_name) + # if the_object.type == 'box': + # self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) + self._define_objects(self.the_scene, 'box') + + def generate_the_object(self): + self.the_object = dict() + self.the_blackboard.the_object = self.the_object + the_block_config = self.the_scene.query_config('push_block') + self.the_object['area'] = 'area_1' + # transform the pose + xyzrpy = the_block_config['xyz'] + the_block_config['rpy'] + the_pose = pose_tools.list_to_pose_stamped(xyzrpy, self.the_object['area']) + the_pose = self.arm_commander.transform_pose(the_pose, self.arm_commander.WORLD_REFERENCE_LINK) + xyzrpy_in_world = pose_tools.pose_to_xyzrpy(the_pose.pose) + self.arm_commander.add_box_to_scene('the_object', the_block_config['dimensions'], xyzrpy_in_world[:3], xyzrpy_in_world[3:]) + + # ----------------------------------------- + # Functions for the behaviour tree + def post_fn_update_area(self): + target = self.query_target_reference_frame() + self.the_blackboard.the_object['area'] = target + + # return the logical pose of the accepted task, or raise TypeError if no task is submitted + def query_logical_pose_of_task(self): + """ return the goal, which is a logical pose, of the current task + :raises TypeError: no task has been submitted + :return: the logical pose + :rtype: unspecified as defined by the specific subclass of BasicTask + """ + if self.the_blackboard.exists('task'): + return self.the_blackboard.task.get_param() + raise TypeError(f'unable to query logical pose due to no task has been submitted') + + def query_current_reference_frame(self): + if self.the_blackboard.exists('the_object'): + return self.the_blackboard.the_object['area'] + raise TypeError(f'unable to query the reference frame where the object is located') + + def query_target_reference_frame(self): + """ return the target area of the task + :raises TypeError: no task has been submitted + :return: the reference frame representing the target area + :rtype: str + """ + if self.the_blackboard.exists('task'): + target = self.the_blackboard.task.get_param() + return target + raise TypeError(f'unable to query the target due to no task has been submitted') + + # return the ideal rotation of the end-effector for pushing to the target, which is derived from the target and the structure of the end-effector + # defined in the config file + def query_rotation_from_target(self): + if self.the_blackboard.exists('task'): + target = self.the_blackboard.task.get_param() + rotation = self.the_scene.query_config(target + ".rotation") + return rotation + raise TypeError(f'unable to query the rotation due to no task has been submitted or the target area is wrong') + + # return the ideal rotation of the end-effector for pushing from the source, which is derived from the source and the structure of the end-effector + # defined in the config file + def query_rotation_from_current(self): + if self.the_blackboard.exists('the_object'): + current = self.the_blackboard.the_object['area'] + rotation = self.the_scene.query_config(current + ".rotation") + return rotation + raise TypeError(f'unable to query the rotation due to no task has been submitted or the target area is wrong') + + # internal function for obtaining the time lapse since the current task was submitted + def _get_time_since_submit(self) -> float: + if self.the_blackboard.exists('task'): + return self.the_blackboard.task.get_time_since_submit() + # return -1 so that the timeout condition is never True + return -1 + + # return orientation constraint to fix the rotation of the end_effector during movement in the tank + def _create_intank_fix_rotate_constraint(self): + return moveit_tools.create_path_orientation_constraint( + self.arm_commander.END_EFFECTOR_LINK, self.arm_commander.pose_in_frame(), 0.05, 0.05, 0.05) + + # -------------------------------------- + # -- internal functions: conditions functions for behaviours for the building of the behaviour tree for this TaskManager + + def in_a_region(self, logical_region) -> bool: + current_pose = self.arm_commander.pose_of_robot_link() + return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), self.the_scene.query_config(logical_region)) + + def over_an_object(self, object_name) -> bool: + the_object = self.the_scene.get_object_config(object_name) + the_object_position_as_bbox = [the_object.xyz[0] - the_object.dimensions[0] / 2, the_object.xyz[1] - the_object.dimensions[1] / 2, + the_object.xyz[0] + the_object.dimensions[0] / 2, the_object.xyz[1] + the_object.dimensions[1] / 2] + current_pose = self.arm_commander.pose_of_robot_link() + return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), the_object_position_as_bbox) + + def on_or_above_z(self, position) -> bool: + current_pose = self.arm_commander.pose_of_robot_link() + return current_pose.pose.position.z > self.the_scene.query_position_as_xyz(position)[2] - 0.05 + + def below_z(self, position) -> bool: + current_pose = self.arm_commander.pose_of_robot_link() + return current_pose.pose.position.z < self.the_scene.query_position_as_xyz(position)[2] - 0.05 + + def wrong_restart_position(self) -> bool: + target = self.query_target_reference_frame() + start_position = self.the_scene.query_config('area.positions.restart') + current_pose_in_target_frame = self.arm_commander.pose_in_frame_as_xyzrpy(reference_frame=target) + distance = math.dist(start_position[:2], current_pose_in_target_frame[:2]) + # logger.info(f'wrong_restart_position: {target} {start_position} {current_pose_in_target_frame} {distance}') + return distance > 0.02 + + def the_object_in_area(self, area) -> bool: + if self.the_blackboard.exists('the_object'): + if 'area' in self.the_blackboard.the_object: + current = self.the_blackboard.the_object['area'] + return current == area + logger.warning(f'the_object_in_area: the blackboard key "the_object" is not defined or it has no "area" key -> should not happen') + return False + + def the_object_over_an_object(self, object_name) -> bool: + the_target_object = self.the_scene.get_object_config(object_name) + the_target_position_as_bbox = [the_target_object.xyz[0] - the_target_object.dimensions[0] / 2, the_target_object.xyz[1] - the_target_object.dimensions[1] / 2, + the_target_object.xyz[0] + the_target_object.dimensions[0] / 2, the_target_object.xyz[1] + the_target_object.dimensions[1] / 2] + xyzrpy_of_the_object = self.arm_commander.pose_in_frame_as_xyzrpy('the_object') + return pose_tools.in_region((xyzrpy_of_the_object[0], xyzrpy_of_the_object[1],), the_target_position_as_bbox) + + def at_a_named_pose(self, named_pose) -> bool: + joint_values = self.arm_commander.current_joint_positons_as_list() + result = pose_tools.same_joint_values_with_tolerence(self.the_scene.query_config(named_pose), joint_values, 0.05) + # logger.info(f'at {named_pose} pose: {result}') + return result + + # ----------------------------------------------- + # --- internal functions: eternal guard condition + def guard_work_branch_condition(self) -> bool: + if self.the_blackboard.exists('task'): + if self.the_blackboard.task.state == TaskStates.CANCELLED: + return False + return True + return False + + # ------------------------------------------------- + # --- create the behaviour tree and its branches + + def create_move_namedpose_task_branch(self) -> Composite: + # - the branch that executes the task MoveNamedPoseTask + move_named_pose_branch = py_trees.decorators.Timeout( + duration=60, + name='move_named_pose_branch_timeout', + child=py_trees.composites.Sequence( + 'move_named_pose_branch', + memory=True, + children=[ + DoMoveNamedPose('move_home_first', [{'_not_fn': self.in_a_region, 'logical_region': 'regions.inner'}], + arm_commander=self.arm_commander, scene=self.the_scene, named_pose='named_poses.home'), + DoMoveNamedPose('move_task_pose', True, arm_commander=self.arm_commander, scene=self.the_scene, named_pose=self.query_logical_pose_of_task), + ], + ), + ) + return move_named_pose_branch + + def create_push_block_task_branch(self) -> Composite: + # - the branch that executes the task ScanTask + move_area_branch = py_trees.decorators.Timeout( + duration=1000000, + name='scan_branch_timeout', + child=py_trees.composites.Sequence( + 'scan_branch', + memory=True, + children=[ + DoMoveNamedPose('move_home_first_if_inner', [{'_fn': self.in_a_region, 'logical_region': 'regions.inner'}], + arm_commander=self.arm_commander, scene=self.the_scene, named_pose='named_poses.home'), + DoMoveXYZ('move_to_area_edge', [{'_not_fn': self.the_object_in_area, 'area':'area_5'}], arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.start', 'area.positions.hover'], + reference_frame=self.query_current_reference_frame), + DoRotate('align_with_the_alley', [{'_not_fn': self.the_object_in_area, 'area':'area_5'}], arm_commander=self.arm_commander, scene=self.the_scene, + target_rpy=self.query_rotation_from_current, reference_frame=self.query_current_reference_frame), + DoMoveXYZ('move_down', [{'_not_fn': self.the_object_in_area, 'area':'area_5'}], arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.down'], cartesian=True, + reference_frame=self.query_current_reference_frame), + SimAttachObject('engage_object', True, arm_commander=self.arm_commander, object_name='the_object'), + DoMoveXYZ('push_object_to_area_5', [{'_not_fn': self.the_object_in_area, 'area':'area_5'}], arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.centre'], cartesian=True, + reference_frame=self.query_current_reference_frame), + SimDetachObject('detach_at_centre', True, arm_commander=self.arm_commander, object_name='the_object', post_fn=lambda: 'area_5'), + DoMoveXYZ('move_up', {'_fn': self.wrong_restart_position}, arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.hover'], + reference_frame=self.query_current_reference_frame), + DoMoveXYZRPY('move_align_for_restart', {'_fn': self.wrong_restart_position}, arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.restart', 'area.positions.hover'], target_rpy=self.query_rotation_from_target, + reference_frame=self.query_target_reference_frame), + DoMoveXYZ('move_down', {'_fn': self.on_or_above_z, 'position':'area.positions.hover'}, arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.down'], cartesian=True, + reference_frame=self.query_target_reference_frame), + SimAttachObject('touch_object', True, arm_commander=self.arm_commander, object_name='the_object'), + DoMoveXYZ('push_object_to_target', True, arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.end'], cartesian=True, + constraint_fn = self._create_intank_fix_rotate_constraint, + reference_frame=self.query_target_reference_frame), + SimDetachObject('detach_object', True, arm_commander=self.arm_commander, object_name='the_object', post_fn=self.post_fn_update_area), + DoMoveXYZ('move_up', True, arm_commander=self.arm_commander, scene=self.the_scene, + target_xyz=['area.positions.hover'], + reference_frame=self.query_target_reference_frame), + ], + ), + ) + return move_area_branch + + + + def create_initialize_branch(self) -> py_trees.decorators.OneShot: + init_action_branch = py_trees.composites.Sequence( + 'init_action_branch', + memory=True, + children = [ + DoMoveNamedPose('init_move_home', True, + arm_commander=self.arm_commander, scene=self.the_scene, named_pose='named_poses.home'), + ] + ) + return init_action_branch + + + + diff --git a/task_trees/scene_to_rviz.py b/task_trees/scene_to_rviz.py index 6d2a07f..52a304e 100644 --- a/task_trees/scene_to_rviz.py +++ b/task_trees/scene_to_rviz.py @@ -17,11 +17,11 @@ from visualization_msgs.msg import Marker from task_trees.task_scene import Scene, ObjectConfig -import tools.rviz_tools as rviz_tools -from tools.logging_tools import logger -from tools.rviz_tools import RvizVisualizer -from tools.pose_tools import pose_to_xyzq, list_to_xyzq, pose_stamped_to_transform_stamped, list_to_pose_stamped -from tools.rospkg_tools import PackageFile +import task_trees.tools.rviz_tools as rviz_tools +from task_trees.tools.logging_tools import logger +from task_trees.tools.rviz_tools import RvizVisualizer +from task_trees.tools.pose_tools import pose_to_xyzq, list_to_xyzq, pose_stamped_to_transform_stamped, list_to_pose_stamped +from task_trees.tools.rospkg_tools import PackageFile class SceneToRViz(RvizVisualizer): """ The helper class for managing visualization of scene configs in rviz diff --git a/task_trees/task_scene.py b/task_trees/task_scene.py index a3fa2a6..aeb5fac 100644 --- a/task_trees/task_scene.py +++ b/task_trees/task_scene.py @@ -11,7 +11,7 @@ import yaml, os, numbers from collections import namedtuple, defaultdict -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # namedtuples for internal data structure for higher readability ObjectConfig = namedtuple('ObjectConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'frame']) # representing an object diff --git a/task_trees/task_trees_manager.py b/task_trees/task_trees_manager.py index 09957ca..ba6299d 100644 --- a/task_trees/task_trees_manager.py +++ b/task_trees/task_trees_manager.py @@ -17,21 +17,19 @@ from task_trees.behaviours_base import * from task_trees.states import TaskStates, COMPLETION_STATES -from tools.logging_tools import logger +from task_trees.tools.logging_tools import logger # -- The abstract class for implementing project specific Task for the TaskTreesManager class BasicTask(): """ It defines the essential parameters for the lifecycle management by the TaskTreesManager :meta private: """ - def __init__(self, goal_as_logical_pose=None): + def __init__(self, param=None): self.task_lock = threading.Lock() # task parameters self.name = self.__class__ # the class name for identification of the task - self.goal_as_logical_pose = goal_as_logical_pose # the main goal of the task - assume to be a logical pose - self.xyz = None # the mapped physical pose in xyz format - self.rpy = None # the mapped physical pose in euler angles in rpy order + self.param = param # arbitrary param of the task # task state self.state = TaskStates.STANDBY # the init state self.result = '' # the task result, which will be assigned by the TaskTreesManager at completion @@ -86,27 +84,13 @@ def cancel(self, wait=True) -> bool: logger.error('This task has not been submitted -> check program logic') return False - def get_goal_as_logical_pose(self): - """ returns the main goal of the task, which is an logical pose + def get_param(self): + """ returns the param of the task - :return: the goal as a logical pose + :return: the param of the task :rtype: arbitrary, dependent on the subclass definition """ - return self.goal_as_logical_pose - - def get_xyz(self) -> list: - """ return the position of the target pose in xyz - :return: the position of the target pose in xyz - :rtype: list - """ - return self.xyz - - def get_rpy(self) -> list: - """ return the orientation part of the target pose - :return: the orientation part of the target pose - :rtype: list - """ - return self.rpy + return self.param def wait_for_completion(self, until_states:list=None): """ a blocking function that returns when the task has entered into one of the :param:until_states diff --git a/tools/__init__.py b/task_trees/tools/__init__.py similarity index 100% rename from tools/__init__.py rename to task_trees/tools/__init__.py diff --git a/tools/logging_tools.py b/task_trees/tools/logging_tools.py similarity index 100% rename from tools/logging_tools.py rename to task_trees/tools/logging_tools.py diff --git a/tools/pose_tools.py b/task_trees/tools/pose_tools.py similarity index 100% rename from tools/pose_tools.py rename to task_trees/tools/pose_tools.py diff --git a/tools/rospkg_tools.py b/task_trees/tools/rospkg_tools.py similarity index 100% rename from tools/rospkg_tools.py rename to task_trees/tools/rospkg_tools.py diff --git a/tools/rviz_tools.py b/task_trees/tools/rviz_tools.py similarity index 60% rename from tools/rviz_tools.py rename to task_trees/tools/rviz_tools.py index 3633ebd..65abc82 100644 --- a/tools/rviz_tools.py +++ b/task_trees/tools/rviz_tools.py @@ -20,15 +20,18 @@ from collections import defaultdict import cv2 import numpy as np -import rospy, tf +import rospy, tf, tf2_ros +from std_msgs.msg import Header from tf2_msgs.msg import TFMessage from std_msgs.msg import ColorRGBA, Header -from geometry_msgs.msg import Pose, PoseStamped, Twist, TwistStamped, Vector3, Point +from geometry_msgs.msg import Pose, PoseStamped, Twist, TwistStamped, Vector3, Point, Quaternion from sensor_msgs.msg import PointCloud2, PointField from sensor_msgs import point_cloud2 -from visualization_msgs.msg import Marker -from tools.pose_tools import list_to_pose -from tools.logging_tools import logger +from visualization_msgs.msg import Marker, MarkerArray +from task_trees.tools.pose_tools import list_to_pose, pose_to_xyzq +from task_trees.tools.rospkg_tools import PackageFile +from task_trees.tools.logging_tools import logger +import task_trees.tools.pose_tools as pose_tools class RGBAColors(int, Enum): """ Define common use colours for visualization @@ -42,6 +45,12 @@ def __new__(cls, value, rgba='...'): obj._value_ = value obj.rgba = rgba return obj + @staticmethod + def validate_rgba(rgba): + rgba = RGBAColors.RED.rgba if rgba is None else rgba + if type(rgba) in (list, tuple) and len(rgba) == 3: + rgba.append(1) + return rgba def _create_marker(name:str, id:int, reference_frame:str=None, lifetime=rospy.Duration(0.0)) -> Marker: """ Create a Marker object @@ -59,6 +68,9 @@ def _create_marker(name:str, id:int, reference_frame:str=None, lifetime=rospy.Du if name is not None: the_marker.ns = f'{name}' the_marker.id = id + lifetime = rospy.Duration(0.0) if lifetime is None else lifetime + if type(lifetime) in (float, int): + lifetime = rospy.Duration(lifetime) the_marker.lifetime = lifetime return the_marker @@ -122,7 +134,7 @@ def create_axisplane_marker(name:str, id:int, bbox2d:list, offset:float, referen else: logger.warning(f'create_2dregion_marker: invalid plane parameter {axes}') return None - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -143,7 +155,7 @@ def create_cube_marker_from_bbox(name:str, id:int, bbox3d:list, reference_frame: xyz = [(bbox3d[0] + bbox3d[3]) / 2, (bbox3d[1] + bbox3d[4]) / 2, (bbox3d[2] + bbox3d[5]) / 2] the_marker.pose = list_to_pose(xyz + rpy) the_marker.scale = Vector3(bbox3d[3] - bbox3d[0], bbox3d[4] - bbox3d[1], bbox3d[5] - bbox3d[2]) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -164,7 +176,7 @@ def create_cube_marker_from_xyzrpy(name:str, id:int, xyzrpy:list, reference_fram if isinstance(dimensions, numbers.Number): dimensions = [dimensions, dimensions, dimensions] the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -186,7 +198,7 @@ def create_arrow_marker(name:str, id:int, xyzrpy:list, reference_frame:str, dime if isinstance(dimensions, numbers.Number): dimensions = [dimensions, dimensions/10, dimensions/10] the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -208,7 +220,7 @@ def create_line_marker(name:str, id:int, xyz1:list, xyz2:list, reference_frame:s the_marker.pose = list_to_pose([0, 0, 0, 0, 0, 0]) the_marker.points[:] = [Point(*xyz1), Point(*xyz2)] the_marker.scale.x = line_width - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -269,7 +281,7 @@ def create_sphere_marker(name:str, id:int, xyz:list, reference_frame:str, dimens if isinstance(dimensions, numbers.Number): dimensions = [dimensions, dimensions, dimensions] the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -292,7 +304,7 @@ def create_cylinder_marker(name:str, id:int, xyzrpy:list, reference_frame:str, d logger.warning(f'create_cylinder_marker: dimensions should be a list of 3 numbers (radius, radius, height)') return None the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) return the_marker @@ -315,17 +327,17 @@ def create_text_marker(name:str, id:int, text:str, xyzrpy:list, reference_frame: if isinstance(dimensions, numbers.Number): dimensions = [dimensions, dimensions, dimensions] the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) the_marker.text = text return the_marker -def create_mesh_marker(name:str, id:int, filename:str, xyzrpy:list, reference_frame:str, dimensions:list=0.5, rgba:list=None, lifetime=rospy.Duration(0.0)) -> Marker: +def create_mesh_marker(name:str, id:int, file_uri:str, xyzrpy:list, reference_frame:str, dimensions:list=0.5, rgba:list=None, lifetime=rospy.Duration(0.0)) -> Marker: """ Creates a marker for displaying a mesh object :param name: the name space of the marker :param id: the id of the marker - :param filename: the file containing a binary STL or DAE file + :param file_uri: the full path to the file containing a binary STL or DAE file or using protocols such as file://, package://, or http:// :param xyzrpy: the pose of the text as a list of 6 :param reference_frame: the reference frame, defaults to None :param dimensions: the scale factor of the mesh object, defaults to [1, 1, 1] @@ -340,21 +352,26 @@ def create_mesh_marker(name:str, id:int, filename:str, xyzrpy:list, reference_fr logger.warning(f'create_mesh_marker: dimensions should be a list of 3 numbers (radius, radius, height)') return None the_marker.scale = Vector3(*dimensions) - rgba = RGBAColors.RED.rgba if rgba is None else rgba + rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) - the_marker.mesh_resource = filename + try: + file_uri = PackageFile.resolve_to_file_or_http_uri(file_uri) + except Exception as ex: + logger.warning(f'create_mesh_marker: Invalid model_file for object ({file_uri}): {ex}') + return + the_marker.mesh_resource = file_uri the_marker.mesh_use_embedded_materials = True return the_marker -def create_pointcloud_from_image(image_bgr, xyz:list=(0, 0, 0), pixel_physical_size:float=0.005, reference_frame=None, opacity=255, depth_array=None) -> PointCloud2: +def create_pointcloud_from_image(image_bgr:np.ndarray, xyz:list=(0, 0, 0), pixel_physical_size:float=0.005, reference_frame=None, opacity=255, depth_array:np.ndarray=None) -> PointCloud2: """ Create a PointCloud2 for displaying a OpenCV image (color or greyscale) - :param image_bgr: the image to be displayed, type numpy array + :param image_bgr: the image to be displayed, type numpy ndarray :param xyz: the position of the bottom left hand corner of the image, defaults to (0, 0, 0) :param pixel_physical_size: the length of each pixel in x, y, defaults to [0.005, 0.005], and optionally the third value in the list for z scaling factor :param reference_frame: the reference frame, defaults to None :param opacity: the opacity of the displayed image, defaults to 255 - :param depth_array: optionally a numpy array of exact the same shape as the image indicating the depth, defaults to None + :param depth_array: optionally a numpy ndarray of exact the same shape as the image indicating the depth, defaults to None :return: the PointCloud2 object """ if image_bgr is None: @@ -419,7 +436,7 @@ class RvizVisualizer(): """ A publisher of markers, which handles persistent markers, which is published repeatedly and temporary markers, which are published once. """ - def __init__(self, **kwargs): + def __init__(self, **config_dict): """ The constructur :param pub_period_marker: the default period of publishing marker, defaults to 1.0 second @@ -427,101 +444,240 @@ def __init__(self, **kwargs): :param topic_marker: the topic used to publish markers, defaults to visualization_marker :param topic_cloud: the topic used to publish point cloud, defaults to visualization_cloud """ - self.lock = threading.Lock() - # the constant defining the timer period, the actual rate of publishing depends on the individual markers - TIMER_PERIOD = 0.1 + self.lock = threading.RLock() + # constant + # the time delay publishing the temp marker necessary for RViz to subscribe and read + self.TEMP_MAKRER_PUB_DELAY = config_dict.get('pub_temp_marker_delay', 0.2) # set default values for keyword argument - self.default_pub_period_marker = kwargs.get('pub_period_marker', 1.0) - topic_marker = kwargs.get('topic_marker', '/visualization_marker') - self.default_pub_period_cloud = kwargs.get('pub_period_cloud', 1.0) - topic_cloud = kwargs.get('topic_cloud', '/visualization_cloud') + self.default_pub_period_marker = config_dict.get('pub_period_marker', 1.0) + topic_marker = config_dict.get('topic_marker', '/visualization_marker') + topic_marker_array = config_dict.get('topic_marker_array', '/visualization_marker_array') + + self.default_pub_period_cloud = config_dict.get('pub_period_cloud', 1.0) + topic_cloud = config_dict.get('topic_cloud', '/visualization_cloud') + self.default_pub_period_tf = config_dict.get('pub_period_tf', 0.1) + logger.info(f'RvizVisualizer: publishing markers to "{topic_marker}" (max rate {1 / self.default_pub_period_marker:.2f} Hz)') + logger.info(f'RvizVisualizer: publishing marker arrays to "{topic_marker_array}" (max rate {1 / self.default_pub_period_marker:.2f} Hz)') + logger.info(f'RvizVisualizer: publishing pointclouds to "{topic_cloud}" (max rate {1 / self.default_pub_period_cloud:.2f} Hz)') # the storage for markers - self.marker_dict = defaultdict(lambda: None) + self.markers_dict = defaultdict(lambda: None) # (marker_namespace, marker_id) -> dict + self.marker_arrays_list = [] self.temp_marker_list = [] - self.pointcloud_dict = defaultdict(lambda: None) + self.pointclouds_dict = defaultdict(lambda: None) # pointcloud_name -> dict + # setup tf publish + self.tf_broadcaster = tf2_ros.TransformBroadcaster() + self.tfs_dict = defaultdict(lambda: None) # frame_name -> dict # setup marker publisher self.marker_pub = rospy.Publisher(topic_marker, Marker, queue_size = 100) - self.cloud_pub = rospy.Publisher(topic_cloud, PointCloud2, queue_size = 2) + self.marker_array_pub = rospy.Publisher(topic_marker_array, MarkerArray, queue_size = 100) + self.cloud_pub = rospy.Publisher(topic_cloud, PointCloud2, queue_size = 20) # setup timer - self.timer_marker_viz = rospy.Timer(rospy.Duration(TIMER_PERIOD), self._cb_timer_marker_viz) - self.timer_cloud_viz = rospy.Timer(rospy.Duration(TIMER_PERIOD), self._cb_timer_cloud_viz) + self.timer_marker_viz = rospy.Timer(rospy.Duration(self.default_pub_period_marker), self._cb_timer_marker_viz) + self.timer_cloud_viz = rospy.Timer(rospy.Duration(self.default_pub_period_cloud), self._cb_timer_cloud_viz) + self.timer_tf = rospy.Timer(rospy.Duration(self.default_pub_period_tf), self._cb_timer_tf) def _cb_timer_marker_viz(self, event): """ internal callback function :meta private: """ with self.lock: - # publish the persistent markers of which the pub_period has lapsed - for key in self.marker_dict.keys(): - marker_dict = self.marker_dict.get(key) + # publish the persistent markers of which the pub_period has lapsed + current_time = time.time() + for key in self.markers_dict.keys(): + marker_dict = self.markers_dict.get(key) marker = marker_dict['marker'] - current_time = time.time() - if marker_dict['last_time'] is None or current_time - marker_dict['last_time'] >= marker_dict['pub_period']: + if marker_dict['next_time'] is None or current_time >= marker_dict['next_time']: self.marker_pub.publish(marker) - marker_dict['last_time'] = current_time + marker_dict['next_time'] = current_time + marker_dict['pub_period'] + # publish the persistent marker arrays + for index, marker_array_dict in enumerate(self.marker_arrays_list): + marker_array = marker_array_dict['marker_array'] + if marker_array_dict['next_time'] is None or current_time >= marker_array_dict['next_time']: + self.marker_array_pub.publish(marker_array) + marker_array_dict['next_time'] = current_time + marker_array_dict['pub_period'] # publish the temporary markers - for marker in self.temp_marker_list: - self.marker_pub.publish(marker) - self.temp_marker_list.clear() + for marker_dict in list(self.temp_marker_list): + marker = marker_dict['marker'] + if current_time > marker_dict['pub_time']: + self.marker_pub.publish(marker) + self.temp_marker_list.remove(marker_dict) def _cb_timer_cloud_viz(self, event): """ internal callback function :meta private: """ with self.lock: - for pointcloud_dict in self.pointcloud_dict.values(): + for pointcloud_dict in self.pointclouds_dict.values(): pointcloud = pointcloud_dict['pointcloud'] current_time = time.time() - if pointcloud_dict['last_time'] is None or current_time - pointcloud_dict['last_time'] >= pointcloud_dict['pub_period']: + if pointcloud_dict['next_time'] is None or current_time >= pointcloud_dict['next_time']: pointcloud.header.stamp = rospy.Time.now() self.cloud_pub.publish(pointcloud) - pointcloud_dict['last_time'] = current_time + pointcloud_dict['next_time'] = current_time + pointcloud_dict['pub_period'] - def add_persistent_marker(self, marker:Marker, pub_period:float=None) -> Marker: + def _cb_timer_tf(self, event): + """ internal callback function + :meta private: + """ + with self.lock: + for custom_tf in self.tfs_dict.values(): + name, parent_frame, pose = custom_tf['frame'], custom_tf['parent_frame'], custom_tf['pose'] + # xyzq = pose_to_xyzq(pose) + # self.tf_pub.sendTransform(xyzq[:3], xyzq[3:], rospy.Time.now(), name, parent_frame) + self._pub_transform(name, pose, parent_frame) + + # internal function: publish the transform of a specific named object + def _pub_transform(self, name:str, pose, frame=None): + """ publish the transform of an object + + :param name: name of the object + :type name: str + :param pose: the pose of the object + :type pose: Pose, PoseStamped, list of 6 or 7 + :param frame: the frame against which the pose is defined, ignored if PoseStamped is provided, defaults to None + :type frame: str, optional + """ + frame = self.base_frame if frame is None else frame + if type(pose) in [list, tuple]: + pose_stamped = pose_tools.list_to_pose_stamped(pose, frame) + elif type(pose) == Pose: + pose_stamped = PoseStamped() + pose_stamped.header.frame_id = frame + pose_stamped.header.stamp = rospy.Time.now() + pose_stamped.pose = pose + elif type(pose) == PoseStamped: + frame = pose.header.frame_id + pose_stamped = pose + else: + rospy.logerr(f'{__class__.