def grip_from_tote(self, itempose): #global
rospy.loginfo('gripper -- grip from tote')
x = itempose[0]
y = itempose[1]
z = itempose[2]
ax = itempose[3] #seibun
ay = itempose[4]
az = itempose[5]
if abs(ax - ay) < 0.2:
#stand
ax = 0
else:
az_ = math.atan2(ay, ax)
tote_z = -1160
z1 = -1160 + self.hand_params.arm_L_x + 300
z2 = -1160 + self.hand_params.arm_L_x + 0
arm_control_wrapper.move_right_arm_global(
l2a_([x, y, z1, -180, -0, az]), 'nut000', 'kakujiku',
'normal') #-180,0, then az
self.move_grip('2000')
arm_control_wrapper.move_right_arm_global(
l2a_([x, y, z2, -180, -0, az]), 'nut000', 'chokusen',
'normal') #-180,0, then az
self.move_grip('0')
arm_control_wrapper.move_right_arm_global(
l2a_([x, y, z1, -180, -0, az]), 'nut000', 'chokusen',
'normal') #-180,0, then az
arm_control_wrapper.move_right_arm_global(
l2a_([550, y, z1, -180, -0, az]), 'nut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_global(
l2a_([550, y, z1, 90, 0, 90]), 'fut000', 'kakujiku', 'normal')
def grip_dumbbell_vertical_stand(self, bin, item, item_pose):
rospy.loginfo('grip_dumbbell_vertical_stand')
self.set_bin_for_move(bin)
#raw_input("stop")
open_offset_y = 25
#rist pos
rx = item_pose[0] - self.hand_params.arm_L_x + self.hand_params.grip_offset_x +30
ry = item_pose[1] + 20
rz = 50 #item_pose[2] + 50 #kimeuchi
tsoffx = 100 #sliding pos
inoffx = 50 #tsukkomi
# start
rospy.loginfo('start grip vertical stand')
arm_control_wrapper.move_right_arm_local(bin, l2a_([-700,ry,rz,-90,-90,-90]), 'fut000', 'kakujiku', 'normal')
self.move_grip('2000', True)
arm_control_wrapper.move_right_arm_local(bin, l2a_([rx+inoffx,ry,rz,-90,-90,-90]), 'fut000', 'chokusen', 'normal')
self.move_grip('0', True)
arm_control_wrapper.move_right_arm_local(bin, l2a_([rx-tsoffx,ry,rz,-90,-90,-90]), 'fut000', 'kakujiku', 'normal')
self.prev_grip_type = 2
rospy.loginfo('finish grip vertical stand')
def grip_pencilcup_one(self, bin, item, res):
rospy.loginfo('gripper -- grip_pencilcup_one')
print 'res'
print res
rz = 90
xpre = -700
xinside = -250
cbin = False
if bin == 'bin_B' or bin == 'bin_E' or bin == 'bin_H' or bin == 'bin_K':
cbin = True
if abs(res[1]) < 30: #pixel
if cbin == True: #c bin
ypos = -85 #left
else:
ypos = -60 #right
else:
if cbin == True: #c bin
if res[1] > 0:
ypos = -23 #left
else:
ypos = -155 #right
else: #r or l bin
if res[1] > 0:
ypos = -23 #left
else:
ypos = -105 #right
print 'ypos'
print ypos
if bin == 'bin_J' or bin == 'bin_K' or bin == 'bin_L':
h_up = 250
else:
h_up = 0
arm_control_wrapper.move_right_arm_local(
bin, l2a_([xpre, ypos, rz + h_up, -90, -90, -90]), 'fut000',
'kakujiku', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([xpre, ypos, rz, -90, -90, -90]), 'fut000', 'chokusen',
'normal')
self.move_grip('5000')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([xinside, ypos, rz, -90, -90, -90]), 'fut000',
'chokusen', 'normal')
self.move_grip('3500')
rospy.loginfo('gripper cup1')
zup = 60
arm_control_wrapper.move_right_arm_local(
bin, l2a_([xinside, ypos, rz + zup, -90, -90, -90]), 'fut000',
'chokusen', 'normal')
rospy.loginfo('gripper cup2')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([xpre, ypos, rz + zup, -90, -90, -90]), 'fut000',
'chokusen', 'normal')
self.prev_grip_type = 10
rospy.loginfo('gripper -- finish grip_pencilcup_one')
