interpreter.py

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# Author: Ioan Sucan

import rospy
from moveit_commander import RobotCommander, MoveGroupCommander, PlanningSceneInterface, MoveItCommanderException
from geometry_msgs.msg import PoseStamped
import re
import time
import os.path

class MoveGroupInfoLevel:
    FAIL = 1
    WARN = 2
    SUCCESS = 3
    INFO = 4
    DEBUG = 5

class MoveGroupCommandInterpreter(object):
    """
    Interpreter for simple commands
    """

    DEFAULT_FILENAME = "move_group.cfg"
    GO_DIRS = {"up" : (2,1), "down" : (2, -1), "z" : (2, 1),
               "left" : (1, 1), "right" : (1, -1), "y" : (1, 1),
               "forward" : (0, 1), "backward" : (0, -1), "back" : (0, -1), "x" : (0, 1) }

    def __init__(self):
        self._gdict = {}
        self._group_name = ""
        self._prev_group_name = ""
        self._planning_scene_interface = PlanningSceneInterface()
        self._robot = RobotCommander()
        self._last_plan = None
        self._db_host = None
        self._db_port = 33829
        self._trace = False

    def get_active_group(self):
        if len(self._group_name) > 0:
            return self._gdict[self._group_name]
        else:
            return None

    def get_loaded_groups(self):
        return self._gdict.keys()

    def execute(self, cmd):
        cmd = self.resolve_command_alias(cmd)
        result = self.execute_generic_command(cmd)
        if result != None:
            return result
        else:
            if len(self._group_name) > 0:
                return self.execute_group_command(self._gdict[self._group_name], cmd)
            else:
                return (MoveGroupInfoLevel.INFO, self.get_help() + "\n\nNo groups initialized yet. You must call the 'use' or the 'load' command first.\n")

    def execute_generic_command(self, cmd):
        if os.path.isfile("cmd/" + cmd):
            cmd = "load cmd/" + cmd
        cmdlow = cmd.lower()
        if cmdlow.startswith("use"):
            if cmdlow == "use":
                return (MoveGroupInfoLevel.INFO, "\n".join(self.get_loaded_groups()))
            clist = cmd.split()
            clist[0] = clist[0].lower()
            if len(clist) == 2:
                if clist[0] == "use":
                    if clist[1] == "previous":
                        clist[1] = self._prev_group_name
                        if len(clist[1]) == 0:
                            return (MoveGroupInfoLevel.DEBUG, "OK")
                    if self._gdict.has_key(clist[1]):
                        self._prev_group_name = self._group_name
                        self._group_name = clist[1]
                        return (MoveGroupInfoLevel.DEBUG, "OK")
                    else:
                        try:
                            mg = MoveGroupCommander(clist[1])
                            self._gdict[clist[1]] = mg
                            self._group_name = clist[1]
                            return (MoveGroupInfoLevel.DEBUG, "OK")
                        except MoveItCommanderException as e:
                            return (MoveGroupInfoLevel.FAIL, "Initializing " + clist[1] + ": " + str(e))
                        except:
                            return (MoveGroupInfoLevel.FAIL, "Unable to initialize " + clist[1])
        elif cmdlow.startswith("trace"):
            if cmdlow == "trace":
                return (MoveGroupInfoLevel.INFO, "trace is on" if self._trace else "trace is off")
            clist = cmdlow.split()
            if clist[0] == "trace" and clist[1] == "on":
                self._trace = True
                return (MoveGroupInfoLevel.DEBUG, "OK")
            if clist[0] == "trace" and clist[1] == "off":
                self._trace = False
                return (MoveGroupInfoLevel.DEBUG, "OK")
        elif cmdlow.startswith("load"):
            filename = self.DEFAULT_FILENAME
            clist = cmd.split()
            if len(clist) > 2:
                return (MoveGroupInfoLevel.WARN, "Unable to parse load command")
            if len(clist) == 2:
                filename = clist[1]
                if not os.path.isfile(filename):
                    filename = "cmd/" + filename
            line_num = 0
            line_content = ""
            try:
                f = open(filename, 'r')
                for line in f:
                    line_num += 1
                    line = line.rstrip()
                    line_content = line
                    if self._trace:
                        print ("%s:%d:  %s" % (filename, line_num, line_content))
                    comment = line.find("#")
                    if comment != -1:
                      line = line[0:comment].rstrip()
                    if line != "":
                      self.execute(line.rstrip())
                    line_content = ""
                return (MoveGroupInfoLevel.DEBUG, "OK")
            except MoveItCommanderException as e:  
                if line_num > 0:
                    return (MoveGroupInfoLevel.WARN, "Error at %s:%d:  %s\n%s" % (filename, line_num, line_content, str(e)))
                else:
                    return (MoveGroupInfoLevel.WARN, "Processing " + filename + ": " + str(e))
            except:
                if line_num > 0:
                    return (MoveGroupInfoLevel.WARN, "Error at %s:%d:  %s" % (filename, line_num, line_content))
                else:
                    return (MoveGroupInfoLevel.WARN, "Unable to load " + filename)
        elif cmdlow.startswith("save"):
            filename = self.DEFAULT_FILENAME
            clist = cmd.split()
            if len(clist) > 2:
                return (MoveGroupInfoLevel.WARN, "Unable to parse save command")
            if len(clist) == 2:
                filename = clist[1]
            try:
                f = open(filename, 'w')
                for gr in self._gdict.keys():
                    f.write("use " + gr + "\n")
                    known = self._gdict[gr].get_remembered_joint_values()
                    for v in known.keys():
                        f.write(v + " = [" + " ".join([str(x) for x in known[v]]) + "]\n")
                if self._db_host != None:
                    f.write("database " + self._db_host + " " + str(self._db_port) + "\n")
                return (MoveGroupInfoLevel.DEBUG, "OK")
            except:
                return (MoveGroupInfoLevel.WARN, "Unable to save " + filename)
        else:
            return None