__name__}: parameter (pose) is not list of length 6 or 7 or a Pose object -> fix the parameter at behaviour construction') + raise TypeError(f'A parameter is invalid') + self.tf_broadcaster.sendTransform(pose_tools.pose_stamped_to_transform_stamped(pose_stamped, name)) + + def add_persistent_marker(self, marker:Marker, pub_period:float=None, pub_tf:bool=False) -> Marker: """ Add a persistent marker :param marker: A marker to be persistently published :param pub_period: The rate of publishing, which cannot be smaller than 0.1 seconds + :param pub_tf: if True, the pose of the marker is published as a tf frame :return: The mrker """ + assert marker is not None, 'RvizVisualizer (add_persistent_marker): Parameter (marker) cannot be None' with self.lock: pub_period = self.default_pub_period_marker if pub_period is None else pub_period pub_period = 0.1 if pub_period < 0.1 else pub_period - self.marker_dict[marker.ns, marker.id] = {'marker': marker, 'pub_period': pub_period, 'last_time': None} + self.markers_dict[marker.ns, marker.id] = {'marker': marker, 'pub_period': pub_period, 'next_time': None, 'pub_tf': pub_tf} + if pub_tf: + # self.add_custom_tf(f'{marker.ns}.{marker.id}', marker.header.frame_id, marker.pose) + self.add_custom_tf(f'{marker.ns}.{marker.id}', marker.header.frame_id, marker.pose) return marker def pub_temporary_marker(self, marker:Marker) -> Marker: - """ Add a temporary marker + """ Add a temporary marker, which is to be published only once :param marker: A marker to be published only once - :return: The mrker + :return: The marker + """ + assert marker is not None, 'RvizVisualizer (pub_temporary_marker): Parameter (marker) cannot be None' + with self.lock: + self.temp_marker_list.append({'marker': marker, 'pub_time': time.time() + self.TEMP_MAKRER_PUB_DELAY}) + return marker + + def add_persistent_marker_array(self, marker_array:MarkerArray, pub_period:float=None) -> Marker: + """ Add a persistent marker array + + :param marker_array: A marker array to be persistently published + :param pub_period: The rate of publishing, which cannot be smaller than 0.1 seconds + :param pub_tf: if True, the pose of the marker is published as a tf frame + :return: The index of the marker array """ + assert marker_array is not None, 'RvizVisualizer (add_persistent_marker_array): Parameter (marker_array) cannot be None' with self.lock: - self.temp_marker_list.append(marker) - return marker + pub_period = self.default_pub_period_marker if pub_period is None else pub_period + pub_period = 0.1 if pub_period < 0.1 else pub_period + self.marker_arrays_list.append({'marker_array': marker_array, 'pub_period': pub_period, 'next_time': None}) + return len(self.marker_arrays_list) - 1 + + def add_custom_tf(self, name:str, parent_frame:str, pose:Pose) -> None: + """ Add a custom transform to the rviz visualizer, which is broadcast regularly + + :param name: the name of the transform + :param xyz: the xyz pose + :param rpy: the rpy pose + :param frame: the reference frame + """ + if name is None or parent_frame is None or pose is None: + raise AssertionError(f'RvizVisualizer (add_custom_tf): No parameter can be None') + self.tfs_dict[name] = {'pose': pose, 'frame':name, 'parent_frame': parent_frame} - def delete_all_persistent_markers(self, frame) -> None: + def delete_all_persistent_markers(self) -> None: """ Remove all persistent markers from RViz and this object - :param frame: The reference frame """ with self.lock: - self.marker_dict.clear() - self.temp_marker_list.append(create_delete_all_marker(frame)) + # remove the tf associated with markers with pub_tf True + for marker_dict in self.markers_dict.values(): + if marker_dict['pub_tf']: + marker:Marker = marker_dict['marker'] + self.temp_marker_list.append({'marker': create_delete_marker(marker.ns, marker.id, marker.header.frame_id), + 'pub_time': time.time() + self.TEMP_MAKRER_PUB_DELAY}) + tf_frame = f'{marker.ns}.{marker.id}' + if tf_frame in self.tfs_dict: + del self.tfs_dict[tf_frame] + self.markers_dict.clear() + - def delete_persistent_markers(self, name, id, frame) -> None: + def delete_persistent_marker(self, name:str, id) -> None: """ Remove a persistent marker from RViz and this object :param name: the name space of the marker :param id: the id of the marker :param frame: the reference frame """ + assert name is not None and id is not None, \ + 'RvizVisualizer (delete_persistent_markers): Parameter (any) cannot be None' with self.lock: - if (name, id) in self.marker_dict: - del self.marker_dict[name, id] - self.temp_marker_list.append(create_delete_marker(name, id, frame)) + if (name, id) in self.markers_dict: + marker:Marker = self.markers_dict[name, id]['marker'] + del self.markers_dict[name, id] + self.temp_marker_list.append({'marker': create_delete_marker(name, id, marker.header.frame_id), + 'pub_time': time.time() + self.TEMP_MAKRER_PUB_DELAY}) + tf_frame = f'{name}.{id}' + if tf_frame in self.tfs_dict: + del self.tfs_dict[tf_frame] + + def delete_all_persistent_marker_arrays(self) -> None: + """ Remove all persistent marker arrays from RViz and this object - def add_pointcloud(self, name, pointcloud:PointCloud2, pub_period:float=None) -> PointCloud2: + """ + with self.lock: + num_marker_array = len(self.marker_arrays_list) + for _ in range(num_marker_array): + self.delete_persistent_marker_array(index=0) + + def delete_persistent_marker_array(self, index:int) -> None: + """ Remove a persistent marker from RViz and this object + + :param name: the name space of the marker + :param id: the id of the marker + :param frame: the reference frame + """ + assert index is not None, \ + 'RvizVisualizer (delete_persistent_marker_array): Parameter (any) cannot be None' + with self.lock: + if 0 <= index < len(self.marker_arrays_list): + marker_array:MarkerArray = self.marker_arrays_list[index]['marker_array'] + self.marker_arrays_list.pop(index) + marker:Marker = None + for marker in marker_array.markers: + self.temp_marker_list.append({'marker': create_delete_marker(marker.ns, marker.id, marker.header.frame_id), + 'pub_time': time.time() + self.TEMP_MAKRER_PUB_DELAY}) + return marker_array + return None + + def clear_all_markers_in_rviz(self, frame:str): + self.temp_marker_list.append({'marker': create_delete_all_marker(frame), 'pub_time': time.time() + self.TEMP_MAKRER_PUB_DELAY}) + + def add_pointcloud(self, name:str, pointcloud:PointCloud2, pub_period:float=None) -> PointCloud2: """ Add a PointCloud2 object for regular publishing :param name: the name of the pointcloud of type str @@ -530,43 +686,80 @@ def add_pointcloud(self, name, pointcloud:PointCloud2, pub_period:float=None) -> :return: the point cloud input parameter """ with self.lock: - pub_period = self.default_pub_period_marker if pub_period is None else pub_period + pub_period = self.default_pub_period_cloud if pub_period is None else pub_period pub_period = 0.1 if pub_period < 0.1 else pub_period - self.pointcloud_dict[name] = {'pointcloud': pointcloud, 'pub_period': pub_period, 'last_time': None} + self.pointclouds_dict[name] = {'pointcloud': pointcloud, 'pub_period': pub_period, 'next_time': None} return pointcloud - def delete_pointcloud(self, name) -> PointCloud2: + def delete_pointcloud(self, name:str) -> PointCloud2: """ Remove a pointcloud from regular publishing :param name: the name of the pointcloud of type str :return: the PointCloud2 object removed """ with self.lock: - if name in self.pointcloud_dict: - pointcloud = self.pointcloud_dict[name] - del self.pointcloud_dict[name] + if name in self.pointclouds_dict: + pointcloud = self.pointclouds_dict[name] + del self.pointclouds_dict[name] return pointcloud return None +# -------------------------------------------- +# -- Animation classes +class PoseAnimator(): + def __init__(self, pose): + self.pose:Pose = pose + # -- the test program if __name__ == '__main__': rospy.loginfo(f'running test_rv_node') rospy.init_node('test_rv_node', anonymous=False) # test the mark visualization rv = RvizVisualizer() - text_marker = rv.add_persistent_marker(create_text_marker('text', 1, 'Hello', [0, 0, 0, 0.2, 0, 0], 'world', 0.3)) + the_pose:Pose = Pose() + the_pose.position = Point(0, 0, 0) + the_pose.orientation = Quaternion(0, 0, 0, 1) + # create world frame + rv.add_custom_tf('world', 'map', the_pose) + + text_marker_1 = rv.add_persistent_marker(create_text_marker(name='text', id=1, text='Hello', xyzrpy=[0, 0, 0, 0.2, 0, 0], reference_frame='world', dimensions=0.3), pub_tf=True) + text_marker_2 = rv.add_persistent_marker(create_text_marker(name='text', id=2, text='World', xyzrpy=[0, 1, 0, 0.2, 0, 0], reference_frame='world', dimensions=0.3), pub_tf=True) rv.add_persistent_marker(create_line_marker('line', 1, [1, 0, 0], [0, 0, 1], 'world', 0.01, rgba=[0.0, 1.0, 1.0, 1.0]), pub_period=0.1) rv.add_persistent_marker(create_sphere_marker('sphere', 1, [1, 1, 1], 'world', 0.05, rgba=[0.5, 1.0, 1.0, 1.0])) rv.pub_temporary_marker(create_arrow_marker('arrow', 1, [1.0, 0.0, 0.0, 1.0, 0.0, 0.0], 'world', lifetime=rospy.Duration(3.0))) + # delete the line marker rospy.sleep(rospy.Duration(2.0)) - # rv.delete_all_persistent_markers('world') - # for i in range(100): - # pose = text_marker.pose - # pose.position.x += random.uniform(-0.5, 0.5) - # rospy.sleep(rospy.Duration(0.2)) - # rv.delete_persistent_markers('text', 1, 'world') - # test the image visualization - image_bgr = cv2.imread(os.path.join(os.path.dirname(__file__), '../demos/rviz_display/bird.png')) - pc2_message = create_pointcloud_from_image(image_bgr, (1, 0.5, 1), pixel_physical_size=[0.002, 0.002, -1], reference_frame='world') + rv.delete_persistent_marker('line', 1) + # delete all markers + rospy.sleep(rospy.Duration(2.0)) + rv.delete_all_persistent_markers() + # display stl mesh file + teapot_mesh = os.path.join(os.path.dirname(__file__), '../../demos/rviz_display/utah_teapot.stl') + teapot_mesh = 'file://' + teapot_mesh + rv.add_persistent_marker(create_mesh_marker('teapot', 1, teapot_mesh, [-1.0, -1.0, 0.0, 0, 0, 0], 'world', [0.05, 0.05, 0.05], rgba=[0.5, 1.0, 1.0, 1.0])) + # display image as pointcloud + image_bgr = cv2.imread(os.path.join(os.path.dirname(__file__), '../../demos/rviz_display/bird.png')) + pc2_message = create_pointcloud_from_image(image_bgr, (0, 0.5, 0), pixel_physical_size=[0.002, 0.002, -1], reference_frame='world') rv.add_pointcloud('the_image', pc2_message) + # add the text marker + rospy.sleep(rospy.Duration(2.0)) + text_marker_1 = rv.add_persistent_marker(create_text_marker('text', 1, 'Hello', [0, 0, 0, 0.2, 0, 0], 'world', 0.3), pub_period=0.1, pub_tf=True) + for i in range(100): + pose = text_marker_1.pose + pose.position.x += random.uniform(-0.5, 0.5) + rospy.sleep(rospy.Duration(0.2)) + # delete the text marker again + rv.delete_persistent_marker('text', 1) + # create marker array + marker_array = MarkerArray() + for x in range(4): + for y in range(4): + xyzrpy=[x * 0.4, y * 0.4, 1.0, 0, 0, 0] + tile = create_cube_marker_from_xyzrpy('tile', x + y * 4, xyzrpy, reference_frame='world', + dimensions=[0.3, 0.3, 0.05], rgba=[0.0, 0.2, 1.0, 0.5]) + marker_array.markers.append(tile) + rv.add_persistent_marker_array(marker_array) + rospy.sleep(rospy.Duration(5.0)) + rv.delete_all_persistent_marker_arrays() + rospy.spin() \ No newline at end of file From 96b7335d014dcf5eaf6c0396cd5ea90d39eafb93 Mon Sep 17 00:00:00 2001 From: andrewluiqut Date: Wed, 10 Jul 2024 16:46:06 +1000 Subject: [PATCH 2/4] task_scene.py has a revampled and simplified API based on a revised config file format on how scenes are defined and the removal of the subscene concept --- demos/gridscan/behaviours_gridscan.py | 16 +- demos/gridscan/task_scene.yaml | 83 ++-- demos/gridscan/task_scene_gridscan.py | 2 +- demos/gridscan/task_trees_manager_gridscan.py | 2 +- demos/pickndrop/task_scene.yaml | 49 +-- demos/pickndrop/task_trees_manager_pnd.py | 12 +- demos/pickndrop_estop/task_scene.yaml | 51 +-- .../pickndrop_estop/task_trees_manager_pnd.py | 12 +- demos/pushblock/task_scene.yaml | 76 ++-- .../pushblock/task_trees_manager_pushblock.py | 16 +- demos/pushblock_ros/task_scene.yaml | 82 ++-- demos/pytrees_moves_scene/move_scene_1.py | 2 +- demos/pytrees_moves_scene/move_scene_4.py | 12 +- demos/pytrees_moves_scene/move_scene_5.py | 12 +- demos/pytrees_moves_scene/task_scene.yaml | 10 +- demos/pytrees_moves_scene/task_scene_2.yaml | 17 +- demos/pytrees_moves_scene/task_scene_3.yaml | 21 +- demos/pytrees_moves_scene/task_scene_4.yaml | 22 +- demos/rviz_display/task_scene.yaml | 31 +- demos/rviz_display/task_trees_manager_rviz.py | 8 +- demos/simple_moves_scene/move_scene_4.py | 2 +- demos/simple_moves_scene/move_scene_5.py | 2 +- demos/simple_moves_scene/task_scene.yaml | 12 +- demos/simple_moves_scene/task_scene_2.yaml | 17 +- demos/simple_moves_scene/task_scene_3.yaml | 21 +- demos/simple_moves_scene/task_scene_4.yaml | 22 +- demos/simple_moves_scene/task_scene_6.yaml | 21 +- docs/source/SCENE_SUPPORT.md | 210 +++++---- task_trees/behaviours_move.py | 6 +- task_trees/demos/pushblock/task_scene.yaml | 76 ++-- .../pushblock/task_trees_manager_pushblock.py | 16 +- task_trees/scene_to_rviz.py | 152 +++---- task_trees/task_scene.py | 407 +++++++----------- task_trees/task_scene_old.py | 379 ++++++++++++++++ task_trees/task_trees_manager.py | 41 +- 35 files changed, 1138 insertions(+), 782 deletions(-) create mode 100644 task_trees/task_scene_old.py diff --git a/demos/gridscan/behaviours_gridscan.py b/demos/gridscan/behaviours_gridscan.py index a4d9282..9471867 100644 --- a/demos/gridscan/behaviours_gridscan.py +++ b/demos/gridscan/behaviours_gridscan.py @@ -43,18 +43,20 @@ def __init__(self, name, arm_commander=None, scene=None): self.the_blackboard.register_key(key='tank', access=py_trees.common.Access.WRITE) # attach robot agent self.arm_commander = arm_commander - self.the_scene = scene + self.the_scene:GridScanScene = scene # the concrete implementation that contains the logic of the simulated calibration def update(self): logger.info(f'SimCalibrate: found tank at pose: ') # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - if the_object.name == 'tank': - self.the_blackboard.set('tank', the_object) + for scene_name in self.the_scene.list_scene_names(): + link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if link_of_scene is None: + continue + if link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, link_of_scene.dimensions, link_of_scene.xyz, link_of_scene.rpy, link_of_scene.parent_frame) + if link_of_scene.name == 'tank': + self.the_blackboard.set('tank', link_of_scene) self.the_blackboard.task.result = '12' return Status.SUCCESS diff --git a/demos/gridscan/task_scene.yaml b/demos/gridscan/task_scene.yaml index 7440177..508f6f3 100644 --- a/demos/gridscan/task_scene.yaml +++ b/demos/gridscan/task_scene.yaml @@ -1,49 +1,23 @@ --- -scene: - named_poses: - stow: [3.110, -0.5467, -2.692, -1.473, 1.570, 0.000] # from base to wrist_3 - home: [2.524, -1.241, -2.101, -1.370, 1.570, 0.000] # from base to wrist_3 - regions: - workspace: [-1.2, -0.97, -0.1, 1.5, 0.6, 1.2] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-1.2, -0.3, 1.2, 0.6] # min_x, min_y, max_x, max_y - work: [-1.2, -0.6, 1.2, -0.3] # min_x, min_y, max_x, max_y - work3d: [-1.2, -0.6, 0.15, 1.2, -0.3, 0.6] # min_x, min_y, min_z, max_x, max_y, max_z - objects: - tank: +scenes: + root: + named_poses: + stow: [3.110, -0.5467, -2.692, -1.473, 1.570, 0.000] # from base to wrist_3 + home: [2.524, -1.241, -2.101, -1.370, 1.570, 0.000] # from base to wrist_3 + regions: + workspace: [-1.2, -0.97, -0.1, 1.5, 0.6, 1.2] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-1.2, -0.3, 1.2, 0.6] # min_x, min_y, max_x, max_y + work: [-1.2, -0.6, 1.2, -0.3] # min_x, min_y, max_x, max_y + work3d: [-1.2, -0.6, 0.15, 1.2, -0.3, 0.6] # min_x, min_y, min_z, max_x, max_y, max_z + + tank: + link: type: box model_file: null dimensions: [0.4, 1.8, 0.10] xyz: [0.0, -0.5, 0.05] rpy: [0, 0, 1.57] frame: null - side_1: - type: box - model_file: null - dimensions: [0.005, 1.8, 0.20] - xyz: [0.0, -0.3, 0.10] - rpy: [0, 0, 1.57] - frame: null - side_2: - type: box - model_file: null - dimensions: [0.005, 1.8, 0.20] - xyz: [0.0, -0.7, 0.10] - rpy: [0, 0, 1.57] - side_3: - type: box - model_file: null - dimensions: [0.4, 0.005, 0.20] - xyz: [-0.9, -0.5, 0.10] - rpy: [0, 0, 1.57] - side_4: - type: box - model_file: null - dimensions: [0.4, 0.005, 0.20] - xyz: [0.9, -0.5, 0.10] - rpy: [0, 0, 1.57] - -subscenes: - tank: bbox: [-0.2, -0.9, 0.2, 0.9] # min_x, min_y, max_x, max_y positions: default: [null, null, 0.35] @@ -85,6 +59,37 @@ subscenes: tile_y: 0 origin_position: [-0.1, 0.45] ee_rotation: tank.rotations.beta + side_1: + link: + type: box + model_file: null + dimensions: [0.005, 1.8, 0.20] + xyz: [0.0, -0.3, 0.10] + rpy: [0, 0, 1.57] + frame: null + side_2: + link: + type: box + model_file: null + dimensions: [0.005, 1.8, 0.20] + xyz: [0.0, -0.7, 0.10] + rpy: [0, 0, 1.57] + side_3: + link: + type: box + model_file: null + dimensions: [0.4, 0.005, 0.20] + xyz: [-0.9, -0.5, 0.10] + rpy: [0, 0, 1.57] + side_4: + link: + type: box + model_file: null + dimensions: [0.4, 0.005, 0.20] + xyz: [0.9, -0.5, 0.10] + rpy: [0, 0, 1.57] + + diff --git a/demos/gridscan/task_scene_gridscan.py b/demos/gridscan/task_scene_gridscan.py index f53547c..3c966ad 100644 --- a/demos/gridscan/task_scene_gridscan.py +++ b/demos/gridscan/task_scene_gridscan.py @@ -28,7 +28,7 @@ def __init__(self, scene_config_file:str = None): super(GridScanScene, self).__init__(scene_config_file) # -- prepare internal data structures for efficiency # tank configuration - self.tank_config = self.subscene_config['tank'] + self.tank_config = self.scenes_branch['tank'] # tile_step size self.step_size_x = self.tank_config['tile']['step_size_x'] self.step_size_y = self.tank_config['tile']['step_size_y'] diff --git a/demos/gridscan/task_trees_manager_gridscan.py b/demos/gridscan/task_trees_manager_gridscan.py index a64a64d..8729480 100644 --- a/demos/gridscan/task_trees_manager_gridscan.py +++ b/demos/gridscan/task_trees_manager_gridscan.py @@ -189,7 +189,7 @@ def wrong_xy_at_tank(self) -> bool: def at_angle(self, rotation_pose) -> bool: current_xyzrpy = self.arm_commander.pose_in_frame_as_xyzrpy(reference_frame='tank') - rotation_rpy = self.the_scene.query_rotation_as_rpy(rotation_pose) + rotation_rpy = self.the_scene.query_config(rotation_pose) for index in range(len(rotation_rpy)): if rotation_rpy[index] is None: continue diff --git a/demos/pickndrop/task_scene.yaml b/demos/pickndrop/task_scene.yaml index 326d0c9..7a0ee29 100644 --- a/demos/pickndrop/task_scene.yaml +++ b/demos/pickndrop/task_scene.yaml @@ -1,30 +1,24 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - objects: - the_table: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y + positions: + drop: [0.5, 0.3, 0.4] + gripper_offset: [0, 0, 0.12] + grip_prepare_offset: [0, 0, 0.20] + + the_table: + link: + parent_frame: root type: box model_file: null dimensions: [0.5, 0.2, 0.3] xyz: [0.2, -0.35, 0.15] - rpy: [0, 0, 0] - the_bin: - type: box - model_file: null - dimensions: [0.1, 0.1, 0.2] - xyz: [0.5, 0.3, 0.1] - rpy: [0, 0, 0] - gripper_offset: [0, 0, 0.12] - grip_prepare_offset: [0, 0, 0.20] - -subscenes: - the_table: + rpy: [0, 0, 0] positions: start: [0, 0, null] scan_z_level: [null, null, 0.45] @@ -33,5 +27,12 @@ subscenes: scan_step_size: [0.05, 0.05] the_bin: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.1, 0.1, 0.2] + xyz: [0.5, 0.3, 0.1] + rpy: [0, 0, 0] regions: - dropzone: [-0.05, -0.05, 0.05, 0.05] + dropzone: [-0.05, -0.05, 0.05, 0.05] \ No newline at end of file diff --git a/demos/pickndrop/task_trees_manager_pnd.py b/demos/pickndrop/task_trees_manager_pnd.py index d4bd664..50f05db 100644 --- a/demos/pickndrop/task_trees_manager_pnd.py +++ b/demos/pickndrop/task_trees_manager_pnd.py @@ -121,14 +121,16 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # Functions for the simulation (demo) def setup_objects(self): # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link = self.the_scene.get_link_of_scene(scene_name) + if the_link is None: + continue + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy) # Generate a new ball on the table def generate_a_ball(self): - the_table = self.the_scene.get_object_config('the_table') + the_table = self.the_scene.get_link_of_scene('the_table') x, y = the_table.dimensions[0] * random.random() * 0.9, the_table.dimensions[1] * random.random() * 0.9 # position in the box frame z = the_table.xyz[2] + the_table.dimensions[2] / 2 + 0.035 xyz = [x, y, z] diff --git a/demos/pickndrop_estop/task_scene.yaml b/demos/pickndrop_estop/task_scene.yaml index 995573f..7a0ee29 100644 --- a/demos/pickndrop_estop/task_scene.yaml +++ b/demos/pickndrop_estop/task_scene.yaml @@ -1,30 +1,24 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - objects: - the_table: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y + positions: + drop: [0.5, 0.3, 0.4] + gripper_offset: [0, 0, 0.12] + grip_prepare_offset: [0, 0, 0.20] + + the_table: + link: + parent_frame: root type: box model_file: null dimensions: [0.5, 0.2, 0.3] - xyz: [0.2, -0.3, 0.15] - rpy: [0, 0, 0] - the_bin: - type: box - model_file: null - dimensions: [0.1, 0.1, 0.2] - xyz: [0.5, 0.3, 0.1] - rpy: [0, 0, 0] - gripper_offset: [0, 0, 0.12] - grip_prepare_offset: [0, 0, 0.20] - -subscenes: - the_table: + xyz: [0.2, -0.35, 0.15] + rpy: [0, 0, 0] positions: start: [0, 0, null] scan_z_level: [null, null, 0.45] @@ -33,5 +27,12 @@ subscenes: scan_step_size: [0.05, 0.05] the_bin: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.1, 0.1, 0.2] + xyz: [0.5, 0.3, 0.1] + rpy: [0, 0, 0] regions: - dropzone: [-0.05, -0.05, 0.05, 0.05] + dropzone: [-0.05, -0.05, 0.05, 0.05] \ No newline at end of file diff --git a/demos/pickndrop_estop/task_trees_manager_pnd.py b/demos/pickndrop_estop/task_trees_manager_pnd.py index 58c4ad0..f711636 100644 --- a/demos/pickndrop_estop/task_trees_manager_pnd.py +++ b/demos/pickndrop_estop/task_trees_manager_pnd.py @@ -115,14 +115,16 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # Functions for the simulation (demo) def setup_objects(self): # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link = self.the_scene.get_link_of_scene(scene_name) + if the_link is None: + continue + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy) # Generate a new ball on the table def generate_a_ball(self): - the_table = self.the_scene.get_object_config('the_table') + the_table = self.the_scene.get_link_of_scene('the_table') x, y = the_table.dimensions[0] * random.random() * 0.9, the_table.dimensions[1] * random.random() * 0.9 # position in the box frame z = the_table.xyz[2] + the_table.dimensions[2] / 2 + 0.035 xyz = [x, y, z] diff --git a/demos/pushblock/task_scene.yaml b/demos/pushblock/task_scene.yaml index e1ba483..51f4c99 100644 --- a/demos/pushblock/task_scene.yaml +++ b/demos/pushblock/task_scene.yaml @@ -1,76 +1,89 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] rpy: [0, 0, 0] -subscenes: area: positions: hover: [null, null, 0.40] @@ -79,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/demos/pushblock/task_trees_manager_pushblock.py b/demos/pushblock/task_trees_manager_pushblock.py index 95d518d..9fa6fc8 100644 --- a/demos/pushblock/task_trees_manager_pushblock.py +++ b/demos/pushblock/task_trees_manager_pushblock.py @@ -83,8 +83,8 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) self.scene_to_rviz.display_bbox_regions('regions', rgba=[1.0, 0.0, 1.0, 0.2]) - object_area1 = self.the_scene.get_object_config('area_1') - self.scene_to_rviz.add_custom_transform('area', object_area1.xyz, object_area1.rpy, arm_commander.get_world_reference_frame()) + link_area1 = self.the_scene.get_link_of_scene('area_1') + self.scene_to_rviz.add_custom_transform('area', link_area1.xyz, link_area1.rpy, arm_commander.get_world_reference_frame()) self.scene_to_rviz.display_positions('area.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) @@ -112,7 +112,7 @@ def setup_objects(self): # the_object = self.the_scene.get_object_config(object_name) # if the_object.type == 'box': # self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - self._define_objects(self.the_scene, 'box') + self._define_links(self.the_scene, 'box') def generate_the_object(self): self.the_object = dict() @@ -197,19 +197,19 @@ def in_a_region(self, logical_region) -> bool: return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), self.the_scene.query_config(logical_region)) def over_an_object(self, object_name) -> bool: - the_object = self.the_scene.get_object_config(object_name) - the_object_position_as_bbox = [the_object.xyz[0] - the_object.dimensions[0] / 2, the_object.xyz[1] - the_object.dimensions[1] / 2, - the_object.xyz[0] + the_object.dimensions[0] / 2, the_object.xyz[1] + the_object.dimensions[1] / 2] + the_link = self.the_scene.get_link_of_scene(object_name) + the_object_position_as_bbox = [the_link.xyz[0] - the_link.dimensions[0] / 2, the_link.xyz[1] - the_link.dimensions[1] / 2, + the_link.xyz[0] + the_link.dimensions[0] / 2, the_link.xyz[1] + the_link.dimensions[1] / 2] current_pose = self.arm_commander.pose_of_robot_link() return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), the_object_position_as_bbox) def on_or_above_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z > self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z > self.the_scene.query_config(position)[2] - 0.05 def below_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z < self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z < self.the_scene.query_config(position)[2] - 0.05 def wrong_restart_position(self) -> bool: target = self.query_target_reference_frame() diff --git a/demos/pushblock_ros/task_scene.yaml b/demos/pushblock_ros/task_scene.yaml index 22e6492..51f4c99 100644 --- a/demos/pushblock_ros/task_scene.yaml +++ b/demos/pushblock_ros/task_scene.yaml @@ -1,78 +1,89 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +--- +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] - rpy: [0, 0, 0] - -subscenes: + rpy: [0, 0, 0] area: positions: hover: [null, null, 0.40] @@ -81,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/demos/pytrees_moves_scene/move_scene_1.py b/demos/pytrees_moves_scene/move_scene_1.py index ed77d55..d7550ca 100644 --- a/demos/pytrees_moves_scene/move_scene_1.py +++ b/demos/pytrees_moves_scene/move_scene_1.py @@ -40,7 +40,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): self.arm_commander.wait_for_ready_to_move() self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) diff --git a/demos/pytrees_moves_scene/move_scene_4.py b/demos/pytrees_moves_scene/move_scene_4.py index 5a88cf7..92abd92 100644 --- a/demos/pytrees_moves_scene/move_scene_4.py +++ b/demos/pytrees_moves_scene/move_scene_4.py @@ -44,16 +44,18 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # load scene config self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene_4.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if the_link_of_scene is None: + continue + if the_link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link_of_scene.dimensions, the_link_of_scene.xyz, the_link_of_scene.rpy) # build the behaviour tree self.move_branch = self.create_move_branch() diff --git a/demos/pytrees_moves_scene/move_scene_5.py b/demos/pytrees_moves_scene/move_scene_5.py index ae82f44..e24edb6 100644 --- a/demos/pytrees_moves_scene/move_scene_5.py +++ b/demos/pytrees_moves_scene/move_scene_5.py @@ -43,16 +43,18 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # load scene config self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene_4.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if the_link_of_scene is None: + continue + if the_link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link_of_scene.dimensions, the_link_of_scene.xyz, the_link_of_scene.rpy) # build the behaviour tree self.move_branch = self.create_move_branch() diff --git a/demos/pytrees_moves_scene/task_scene.yaml b/demos/pytrees_moves_scene/task_scene.yaml index 4ee0105..63b15e3 100644 --- a/demos/pytrees_moves_scene/task_scene.yaml +++ b/demos/pytrees_moves_scene/task_scene.yaml @@ -1,9 +1,9 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base -subscenes: diff --git a/demos/pytrees_moves_scene/task_scene_2.yaml b/demos/pytrees_moves_scene/task_scene_2.yaml index ef15b3d..73e4cbe 100644 --- a/demos/pytrees_moves_scene/task_scene_2.yaml +++ b/demos/pytrees_moves_scene/task_scene_2.yaml @@ -1,11 +1,12 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [0.4, 0.0, 0.2] - end: [0.4, 0.0, 0.6] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [0.4, 0.0, 0.2] + end: [0.4, 0.0, 0.6] + diff --git a/demos/pytrees_moves_scene/task_scene_3.yaml b/demos/pytrees_moves_scene/task_scene_3.yaml index 580e780..8f4e516 100644 --- a/demos/pytrees_moves_scene/task_scene_3.yaml +++ b/demos/pytrees_moves_scene/task_scene_3.