def test_achieve_goal():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(20):
block_pose = Pose()
block_pose.position.x = np.random.uniform(0.25, 0.6)
block_pose.position.y = np.random.uniform(-0.4, 0.4)
block_pose.position.z = 0.00
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
r_pose.position.z = 0.08
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(5.0)
env.ros_interface.delete_target_block()
def test_workspace_limit():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(100):
_polar_rad = np.random.uniform(0.134, 0.32)
_polar_theta = np.random.uniform(-pi * 0.7 / 4, pi * 0.7 / 4)
block_pose = Pose()
block_pose.position.x = _polar_rad * cos(_polar_theta)
block_pose.position.y = _polar_rad * sin(_polar_theta)
block_pose.position.z = np.random.uniform(0.05, 0.28)
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 3.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(3.0)
env.ros_interface.check_for_termination()
env.ros_interface.delete_target_block()
def moveToObject(self):
rospy.logwarn("move to object")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
# kinematics_pose.pose = self.pickTargetPose.pose
kinematics_pose.pose = self.pickObjectPose.pose
rospy.loginfo(self.pickObjectPose.pose)
#--------------------------------------------------------------------------#
# 버튼인식 이용 시 출력되는 좌표의 x, z좌표에 +0.05를 해야 정확한 위치로 이동
#--------------------------------------------------------------------------#
kinematics_pose.pose.position = self.forwardObjectPosition(
kinematics_pose.pose.position, 0.05)
kinematics_pose.pose.position.y -= 0.025
kinematics_pose.pose.position.z += 0.025
moveDistance = math.sqrt((kinematics_pose.pose.position.x -
self.currentToolPose.position.x)**2 +
(kinematics_pose.pose.position.y -
self.currentToolPose.position.y)**2 +
(kinematics_pose.pose.position.z -
self.currentToolPose.position.z)**2)
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1:
operating_limit_time = 1
elif operating_time > 3:
operating_limit_time = 3
rospy.logwarn("go xyz %.2f,%.2f,%.2f , moveDistance %.2f, operate time %.2f ( %.2f )" ,\
kinematics_pose.pose.position.x, kinematics_pose.pose.position.y, kinematics_pose.pose.position.z, \
moveDistance, operating_time , operating_limit_time)
try:
resp = self.set_kinematics_position(planning_group,
end_effector_name,
kinematics_pose,
operating_time)
print('kinemetics resp1 {} time '.format(resp.is_planned,
operating_time))
rospy.sleep(operating_time)
except rospy.ServiceException:
print("Service call failed: %s" % e)
return False
return resp
def eef_pose_request_cb(userdata, request):
eef = KinematicsPose()
eef.pose = userdata.input_pose
rospy.loginfo('eef.position.x : %f', eef.pose.position.x)
rospy.loginfo('eef.position.y : %f', eef.pose.position.y)
rospy.loginfo('eef.position.z : %f', eef.pose.position.z)
eef.max_velocity_scaling_factor = 1.0
eef.max_accelerations_scaling_factor = 1.0
eef.tolerance = userdata.input_tolerance
request.planning_group = userdata.input_planning_group
request.kinematics_pose = eef
return request
def closeToObject(self):
rospy.logwarn("close to object")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
kinematics_pose.pose = self.pickTargetPose.pose
kinematics_pose.pose.position = self.forwardObjectPosition( kinematics_pose.pose.position, 0.03 )
if self.use_platform :
rospy.logwarn("??????1")
kinematics_pose.pose.position.z += 0.05
else :
rospy.logwarn("??????2")
kinematics_pose.pose.position.z -= 0.05
kinematics_pose.pose.position.y += 0.005
moveDistance = math.sqrt((kinematics_pose.pose.position.x - self.currentToolPose.position.x)**2
+ (kinematics_pose.pose.position.y - self.currentToolPose.position.y)**2
+ (kinematics_pose.pose.position.z - self.currentToolPose.position.z)**2 )
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1 :
operating_limit_time = 1
elif operating_time > 3 :
operating_limit_time = 3
rospy.logwarn("go xyz %.2f,%.2f,%.2f , moveDistance %.2f, operate time %.2f ( %.2f )" ,\
kinematics_pose.pose.position.x, kinematics_pose.pose.position.y, kinematics_pose.pose.position.z, \
moveDistance, operating_time , operating_limit_time)
try:
resp = self.set_kinematics_position(planning_group, end_effector_name, kinematics_pose, operating_time)
print 'kinemetics resp1 {} time '.format(resp.is_planned, operating_time)
rospy.sleep(operating_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
return False
def test_forward():
env = OpenManipulatorReacherEnv(cfg)
_ = env.reset()
_pose = Pose()
_pose.position.x = 0.4
_pose.position.y = 0.0
_pose.position.z = 0.1
_pose.orientation.x = 0.0
_pose.orientation.y = 0.0
_pose.orientation.z = 0.0
_pose.orientation.w = 1.0
forward_pose = KinematicsPose()
forward_pose.pose = _pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(path_time)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
if not resp :
return False
# initial pose
self.setBackwardPose2()
# go place position
rospy.logwarn("go to place")
resp = False
end_effector_name = "gripper"
kinematics_pose = KinematicsPose()
planning_group = "arm"
kinematics_pose.pose = self.placeTargetPose.pose
kinematics_pose.pose.position = self.forwardObjectPosition( kinematics_pose.pose.position, 0.03 )
kinematics_pose.pose.position.z += 0.13
kinematics_pose.pose.position.x += 0.015
moveDistance = math.sqrt((kinematics_pose.pose.position.x - self.currentToolPose.position.x)**2
+ (kinematics_pose.pose.position.y - self.currentToolPose.position.y)**2
+ (kinematics_pose.pose.position.z - self.currentToolPose.position.z)**2 )
#distance 0.3 m -> 3 sec operate time
#distance 0.1 m -> 1 sec operate time
operating_time = moveDistance * 10
operating_limit_time = operating_time
if operating_time < 1 :