def table1ToTable2(width):
global numStacked
GripUtils.go_to_relative_multi(0, 0, 0.2, True, 0, 0, 0.2, True, "base_footprint", None)
goFromAToB("Table1", "Table2")
GripUtils.go_to_relative_multi(0, 0, -0.2+0.02*numStacked, True, 0, 0, -0.2+0.02*numStacked, True, "base_footprint", None)
numStacked += 1
GripUtils.open_grippers()
def table1ToTable2(width):
global numStacked
GripUtils.go_to_relative_multi(0, 0, 0.2, True, 0, 0, 0.2, True, "base_footprint", None)
goFromAToB("Table1", "Table2")
GripUtils.go_to_relative_multi(0, 0, -0.2+0.02*numStacked, True, 0, 0, -0.2+0.02*numStacked, True, "base_footprint", None)
numStacked += 1
GripUtils.open_grippers()
def executeDrag(self,gripPts,endPts,color='blue'):
"""
drag from gripPts to endPts
"""
startpoints = []
for vertex in gripPts:
pt_world = self.convert_to_world_frame(vertex)
now = rospy.Time.now()
self.listener.waitForTransform("base_footprint",pt_world.header.frame_id,now,rospy.Duration(10.0))
pt_transformed = self.listener.transformPoint("base_footprint",pt_world)
startpoints.append(pt_transformed)
#print "grabbed (x,y,z)",startpoints[0].point.x,startpoints[0].point.y,startpoints[0].point.z
if not GripUtils.grab_points(point_l=startpoints[0],roll_l=-pi/2,yaw_l=-pi/3,pitch_l=pi/4,x_offset_l=-0.01, z_offset_l=0.005,approach= True,
point_r=startpoints[1],roll_r=pi/2,yaw_r= pi/3,pitch_r=pi/4,x_offset_r=-0.01, z_offset_r=0.005):
print "failure"
return False
else:
print "grabbed (x,y,z)",startpoints[0].point.x,startpoints[0].point.y,startpoints[0].point.z
print "done"
midpoints = []
for vertex in endPts:
pt_world = self.dupl_PointStamped(vertex)#self.convert_to_world_frame(vertex)
midpoints.append(pt_world)
frame_l = frame_r = midpoints[0].header.frame_id
if not GripUtils.go_to_multi (x_l=midpoints[0].point.x,y_l=midpoints[0].point.y,z_l=midpoints[0].point.z,roll_l=-pi/2,yaw_l=-pi/2,pitch_l=pi/4,grip_l=True,frame_l=frame_l
,x_r=midpoints[1].point.x, y_r= midpoints[1].point.y ,z_r= midpoints[1].point.z ,roll_r=pi/2,yaw_r=pi/2,pitch_r=pi/4,grip_r=True,frame_r=frame_r,dur=5):
print "failure"
#return False
else:
print "dragging done"
if (color == 'blue'):
GripUtils.open_grippers()
return True
def execute(self, userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
center = bl
center.point.x = (bl.point.x + tl.point.x + br.point.x +
tr.point.x) / 4
center.point.y = (bl.point.y + tl.point.y + br.point.y +
tr.point.y) / 4
center.point.z = (bl.point.z + tl.point.z + br.point.z +
tr.point.z) / 4
#calculate width
rightTip = PointStamped()
rightTip.header.stamp = rospy.Time()
rightTip.frame_id = "r_tip_frame"
rFromL = self.listener.transformPoint("l_tip_frame", rightTip)
width = math.sqrt(rFromL.point.x**2 + rFromL.point.y**2 +
rFromL.point.z**2) #distance from right to left
#set point_l and point_r (remember to set z to the height of the table)
point_l = br
point_l.x = center.point.x
point_l.y = center.point.y + width / 2
point_l.z = TABLE_HEIGHT #is this wrong? what frame are bl, br, tl, and tr given in?
point_r = tl
point_r.x = center.point.x
point_r.y = center.point.y - width / 2
point_r.z = TABLE_HEIGHT #is this wrong? what frame are bl, br, tl, and tr given in?