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_x: [0.3, null, null] - init: [0.307, 0.0, 0.588] - rotations: - alpha: [3.139, 0.0, -0.785] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_x: [0.3, null, null] + init: [0.307, 0.0, 0.588] + rotations: + alpha: [3.139, 0.0, -0.785] + diff --git a/demos/pytrees_moves_scene/task_scene_4.yaml b/demos/pytrees_moves_scene/task_scene_4.yaml index 1088ead..96fd663 100644 --- a/demos/pytrees_moves_scene/task_scene_4.yaml +++ b/demos/pytrees_moves_scene/task_scene_4.yaml @@ -1,22 +1,24 @@ --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] -subscenes: - diff --git a/demos/rviz_display/task_scene.yaml b/demos/rviz_display/task_scene.yaml index 0786b4b..062592e 100644 --- a/demos/rviz_display/task_scene.yaml +++ b/demos/rviz_display/task_scene.yaml @@ -1,27 +1,24 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - teapot: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + + teapot: + link: type: object # model_file: file://localhost/home/qcr/arm_commander_ws/src/task_trees/demos/rviz_display/utah_teapot.stl model_file: package://task_trees/demos/rviz_display/utah_teapot.stl dimensions: [0.01, 0.01, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - frames: - area: + area: + link: + type: frame xyz: [0.4, -0.20, 0.00] rpy: [3.14, 0, 3.14] -subscenes: - area: - frames: - zone: - xyz: [0.4, -0.20, 0.00] - rpy: [3.14, 0, 3.14] - + diff --git a/demos/rviz_display/task_trees_manager_rviz.py b/demos/rviz_display/task_trees_manager_rviz.py index 202cab9..f451009 100644 --- a/demos/rviz_display/task_trees_manager_rviz.py +++ b/demos/rviz_display/task_trees_manager_rviz.py @@ -55,14 +55,14 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): self.the_scene = Scene(config_file) # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) - self.scene_to_rviz.display_object('objects.teapot') + self.scene_to_rviz.display_link('teapot') # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) self.arm_commander.reset_world() - bird_object = self.the_scene.get_object_config('teapot') - self.arm_commander.add_object_to_scene('teapot_another', bird_object.model_file, bird_object.dimensions, - bird_object.xyz, bird_object.rpy, reference_frame='area') + teapot_object = self.the_scene.get_link_of_scene('teapot') + self.arm_commander.add_object_to_scene('teapot_another', teapot_object.model_file, teapot_object.dimensions, + teapot_object.xyz, teapot_object.rpy, reference_frame='area') # self.arm_commander.set_workspace_walls(*(self.the_scene.query_config('regions.workspace'))) # setup name poses self._define_named_poses(self.the_scene) diff --git a/demos/simple_moves_scene/move_scene_4.py b/demos/simple_moves_scene/move_scene_4.py index 4467fa5..bb2f69d 100644 --- a/demos/simple_moves_scene/move_scene_4.py +++ b/demos/simple_moves_scene/move_scene_4.py @@ -43,7 +43,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup name poses self._define_named_poses(self.the_scene) # setup objects - self._define_objects(self.the_scene) + self._define_links(self.the_scene) # build and install the behavior tree self._set_initialize_branch(self.create_init_branch()) diff --git a/demos/simple_moves_scene/move_scene_5.py b/demos/simple_moves_scene/move_scene_5.py index 2da9775..4a1e802 100644 --- a/demos/simple_moves_scene/move_scene_5.py +++ b/demos/simple_moves_scene/move_scene_5.py @@ -43,7 +43,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup name poses self._define_named_poses(self.the_scene) # setup objects - self._define_objects(self.the_scene) + self._define_links(self.the_scene) # build and install the behavior tree self._set_initialize_branch(self.create_init_branch()) self._add_priority_branch(self.create_move_branch()) diff --git a/demos/simple_moves_scene/task_scene.yaml b/demos/simple_moves_scene/task_scene.yaml index 4ee0105..cee2223 100644 --- a/demos/simple_moves_scene/task_scene.yaml +++ b/demos/simple_moves_scene/task_scene.yaml @@ -1,9 +1,9 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + diff --git a/demos/simple_moves_scene/task_scene_2.yaml b/demos/simple_moves_scene/task_scene_2.yaml index c3df9d6..9d7a9a7 100644 --- a/demos/simple_moves_scene/task_scene_2.yaml +++ b/demos/simple_moves_scene/task_scene_2.yaml @@ -1,11 +1,12 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [0.3, 0.0, 0.2] - end: [0.3, 0.0, 0.6] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [0.3, 0.0, 0.2] + end: [0.3, 0.0, 0.6] + diff --git a/demos/simple_moves_scene/task_scene_3.yaml b/demos/simple_moves_scene/task_scene_3.yaml index 580e780..8f4e516 100644 --- a/demos/simple_moves_scene/task_scene_3.yaml +++ b/demos/simple_moves_scene/task_scene_3.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_x: [0.3, null, null] - init: [0.307, 0.0, 0.588] - rotations: - alpha: [3.139, 0.0, -0.785] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_x: [0.3, null, null] + init: [0.307, 0.0, 0.588] + rotations: + alpha: [3.139, 0.0, -0.785] + diff --git a/demos/simple_moves_scene/task_scene_4.yaml b/demos/simple_moves_scene/task_scene_4.yaml index 1088ead..96fd663 100644 --- a/demos/simple_moves_scene/task_scene_4.yaml +++ b/demos/simple_moves_scene/task_scene_4.yaml @@ -1,22 +1,24 @@ --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] -subscenes: - diff --git a/demos/simple_moves_scene/task_scene_6.yaml b/demos/simple_moves_scene/task_scene_6.yaml index 01dfc4d..b851ede 100644 --- a/demos/simple_moves_scene/task_scene_6.yaml +++ b/demos/simple_moves_scene/task_scene_6.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [null, -0.3, null] - end: [null, 0.3, null] - near: [0.4, null, null] - far: [0.6, null, null] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [null, -0.3, null] + end: [null, 0.3, null] + near: [0.4, null, null] + far: [0.6, null, null] + diff --git a/docs/source/SCENE_SUPPORT.md b/docs/source/SCENE_SUPPORT.md index d8954fb..72c1c50 100644 --- a/docs/source/SCENE_SUPPORT.md +++ b/docs/source/SCENE_SUPPORT.md @@ -10,73 +10,72 @@ The key enabling component of the logical scene support is **scene configuration ### Basic Structure of a Scene Configuration File -A scene configuration file is divided into the root scene and custom subscene. The significance betwwen the root scene and the subscenes is the namespace of their configuration key-value pairs. All key-value defined under the root scene do have an empty namespace, while the variables under a subscene requires the subscene name as the namespace. The top level keys must be `scene` and `subscenes`, and under `subscenes` keys representing names of subscenes can be added. In the following example, `sub_scene_1` and `sub_scene_2` are names of custom subscenes. +A scene configuration file can be divided into one or more scenes. The first scene must be known as `root`. The scene is the top-level identifier for refering to all the resource keys in the configuration file. Each scene defines its own reference frame and optionally an visual object attached. A scene without a specified visual object is called a frame-type scene or simply known as a frame. + +The significance betwwen the root scene and the other scenes is the namespace of their configuration key-value pairs. All key-value defined under the root scene may be replaced with an empty namespace, while the variables under a subscene requires the subscene name as the namespace. + +The configuration file must starts with the key `scenes`, under which each scene can be added by the name as the head the scene branch. In the following example, `root` is the mandatory scene, and `scene_1` and `scene_2` are names of custom scenes. ```diff --- -scene: +scenes: + root: ... variables of the root scene go here - objects: - ... optional definitions of objects (which are also reference frames) - frames: - ... optional definitions of reference frames + named_poses: ... optional definitions of named poses -subscenes: - sub_scene_1: - ... variables of the subscene sub_scene_1 go here + scene_1: + link: + ... pose definitions of scene (which are also reference frames) + ... variables of the subscene scene_1 go here - sub_scene_2: - ... variables of the subscene sub_scene_2 go here + scene_2: + ... variables of the subscene scene_2 go here ``` -### Optional Branches Recognized by the Task Tree Manager - -The named branches of `objects`, `frames`, and `named_poses` have dedicated functions in the scene configuration. - -- The key `objects` under the root scene is recognized by the task tree manager `TaskTreesManager` class as definitions of collision objects. In the task trees, collision objects are also recognized as custom reference frames. -- The key `frames` under the root scene is recognized as definitions of custom reference frames. -- The key`named_poses` under the root scene is also recognized by the task tree manager as the named poses adding to the arm commander. - -The presence of these branches are optional. - -The `TaskTreesManager` class offers the functions `_define_objects`, `_define_frames` and `_define_named_poses` for adding the objects, the custom reference frames, and named poses defined in the scene configuration. - -### Specifying Configurations in the Root Scene and Subscenes +### Specifying Configurations in the Root Scene and Other Scenes Consider the example `task_scene_4.yaml` [source code](../../demos/simple_moves_scene/task_scene_4.yaml) below. In this example, all configuration keys are under the root scene. No subscene is defined. ``` --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - frame: null - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] - frame: area_1 -subscenes: ``` -A subscene is firstly a namespace for queries and key references. It should also be the reference frame to which the poses are defined. The subscene name is usually either the name of a reference frame or a collision object. +A scene is firstly a namespace for queries and key references. It should also be the reference frame to which the poses are defined. The scene name is both the name of a reference frame and, if defined, a collision object. -The scene configuration file below defines one subscene called `area_1`, in which several configuration keys are defined. Note that `area_1` is a reference frame (a side effect of defining a collision object). Normally, pose keys such as `area_1.positions.start` and their subscene `area_1` are used together in using the move behaviours. +The scene configuration file below defines one scene called `area_1`, in which several configuration keys are defined. Note that `area_1` is a reference frame (a side effect of defining a collision object). Normally, pose keys such as `area_1.positions.start` and their scene (referene frame) `area_1` are used together in using the move behaviours. ``` -subscenes: +scenes: area_1: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.2, 0.2, 0.01] + xyz: [0.4, 0.20, 0.00] + rpy: [0, 0, 3.14] positions: hover: [null, null, 0.40] down: [null, null, 0.27] @@ -86,7 +85,9 @@ subscenes: end: [0, -0.06, null] ``` -### Collision Objects and Custom Reference Frames +### The `link` Branch: Collision Objects and Custom Reference Frames + +The link of a scene specifies a reference frame and optionally the collision object. Collision object definitions comprise the following mandatory and optional keys headed by the name of the object. - `type`: `box`, `sphere`, or `object` @@ -94,11 +95,13 @@ Collision object definitions comprise the following mandatory and optional keys - `dimensions`: a list of length, width, and height for a `box`, the radius for a `sphere`, and the scaling factor as a list of 3 numbers for an `object`. - `xyz`: the position of the object - `rpy`: the orientation of the object -- `frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. +- `parent_frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. -Every collision object will project its position and rotation as its own custom reference frames. The following defines the object named `area_1` and the fields are populated. Note that the null frame is default to the world frame. +Every collision object will project its position and rotation as its own custom reference frames. The following defines the scene named `area_1` which is also the name of the reference frame. In particular, the type `box` indicaates that it is a collision object as well. Note that the null frame is default to the base/world frame. The pose parameter + (xyz and rpy) is the transform from `area_1` to the base/world frame. ``` - area_1: + area_1: + link: type: box model_file: null dimensions: [0.2, 0.2, 0.01] @@ -106,14 +109,15 @@ Every collision object will project its position and rotation as its own custom rpy: [0, 0, 3.14] frame: null ``` -Collision objects can be defined under a subscene as well. If `frame` is not given or its value is `null`, the subscene becomes the default frame. +Collision objects can be defined based on the reference of another scene. If `parent_frame` is not given or its value is `null`, the scene becomes the default frame. Custom reference frame definitions comprise the following mandatory and optional keys headed by the name of the frame. -- `xyz`: the position of the object -- `rpy`: the orientation of the object -- `parent` or `frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. +- `type`: `frame` +- `xyz`: the position of the transform +- `rpy`: the orientation of the transform +- `parent_frame` or `frame`: the reference frame for the custom frame, where `null` implies the world frame. This field is optional. -Similarly, custom reference frames can be defined under a subscene. The default frame is the parent subscene. +Similarly, custom reference frames can be defined with another scene as the parent frame. The default frame is the root scene. ### Loading and Querying the Scene Configuration File @@ -126,13 +130,13 @@ from task_trees.task_scene import Scene ``` The `Scene` class gives every configuration key a unique reference. The reference is a dot-separated string made up of the scene namespace followed by keys of the ancestors of a key-value configuration. For example, the reference `named_poses.home` refers to the `home` child of the `named_poses` node under the root scene (therefore the empty namespace). A configuration key under a subscene has a prepended namespace. For example, `area.positions.start` refers to the value `[0, 0.11, null]` in the above example. -The following code snippet demonstrates the functions `keys_of_config` and `query_config` for listing the children keys and querying for the value of a configuration reference. +The following code snippet demonstrates the functions `key_list_under_config_key` and `query_config` for listing the children keys and querying for the value of a configuration reference. ``` self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) @@ -147,6 +151,16 @@ In the following compositional move target example, the missing x and y componen DoMoveXYZ('move_xy', True, arm_commander=self.arm_commander, scene=self.the_scene, target_xyz=['positions.default_z', self.generate_random_xyz], reference_frame='area_2'), ``` +### Branches Recognized by the Task Tree Manager + +The named branches of `link`, and `named_poses` have dedicated functions in the scene configuration. + +- The key `link` under a scene with the `type` equals to `box`, `sphere`, and `object` is recognized by the task tree manager `TaskTreesManager` class as definitions of collision objects. In the task trees, collision objects are also recognized as custom reference frames. +- The type of `frames` under the key `link` of a scene is recognized as definitions of custom reference frames. +- The key`named_poses` under the root scene is also recognized by the task tree manager as the named poses adding to the arm commander. + +The `TaskTreesManager` class offers the functions `_define_links`, `_define_frames` and `_define_named_poses` for adding the scenes/collision objects, the custom reference frames, and named poses defined in the scene configuration. + ### Internal Logical References @@ -154,30 +168,58 @@ Subclasses of `SceneConditionalCommanderBehaviour` accepts internal references w The following part of a configuration file is extracted from `task_scene.yaml` [source code](../../demos//pushblock/task_scene.yaml) under `/demos/pushblock`. ``` -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - rotations: - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] ... -subscenes: area_1: rotation: rotations.alpha + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.4, 0.0, 0.125] + rpy: [0, 0, 1.57] area_2: rotation: rotations.beta + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, -0.10, 0.125] + rpy: [0, 0, 3.14] area_3: rotation: rotations.beta + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.6, 0.0, 0.125] + rpy: [0, 0, -1.57] area_4: rotation: rotations.alpha + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, 0.10, 0.125] + rpy: [0, 0, 0] ``` -The key `rotation` of the four subscenes are mapped to either `rotation.alpha` or `rotation.beta`. For example, in resolving the key `area_1.rotation`, if the value is a string, `SceneConditionalCommanderBehaviour` attempts to resolve it once more using the scene configuration. +The key `rotation` of the four area scenes are mapped to either `rotation.alpha` or `rotation.beta`. For example, in resolving the key `area_1.rotation`, if the value is a string, `SceneConditionalCommanderBehaviour` attempts to resolve it once more using the scene configuration. The internal logical reference feature improves the readability and maintainability of the configuration file. @@ -188,15 +230,16 @@ The functions provided by the `Scene` class are listed below. | Functions | Remarks | | --- | --- | | `query_config(self, name:str, default=None)` | The `name` is in the format of dot separated reference | -| `query_position_as_xyz(self, name, default=None)` | Alias of `query_config` for backward compatability | -| `query_rotation_as_rpy(self, name, default=None)` | Alias of `query_config` for backward compatability | -| `get_scene_config(self)` | Return the root scene config in the config file as a dict | -| `get_subscene_config(self, name)`| Return the config of a subscene as a dict | | `exists_config(self, name:str)` | Return True if the configuration name exists | -| `keys_of_config(self, name:str)` | Return the children of a configuration reference as a list of keys | -| `len_of_list_config(self, name:str)` | Return the number of children of a list typed configuration reference | -| `list_object_names(self)` | Return the names of the defined objects as a list | -| `get_object_config(self, object_name: str)` | Return the configuration of an object given its name | +| `key_list_under_config_key(self, key:str)` | Return the children keys of a configuration reference as a list | +| `len_of_key_list_under_config_key(self, key:str)` | Return the number of children under a list-type configuration reference | +| `list_scene_names(self)` | Return the names of the defined scenes as a list | +| `get_scene_config_as_dict(self, scene_name)` | Return the scene config branch in the config file as a dict | +| `get_link_of_scene(self, scene_name)`| Return the link of the scene as a LinkConfig | +| `list_frame_names(self)` | Return the names of the defined frame-type scenes as a list | +| `get_frame_config_as_dict(self, frame_name)` | Return the frame-type scene config branch in the config file as a dict | +| `get_link_of_frame(self, frame_name)`| Return the link of the frame as a LinkConfig | +| `get_named_poses_of_root_as_dict(self, name)`| Return the config of a subscene as a dict | Refer to the API Reference for more details about these functions. @@ -212,22 +255,24 @@ The function `query_config` allows the query of any configuration key using a do For example, tke query key `positions.start` refers to a configuration key under the root scene. ``` -scene: - positions: - start: [1, 2, 3] - end: [2, 3, 5] +scenes: + root: + positions: + start: [1, 2, 3] + end: [2, 3, 5] ``` On the other hand, the query key `grid.1.rotation.alpha` matches the following structure, and it refers to the value [0, 0, 1.57]. The `1` refers to the index `1` of the list-like child under `grid`. ``` -scene: - grid: - - rotation: - alpha: [3.14, 0, 0] - - rotation: - alpha: [0, 0, 1.57] +scenes: + root: + grid: + - rotation: + alpha: [3.14, 0, 0] + - rotation: + alpha: [0, 0, 1.57] ``` -To refer to a configuration key under a subscene, the query key should start with the subscene name. Given the following configuration yaml file. +To refer to a configuration key under a non-root scene, the query key should start with the scene name. Given the following configuration yaml file. ``` subscenes: the_tank: @@ -242,7 +287,6 @@ The query key `the_tank.grid.0.rotation.alpha` refers to the value `[3.14, 0, 0] Application developers can design a suitable configuration structure and use the function `query_config` to rerieve configuration values. - ### Author Dr Andrew Lui, Senior Research Engineer
diff --git a/task_trees/behaviours_move.py b/task_trees/behaviours_move.py index 13b789f..9a2890f 100644 --- a/task_trees/behaviours_move.py +++ b/task_trees/behaviours_move.py @@ -201,8 +201,8 @@ def update_when_ready(self): xyz = self.compute_physical_target(self.target_xyz, None, default_target=current_xyz[:3]) rpy = self.compute_physical_target(self.target_rpy, None, default_target=current_xyz[3:]) else: - xyz = self.compute_physical_target(self.target_xyz, self.the_scene.query_position_as_xyz, default_target=current_xyz[:3]) - rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_rotation_as_rpy, default_target=current_xyz[3:]) + xyz = self.compute_physical_target(self.target_xyz, self.the_scene.query_config, default_target=current_xyz[:3]) + rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_config, default_target=current_xyz[3:]) if xyz is None: logger.error(f'DoMoveXYZRPY ({self.name}): invalid position xyz parameter {xyz}') return Status.FAILURE @@ -295,7 +295,7 @@ def update_when_ready(self): if self.the_scene is None: target_rpy = self.compute_physical_target(self.target_rpy) else: - target_rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_rotation_as_rpy) + target_rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_config) if self.target_rpy is None or target_rpy is None: logger.error(f'DoRotate ({self.name}): invalid target_rpy parameter {self.target_rpy}') diff --git a/task_trees/demos/pushblock/task_scene.yaml b/task_trees/demos/pushblock/task_scene.yaml index e1ba483..51f4c99 100644 --- a/task_trees/demos/pushblock/task_scene.yaml +++ b/task_trees/demos/pushblock/task_scene.yaml @@ -1,76 +1,89 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] rpy: [0, 0, 0] -subscenes: area: positions: hover: [null, null, 0.40] @@ -79,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/task_trees/demos/pushblock/task_trees_manager_pushblock.py b/task_trees/demos/pushblock/task_trees_manager_pushblock.py index 95d518d..9fa6fc8 100644 --- a/task_trees/demos/pushblock/task_trees_manager_pushblock.py +++ b/task_trees/demos/pushblock/task_trees_manager_pushblock.py @@ -83,8 +83,8 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) self.scene_to_rviz.display_bbox_regions('regions', rgba=[1.0, 0.0, 1.0, 0.2]) - object_area1 = self.the_scene.get_object_config('area_1') - self.scene_to_rviz.add_custom_transform('area', object_area1.xyz, object_area1.rpy, arm_commander.get_world_reference_frame()) + link_area1 = self.the_scene.get_link_of_scene('area_1') + self.scene_to_rviz.add_custom_transform('area', link_area1.xyz, link_area1.rpy, arm_commander.get_world_reference_frame()) self.scene_to_rviz.display_positions('area.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) @@ -112,7 +112,7 @@ def setup_objects(self): # the_object = self.the_scene.get_object_config(object_name) # if the_object.type == 'box': # self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - self._define_objects(self.the_scene, 'box') + self._define_links(self.the_scene, 'box') def generate_the_object(self): self.the_object = dict() @@ -197,19 +197,19 @@ def in_a_region(self, logical_region) -> bool: return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), self.the_scene.query_config(logical_region)) def over_an_object(self, object_name) -> bool: - the_object = self.the_scene.get_object_config(object_name) - the_object_position_as_bbox = [the_object.xyz[0] - the_object.dimensions[0] / 2, the_object.xyz[1] - the_object.dimensions[1] / 2, - the_object.xyz[0] + the_object.dimensions[0] / 2, the_object.xyz[1] + the_object.dimensions[1] / 2] + the_link = self.the_scene.get_link_of_scene(object_name) + the_object_position_as_bbox = [the_link.xyz[0] - the_link.dimensions[0] / 2, the_link.xyz[1] - the_link.dimensions[1] / 2, + the_link.xyz[0] + the_link.dimensions[0] / 2, the_link.xyz[1] + the_link.dimensions[1] / 2] current_pose = self.arm_commander.pose_of_robot_link() return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), the_object_position_as_bbox) def on_or_above_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z > self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z > self.the_scene.query_config(position)[2] - 0.05 def below_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z < self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z < self.the_scene.query_config(position)[2] - 0.05 def wrong_restart_position(self) -> bool: target = self.query_target_reference_frame() diff --git a/task_trees/scene_to_rviz.py b/task_trees/scene_to_rviz.py index 52a304e..e6f892e 100644 --- a/task_trees/scene_to_rviz.py +++ b/task_trees/scene_to_rviz.py @@ -16,7 +16,7 @@ from geometry_msgs.msg import Pose, PoseStamped, TransformStamped, Transform, Vector3, Quaternion from visualization_msgs.msg import Marker -from task_trees.task_scene import Scene, ObjectConfig +from task_trees.task_scene import Scene, LinkConfig import task_trees.tools.rviz_tools as rviz_tools from task_trees.tools.logging_tools import logger from task_trees.tools.rviz_tools import RvizVisualizer @@ -26,7 +26,7 @@ class SceneToRViz(RvizVisualizer): """ The helper class for managing visualization of scene configs in rviz """ - def __init__(self, the_scene:Scene, base_frame:str=None, publish_objects_transform=True, pub_period:float=0.1): + def __init__(self, the_scene:Scene, base_frame:str=None, publish_scenes_transform=True, pub_period:float=0.1): # check if a ROS node has been initialized node_uri = rospy.get_node_uri() if node_uri is None: @@ -38,18 +38,18 @@ def __init__(self, the_scene:Scene, base_frame:str=None, publish_objects_transfo super(SceneToRViz, self).__init__() self.the_scene = the_scene self.base_frame = base_frame - self.is_transform_publisher = publish_objects_transform + self.is_transform_publisher = publish_scenes_transform self.is_world_publisher = False - self.publishable_object_names = [] + self.publishable_scene_names = [] # setup transform self.tf_broadcaster = tf2_ros.TransformBroadcaster() if self.base_frame is None: self.base_frame = 'world' self.is_world_publisher = True - logger.warning(f'SceneToRViz: no base_frame given, use default base frame "world"') + logger.warning(f'SceneToRViz: no base_frame given, define "world" as the default base_frame') # setup custom transforms - self.custom_transform_object_dict = defaultdict(lambda: None) + self.custom_transform_link_dict = defaultdict(lambda: None) # setup timer self.timer_transform = rospy.Timer(rospy.Duration(pub_period), self._cb_timer_transform) @@ -64,78 +64,64 @@ def _cb_timer_transform(self, event): self.tf_broadcaster.sendTransform(transform_stamped) self.is_world_publisher = False if self.is_transform_publisher: - self._pub_transform_all_objects() + self._pub_transform_specified_links() self._pub_custom_transform() # internal function: publish the transform of objects in the scene config subject to the list of publishable objects - def _pub_transform_all_objects(self): - for object_name in the_scene.list_object_names(): - if self.publishable_object_names is None or object_name in self.publishable_object_names: - the_object = the_scene.get_object_config(object_name) - xyzrpy = the_object.xyz + the_object.rpy - self._pub_transform_object(object_name, xyzrpy, the_object.frame) + def _pub_transform_specified_links(self): + for scene_name in self.the_scene.list_scene_names(): + if self.publishable_scene_names is None or scene_name in self.publishable_scene_names: + link_config = self.the_scene.get_link_of_scene(scene_name) + xyzrpy = link_config.xyz + link_config.rpy + self._pub_transform_link(scene_name, xyzrpy, link_config.parent_frame) # internal function: publish the transform of custom objects def _pub_custom_transform(self): - for the_object in self.custom_transform_object_dict.values(): - xyzrpy = the_object.xyz + the_object.rpy - self._pub_transform_object(the_object.name, xyzrpy, the_object.frame) + link_config:LinkConfig + for link_config in self.custom_transform_link_dict.values(): + xyzrpy = link_config.xyz + link_config.rpy + self._pub_transform_link(link_config.name, xyzrpy, link_config.parent_frame) # internal function: publish the transform of a specific named object - def _pub_transform_object(self, name, pose, frame=None): + def _pub_transform_link(self, name, pose, parent_frame=None): """ publish the transform of an object - :param name: name of the object + :param name: name of the link :type name: str - :param pose: the pose of the object + :param pose: the pose of the link :type pose: Pose, PoseStamped, list of 6 or 7 - :param frame: the frame against which the pose is defined, ignored if PoseStamped is provided, defaults to None - :type frame: str, optional + :param parent_frame: the parent frame of the pose, ignored if PoseStamped is provided, defaults to the base_frame + :type parent_frame: str, optional """ - frame = self.base_frame if frame is None else frame + parent_frame = self.base_frame if parent_frame is None else parent_frame if type(pose) in [list, tuple]: - pose_stamped = list_to_pose_stamped(pose, frame) + pose_stamped = list_to_pose_stamped(pose, parent_frame) elif type(pose) == Pose: pose_stamped = PoseStamped() - pose_stamped.header.frame_id = frame + pose_stamped.header.frame_id = parent_frame pose_stamped.header.stamp = rospy.Time.now() pose_stamped.pose = pose elif type(pose) == PoseStamped: - frame = pose.header.frame_id + parent_frame = pose.header.frame_id pose_stamped = pose else: rospy.logerr(f'{__class__.__name__}: parameter (pose) is not list of length 6 or 7 or a Pose object -> fix the parameter at behaviour construction') raise TypeError(f'A parameter is invalid') self.tf_broadcaster.sendTransform(pose_stamped_to_transform_stamped(pose_stamped, name)) - # try: - # # frame is ignored if pose is PoseStamped - # if type(pose) == Pose: - # xyzq = pose_to_xyzq(pose) - # elif type(pose) == PoseStamped: - # frame = pose.header.frame_id - # xyzq = pose_to_xyzq(pose.pose) - # else: - # xyzq = list_to_xyzq(pose) - # except Exception: - # logger.error(f'{__class__.