def scoop(objPose=[1.95, 0.25, 1.4],
objId=0,
binNum=3,
robotConfig=[0, 0, 0, 0, 0, 0],
shelfPosition=[1.91, 0, -0.50],
forceThreshold=1,
isExecute=False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ. This is a list, not a matrix
## objId: object identifier
## robotConfig: current time robot configuration. List of joint angles, in radians
## shelfPosition: shelf position in world frame. This is a list.
## force threshold: amount of force needed to say we have a grasp
## initialize listener rospy
## Copy pasta hasta la pasta
rospy.init_node('listener', anonymous=True)
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
##hasta la copy la patio
## stop pasta
# shelf variables
pretensionDelta = 0.00 #how far we push nail down
lipHeight = 0.035 #height of the lip of the bin
# plan store
plans = [] #list of plans generated each plan is an object
## get object position (world frame)
objPosition = getObjCOM(objPose, objId) #
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp. this is the XYZ roll-pitch-yaw of middle of the wrist with respect to link 6
l2 = 0.45 #how far tcp is away from link 6
tip_hand_transform = [
0, 0, l2, 0, 0, 0
] #something used for planning in drake, I don't get it
# to be updated when we have a hand design finalized
# broadcast frame attached to tcp
rospy.sleep(0.1) #.1 second delay so broadcasting works. syncing with ROS
#broadcasting transformation between tcp and link 6 on ROS
br.sendTransform(tuple(tip_hand_transform[0:3]),
tfm.quaternion_from_euler(*tip_hand_transform[3:6]),
rospy.Time.now(), 'tip', "link_6")
rospy.sleep(0.1)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6',
'map', listener)
#tcp position as a list
tcpPos = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0, 0.7071, 0, 0.7071]
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map',
listener)
binMouth = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
targetPosition = [
binMouth[0], objPosition[1], binMouth[2]
] #align the position of the tcp relative to the object before the scoop
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
#q0 is initial configuration
#target_tip_pos is where we want the tcp to be
#target_tip_ori is the tip orientation
#tip hand transform is see above
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success() #true if successful
if s:
print 'move to COM in y successful'
print 'tcp at:'
print(targetPosition)
plan.visualize() #display in arvix
plans.append(plan)
if isExecute:
plan.execute() #this executes the plan for reals
else:
print 'move to COM in y fail'
#after this point, it's just a sequence of points for the plan
qf = plan.q_traj[-1] #this is the final configuration of the object
# set second target, go over the lip of the bin
interiorLipBin = [0, 0.37,
0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map',
listener)
deltaX = np.add(-targetPosition[0], interiorLipBin.pose.position.x)
targetPosition = np.add(targetPosition, [deltaX, 0, 0])
q_initial = qf
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'move to inside the lip success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'move to inside the lip fail'
qf = plan.q_traj[-1]
## open gripper fully
openGripper()
## push spatula against base of bin (pre-tension)
binFloorHeight = coordinateFrameTransform([0, 0, binFloorHeight], 'shelf',
'map', listener)
q_initial = qf
deltaH = targetPosition[
2] - binFloorHeight.pose.position.z - pretensionDelta - lipHeight
targetPosition = np.add(targetPosition, [0, 0, -deltaH + wristWidth])
scoopOrientation = [0, 0.7071 + 0.11 / 2, 0, 0.7071 - 0.11 / 2]
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'push finger against floor of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'push finger against floor of bin fail'
qf = plan.q_traj[-1]
## perform bin length stroke to middle
q_initial = qf
targetPosition = np.add(targetPosition, [0.20, 0, -lipHeight])
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke middle of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'stroke middle of bin fail'
qf = plan.q_traj[-1]
plans.append(plan)
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [0.20, 0, 0])
scoopOrientation = [0, 0.7071 + 0.11 / 4, 0, 0.7071 - 0.11 / 4]
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke middle to end of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'stroke middle to end of bin fail'
qf = plan.q_traj[-1]
plans.append(plan)
## close gripper
closeGripper(forceThreshold)
## retreat
#pdb.set_trace() #TRACEEEEE
#this does each plan backwards so that the hand can leave the bin
#VERY IMPORTANT
for numOfPlan in range(0, len(plans)):
plans[len(plans) - numOfPlan - 1].visualizeBackward()
if isExecute:
for numOfPlan in range(0, len(plans)):
plans[len(plans) - numOfPlan - 1].executeBackward()
def flush_grasp(objPose = [1.95,1.25,1.4,0,0,0,1],
binNum=4,
objId = 0,
bin_contents = None,
robotConfig = None,
forceThreshold = 1,
isExecute = True,
withPause = False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
#tcp_offset_variables
#set robot speed
setSpeedByName(speedName = 'fast')
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
obj_pose_tfm_list=matrix_from_xyzquat(objPose[0:3], objPose[3:7])
obj_pose_tfm=np.array(obj_pose_tfm_list)
obj_pose_orient=obj_pose_tfm[0:3,0:3]
vertical_index=np.argmax(np.fabs(obj_pose_orient[2,0:3]))
object_dim=get_obj_dim(objId)
vertical_dim=object_dim[vertical_index]
s1=np.fabs(obj_pose_orient[1,0])*object_dim[0]
s2=np.fabs(obj_pose_orient[1,1])*object_dim[1]
s3=np.fabs(obj_pose_orient[1,2])*object_dim[2]
s4=np.fabs(obj_pose_orient[1,vertical_index])*object_dim[vertical_index]
horizontal_dim=s1+s2+s3-s4
hand_gap=0
gripper.close()
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) < 6:
continue
else:
break
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
vert_offset=.035
l2 = 0.43 #change this to edit where you think the cup is
l2 =.44
tip_hand_transform = [-vert_offset, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
# for i in range(5):
# rospy.sleep(0.1)
# br.sendTransform(tuple(tip_hand_transform[0:3]), tfm.quaternion_from_euler(*tip_hand_transform[3:6]), rospy.Time.now(), 'tip', "link_6")
# rospy.sleep(0.1)
pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth,bin_height,bin_width) = getBinMouth(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
object_depth=objPosition[0]-binMouth[0]
finger_length=.23
finger_width=.06
up_offset=.05
down_offset=0.005
cup_to_spatula=.08
hand_width=.15
max_gripper_width=.110
hand_top_offset=hand_width/2+vert_offset+.03
hand_bot_offset=hand_width/2-vert_offset+.015
side_offset=.03
binFloorHeight=binMouth[2]-bin_height/2
binCeilHeight=binMouth[2]+bin_height/2
min_height=binFloorHeight+lipHeight+finger_width/2+down_offset
desired_height=objPosition[2]
max_height=binCeilHeight-lipHeight-finger_width/2-down_offset
target_height=desired_height
if target_height<min_height:
target_height=min_height
if target_height>max_height:
target_height=max_height
bin_sideways=binMouth[1]
sidepos=objPosition[1]
horz_offset=0.015
#this determines bin sides based on bin input
binSmall=binMouth[1]-bin_width/2
binLarge=binMouth[1]+bin_width/2
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
binRight=binSmall
binLeft=binLarge
final_hand_gap=110
if sidepos>bin_sideways:
#this stuff is what happens if the object is to the left
print 'Object is to the left'
if binNum==0 or binNum==3 or binNum==6 or binNum==9:
print 'Object is in that weird rail corner'
return False
#turn the suction cup so that it is sideways left