    def execute_group_command(self, g, cmdorig):
        cmd = cmdorig.lower()

        if cmd == "stop":
            g.stop()
            return (MoveGroupInfoLevel.DEBUG, "OK")

        if cmd == "id":
            return (MoveGroupInfoLevel.INFO, g.get_name())

        if cmd == "help":
            return (MoveGroupInfoLevel.INFO, self.get_help())

        if cmd == "vars":
            known = g.get_remembered_joint_values()
            return (MoveGroupInfoLevel.INFO, "[" + " ".join(known.keys()) + "]")

        if cmd == "joints":
            joints = g.get_joints()
            return (MoveGroupInfoLevel.INFO, "\n" + "\n".join([str(i) + " = " + joints[i] for i in range(len(joints))]) + "\n")

        if cmd == "show":
            return self.command_show(g)

        if cmd == "current":
            return self.command_current(g)

        if cmd == "ground":
            pose = PoseStamped()
            pose.pose.position.x = 0
            pose.pose.position.y = 0
            # offset such that the box is 0.1 mm below ground (to prevent collision with the robot itself)
            pose.pose.position.z = -0.0501
            pose.pose.orientation.x = 0
            pose.pose.orientation.y = 0
            pose.pose.orientation.z = 0
            pose.pose.orientation.w = 1
            pose.header.stamp = rospy.get_rostime()
            pose.header.frame_id = self._robot.get_root_link()
            self._planning_scene_interface.attach_box(self._robot.get_root_link(), "ground", pose, (3, 3, 0.1))
            return (MoveGroupInfoLevel.INFO, "Added ground")

        if cmd == "eef":
            if len(g.get_end_effector_link()) > 0:
                return (MoveGroupInfoLevel.INFO, g.get_end_effector_link())
            else:
                return (MoveGroupInfoLevel.INFO, "There is no end effector defined")