__name__}: parameter (pose) is not list of length 6 or 7 or a Pose object -> fix the parameter at behaviour construction') - # raise - # frame = self.base_frame if frame is None else frame - # self.tf_pub.sendTransform(xyzq[:3], xyzq[3:], rospy.Time.now(), name, frame) - # -------------------------------- - def set_publish_objects_transform(self, object_names:list=None): - """ specify the names of the objects that are to be included in transform publish + def set_publish_links_transform(self, link_names:list=None): + """ specify the names of the links that are to be included in transform publish - :param object_names: a list of object names to be included, defaults to None - :type object_names: list, optional + :param link_names: a list of links names to be included, defaults to None + :type link_names: list, optional """ - if object_names is not None and type(object_names) not in [tuple, list]: + if link_names is not None and type(link_names) not in [tuple, list]: logger.error(f'SceneToRViz (set_publish_transform): parameter (object_names) must be a list of strings or None') raise AssertionError('Parameter (object_names) type is invalid') - self.publishable_object_names = object_names + self.publishable_scene_names = link_names - def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1.0, 0.2]) -> None: + def display_bbox_regions(self, config_key:str, plane:str='xy', reference_frame=None, rgba=[1.0, 0.0, 1.0, 0.2]) -> None: """ display as a bbox 2d or 3d region specified by the key or set of keys under the config_key parameter along the plane :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys @@ -149,8 +135,7 @@ def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1 if value is None: logger.warning(f'SceneToRViz (register_regions_as_bbox): Non-existent key {config_key}') return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + reference_frame = reference_frame if reference_frame is not None else self.base_frame if plane is None: plane = 'xy' # default to xy if type(value) in [list, tuple] and len(value) in [4, 6]: @@ -168,7 +153,7 @@ def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1 continue logger.warning(f'SceneToRViz (display_bbox_regions): region ({key}) bbox should be a list of 4 or 6') - def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + def display_rotations(self, config_key:str, arrow_length:float=1.0, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: """ display as an arrow the rotation specified by config_key :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys @@ -181,9 +166,8 @@ def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0 value = self.the_scene.query_config(config_key, None) if value is None: logger.warning(f'SceneToRViz (register_positions): Non-existent key {config_key}') - return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + return + reference_frame = reference_frame if reference_frame is not None else self.base_frame if type(value) in [list, tuple] and len(value) == 3: value = {' ': value} if type(value) == dict: @@ -197,7 +181,7 @@ def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0 logger.warning(f'SceneToRViz (display_rotations): rotation ({key}) should be a list of 3') - def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + def display_positions(self, config_key:str, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: """ display one or more positions or partial definitions, that a sphere represents full specification, a line represents a position with a null value, and a plane represents a position with two null values @@ -209,9 +193,8 @@ def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: value = self.the_scene.query_config(config_key, None) if value is None: logger.warning(f'SceneToRViz (display_positions): Non-existent key {config_key}') - return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + return + reference_frame = reference_frame if reference_frame is not None else self.base_frame if type(value) == list and len(value) == 3: value = {' ': value} if type(value) == dict: @@ -249,42 +232,41 @@ def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: marker = rviz_tools.create_axisplane_marker(f'{config_key}.{key}', id, bbox, xyz[index], reference_frame, plane, rgba=rgba) self.add_persistent_marker(marker) - def display_object(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: - """ display one object associated with the config key + def display_link(self, scene_name:str, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + """ display the link associated with the config key - :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys - :type config_key: str + :param scene_name: the name of a scene + :type scene_name: str :param rgba: the colour of the objects defaults to [1.0, 0.0, 1.0, 0.2] :type rgba: list, optional """ - value = self.the_scene.query_config(config_key, None) + value = self.the_scene.query_config(scene_name, None) if value is None: - logger.warning(f'SceneToRViz (display_objects): Non-existent key {config_key}') + logger.warning(f'SceneToRViz (display_objects): Non-existent key {scene_name}') return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame if type(value) != dict: - logger.warning(f'SceneToRViz (display_objects): the key {config_key} is not associated with a single object in a dict structure') + logger.warning(f'SceneToRViz (display_objects): the key {scene_name} is not associated with a single object in a dict structure') return - the_object = self.the_scene._create_object_config(value) - if the_object.type == 'box': - xyzrpy = the_object.xyz + the_object.rpy - marker = rviz_tools.create_cube_marker_from_xyzrpy(f'object.{config_key}', 0, xyzrpy, reference_frame, the_object.dimensions, rgba=rgba) + reference_frame = reference_frame if reference_frame is not None else self.base_frame + the_link:LinkConfig = self.the_scene.get_link_of_scene(scene_name) + if the_link.type == 'box': + xyzrpy = the_link.xyz + the_link.rpy + marker = rviz_tools.create_cube_marker_from_xyzrpy(f'object.{scene_name}', 0, xyzrpy, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) - elif the_object.type == 'sphere': - marker = rviz_tools.create_sphere_marker(f'object.{config_key}', 0, the_object.xyz, reference_frame, the_object.dimensions, rgba=rgba) + elif the_link.type == 'sphere': + marker = rviz_tools.create_sphere_marker(f'object.{scene_name}', 0, the_link.xyz, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) - elif the_object.type == 'object': + elif the_link.type == 'object': try: - model_file = PackageFile.resolve_to_file_or_http_uri(the_object.model_file) + model_file = PackageFile.resolve_to_file_or_http_uri(the_link.model_file) except Exception as ex: - logger.warning(f'SceneToRViz (display_objects): Invalid model_file for object ({the_object.model_file}): {ex}') + logger.warning(f'SceneToRViz (display_objects): Invalid model_file for object ({the_link.model_file}): {ex}') return - xyzrpy = the_object.xyz + the_object.rpy - marker = rviz_tools.create_mesh_marker(f'object.{config_key}', 0, model_file, xyzrpy, reference_frame, the_object.dimensions, rgba=rgba) + xyzrpy = the_link.xyz + the_link.rpy + marker = rviz_tools.create_mesh_marker(f'object.{scene_name}', 0, model_file, xyzrpy, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) else: - logger.warning(f'SceneToRViz (display_objects): Invalid object type {the_object.type} of the key {config_key}') + logger.warning(f'SceneToRViz (display_objects): Invalid object type {the_link.type} of the key {scene_name}') # ------------------------------------------------------------------------ # Functions for adding custom transforms for visualization @@ -301,7 +283,7 @@ def add_custom_transform(self, name, xyz, rpy, frame) -> None: if name is None or xyz is None or rpy is None or frame is None: logger.error(f'SceneToRViz (add_custom_transform): No parameter can be None') raise AssertionError('A parameter is none') - self.custom_transform_object_dict[name] = ObjectConfig(name, None, None, None, xyz, rpy, frame) + self.custom_transform_link_dict[name] = LinkConfig(name, None, None, None, xyz, rpy, frame) def update_custom_transform_pose(self, name, xyz=None, rpy=None, frame=None) -> None: """ Update the pose of a custom transform @@ -311,7 +293,7 @@ def update_custom_transform_pose(self, name, xyz=None, rpy=None, frame=None) -> :param rpy: the updated rpy, defaults to None meaning unchanged :param frame: the updated frame, defaults to None meaning unchanged """ - the_object:ObjectConfig = self.custom_transform_object_dict[name] + the_object:LinkConfig = self.custom_transform_link_dict[name] if the_object is None: logger.warning(f'__name__ (update_custom_transform_pose): the custom transform name {name} is not found') return False @@ -326,20 +308,20 @@ def remove_custom_transform(self, name=None): :param name: the name of the transform to be removed, or None to remove all """ if name is None: - self.custom_transform_object_dict.clear() - elif name in self.custom_transform_object_dict: - del self.custom_transform_object_dict[name] + self.custom_transform_link_dict.clear() + elif name in self.custom_transform_link_dict: + del self.custom_transform_link_dict[name] # ----------------------------------------------------------- # test program if __name__ == '__main__': the_scene = Scene(os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml')) scene_to_rviz = SceneToRViz(the_scene, 'world') - scene_to_rviz.set_publish_objects_transform(None) + scene_to_rviz.set_publish_links_transform(None) scene_to_rviz.display_bbox_regions('regions') scene_to_rviz.display_bbox_regions('tank.bbox', rgba=[0.2, 0.8, 0.4, 0.2]) scene_to_rviz.display_rotations('tank.rotations', arrow_length=0.5, rgba=[0.2, 0.0, 1.0, 0.8]) scene_to_rviz.display_positions('tank.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # test display objects - scene_to_rviz.display_object('objects.tank', rgba=[1.0, 0.2, 0.2, 0.8]) + scene_to_rviz.display_link('objects.tank', rgba=[1.0, 0.2, 0.2, 0.8]) rospy.spin() \ No newline at end of file diff --git a/task_trees/task_scene.py b/task_trees/task_scene.py index aeb5fac..097a6bf 100644 --- a/task_trees/task_scene.py +++ b/task_trees/task_scene.py @@ -14,9 +14,9 @@ from task_trees.tools.logging_tools import logger # namedtuples for internal data structure for higher readability -ObjectConfig = namedtuple('ObjectConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'frame']) # representing an object -FrameConfig = namedtuple('FrameConfig', ['name', 'xyz', 'rpy', 'parent']) -SceneName = namedtuple('SceneName', ['subscene', 'path']) +SceneKeyParts = namedtuple('SceneKeyParts', ['scene', 'parts']) +LinkConfig = namedtuple('LinkConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'parent_frame']) # representing the scene +FrameConfig = namedtuple('FrameConfig', ['name', 'type', 'xyz', 'rpy', 'parent_frame']) class Scene(): """ The base model provides mapping between physical/joint-space pose and various named/logical poses. @@ -31,288 +31,227 @@ def __init__(self, scene_config_file:str = None): if scene_config_file is None: scene_config_file = os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml') with open(scene_config_file, 'r') as f: - config = yaml.safe_load(f) - self.config = config - # if the default scene is defined in the file, define a variable for the default - self.scene_config = self.config['scene'] if 'scene' in self.config else None - # if subscenes are defined in the file, define another variable for that - self.subscene_config = self.config['subscenes'] if 'subscenes' in self.config else None - # preprocess the objects and frames - self.objects_map = self._process_objects() - self.frames_map = self._process_frames() + self.config_file_root = yaml.safe_load(f) + # print warning message + self._print_warning() + # valiate that there is a key 'scenes' + if 'scenes' not in self.config_file_root: + logger.error(f'The config file should contain a "scenes" key at the top level') + raise AssertionError(f'Invalid yaml config file: missing the key "scenes"') + self.scenes_branch = self.config_file_root['scenes'] + # valiate that there is a 'root' scene + if 'root' not in self.scenes_branch: + logger.error(f'The config file should contain a "root" scene defined under "scenes" key at the top level') + raise AssertionError(f'Invalid yaml config file: missing the "root" scene') + self.root_scene_config = self.scenes_branch['root'] + # model parameters + self.scenes_dict = defaultdict(lambda: None) + self.scenes_linkconfig = defaultdict(lambda: None) + self.frames_config = defaultdict(lambda: None) + # iterates all scenes in the config file + for key in self.scenes_branch.keys(): + self.scenes_dict[key] = self.scenes_branch[key] + link_config = self._extract_link_config(key, self.scenes_branch[key]) + if link_config is not None: + if link_config.type == 'frame': + self.frames_config[key] = link_config + else: + self.scenes_linkconfig[key] = link_config - # internal function: parse a dot-separated config name (path) into two parts, the subscene and a list of the path - def _parse_config_name(self, config_name:str) -> SceneName: - if config_name is None: - return None - parts = config_name.split('.') - # print(f'_parse_config_name: {config_name} {parts} {parts[0]} {self.subscene_config}') - if self.subscene_config is not None and len(parts) > 1 and (parts[0] in self.subscene_config.keys()): # one of the subscenes - return SceneName(parts[0], parts[1:]) + # internal function: parse a dot-separated config kay (path) into scene name and a list of the parts + def _parse_config_key(self, config_key:str) -> SceneKeyParts: + assert config_key is not None, 'Parameter (config_key) should not be None' + parts = config_key.split('.') + assert len(parts) >= 1, 'Parameter (config_key) is empty' + scene_name = parts[0] + if scene_name not in self.scenes_dict: + # the first name is not a known scene, assume that the root scene is inferred + scene_name = 'root' + return SceneKeyParts(scene_name, parts) else: - return SceneName(None, parts) + return SceneKeyParts(scene_name, parts[1:]) # ------------------------------------------- - # functions for extracting objects and frames + # internal functions for extracting objects and frames + def _extract_link_config(self, scene_name:str, scene_dict:dict) -> LinkConfig: + return self._create_link_config(scene_name, scene_dict.get('link', None)) + # internal function: extract and validate an object definition - def _create_object_config(self, obj:dict) -> ObjectConfig: - if obj is None: - return None - if 'name' not in obj: - logger.error(f'Scene (_process_an_object): the keys in the object config contains no "name"') + def _create_link_config(self, scene_name:str, link_dict:dict) -> LinkConfig: + if link_dict is None or scene_name is None: return None - if 'type' not in obj or 'xyz' not in obj or 'rpy' not in obj or 'dimensions' not in obj: - logger.error(f'Scene (_process_an_object): the keys in the object config ({obj["name"]}) contains no "type", "xyz", "rpy", "dimensions"') + # if 'name' not in link_dict: + # logger.error(f'Scene (_process_an_object): the keys in the link config contains no "name"') + # return None + if 'type' not in link_dict or 'xyz' not in link_dict or 'rpy' not in link_dict: + logger.error(f'Scene (_process_an_object): the keys in the scene config ({link_dict["name"]}) contains no "type", "xyz", "rpy"') return None - if obj['type'] not in ['box', 'sphere', 'object']: - logger.error(f'Scene (_process_an_object): the type of the object ({obj["name"]}) is not one of "sphere", "box", or "object"') - return None - model_file = obj.get('model_file', None) - if obj['type'] == 'object' and model_file is None: - logger.error(f'Scene (_process_an_object): the object ({obj["name"]}) expects a valid "model_file" key') + if link_dict['type'] not in ['box', 'sphere', 'object', 'frame']: + logger.error(f'Scene (_process_an_object): the type of the scene ({link_dict["name"]}) is not one of "sphere", "box", "frame", or "object"') + return None + if link_dict['type'] in ['box', 'sphere', 'object'] and 'dimensions' not in link_dict: + logger.error(f'Scene (_process_an_object): the keys in the box, sphere or object typed scene link ({link_dict["name"]}) contains no "dimensions"') + return None + model_file = link_dict.get('model_file', None) + if link_dict['type'] == 'object' and model_file is None: + logger.error(f'Scene (_process_an_object): the scene link ({link_dict["name"]}) expects a valid "model_file" key') return None - return ObjectConfig(obj['name'], obj['type'], model_file, obj['dimensions'], obj['xyz'], obj['rpy'], obj.get('frame', None)) - - def _extract_objects_dict(self, source_object_config:dict, the_map:dict, subscene:str=None) -> ObjectConfig: - # assume object_config is a dict - for name in source_object_config: - obj = source_object_config[name] - obj['name'] = name - if 'frame' not in obj: - obj['frame'] = subscene - object_config = self._create_object_config(obj) - if object_config: - if subscene is None: - the_map[name] = object_config - else: - the_map[f'{subscene}.{name}'] = object_config - - def _extract_objects_list(self, source_object_config:list, the_map:dict, subscene:str=None) -> ObjectConfig: - # assume object_config is a list - for obj in source_object_config: - name = obj['name'] - if 'frame' not in obj: - obj['frame'] = subscene - object_config = self._create_object_config(obj) - if object_config: - if subscene is None: - the_map[name] = object_config - else: - the_map[f'{subscene}.{name}'] = object_config + parent_name = link_dict.get('parent_frame', link_dict.get('frame', None)) # both parent_frame and frame are acceptable + if parent_name is not None and parent_name == 'root' and 'root' not in self.scenes_linkconfig: + parent_name = None + dimensions = link_dict.get('dimensions', None) + return LinkConfig(scene_name, link_dict['type'], model_file, dimensions, link_dict['xyz'], link_dict['rpy'], parent_name) def _print_warning(self) -> None: if not hasattr(self, 'warned'): self.warned = True - logger.warning(f'''Scene configuration file format changed. - Objects are defined using a dict structure instead of a list structure. - objects: - name: - type: ... - xyz: ... + logger.warning(f'''Scene configuration file format changed in task_trees 0.2.x. + The subscene concept is removed and scenes are equal in the yaml file + scenes: + scene_1_name: + link: ... + other_params: ... ... - The old format will not be acceptable in the future. Update the file is recommended.''') - - # internal function: returns a map of (name, ObjectConfig) of objects defined in the config file - def _process_objects(self) -> dict: - the_map = dict() - # process the main scene - if self.scene_config is not None and 'objects' in self.scene_config: - object_config = self.scene_config['objects'] - if type(object_config) in (tuple, list): - self._extract_objects_list(object_config, the_map) - self._print_warning() - else: - self._extract_objects_dict(object_config, the_map) - - # process each subscene - if self.subscene_config is not None: - for subscene in self.subscene_config.keys(): - if self.subscene_config[subscene] is None: - continue - if 'objects' in self.subscene_config[subscene]: - object_config = self.subscene_config[subscene]['objects'] - if type(object_config) in (tuple, list): - self._extract_objects_list(object_config, the_map, subscene) - self._print_warning() - else: - self._extract_objects_dict(object_config, the_map, subscene) - return the_map - - def _extract_frames_dict(self, source_frame_config:dict, the_map:dict, subscene:str=None) -> FrameConfig: - # assume object_config is a dict - for name in source_frame_config: - obj = source_frame_config[name] - obj['name'] = name - if 'frame' in obj: - obj['parent'] = obj['frame'] - if 'parent' not in obj: - obj['parent'] = subscene - if 'xyz' not in obj or 'rpy' not in obj: - logger.error(f'Scene (_extract_frames_dict): the keys in the object config ({obj["name"]}) contains no "xyz" or "rpy"') - return None - frame_config = FrameConfig(obj['name'], obj['xyz'], obj['rpy'], obj['parent']) - if frame_config: - if subscene is None: - the_map[name] = frame_config - else: - the_map[f'{subscene}.{name}'] = frame_config - - # internal function: returns a map of (name, FrameConfig) of frames defined in the config file - def _process_frames(self) -> dict: - the_map = dict() - # process the main scene - if self.scene_config is not None and 'frames' in self.scene_config: - frame_config = self.scene_config['frames'] - self._extract_frames_dict(frame_config, the_map) - # process each subscene - if self.subscene_config is not None: - for subscene in self.subscene_config.keys(): - if self.subscene_config[subscene] is None: - continue - if 'frames' in self.subscene_config[subscene]: - frame_config = self.subscene_config[subscene]['frames'] - self._extract_frames_dict(frame_config, the_map, subscene) - return the_map - + scene_2_name: + link: ... + The API is also changed. Please refer to the documentation''') + # ------------------------------------------- - # model functions + # config query functions - # returns the value of a named config given as a dot-separated path (e.g. table.objects.lamp.position) - def query_config(self, name:str, default=None): + # returns the value of a named config given as a dot-separated key (e.g. table.objects.lamp.position) + def query_config(self, key:str, default=None): """ returns the value of any named config given as a dot-separated path - :param name: the dot-separated path - :type name: str - :param default: the default value if nothing is found in the path, defaults to None + :param key: the dot-separated key, the root scene may have the "root" omitted + :type key: str + :param default: the default value if nothing is found in the key, defaults to None :type default: any :return: the value of the config :rtype: any """ - scene_name = self._parse_config_name(name) - if scene_name is None: + the_parsed_key = self._parse_config_key(key) + if the_parsed_key is None: return default - if scene_name.subscene is not None: - pointer = self.subscene_config[scene_name.subscene] - else: - pointer = self.scene_config - for item in scene_name.path: + pointer = self.scenes_dict[the_parsed_key.scene] + for item in the_parsed_key.parts: if item.isnumeric(): try: item = int(item) except: - logger.error(f'query_config: part of query key {name} contains an non-integer index {item}') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an non-integer index {item}') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if item < 0 or item >= len(pointer): - logger.error(f'query_config: part of query key {name} contains an out-of-range integer index {item} ') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an out-of-range integer index {item} ') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if type(pointer) not in (tuple, list): - logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting a string key') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an invalid index {item}, expecting a string key') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') pointer = pointer[item] else: if type(pointer) != dict: - logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting an integer') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an invalid index {item}, expecting an integer') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if item not in pointer: - logger.error(f'query_config: part of query key {name} contains a non-existent index {item}') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains a non-existent index {item}') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') pointer = pointer[item] - return pointer - - # alias for backward compatibility query_config - def query_position_as_xyz(self, name, default=None): - return self.query_config(name, default) - - def query_rotation_as_rpy(self, name, default=None): - return self.query_config(name, default) - - # returns the subscene name if the config is a subscene config - def get_subscene_of_config_name(self, name) -> str: - """ returns the subscene name if the config is one belonging to a subscene - :return: the name of a subscene or None - :rtype: str - """ - scene_name = self._parse_config_name(name) - if scene_name is None: - return None - return scene_name.subscene - - # returns the root scene config as a dict - def get_scene_config(self) -> dict: - """ returns the main scene config in the config file as a dict - :return: the content in the config file - :rtype: dict - """ - return self.scene_config - - # returns a subscene config as a dict - def get_subscene_config(self, subscene_name) -> dict: - """ returns the config of a subscene in the config file as a dict - :return: the content in the config file about the subscene or None - :rtype: dict - """ - if subscene_name not in self.subscene_config: - return None - return self.subscene_config[subscene_name] + return pointer # returns True of the given config name exists - def exists_config(self, name:str) -> bool: + def exists_config(self, key:str) -> bool: """ returns True of the given config name exists - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: True if the given config name exists :rtype: bool """ - return self.query_config(name) != None + return self.query_config(key) != None - # returns a list of keys specified under the config name - def keys_of_config(self, name:str) -> list: + # returns a list of keys specified under the config key if it is a dictionary or an empty list + def key_list_under_config_key(self, key:str) -> list: """ returns a list of keys specified under the config name or an empty list - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: a list of keys specified under the config name :rtype: list """ - pointer = self.query_config(name) + pointer = self.query_config(key) if pointer is None or type(pointer) not in [dict, map]: return [] return list(pointer.keys()) - # returns the length of the list under the config name or an empty list - def len_of_list_config(self, name:str) -> int: + # returns the length of the list if the config key is a list or an empty list + def len_of_key_list_under_config_key(self, key:str) -> int: """ returns the length of the list under the config name - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: the length of the list the config name :rtype: int """ - pointer = self.query_config(name) + pointer = self.query_config(key) if pointer is None or type(pointer) not in [tuple, list]: return 0 return len(pointer) - # list the object names - def list_object_names(self) -> list: + # list the scene names + def list_scene_names(self) -> list: """ return the list of objects defined in the scene configuration :return: a list of object names as strings :rtype: list """ - if self.objects_map is None: - return [] - return self.objects_map.keys() + return list(self.scenes_dict.keys()) + + # return scene config given the scene name + def get_scene_config_as_dict(self, scene_name: str) -> dict: + """ return the scene configuration as a dict, or None if the scene not exists + :param scene_name: name of the object + :type scene_name: str + :return: the configuration of the scene as a dict or None if not exists + :rtype: dict + """ + return self.scenes_dict.get(scene_name, None) # return config given the object name - def get_object_config(self, object_name: str) -> ObjectConfig: + def get_link_of_scene(self, scene_name: str) -> LinkConfig: """ return the object configuration as ObjectConfig tuple, or None if the name not exists - :param object_name: name of the object - :type object_name: str - :return: the configuration as a ObjectConfig or None if not exists - :rtype: ObjectConfig + :param scene_name: name of the scene + :type scene_name: str + :return: the LinkConfig of the scene or None if not exists + :rtype: LinkConfig """ - return self.objects_map.get(object_name) + return self.scenes_linkconfig.get(scene_name, None) + + # list the frame names + def list_frame_names(self) -> list: + """ return the list of frame type scene defined in the scene configuration + :return: a list of frame names as strings + :rtype: list + """ + return list(self.frames_config.keys()) + # return scene config given the scene name + def get_frame_config_as_dict(self, frame_name: str) -> dict: + """ return the frame configuration as a dict, or None if the scene not exists + :param frame_name: name of the frame + :type frame_name: str + :return: the configuration of the frame type scene or None if not exists + :rtype: dict + """ + return self.scenes_dict.get(frame_name, None) + + # return config given the object name + def get_link_of_frame(self, frame_name: str) -> LinkConfig: + """ return the object configuration as ObjectConfig tuple, or None if the name not exists + :param frame_name: name of the frame + :type frame_name: str + :return: the LinkConfig of the frame or None if not exists + :rtype: LinkConfig + """ + return self.frames_config.get(frame_name, None) + # return the named poses as a dict - def get_named_poses_as_dict(self) -> dict: + def get_named_poses_of_root_as_dict(self) -> dict: """ return the named poses defined in the scene configuration as a dict :return: dict containing key value pairs of named poses @@ -324,25 +263,7 @@ def get_named_poses_as_dict(self) -> dict: result[pose_name] = self.query_config(pose_name) return result - # list the frame names - def list_frame_names(self) -> list: - """ return the list of frames defined in the scene configuration - :return: a list of frames names as strings - :rtype: list - """ - if self.frames_map is None: - return [] - return self.frames_map.keys() - # return config given the object name - def get_frame_config(self, frame_name: str) -> FrameConfig: - """ return the object configuration as FrameConfig tuple, or None if the name not exists - :param frame_name: name of the object - :type frame_name: str - :return: the configuration as a FrameConfig or None if not exists - :rtype: FrameConfig - """ - return self.frames_map.get(frame_name) # ----------------------------------------------------------- # test program @@ -364,16 +285,4 @@ def get_frame_config(self, frame_name: str) -> FrameConfig: for rotation in rotations: print(f'rotation {rotation}: {the_scene.query_config(rotation)}') - objects = the_scene.list_object_names() - for object_name in objects: - print(f'object {object_name}: {the_scene.get_object_config(object_name)}') - - the_object = the_scene.query_config('objects.tank') - print(the_object) - - print(f'tank tile step_sizes: {the_scene.query_config("tank.tile")}') - - keys = ['grid.0.rotation.alpha', 'grid.1.rotation.alpha', 'grid.2.rotation.alpha'] - for key in keys: - print(f'key {key}', the_scene.query_config(key)) \ No newline at end of file diff --git a/task_trees/task_scene_old.py b/task_trees/task_scene_old.py new file mode 100644 index 0000000..aeb5fac --- /dev/null +++ b/task_trees/task_scene_old.py @@ -0,0 +1,379 @@ +# Copyright 2024 - Andrew Kwok Fai LUI, +# Robotics and Autonomous Systems Group, REF, RI +# and the Queensland University of Technology + +__author__ = 'Andrew Lui' +__copyright__ = 'Copyright 2024' +__license__ = 'GPL' +__version__ = '1.0' +__email__ = 'ak.lui@qut.edu.au' +__status__ = 'Development' + +import yaml, os, numbers +from collections import namedtuple, defaultdict +from task_trees.tools.logging_tools import logger + +# namedtuples for internal data structure for higher readability +ObjectConfig = namedtuple('ObjectConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'frame']) # representing an object +FrameConfig = namedtuple('FrameConfig', ['name', 'xyz', 'rpy', 'parent']) +SceneName = namedtuple('SceneName', ['subscene', 'path']) + +class Scene(): + """ The base model provides mapping between physical/joint-space pose and various named/logical poses. + """ + def __init__(self, scene_config_file:str = None): + """the constructor + :param scene_config_file: the path to the task scene configuration file, defaults to None, which then the ros parameter + 'scene_config_file' will be used as the path if exists, and the task_scene.yaml file in the config folder is the last resort + :type scene_config_file: str, optional + """ + # load data from the config yaml file + if scene_config_file is None: + scene_config_file = os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml') + with open(scene_config_file, 'r') as f: + config = yaml.safe_load(f) + self.config = config + # if the default scene is defined in the file, define a variable for the default + self.scene_config = self.config['scene'] if 'scene' in self.config else None + # if subscenes are defined in the file, define another variable for that + self.subscene_config = self.config['subscenes'] if 'subscenes' in self.config else None + # preprocess the objects and frames + self.objects_map = self._process_objects() + self.frames_map = self._process_frames() + + # internal function: parse a dot-separated config name (path) into two parts, the subscene and a list of the path + def _parse_config_name(self, config_name:str) -> SceneName: + if config_name is None: + return None + parts = config_name.split('.') + # print(f'_parse_config_name: {config_name} {parts} {parts[0]} {self.subscene_config}') + if self.subscene_config is not None and len(parts) > 1 and (parts[0] in self.subscene_config.keys()): # one of the subscenes + return SceneName(parts[0], parts[1:]) + else: + return SceneName(None, parts) + + # ------------------------------------------- + # functions for extracting objects and frames + + # internal function: extract and validate an object definition + def _create_object_config(self, obj:dict) -> ObjectConfig: + if obj is None: + return None + if 'name' not in obj: + logger.error(f'Scene (_process_an_object): the keys in the object config contains no "name"') + return None + if 'type' not in obj or 'xyz' not in obj or 'rpy' not in obj or 'dimensions' not in obj: + logger.error(f'Scene (_process_an_object): the keys in the object config ({obj["name"]}) contains no "type", "xyz", "rpy", "dimensions"') + return None + if obj['type'] not in ['box', 'sphere', 'object']: + logger.error(f'Scene (_process_an_object): the type of the object ({obj["name"]}) is not one of "sphere", "box", or "object"') + return None + model_file = obj.get('model_file', None) + if obj['type'] == 'object' and model_file is None: + logger.error(f'Scene (_process_an_object): the object ({obj["name"]}) expects a valid "model_file" key') + return None + return ObjectConfig(obj['name'], obj['type'], model_file, obj['dimensions'], obj['xyz'], obj['rpy'], obj.get('frame', None)) + + def _extract_objects_dict(self, source_object_config:dict, the_map:dict, subscene:str=None) -> ObjectConfig: + # assume object_config is a dict + for name in source_object_config: + obj = source_object_config[name] + obj['name'] = name + if 'frame' not in obj: + obj['frame'] = subscene + object_config = self._create_object_config(obj) + if object_config: + if subscene is None: + the_map[name] = object_config + else: + the_map[f'{subscene}.