#scoopOrientation = [.5,-.5,.5,-.5]
scoopOrientation = [0.5,.5,.5,.5]
#side_waypoint1=binRight+cup_to_spatula+.01
#side_waypoint2=sidepos+horizontal_dim-side_offset
#side_waypoint2=binLeft-horizontal_dim-horz_offset
side_waypoint1=binLeft-hand_top_offset+horz_offset
if sidepos-horizontal_dim<binLeft-final_hand_gap:
print 'this is not a flush object'
return False
else:
#this stuff is what happens if the object is to the right
print 'Object is to the right'
if binNum==2 or binNum==5 or binNum==8 or binNum==11:
print 'Object is in that weird rail corner'
return False
#turn the suction cup so that it is sideways right
#scoopOrientation = [0.5,.5,.5,.5]
scoopOrientation = [.5,-.5,.5,-.5]
#side_waypoint1=binLeft-cup_to_spatula-.01
#side_waypoint2=sidepos-horizontal_dim+side_offset
#side_waypoint2=binRight+horizontal_dim+horz_offset
side_waypoint1=binRight+hand_top_offset-horz_offset
if sidepos+horizontal_dim>binRight+final_hand_gap:
print 'this is not a flush object'
return False
targetPositionList=[
[binMouth[0]-.15, side_waypoint1, min_height],
[binMouth[0]+.04, side_waypoint1, min_height],
[binMouth[0]+.3, side_waypoint1, min_height],
[binMouth[0]+.3, side_waypoint1, min_height+.03],
[binMouth[0]-.1, side_waypoint1, min_height+.03]]
qf=q0
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
frontOfObjectPtOutOfBin = targetPosition
q_initial = qf
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print 'move to COM in y successful'
print 'tcp at:'
print(targetPosition)
#plan.visualize(hand_param=hand_gap)
plans.append(plan)
#if isExecute:
# pauseFunc(withPause)
# plan.execute()
else:
print 'move to COM in y fail'
return False
#print plan.q_traj
qf = plan.q_traj[-1]
print qf
for numOfPlan in range(0, 2):
if isExecute:
plans[numOfPlan].visualize(hand_param=final_hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
#time.sleep(2.5)
#suction.start()
final_hand_gap=110
gripper.set_force(20)
gripper.grasp(move_pos=final_hand_gap)
for numOfPlan in range(2, 3):
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
gripper.set_force(50)
rospy.sleep(0.1)
gripper.move(move_pos=0)
hand_gap=final_hand_gap
print hand_gap
## retreat
#for numOfPlan in range(0, len(plans)-1):
# plans[len(plans)-numOfPlan-1].visualizeBackward(hand_param=hand_gap)
# if isExecute:
# pauseFunc(withPause)
# plans[len(plans)-numOfPlan-1].executeBackward()
# suction.stop()
for numOfPlan in range(3, len(plans)):
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
return True
def suction_down(objPose = [1.95,1.25,1.4,0,0,0,1],
binNum=4,
objId = 0,
bin_contents = None,
robotConfig = None,
shelfPosition = [1.9019,0.00030975,-0.503],
forceThreshold = 1,
isExecute = True,
withPause = False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
obj_pose_tfm_list=matrix_from_xyzquat(objPose[0:3], objPose[3:7])
obj_pose_tfm=np.array(obj_pose_tfm_list)
obj_pose_orient=obj_pose_tfm[0:3,0:3]
vertical_index=np.argmax(np.fabs(obj_pose_orient[2,0:3]))
object_dim=get_obj_dim(objId)
object_dim=adjust_obj_dim(objId,object_dim)
vertical_dim=object_dim[vertical_index]
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) < 6:
continue
else:
break
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
vert_offset=.035
l2 =.44
tip_hand_transform = [-vert_offset, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0.7071, 0, 0.7071,0]
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth,bin_height,bin_width) = getBinMouth(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
finger_length=.23
finger_width=.08
up_offset=.05
down_offset=-.025
cup_to_spatula=.08
hand_width=.15
max_gripper_width=110
hand_top_offset=hand_width/2+vert_offset+.01
hand_bot_offset=hand_width/2-vert_offset
#this determines bin stuff based on bin input
binFloorHeight=binMouth[2]-bin_height/2
binCeilHeight=binMouth[2]+bin_height/2
#this determines bin sides based on object
(binSmall,binLarge)=getSides(objPosition[1],listener)
horz_offset=0
small_limit=binSmall+finger_width/2+horz_offset
large_limit=binLarge-finger_width/2-horz_offset
plans = []
plan = Plan()
if objPosition[1]<0:
link6_angle=(q0[5]-math.pi)
possible_start_config=[0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539, 0.09102420595, 3.33888627518-2*math.pi]
else:
link6_angle=(q0[5]+math.pi)
possible_start_config=[0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539, 0.09102420595, 3.33888627518]
#start_config=possible_start_config
start_config=[q0[0],q0[1],q0[2],q0[3],q0[4],link6_angle];
plan.q_traj=[q0,start_config]
plans.append(plan)
qf=plan.q_traj[-1]
def try_suction(target_x,target_y,qf,num_iter):
object_depth=target_x-binMouth[0]
sidepos=min(max(target_y,small_limit),large_limit)
if object_depth<finger_length:
print 'shallow suction'
h1=binCeilHeight-lipHeight-cup_to_spatula
h2=binFloorHeight+vertical_dim-down_offset
else:
print 'deep suction'
h1=binCeilHeight-lipHeight-hand_top_offset
h2a=binFloorHeight+vertical_dim-down_offset
h2b=binFloorHeight+hand_bot_offset+lipHeight
h2=max(h2a,h2b)
h2=max(h2,binFloorHeight)
if h2>h1:
print 'cant go in'
return False, False
final_hand_gap=max_gripper_width
targetPositionList=[
[binMouth[0]-.15, sidepos, h1],
[target_x, sidepos, h1],
[target_x, sidepos, h2]]
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
planner = IK(q0 = qf, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation,
tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
print 'Plan number:',tp_index+1
if s:
print 'Plan calculated successfully'
plans.append(plan)
else:
print 'Plan calulation failed'
return (False, False)
qf = plan.q_traj[-1]
#set robot speed
setSpeedByName(speedName = 'faster')
hand_gap=0
gripper.close()
for numOfPlan in range(0, len(plans)):
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
suction.start()
gripper.set_force(10)
gripper.grasp(move_pos=max_gripper_width)
gripper.close()
hand_gap=max_gripper_width
print hand_gap
## retreat
if num_iter==0:
plan_offset=2
else:
plan_offset=0
for numOfPlan in range(0, len(plans)-plan_offset):
plans[len(plans)-numOfPlan-1].visualizeBackward(hand_param=hand_gap)
if isExecute:
#backward_plan=plans[len(plans)-numOfPlan-1]
#q_first=backward_plan[0]
#q_last=backward_plan[len(backward_plan)-1]
#if(abs(q_first[5]-q_last[5])>math.pi/2):
# print 'something weird is going on with joint 5 rotation'
# break
pauseFunc(withPause)
plans[len(plans)-numOfPlan-1].executeBackward()
time.sleep(4)
my_return=suction.check() or suction_override(objId)
if my_return==True:
#set robot speed
setSpeedByName(speedName = 'fast')
return (True, True)
else:
suction.stop()
return (True, False)
target_offset=get_test_offset(objId)
target_x_list=[objPosition[0],objPosition[0]-target_offset,objPosition[0],objPosition[0],objPosition[0]+target_offset]
target_y_list=[objPosition[1],objPosition[1],objPosition[1]+target_offset,objPosition[1]-target_offset,objPosition[1]]
count=0
suction_succeed=False
overall_plan_succeed=False
for count in range(0,len(target_x_list)):
(plan_succeed,suction_succeed)=try_suction(target_x=target_x_list[count],target_y=target_y_list[count],qf=qf,num_iter=count)
if suction_succeed:
return (plan_succeed,suction_succeed)
if plan_succeed==True:
overall_plan_succeed=True
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg()
qf = APCrobotjoints.position
if len(qf) < 6:
continue
else:
break
print qf
plans=[]
count=count+1
return (overall_plan_succeed,suction_succeed)
def suction_side(objPose = [1.95,1.25,1.4,0,0,0,1],
binNum=4,
objId = 0,
bin_contents = None,
robotConfig = None,