if not GripUtils.go_to_pts(point_l,
pi / 2,
pi / 4,
-pi / 2,
True,
point_r,
-pi / 2,
pi / 4,
pi / 2,
True,
z_offset_l=0.4,
z_offset_r=0.4):
return FAILURE
numTowelsInStack = 0
try:
numTowelsInStack = userdata.stackNum
except KeyError:
pass
z_offset = -0.4 + 0.02 * numTowelsInStack
if not GripUtils.go_to_relative_multi(
0, 0, z_offset, True, 0, 0, z_offset, True, "base_footprint"):
return FAILURE
if not GripUtils.open_grippers():
return FAILURE
userdata.stackNum = numTowelsInStack + 1
return SUCCESS
def execute(self,userdata):
if not GripUtils.open_grippers():
return FAILURE
return SUCCESS
def executeBiGrip(self, fold_traj):
tilts = fold_traj.tilts
approach_points = fold_traj.approach_points
grip_points = fold_traj.grip_points
quarter_points = fold_traj.quarter_points
weight_points = fold_traj.weight_points
vertical_points = fold_traj.vertical_points
goal_points = fold_traj.goal_points
rolls = [pi / 2, pi / 2]
#pitches = [pi/4,pi/4]
pitches = [pi / 4, pi / 4]
if not fold_traj.red:
self.executeSmooth(self.last_traj)
self.fold_stance("b")
arms = self.getArms(fold_traj)
#Initially, both are in "approach" mode
(target1, target2) = self.gripPoints(point=approach_points[0],
grip=False,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 4,
preferred_roll=rolls[0],
point2=approach_points[1],
grip2=False,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 4,
preferred_roll2=rolls[1])
#pitches[0] = target1.pitch
#Do the first pickup and nothing with the other arm
self.gripPoints(point=grip_points[0],
grip=False,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 4,
preferred_roll=rolls[0],
grab=True)
StanceUtils.close_gripper(arms[0])
#Do the second pickup, with the first arm interpolated
first_dx = vertical_points[0].point.x - grip_points[0].point.x
first_dy = vertical_points[0].point.y - grip_points[0].point.y
first_dz = vertical_points[0].point.z - grip_points[0].point.z
second_dx = vertical_points[1].point.x - grip_points[1].point.x
second_dy = vertical_points[1].point.y - grip_points[1].point.y
second_dz = vertical_points[1].point.z - grip_points[1].point.z
interp_dx = first_dx - second_dx
interp_dy = first_dy - second_dy
interp_dz = first_dz - second_dz
interp_x = grip_points[0].point.x + interp_dx
interp_y = grip_points[0].point.y + interp_dy
interp_z = grip_points[0].point.z + interp_dz
interp_pt = PointStamped()
interp_pt.point.x = interp_x
interp_pt.point.y = interp_y
interp_pt.point.z = interp_z
interp_pt.header.frame_id = grip_points[0].header.frame_id
#Go to the second approach point
(target2, nothing) = self.gripPoints(point=interp_pt,
grip=True,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 4,
preferred_roll=rolls[0],
point2=approach_points[1],
arm2=arms[1],
grip2=False,
tilt2=tilts[1],
preferred_pitch2=pi / 4,
preferred_roll2=rolls[1])
#pitches[1] = target2.pitch
self.gripPoints(point=interp_pt,
grip=True,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 4,
preferred_roll=rolls[0],
point2=grip_points[1],
grip2=False,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 4,
preferred_roll2=rolls[1])
self.gripPoints(point=grip_points[1],
grip=False,
tilt=tilts[1],
arm=arms[1],
preferred_pitch=pi / 4,
preferred_roll=rolls[1],
grab=True)
StanceUtils.close_gripper(arms[1])
else:
arms = self.getArms(fold_traj)
#Bring both to middle
self.gripPoints(point=vertical_points[0],
grip=True,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 2,
preferred_roll=rolls[0],
point2=vertical_points[1],
grip2=True,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 2,
preferred_roll2=rolls[1]) #FIX pi/4 -> pi/2
#Set first one down
first_dx = goal_points[0].point.x - vertical_points[0].point.x
first_dy = goal_points[0].point.y - vertical_points[0].point.y
first_dz = goal_points[0].point.z - vertical_points[0].point.z
second_dx = goal_points[1].point.x - vertical_points[1].point.x