        if cmd == "database":
            if self._db_host == None:
                return (MoveGroupInfoLevel.INFO, "Not connected to a database")
            else:
                return (MoveGroupInfoLevel.INFO, "Connected to " + self._db_host + ":" + str(self._db_port))
        if cmd == "plan":
            if self._last_plan != None:
                return (MoveGroupInfoLevel.INFO, str(self._last_plan))
            else:
                return (MoveGroupInfoLevel.INFO, "No previous plan")

        if cmd == "constrain":
            g.clear_path_constraints()
            return (MoveGroupInfoLevel.SUCCESS, "Cleared path constraints")

        if cmd == "tol" or cmd == "tolerance":
            return (MoveGroupInfoLevel.INFO, "Joint = %0.6g, Position = %0.6g, Orientation = %0.6g" % g.get_goal_tolerance())

        if cmd == "time":
            return (MoveGroupInfoLevel.INFO, str(g.get_planning_time()))

        if cmd == "execute":
            if self._last_plan != None:
                if g.execute(self._last_plan):
                    return (MoveGroupInfoLevel.SUCCESS, "Plan submitted for execution")
                else:
                    return (MoveGroupInfoLevel.WARN, "Failed to submit plan for execution")
            else:
                return (MoveGroupInfoLevel.WARN, "No motion plan computed")

        # see if we have assignment between variables
        assign_match = re.match(r"^(\w+)\s*=\s*(\w+)$", cmd)
        if assign_match:
            known = g.get_remembered_joint_values()
            if known.has_key(assign_match.group(2)):
                g.remember_joint_values(assign_match.group(1), known[assign_match.group(2)])
                return (MoveGroupInfoLevel.SUCCESS, assign_match.group(1) + " is now the same as " + assign_match.group(2))
            else:
                return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")
        
        # see if we have assignment of matlab-like vector syntax
        set_match = re.match(r"^(\w+)\s*=\s*\[([\d\.e\-\+\s]+)\]$", cmd)
        if set_match:
            try:
                g.remember_joint_values(set_match.group(1), [float(x) for x in set_match.group(2).split()])
                return (MoveGroupInfoLevel.SUCCESS, "Remembered joint values [" + set_match.group(2) + "] under the name " + set_match.group(1))
            except:
                return (MoveGroupInfoLevel.WARN, "Unable to parse joint value [" + set_match.group(2) + "]")

        # see if we have assignment of matlab-like element update
        component_match = re.match(r"^(\w+)\s*\[\s*(\d+)\s*\]\s*=\s*([\d\.e\-\+]+)$", cmd)
        if component_match:
            known = g.get_remembered_joint_values()
            if known.has_key(component_match.group(1)):
                try:
                    val = known[component_match.group(1)]
                    val[int(component_match.group(2))] = float(component_match.group(3))
                    g.remember_joint_values(component_match.group(1), val)
                    return (MoveGroupInfoLevel.SUCCESS, "Updated " + component_match.group(1) + "[" + component_match.group(2) + "]")
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to parse index or value in '" + cmd +"'")
            else:
                return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")

        clist = cmdorig.split()
        clist[0] = clist[0].lower()

        # if this is an unknown one-word command, it is probably a variable
        if len(clist) == 1:
            known = g.get_remembered_joint_values()
            if known.has_key(cmd):
                return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[cmd]]) + "]")
            else:
                return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")