shelfPosition = [1.9019,0.00030975,-0.503],
forceThreshold = 1,
isExecute = True,
withPause = False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
#rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
#tcp_offset_variables
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
obj_pose_tfm_list=matrix_from_xyzquat(objPose[0:3], objPose[3:7])
obj_pose_tfm=np.array(obj_pose_tfm_list)
obj_pose_orient=obj_pose_tfm[0:3,0:3]
vertical_index=np.argmax(np.fabs(obj_pose_orient[2,0:3]))
object_dim=get_obj_dim(objId)
vertical_dim=object_dim[vertical_index]
s1=np.fabs(obj_pose_orient[1,0])*object_dim[0]
s2=np.fabs(obj_pose_orient[1,1])*object_dim[1]
s3=np.fabs(obj_pose_orient[1,2])*object_dim[2]
s4=np.fabs(obj_pose_orient[1,vertical_index])*object_dim[vertical_index]
horizontal_dim=s1+s2+s3-s4
hand_gap=0
gripper.close()
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) < 6:
continue
else:
break
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
vert_offset=.035
l2 = 0.43 #change this to edit where you think the cup is
l2 =.44
tip_hand_transform = [-vert_offset, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
# for i in range(5):
# rospy.sleep(0.1)
# br.sendTransform(tuple(tip_hand_transform[0:3]), tfm.quaternion_from_euler(*tip_hand_transform[3:6]), rospy.Time.now(), 'tip', "link_6")
# rospy.sleep(0.1)
pubFrame(br, pose=tip_hand_transform, frame_id='target_pose', parent_frame_id='tip', npub=1)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth,bin_height,bin_width) = getBinMouth(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
object_depth=objPosition[0]-binMouth[0]
finger_length=.23
finger_width=.08
up_offset=.05
down_offset=.01
cup_to_spatula=.08
hand_width=.15
max_gripper_width=.110
hand_top_offset=hand_width/2+vert_offset+.015
hand_bot_offset=hand_width/2-vert_offset+.015
up_down_adjust=.025
side_offset=.03
binFloorHeight=binMouth[2]-bin_height/2
binCeilHeight=binMouth[2]+bin_height/2
min_height=binFloorHeight+lipHeight+finger_width/2+down_offset
desired_height=objPosition[2]
max_height=binCeilHeight-lipHeight-finger_width/2-down_offset-up_down_adjust
target_height=desired_height
if target_height<min_height:
target_height=min_height
if target_height>max_height:
target_height=max_height
bin_sideways=binMouth[1]
sidepos=objPosition[1]
horz_offset=0.01
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
(binSmall,binLarge)=getSides(binNum,listener)
binRight=binSmall
binLeft=binLarge
if sidepos>bin_sideways:
#this stuff is what happens if the object is to the left
print '[SucSide] Object is to the left'
#turn the suction cup so that it is sideways left
scoopOrientation = [.5,-.5,.5,-.5]
side_waypoint1a=binRight+cup_to_spatula+.01
side_waypoint1b=sidepos-horizontal_dim/2-2*horz_offset
if side_waypoint1a>side_waypoint1b:
side_waypoint1=side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1=side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos+horizontal_dim-side_offset
side_waypoint2=binLeft-horizontal_dim-horz_offset
if side_waypoint2<side_waypoint1:
if side_waypoint2<side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1=side_waypoint2
else:
#this stuff is what happens if the object is to the right
print '[SucSide] Object is to the right'
#turn the suction cup so that it is sideways right
scoopOrientation = [0.5,.5,.5,.5]
side_waypoint1a=binLeft-cup_to_spatula-.01
side_waypoint1b=sidepos+horizontal_dim/2+2*horz_offset
if side_waypoint1a<side_waypoint1b:
side_waypoint1=side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1=side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos-horizontal_dim+side_offset
side_waypoint2=binRight+horizontal_dim+horz_offset
if side_waypoint2>side_waypoint1:
if side_waypoint2>side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1=side_waypoint2
targetPositionList=[
[binMouth[0]-.15, side_waypoint1, target_height+up_down_adjust],
[objPosition[0], side_waypoint1, target_height+up_down_adjust],
[objPosition[0], side_waypoint2, target_height+up_down_adjust],
[objPosition[0], side_waypoint2, target_height]]
qf=q0
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
frontOfObjectPtOutOfBin = targetPosition
q_initial = qf
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[SucSide] move to COM in y successful'
print '[SucSide] tcp at:', targetPosition
plan.visualize(hand_param=hand_gap)
plans.append(plan)
#if isExecute:
# pauseFunc(withPause)
# plan.execute()
else:
print '[SucSide] move to COM in y fail'
return (False, False)
#print plan.q_traj
qf = plan.q_traj[-1]
print '[SucSide] qf:', qf
#set robot speed
setSpeedByName(speedName = 'faster')
for numOfPlan in range(0, len(plans)):
if numOfPlan >=len(plans)-2:
setSpeedByName(speedName = 'fast')
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
suction.start()
final_hand_gap=110
gripper.set_force(12)
gripper.grasp(move_pos=final_hand_gap)
gripper.close()
hand_gap=final_hand_gap
print '[SucSide] hand_gap:', hand_gap
continue_suction=suction_items(objId)
if continue_suction:
print '[SucSide] object is of type that suction side will try to remove from bin'
else:
print '[SucSide] object is to big to remove from bin'
## retreat
for numOfPlan in range(0, len(plans)-1):
plans[len(plans)-numOfPlan-1].visualizeBackward(hand_param=hand_gap)
if isExecute:
pauseFunc(withPause)
plans[len(plans)-numOfPlan-1].executeBackward()
if not continue_suction:
suction.stop()
rospy.sleep(3)
print '[SucSide] Is suction in contact still? Lets see:'
print '[SucSide] suction.check(): ', suction.check()
print '[SucSide] suction.check(): ', suction.check()
if suction.check():
#set robot speed
print '[SucSide] got item. continuing. suction'
setSpeedByName(speedName = 'fast')
return (True, True)
else:
print '[SucSide] did not get item. Stopping suction'
suction.stop()
return (True, False)
def scoop(objPose=[1.95, 0.25, 1.4, 0, 0, 0, 1],
binNum=3,
objId=0,
bin_contents=None,
robotConfig=None,
shelfPosition=[1.9116, -0.012498, -0.4971],
forceThreshold=1,
isExecute=True,
withPause=True,
withVisualize=False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
setSpeedByName(speedName='faster')
joint_topic = '/joint_states'
planSuccess = True
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
if binNum < 3:
pretensionDelta = 0.03
if binNum > 2 and binNum < 6:
pretensionDelta = 0.009
if binNum > 5 and binNum < 9:
pretensionDelta = 0.009
if binNum > 8:
pretensionDelta = 0.03
#pretensionDelta = 0.00
lipHeight = 0.025
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
tcpXOffset = 0.018
l2 = 0.47
tip_hand_transform = [
tcpXOffset, 0, l2, 0, 0, 0
] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br,
pose=tip_hand_transform,
frame_id='tip',
parent_frame_id='link_6',
npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6',
'map', listener)
tcpPos = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0, 0.7071, 0, 0.7071]
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map',
listener)
binMouth = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
verticalOffsetLip = 0.00 # we need this so we don't damage the sucker
wH = 0.075
targetPosition = [
binMouth[0], objPosition[1],
binMouth[2] + tcpXOffset - wH + lipHeight - pretensionDelta
]
## check to make sure we are inside the bin and not colliding with sides:
minHeight, maxHeight, leftWall, rightWall = BinBBDims(binNum)
leftWall = coordinateFrameTransform([leftWall, 0, 0], 'shelf', 'map',
listener)
leftWall = leftWall.pose.position.y
rightWall = coordinateFrameTransform([rightWall, 0, 0], 'shelf', 'map',
listener)