second_dy = goal_points[1].point.y - vertical_points[1].point.y
second_dz = goal_points[1].point.z - vertical_points[1].point.z
interp_dx = first_dx - second_dx
interp_dy = first_dy - second_dy
interp_dz = first_dz - second_dz
interp_x = goal_points[0].point.x - interp_dx
interp_y = goal_points[0].point.y - interp_dy
interp_z = goal_points[0].point.z - interp_dz
interp_pt = PointStamped()
interp_pt.point.x = interp_x
interp_pt.point.y = interp_y
interp_pt.point.z = interp_z
interp_pt.header.frame_id = grip_points[0].header.frame_id
self.gripPoints(point=interp_pt,
grip=True,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 2,
preferred_roll=rolls[0],
point2=goal_points[1],
grip2=True,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 2,
preferred_roll2=rolls[1])
#Finally, set last one down
self.gripPoints(point=goal_points[0],
grip=True,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 2,
preferred_roll=rolls[0],
point2=goal_points[1],
grip2=True,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 2,
preferred_roll2=rolls[1])
GripUtils.open_grippers()
goal_points[0].point.z += 0.03
goal_points[1].point.z += 0.03
self.gripPoints(point=goal_points[0],
grip=False,
tilt=tilts[0],
arm=arms[0],
preferred_pitch=pi / 2,
preferred_roll=rolls[0],
point2=goal_points[1],
grip2=False,
tilt2=tilts[1],
arm2=arms[1],
preferred_pitch2=pi / 2,
preferred_roll2=rolls[1])
self.last_traj = fold_traj
def executeBiGrip(self, fold_traj):
tilts = fold_traj.tilts
approach_points = fold_traj.approach_points
grip_points = fold_traj.grip_points
quarter_points = fold_traj.quarter_points
weight_points = fold_traj.weight_points
vertical_points = fold_traj.vertical_points
goal_points = fold_traj.goal_points
print "hi from bigrip"
rolls = [pi/2,pi/2]
#rolls = [-pi/2,-pi/2]
#rolls = [0,0]
pitches = [pi/4,pi/4]
#pitches = [0,0]
if not fold_traj.red:
self.executeSmooth(self.last_traj)
self.fold_stance("b")
arms = self.getArms(fold_traj)
#Initially, both are in "approach" mode
(target1,target2) = self.gripPoints(point=approach_points[0],grip=False,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/4,preferred_roll=rolls[0],
point2=approach_points[1],grip2=False,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/4,preferred_roll2=rolls[1])
#pitches[0] = target1.pitch
#Do the first pickup and nothing with the other arm
self.gripPoints(point=grip_points[0],grip=False,tilt=tilts[0],arm=arms[0],preferred_pitch=0
,preferred_roll=rolls[0],grab=True)
StanceUtils.close_gripper(arms[0])
#Do the second pickup, with the first arm interpolated
first_dx = vertical_points[0].point.x - grip_points[0].point.x
first_dy = vertical_points[0].point.y - grip_points[0].point.y
first_dz = vertical_points[0].point.z - grip_points[0].point.z
second_dx = vertical_points[1].point.x - grip_points[1].point.x
second_dy = vertical_points[1].point.y - grip_points[1].point.y
second_dz = vertical_points[1].point.z - grip_points[1].point.z
interp_dx = first_dx - second_dx
interp_dy = first_dy - second_dy
interp_dz = first_dz - second_dz
interp_x = grip_points[0].point.x + interp_dx
interp_y = grip_points[0].point.y + interp_dy
interp_z = grip_points[0].point.z + interp_dz
interp_pt = PointStamped()
interp_pt.point.x = interp_x
interp_pt.point.y = interp_y
interp_pt.point.z = interp_z
interp_pt.header.frame_id = grip_points[0].header.frame_id
#Go to the second approach point
(target2,nothing) = self.gripPoints(point=interp_pt,grip=True,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/4,preferred_roll=rolls[0],
point2=approach_points[1],arm2=arms[1],grip2=False,tilt2=tilts[1],preferred_pitch2=pi/4,preferred_roll2=rolls[1])
#pitches[1] = target2.pitch
self.gripPoints (point=interp_pt,grip=True,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/4,preferred_roll=rolls[0]