        # command with one argument
        if len(clist) == 2:
            if clist[0] == "go":
                self._last_plan = None
                if clist[1] == "rand" or clist[1] == "random":
                    vals = g.get_random_joint_values()
                    g.set_joint_value_target(vals)
                    if g.go():
                        return (MoveGroupInfoLevel.SUCCESS, "Moved to random target [" + " ".join([str(x) for x in vals]) + "]")
                    else:
                        return (MoveGroupInfoLevel.FAIL, "Failed while moving to random target [" + " ".join([str(x) for x in vals]) + "]")
                else:
                    try:
                        g.set_named_target(clist[1])
                        if g.go():
                            return (MoveGroupInfoLevel.SUCCESS, "Moved to " + clist[1])
                        else:
                            return (MoveGroupInfoLevel.FAIL, "Failed while moving to " + clist[1])
                    except MoveItCommanderException as e:
                        return (MoveGroupInfoLevel.WARN, "Going to " + clist[1] + ": " + str(e))
                    except:
                        return (MoveGroupInfoLevel.WARN, clist[1] + " is unknown")
            if clist[0] == "plan":
                self._last_plan = None
                vals = None
                if clist[1] == "rand" or clist[1] == "random":
                    vals = g.get_random_joint_values()
                    g.set_joint_value_target(vals)
                    self._last_plan = g.plan()
                else:
                    try:
                        g.set_named_target(clist[1])
                        self._last_plan = g.plan()
                    except MoveItCommanderException as e:
                        return (MoveGroupInfoLevel.WARN, "Planning to " + clist[1] + ": " + str(e))
                    except:
                        return (MoveGroupInfoLevel.WARN, clist[1] + " is unknown")
                if self._last_plan != None:
                    if len(self._last_plan.joint_trajectory.points) == 0 and len(self._last_plan.multi_dof_joint_trajectory.points) == 0:
                        self._last_plan = None
                dest_str = clist[1]
                if vals != None:
                    dest_str = "[" + " ".join([str(x) for x in vals]) + "]"
                if self._last_plan != None:
                    return (MoveGroupInfoLevel.SUCCESS, "Planned to " + dest_str)
                else:
                    return (MoveGroupInfoLevel.FAIL, "Failed while planning to " + dest_str)
            elif clist[0] == "pick":
                self._last_plan = None
                if g.pick(clist[1]):
                    return (MoveGroupInfoLevel.SUCCESS, "Picked object " + clist[1])
                else:
                    return (MoveGroupInfoLevel.FAIL, "Failed while trying to pick object " + clist[1])
            elif clist[0] == "place":
                self._last_plan = None
                if g.place(clist[1]):
                    return (MoveGroupInfoLevel.SUCCESS, "Placed object " + clist[1])
                else:
                    return (MoveGroupInfoLevel.FAIL, "Failed while trying to place object " + clist[1])
            elif clist[0] == "planner":
                g.set_planner_id(clist[1])
                return (MoveGroupInfoLevel.SUCCESS, "Planner is now " + clist[1])
            elif clist[0] == "record" or clist[0] == "rec":
                g.remember_joint_values(clist[1])
                return (MoveGroupInfoLevel.SUCCESS, "Remembered current joint values under the name " + clist[1])
            elif clist[0] == "rand" or clist[0] == "random":
                g.remember_joint_values(clist[1], g.get_random_joint_values())
                return (MoveGroupInfoLevel.SUCCESS, "Remembered random joint values under the name " + clist[1])
            elif clist[0] == "del" or clist[0] == "delete":
                g.forget_joint_values(clist[1])    
                return (MoveGroupInfoLevel.SUCCESS, "Forgot joint values under the name " + clist[1])
            elif clist[0] == "show":
                known = g.get_remembered_joint_values()
                if known.has_key(clist[1]):
                    return (MoveGroupInfoLevel.INFO, "[" + " ".join([str(x) for x in known[clist[1]]]) + "]")
                else:
                    return (MoveGroupInfoLevel.WARN, "Joint values for " + clist[1] + " are not known")
            elif clist[0] == "tol" or clist[0] == "tolerance":
                try:
                    g.set_goal_tolerance(float(clist[1]))
                    return (MoveGroupInfoLevel.SUCCESS, "OK")
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to parse tolerance value '" + clist[1] + "'")
            elif clist[0] == "time":
                try:
                    g.set_planning_time(float(clist[1]))
                    return (MoveGroupInfoLevel.SUCCESS, "OK")
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to parse planning duration value '" + clist[1] + "'")
            elif clist[0] == "constrain":
                try:
                    g.set_path_constraints(clist[1])
                    return (MoveGroupInfoLevel.SUCCESS, "OK")
                except:
                    if self._db_host != None:
                        return (MoveGroupInfoLevel.WARN, "Constraint " + clist[1] + " is not known.")
                    else:
                        return (MoveGroupInfoLevel.WARN, "Not connected to a database.")
            elif clist[0] == "wait":
                try:
                    time.sleep(float(clist[1]))
                    return (MoveGroupInfoLevel.SUCCESS, clist[1] + " seconds passed")
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to wait '" + clist[1] + "' seconds")
            elif clist[0] == "database":
                try:
                    g.set_constraints_database(clist[1], self._db_port)
                    self._db_host = clist[1]
                    return (MoveGroupInfoLevel.SUCCESS, "Connected to " + self._db_host + ":" + str(self._db_port))
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to connect to '" + clist[1] + ":" + str(self._db_port) + "'")
            else:
                return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")