def grip_dumbbell_vertical(self, bin, item, item_pose):
rospy.loginfo('gripper -- grip_dumbbell_vertical')
self.set_bin_for_move(bin)
#raw_input("stop")
rx = item_pose[0] - 500
ry = item_pose[1] + 20
rz = item_pose[2] + 40
arm_control_wrapper.move_right_arm_local(
bin, l2a_([-700, ry + 20, 190] + [180, -79, 0]), 'fut000',
'kakujiku', 'normal')
if item_pose[0] > 100: #150made hikidasu
#hikidasi
self.move_grip('3000')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([rx, ry + 20, 185] + [180, -79, 0]), 'fut000',
'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([rx, ry + 20, 157] + [180, -79, 0]), 'fut000',
'chokusen', 'normal')
self.move_grip('1000')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([-420, ry + 20, 185] + [180, -79, 0]), 'fut000',
'chokusen', 'normal')
self.move_grip('3000')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([-700, ry + 20, 185] + [180, -79, 0]), 'fut000',
'chokusen', 'normal') #ichido dasu
ix = 100
else:
ix = item_pose[0]
self.move_grip('2000')
hx = 410
hz = 430
hax = 180
hay = -50
haz = 0
poffx = 100
poffz = 80
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx - poffx, ry, hz + poffz] + [hax, hay, haz]),
'fut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx, ry, hz + poffz] + [hax, hay, haz]), 'fut000',
'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx, ry, hz] + [hax, hay, haz]), 'fut000',
'chokusen', 'normal')
self.move_grip('0')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx, ry, hz] + [hax, hay, haz]), 'fut000',
'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx, ry, hz + poffz] + [hax, hay, haz]), 'fut000',
'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([ix - hx - poffx, ry, hz + poffz] + [hax, hay, haz]),
'fut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_([-700, ry, hz + poffz] + [hax, hay, haz]), 'fut000',
'chokusen', 'normal')
self.prev_grip_type = 2
rospy.loginfo('gripper -- finish girp')
def grip_dumbbell_horizontal(self, bin, item, item_pose,
rl): #rl : 'right'= plate is right side
rospy.loginfo('gripper -- grip_dumbbell_horizontal')
self.set_bin_for_move(bin)
#raw_input("stop")
angle_start = [180, 0, 180]
angle_r = [98.5, 0, 90] #plate right
angle_lo = [-92, 0, -90] #plate left + open 2000
angle_lc = [-97, 0, -90] #plate left + close 0
angle_d = [90, -90, 90] #plate down
if rl == 'right':
angle_hori = angle_r
else:
angle_hori = angle_lo
#rist pos
horoffset = 0
if abs(item_pose[3]) > 0.35 and abs(item_pose[4]) > 0.35:
horoffset = 5 if item_pose[4] > 0 else -5
rx = item_pose[
0] - self.hand_params.arm_L_x + self.hand_params.grip_offset_x + 30 + 40
ry = item_pose[
1] + self.hand_params.grip_center_diff_y if rl == 'right' else -self.hand_params.grip_center_diff_y + horoffset
rz = item_pose[2]
#motion params
upz = 110
dwnangleoffz = 75 + 10 + 5
if bin == 'bin_J' or bin == 'bin_K' or bin == 'bin_L':
h_up_b = 250
else:
h_up_b = 102
h_up = 102
h_down = 102
tsoffx = 95 #sliding pos
pos_start = [-700, ry, h_up_b]
pos_grip_up = [rx - tsoffx, ry, h_up]
pos_grip_down = [rx - tsoffx, ry, h_down]
pos_grip_inside = [rx, ry, h_down - 30]
pos_grip_inside_up = [rx, ry, h_up + 50]
pos_start_up = [-700, ry, h_up + 50]
# start
rospy.loginfo('gripper -- start grip horizontal')
arm_control_wrapper.move_right_arm_local(bin,
l2a_(pos_start + angle_start),