rightWall = rightWall.pose.position.y
interiorLipBin = [0, 0.40,
0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map',
listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.20
sStroke = 0.19
binLengthSafety = 0.015
if targetPosition[1] + 0.04 > leftWall:
interiorLipBin = [0, 0.36,
0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf',
'map', listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.17
if targetPosition[1] - 0.04 < leftWall:
interiorLipBin = [0, 0.36,
0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf',
'map', listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.17
if targetPosition[1] + binLengthSafety > leftWall:
targetPosition[1] = leftWall
if targetPosition[1] - binLengthSafety < rightWall:
targetPosition[1] = rightWall
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 0
if s:
print '[Scoop] move to COM in y successful'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Scoop] move to COM in y fail'
return (False, False)
qf = plan.q_traj[-1]
## push spatula against base of bin (pre-tension)
binFloorHeight = coordinateFrameTransform([0, 0, binFloorHeight], 'shelf',
'map', listener)
q_initial = qf
percentTilt = 0.1 # 10 percent
scoopOrientation = [
0, 0.7071 * (1 + percentTilt), 0, 0.7071 * (1 - percentTilt)
]
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 1
if s:
print '[Scoop] reorient the hand'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] reorient the hand fail'
return (False, False)
qf = plan.q_traj[-1]
# set second target, go over the lip of the bin
deltaX = np.add(-targetPosition[0], stepOverLip)
targetPosition = np.add(targetPosition, [deltaX, 0, 0])
q_initial = qf
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 2
if s:
print '[Scoop] move to inside the lip success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] move to inside the lip fail'
return (False, False)
qf = plan.q_traj[-1]
## perform bin length stroke to middle
q_initial = qf
targetPosition = np.add(targetPosition, [fStroke, 0, -lipHeight])
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 3
if s:
print '[Scoop] stroke middle of bin success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] stroke middle of bin fail'
return (False, False)
qf = plan.q_traj[-1]
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [sStroke, 0, 0])
scoopOrientation = [0, 0.7071 + 0.11 / 4, 0, 0.7071 - 0.11 / 4]
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 4
if s:
print '[Scoop] stroke middle to end of bin success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] stroke middle to end of bin fail'
return (False, False)
qf = plan.q_traj[-1]
## close gripper
#~ closeGripper(forceThreshold)
closeGripper(forceThreshold)
execution_possible = True
## execute
isNotInCollision = True
for numOfPlan in range(0, len(plans)):
plans[numOfPlan].visualize()
if isExecute:
if numOfPlan == 3:
openGripper()
pauseFunc(withPause)
isNotInCollision = plans[numOfPlan].execute()
if numOfPlan == 3:
closeGripper(forceThreshold)
plans[numOfPlan].executeBackward()
openGripper()
plans[numOfPlan].execute()
if not isNotInCollision:
planFailNum = numOfPlan
print '[Scoop] collision detected'
break
if numOfPlan == 4:
closeGripper(forceThreshold)
rospy.sleep(0.5)
while True:
APCrobotjoints = ROS_Wait_For_Msg(
joint_topic, sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) == 2 or len(q0) == 8:
q0 = q0[-2:] # get last 2
break
gripper_q0 = np.fabs(q0)
drop_thick = 0.000001 # finger gap =0.002m = .5 mm
if gripper_q0[0] < drop_thick:
print '[Scoop] ***************'
print '[Scoop] Could not grasp'
print '[Scoop] ***************'
execution_possible = False
else:
print '[Scoop] ***************'
print '[Scoop] Grasp Successful'
print '[Scoop] ***************'
execution_possible = True
if not isNotInCollision:
for numOfPlan in range(0, len(planFailNum)):
plans[planFailNum - numOfPlan].executeBackward()
## retreat
for numOfPlan in range(0, len(plans)):
if withVisualize:
plans[len(plans) - numOfPlan - 1].visualizeBackward()
if isExecute:
pauseFunc(withPause)
plans[len(plans) - numOfPlan - 1].executeBackward()
return True, execution_possible
def scoop(objPose = [1.95,0.25,1.4], objId = 0, binNum=3, robotConfig=[0,0,0,0,0,0], shelfPosition = [1.91,0,-0.50], forceThreshold = 1, isExecute = False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ. This is a list, not a matrix
## objId: object identifier
## robotConfig: current time robot configuration. List of joint angles, in radians
## shelfPosition: shelf position in world frame. This is a list.
## force threshold: amount of force needed to say we have a grasp
## initialize listener rospy
## Copy pasta hasta la pasta
rospy.init_node('listener', anonymous=True)
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
##hasta la copy la patio
## stop pasta
# shelf variables
pretensionDelta = 0.00 #how far we push nail down
lipHeight = 0.035 #height of the lip of the bin
# plan store
plans = [] #list of plans generated each plan is an object
## get object position (world frame)
objPosition = getObjCOM(objPose, objId) #
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp. this is the XYZ roll-pitch-yaw of middle of the wrist with respect to link 6
l2 = 0.45 #how far tcp is away from link 6
tip_hand_transform = [0, 0, l2, 0,0,0] #something used for planning in drake, I don't get it
# to be updated when we have a hand design finalized
# broadcast frame attached to tcp
rospy.sleep(0.1) #.1 second delay so broadcasting works. syncing with ROS
#broadcasting transformation between tcp and link 6 on ROS
br.sendTransform(tuple(tip_hand_transform[0:3]), tfm.quaternion_from_euler(*tip_hand_transform[3:6]), rospy.Time.now(), 'tip', "link_6")
rospy.sleep(0.1)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
#tcp position as a list
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0, 0.7071, 0, 0.7071]
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
targetPosition = [binMouth[0], objPosition[1], binMouth[2]] #align the position of the tcp relative to the object before the scoop
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
#q0 is initial configuration
#target_tip_pos is where we want the tcp to be
#target_tip_ori is the tip orientation
#tip hand transform is see above
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success() #true if successful
if s:
print 'move to COM in y successful'
print 'tcp at:'
print(targetPosition)
plan.visualize() #display in arvix
plans.append(plan)
if isExecute:
plan.execute() #this executes the plan for reals
else:
print 'move to COM in y fail'
#after this point, it's just a sequence of points for the plan
qf = plan.q_traj[-1] #this is the final configuration of the object
# set second target, go over the lip of the bin
interiorLipBin = [0,0.37,0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map', listener)
deltaX = np.add(-targetPosition[0],interiorLipBin.pose.position.x)
targetPosition = np.add(targetPosition, [deltaX,0,0])
q_initial = qf
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'move to inside the lip success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'move to inside the lip fail'
qf = plan.q_traj[-1]
## open gripper fully
openGripper()
## push spatula against base of bin (pre-tension)
binFloorHeight = coordinateFrameTransform([0,0,binFloorHeight], 'shelf', 'map', listener)
q_initial = qf
deltaH = targetPosition[2] - binFloorHeight.pose.position.z - pretensionDelta - lipHeight
targetPosition = np.add(targetPosition, [0,0,-deltaH+wristWidth])