        if len(clist) == 3:
            if clist[0] == "go" and self.GO_DIRS.has_key(clist[1]):
                self._last_plan = None
                try:
                    offset = float(clist[2])
                    (axis, factor) = self.GO_DIRS[clist[1]]
                    return self.command_go_offset(g, offset, factor, axis, clist[1])
                except MoveItCommanderException as e:
                    return (MoveGroupInfoLevel.WARN, "Going " + clist[1] + ": " + str(e))
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to parse distance '" + clist[2] + "'")
            elif clist[0] == "allow" and (clist[1] == "look" or clist[1] == "looking"):
                if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
                    g.allow_looking(True)
                else:
                    g.allow_looking(False)
                return (MoveGroupInfoLevel.DEBUG, "OK")
            elif clist[0] == "allow" and (clist[1] == "replan" or clist[1] == "replanning"):
                if clist[2] == "1" or clist[2] == "true" or clist[2] == "T" or clist[2] == "True":
                    g.allow_replanning(True)
                else:
                    g.allow_replanning(False)
                return (MoveGroupInfoLevel.DEBUG, "OK")
            elif clist[0] == "database":
                try:
                    g.set_constraints_database(clist[1], int(clist[2]))
                    self._db_host = clist[1]
                    self._db_port = int(clist[2])
                    return (MoveGroupInfoLevel.SUCCESS, "Connected to " + self._db_host + ":" + str(self._db_port))
                except:
                    self._db_host = None
                    return (MoveGroupInfoLevel.WARN, "Unable to connect to '" + clist[1] + ":" + clist[2] + "'")
        if len(clist) == 4:
            if clist[0] == "rotate":
                try:
                    g.set_rpy_target([float(x) for x in clist[1:]])
                    if g.go():
                        return (MoveGroupInfoLevel.SUCCESS, "Rotation complete")
                    else:
                        return (MoveGroupInfoLevel.FAIL, "Failed while rotating to " + " ".join(clist[1:]))
                except MoveItCommanderException as e:
                    return (MoveGroupInfoLevel.WARN, str(e))
                except:
                    return (MoveGroupInfoLevel.WARN, "Unable to parse X-Y-Z rotation  values '" + " ".join(clist[1:]) + "'")

        return (MoveGroupInfoLevel.WARN, "Unknown command: '" + cmd + "'")

    def command_show(self, g):
        known = g.get_remembered_joint_values()
        res = []
        for k in known.keys():
            res.append(k + " = [" + " ".join([str(x) for x in known[k]]) + "]")
        return (MoveGroupInfoLevel.INFO, "\n".join(res))
        
    def command_current(self, g):
        res = "joints = [" + " ".join([str(x) for x in g.get_current_joint_values()]) + "]"
        if len(g.get_end_effector_link()) > 0:
            res = res + "\n" + g.get_end_effector_link() + " pose = [\n" + str(g.get_current_pose()) + " ]"
            res = res + "\n" + g.get_end_effector_link() + " RPY = " + str(g.get_current_rpy())
        return (MoveGroupInfoLevel.INFO, res)