'nut000', 'kakujiku',
'normal')
arm_control_wrapper.move_right_arm_local(bin,
l2a_(pos_start + angle_hori),
'fut000', 'kakujiku',
'normal')
self.move_grip('2000')
arm_control_wrapper.move_right_arm_local(
bin, l2a_(pos_grip_up + angle_hori), 'fut000', 'chokusen', 'fast')
arm_control_wrapper.move_right_arm_local(
bin, l2a_(pos_grip_down + angle_hori), 'fut000', 'chokusen',
'normal')
arm_control_wrapper.move_right_arm_local(
bin, l2a_(pos_grip_inside + angle_hori), 'fut000', 'chokusen',
'normal')
self.move_grip('0')
rospy.loginfo('gripper hori1')
arm_control_wrapper.move_right_arm_local(
bin, l2a_(pos_grip_inside_up + angle_hori), 'fut000', 'chokusen',
'normal')
corner_shift_y = 0
if bin == 'bin_A' or bin == 'bin_D' or bin == 'bin_G' or bin == 'bin_J':
if item_pose[1] > -130:
corner_shift_y = -35
if bin == 'bin_C' or bin == 'bin_F' or bin == 'bin_I' or bin == 'bin_L':
if item_pose[1] < -160:
corner_shift_y = 35
rospy.loginfo('gripper hori2')
sp = pos_grip_inside_up
sp[1] = sp[1] + corner_shift_y
arm_control_wrapper.move_right_arm_local(bin, l2a_(sp + angle_hori),
'fut000', 'chokusen',
'normal')
rospy.loginfo('gripper hori3')
sp = pos_start_up
sp[1] = sp[1] + corner_shift_y
arm_control_wrapper.move_right_arm_local(bin, l2a_(sp + angle_hori),
'fut000', 'chokusen',
'normal')
self.prev_grip_type = 1
rospy.loginfo('gripper -- finish grip horizontal')
def grip_dumbbell_horizontal(self, bin, item, item_pose, rl): #rl : 'right'= plate is right side
rospy.loginfo('grip_dumbbell_horizontal')
self.set_bin_for_move(bin)
#raw_input("stop")
angle_start = [180,0,180]
angle_r = [98.5,0,90] #plate right
angle_lo = [-92,0,-90] #plate left + open 2000
angle_lc = [-97,0,-90] #plate left + close 0
angle_d = [90,-90,90] #plate down
if rl == 'right':
angle_hori = angle_r
else:
angle_hori = angle_lo
#rist pos
rx = item_pose[0] - self.hand_params.arm_L_x + self.hand_params.grip_offset_x + 30+40
ry = item_pose[1] + self.hand_params.grip_center_diff_y if rl == 'right' else -self.hand_params.grip_center_diff_y
rz = item_pose[2]
#motion params
upz = 110
dwnangleoffz = 75 + 10 + 5
h_up = rz + upz + dwnangleoffz
h_down = 90#rz + dwnangleoffz + 5
if rx > 400:
h_down = 75
tsoffx = 130 #sliding pos
pos_start = [-700, ry, h_up]
pos_grip_up = [rx - tsoffx, ry, h_up]
pos_grip_down = [rx - tsoffx, ry, h_down]
pos_grip_inside = [rx, ry, h_down]
pos_grip_inside_up = [rx, ry, h_up]
# start
rospy.loginfo('start grip horizontal')
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_start+angle_start), 'nut000', 'kakujiku', 'normal')
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_start+angle_hori), 'fut000', 'kakujiku', 'normal')
self.move_grip('2000', False)
self.wait_grip()
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_grip_up+angle_hori), 'fut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_grip_down+angle_hori), 'fut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_grip_inside+angle_hori), 'fut000', 'chokusen', 'normal')
self.move_grip('0', True)
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_grip_inside_up+angle_hori), 'fut000', 'chokusen', 'normal')
arm_control_wrapper.move_right_arm_local(bin, l2a_(pos_start+angle_hori), 'fut000', 'chokusen', 'normal')
self.prev_grip_type = 1
rospy.loginfo('finish grip horizontal')