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[WIP] Move robot-common part of simulated grasping to robot-interface #435

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[WIP] Move robot-common part of simulated grasping to robot-interface #435

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8a4e557
Move robot-common part of simulated grasping to robot-interface
pazeshun May 1, 2020
2af72ae
Merge branch 'master' into move-common-sim-grasp
k-okada Oct 25, 2022
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23 changes: 4 additions & 19 deletions pr2eus/pr2-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -264,22 +264,8 @@ Example: (send self :gripper :rarm :position) => 0.00"
(&optional (arm :arms) &key ((:gain g) 0.01) ((:objects objs) objects) force-assoc ((:wait wait) t))
(send self :move-gripper arm 0.0 :effort (* 2000 g) :wait wait)
(unless joint-action-enable
(dolist (a (if (eq arm :arms) '(:larm :rarm) (list arm)))
(when objs
(let ((grasp-convex
(convex-hull-3d
(flatten
(mapcar
#'(lambda (l)
(send-all (send l :bodies) :worldcoords)
(send-all (send l :bodies) :vertices))
(send robot a :gripper :links))))))
(dolist (obj objs)
(when (or force-assoc
(and (find-method obj :faces)
(not (= (pqp-collision-check grasp-convex obj) 0))))
(if (send obj :parent) (send (send obj :parent) :dissoc obj))
(send robot a :end-coords :assoc obj))))))
(send self :assoc-objects-in-gripper
(if (eq arm :arms) '(:larm :rarm) (list arm)) :objects objs :force-assoc force-assoc)
;; (send self :update-robot-state) ;; update state of 'robot' for real robot
(return-from :start-grasp
(case arm
Expand Down Expand Up @@ -352,9 +338,8 @@ Example: (send self :gripper :rarm :position) => 0.00"
(prog1
(send self :move-gripper arm 0.09 :effort (* 2000 g) :wait wait)
(unless joint-action-enable
(dolist (a (if (eq arm :arms) '(:larm :rarm) (list arm)))
(dolist (obj (send robot a :end-coords :descendants))
(send robot arm :end-coords :dissoc obj))))))
(send self :dissoc-objects-in-gripper
(if (eq arm :arms) '(:larm :rarm) (list arm))))))
;;
(:pr2-gripper-state-callback
(arm msg)
Expand Down
23 changes: 23 additions & 0 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -1117,6 +1117,29 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i
(if spin-self (send self :spin-once))
(ros::sleep)))
t)
(:assoc-objects-in-gripper
(arm-list &key ((:objects objs) objects) force-assoc)
(dolist (a arm-list)
(when objs
(let ((grasp-convex
(convex-hull-3d
(flatten
(mapcar
#'(lambda (l)
(send-all (send l :bodies) :worldcoords)
(send-all (send l :bodies) :vertices))
(send robot a :gripper :links))))))
(dolist (obj objs)
(when (or force-assoc
(and (find-method obj :faces)
(not (= (pqp-collision-check grasp-convex obj) 0))))
(if (send obj :parent) (send (send obj :parent) :dissoc obj))
(send robot a :end-coords :assoc obj)))))))
(:dissoc-objects-in-gripper
(arm-list)
(dolist (a arm-list)
(dolist (obj (send robot a :end-coords :descendants))
(send robot a :end-coords :dissoc obj))))
;;
(:go-pos
(x y &optional (d 0)) ;; [m] [m] [degree]
Expand Down