,point2=grip_points[1],grip2=False,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/4,preferred_roll2=rolls[1])
self.gripPoints(point=grip_points[1],grip=False,tilt=tilts[1],arm=arms[1],preferred_pitch=pi/4,preferred_roll=rolls[1],grab=True)
StanceUtils.close_gripper(arms[1])
else:
arms = self.getArms(fold_traj)
#Bring both to middle
self.gripPoints (point=vertical_points[0],grip=True,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/2,preferred_roll=rolls[0]
,point2=vertical_points[1],grip2=True,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/2,preferred_roll2=rolls[1]) #FIX pi/4 -> pi/2
#Set first one down
first_dx = goal_points[0].point.x - vertical_points[0].point.x
first_dy = goal_points[0].point.y - vertical_points[0].point.y
first_dz = goal_points[0].point.z - vertical_points[0].point.z
second_dx = goal_points[1].point.x - vertical_points[1].point.x
second_dy = goal_points[1].point.y - vertical_points[1].point.y
second_dz = goal_points[1].point.z - vertical_points[1].point.z
interp_dx = first_dx - second_dx
interp_dy = first_dy - second_dy
interp_dz = first_dz - second_dz
interp_x = goal_points[0].point.x - interp_dx
interp_y = goal_points[0].point.y - interp_dy
interp_z = goal_points[0].point.z - interp_dz
interp_pt = PointStamped()
interp_pt.point.x = interp_x
interp_pt.point.y = interp_y
interp_pt.point.z = interp_z
interp_pt.header.frame_id = grip_points[0].header.frame_id
self.gripPoints (point=interp_pt,grip=True,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/2,preferred_roll=rolls[0]
,point2=goal_points[1],grip2=True,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/2,preferred_roll2=rolls[1])
#Finally, set last one down
self.gripPoints(point=goal_points[0],grip=True,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/2,preferred_roll=rolls[0]
,point2=goal_points[1],grip2=True,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/2,preferred_roll2=rolls[1])
GripUtils.open_grippers()
goal_points[0].point.z += 0.03
goal_points[1].point.z += 0.03
self.gripPoints(point=goal_points[0],grip=False,tilt=tilts[0],arm=arms[0],preferred_pitch=pi/2,preferred_roll=rolls[0]
,point2=goal_points[1],grip2=False,tilt2=tilts[1],arm2=arms[1],preferred_pitch2=pi/2,preferred_roll2=rolls[1])
self.last_traj = fold_traj
def execute(self, userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
center = bl
center.point.x = (bl.point.x + tl.point.x + br.point.x + tr.point.x) / 4
center.point.y = (bl.point.y + tl.point.y + br.point.y + tr.point.y) / 4
center.point.z = (bl.point.z + tl.point.z + br.point.z + tr.point.z) / 4
# calculate width
rightTip = PointStamped()
rightTip.header.stamp = rospy.Time()
rightTip.frame_id = "r_tip_frame"
rFromL = self.listener.transformPoint("l_tip_frame", rightTip)
width = math.sqrt(
rFromL.point.x ** 2 + rFromL.point.y ** 2 + rFromL.point.z ** 2
) # distance from right to left
# set point_l and point_r (remember to set z to the height of the table)
point_l = br
point_l.x = center.point.x
point_l.y = center.point.y + width / 2
point_l.z = TABLE_HEIGHT # is this wrong? what frame are bl, br, tl, and tr given in?
point_r = tl
point_r.x = center.point.x
point_r.y = center.point.y - width / 2
point_r.z = TABLE_HEIGHT # is this wrong? what frame are bl, br, tl, and tr given in?
if not GripUtils.go_to_pts(
point_l,
pi / 2,
pi / 4,
-pi / 2,
True,
point_r,
-pi / 2,
pi / 4,
pi / 2,
True,
z_offset_l=0.4,
z_offset_r=0.4,
):
return FAILURE
numTowelsInStack = 0
try:
numTowelsInStack = userdata.stackNum
except KeyError:
pass
z_offset = -0.4 + 0.02 * numTowelsInStack
if not GripUtils.go_to_relative_multi(0, 0, z_offset, True, 0, 0, z_offset, True, "base_footprint"):
return FAILURE
if not GripUtils.open_grippers():
return FAILURE
userdata.stackNum = numTowelsInStack + 1
return SUCCESS
def execute(self, userdata):
if not GripUtils.open_grippers():
return FAILURE
return SUCCESS