    def command_go_offset(self, g, offset, factor, dimension_index, direction_name):
        if g.has_end_effector_link():
            try:
                g.shift_pose_target(dimension_index, factor * offset)
                if g.go():
                    return (MoveGroupInfoLevel.SUCCESS, "Moved " + direction_name + " by " + str(offset) + " m")
                else:
                    return (MoveGroupInfoLevel.FAIL, "Failed while moving " + direction_name)
            except MoveItCommanderException as e:
                return (MoveGroupInfoLevel.WARN, str(e))
            except:
                return (MoveGroupInfoLevel.WARN, "Unable to process pose update")
        else:
            return (MoveGroupInfoLevel.WARN, "No known end effector. Cannot move " + direction_name)

    def resolve_command_alias(self, cmdorig):
        cmd = cmdorig.lower()
        if cmd == "which":
            return "id"
        if cmd == "groups":
            return "use"
        return cmdorig

    def get_help(self):
        res = []
        res.append("Known commands:")
        res.append("  help                show this screen")
        res.append("  id|which            display the name of the group that is operated on")
        res.append("  load [<file>]       load a set of interpreted commands from a file")
        res.append("  save [<file>]       save the currently known variables as a set of commands")
        res.append("  use <name>          switch to using the group named <name> (and load it if necessary)")
        res.append("  use|groups          show the group names that are already loaded")
        res.append("  vars                display the names of the known states")
        res.append("  show                display the names and values of the known states")
        res.append("  show <name>         display the value of a state")
        res.append("  record <name>       record the current joint values under the name <name>")
        res.append("  delete <name>       forget the joint values under the name <name>")
        res.append("  current             show the current state of the active group")
        res.append("  constrain <name>    use the constraint <name> as a path constraint")
        res.append("  constrain           clear path constraints")
        res.append("  eef                 print the name of the end effector attached to the current group")
        res.append("  go <name>           plan and execute a motion to the state <name>")
        res.append("  go <dir> <dx>|      plan and execute a motion in direction up|down|left|right|forward|backward for distance <dx>")
        res.append("  go rand             plan and execute a motion to a random state")
        res.append("  plan <name>         plan a motion to the state <name>")
        res.append("  execute             execute a previously computed motion plan")
        res.append("  rotate <x> <y> <z>  plan and execute a motion to a specified orientation (about the X,Y,Z axes)")
        res.append("  tolerance           show the tolerance for reaching the goal region")
        res.append("  tolerance <val>     set the tolerance for reaching the goal region")
        res.append("  wait <dt>           sleep for <dt> seconds")
        res.append("  x = y               assign the value of y to x")
        res.append("  x[idx] = val        assign a value to dimension idx of x")
        res.append("  x = [v1 v2...]      assign a vector of values to x")
        res.append("  trace <on|off>      enable/disable replanning or looking around")
        res.append("  ground              add a ground plane to the planning scene")
        res.append("  allow replanning <true|false>    enable/disable replanning")
        res.append("  allow looking <true|false>       enable/disable looking around")
        return "\n".join(res)

    def get_keywords(self):
        known_vars = []
        known_constr = []
        if self.get_active_group() != None:
            known_vars = self.get_active_group().get_remembered_joint_values().keys()
            known_constr = self.get_active_group().get_known_constraints()
        groups = self._robot.get_group_names()
        return {'go':['up', 'down', 'left', 'right', 'backward', 'forward', 'random'] + known_vars,
                'help':[],
                'record':known_vars,
                'show':known_vars,
                'wait':[],
                'delete':known_vars,
                'database': [],
                'current':[],
                'use':groups,
                'load':[],
                'save':[],
                'pick':[],
                'place':[],
                'plan':known_vars,
                'allow':['replanning', 'looking'],
                'constrain':known_constr,
                'vars':[],
                'joints':[],
                'tolerance':[],
                'time':[],
                'eef':[],
                'execute':[],
                'ground':[],
                'id':[]}