def goToHomeSuction(plan=None):
joint_topic = '/joint_states'
## initialize listener rospy
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
while True:
APCrobotjoints = ROS_Wait_For_Msg(joint_topic,
sensor_msgs.msg.JointState).getmsg()
q0 = APCrobotjoints.position
if len(q0) < 6:
continue
else:
break
plan_n = Plan()
if q0[5] < 0:
possible_start_config = [
0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
0.09102420595, 3.33888627518 - 2 * math.pi
]
else:
possible_start_config = [
0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
0.09102420595, 3.33888627518
]
plan_n.q_traj = [possible_start_config]
return plan_n
import tf
import math
import numpy as np
import tf.transformations as tfm
import capsen.capsen
from ik.roshelper import pubFrame
# bin_1
# 1.1069; -0.018219; 1.3762 -0.54475; 0.075625; 0.20345; 0.81003
#-0.035814156250925766, 0.5470560007467684, -0.8243085337401062, -2.70526034059, 0.8721846604532582, -0.3148573970598978
rospy.init_node('listener', anonymous=True)
#desired_joint_pose = [-0.0087, 0.6423, -0.1222, 1.4731, 1.4643, 1.2] # for bin 7
home_joint_pose = [0, -0.2, 0.2, 0.01, 1, 1.4]
plan = Plan()
plan.q_traj = [home_joint_pose]
plan.visualize()
plan.execute()
br = tf.TransformBroadcaster()
# generate targets for horizontal scan
#bin_cnstr = get_bin_cnstr()
bin_cnstr = get_bin_inner_cnstr()
target_poses = []
refind = 7
for i in range(12):
#target_pose_7_vert = [1.1756, 0, 0.79966, 0.69537, 0.11132, 0.049168, 0.70827] # for bin 7 vertical
#target_pose_7_hori = [1.1756, -0.0080496, 0.79966, 0.96262, -0.039399, -0.25934, 0.06743] # for bin 7 horizontal
target_pose_7_vert = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(
def manual_cal_1(binNum = 0, strPos = None):
if strPos == None:
print 'No desired position entered'
return
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
joint_topic = '/joint_states'
# set tcp
l1 = 0.06345
l2 = 0.400
tip_hand_transform = [l1, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
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)
# 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
orientation = [0.0, 0.7071, 0.0, 0.7071] # set topple orientation (rotate wrist)
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)
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]
print 'TCP is at:', tcpPos
distFromShelf = 0.05
mouthBinShelf, binBaseHeightShelf = getBinMouthAndFloor(distFromShelf, binNum)
mouthBin = coordinateFrameTransform(mouthBinShelf, 'shelf', 'map', listener)
mouthBin = [mouthBin.pose.position.x, mouthBin.pose.position.y, mouthBin.pose.position.z]
# define modes here:
# go home
if strPos == 'home':
print 'planning to go home'
plan = Plan()
plan.q_traj = [[0, -0.3959, 0.58466, 0.03, 0.1152, -0.1745]]
plan.visualize()
raw_input('execute?')
plan.execute()
print 'done going home'
# go mouth
if strPos == 'mouth':
print 'planning to go to mouth'
Orientation = [0.0, 0.7071, 0.0, 0.7071]
targetPt = mouthBin
planner = IK(q0 = None, target_tip_pos = targetPt,
target_tip_ori = Orientation, tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
plan.visualize()
s = plan.success()
if s:
raw_input('execute?')
plan.execute()
if not s:
print 'could not find plan'
print 'done going to mouth'
# go mid back bin
if strPos == 'shelf':
print 'planning to go to mid back of the bin'
Orientation = [0.0, 0.7071, 0.0, 0.7071]
targetPt = [mouthBin[0], mouthBin[1], mouthBin[2]]
planner = IK(q0 = None, target_tip_pos = targetPt,
target_tip_ori = Orientation, tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
plan.visualize()
s = plan.success()
if s:
raw_input('execute?')
