def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == 'access':
kitchen = solution['part-of']
robot = BulletWorld.robot
gripper = solution['gripper']
drawer_handle = solution['drawer-handle']
drawer_joint = solution['drawer-joint']
dis = solution['distance']
robot.set_joint_state(robot_description.i.torso_joint, -0.1)
arm = "left" if solution[
'gripper'] == robot_description.i.get_tool_frame(
"left") else "right"
joints = robot_description.i._safely_access_chains(arm).joints
#inv = p.calculateInverseKinematics(robot.id, robot.get_link_id(gripper), kitchen.get_link_position(drawer_handle))
target = helper._transform_to_torso(
kitchen.get_link_position_and_orientation(drawer_handle),
robot)
#target = (target[0], [0, 0, 0, 1])
inv = request_ik(robot_description.i.base_frame, gripper, target,
robot, joints)
_apply_ik(robot, inv, gripper)
time.sleep(0.2)
cur_pose = robot.get_pose()
robot.set_position([cur_pose[0] - dis, cur_pose[1], cur_pose[2]])
han_pose = kitchen.get_link_position(drawer_handle)
new_p = [[han_pose[0] - dis, han_pose[1], han_pose[2]],
kitchen.get_link_orientation(drawer_handle)]
new_p = helper._transform_to_torso(new_p, robot)
inv = request_ik(robot_description.i.base_frame, gripper, new_p,
robot, joints)
_apply_ik(robot, inv, gripper)
kitchen.set_joint_state(drawer_joint, 0.3)
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == "move-tcp":
target = solution['target']
gripper = solution['gripper']
robot = BulletWorld.robot
inv = p.calculateInverseKinematics(robot.id,
robot.get_link_id(gripper),
target)
_apply_ik(robot, inv)
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == "move-tcp":
target = solution['target']
target = _transform_to_torso([target, [0, 0, 0, 1]])
gripper = solution['gripper']
robot = BulletWorld.robot
joints = ik_joints_left if gripper == "l_gripper_tool_frame" else ik_joints_right
#inv = p.calculateInverseKinematics(robot.id, robot.get_link_id(gripper), target)
inv = request_ik(pr2_root_link, gripper, target, robot, joints)
_apply_ik(robot, inv, gripper)
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == 'place':
object = solution['object']
robot = BulletWorld.robot
inv = p.calculateInverseKinematics(robot.id,
robot.get_link_id(
solution['gripper']),
solution['target'],
maxNumIterations=100)
_apply_ik(robot, inv)
robot.detach(object)
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == 'pick':
object = solution['object']
robot = BulletWorld.robot
target = object.get_position_and_orientation()
target = _transform_to_torso(target, robot)
arm = "left" if solution['gripper'] == robot_description.i.get_tool_frame("left") else "right"
joints = robot_description.i._safely_access_chains(arm).joints
#tip = "r_wrist_roll_link" if solution['gripper'] == "r_gripper_tool_frame" else "l_wrist_roll_link"
inv = request_ik(robot_description.i.base_frame, solution['gripper'], target, robot, joints)
_apply_ik(robot, inv, solution['gripper'])
robot.attach(object, solution['gripper'])
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == 'place':
object = solution['object']
robot = BulletWorld.robot
target = [solution['target'], [0, 0, 0, 1]]
target = _transform_to_torso(target, robot)
target = (target[0], [0, 0, 0, 1])
arm = "left" if solution['gripper'] == robot_description.i.get_tool_frame("left") else "right"
joints = robot_description.i._safely_access_chains(arm).joints
#inv = p.calculateInverseKinematics(robot.id, robot.get_link_id(solution['gripper']), solution['target'],
# maxNumIterations=100)
#tip = "r_wrist_roll_link" if solution['gripper'] == "r_gripper_tool_frame" else "l_wrist_roll_link"
inv = request_ik(robot_description.i.base_frame, solution['gripper'], target, robot, joints)
_apply_ik(robot, inv, solution['gripper'])
robot.detach(object)
time.sleep(0.5)
def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == 'access':
kitchen = solution['part-of']
robot = BulletWorld.robot
gripper = solution['gripper']
drawer_handle = solution['drawer-handle']
drawer_joint = solution['drawer-joint']
dis = solution['distance']
inv = p.calculateInverseKinematics(
robot.id, robot.get_link_id(gripper),
kitchen.get_link_position(drawer_handle))
_apply_ik(robot, inv)
time.sleep(0.2)
han_pose = kitchen.get_link_position(drawer_handle)
new_p = [han_pose[0] - dis, han_pose[1], han_pose[2]]
inv = p.calculateInverseKinematics(robot.id,
robot.get_link_id(gripper),
new_p)
_apply_ik(robot, inv)
kitchen.set_joint_state(drawer_joint, 0.3)
time.sleep(0.5)