{name}'] = object_config + + def _extract_objects_list(self, source_object_config:list, the_map:dict, subscene:str=None) -> ObjectConfig: + # assume object_config is a list + for obj in source_object_config: + name = obj['name'] + if 'frame' not in obj: + obj['frame'] = subscene + object_config = self._create_object_config(obj) + if object_config: + if subscene is None: + the_map[name] = object_config + else: + the_map[f'{subscene}.{name}'] = object_config + + def _print_warning(self) -> None: + if not hasattr(self, 'warned'): + self.warned = True + logger.warning(f'''Scene configuration file format changed. + Objects are defined using a dict structure instead of a list structure. + objects: + name: + type: ... + xyz: ... + ... + The old format will not be acceptable in the future. Update the file is recommended.''') + + # internal function: returns a map of (name, ObjectConfig) of objects defined in the config file + def _process_objects(self) -> dict: + the_map = dict() + # process the main scene + if self.scene_config is not None and 'objects' in self.scene_config: + object_config = self.scene_config['objects'] + if type(object_config) in (tuple, list): + self._extract_objects_list(object_config, the_map) + self._print_warning() + else: + self._extract_objects_dict(object_config, the_map) + + # process each subscene + if self.subscene_config is not None: + for subscene in self.subscene_config.keys(): + if self.subscene_config[subscene] is None: + continue + if 'objects' in self.subscene_config[subscene]: + object_config = self.subscene_config[subscene]['objects'] + if type(object_config) in (tuple, list): + self._extract_objects_list(object_config, the_map, subscene) + self._print_warning() + else: + self._extract_objects_dict(object_config, the_map, subscene) + return the_map + + def _extract_frames_dict(self, source_frame_config:dict, the_map:dict, subscene:str=None) -> FrameConfig: + # assume object_config is a dict + for name in source_frame_config: + obj = source_frame_config[name] + obj['name'] = name + if 'frame' in obj: + obj['parent'] = obj['frame'] + if 'parent' not in obj: + obj['parent'] = subscene + if 'xyz' not in obj or 'rpy' not in obj: + logger.error(f'Scene (_extract_frames_dict): the keys in the object config ({obj["name"]}) contains no "xyz" or "rpy"') + return None + frame_config = FrameConfig(obj['name'], obj['xyz'], obj['rpy'], obj['parent']) + if frame_config: + if subscene is None: + the_map[name] = frame_config + else: + the_map[f'{subscene}.{name}'] = frame_config + + # internal function: returns a map of (name, FrameConfig) of frames defined in the config file + def _process_frames(self) -> dict: + the_map = dict() + # process the main scene + if self.scene_config is not None and 'frames' in self.scene_config: + frame_config = self.scene_config['frames'] + self._extract_frames_dict(frame_config, the_map) + # process each subscene + if self.subscene_config is not None: + for subscene in self.subscene_config.keys(): + if self.subscene_config[subscene] is None: + continue + if 'frames' in self.subscene_config[subscene]: + frame_config = self.subscene_config[subscene]['frames'] + self._extract_frames_dict(frame_config, the_map, subscene) + return the_map + + # ------------------------------------------- + # model functions + + # returns the value of a named config given as a dot-separated path (e.g. table.objects.lamp.position) + def query_config(self, name:str, default=None): + """ returns the value of any named config given as a dot-separated path + :param name: the dot-separated path + :type name: str + :param default: the default value if nothing is found in the path, defaults to None + :type default: any + :return: the value of the config + :rtype: any + """ + scene_name = self._parse_config_name(name) + if scene_name is None: + return default + if scene_name.subscene is not None: + pointer = self.subscene_config[scene_name.subscene] + else: + pointer = self.scene_config + for item in scene_name.path: + if item.isnumeric(): + try: + item = int(item) + except: + logger.error(f'query_config: part of query key {name} contains an non-integer index {item}') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if item < 0 or item >= len(pointer): + logger.error(f'query_config: part of query key {name} contains an out-of-range integer index {item} ') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if type(pointer) not in (tuple, list): + logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting a string key') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + pointer = pointer[item] + else: + if type(pointer) != dict: + logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting an integer') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if item not in pointer: + logger.error(f'query_config: part of query key {name} contains a non-existent index {item}') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + pointer = pointer[item] + return pointer + + # alias for backward compatibility query_config + def query_position_as_xyz(self, name, default=None): + return self.query_config(name, default) + + def query_rotation_as_rpy(self, name, default=None): + return self.query_config(name, default) + + # returns the subscene name if the config is a subscene config + def get_subscene_of_config_name(self, name) -> str: + """ returns the subscene name if the config is one belonging to a subscene + :return: the name of a subscene or None + :rtype: str + """ + scene_name = self._parse_config_name(name) + if scene_name is None: + return None + return scene_name.subscene + + # returns the root scene config as a dict + def get_scene_config(self) -> dict: + """ returns the main scene config in the config file as a dict + :return: the content in the config file + :rtype: dict + """ + return self.scene_config + + # returns a subscene config as a dict + def get_subscene_config(self, subscene_name) -> dict: + """ returns the config of a subscene in the config file as a dict + :return: the content in the config file about the subscene or None + :rtype: dict + """ + if subscene_name not in self.subscene_config: + return None + return self.subscene_config[subscene_name] + + # returns True of the given config name exists + def exists_config(self, name:str) -> bool: + """ returns True of the given config name exists + :param name: The config name + :type name: str + :return: True if the given config name exists + :rtype: bool + """ + return self.query_config(name) != None + + # returns a list of keys specified under the config name + def keys_of_config(self, name:str) -> list: + """ returns a list of keys specified under the config name or an empty list + :param name: The config name + :type name: str + :return: a list of keys specified under the config name + :rtype: list + """ + pointer = self.query_config(name) + if pointer is None or type(pointer) not in [dict, map]: + return [] + return list(pointer.keys()) + + # returns the length of the list under the config name or an empty list + def len_of_list_config(self, name:str) -> int: + """ returns the length of the list under the config name + :param name: The config name + :type name: str + :return: the length of the list the config name + :rtype: int + """ + pointer = self.query_config(name) + if pointer is None or type(pointer) not in [tuple, list]: + return 0 + return len(pointer) + + # list the object names + def list_object_names(self) -> list: + """ return the list of objects defined in the scene configuration + :return: a list of object names as strings + :rtype: list + """ + if self.objects_map is None: + return [] + return self.objects_map.keys() + + # return config given the object name + def get_object_config(self, object_name: str) -> ObjectConfig: + """ return the object configuration as ObjectConfig tuple, or None if the name not exists + :param object_name: name of the object + :type object_name: str + :return: the configuration as a ObjectConfig or None if not exists + :rtype: ObjectConfig + """ + return self.objects_map.get(object_name) + + # return the named poses as a dict + def get_named_poses_as_dict(self) -> dict: + """ return the named poses defined in the scene configuration as a dict + + :return: dict containing key value pairs of named poses + """ + result = dict() + named_poses = self.query_config('named_poses') + for pose_name in named_poses: + pose_name = 'named_poses.' + pose_name + result[pose_name] = self.query_config(pose_name) + return result + + # list the frame names + def list_frame_names(self) -> list: + """ return the list of frames defined in the scene configuration + :return: a list of frames names as strings + :rtype: list + """ + if self.frames_map is None: + return [] + return self.frames_map.keys() + + # return config given the object name + def get_frame_config(self, frame_name: str) -> FrameConfig: + """ return the object configuration as FrameConfig tuple, or None if the name not exists + :param frame_name: name of the object + :type frame_name: str + :return: the configuration as a FrameConfig or None if not exists + :rtype: FrameConfig + """ + return self.frames_map.get(frame_name) + +# ----------------------------------------------------------- +# test program +if __name__ == '__main__': + the_scene = Scene() + named_poses = ['named_poses.stow', 'named_poses.home'] + for named_pose in named_poses: + print(f'named_pose {named_pose}: {the_scene.query_config(named_pose)}') + + regions = ['regions.workspace', 'regions.inner', 'regions.work', 'regions.work3d'] + for region in regions: + print(f'region {region}: {the_scene.query_config(region)}') + + positions = ['tank.positions.default', 'tank.positions.hover', 'tank.positions.submerged'] + for position in positions: + print(f'position {position}: {the_scene.query_config(position)}') + + rotations = ['tank.rotations.alpha', 'tank.rotations.beta', 'tank.rotations.delta', 'tank.rotations.gamma'] + for rotation in rotations: + print(f'rotation {rotation}: {the_scene.query_config(rotation)}') + + objects = the_scene.list_object_names() + for object_name in objects: + print(f'object {object_name}: {the_scene.get_object_config(object_name)}') + + the_object = the_scene.query_config('objects.tank') + print(the_object) + + print(f'tank tile step_sizes: {the_scene.query_config("tank.tile")}') + + keys = ['grid.0.rotation.alpha', 'grid.1.rotation.alpha', 'grid.2.rotation.alpha'] + for key in keys: + print(f'key {key}', the_scene.query_config(key)) + \ No newline at end of file diff --git a/task_trees/task_trees_manager.py b/task_trees/task_trees_manager.py index ba6299d..c94b60b 100644 --- a/task_trees/task_trees_manager.py +++ b/task_trees/task_trees_manager.py @@ -320,37 +320,40 @@ def _define_named_poses(self, the_scene:Scene): :param the_scene: the scene configuration object of the Scene class """ - named_poses = the_scene.get_named_poses_as_dict() + named_poses = the_scene.get_named_poses_of_root_as_dict() for name in named_poses: self.arm_commander.add_named_pose(name, named_poses[name]) - def _define_objects(self, the_scene:Scene, object_type=None, include_list:list=None, ignore_list:list=None): + def _define_links(self, the_scene:Scene, link_type=None, include_list:list=None, ignore_list:list=None): """ Define the collision objects in the arm commander as specified in the scene configuration file :param the_scene: the scene configuration object of the Scene class :param include_list: the only frames to be included and subject to the ignore_list, defaults to None - :param object_type: the object type to be included, defaults to None + :param link_type: the link_type to be included, defaults to None """ - if object_type is not None and type(object_type) is not list: - object_type = [object_type] + if link_type is not None and type(link_type) is not list: + link_type = [link_type] if ignore_list is None: ignore_list = [] - for object_name in the_scene.list_object_names(): - the_object = the_scene.get_object_config(object_name) - if object_type is not None and the_object.type not in object_type: + for scene_name in the_scene.list_scene_names(): + the_link = the_scene.get_link_of_scene(scene_name) + if the_link is None: continue - if include_list is not None and object_name not in include_list: + + if link_type is not None and the_link.type not in link_type: + continue + if include_list is not None and scene_name not in include_list: continue - if object_name in ignore_list: + if scene_name in ignore_list: continue - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - elif the_object.type == 'sphere': - self.arm_commander.add_sphere_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.frame) - elif the_object.type == 'object': - self.arm_commander.add_object_to_scene(object_name, the_object.model_file, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy, the_link.parent_frame) + elif the_link.type == 'sphere': + self.arm_commander.add_sphere_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.parent_frame) + elif the_link.type == 'object': + self.arm_commander.add_object_to_scene(scene_name, the_link.model_file, the_link.dimensions, the_link.xyz, the_link.rpy, the_link.parent_frame) else: - logger.warning(f'TaskTreesManager (_define_objects): unrecognize object type "{the_object.type}"') + logger.warning(f'TaskTreesManager (_define_objects): unrecognize object type "{the_link.type}"') def _define_custom_frames(self, the_scene:Scene, include_list:list=None, ignore_list:list=None): """ Define the custom frames in the arm commander as specified in the scene configuration file @@ -366,8 +369,8 @@ def _define_custom_frames(self, the_scene:Scene, include_list:list=None, ignore_ continue if frame_name in ignore_list: continue - the_frame = the_scene.get_frame_config(frame_name) - self.arm_commander.add_custom_transform(frame_name, the_frame.xyz, the_frame.rpy, the_frame.parent) + the_frame_link = the_scene.get_link_of_frame(frame_name) + self.arm_commander.add_custom_transform(frame_name, the_frame_link.xyz, the_frame_link.rpy, the_frame_link.parent_frame) def _set_initialize_branch(self, branch:Composite): """ Set or replace a branch to be the initialization branch of the behaviour tree of this manager From 35fd1f65f1f1dfc8607d5809f6c511b74a1c2112 Mon Sep 17 00:00:00 2001 From: Andrew Lui Date: Fri, 12 Jul 2024 23:12:22 +1000 Subject: [PATCH 3/4] task_scene.py has a revampled and simplified API based on a revised config file format on how scenes are defined and the removal of the subscene concept. modify the create_array_marker function in rviz_tool that the arrow can indicate changes in pitch --- demos/gridscan/behaviours_gridscan.py | 16 +- demos/gridscan/task_scene.yaml | 83 ++-- demos/gridscan/task_scene_gridscan.py | 2 +- demos/gridscan/task_trees_manager_gridscan.py | 2 +- demos/pickndrop/task_scene.yaml | 49 +-- demos/pickndrop/task_trees_manager_pnd.py | 12 +- demos/pickndrop_estop/task_scene.yaml | 51 +-- .../pickndrop_estop/task_trees_manager_pnd.py | 12 +- demos/pushblock/task_scene.yaml | 76 ++-- .../pushblock/task_trees_manager_pushblock.py | 16 +- demos/pushblock_ros/task_scene.yaml | 82 ++-- demos/pytrees_moves_scene/move_scene_1.py | 2 +- demos/pytrees_moves_scene/move_scene_4.py | 12 +- demos/pytrees_moves_scene/move_scene_5.py | 12 +- demos/pytrees_moves_scene/task_scene.yaml | 10 +- demos/pytrees_moves_scene/task_scene_2.yaml | 17 +- demos/pytrees_moves_scene/task_scene_3.yaml | 21 +- demos/pytrees_moves_scene/task_scene_4.yaml | 22 +- demos/rviz_display/task_scene.yaml | 31 +- demos/rviz_display/task_trees_manager_rviz.py | 8 +- demos/simple_moves_scene/move_scene_4.py | 2 +- demos/simple_moves_scene/move_scene_5.py | 2 +- demos/simple_moves_scene/task_scene.yaml | 12 +- demos/simple_moves_scene/task_scene_2.yaml | 17 +- demos/simple_moves_scene/task_scene_3.yaml | 21 +- demos/simple_moves_scene/task_scene_4.yaml | 22 +- demos/simple_moves_scene/task_scene_6.yaml | 21 +- docs/source/SCENE_SUPPORT.md | 210 +++++---- task_trees/behaviours_move.py | 6 +- task_trees/demos/pushblock/task_scene.yaml | 76 ++-- .../pushblock/task_trees_manager_pushblock.py | 16 +- task_trees/scene_to_rviz.py | 152 +++---- task_trees/task_scene.py | 407 +++++++----------- task_trees/task_scene_old.py | 379 ++++++++++++++++ task_trees/task_trees_manager.py | 41 +- task_trees/tools/rviz_tools.py | 2 +- 36 files changed, 1139 insertions(+), 783 deletions(-) create mode 100644 task_trees/task_scene_old.py diff --git a/demos/gridscan/behaviours_gridscan.py b/demos/gridscan/behaviours_gridscan.py index a4d9282..9471867 100644 --- a/demos/gridscan/behaviours_gridscan.py +++ b/demos/gridscan/behaviours_gridscan.py @@ -43,18 +43,20 @@ def __init__(self, name, arm_commander=None, scene=None): self.the_blackboard.register_key(key='tank', access=py_trees.common.Access.WRITE) # attach robot agent self.arm_commander = arm_commander - self.the_scene = scene + self.the_scene:GridScanScene = scene # the concrete implementation that contains the logic of the simulated calibration def update(self): logger.info(f'SimCalibrate: found tank at pose: ') # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - if the_object.name == 'tank': - self.the_blackboard.set('tank', the_object) + for scene_name in self.the_scene.list_scene_names(): + link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if link_of_scene is None: + continue + if link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, link_of_scene.dimensions, link_of_scene.xyz, link_of_scene.rpy, link_of_scene.parent_frame) + if link_of_scene.name == 'tank': + self.the_blackboard.set('tank', link_of_scene) self.the_blackboard.task.result = '12' return Status.SUCCESS diff --git a/demos/gridscan/task_scene.yaml b/demos/gridscan/task_scene.yaml index 7440177..508f6f3 100644 --- a/demos/gridscan/task_scene.yaml +++ b/demos/gridscan/task_scene.yaml @@ -1,49 +1,23 @@ --- -scene: - named_poses: - stow: [3.110, -0.5467, -2.692, -1.473, 1.570, 0.000] # from base to wrist_3 - home: [2.524, -1.241, -2.101, -1.370, 1.570, 0.000] # from base to wrist_3 - regions: - workspace: [-1.2, -0.97, -0.1, 1.5, 0.6, 1.2] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-1.2, -0.3, 1.2, 0.6] # min_x, min_y, max_x, max_y - work: [-1.2, -0.6, 1.2, -0.3] # min_x, min_y, max_x, max_y - work3d: [-1.2, -0.6, 0.15, 1.2, -0.3, 0.6] # min_x, min_y, min_z, max_x, max_y, max_z - objects: - tank: +scenes: + root: + named_poses: + stow: [3.110, -0.5467, -2.692, -1.473, 1.570, 0.000] # from base to wrist_3 + home: [2.524, -1.241, -2.101, -1.370, 1.570, 0.000] # from base to wrist_3 + regions: + workspace: [-1.2, -0.97, -0.1, 1.5, 0.6, 1.2] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-1.2, -0.3, 1.2, 0.6] # min_x, min_y, max_x, max_y + work: [-1.2, -0.6, 1.2, -0.3] # min_x, min_y, max_x, max_y + work3d: [-1.2, -0.6, 0.15, 1.2, -0.3, 0.6] # min_x, min_y, min_z, max_x, max_y, max_z + + tank: + link: type: box model_file: null dimensions: [0.4, 1.8, 0.10] xyz: [0.0, -0.5, 0.05] rpy: [0, 0, 1.57] frame: null - side_1: - type: box - model_file: null - dimensions: [0.005, 1.8, 0.20] - xyz: [0.0, -0.3, 0.10] - rpy: [0, 0, 1.57] - frame: null - side_2: - type: box - model_file: null - dimensions: [0.005, 1.8, 0.20] - xyz: [0.0, -0.7, 0.10] - rpy: [0, 0, 1.57] - side_3: - type: box - model_file: null - dimensions: [0.4, 0.005, 0.20] - xyz: [-0.9, -0.5, 0.10] - rpy: [0, 0, 1.57] - side_4: - type: box - model_file: null - dimensions: [0.4, 0.005, 0.20] - xyz: [0.9, -0.5, 0.10] - rpy: [0, 0, 1.57] - -subscenes: - tank: bbox: [-0.2, -0.9, 0.2, 0.9] # min_x, min_y, max_x, max_y positions: default: [null, null, 0.35] @@ -85,6 +59,37 @@ subscenes: tile_y: 0 origin_position: [-0.1, 0.45] ee_rotation: tank.rotations.beta + side_1: + link: + type: box + model_file: null + dimensions: [0.005, 1.8, 0.20] + xyz: [0.0, -0.3, 0.10] + rpy: [0, 0, 1.57] + frame: null + side_2: + link: + type: box + model_file: null + dimensions: [0.005, 1.8, 0.20] + xyz: [0.0, -0.7, 0.10] + rpy: [0, 0, 1.57] + side_3: + link: + type: box + model_file: null + dimensions: [0.4, 0.005, 0.20] + xyz: [-0.9, -0.5, 0.10] + rpy: [0, 0, 1.57] + side_4: + link: + type: box + model_file: null + dimensions: [0.4, 0.005, 0.20] + xyz: [0.9, -0.5, 0.10] + rpy: [0, 0, 1.57] + + diff --git a/demos/gridscan/task_scene_gridscan.py b/demos/gridscan/task_scene_gridscan.py index f53547c..3c966ad 100644 --- a/demos/gridscan/task_scene_gridscan.py +++ b/demos/gridscan/task_scene_gridscan.py @@ -28,7 +28,7 @@ def __init__(self, scene_config_file:str = None): super(GridScanScene, self).__init__(scene_config_file) # -- prepare internal data structures for efficiency # tank configuration - self.tank_config = self.subscene_config['tank'] + self.tank_config = self.scenes_branch['tank'] # tile_step size self.step_size_x = self.tank_config['tile']['step_size_x'] self.step_size_y = self.tank_config['tile']['step_size_y'] diff --git a/demos/gridscan/task_trees_manager_gridscan.py b/demos/gridscan/task_trees_manager_gridscan.py index a64a64d..8729480 100644 --- a/demos/gridscan/task_trees_manager_gridscan.py +++ b/demos/gridscan/task_trees_manager_gridscan.py @@ -189,7 +189,7 @@ def wrong_xy_at_tank(self) -> bool: def at_angle(self, rotation_pose) -> bool: current_xyzrpy = self.arm_commander.pose_in_frame_as_xyzrpy(reference_frame='tank') - rotation_rpy = self.the_scene.query_rotation_as_rpy(rotation_pose) + rotation_rpy = self.the_scene.query_config(rotation_pose) for index in range(len(rotation_rpy)): if rotation_rpy[index] is None: continue diff --git a/demos/pickndrop/task_scene.yaml b/demos/pickndrop/task_scene.yaml index 326d0c9..7a0ee29 100644 --- a/demos/pickndrop/task_scene.yaml +++ b/demos/pickndrop/task_scene.yaml @@ -1,30 +1,24 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - objects: - the_table: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y + positions: + drop: [0.5, 0.3, 0.4] + gripper_offset: [0, 0, 0.12] + grip_prepare_offset: [0, 0, 0.20] + + the_table: + link: + parent_frame: root type: box model_file: null dimensions: [0.5, 0.2, 0.3] xyz: [0.2, -0.35, 0.15] - rpy: [0, 0, 0] - the_bin: - type: box - model_file: null - dimensions: [0.1, 0.1, 0.2] - xyz: [0.5, 0.3, 0.1] - rpy: [0, 0, 0] - gripper_offset: [0, 0, 0.12] - grip_prepare_offset: [0, 0, 0.20] - -subscenes: - the_table: + rpy: [0, 0, 0] positions: start: [0, 0, null] scan_z_level: [null, null, 0.45] @@ -33,5 +27,12 @@ subscenes: scan_step_size: [0.05, 0.05] the_bin: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.1, 0.1, 0.2] + xyz: [0.5, 0.3, 0.1] + rpy: [0, 0, 0] regions: - dropzone: [-0.05, -0.05, 0.05, 0.05] + dropzone: [-0.05, -0.05, 0.05, 0.05] \ No newline at end of file diff --git a/demos/pickndrop/task_trees_manager_pnd.py b/demos/pickndrop/task_trees_manager_pnd.py index d4bd664..50f05db 100644 --- a/demos/pickndrop/task_trees_manager_pnd.py +++ b/demos/pickndrop/task_trees_manager_pnd.py @@ -121,14 +121,16 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # Functions for the simulation (demo) def setup_objects(self): # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link = self.the_scene.get_link_of_scene(scene_name) + if the_link is None: + continue + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy) # Generate a new ball on the table def generate_a_ball(self): - the_table = self.the_scene.get_object_config('the_table') + the_table = self.the_scene.get_link_of_scene('the_table') x, y = the_table.dimensions[0] * random.random() * 0.9, the_table.dimensions[1] * random.random() * 0.9 # position in the box frame z = the_table.xyz[2] + the_table.dimensions[2] / 2 + 0.035 xyz = [x, y, z] diff --git a/demos/pickndrop_estop/task_scene.yaml b/demos/pickndrop_estop/task_scene.yaml index 995573f..7a0ee29 100644 --- a/demos/pickndrop_estop/task_scene.yaml +++ b/demos/pickndrop_estop/task_scene.yaml @@ -1,30 +1,24 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - objects: - the_table: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.2, 1.0, 0.5] # min_x, min_y, max_x, max_y + positions: + drop: [0.5, 0.3, 0.4] + gripper_offset: [0, 0, 0.12] + grip_prepare_offset: [0, 0, 0.20] + + the_table: + link: + parent_frame: root type: box model_file: null dimensions: [0.5, 0.2, 0.3] - xyz: [0.2, -0.3, 0.15] - rpy: [0, 0, 0] - the_bin: - type: box - model_file: null - dimensions: [0.1, 0.1, 0.2] - xyz: [0.5, 0.3, 0.1] - rpy: [0, 0, 0] - gripper_offset: [0, 0, 0.12] - grip_prepare_offset: [0, 0, 0.20] - -subscenes: - the_table: + xyz: [0.2, -0.35, 0.15] + rpy: [0, 0, 0] positions: start: [0, 0, null] scan_z_level: [null, null, 0.45] @@ -33,5 +27,12 @@ subscenes: scan_step_size: [0.05, 0.05] the_bin: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.1, 0.1, 0.2] + xyz: [0.5, 0.3, 0.1] + rpy: [0, 0, 0] regions: - dropzone: [-0.05, -0.05, 0.05, 0.05] + dropzone: [-0.05, -0.05, 0.05, 0.05] \ No newline at end of file diff --git a/demos/pickndrop_estop/task_trees_manager_pnd.py b/demos/pickndrop_estop/task_trees_manager_pnd.py index 58c4ad0..f711636 100644 --- a/demos/pickndrop_estop/task_trees_manager_pnd.py +++ b/demos/pickndrop_estop/task_trees_manager_pnd.py @@ -115,14 +115,16 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # Functions for the simulation (demo) def setup_objects(self): # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link = self.the_scene.get_link_of_scene(scene_name) + if the_link is None: + continue + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy) # Generate a new ball on the table def generate_a_ball(self): - the_table = self.the_scene.get_object_config('the_table') + the_table = self.the_scene.get_link_of_scene('the_table') x, y = the_table.dimensions[0] * random.random() * 0.9, the_table.dimensions[1] * random.random() * 0.9 # position in the box frame z = the_table.xyz[2] + the_table.dimensions[2] / 2 + 0.035 xyz = [x, y, z] diff --git a/demos/pushblock/task_scene.yaml b/demos/pushblock/task_scene.yaml index e1ba483..51f4c99 100644 --- a/demos/pushblock/task_scene.yaml +++ b/demos/pushblock/task_scene.yaml @@ -1,76 +1,89 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] rpy: [0, 0, 0] -subscenes: area: positions: hover: [null, null, 0.40] @@ -79,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/demos/pushblock/task_trees_manager_pushblock.py b/demos/pushblock/task_trees_manager_pushblock.py index 95d518d..9fa6fc8 100644 --- a/demos/pushblock/task_trees_manager_pushblock.py +++ b/demos/pushblock/task_trees_manager_pushblock.py @@ -83,8 +83,8 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) self.scene_to_rviz.display_bbox_regions('regions', rgba=[1.0, 0.0, 1.0, 0.2]) - object_area1 = self.the_scene.get_object_config('area_1') - self.scene_to_rviz.add_custom_transform('area', object_area1.xyz, object_area1.rpy, arm_commander.get_world_reference_frame()) + link_area1 = self.the_scene.get_link_of_scene('area_1') + self.scene_to_rviz.add_custom_transform('area', link_area1.xyz, link_area1.rpy, arm_commander.get_world_reference_frame()) self.scene_to_rviz.display_positions('area.