def get_group_for_joint(joint_names, robot=None, smallest=False, groups=None):
"""Given list of joints find the most appropriate group.
INPUT
link_ids [List of Strings]
robot [RobotCommander]
smallest [Bool]
OUTPUT
group [String]
"""
if not robot:
robot = RobotCommander()
if not groups:
groups = robot.get_group_names()
group = None
n = np.Inf if smallest else 0
for g in groups:
names = robot.get_joint_names(g)
if all_in(joint_names, names):
if smallest and len(names) < n:
n = len(names)
group = g
elif len(names) > n:
n = len(names)
group = g
return group
def print_joint_bounds(robot=None):
if not robot:
robot = RobotCommander()
print 'NAME'.center(16), 'MIN'.center(10), 'MAX'.center(10)
for name in robot.get_joint_names():
joint = robot.get_joint(name)
bounds = joint.bounds()
if bounds:
print '%15s % 10.3f % 10.3f' % (name, bounds[0], bounds[1])
class TestLimits(unittest.TestCase):
def setUp(self):
self.robot = RobotCommander()
self.bounds = list()
for name in self.robot.get_joint_names():
joint = self.robot.get_joint(name)
bounds = joint.bounds()
if bounds:
self.bounds.append((name, bounds))
def test_min_max(self):
"""Test whether the min is actually lower than max."""
failed = list()
for name, bounds in self.bounds:
if bounds[0] > bounds[1]:
failed.append(name)
self.assertFalse(failed, "Bounds are not valid for: %s" % " ".join(failed))
class pick_place():
def __init__(self):
moveit_commander.roscpp_initialize(sys.argv)
self.scene = PlanningSceneInterface()
self.robot = RobotCommander()
self.ur5 = MoveGroupCommander("manipulator")
self.gripper = MoveGroupCommander("end_effector")
print("======================================================")
print(self.robot.get_group_names())
print(self.robot.get_link_names())
print(self.robot.get_joint_names())
print(self.robot.get_planning_frame())
print(self.ur5.get_end_effector_link())
print("======================================================")
self.ur5.set_max_velocity_scaling_factor(0.2)
self.ur5.set_max_acceleration_scaling_factor(0.2)
self.ur5.set_end_effector_link("fts_toolside")
self.ur5.set_planning_time(10.0)
#self.ur5.set_planner_id("RRTkConfigDefault")
self.gripper_ac = RobotiqActionClient('icl_phri_gripper/gripper_controller')
self.gripper_ac.wait_for_server()
self.gripper_ac.initiate()
self.gripper_ac.send_goal(0.08)
self.gripper_ac.wait_for_result()
self.sub = rospy.Subscriber('/target_position', Int32MultiArray, self.pickplace_cb)
def single_exuete(self, position, mode):
offset = 0.01
rospy.loginfo("let do a single exuete")
rospy.sleep(1)
position_copy = deepcopy(position)
position_copy += [0.14]
position_copy[1] = position_copy[1] + offset
pre_position = define_grasp([position_copy[0], position_copy[1], position_copy[2] + 0.2])
post_position = define_grasp([position_copy[0], position_copy[1], position_copy[2] + 0.2])
grasp_position = define_grasp(position_copy)
self.ur5.set_pose_target(pre_position)
rospy.loginfo("let's go to pre position")
self.ur5.go()
self.ur5.stop()
self.ur5.clear_pose_targets()
rospy.sleep(1)
self.ur5.set_pose_target(grasp_position)
rospy.loginfo("let's do this")
self.ur5.go()
self.ur5.stop()
self.ur5.clear_pose_targets()
if mode == "pick":
self.gripper_ac.send_goal(0)
if mode == "place":
self.gripper_ac.send_goal(0.08)
self.gripper_ac.wait_for_result()
rospy.loginfo("I got this")
rospy.sleep(1)
self.ur5.set_pose_target(post_position)
rospy.loginfo("move out")
self.ur5.go()
self.ur5.stop()
self.ur5.clear_pose_targets()
rospy.sleep(1)
def pair_exuete(self, pick_position, place_position):
rospy.loginfo("here we go pair")
if pick_position and place_position:
self.single_exuete(pick_position, "pick")
self.single_exuete(place_position, "place")
#rospy.sleep(1)
rospy.loginfo("let's go and get some rest")
rest_position = define_grasp([0.486, -0.152, 0.342])
self.ur5.set_pose_target(rest_position)
self.ur5.go()
self.ur5.stop()
self.ur5.clear_pose_targets()
rospy.sleep(1)
def pickplace_cb(self, msg):
#print(msg)
print(msg.data)
a = list(msg.data)
mean_x = np.mean([a[i] for i in range(0, len(a)-2, 2)])
mean_y = np.mean([a[i] for i in range(1, len(a)-2, 2)])
num_goals = (len(msg.data) -2)/2
rospy.loginfo("there is {} goals".format(num_goals))
for i in range(0, len(a)-2, 2):
pick_x, pick_y = coord_converter(msg.data[i], msg.data[i+1])
leeway_x = int(msg.data[i] - mean_x)
leeway_y = int(msg.data[i+1] - mean_y)
place_x, place_y = coord_converter(msg.data[-2] + leeway_x, msg.data[-1] + leeway_y)
print(pick_x, pick_y)
print(place_x, place_y)
self.pair_exuete([pick_x, pick_y], [place_x, place_y])