plan.execute()
if not s:
print 'could not find plan'
print 'done going to mid back of the bin'
def manual_cal_1(binNum=0, strPos=None):
if strPos == None:
print 'No desired position entered'
return
## initialize listener rospy
listener = tf.TransformListener()
rospy.sleep(0.1)
br = tf.TransformBroadcaster()
rospy.sleep(0.1)
joint_topic = '/joint_states'
# set tcp
l1 = 0.06345
l2 = 0.400
tip_hand_transform = [
l1, 0, l2, 0, 0, 0
] # to be updated when we have a hand design finalized
# broadcast frame attached to tcp
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)
# 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
orientation = [0.0, 0.7071, 0.0,
0.7071] # set topple orientation (rotate wrist)
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)
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
]
print 'TCP is at:', tcpPos
distFromShelf = 0.05
mouthBinShelf, binBaseHeightShelf = getBinMouthAndFloor(
distFromShelf, binNum)
mouthBin = coordinateFrameTransform(mouthBinShelf, 'shelf', 'map',
listener)
mouthBin = [
mouthBin.pose.position.x, mouthBin.pose.position.y,
mouthBin.pose.position.z
]
# define modes here:
# go home
if strPos == 'home':
print 'planning to go home'
plan = Plan()
plan.q_traj = [[0, -0.3959, 0.58466, 0.03, 0.1152, -0.1745]]
plan.visualize()
raw_input('execute?')
plan.execute()
print 'done going home'
# go mouth
if strPos == 'mouth':
print 'planning to go to mouth'
Orientation = [0.0, 0.7071, 0.0, 0.7071]
targetPt = mouthBin
planner = IK(q0=None,
target_tip_pos=targetPt,
target_tip_ori=Orientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
plan.visualize()
s = plan.success()
if s:
raw_input('execute?')
plan.execute()
if not s:
print 'could not find plan'
print 'done going to mouth'
# go mid back bin
if strPos == 'shelf':
print 'planning to go to mid back of the bin'
Orientation = [0.0, 0.7071, 0.0, 0.7071]
targetPt = [mouthBin[0], mouthBin[1], mouthBin[2]]
planner = IK(q0=None,
target_tip_pos=targetPt,
target_tip_ori=Orientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
plan.visualize()
s = plan.success()
if s:
raw_input('execute?')
plan.execute()
if not s:
print 'could not find plan'
print 'done going to mid back of the bin'
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_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)
import tf
import math
import numpy as np
import tf.transformations as tfm
import capsen.capsen
from ik.roshelper import pubFrame
# bin_1
# 1.1069; -0.018219; 1.3762 -0.54475; 0.075625; 0.20345; 0.81003
#-0.035814156250925766, 0.5470560007467684, -0.8243085337401062, -2.70526034059, 0.8721846604532582, -0.3148573970598978
rospy.init_node('listener', anonymous=True)
#desired_joint_pose = [-0.0087, 0.6423, -0.1222, 1.4731, 1.4643, 1.2] # for bin 7
home_joint_pose = [0, -0.2, 0.2, 0.01, 1, 1.4]
plan = Plan(); plan.q_traj = [home_joint_pose]; plan.visualize(); plan.execute()
br = tf.TransformBroadcaster()
# generate targets for horizontal scan
#bin_cnstr = get_bin_cnstr()
bin_cnstr = get_bin_inner_cnstr()
target_poses = []
refind = 7
for i in range(12):
#target_pose_7_vert = [1.1756, 0, 0.79966, 0.69537, 0.11132, 0.049168, 0.70827] # for bin 7 vertical
#target_pose_7_hori = [1.1756, -0.0080496, 0.79966, 0.96262, -0.039399, -0.25934, 0.06743] # for bin 7 horizontal
target_pose_7_vert = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(math.pi, 1.4, math.pi).tolist() # for bin 7 vertical
target_pose_7_hori = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(2.2, 0, math.pi/2).tolist()
target_pose_7_invhori = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(-math.pi/2, 0, -math.pi/2).tolist()