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) @@ -112,7 +112,7 @@ def setup_objects(self): # the_object = self.the_scene.get_object_config(object_name) # if the_object.type == 'box': # self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - self._define_objects(self.the_scene, 'box') + self._define_links(self.the_scene, 'box') def generate_the_object(self): self.the_object = dict() @@ -197,19 +197,19 @@ def in_a_region(self, logical_region) -> bool: return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), self.the_scene.query_config(logical_region)) def over_an_object(self, object_name) -> bool: - the_object = self.the_scene.get_object_config(object_name) - the_object_position_as_bbox = [the_object.xyz[0] - the_object.dimensions[0] / 2, the_object.xyz[1] - the_object.dimensions[1] / 2, - the_object.xyz[0] + the_object.dimensions[0] / 2, the_object.xyz[1] + the_object.dimensions[1] / 2] + the_link = self.the_scene.get_link_of_scene(object_name) + the_object_position_as_bbox = [the_link.xyz[0] - the_link.dimensions[0] / 2, the_link.xyz[1] - the_link.dimensions[1] / 2, + the_link.xyz[0] + the_link.dimensions[0] / 2, the_link.xyz[1] + the_link.dimensions[1] / 2] current_pose = self.arm_commander.pose_of_robot_link() return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), the_object_position_as_bbox) def on_or_above_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z > self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z > self.the_scene.query_config(position)[2] - 0.05 def below_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z < self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z < self.the_scene.query_config(position)[2] - 0.05 def wrong_restart_position(self) -> bool: target = self.query_target_reference_frame() diff --git a/demos/pushblock_ros/task_scene.yaml b/demos/pushblock_ros/task_scene.yaml index 22e6492..51f4c99 100644 --- a/demos/pushblock_ros/task_scene.yaml +++ b/demos/pushblock_ros/task_scene.yaml @@ -1,78 +1,89 @@ -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +--- +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] - rpy: [0, 0, 0] - -subscenes: + rpy: [0, 0, 0] area: positions: hover: [null, null, 0.40] @@ -81,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/demos/pytrees_moves_scene/move_scene_1.py b/demos/pytrees_moves_scene/move_scene_1.py index ed77d55..d7550ca 100644 --- a/demos/pytrees_moves_scene/move_scene_1.py +++ b/demos/pytrees_moves_scene/move_scene_1.py @@ -40,7 +40,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): self.arm_commander.wait_for_ready_to_move() self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) diff --git a/demos/pytrees_moves_scene/move_scene_4.py b/demos/pytrees_moves_scene/move_scene_4.py index 5a88cf7..92abd92 100644 --- a/demos/pytrees_moves_scene/move_scene_4.py +++ b/demos/pytrees_moves_scene/move_scene_4.py @@ -44,16 +44,18 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # load scene config self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene_4.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if the_link_of_scene is None: + continue + if the_link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link_of_scene.dimensions, the_link_of_scene.xyz, the_link_of_scene.rpy) # build the behaviour tree self.move_branch = self.create_move_branch() diff --git a/demos/pytrees_moves_scene/move_scene_5.py b/demos/pytrees_moves_scene/move_scene_5.py index ae82f44..e24edb6 100644 --- a/demos/pytrees_moves_scene/move_scene_5.py +++ b/demos/pytrees_moves_scene/move_scene_5.py @@ -43,16 +43,18 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # load scene config self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene_4.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) # setup objects - for object_name in self.the_scene.list_object_names(): - the_object = self.the_scene.get_object_config(object_name) - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy) + for scene_name in self.the_scene.list_scene_names(): + the_link_of_scene = self.the_scene.get_link_of_scene(scene_name) + if the_link_of_scene is None: + continue + if the_link_of_scene.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link_of_scene.dimensions, the_link_of_scene.xyz, the_link_of_scene.rpy) # build the behaviour tree self.move_branch = self.create_move_branch() diff --git a/demos/pytrees_moves_scene/task_scene.yaml b/demos/pytrees_moves_scene/task_scene.yaml index 4ee0105..63b15e3 100644 --- a/demos/pytrees_moves_scene/task_scene.yaml +++ b/demos/pytrees_moves_scene/task_scene.yaml @@ -1,9 +1,9 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base -subscenes: diff --git a/demos/pytrees_moves_scene/task_scene_2.yaml b/demos/pytrees_moves_scene/task_scene_2.yaml index ef15b3d..73e4cbe 100644 --- a/demos/pytrees_moves_scene/task_scene_2.yaml +++ b/demos/pytrees_moves_scene/task_scene_2.yaml @@ -1,11 +1,12 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [0.4, 0.0, 0.2] - end: [0.4, 0.0, 0.6] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [0.4, 0.0, 0.2] + end: [0.4, 0.0, 0.6] + diff --git a/demos/pytrees_moves_scene/task_scene_3.yaml b/demos/pytrees_moves_scene/task_scene_3.yaml index 580e780..8f4e516 100644 --- a/demos/pytrees_moves_scene/task_scene_3.yaml +++ b/demos/pytrees_moves_scene/task_scene_3.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_x: [0.3, null, null] - init: [0.307, 0.0, 0.588] - rotations: - alpha: [3.139, 0.0, -0.785] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_x: [0.3, null, null] + init: [0.307, 0.0, 0.588] + rotations: + alpha: [3.139, 0.0, -0.785] + diff --git a/demos/pytrees_moves_scene/task_scene_4.yaml b/demos/pytrees_moves_scene/task_scene_4.yaml index 1088ead..96fd663 100644 --- a/demos/pytrees_moves_scene/task_scene_4.yaml +++ b/demos/pytrees_moves_scene/task_scene_4.yaml @@ -1,22 +1,24 @@ --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] -subscenes: - diff --git a/demos/rviz_display/task_scene.yaml b/demos/rviz_display/task_scene.yaml index 0786b4b..062592e 100644 --- a/demos/rviz_display/task_scene.yaml +++ b/demos/rviz_display/task_scene.yaml @@ -1,27 +1,24 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - teapot: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + + teapot: + link: type: object # model_file: file://localhost/home/qcr/arm_commander_ws/src/task_trees/demos/rviz_display/utah_teapot.stl model_file: package://task_trees/demos/rviz_display/utah_teapot.stl dimensions: [0.01, 0.01, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - frames: - area: + area: + link: + type: frame xyz: [0.4, -0.20, 0.00] rpy: [3.14, 0, 3.14] -subscenes: - area: - frames: - zone: - xyz: [0.4, -0.20, 0.00] - rpy: [3.14, 0, 3.14] - + diff --git a/demos/rviz_display/task_trees_manager_rviz.py b/demos/rviz_display/task_trees_manager_rviz.py index 202cab9..f451009 100644 --- a/demos/rviz_display/task_trees_manager_rviz.py +++ b/demos/rviz_display/task_trees_manager_rviz.py @@ -55,14 +55,14 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): self.the_scene = Scene(config_file) # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) - self.scene_to_rviz.display_object('objects.teapot') + self.scene_to_rviz.display_link('teapot') # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) self.arm_commander.reset_world() - bird_object = self.the_scene.get_object_config('teapot') - self.arm_commander.add_object_to_scene('teapot_another', bird_object.model_file, bird_object.dimensions, - bird_object.xyz, bird_object.rpy, reference_frame='area') + teapot_object = self.the_scene.get_link_of_scene('teapot') + self.arm_commander.add_object_to_scene('teapot_another', teapot_object.model_file, teapot_object.dimensions, + teapot_object.xyz, teapot_object.rpy, reference_frame='area') # self.arm_commander.set_workspace_walls(*(self.the_scene.query_config('regions.workspace'))) # setup name poses self._define_named_poses(self.the_scene) diff --git a/demos/simple_moves_scene/move_scene_4.py b/demos/simple_moves_scene/move_scene_4.py index 4467fa5..bb2f69d 100644 --- a/demos/simple_moves_scene/move_scene_4.py +++ b/demos/simple_moves_scene/move_scene_4.py @@ -43,7 +43,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup name poses self._define_named_poses(self.the_scene) # setup objects - self._define_objects(self.the_scene) + self._define_links(self.the_scene) # build and install the behavior tree self._set_initialize_branch(self.create_init_branch()) diff --git a/demos/simple_moves_scene/move_scene_5.py b/demos/simple_moves_scene/move_scene_5.py index 2da9775..4a1e802 100644 --- a/demos/simple_moves_scene/move_scene_5.py +++ b/demos/simple_moves_scene/move_scene_5.py @@ -43,7 +43,7 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup name poses self._define_named_poses(self.the_scene) # setup objects - self._define_objects(self.the_scene) + self._define_links(self.the_scene) # build and install the behavior tree self._set_initialize_branch(self.create_init_branch()) self._add_priority_branch(self.create_move_branch()) diff --git a/demos/simple_moves_scene/task_scene.yaml b/demos/simple_moves_scene/task_scene.yaml index 4ee0105..cee2223 100644 --- a/demos/simple_moves_scene/task_scene.yaml +++ b/demos/simple_moves_scene/task_scene.yaml @@ -1,9 +1,9 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + diff --git a/demos/simple_moves_scene/task_scene_2.yaml b/demos/simple_moves_scene/task_scene_2.yaml index c3df9d6..9d7a9a7 100644 --- a/demos/simple_moves_scene/task_scene_2.yaml +++ b/demos/simple_moves_scene/task_scene_2.yaml @@ -1,11 +1,12 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [0.3, 0.0, 0.2] - end: [0.3, 0.0, 0.6] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [0.3, 0.0, 0.2] + end: [0.3, 0.0, 0.6] + diff --git a/demos/simple_moves_scene/task_scene_3.yaml b/demos/simple_moves_scene/task_scene_3.yaml index 580e780..8f4e516 100644 --- a/demos/simple_moves_scene/task_scene_3.yaml +++ b/demos/simple_moves_scene/task_scene_3.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_x: [0.3, null, null] - init: [0.307, 0.0, 0.588] - rotations: - alpha: [3.139, 0.0, -0.785] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_x: [0.3, null, null] + init: [0.307, 0.0, 0.588] + rotations: + alpha: [3.139, 0.0, -0.785] + diff --git a/demos/simple_moves_scene/task_scene_4.yaml b/demos/simple_moves_scene/task_scene_4.yaml index 1088ead..96fd663 100644 --- a/demos/simple_moves_scene/task_scene_4.yaml +++ b/demos/simple_moves_scene/task_scene_4.yaml @@ -1,22 +1,24 @@ --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] -subscenes: - diff --git a/demos/simple_moves_scene/task_scene_6.yaml b/demos/simple_moves_scene/task_scene_6.yaml index 01dfc4d..b851ede 100644 --- a/demos/simple_moves_scene/task_scene_6.yaml +++ b/demos/simple_moves_scene/task_scene_6.yaml @@ -1,13 +1,14 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - start: [null, -0.3, null] - end: [null, 0.3, null] - near: [0.4, null, null] - far: [0.6, null, null] -subscenes: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + start: [null, -0.3, null] + end: [null, 0.3, null] + near: [0.4, null, null] + far: [0.6, null, null] + diff --git a/docs/source/SCENE_SUPPORT.md b/docs/source/SCENE_SUPPORT.md index d8954fb..72c1c50 100644 --- a/docs/source/SCENE_SUPPORT.md +++ b/docs/source/SCENE_SUPPORT.md @@ -10,73 +10,72 @@ The key enabling component of the logical scene support is **scene configuration ### Basic Structure of a Scene Configuration File -A scene configuration file is divided into the root scene and custom subscene. The significance betwwen the root scene and the subscenes is the namespace of their configuration key-value pairs. All key-value defined under the root scene do have an empty namespace, while the variables under a subscene requires the subscene name as the namespace. The top level keys must be `scene` and `subscenes`, and under `subscenes` keys representing names of subscenes can be added. In the following example, `sub_scene_1` and `sub_scene_2` are names of custom subscenes. +A scene configuration file can be divided into one or more scenes. The first scene must be known as `root`. The scene is the top-level identifier for refering to all the resource keys in the configuration file. Each scene defines its own reference frame and optionally an visual object attached. A scene without a specified visual object is called a frame-type scene or simply known as a frame. + +The significance betwwen the root scene and the other scenes is the namespace of their configuration key-value pairs. All key-value defined under the root scene may be replaced with an empty namespace, while the variables under a subscene requires the subscene name as the namespace. + +The configuration file must starts with the key `scenes`, under which each scene can be added by the name as the head the scene branch. In the following example, `root` is the mandatory scene, and `scene_1` and `scene_2` are names of custom scenes. ```diff --- -scene: +scenes: + root: ... variables of the root scene go here - objects: - ... optional definitions of objects (which are also reference frames) - frames: - ... optional definitions of reference frames + named_poses: ... optional definitions of named poses -subscenes: - sub_scene_1: - ... variables of the subscene sub_scene_1 go here + scene_1: + link: + ... pose definitions of scene (which are also reference frames) + ... variables of the subscene scene_1 go here - sub_scene_2: - ... variables of the subscene sub_scene_2 go here + scene_2: + ... variables of the subscene scene_2 go here ``` -### Optional Branches Recognized by the Task Tree Manager - -The named branches of `objects`, `frames`, and `named_poses` have dedicated functions in the scene configuration. - -- The key `objects` under the root scene is recognized by the task tree manager `TaskTreesManager` class as definitions of collision objects. In the task trees, collision objects are also recognized as custom reference frames. -- The key `frames` under the root scene is recognized as definitions of custom reference frames. -- The key`named_poses` under the root scene is also recognized by the task tree manager as the named poses adding to the arm commander. - -The presence of these branches are optional. - -The `TaskTreesManager` class offers the functions `_define_objects`, `_define_frames` and `_define_named_poses` for adding the objects, the custom reference frames, and named poses defined in the scene configuration. - -### Specifying Configurations in the Root Scene and Subscenes +### Specifying Configurations in the Root Scene and Other Scenes Consider the example `task_scene_4.yaml` [source code](../../demos/simple_moves_scene/task_scene_4.yaml) below. In this example, all configuration keys are under the root scene. No subscene is defined. ``` --- -scene: - named_poses: - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - positions: - default_z: [null, null, 0.5] - objects: - area_1: +scenes: + root: + named_poses: + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + positions: + default_z: [null, null, 0.5] + area_1: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, 0.20, 0.00] rpy: [0, 0, 3.14] - frame: null - area_2: + area_2: + link: + parent_frame: root type: box model_file: null dimensions: [0.2, 0.2, 0.01] xyz: [0.4, -0.20, 0.00] rpy: [0, 0, 3.14] - frame: area_1 -subscenes: ``` -A subscene is firstly a namespace for queries and key references. It should also be the reference frame to which the poses are defined. The subscene name is usually either the name of a reference frame or a collision object. +A scene is firstly a namespace for queries and key references. It should also be the reference frame to which the poses are defined. The scene name is both the name of a reference frame and, if defined, a collision object. -The scene configuration file below defines one subscene called `area_1`, in which several configuration keys are defined. Note that `area_1` is a reference frame (a side effect of defining a collision object). Normally, pose keys such as `area_1.positions.start` and their subscene `area_1` are used together in using the move behaviours. +The scene configuration file below defines one scene called `area_1`, in which several configuration keys are defined. Note that `area_1` is a reference frame (a side effect of defining a collision object). Normally, pose keys such as `area_1.positions.start` and their scene (referene frame) `area_1` are used together in using the move behaviours. ``` -subscenes: +scenes: area_1: + link: + parent_frame: root + type: box + model_file: null + dimensions: [0.2, 0.2, 0.01] + xyz: [0.4, 0.20, 0.00] + rpy: [0, 0, 3.14] positions: hover: [null, null, 0.40] down: [null, null, 0.27] @@ -86,7 +85,9 @@ subscenes: end: [0, -0.06, null] ``` -### Collision Objects and Custom Reference Frames +### The `link` Branch: Collision Objects and Custom Reference Frames + +The link of a scene specifies a reference frame and optionally the collision object. Collision object definitions comprise the following mandatory and optional keys headed by the name of the object. - `type`: `box`, `sphere`, or `object` @@ -94,11 +95,13 @@ Collision object definitions comprise the following mandatory and optional keys - `dimensions`: a list of length, width, and height for a `box`, the radius for a `sphere`, and the scaling factor as a list of 3 numbers for an `object`. - `xyz`: the position of the object - `rpy`: the orientation of the object -- `frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. +- `parent_frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. -Every collision object will project its position and rotation as its own custom reference frames. The following defines the object named `area_1` and the fields are populated. Note that the null frame is default to the world frame. +Every collision object will project its position and rotation as its own custom reference frames. The following defines the scene named `area_1` which is also the name of the reference frame. In particular, the type `box` indicaates that it is a collision object as well. Note that the null frame is default to the base/world frame. The pose parameter + (xyz and rpy) is the transform from `area_1` to the base/world frame. ``` - area_1: + area_1: + link: type: box model_file: null dimensions: [0.2, 0.2, 0.01] @@ -106,14 +109,15 @@ Every collision object will project its position and rotation as its own custom rpy: [0, 0, 3.14] frame: null ``` -Collision objects can be defined under a subscene as well. If `frame` is not given or its value is `null`, the subscene becomes the default frame. +Collision objects can be defined based on the reference of another scene. If `parent_frame` is not given or its value is `null`, the scene becomes the default frame. Custom reference frame definitions comprise the following mandatory and optional keys headed by the name of the frame. -- `xyz`: the position of the object -- `rpy`: the orientation of the object -- `parent` or `frame`: the reference frame for the object pose, where `null` implies the world frame. This field is optional. +- `type`: `frame` +- `xyz`: the position of the transform +- `rpy`: the orientation of the transform +- `parent_frame` or `frame`: the reference frame for the custom frame, where `null` implies the world frame. This field is optional. -Similarly, custom reference frames can be defined under a subscene. The default frame is the parent subscene. +Similarly, custom reference frames can be defined with another scene as the parent frame. The default frame is the root scene. ### Loading and Querying the Scene Configuration File @@ -126,13 +130,13 @@ from task_trees.task_scene import Scene ``` The `Scene` class gives every configuration key a unique reference. The reference is a dot-separated string made up of the scene namespace followed by keys of the ancestors of a key-value configuration. For example, the reference `named_poses.home` refers to the `home` child of the `named_poses` node under the root scene (therefore the empty namespace). A configuration key under a subscene has a prepended namespace. For example, `area.positions.start` refers to the value `[0, 0.11, null]` in the above example. -The following code snippet demonstrates the functions `keys_of_config` and `query_config` for listing the children keys and querying for the value of a configuration reference. +The following code snippet demonstrates the functions `key_list_under_config_key` and `query_config` for listing the children keys and querying for the value of a configuration reference. ``` self.the_scene = Scene(os.path.join(os.path.dirname(__file__), 'task_scene.yaml')) # setup name poses - self.named_poses = self.the_scene.keys_of_config('named_poses') + self.named_poses = self.the_scene.key_list_under_config_key('named_poses') for pose_name in self.named_poses: pose_name = 'named_poses.' + pose_name self.arm_commander.add_named_pose(pose_name, self.the_scene.query_config(pose_name)) @@ -147,6 +151,16 @@ In the following compositional move target example, the missing x and y componen DoMoveXYZ('move_xy', True, arm_commander=self.arm_commander, scene=self.the_scene, target_xyz=['positions.default_z', self.generate_random_xyz], reference_frame='area_2'), ``` +### Branches Recognized by the Task Tree Manager + +The named branches of `link`, and `named_poses` have dedicated functions in the scene configuration. + +- The key `link` under a scene with the `type` equals to `box`, `sphere`, and `object` is recognized by the task tree manager `TaskTreesManager` class as definitions of collision objects. In the task trees, collision objects are also recognized as custom reference frames. +- The type of `frames` under the key `link` of a scene is recognized as definitions of custom reference frames. +- The key`named_poses` under the root scene is also recognized by the task tree manager as the named poses adding to the arm commander. + +The `TaskTreesManager` class offers the functions `_define_links`, `_define_frames` and `_define_named_poses` for adding the scenes/collision objects, the custom reference frames, and named poses defined in the scene configuration. + ### Internal Logical References @@ -154,30 +168,58 @@ Subclasses of `SceneConditionalCommanderBehaviour` accepts internal references w The following part of a configuration file is extracted from `task_scene.yaml` [source code](../../demos//pushblock/task_scene.yaml) under `/demos/pushblock`. ``` -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - positions: - drop: [0.5, 0.3, 0.4] - rotations: - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] ... -subscenes: area_1: rotation: rotations.alpha + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.4, 0.0, 0.125] + rpy: [0, 0, 1.57] area_2: rotation: rotations.beta + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, -0.10, 0.125] + rpy: [0, 0, 3.14] area_3: rotation: rotations.beta + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.6, 0.0, 0.125] + rpy: [0, 0, -1.57] area_4: rotation: rotations.alpha + link: + type: box + model_file: null + dimensions: [0.1, 0.1, 0.25] + xyz: [0.50, 0.10, 0.125] + rpy: [0, 0, 0] ``` -The key `rotation` of the four subscenes are mapped to either `rotation.alpha` or `rotation.beta`. For example, in resolving the key `area_1.rotation`, if the value is a string, `SceneConditionalCommanderBehaviour` attempts to resolve it once more using the scene configuration. +The key `rotation` of the four area scenes are mapped to either `rotation.alpha` or `rotation.beta`. For example, in resolving the key `area_1.rotation`, if the value is a string, `SceneConditionalCommanderBehaviour` attempts to resolve it once more using the scene configuration. The internal logical reference feature improves the readability and maintainability of the configuration file. @@ -188,15 +230,16 @@ The functions provided by the `Scene` class are listed below. | Functions | Remarks | | --- | --- | | `query_config(self, name:str, default=None)` | The `name` is in the format of dot separated reference | -| `query_position_as_xyz(self, name, default=None)` | Alias of `query_config` for backward compatability | -| `query_rotation_as_rpy(self, name, default=None)` | Alias of `query_config` for backward compatability | -| `get_scene_config(self)` | Return the root scene config in the config file as a dict | -| `get_subscene_config(self, name)`| Return the config of a subscene as a dict | | `exists_config(self, name:str)` | Return True if the configuration name exists | -| `keys_of_config(self, name:str)` | Return the children of a configuration reference as a list of keys | -| `len_of_list_config(self, name:str)` | Return the number of children of a list typed configuration reference | -| `list_object_names(self)` | Return the names of the defined objects as a list | -| `get_object_config(self, object_name: str)` | Return the configuration of an object given its name | +| `key_list_under_config_key(self, key:str)` | Return the children keys of a configuration reference as a list | +| `len_of_key_list_under_config_key(self, key:str)` | Return the number of children under a list-type configuration reference | +| `list_scene_names(self)` | Return the names of the defined scenes as a list | +| `get_scene_config_as_dict(self, scene_name)` | Return the scene config branch in the config file as a dict | +| `get_link_of_scene(self, scene_name)`| Return the link of the scene as a LinkConfig | +| `list_frame_names(self)` | Return the names of the defined frame-type scenes as a list | +| `get_frame_config_as_dict(self, frame_name)` | Return the frame-type scene config branch in the config file as a dict | +| `get_link_of_frame(self, frame_name)`| Return the link of the frame as a LinkConfig | +| `get_named_poses_of_root_as_dict(self, name)`| Return the config of a subscene as a dict | Refer to the API Reference for more details about these functions. @@ -212,22 +255,24 @@ The function `query_config` allows the query of any configuration key using a do For example, tke query key `positions.start` refers to a configuration key under the root scene. ``` -scene: - positions: - start: [1, 2, 3] - end: [2, 3, 5] +scenes: + root: + positions: + start: [1, 2, 3] + end: [2, 3, 5] ``` On the other hand, the query key `grid.1.rotation.alpha` matches the following structure, and it refers to the value [0, 0, 1.57]. The `1` refers to the index `1` of the list-like child under `grid`. ``` -scene: - grid: - - rotation: - alpha: [3.14, 0, 0] - - rotation: - alpha: [0, 0, 1.57] +scenes: + root: + grid: + - rotation: + alpha: [3.14, 0, 0] + - rotation: + alpha: [0, 0, 1.57] ``` -To refer to a configuration key under a subscene, the query key should start with the subscene name. Given the following configuration yaml file. +To refer to a configuration key under a non-root scene, the query key should start with the scene name. Given the following configuration yaml file. ``` subscenes: the_tank: @@ -242,7 +287,6 @@ The query key `the_tank.grid.0.rotation.alpha` refers to the value `[3.14, 0, 0] Application developers can design a suitable configuration structure and use the function `query_config` to rerieve configuration values. - ### Author Dr Andrew Lui, Senior Research Engineer