scoopOrientation = [0, 0.7071+0.11/2, 0, 0.7071-0.11/2]
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'push finger against floor of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'push finger against floor of bin fail'
qf = plan.q_traj[-1]
## perform bin length stroke to middle
q_initial = qf
targetPosition = np.add(targetPosition, [0.20,0,-lipHeight])
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke middle of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'stroke middle of bin fail'
qf = plan.q_traj[-1]
plans.append(plan)
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [0.20,0,0])
scoopOrientation = [0, 0.7071+0.11/4, 0, 0.7071-0.11/4]
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke middle to end of bin success'
print 'tcp at:'
print(targetPosition)
plans.append(plan)
plan.visualize()
if isExecute:
plan.execute()
else:
print 'stroke middle to end of bin fail'
qf = plan.q_traj[-1]
plans.append(plan)
## close gripper
closeGripper(forceThreshold)
## retreat
#pdb.set_trace() #TRACEEEEE
#this does each plan backwards so that the hand can leave the bin
#VERY IMPORTANT
for numOfPlan in range(0, len(plans)):
plans[len(plans)-numOfPlan-1].visualizeBackward()
if isExecute:
for numOfPlan in range(0, len(plans)):
plans[len(plans)-numOfPlan-1].executeBackward()
def push(objPose = [1.55,0.25,1.1,0,0,0,0],
binNum=0,
objId = 0,
bin_contents = None,
robotConfig=None,
shelfPosition = [1.9116,-0.012498,-0.4971],
forceThreshold = 1,
binDepthReach = 0.40,
isExecute = True,
withPause = False):
## objPose: world position and orientation frame attached to com of object
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
## initialize listener rospy
rospy.init_node('listener', anonymous=True)
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
joint_topic = '/joint_states'
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
l2 = 0.47
tip_hand_transform = [0, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
tcpPosHome = tcpPos
# set topple orientation (rotate wrist)
toppleOrientation = [0.0, 0.7071, 0.0, 0.7071] #[0, 0.7071, 0, 0.7071]
# if gripper open close it
closeGripper(forceThreshold)
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binFloorHeight = coordinateFrameTransform([0,0,binFloorHeight], 'shelf', 'map', listener)
binFloorHeight = binFloorHeight.pose.position.z
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
# set offset past COM
# offset is 1/4 of object's height + half finger width
# note: (COM height - bin floor height) is half of the object's height
#pdb.set_trace() #TRACEEEEE
fingerWidth = 0.06
offsetFinger = fingerWidth/2
targetHeight = (objPosition[2] - binFloorHeight)*2
effect = 'slide'
if effect == 'topple':
offsetEffect = targetHeight*3/4
elif effect == 'slide':
offsetEffect = targetHeight*1/4
else:
offsetEffect = targetHeight*1/4 #Default is slide, made three cases for flexibility
offset = offsetFinger + offsetEffect
targetPosition = [binMouth[0], objPosition[1], binFloorHeight+offset]
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s and effect == 'topple':
print 'move to COM in y and above COM in z successful'
elif s and effect == 'slide':
print 'move to COM in y and below COM in z successful'
else:
print 'move to COM in y and below COM in z successful' #Default is slide, made three cases for flexibility
if s:
print 'tcp at:'
print(targetPosition)
plan.visualize()
if isExecute:
pauseFunc(withPause)
plan.execute()
else:
print 'move to COM in y and above COM in z fail'
qf = plan.q_traj[-1]
# set second target, go over the lip of the bin
#interiorLipBin = [0,0.39,0] # define over the lip distance in shelf frame
#interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map', listener)
#deltaX = np.add(-targetPosition[0],interiorLipBin.pose.position.x)
#targetPosition = np.add(targetPosition, [deltaX,0,0])
#q_initial = qf
#planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
#plan = planner.plan()
#s = plan.success()
#if s:
# print 'move to inside the lip success'
# print 'tcp at:'
# print(targetPosition)
# plan.visualize()
# if isExecute:
# pauseFunc(withPause)
# plan.execute()
#else:
# print 'move to inside the lip fail'
#qf = plan.q_traj[-1]
## close gripper fully (Do we wish to topple with gripper slightly open?)
closeGripper(forceThreshold)
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [binDepthReach,0,0])
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke to end of bin success'
print 'tcp at:'
print(targetPosition)
plan.visualize()
if isExecute:
pauseFunc(withPause)
plan.execute()
else:
print 'stroke to end of bin fail'
qf = plan.q_traj[-1]
## close gripper
closeGripper(forceThreshold)
## retreat
# go back along stroke
q_initial = qf
targetPosition = frontOfObjectPtOutOfBin
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print 'stroke to bin start success'
print 'tcp at:'
print(targetPosition)
plan.visualize()
if isExecute:
pauseFunc(withPause)
plan.execute()
else:
print 'stroke to bin start fail'
qf = plan.q_traj[-1]
# go back to initial tcp position
q_initial = qf
targetPosition = frontOfObjectPtOutOfBin
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print 'return to mouth success'
plan.visualize()
if isExecute:
pauseFunc(withPause)
plan.execute()
else:
print 'return to mouth fail'
return False
def suction_down(objPose=[1.95, 1.25, 1.4, 0, 0, 0, 1],
binNum=4,
objId=0,
bin_contents=None,
robotConfig=None,
shelfPosition=[1.9019, 0.00030975, -0.503],
forceThreshold=1,
isExecute=True,
withPause=True):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
obj_pose_tfm_list = matrix_from_xyzquat(objPose[0:3], objPose[3:7])
obj_pose_tfm = np.array(obj_pose_tfm_list)
obj_pose_orient = obj_pose_tfm[0:3, 0:3]
vertical_index = np.argmax(np.fabs(obj_pose_orient[2, 0:3]))
object_dim = get_obj_dim(objId)
object_dim = adjust_obj_dim(objId, object_dim)
vertical_dim = object_dim[vertical_index]
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic,
sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) >= 6:
q0 = q0[
0:
6] # take first 6, because in virtual environmet there will be additional 2 hand joint
break
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
vert_offset = .035
l2 = .44
tip_hand_transform = [
-vert_offset, 0, l2, 0, 0, 0
] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br,
pose=tip_hand_transform,
frame_id='tip',
parent_frame_id='link_6',
npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6',
'map', listener)
tcpPos = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0.7071, 0, 0.7071, 0]
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, bin_height, bin_width) = getBinMouth(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map',
listener)
binMouth = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
hand_gap = 0
gripper.close()
finger_length = .23
finger_width = .08
up_offset = .05
down_offset = -.025
cup_to_spatula = .08
hand_width = .15
max_gripper_width = 110
hand_top_offset = hand_width / 2 + vert_offset + .01
hand_bot_offset = hand_width / 2 - vert_offset
#this determines bin stuff based on bin input
binFloorHeight = binMouth[2] - bin_height / 2
binCeilHeight = binMouth[2] + bin_height / 2
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
(binSmall, binLarge) = getSides(binNum, listener)
horz_offset = 0
small_limit = binSmall + finger_width / 2 + horz_offset
large_limit = binLarge - finger_width / 2 - horz_offset
plans = []
plan = Plan()
if objPosition[1] < 0:
link6_angle = (q0[5] - math.pi)
possible_start_config = [
