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Add grasps BOTTOM and BACK #255

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Jan 16, 2025
Merged

Add grasps BOTTOM and BACK #255

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f80b4e8
Add new grasps to testcases
artnie Jan 15, 2025
8454970
Support Grasp BOTTOM and BACK
artnie Jan 15, 2025
52af09e
Precalculate grasp angles
artnie Jan 15, 2025
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2 changes: 2 additions & 0 deletions src/pycram/datastructures/enums.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,8 @@ class Grasp(int, Enum):
LEFT = 1
RIGHT = 2
TOP = 3
BACK = 4
BOTTOM = 5


class ObjectType(int, Enum):
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10 changes: 6 additions & 4 deletions src/pycram/robot_descriptions/pr2_description.py
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Expand Up @@ -86,10 +86,12 @@
pr2_description.add_kinematic_chain("neck", "head_pan_link", "head_tilt_link")

################################# Grasps ##################################
pr2_description.add_grasp_orientations({Grasp.FRONT: [0, 0, 0, 1],
Grasp.LEFT: [0, 0, -1, 1],
Grasp.RIGHT: [0, 0, 1, 1],
Grasp.TOP: [0, 1, 0, 1]})
pr2_description.add_grasp_orientations({Grasp.FRONT: [0.0, 0.0, 0.0, 1.0],
Grasp.BACK: [0.0, 0.0, 1.0, 0.0],
Grasp.LEFT: [0.0, 0.0, -0.7071067811865475, 0.7071067811865476],
Grasp.RIGHT: [0.0, 0.0, 0.7071067811865475, 0.7071067811865476],
Grasp.TOP: [0.0, 0.7071067811865475, 0.0, 0.7071067811865476],
Grasp.BOTTOM: [0.0, -0.7071067811865475, 0.0, 0.7071067811865476]})

# Add to RobotDescriptionManager
rdm = RobotDescriptionManager()
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6 changes: 3 additions & 3 deletions test/test_designator/test_move_and_pick_up.py
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Expand Up @@ -28,7 +28,7 @@ def setUpClass(cls):
def test_variables(self):
object_designator = ObjectDesignatorDescription(types=[Milk]).resolve()
move_and_pick = MoveAndPickUp(object_designator, arms=[Arms.LEFT, Arms.RIGHT],
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP])
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP, Grasp.BOTTOM, Grasp.BACK])
result = SortedSet([Symbolic("arm", PMArms), Symbolic("grasp", PMGrasp),
Continuous("relative_x"), Continuous("relative_y")])
all_variables = move_and_pick.all_variables()
Expand All @@ -37,7 +37,7 @@ def test_variables(self):
def test_grounding(self):
object_designator = ObjectDesignatorDescription(types=[Milk]).resolve()
move_and_pick = MoveAndPickUp(object_designator, arms=[Arms.LEFT, Arms.RIGHT],
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP])
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP, Grasp.BOTTOM, Grasp.BACK])

model = move_and_pick.ground_model()
event = move_and_pick.events_from_occupancy_and_visibility_costmap()
Expand All @@ -47,7 +47,7 @@ def test_grounding(self):
def test_move_and_pick_up_with_mode(self):
object_designator = ObjectDesignatorDescription(types=[Milk]).resolve()
move_and_pick = MoveAndPickUp(object_designator, arms=[Arms.LEFT, Arms.RIGHT],
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP])
grasps=[Grasp.FRONT, Grasp.LEFT, Grasp.RIGHT, Grasp.TOP, Grasp.BOTTOM, Grasp.BACK])
with simulated_robot:
for action in move_and_pick.iter_with_mode():
try:
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