diff --git a/task_trees/behaviours_move.py b/task_trees/behaviours_move.py index 13b789f..9a2890f 100644 --- a/task_trees/behaviours_move.py +++ b/task_trees/behaviours_move.py @@ -201,8 +201,8 @@ def update_when_ready(self): xyz = self.compute_physical_target(self.target_xyz, None, default_target=current_xyz[:3]) rpy = self.compute_physical_target(self.target_rpy, None, default_target=current_xyz[3:]) else: - xyz = self.compute_physical_target(self.target_xyz, self.the_scene.query_position_as_xyz, default_target=current_xyz[:3]) - rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_rotation_as_rpy, default_target=current_xyz[3:]) + xyz = self.compute_physical_target(self.target_xyz, self.the_scene.query_config, default_target=current_xyz[:3]) + rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_config, default_target=current_xyz[3:]) if xyz is None: logger.error(f'DoMoveXYZRPY ({self.name}): invalid position xyz parameter {xyz}') return Status.FAILURE @@ -295,7 +295,7 @@ def update_when_ready(self): if self.the_scene is None: target_rpy = self.compute_physical_target(self.target_rpy) else: - target_rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_rotation_as_rpy) + target_rpy = self.compute_physical_target(self.target_rpy, self.the_scene.query_config) if self.target_rpy is None or target_rpy is None: logger.error(f'DoRotate ({self.name}): invalid target_rpy parameter {self.target_rpy}') diff --git a/task_trees/demos/pushblock/task_scene.yaml b/task_trees/demos/pushblock/task_scene.yaml index e1ba483..51f4c99 100644 --- a/task_trees/demos/pushblock/task_scene.yaml +++ b/task_trees/demos/pushblock/task_scene.yaml @@ -1,76 +1,89 @@ --- -scene: - named_poses: - stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base - home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base - regions: - workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z - inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y - rotations: - # alpha: [3.14, null, 0.78] - # beta: [3.14, null, -0.78] - alpha: [3.14, 0, -0.785] - beta: [3.14, 0, 2.358] - push_block: - dimensions: [0.05, 0.05, 0.05] - xyz: [0.0, 0.025, 0.151] - rpy: [0, 0, 0] - objects: - block_1: +scenes: + root: + named_poses: + stow: [0.0, -1.244, 0.0, -2.949, 0.0, 1.704, 0.785] # from base + home: [0.0, -0.785, 0.0, -2.36, 0.0, 1.57, 0.785] # from base + regions: + workspace: [-0.5, -0.75, -0.1, 1.0, 0.5, 1.0] # min_x, min_y, min_z, max_x, max_y, max_z + inner: [-0.5, -0.75, 0.30, 0.5] # min_x, min_y, max_x, max_y + rotations: + # alpha: [3.14, null, 0.78] + # beta: [3.14, null, -0.78] + alpha: [3.14, 0, -0.785] + beta: [3.14, 0, 2.358] + push_block: + dimensions: [0.05, 0.05, 0.05] + xyz: [0.0, 0.025, 0.151] + rpy: [0, 0, 0] + + block_1: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, -0.10, 0.175] rpy: [0, 0, 0] - block_2: + block_2: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, -0.10, 0.175] rpy: [0, 0, 0] - block_3: + block_3: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.6, 0.10, 0.175] rpy: [0, 0, 0] - block_4: + block_4: + link: type: box model_file: null dimensions: [0.10, 0.10, 0.35] xyz: [0.4, 0.10, 0.175] rpy: [0, 0, 0] - area_1: + area_1: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.4, 0.0, 0.125] rpy: [0, 0, 1.57] - area_2: + area_2: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, -0.10, 0.125] rpy: [0, 0, 3.14] - area_3: + area_3: + rotation: rotations.beta + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.6, 0.0, 0.125] rpy: [0, 0, -1.57] - area_4: + area_4: + rotation: rotations.alpha + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.10, 0.125] rpy: [0, 0, 0] - area_5: + area_5: + link: type: box model_file: null dimensions: [0.1, 0.1, 0.25] xyz: [0.50, 0.0, 0.125] rpy: [0, 0, 0] -subscenes: area: positions: hover: [null, null, 0.40] @@ -79,12 +92,5 @@ subscenes: centre: [0, -0.015, null] # -0.01 restart: [0, -0.185, null] end: [0, -0.06, null] - area_1: - rotation: rotations.alpha - area_2: - rotation: rotations.beta - area_3: - rotation: rotations.beta - area_4: - rotation: rotations.alpha + diff --git a/task_trees/demos/pushblock/task_trees_manager_pushblock.py b/task_trees/demos/pushblock/task_trees_manager_pushblock.py index 95d518d..9fa6fc8 100644 --- a/task_trees/demos/pushblock/task_trees_manager_pushblock.py +++ b/task_trees/demos/pushblock/task_trees_manager_pushblock.py @@ -83,8 +83,8 @@ def __init__(self, arm_commander:GeneralCommander, spin_period_ms:int=10): # setup visualization in rviz self.scene_to_rviz = SceneToRViz(self.the_scene, arm_commander.get_world_reference_frame(), False) self.scene_to_rviz.display_bbox_regions('regions', rgba=[1.0, 0.0, 1.0, 0.2]) - object_area1 = self.the_scene.get_object_config('area_1') - self.scene_to_rviz.add_custom_transform('area', object_area1.xyz, object_area1.rpy, arm_commander.get_world_reference_frame()) + link_area1 = self.the_scene.get_link_of_scene('area_1') + self.scene_to_rviz.add_custom_transform('area', link_area1.xyz, link_area1.rpy, arm_commander.get_world_reference_frame()) self.scene_to_rviz.display_positions('area.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # setup the robotic manipulation platform through the commander self.arm_commander.abort_move(wait=True) @@ -112,7 +112,7 @@ def setup_objects(self): # the_object = self.the_scene.get_object_config(object_name) # if the_object.type == 'box': # self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - self._define_objects(self.the_scene, 'box') + self._define_links(self.the_scene, 'box') def generate_the_object(self): self.the_object = dict() @@ -197,19 +197,19 @@ def in_a_region(self, logical_region) -> bool: return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), self.the_scene.query_config(logical_region)) def over_an_object(self, object_name) -> bool: - the_object = self.the_scene.get_object_config(object_name) - the_object_position_as_bbox = [the_object.xyz[0] - the_object.dimensions[0] / 2, the_object.xyz[1] - the_object.dimensions[1] / 2, - the_object.xyz[0] + the_object.dimensions[0] / 2, the_object.xyz[1] + the_object.dimensions[1] / 2] + the_link = self.the_scene.get_link_of_scene(object_name) + the_object_position_as_bbox = [the_link.xyz[0] - the_link.dimensions[0] / 2, the_link.xyz[1] - the_link.dimensions[1] / 2, + the_link.xyz[0] + the_link.dimensions[0] / 2, the_link.xyz[1] + the_link.dimensions[1] / 2] current_pose = self.arm_commander.pose_of_robot_link() return pose_tools.in_region((current_pose.pose.position.x, current_pose.pose.position.y,), the_object_position_as_bbox) def on_or_above_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z > self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z > self.the_scene.query_config(position)[2] - 0.05 def below_z(self, position) -> bool: current_pose = self.arm_commander.pose_of_robot_link() - return current_pose.pose.position.z < self.the_scene.query_position_as_xyz(position)[2] - 0.05 + return current_pose.pose.position.z < self.the_scene.query_config(position)[2] - 0.05 def wrong_restart_position(self) -> bool: target = self.query_target_reference_frame() diff --git a/task_trees/scene_to_rviz.py b/task_trees/scene_to_rviz.py index 52a304e..e6f892e 100644 --- a/task_trees/scene_to_rviz.py +++ b/task_trees/scene_to_rviz.py @@ -16,7 +16,7 @@ from geometry_msgs.msg import Pose, PoseStamped, TransformStamped, Transform, Vector3, Quaternion from visualization_msgs.msg import Marker -from task_trees.task_scene import Scene, ObjectConfig +from task_trees.task_scene import Scene, LinkConfig import task_trees.tools.rviz_tools as rviz_tools from task_trees.tools.logging_tools import logger from task_trees.tools.rviz_tools import RvizVisualizer @@ -26,7 +26,7 @@ class SceneToRViz(RvizVisualizer): """ The helper class for managing visualization of scene configs in rviz """ - def __init__(self, the_scene:Scene, base_frame:str=None, publish_objects_transform=True, pub_period:float=0.1): + def __init__(self, the_scene:Scene, base_frame:str=None, publish_scenes_transform=True, pub_period:float=0.1): # check if a ROS node has been initialized node_uri = rospy.get_node_uri() if node_uri is None: @@ -38,18 +38,18 @@ def __init__(self, the_scene:Scene, base_frame:str=None, publish_objects_transfo super(SceneToRViz, self).__init__() self.the_scene = the_scene self.base_frame = base_frame - self.is_transform_publisher = publish_objects_transform + self.is_transform_publisher = publish_scenes_transform self.is_world_publisher = False - self.publishable_object_names = [] + self.publishable_scene_names = [] # setup transform self.tf_broadcaster = tf2_ros.TransformBroadcaster() if self.base_frame is None: self.base_frame = 'world' self.is_world_publisher = True - logger.warning(f'SceneToRViz: no base_frame given, use default base frame "world"') + logger.warning(f'SceneToRViz: no base_frame given, define "world" as the default base_frame') # setup custom transforms - self.custom_transform_object_dict = defaultdict(lambda: None) + self.custom_transform_link_dict = defaultdict(lambda: None) # setup timer self.timer_transform = rospy.Timer(rospy.Duration(pub_period), self._cb_timer_transform) @@ -64,78 +64,64 @@ def _cb_timer_transform(self, event): self.tf_broadcaster.sendTransform(transform_stamped) self.is_world_publisher = False if self.is_transform_publisher: - self._pub_transform_all_objects() + self._pub_transform_specified_links() self._pub_custom_transform() # internal function: publish the transform of objects in the scene config subject to the list of publishable objects - def _pub_transform_all_objects(self): - for object_name in the_scene.list_object_names(): - if self.publishable_object_names is None or object_name in self.publishable_object_names: - the_object = the_scene.get_object_config(object_name) - xyzrpy = the_object.xyz + the_object.rpy - self._pub_transform_object(object_name, xyzrpy, the_object.frame) + def _pub_transform_specified_links(self): + for scene_name in self.the_scene.list_scene_names(): + if self.publishable_scene_names is None or scene_name in self.publishable_scene_names: + link_config = self.the_scene.get_link_of_scene(scene_name) + xyzrpy = link_config.xyz + link_config.rpy + self._pub_transform_link(scene_name, xyzrpy, link_config.parent_frame) # internal function: publish the transform of custom objects def _pub_custom_transform(self): - for the_object in self.custom_transform_object_dict.values(): - xyzrpy = the_object.xyz + the_object.rpy - self._pub_transform_object(the_object.name, xyzrpy, the_object.frame) + link_config:LinkConfig + for link_config in self.custom_transform_link_dict.values(): + xyzrpy = link_config.xyz + link_config.rpy + self._pub_transform_link(link_config.name, xyzrpy, link_config.parent_frame) # internal function: publish the transform of a specific named object - def _pub_transform_object(self, name, pose, frame=None): + def _pub_transform_link(self, name, pose, parent_frame=None): """ publish the transform of an object - :param name: name of the object + :param name: name of the link :type name: str - :param pose: the pose of the object + :param pose: the pose of the link :type pose: Pose, PoseStamped, list of 6 or 7 - :param frame: the frame against which the pose is defined, ignored if PoseStamped is provided, defaults to None - :type frame: str, optional + :param parent_frame: the parent frame of the pose, ignored if PoseStamped is provided, defaults to the base_frame + :type parent_frame: str, optional """ - frame = self.base_frame if frame is None else frame + parent_frame = self.base_frame if parent_frame is None else parent_frame if type(pose) in [list, tuple]: - pose_stamped = list_to_pose_stamped(pose, frame) + pose_stamped = list_to_pose_stamped(pose, parent_frame) elif type(pose) == Pose: pose_stamped = PoseStamped() - pose_stamped.header.frame_id = frame + pose_stamped.header.frame_id = parent_frame pose_stamped.header.stamp = rospy.Time.now() pose_stamped.pose = pose elif type(pose) == PoseStamped: - frame = pose.header.frame_id + parent_frame = pose.header.frame_id pose_stamped = pose else: rospy.logerr(f'{__class__.__name__}: parameter (pose) is not list of length 6 or 7 or a Pose object -> fix the parameter at behaviour construction') raise TypeError(f'A parameter is invalid') self.tf_broadcaster.sendTransform(pose_stamped_to_transform_stamped(pose_stamped, name)) - # try: - # # frame is ignored if pose is PoseStamped - # if type(pose) == Pose: - # xyzq = pose_to_xyzq(pose) - # elif type(pose) == PoseStamped: - # frame = pose.header.frame_id - # xyzq = pose_to_xyzq(pose.pose) - # else: - # xyzq = list_to_xyzq(pose) - # except Exception: - # logger.error(f'{__class__.__name__}: parameter (pose) is not list of length 6 or 7 or a Pose object -> fix the parameter at behaviour construction') - # raise - # frame = self.base_frame if frame is None else frame - # self.tf_pub.sendTransform(xyzq[:3], xyzq[3:], rospy.Time.now(), name, frame) - # -------------------------------- - def set_publish_objects_transform(self, object_names:list=None): - """ specify the names of the objects that are to be included in transform publish + def set_publish_links_transform(self, link_names:list=None): + """ specify the names of the links that are to be included in transform publish - :param object_names: a list of object names to be included, defaults to None - :type object_names: list, optional + :param link_names: a list of links names to be included, defaults to None + :type link_names: list, optional """ - if object_names is not None and type(object_names) not in [tuple, list]: + if link_names is not None and type(link_names) not in [tuple, list]: logger.error(f'SceneToRViz (set_publish_transform): parameter (object_names) must be a list of strings or None') raise AssertionError('Parameter (object_names) type is invalid') - self.publishable_object_names = object_names + self.publishable_scene_names = link_names - def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1.0, 0.2]) -> None: + def display_bbox_regions(self, config_key:str, plane:str='xy', reference_frame=None, rgba=[1.0, 0.0, 1.0, 0.2]) -> None: """ display as a bbox 2d or 3d region specified by the key or set of keys under the config_key parameter along the plane :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys @@ -149,8 +135,7 @@ def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1 if value is None: logger.warning(f'SceneToRViz (register_regions_as_bbox): Non-existent key {config_key}') return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + reference_frame = reference_frame if reference_frame is not None else self.base_frame if plane is None: plane = 'xy' # default to xy if type(value) in [list, tuple] and len(value) in [4, 6]: @@ -168,7 +153,7 @@ def display_bbox_regions(self, config_key:str, plane:str='xy', rgba=[1.0, 0.0, 1 continue logger.warning(f'SceneToRViz (display_bbox_regions): region ({key}) bbox should be a list of 4 or 6') - def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + def display_rotations(self, config_key:str, arrow_length:float=1.0, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: """ display as an arrow the rotation specified by config_key :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys @@ -181,9 +166,8 @@ def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0 value = self.the_scene.query_config(config_key, None) if value is None: logger.warning(f'SceneToRViz (register_positions): Non-existent key {config_key}') - return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + return + reference_frame = reference_frame if reference_frame is not None else self.base_frame if type(value) in [list, tuple] and len(value) == 3: value = {' ': value} if type(value) == dict: @@ -197,7 +181,7 @@ def display_rotations(self, config_key:str, arrow_length:float=1.0, rgba=[1.0, 0 logger.warning(f'SceneToRViz (display_rotations): rotation ({key}) should be a list of 3') - def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + def display_positions(self, config_key:str, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: """ display one or more positions or partial definitions, that a sphere represents full specification, a line represents a position with a null value, and a plane represents a position with two null values @@ -209,9 +193,8 @@ def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: value = self.the_scene.query_config(config_key, None) if value is None: logger.warning(f'SceneToRViz (display_positions): Non-existent key {config_key}') - return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame + return + reference_frame = reference_frame if reference_frame is not None else self.base_frame if type(value) == list and len(value) == 3: value = {' ': value} if type(value) == dict: @@ -249,42 +232,41 @@ def display_positions(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: marker = rviz_tools.create_axisplane_marker(f'{config_key}.{key}', id, bbox, xyz[index], reference_frame, plane, rgba=rgba) self.add_persistent_marker(marker) - def display_object(self, config_key:str, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: - """ display one object associated with the config key + def display_link(self, scene_name:str, reference_frame=None, rgba=[1.0, 0.0, 0.0, 0.8]) -> None: + """ display the link associated with the config key - :param config_key: the name of the config key in the scene configuration, which is either the key itself or a parent of keys - :type config_key: str + :param scene_name: the name of a scene + :type scene_name: str :param rgba: the colour of the objects defaults to [1.0, 0.0, 1.0, 0.2] :type rgba: list, optional """ - value = self.the_scene.query_config(config_key, None) + value = self.the_scene.query_config(scene_name, None) if value is None: - logger.warning(f'SceneToRViz (display_objects): Non-existent key {config_key}') + logger.warning(f'SceneToRViz (display_objects): Non-existent key {scene_name}') return - subscene = self.the_scene.get_subscene_of_config_name(config_key) - reference_frame = subscene if subscene is not None else self.base_frame if type(value) != dict: - logger.warning(f'SceneToRViz (display_objects): the key {config_key} is not associated with a single object in a dict structure') + logger.warning(f'SceneToRViz (display_objects): the key {scene_name} is not associated with a single object in a dict structure') return - the_object = self.the_scene._create_object_config(value) - if the_object.type == 'box': - xyzrpy = the_object.xyz + the_object.rpy - marker = rviz_tools.create_cube_marker_from_xyzrpy(f'object.{config_key}', 0, xyzrpy, reference_frame, the_object.dimensions, rgba=rgba) + reference_frame = reference_frame if reference_frame is not None else self.base_frame + the_link:LinkConfig = self.the_scene.get_link_of_scene(scene_name) + if the_link.type == 'box': + xyzrpy = the_link.xyz + the_link.rpy + marker = rviz_tools.create_cube_marker_from_xyzrpy(f'object.{scene_name}', 0, xyzrpy, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) - elif the_object.type == 'sphere': - marker = rviz_tools.create_sphere_marker(f'object.{config_key}', 0, the_object.xyz, reference_frame, the_object.dimensions, rgba=rgba) + elif the_link.type == 'sphere': + marker = rviz_tools.create_sphere_marker(f'object.{scene_name}', 0, the_link.xyz, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) - elif the_object.type == 'object': + elif the_link.type == 'object': try: - model_file = PackageFile.resolve_to_file_or_http_uri(the_object.model_file) + model_file = PackageFile.resolve_to_file_or_http_uri(the_link.model_file) except Exception as ex: - logger.warning(f'SceneToRViz (display_objects): Invalid model_file for object ({the_object.model_file}): {ex}') + logger.warning(f'SceneToRViz (display_objects): Invalid model_file for object ({the_link.model_file}): {ex}') return - xyzrpy = the_object.xyz + the_object.rpy - marker = rviz_tools.create_mesh_marker(f'object.{config_key}', 0, model_file, xyzrpy, reference_frame, the_object.dimensions, rgba=rgba) + xyzrpy = the_link.xyz + the_link.rpy + marker = rviz_tools.create_mesh_marker(f'object.{scene_name}', 0, model_file, xyzrpy, reference_frame, the_link.dimensions, rgba=rgba) self.add_persistent_marker(marker) else: - logger.warning(f'SceneToRViz (display_objects): Invalid object type {the_object.type} of the key {config_key}') + logger.warning(f'SceneToRViz (display_objects): Invalid object type {the_link.type} of the key {scene_name}') # ------------------------------------------------------------------------ # Functions for adding custom transforms for visualization @@ -301,7 +283,7 @@ def add_custom_transform(self, name, xyz, rpy, frame) -> None: if name is None or xyz is None or rpy is None or frame is None: logger.error(f'SceneToRViz (add_custom_transform): No parameter can be None') raise AssertionError('A parameter is none') - self.custom_transform_object_dict[name] = ObjectConfig(name, None, None, None, xyz, rpy, frame) + self.custom_transform_link_dict[name] = LinkConfig(name, None, None, None, xyz, rpy, frame) def update_custom_transform_pose(self, name, xyz=None, rpy=None, frame=None) -> None: """ Update the pose of a custom transform @@ -311,7 +293,7 @@ def update_custom_transform_pose(self, name, xyz=None, rpy=None, frame=None) -> :param rpy: the updated rpy, defaults to None meaning unchanged :param frame: the updated frame, defaults to None meaning unchanged """ - the_object:ObjectConfig = self.custom_transform_object_dict[name] + the_object:LinkConfig = self.custom_transform_link_dict[name] if the_object is None: logger.warning(f'__name__ (update_custom_transform_pose): the custom transform name {name} is not found') return False @@ -326,20 +308,20 @@ def remove_custom_transform(self, name=None): :param name: the name of the transform to be removed, or None to remove all """ if name is None: - self.custom_transform_object_dict.clear() - elif name in self.custom_transform_object_dict: - del self.custom_transform_object_dict[name] + self.custom_transform_link_dict.clear() + elif name in self.custom_transform_link_dict: + del self.custom_transform_link_dict[name] # ----------------------------------------------------------- # test program if __name__ == '__main__': the_scene = Scene(os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml')) scene_to_rviz = SceneToRViz(the_scene, 'world') - scene_to_rviz.set_publish_objects_transform(None) + scene_to_rviz.set_publish_links_transform(None) scene_to_rviz.display_bbox_regions('regions') scene_to_rviz.display_bbox_regions('tank.bbox', rgba=[0.2, 0.8, 0.4, 0.2]) scene_to_rviz.display_rotations('tank.rotations', arrow_length=0.5, rgba=[0.2, 0.0, 1.0, 0.8]) scene_to_rviz.display_positions('tank.positions', rgba=[1.0, 1.0, 0.0, 0.8]) # test display objects - scene_to_rviz.display_object('objects.tank', rgba=[1.0, 0.2, 0.2, 0.8]) + scene_to_rviz.display_link('objects.tank', rgba=[1.0, 0.2, 0.2, 0.8]) rospy.spin() \ No newline at end of file diff --git a/task_trees/task_scene.py b/task_trees/task_scene.py index aeb5fac..097a6bf 100644 --- a/task_trees/task_scene.py +++ b/task_trees/task_scene.py @@ -14,9 +14,9 @@ from task_trees.tools.logging_tools import logger # namedtuples for internal data structure for higher readability -ObjectConfig = namedtuple('ObjectConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'frame']) # representing an object -FrameConfig = namedtuple('FrameConfig', ['name', 'xyz', 'rpy', 'parent']) -SceneName = namedtuple('SceneName', ['subscene', 'path']) +SceneKeyParts = namedtuple('SceneKeyParts', ['scene', 'parts']) +LinkConfig = namedtuple('LinkConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'parent_frame']) # representing the scene +FrameConfig = namedtuple('FrameConfig', ['name', 'type', 'xyz', 'rpy', 'parent_frame']) class Scene(): """ The base model provides mapping between physical/joint-space pose and various named/logical poses. @@ -31,288 +31,227 @@ def __init__(self, scene_config_file:str = None): if scene_config_file is None: scene_config_file = os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml') with open(scene_config_file, 'r') as f: - config = yaml.safe_load(f) - self.config = config - # if the default scene is defined in the file, define a variable for the default - self.scene_config = self.config['scene'] if 'scene' in self.config else None - # if subscenes are defined in the file, define another variable for that - self.subscene_config = self.config['subscenes'] if 'subscenes' in self.config else None - # preprocess the objects and frames - self.objects_map = self._process_objects() - self.frames_map = self._process_frames() + self.config_file_root = yaml.safe_load(f) + # print warning message + self._print_warning() + # valiate that there is a key 'scenes' + if 'scenes' not in self.config_file_root: + logger.error(f'The config file should contain a "scenes" key at the top level') + raise AssertionError(f'Invalid yaml config file: missing the key "scenes"') + self.scenes_branch = self.config_file_root['scenes'] + # valiate that there is a 'root' scene + if 'root' not in self.scenes_branch: + logger.error(f'The config file should contain a "root" scene defined under "scenes" key at the top level') + raise AssertionError(f'Invalid yaml config file: missing the "root" scene') + self.root_scene_config = self.scenes_branch['root'] + # model parameters + self.scenes_dict = defaultdict(lambda: None) + self.scenes_linkconfig = defaultdict(lambda: None) + self.frames_config = defaultdict(lambda: None) + # iterates all scenes in the config file + for key in self.scenes_branch.keys(): + self.scenes_dict[key] = self.scenes_branch[key] + link_config = self._extract_link_config(key, self.scenes_branch[key]) + if link_config is not None: + if link_config.type == 'frame': + self.frames_config[key] = link_config + else: + self.scenes_linkconfig[key] = link_config - # internal function: parse a dot-separated config name (path) into two parts, the subscene and a list of the path - def _parse_config_name(self, config_name:str) -> SceneName: - if config_name is None: - return None - parts = config_name.split('.') - # print(f'_parse_config_name: {config_name} {parts} {parts[0]} {self.subscene_config}') - if self.subscene_config is not None and len(parts) > 1 and (parts[0] in self.subscene_config.keys()): # one of the subscenes - return SceneName(parts[0], parts[1:]) + # internal function: parse a dot-separated config kay (path) into scene name and a list of the parts + def _parse_config_key(self, config_key:str) -> SceneKeyParts: + assert config_key is not None, 'Parameter (config_key) should not be None' + parts = config_key.split('.') + assert len(parts) >= 1, 'Parameter (config_key) is empty' + scene_name = parts[0] + if scene_name not in self.scenes_dict: + # the first name is not a known scene, assume that the root scene is inferred + scene_name = 'root' + return SceneKeyParts(scene_name, parts) else: - return SceneName(None, parts) + return SceneKeyParts(scene_name, parts[1:]) # ------------------------------------------- - # functions for extracting objects and frames + # internal functions for extracting objects and frames + def _extract_link_config(self, scene_name:str, scene_dict:dict) -> LinkConfig: + return self._create_link_config(scene_name, scene_dict.get('link', None)) + # internal function: extract and validate an object definition - def _create_object_config(self, obj:dict) -> ObjectConfig: - if obj is None: - return None - if 'name' not in obj: - logger.error(f'Scene (_process_an_object): the keys in the object config contains no "name"') + def _create_link_config(self, scene_name:str, link_dict:dict) -> LinkConfig: + if link_dict is None or scene_name is None: return None - if 'type' not in obj or 'xyz' not in obj or 'rpy' not in obj or 'dimensions' not in obj: - logger.error(f'Scene (_process_an_object): the keys in the object config ({obj["name"]}) contains no "type", "xyz", "rpy", "dimensions"') + # if 'name' not in link_dict: + # logger.error(f'Scene (_process_an_object): the keys in the link config contains no "name"') + # return None + if 'type' not in link_dict or 'xyz' not in link_dict or 'rpy' not in link_dict: + logger.error(f'Scene (_process_an_object): the keys in the scene config ({link_dict["name"]}) contains no "type", "xyz", "rpy"') return None - if obj['type'] not in ['box', 'sphere', 'object']: - logger.error(f'Scene (_process_an_object): the type of the object ({obj["name"]}) is not one of "sphere", "box", or "object"') - return None - model_file = obj.get('model_file', None) - if obj['type'] == 'object' and model_file is None: - logger.error(f'Scene (_process_an_object): the object ({obj["name"]}) expects a valid "model_file" key') + if link_dict['type'] not in ['box', 'sphere', 'object', 'frame']: + logger.error(f'Scene (_process_an_object): the type of the scene ({link_dict["name"]}) is not one of "sphere", "box", "frame", or "object"') + return None + if link_dict['type'] in ['box', 'sphere', 'object'] and 'dimensions' not in link_dict: + logger.error(f'Scene (_process_an_object): the keys in the box, sphere or object typed scene link ({link_dict["name"]}) contains no "dimensions"') + return None + model_file = link_dict.get('model_file', None) + if link_dict['type'] == 'object' and model_file is None: + logger.error(f'Scene (_process_an_object): the scene link ({link_dict["name"]}) expects a valid "model_file" key') return None - return ObjectConfig(obj['name'], obj['type'], model_file, obj['dimensions'], obj['xyz'], obj['rpy'], obj.get('frame', None)) - - def _extract_objects_dict(self, source_object_config:dict, the_map:dict, subscene:str=None) -> ObjectConfig: - # assume object_config is a dict - for name in source_object_config: - obj = source_object_config[name] - obj['name'] = name - if 'frame' not in obj: - obj['frame'] = subscene - object_config = self._create_object_config(obj) - if object_config: - if subscene is None: - the_map[name] = object_config - else: - the_map[f'{subscene}.{name}'] = object_config - - def _extract_objects_list(self, source_object_config:list, the_map:dict, subscene:str=None) -> ObjectConfig: - # assume object_config is a list - for obj in source_object_config: - name = obj['name'] - if 'frame' not in obj: - obj['frame'] = subscene - object_config = self._create_object_config(obj) - if object_config: - if subscene is None: - the_map[name] = object_config - else: - the_map[f'{subscene}.{name}'] = object_config + parent_name = link_dict.get('parent_frame', link_dict.get('frame', None)) # both parent_frame and frame are acceptable + if parent_name is not None and parent_name == 'root' and 'root' not in self.scenes_linkconfig: + parent_name = None + dimensions = link_dict.get('dimensions', None) + return LinkConfig(scene_name, link_dict['type'], model_file, dimensions, link_dict['xyz'], link_dict['rpy'], parent_name) def _print_warning(self) -> None: if not hasattr(self, 'warned'): self.warned = True - logger.warning(f'''Scene configuration file format changed. - Objects are defined using a dict structure instead of a list structure. - objects: - name: - type: ... - xyz: ... + logger.warning(f'''Scene configuration file format changed in task_trees 0.2.x. + The subscene concept is removed and scenes are equal in the yaml file + scenes: + scene_1_name: + link: ... + other_params: ... ... - The old format will not be acceptable in the future. Update the file is recommended.''') - - # internal function: returns a map of (name, ObjectConfig) of objects defined in the config file - def _process_objects(self) -> dict: - the_map = dict() - # process the main scene - if self.scene_config is not None and 'objects' in self.scene_config: - object_config = self.scene_config['objects'] - if type(object_config) in (tuple, list): - self._extract_objects_list(object_config, the_map) - self._print_warning() - else: - self._extract_objects_dict(object_config, the_map) - - # process each subscene - if self.subscene_config is not None: - for subscene in self.subscene_config.keys(): - if self.subscene_config[subscene] is None: - continue - if 'objects' in self.subscene_config[subscene]: - object_config = self.subscene_config[subscene]['objects'] - if type(object_config) in (tuple, list): - self._extract_objects_list(object_config, the_map, subscene) - self._print_warning() - else: - self._extract_objects_dict(object_config, the_map, subscene) - return the_map - - def _extract_frames_dict(self, source_frame_config:dict, the_map:dict, subscene:str=None) -> FrameConfig: - # assume object_config is a dict - for name in source_frame_config: - obj = source_frame_config[name] - obj['name'] = name - if 'frame' in obj: - obj['parent'] = obj['frame'] - if 'parent' not in obj: - obj['parent'] = subscene - if 'xyz' not in obj or 'rpy' not in obj: - logger.error(f'Scene (_extract_frames_dict): the keys in the object config ({obj["name"]}) contains no "xyz" or "rpy"') - return None - frame_config = FrameConfig(obj['name'], obj['xyz'], obj['rpy'], obj['parent']) - if frame_config: - if subscene is None: - the_map[name] = frame_config - else: - the_map[f'{subscene}.