0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
0.09102420595, 3.33888627518 - 2 * math.pi
]
else:
link6_angle = (q0[5] + math.pi)
possible_start_config = [
0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
0.09102420595, 3.33888627518
]
#start_config=possible_start_config
start_config = [q0[0], q0[1], q0[2], q0[3], q0[4], link6_angle]
planner = IKJoint(q0=q0, target_joint_pos=start_config)
plan = planner.plan()
#plan.q_traj=[q0,start_config]
plans.append(plan)
qf = plan.q_traj[-1]
def get_motion_param(target_x, target_y):
object_depth = target_x - binMouth[0]
sidepos = min(max(target_y, small_limit), large_limit)
if object_depth < finger_length:
print '[SucDown] shallow suction'
h1 = binCeilHeight - lipHeight - cup_to_spatula
h2 = binFloorHeight + vertical_dim - down_offset
else:
print '[SucDown] deep suction, quitting'
h1 = binCeilHeight - lipHeight - hand_top_offset
h2a = binFloorHeight + vertical_dim - down_offset
h2b = binFloorHeight + hand_bot_offset + lipHeight
h2 = max(h2a, h2b)
return False, h1, h2, sidepos
h2 = max(h2, binFloorHeight)
if h2 > h1:
print '[SucDown] cant go in'
return False, h1, h2, sidepos
return True, h1, h2, sidepos
def generate_plan(targetPositionList, plans, qf):
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
planner = IK(q0=qf,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
print '[SucDown] Plan number:', tp_index + 1
if s:
print '[SucDown] Plan calculated successfully'
plans.append(plan)
else:
print '[SucDown] Plan calulation failed'
return (False, plans, qf)
qf = plan.q_traj[-1]
return (True, plans, qf)
def execute_forward(plans, hand_gap):
for numOfPlan in range(0, len(plans)):
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
def execute_backward(plans, hand_gap, plan_offset):
for numOfPlan in range(0, len(plans) - plan_offset):
plans[len(plans) - numOfPlan -
1].visualizeBackward(hand_param=hand_gap)
if isExecute:
pauseFunc(withPause)
plans[len(plans) - numOfPlan - 1].executeBackward()
def try_suction(target_x, target_y, plans, qf, num_iter):
(continue_val, h1, h2, sidepos) = get_motion_param(target_x, target_y)
if continue_val == False:
return False, False
final_hand_gap = max_gripper_width
targetPositionList = [[target_x, sidepos, h1], [target_x, sidepos, h2]]
(continue_val, plans,
throwaway) = generate_plan(targetPositionList, plans, qf)
if continue_val == False:
return False, False
#set robot speed
setSpeedByName(speedName='faster')
hand_gap = 0
gripper.close()
execute_forward(plans, hand_gap)
#suction.start()
gripper.set_force(10)
gripper.grasp(move_pos=max_gripper_width)
gripper.close()
hand_gap = max_gripper_width
print '[SucDown] hand_gap:', hand_gap
execute_backward(plans, hand_gap, 0)
#time.sleep(4)
my_return = suction.check() or suction_override(objId)
if my_return == True:
#set robot speed
setSpeedByName(speedName='fast')
return (True, True)
else:
#suction.stop()
return (True, False)
target_offset = get_test_offset(objId)
target_x_list = [
objPosition[0], objPosition[0] - target_offset, objPosition[0],
objPosition[0], objPosition[0] + target_offset
]
target_y_list = [
objPosition[1], objPosition[1], objPosition[1] + target_offset,
objPosition[1] - target_offset, objPosition[1]
]
count = 0
suction_succeed = False
overall_plan_succeed = False
(continue_val, h1, h2,
sidepos) = get_motion_param(target_x=target_x_list[0],
target_y=target_y_list[0])
if continue_val == False:
return False, False
#targetPositionList=[
#[binMouth[0]-.15, sidepos, h1],
#[binMouth[0]-.15, sidepos, h1],
#[target_x_list[0], sidepos, h1]]
targetPositionListA = [[binMouth[0] - .15, sidepos, h1],
[binMouth[0] - .15, sidepos, h1]]
targetPositionListB = [[target_x_list[0], sidepos, h1]]
(continue_val, plans1, qf) = generate_plan(targetPositionListA, plans, qf)
if continue_val == False:
return False, False
(continue_val, plans2, qf) = generate_plan(targetPositionListB, [], qf)
if continue_val == False:
return False, False
setSpeedByName(speedName='yolo')
execute_forward(plans1, 0)
setSpeedByName(speedName='faster')
execute_forward(plans2, 0)
suction.start()
#time.sleep(6)
#plans_store=plans
plans = []
for count in range(0, len(target_x_list)):
(plan_succeed,
suction_succeed) = try_suction(target_x=target_x_list[count],
target_y=target_y_list[count],
plans=plans,
qf=qf,
num_iter=count)
if suction_succeed:
overall_plan_succeed = True
break
#return (plan_succeed,suction_succeed)
if plan_succeed == True:
overall_plan_succeed = True
while True:
APCrobotjoints = ROS_Wait_For_Msg(
joint_topic, sensor_msgs.msg.JointState).getmsg()
qf = APCrobotjoints.position
if len(qf) < 6:
continue
else:
break
print '[SucDown] qf:', hand_gap
plans = []
count = count + 1
execute_backward(plans2, 0, 0)
if not suction_succeed:
suction.stop()
return (overall_plan_succeed, suction_succeed)
def topple(objPose = [1.55,0.25,1.1,0,0,0,0],
binNum=0,
objId = 0,
bin_contents = None,
robotConfig = None,
shelfPosition = [1.9116,-0.012498,-0.4971],
forceThreshold = 1,
binDepthReach = 0.40,
isExecute = True,
withPause = True,
withVisualize = True):
## objPose: world position and orientation frame attached to com of object
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
planSuccess = True
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
setSpeedByName(speedName = 'faster')
joint_topic = '/joint_states'
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
temp_bias = 0.00 # TO-DO remove this:
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
l1 = 0.018
l2 = 0.470
tip_hand_transform = [l1, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
tcpPosHome = tcpPos
toppleOrientation = [0.0, 0.7071, 0.0, 0.7071] # set topple orientation (rotate wrist)
closeGripper(forceThreshold) # if gripper open close it
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binFloorHeight = coordinateFrameTransform([0,0,binFloorHeight], 'shelf', 'map', listener)
binFloorHeight = binFloorHeight.pose.position.z
binMouth = [pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
# set offset past COM
# offset is 1/4 of object's height + half finger width
# note: (COM height - bin floor height) is half of the object's height
fingerWidth = 0.06
offsetFinger = fingerWidth/2
targetHeight = (objPosition[2] - binFloorHeight)*2 # to be changed to be from an object
offsetEffect = targetHeight*3/4
offset = offsetEffect
vertToppleHeight = binFloorHeight+offset-temp_bias
## bounding box constraint
minHeight, maxHeight, leftWall, rightWall = BinBBDims(binNum) # shelf frame
# trying to topple an object that is too tall?
maxHeight = coordinateFrameTransform([0,0,maxHeight], 'shelf', 'map', listener)
#pdb.set_trace()
targetPosition = [binMouth[0], objPosition[1], vertToppleHeight]
binDepthReach = 0.3
binHeightSaftey = 0.01
if vertToppleHeight + binHeightSaftey > maxHeight.pose.position.z:
fingerLength = 0.26
binDepth = 0.42
binDepthReach = binDepth - fingerLength + 0.08
toppleHeightWhenTall = binMouth[2] + 0.03
targetPosition = [binMouth[0], objPosition[1], toppleHeightWhenTall]
print '[Topple] Object too tall, topple will not go all the way in'
# trying to topple an object that is too short?
minHeight = coordinateFrameTransform([0,0,minHeight], 'shelf', 'map', listener)
closeGripper(forceThreshold)
if vertToppleHeight - binHeightSaftey < minHeight.pose.position.z:
print '[Topple] Object too short, resetting topple height'
toppleHeightWhenShort = minHeight.pose.position.z + binHeightSaftey
targetPosition = [binMouth[0], objPosition[1], toppleHeightWhenShort]
gripper.move(80,100)
# too far left or right?
leftWall = coordinateFrameTransform([leftWall,0,0], 'shelf', 'map', listener)
leftWall = leftWall.pose.position.y
rightWall = coordinateFrameTransform([rightWall,0,0], 'shelf', 'map', listener)
rightWall = rightWall.pose.position.y
binLengthSafety = 0.02
horizontalSaftey = 0.01
if targetPosition[1] + binLengthSafety > leftWall:
targetPosition[1] = leftWall - horizontalSaftey
if targetPosition[1] - binLengthSafety < rightWall:
targetPosition[1] = rightWall + horizontalSaftey
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
effect = 'topple'
if s and effect == 'topple':
print '[Topple] move to COM in y and above COM in z successful'
elif s and effect == 'slide':
print '[Topple] move to COM in y and below COM in z successful'
else:
print '[Topple] move to COM in y and below COM in z successful' #Default is slide, made three cases for flexibility
if s:
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Topple] move to COM in y and above COM in z fail'
planSuccess = False
qf = plan.q_traj[-1]
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [binDepthReach,0,0])
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[Topple] stroke to end of bin success'
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Topple] stroke to end of bin fail'
planSuccess = False
qf = plan.q_traj[-1]
## close gripper
closeGripper(forceThreshold)
## retreat
# go back along stroke
q_initial = qf
targetPosition = frontOfObjectPtOutOfBin
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[Topple] stroke to bin start success'
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Topple] stroke to bin start fail'
planSuccess = False
qf = plan.q_traj[-1]
# go back to initial tcp position
q_initial = qf
targetPosition = frontOfObjectPtOutOfBin
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = toppleOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[Topple] return to mouth success'
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Topple] return to mouth fail'
planSuccess = False
if not planSuccess:
return False, False
## execute
#~ for numOfPlan in range(0, len(plans)):
#~ plans[numOfPlan].visualize()
#~ if isExecute:
#~ pauseFunc(withPause)
#~ plans[numOfPlan].execute()
## execute
isNotInCollision = True
for numOfPlan in range(0, len(plans)):
plans[numOfPlan].visualize()
if isExecute:
pauseFunc(withPause)
isNotInCollision = plans[numOfPlan].execute()
if not isNotInCollision:
print '[Topple] collision detected'
planFailNum = numOfPlan
break
if not isNotInCollision:
for numOfPlan in range(0, len(planFailNum)):
plans[planFailNum-numOfPlan].executeBackward()
## retreat
for numOfPlan in range(0, len(plans)):
if withVisualize:
plans[len(plans)-numOfPlan-1].visualizeBackward()
if isExecute:
pauseFunc(withPause)
plans[len(plans)-numOfPlan-1].executeBackward()
return True, False
def suction_side(objPose=[1.95, 1.25, 1.4, 0, 0, 0, 1],
binNum=4,
objId=0,
bin_contents=None,
robotConfig=None,
shelfPosition=[1.9019, 0.00030975, -0.503],
forceThreshold=1,
isExecute=True,
withPause=False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
#rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
pretensionDelta = 0.00
lipHeight = 0.035
#tcp_offset_variables
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
obj_pose_tfm_list = matrix_from_xyzquat(objPose[0:3], objPose[3:7])
obj_pose_tfm = np.array(obj_pose_tfm_list)
obj_pose_orient = obj_pose_tfm[0:3, 0:3]
vertical_index = np.argmax(np.fabs(obj_pose_orient[2, 0:3]))
object_dim = get_obj_dim(objId)
vertical_dim = object_dim[vertical_index]
s1 = np.fabs(obj_pose_orient[1, 0]) * object_dim[0]
s2 = np.fabs(obj_pose_orient[1, 1]) * object_dim[1]
s3 = np.fabs(obj_pose_orient[1, 2]) * object_dim[2]
s4 = np.fabs(obj_pose_orient[1,
vertical_index]) * object_dim[vertical_index]
horizontal_dim = s1 + s2 + s3 - s4
hand_gap = 0
gripper.close()
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic,
sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) < 6:
continue
else:
break
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
vert_offset = .035
l2 = 0.43 #change this to edit where you think the cup is
l2 = .44
tip_hand_transform = [
-vert_offset, 0, l2, 0, 0, 0
] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
# for i in range(5):
# rospy.sleep(0.1)
# br.sendTransform(tuple(tip_hand_transform[0:3]), tfm.quaternion_from_euler(*tip_hand_transform[3:6]), rospy.Time.now(), 'tip', "link_6")
# rospy.sleep(0.1)
pubFrame(br,
pose=tip_hand_transform,
frame_id='target_pose',
parent_frame_id='tip',
npub=1)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6',
'map', listener)
tcpPos = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, bin_height, bin_width) = getBinMouth(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map',
listener)
binMouth = [
pose_world.pose.position.x, pose_world.pose.position.y,
pose_world.pose.position.z
]
object_depth = objPosition[0] - binMouth[0]
finger_length = .23
finger_width = .08
up_offset = .05
down_offset = .01
cup_to_spatula = .08
hand_width = .15
max_gripper_width = .110
hand_top_offset = hand_width / 2 + vert_offset + .015
hand_bot_offset = hand_width / 2 - vert_offset + .015
up_down_adjust = .025
side_offset = .03
binFloorHeight = binMouth[2] - bin_height / 2
binCeilHeight = binMouth[2] + bin_height / 2
min_height = binFloorHeight + lipHeight + finger_width / 2 + down_offset
desired_height = objPosition[2]
max_height = binCeilHeight - lipHeight - finger_width / 2 - down_offset - up_down_adjust
target_height = desired_height
if target_height < min_height:
target_height = min_height
if target_height > max_height:
target_height = max_height
bin_sideways = binMouth[1]
sidepos = objPosition[1]
horz_offset = 0.01
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
(binSmall, binLarge) = getSides(binNum, listener)
binRight = binSmall
binLeft = binLarge
if sidepos > bin_sideways:
#this stuff is what happens if the object is to the left
print '[SucSide] Object is to the left'
#turn the suction cup so that it is sideways left
scoopOrientation = [.5, -.5, .5, -.5]
side_waypoint1a = binRight + cup_to_spatula + .01
side_waypoint1b = sidepos - horizontal_dim / 2 - 2 * horz_offset
if side_waypoint1a > side_waypoint1b:
side_waypoint1 = side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1 = side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos+horizontal_dim-side_offset
side_waypoint2 = binLeft - horizontal_dim - horz_offset
if side_waypoint2 < side_waypoint1:
if side_waypoint2 < side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1 = side_waypoint2
else:
#this stuff is what happens if the object is to the right
print '[SucSide] Object is to the right'
#turn the suction cup so that it is sideways right
scoopOrientation = [0.5, .5, .5, .5]
side_waypoint1a = binLeft - cup_to_spatula - .01
side_waypoint1b = sidepos + horizontal_dim / 2 + 2 * horz_offset
if side_waypoint1a < side_waypoint1b:
side_waypoint1 = side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1 = side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos-horizontal_dim+side_offset
side_waypoint2 = binRight + horizontal_dim + horz_offset
if side_waypoint2 > side_waypoint1:
if side_waypoint2 > side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1 = side_waypoint2
targetPositionList = [
[binMouth[0] - .15, side_waypoint1, target_height + up_down_adjust],
[objPosition[0], side_waypoint1, target_height + up_down_adjust],
[objPosition[0], side_waypoint2, target_height + up_down_adjust],
[objPosition[0], side_waypoint2, target_height]
]
qf = q0
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
frontOfObjectPtOutOfBin = targetPosition
q_initial = qf
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[SucSide] move to COM in y successful'
print '[SucSide] tcp at:', targetPosition
plan.visualize(hand_param=hand_gap)
plans.append(plan)
#if isExecute:
# pauseFunc(withPause)
# plan.execute()
else:
print '[SucSide] move to COM in y fail'
return (False, False)
#print plan.q_traj
qf = plan.q_traj[-1]