{name}'] = frame_config - - # internal function: returns a map of (name, FrameConfig) of frames defined in the config file - def _process_frames(self) -> dict: - the_map = dict() - # process the main scene - if self.scene_config is not None and 'frames' in self.scene_config: - frame_config = self.scene_config['frames'] - self._extract_frames_dict(frame_config, the_map) - # process each subscene - if self.subscene_config is not None: - for subscene in self.subscene_config.keys(): - if self.subscene_config[subscene] is None: - continue - if 'frames' in self.subscene_config[subscene]: - frame_config = self.subscene_config[subscene]['frames'] - self._extract_frames_dict(frame_config, the_map, subscene) - return the_map - + scene_2_name: + link: ... + The API is also changed. Please refer to the documentation''') + # ------------------------------------------- - # model functions + # config query functions - # returns the value of a named config given as a dot-separated path (e.g. table.objects.lamp.position) - def query_config(self, name:str, default=None): + # returns the value of a named config given as a dot-separated key (e.g. table.objects.lamp.position) + def query_config(self, key:str, default=None): """ returns the value of any named config given as a dot-separated path - :param name: the dot-separated path - :type name: str - :param default: the default value if nothing is found in the path, defaults to None + :param key: the dot-separated key, the root scene may have the "root" omitted + :type key: str + :param default: the default value if nothing is found in the key, defaults to None :type default: any :return: the value of the config :rtype: any """ - scene_name = self._parse_config_name(name) - if scene_name is None: + the_parsed_key = self._parse_config_key(key) + if the_parsed_key is None: return default - if scene_name.subscene is not None: - pointer = self.subscene_config[scene_name.subscene] - else: - pointer = self.scene_config - for item in scene_name.path: + pointer = self.scenes_dict[the_parsed_key.scene] + for item in the_parsed_key.parts: if item.isnumeric(): try: item = int(item) except: - logger.error(f'query_config: part of query key {name} contains an non-integer index {item}') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an non-integer index {item}') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if item < 0 or item >= len(pointer): - logger.error(f'query_config: part of query key {name} contains an out-of-range integer index {item} ') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an out-of-range integer index {item} ') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if type(pointer) not in (tuple, list): - logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting a string key') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an invalid index {item}, expecting a string key') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') pointer = pointer[item] else: if type(pointer) != dict: - logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting an integer') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains an invalid index {item}, expecting an integer') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') if item not in pointer: - logger.error(f'query_config: part of query key {name} contains a non-existent index {item}') - raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + logger.error(f'query_config: part of query key {the_parsed_key} contains a non-existent index {item}') + raise AssertionError(f'query_config: Non-existent config name "{the_parsed_key}", which contains an invalid index {item}') pointer = pointer[item] - return pointer - - # alias for backward compatibility query_config - def query_position_as_xyz(self, name, default=None): - return self.query_config(name, default) - - def query_rotation_as_rpy(self, name, default=None): - return self.query_config(name, default) - - # returns the subscene name if the config is a subscene config - def get_subscene_of_config_name(self, name) -> str: - """ returns the subscene name if the config is one belonging to a subscene - :return: the name of a subscene or None - :rtype: str - """ - scene_name = self._parse_config_name(name) - if scene_name is None: - return None - return scene_name.subscene - - # returns the root scene config as a dict - def get_scene_config(self) -> dict: - """ returns the main scene config in the config file as a dict - :return: the content in the config file - :rtype: dict - """ - return self.scene_config - - # returns a subscene config as a dict - def get_subscene_config(self, subscene_name) -> dict: - """ returns the config of a subscene in the config file as a dict - :return: the content in the config file about the subscene or None - :rtype: dict - """ - if subscene_name not in self.subscene_config: - return None - return self.subscene_config[subscene_name] + return pointer # returns True of the given config name exists - def exists_config(self, name:str) -> bool: + def exists_config(self, key:str) -> bool: """ returns True of the given config name exists - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: True if the given config name exists :rtype: bool """ - return self.query_config(name) != None + return self.query_config(key) != None - # returns a list of keys specified under the config name - def keys_of_config(self, name:str) -> list: + # returns a list of keys specified under the config key if it is a dictionary or an empty list + def key_list_under_config_key(self, key:str) -> list: """ returns a list of keys specified under the config name or an empty list - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: a list of keys specified under the config name :rtype: list """ - pointer = self.query_config(name) + pointer = self.query_config(key) if pointer is None or type(pointer) not in [dict, map]: return [] return list(pointer.keys()) - # returns the length of the list under the config name or an empty list - def len_of_list_config(self, name:str) -> int: + # returns the length of the list if the config key is a list or an empty list + def len_of_key_list_under_config_key(self, key:str) -> int: """ returns the length of the list under the config name - :param name: The config name - :type name: str + :param key: The config name + :type key: str :return: the length of the list the config name :rtype: int """ - pointer = self.query_config(name) + pointer = self.query_config(key) if pointer is None or type(pointer) not in [tuple, list]: return 0 return len(pointer) - # list the object names - def list_object_names(self) -> list: + # list the scene names + def list_scene_names(self) -> list: """ return the list of objects defined in the scene configuration :return: a list of object names as strings :rtype: list """ - if self.objects_map is None: - return [] - return self.objects_map.keys() + return list(self.scenes_dict.keys()) + + # return scene config given the scene name + def get_scene_config_as_dict(self, scene_name: str) -> dict: + """ return the scene configuration as a dict, or None if the scene not exists + :param scene_name: name of the object + :type scene_name: str + :return: the configuration of the scene as a dict or None if not exists + :rtype: dict + """ + return self.scenes_dict.get(scene_name, None) # return config given the object name - def get_object_config(self, object_name: str) -> ObjectConfig: + def get_link_of_scene(self, scene_name: str) -> LinkConfig: """ return the object configuration as ObjectConfig tuple, or None if the name not exists - :param object_name: name of the object - :type object_name: str - :return: the configuration as a ObjectConfig or None if not exists - :rtype: ObjectConfig + :param scene_name: name of the scene + :type scene_name: str + :return: the LinkConfig of the scene or None if not exists + :rtype: LinkConfig """ - return self.objects_map.get(object_name) + return self.scenes_linkconfig.get(scene_name, None) + + # list the frame names + def list_frame_names(self) -> list: + """ return the list of frame type scene defined in the scene configuration + :return: a list of frame names as strings + :rtype: list + """ + return list(self.frames_config.keys()) + # return scene config given the scene name + def get_frame_config_as_dict(self, frame_name: str) -> dict: + """ return the frame configuration as a dict, or None if the scene not exists + :param frame_name: name of the frame + :type frame_name: str + :return: the configuration of the frame type scene or None if not exists + :rtype: dict + """ + return self.scenes_dict.get(frame_name, None) + + # return config given the object name + def get_link_of_frame(self, frame_name: str) -> LinkConfig: + """ return the object configuration as ObjectConfig tuple, or None if the name not exists + :param frame_name: name of the frame + :type frame_name: str + :return: the LinkConfig of the frame or None if not exists + :rtype: LinkConfig + """ + return self.frames_config.get(frame_name, None) + # return the named poses as a dict - def get_named_poses_as_dict(self) -> dict: + def get_named_poses_of_root_as_dict(self) -> dict: """ return the named poses defined in the scene configuration as a dict :return: dict containing key value pairs of named poses @@ -324,25 +263,7 @@ def get_named_poses_as_dict(self) -> dict: result[pose_name] = self.query_config(pose_name) return result - # list the frame names - def list_frame_names(self) -> list: - """ return the list of frames defined in the scene configuration - :return: a list of frames names as strings - :rtype: list - """ - if self.frames_map is None: - return [] - return self.frames_map.keys() - # return config given the object name - def get_frame_config(self, frame_name: str) -> FrameConfig: - """ return the object configuration as FrameConfig tuple, or None if the name not exists - :param frame_name: name of the object - :type frame_name: str - :return: the configuration as a FrameConfig or None if not exists - :rtype: FrameConfig - """ - return self.frames_map.get(frame_name) # ----------------------------------------------------------- # test program @@ -364,16 +285,4 @@ def get_frame_config(self, frame_name: str) -> FrameConfig: for rotation in rotations: print(f'rotation {rotation}: {the_scene.query_config(rotation)}') - objects = the_scene.list_object_names() - for object_name in objects: - print(f'object {object_name}: {the_scene.get_object_config(object_name)}') - - the_object = the_scene.query_config('objects.tank') - print(the_object) - - print(f'tank tile step_sizes: {the_scene.query_config("tank.tile")}') - - keys = ['grid.0.rotation.alpha', 'grid.1.rotation.alpha', 'grid.2.rotation.alpha'] - for key in keys: - print(f'key {key}', the_scene.query_config(key)) \ No newline at end of file diff --git a/task_trees/task_scene_old.py b/task_trees/task_scene_old.py new file mode 100644 index 0000000..aeb5fac --- /dev/null +++ b/task_trees/task_scene_old.py @@ -0,0 +1,379 @@ +# Copyright 2024 - Andrew Kwok Fai LUI, +# Robotics and Autonomous Systems Group, REF, RI +# and the Queensland University of Technology + +__author__ = 'Andrew Lui' +__copyright__ = 'Copyright 2024' +__license__ = 'GPL' +__version__ = '1.0' +__email__ = 'ak.lui@qut.edu.au' +__status__ = 'Development' + +import yaml, os, numbers +from collections import namedtuple, defaultdict +from task_trees.tools.logging_tools import logger + +# namedtuples for internal data structure for higher readability +ObjectConfig = namedtuple('ObjectConfig', ['name', 'type', 'model_file', 'dimensions', 'xyz', 'rpy', 'frame']) # representing an object +FrameConfig = namedtuple('FrameConfig', ['name', 'xyz', 'rpy', 'parent']) +SceneName = namedtuple('SceneName', ['subscene', 'path']) + +class Scene(): + """ The base model provides mapping between physical/joint-space pose and various named/logical poses. + """ + def __init__(self, scene_config_file:str = None): + """the constructor + :param scene_config_file: the path to the task scene configuration file, defaults to None, which then the ros parameter + 'scene_config_file' will be used as the path if exists, and the task_scene.yaml file in the config folder is the last resort + :type scene_config_file: str, optional + """ + # load data from the config yaml file + if scene_config_file is None: + scene_config_file = os.path.join(os.path.dirname(__file__), '../demos/gridscan/task_scene.yaml') + with open(scene_config_file, 'r') as f: + config = yaml.safe_load(f) + self.config = config + # if the default scene is defined in the file, define a variable for the default + self.scene_config = self.config['scene'] if 'scene' in self.config else None + # if subscenes are defined in the file, define another variable for that + self.subscene_config = self.config['subscenes'] if 'subscenes' in self.config else None + # preprocess the objects and frames + self.objects_map = self._process_objects() + self.frames_map = self._process_frames() + + # internal function: parse a dot-separated config name (path) into two parts, the subscene and a list of the path + def _parse_config_name(self, config_name:str) -> SceneName: + if config_name is None: + return None + parts = config_name.split('.') + # print(f'_parse_config_name: {config_name} {parts} {parts[0]} {self.subscene_config}') + if self.subscene_config is not None and len(parts) > 1 and (parts[0] in self.subscene_config.keys()): # one of the subscenes + return SceneName(parts[0], parts[1:]) + else: + return SceneName(None, parts) + + # ------------------------------------------- + # functions for extracting objects and frames + + # internal function: extract and validate an object definition + def _create_object_config(self, obj:dict) -> ObjectConfig: + if obj is None: + return None + if 'name' not in obj: + logger.error(f'Scene (_process_an_object): the keys in the object config contains no "name"') + return None + if 'type' not in obj or 'xyz' not in obj or 'rpy' not in obj or 'dimensions' not in obj: + logger.error(f'Scene (_process_an_object): the keys in the object config ({obj["name"]}) contains no "type", "xyz", "rpy", "dimensions"') + return None + if obj['type'] not in ['box', 'sphere', 'object']: + logger.error(f'Scene (_process_an_object): the type of the object ({obj["name"]}) is not one of "sphere", "box", or "object"') + return None + model_file = obj.get('model_file', None) + if obj['type'] == 'object' and model_file is None: + logger.error(f'Scene (_process_an_object): the object ({obj["name"]}) expects a valid "model_file" key') + return None + return ObjectConfig(obj['name'], obj['type'], model_file, obj['dimensions'], obj['xyz'], obj['rpy'], obj.get('frame', None)) + + def _extract_objects_dict(self, source_object_config:dict, the_map:dict, subscene:str=None) -> ObjectConfig: + # assume object_config is a dict + for name in source_object_config: + obj = source_object_config[name] + obj['name'] = name + if 'frame' not in obj: + obj['frame'] = subscene + object_config = self._create_object_config(obj) + if object_config: + if subscene is None: + the_map[name] = object_config + else: + the_map[f'{subscene}.{name}'] = object_config + + def _extract_objects_list(self, source_object_config:list, the_map:dict, subscene:str=None) -> ObjectConfig: + # assume object_config is a list + for obj in source_object_config: + name = obj['name'] + if 'frame' not in obj: + obj['frame'] = subscene + object_config = self._create_object_config(obj) + if object_config: + if subscene is None: + the_map[name] = object_config + else: + the_map[f'{subscene}.{name}'] = object_config + + def _print_warning(self) -> None: + if not hasattr(self, 'warned'): + self.warned = True + logger.warning(f'''Scene configuration file format changed. + Objects are defined using a dict structure instead of a list structure. + objects: + name: + type: ... + xyz: ... + ... + The old format will not be acceptable in the future. Update the file is recommended.''') + + # internal function: returns a map of (name, ObjectConfig) of objects defined in the config file + def _process_objects(self) -> dict: + the_map = dict() + # process the main scene + if self.scene_config is not None and 'objects' in self.scene_config: + object_config = self.scene_config['objects'] + if type(object_config) in (tuple, list): + self._extract_objects_list(object_config, the_map) + self._print_warning() + else: + self._extract_objects_dict(object_config, the_map) + + # process each subscene + if self.subscene_config is not None: + for subscene in self.subscene_config.keys(): + if self.subscene_config[subscene] is None: + continue + if 'objects' in self.subscene_config[subscene]: + object_config = self.subscene_config[subscene]['objects'] + if type(object_config) in (tuple, list): + self._extract_objects_list(object_config, the_map, subscene) + self._print_warning() + else: + self._extract_objects_dict(object_config, the_map, subscene) + return the_map + + def _extract_frames_dict(self, source_frame_config:dict, the_map:dict, subscene:str=None) -> FrameConfig: + # assume object_config is a dict + for name in source_frame_config: + obj = source_frame_config[name] + obj['name'] = name + if 'frame' in obj: + obj['parent'] = obj['frame'] + if 'parent' not in obj: + obj['parent'] = subscene + if 'xyz' not in obj or 'rpy' not in obj: + logger.error(f'Scene (_extract_frames_dict): the keys in the object config ({obj["name"]}) contains no "xyz" or "rpy"') + return None + frame_config = FrameConfig(obj['name'], obj['xyz'], obj['rpy'], obj['parent']) + if frame_config: + if subscene is None: + the_map[name] = frame_config + else: + the_map[f'{subscene}.{name}'] = frame_config + + # internal function: returns a map of (name, FrameConfig) of frames defined in the config file + def _process_frames(self) -> dict: + the_map = dict() + # process the main scene + if self.scene_config is not None and 'frames' in self.scene_config: + frame_config = self.scene_config['frames'] + self._extract_frames_dict(frame_config, the_map) + # process each subscene + if self.subscene_config is not None: + for subscene in self.subscene_config.keys(): + if self.subscene_config[subscene] is None: + continue + if 'frames' in self.subscene_config[subscene]: + frame_config = self.subscene_config[subscene]['frames'] + self._extract_frames_dict(frame_config, the_map, subscene) + return the_map + + # ------------------------------------------- + # model functions + + # returns the value of a named config given as a dot-separated path (e.g. table.objects.lamp.position) + def query_config(self, name:str, default=None): + """ returns the value of any named config given as a dot-separated path + :param name: the dot-separated path + :type name: str + :param default: the default value if nothing is found in the path, defaults to None + :type default: any + :return: the value of the config + :rtype: any + """ + scene_name = self._parse_config_name(name) + if scene_name is None: + return default + if scene_name.subscene is not None: + pointer = self.subscene_config[scene_name.subscene] + else: + pointer = self.scene_config + for item in scene_name.path: + if item.isnumeric(): + try: + item = int(item) + except: + logger.error(f'query_config: part of query key {name} contains an non-integer index {item}') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if item < 0 or item >= len(pointer): + logger.error(f'query_config: part of query key {name} contains an out-of-range integer index {item} ') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if type(pointer) not in (tuple, list): + logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting a string key') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + pointer = pointer[item] + else: + if type(pointer) != dict: + logger.error(f'query_config: part of query key {name} contains an invalid index {item}, expecting an integer') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + if item not in pointer: + logger.error(f'query_config: part of query key {name} contains a non-existent index {item}') + raise AssertionError(f'query_config: Non-existent config name "{name}", which contains an invalid index {item}') + pointer = pointer[item] + return pointer + + # alias for backward compatibility query_config + def query_position_as_xyz(self, name, default=None): + return self.query_config(name, default) + + def query_rotation_as_rpy(self, name, default=None): + return self.query_config(name, default) + + # returns the subscene name if the config is a subscene config + def get_subscene_of_config_name(self, name) -> str: + """ returns the subscene name if the config is one belonging to a subscene + :return: the name of a subscene or None + :rtype: str + """ + scene_name = self._parse_config_name(name) + if scene_name is None: + return None + return scene_name.subscene + + # returns the root scene config as a dict + def get_scene_config(self) -> dict: + """ returns the main scene config in the config file as a dict + :return: the content in the config file + :rtype: dict + """ + return self.scene_config + + # returns a subscene config as a dict + def get_subscene_config(self, subscene_name) -> dict: + """ returns the config of a subscene in the config file as a dict + :return: the content in the config file about the subscene or None + :rtype: dict + """ + if subscene_name not in self.subscene_config: + return None + return self.subscene_config[subscene_name] + + # returns True of the given config name exists + def exists_config(self, name:str) -> bool: + """ returns True of the given config name exists + :param name: The config name + :type name: str + :return: True if the given config name exists + :rtype: bool + """ + return self.query_config(name) != None + + # returns a list of keys specified under the config name + def keys_of_config(self, name:str) -> list: + """ returns a list of keys specified under the config name or an empty list + :param name: The config name + :type name: str + :return: a list of keys specified under the config name + :rtype: list + """ + pointer = self.query_config(name) + if pointer is None or type(pointer) not in [dict, map]: + return [] + return list(pointer.keys()) + + # returns the length of the list under the config name or an empty list + def len_of_list_config(self, name:str) -> int: + """ returns the length of the list under the config name + :param name: The config name + :type name: str + :return: the length of the list the config name + :rtype: int + """ + pointer = self.query_config(name) + if pointer is None or type(pointer) not in [tuple, list]: + return 0 + return len(pointer) + + # list the object names + def list_object_names(self) -> list: + """ return the list of objects defined in the scene configuration + :return: a list of object names as strings + :rtype: list + """ + if self.objects_map is None: + return [] + return self.objects_map.keys() + + # return config given the object name + def get_object_config(self, object_name: str) -> ObjectConfig: + """ return the object configuration as ObjectConfig tuple, or None if the name not exists + :param object_name: name of the object + :type object_name: str + :return: the configuration as a ObjectConfig or None if not exists + :rtype: ObjectConfig + """ + return self.objects_map.get(object_name) + + # return the named poses as a dict + def get_named_poses_as_dict(self) -> dict: + """ return the named poses defined in the scene configuration as a dict + + :return: dict containing key value pairs of named poses + """ + result = dict() + named_poses = self.query_config('named_poses') + for pose_name in named_poses: + pose_name = 'named_poses.' + pose_name + result[pose_name] = self.query_config(pose_name) + return result + + # list the frame names + def list_frame_names(self) -> list: + """ return the list of frames defined in the scene configuration + :return: a list of frames names as strings + :rtype: list + """ + if self.frames_map is None: + return [] + return self.frames_map.keys() + + # return config given the object name + def get_frame_config(self, frame_name: str) -> FrameConfig: + """ return the object configuration as FrameConfig tuple, or None if the name not exists + :param frame_name: name of the object + :type frame_name: str + :return: the configuration as a FrameConfig or None if not exists + :rtype: FrameConfig + """ + return self.frames_map.get(frame_name) + +# ----------------------------------------------------------- +# test program +if __name__ == '__main__': + the_scene = Scene() + named_poses = ['named_poses.stow', 'named_poses.home'] + for named_pose in named_poses: + print(f'named_pose {named_pose}: {the_scene.query_config(named_pose)}') + + regions = ['regions.workspace', 'regions.inner', 'regions.work', 'regions.work3d'] + for region in regions: + print(f'region {region}: {the_scene.query_config(region)}') + + positions = ['tank.positions.default', 'tank.positions.hover', 'tank.positions.submerged'] + for position in positions: + print(f'position {position}: {the_scene.query_config(position)}') + + rotations = ['tank.rotations.alpha', 'tank.rotations.beta', 'tank.rotations.delta', 'tank.rotations.gamma'] + for rotation in rotations: + print(f'rotation {rotation}: {the_scene.query_config(rotation)}') + + objects = the_scene.list_object_names() + for object_name in objects: + print(f'object {object_name}: {the_scene.get_object_config(object_name)}') + + the_object = the_scene.query_config('objects.tank') + print(the_object) + + print(f'tank tile step_sizes: {the_scene.query_config("tank.tile")}') + + keys = ['grid.0.rotation.alpha', 'grid.1.rotation.alpha', 'grid.2.rotation.alpha'] + for key in keys: + print(f'key {key}', the_scene.query_config(key)) + \ No newline at end of file diff --git a/task_trees/task_trees_manager.py b/task_trees/task_trees_manager.py index ba6299d..c94b60b 100644 --- a/task_trees/task_trees_manager.py +++ b/task_trees/task_trees_manager.py @@ -320,37 +320,40 @@ def _define_named_poses(self, the_scene:Scene): :param the_scene: the scene configuration object of the Scene class """ - named_poses = the_scene.get_named_poses_as_dict() + named_poses = the_scene.get_named_poses_of_root_as_dict() for name in named_poses: self.arm_commander.add_named_pose(name, named_poses[name]) - def _define_objects(self, the_scene:Scene, object_type=None, include_list:list=None, ignore_list:list=None): + def _define_links(self, the_scene:Scene, link_type=None, include_list:list=None, ignore_list:list=None): """ Define the collision objects in the arm commander as specified in the scene configuration file :param the_scene: the scene configuration object of the Scene class :param include_list: the only frames to be included and subject to the ignore_list, defaults to None - :param object_type: the object type to be included, defaults to None + :param link_type: the link_type to be included, defaults to None """ - if object_type is not None and type(object_type) is not list: - object_type = [object_type] + if link_type is not None and type(link_type) is not list: + link_type = [link_type] if ignore_list is None: ignore_list = [] - for object_name in the_scene.list_object_names(): - the_object = the_scene.get_object_config(object_name) - if object_type is not None and the_object.type not in object_type: + for scene_name in the_scene.list_scene_names(): + the_link = the_scene.get_link_of_scene(scene_name) + if the_link is None: continue - if include_list is not None and object_name not in include_list: + + if link_type is not None and the_link.type not in link_type: + continue + if include_list is not None and scene_name not in include_list: continue - if object_name in ignore_list: + if scene_name in ignore_list: continue - if the_object.type == 'box': - self.arm_commander.add_box_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) - elif the_object.type == 'sphere': - self.arm_commander.add_sphere_to_scene(object_name, the_object.dimensions, the_object.xyz, the_object.frame) - elif the_object.type == 'object': - self.arm_commander.add_object_to_scene(object_name, the_object.model_file, the_object.dimensions, the_object.xyz, the_object.rpy, the_object.frame) + if the_link.type == 'box': + self.arm_commander.add_box_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.rpy, the_link.parent_frame) + elif the_link.type == 'sphere': + self.arm_commander.add_sphere_to_scene(scene_name, the_link.dimensions, the_link.xyz, the_link.parent_frame) + elif the_link.type == 'object': + self.arm_commander.add_object_to_scene(scene_name, the_link.model_file, the_link.dimensions, the_link.xyz, the_link.rpy, the_link.parent_frame) else: - logger.warning(f'TaskTreesManager (_define_objects): unrecognize object type "{the_object.type}"') + logger.warning(f'TaskTreesManager (_define_objects): unrecognize object type "{the_link.type}"') def _define_custom_frames(self, the_scene:Scene, include_list:list=None, ignore_list:list=None): """ Define the custom frames in the arm commander as specified in the scene configuration file @@ -366,8 +369,8 @@ def _define_custom_frames(self, the_scene:Scene, include_list:list=None, ignore_ continue if frame_name in ignore_list: continue - the_frame = the_scene.get_frame_config(frame_name) - self.arm_commander.add_custom_transform(frame_name, the_frame.xyz, the_frame.rpy, the_frame.parent) + the_frame_link = the_scene.get_link_of_frame(frame_name) + self.arm_commander.add_custom_transform(frame_name, the_frame_link.xyz, the_frame_link.rpy, the_frame_link.parent_frame) def _set_initialize_branch(self, branch:Composite): """ Set or replace a branch to be the initialization branch of the behaviour tree of this manager diff --git a/task_trees/tools/rviz_tools.py b/task_trees/tools/rviz_tools.py index 65abc82..5a5080b 100644 --- a/task_trees/tools/rviz_tools.py +++ b/task_trees/tools/rviz_tools.py @@ -196,7 +196,7 @@ def create_arrow_marker(name:str, id:int, xyzrpy:list, reference_frame:str, dime the_marker.type = Marker().ARROW the_marker.pose = list_to_pose(xyzrpy) if isinstance(dimensions, numbers.Number): - dimensions = [dimensions, dimensions/10, dimensions/10] + dimensions = [dimensions, dimensions/10, dimensions/25] the_marker.scale = Vector3(*dimensions) rgba = RGBAColors.validate_rgba(rgba) the_marker.color = ColorRGBA(*rgba) From 74c039bb032398b93206c538035a06b198315981 Mon Sep 17 00:00:00 2001 From: andrewluiqut Date: Wed, 1 Oct 2025 12:56:50 +1000 Subject: [PATCH 4/4] behaviours_base.py: method update on changing how the GeneralCommanderStates.ABORTED signal is handled, updated to enables the task trees to report pytree FAILURE but the task status can stay the same. This allows the task status is WORKING and so other parts of the behaviour tree may deal with the arm commander abort signal such as retry or trying another branch --- task_trees/behaviours_base.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/task_trees/behaviours_base.py b/task_trees/behaviours_base.py index 60fc8d1..335d0ec 100644 --- a/task_trees/behaviours_base.py +++ b/task_trees/behaviours_base.py @@ -235,9 +235,12 @@ def update(self): return Status.SUCCESS elif self.commander_state == GeneralCommanderStates.ABORTED: logger.error(f'ConditionalCommanderBehaviour handles task aborted') - if self.the_blackboard.exists('task'): - self.the_blackboard.set('task.state', TaskStates.ABORTED) - self.tidy_up() + # NOTE: the update enables the task trees to report pytree FAILURE but the task status can stay the same + # This allows the task status is WORKING and so other parts of the behaviour tree may deal with the arm commander abort signal + # such as retry or trying another branch + # if self.the_blackboard.exists('task'): + # self.the_blackboard.set('task.state', TaskStates.ABORTED) + # self.tidy_up() return Status.FAILURE elif self.commander_state == GeneralCommanderStates.ERROR: logger.error(f'ConditionalCommanderBehaviour handles task error')