print '[SucSide] qf:', qf
#set robot speed
setSpeedByName(speedName='faster')
for numOfPlan in range(0, len(plans)):
if numOfPlan >= len(plans) - 2:
setSpeedByName(speedName='fast')
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
suction.start()
final_hand_gap = 110
gripper.set_force(12)
gripper.grasp(move_pos=final_hand_gap)
gripper.close()
hand_gap = final_hand_gap
print '[SucSide] hand_gap:', hand_gap
continue_suction = suction_items(objId)
if continue_suction:
print '[SucSide] object is of type that suction side will try to remove from bin'
else:
print '[SucSide] object is to big to remove from bin'
## retreat
for numOfPlan in range(0, len(plans) - 1):
plans[len(plans) - numOfPlan -
1].visualizeBackward(hand_param=hand_gap)
if isExecute:
pauseFunc(withPause)
plans[len(plans) - numOfPlan - 1].executeBackward()
if not continue_suction:
suction.stop()
rospy.sleep(3)
print '[SucSide] Is suction in contact still? Lets see:'
print '[SucSide] suction.check(): ', suction.check()
print '[SucSide] suction.check(): ', suction.check()
if suction.check():
#set robot speed
print '[SucSide] got item. continuing. suction'
setSpeedByName(speedName='fast')
return (True, True)
else:
print '[SucSide] did not get item. Stopping suction'
suction.stop()
return (True, False)
def scoop(objPose = [1.95,0.25,1.4,0,0,0,1],
binNum=3,
objId = 0,
bin_contents = None,
robotConfig = None,
shelfPosition = [1.9116,-0.012498,-0.4971],
forceThreshold = 1,
isExecute = True,
withPause = True,
withVisualize = False):
## objPose: world position and orientation frame attached to com of object in quaternion form. XYZ
## objId: object identifier
## robotConfig: current time robot configuration
## shelfPosition: shelf position in world frame
## force threshold: amount fo force needed to say we have a grasp
setSpeedByName(speedName = 'faster')
joint_topic = '/joint_states'
planSuccess = True
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
# shelf variables
if binNum <3:
pretensionDelta = 0.03
if binNum > 2 and binNum < 6:
pretensionDelta = 0.009
if binNum > 5 and binNum < 9:
pretensionDelta = 0.009
if binNum > 8:
pretensionDelta = 0.03
#pretensionDelta = 0.00
lipHeight = 0.025
# plan store
plans = []
## get object position (world frame)
objPosition = getObjCOM(objPose[0:3], objId)
## move gripper to object com outside bin along world y direction and
## move the gripper over the lip of the bin
# set tcp
tcpXOffset = 0.018
l2 = 0.47
tip_hand_transform = [tcpXOffset, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
# get position of the tcp in world frame
pose_world = coordinateFrameTransform(tip_hand_transform[0:3], 'link_6', 'map', listener)
tcpPos=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
scoopOrientation = [0, 0.7071, 0, 0.7071]
# set first target to move gripper in front of the object and adjust height to middle of bin
distFromShelf = 0.05
wristWidth = 0.0725 # this is actually half the wrist width
(binMouth, binFloorHeight) = getBinMouthAndFloor(distFromShelf, binNum)
pose_world = coordinateFrameTransform(binMouth[0:3], 'shelf', 'map', listener)
binMouth=[pose_world.pose.position.x, pose_world.pose.position.y, pose_world.pose.position.z]
verticalOffsetLip = 0.00 # we need this so we don't damage the sucker
wH = 0.075
targetPosition = [binMouth[0], objPosition[1], binMouth[2]+tcpXOffset-wH+lipHeight-pretensionDelta]
## check to make sure we are inside the bin and not colliding with sides:
minHeight, maxHeight, leftWall, rightWall = BinBBDims(binNum)
leftWall = coordinateFrameTransform([leftWall,0,0], 'shelf', 'map', listener)
leftWall = leftWall.pose.position.y
rightWall = coordinateFrameTransform([rightWall,0,0], 'shelf', 'map', listener)
rightWall = rightWall.pose.position.y
interiorLipBin = [0,0.40,0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map', listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.20
sStroke = 0.19
binLengthSafety = 0.015
if targetPosition[1] + 0.04 > leftWall:
interiorLipBin = [0,0.36,0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map', listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.17
if targetPosition[1] - 0.04 < leftWall:
interiorLipBin = [0,0.36,0] # define over the lip distance in shelf frame
interiorLipBin = coordinateFrameTransform(interiorLipBin, 'shelf', 'map', listener)
stepOverLip = interiorLipBin.pose.position.x
fStroke = 0.17
if targetPosition[1] + binLengthSafety > leftWall:
targetPosition[1] = leftWall
if targetPosition[1] - binLengthSafety < rightWall:
targetPosition[1] = rightWall
frontOfObjectPtOutOfBin = targetPosition
q_initial = robotConfig
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 0
if s:
print '[Scoop] move to COM in y successful'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
visualizeFunc(withVisualize, plan)
plans.append(plan)
else:
print '[Scoop] move to COM in y fail'
return (False, False)
qf = plan.q_traj[-1]
## push spatula against base of bin (pre-tension)
binFloorHeight = coordinateFrameTransform([0,0,binFloorHeight], 'shelf', 'map', listener)
q_initial = qf
percentTilt = 0.1 # 10 percent
scoopOrientation = [0, 0.7071*(1+percentTilt), 0, 0.7071*(1-percentTilt)]
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 1
if s:
print '[Scoop] reorient the hand'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] reorient the hand fail'
return (False, False)
qf = plan.q_traj[-1]
# set second target, go over the lip of the bin
deltaX = np.add(-targetPosition[0],stepOverLip)
targetPosition = np.add(targetPosition, [deltaX,0,0])
q_initial = qf
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 2
if s:
print '[Scoop] move to inside the lip success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] move to inside the lip fail'
return (False, False)
qf = plan.q_traj[-1]
## perform bin length stroke to middle
q_initial = qf
targetPosition = np.add(targetPosition, [fStroke,0,-lipHeight])
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 3
if s:
print '[Scoop] stroke middle of bin success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] stroke middle of bin fail'
return (False, False)
qf = plan.q_traj[-1]
## perform bin length stroke to end
q_initial = qf
targetPosition = np.add(targetPosition, [sStroke,0,0])
scoopOrientation = [0, 0.7071+0.11/4, 0, 0.7071-0.11/4]
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success() # Plan 4
if s:
print '[Scoop] stroke middle to end of bin success'
#~ print '[Scoop] tcp at:'
#~ print(targetPosition)
plans.append(plan)
visualizeFunc(withVisualize, plan)
else:
print '[Scoop] stroke middle to end of bin fail'
return (False, False)
qf = plan.q_traj[-1]
## close gripper
#~ closeGripper(forceThreshold)
closeGripper(forceThreshold)
execution_possible = True
## execute
isNotInCollision = True
for numOfPlan in range(0, len(plans)):
plans[numOfPlan].visualize()
if isExecute:
if numOfPlan == 3:
openGripper()
pauseFunc(withPause)
isNotInCollision = plans[numOfPlan].execute()
if numOfPlan == 3:
closeGripper(forceThreshold)
plans[numOfPlan].executeBackward()
openGripper()
plans[numOfPlan].execute()
if not isNotInCollision:
planFailNum = numOfPlan
print '[Scoop] collision detected'
break
if numOfPlan == 4:
closeGripper(forceThreshold)
rospy.sleep(0.5)
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) == 2 or len(q0) == 8:
q0 = q0[-2:] # get last 2
break
gripper_q0=np.fabs(q0)
drop_thick=0.000001 # finger gap =0.002m = .5 mm
if gripper_q0[0] < drop_thick:
print '[Scoop] ***************'
print '[Scoop] Could not grasp'
print '[Scoop] ***************'
execution_possible = False
else:
print '[Scoop] ***************'
print '[Scoop] Grasp Successful'
print '[Scoop] ***************'
execution_possible = True
if not isNotInCollision:
for numOfPlan in range(0, len(planFailNum)):
plans[planFailNum-numOfPlan].executeBackward()
## retreat
for numOfPlan in range(0, len(plans)):
if withVisualize:
plans[len(plans)-numOfPlan-1].visualizeBackward()
if isExecute:
pauseFunc(withPause)
plans[len(plans)-numOfPlan-1].executeBackward()
return True, execution_possible