def reposition_robot(self,hook_location,turn_angle,hook_angle,position_number=2):
h = self.workspace_dict[hook_angle]['height']
max_z_height = 1.3
min_z_height = 0.5
h_desired = self.z.get_position_meters()+hook_location[2,0]-h
print 'h_desired:',h_desired
print 'h:',h
h_achieve = ut.bound(h_desired,max_z_height,min_z_height)
h_err = h_desired-h_achieve
h = h+h_err
print 'h_achieve:',h_achieve
wkd = self.workspace_dict[hook_angle]['pts']
k = wkd.keys()
k_idx = np.argmin(np.abs(np.array(k)-h))
wrkspc_pts = wkd[k[k_idx]]
# good_location = np.matrix([0.45,-0.35,h]).T
good_location = wrkspc_pts.mean(1)
good_location = np.matrix(good_location.A1.tolist()+[h]).T
if position_number == 1:
good_location[0,0] += 0.0
good_location[1,0] -= 0.1
elif position_number == 2:
good_location[0,0] += 0.0
good_location[1,0] -= 0.0
elif position_number == 3:
good_location[0,0] += 0.0
good_location[1,0] += 0.1
else:
good_location[0,0] -= 0.1
good_location[1,0] -= 0.0
good_location = mcf.mecanumTglobal(mcf.globalTtorso(good_location))
hook_location = mcf.mecanumTglobal(mcf.globalTtorso(hook_location))
v = tr.Rz(-turn_angle)*good_location
move_vector = hook_location - v
pose1 = self.segway_pose.get_pose()
self.segway_command_node.go_xya_pos_local(move_vector[0,0],move_vector[1,0],
turn_angle,blocking=False)
self.z.torque_move_position(h_achieve)
print 'before waiting for segway to stop moving.'
self.segway_command_node.wait_for_tolerance_pos(0.03,0.03,math.radians(4))
print 'after segway has stopped moving.'
pose2 = self.segway_pose.get_pose()
hl_new = vop.transform_pts_local(hook_location[0:2,:],pose1,pose2)
h_err = h_desired-self.z.get_position_meters()
g = np.matrix(hl_new.A1.tolist()+[good_location[2,0]+h_err]).T
g = mcf.torsoTglobal(mcf.globalTmecanum(g))
angle_turned = pose2[2]-pose1[2]
angle_error = tr.angle_within_mod180(turn_angle-angle_turned)
self.segway_pose.set_origin() # re-origining for the manipulation behaviors
return g, angle_error
def segway_motion_local(self, curr_pos_tl, sa):
k = self.wkd['pts'].keys()
z = min(self.eq_pt_cartesian[2,0], curr_pos_tl[2,0])
k_idx = np.argmin(np.abs(np.array(k)-z))
wrkspc_pts = self.wkd['pts'][k[k_idx]]
bndry = self.wkd['bndry'][k[k_idx]]
self.eq_pt_close_to_bndry = False
if z < -0.4:
# don't open the mechanism
self.eq_motion_vec = np.matrix([0.,0.,0.]).T
self.eq_pt_close_to_bndry = True
if self.zenither_client.height() > 0.6:
if z < -0.35 and self.zenither_moving == False:
#self.z.nadir(1)
self.z.nadir(0)
self.zenither_moving = True
if z > -0.25 and self.zenither_moving == True:
self.z.estop()
self.zenither_moving = False
else:
if self.zenither_moving:
self.z.estop()
self.zenither_moving = False
ht = smc.segway_motion_repulse(curr_pos_tl, self.eq_pt_cartesian, bndry,
wrkspc_pts)
self.vec_bndry = smc.vec_from_boundary(self.eq_pt_cartesian, bndry)
self.dist_boundary = smc.dist_from_boundary(self.eq_pt_cartesian, bndry,
wrkspc_pts)
dist_bndry_ee = smc.dist_from_boundary(curr_pos_tl,bndry,wrkspc_pts)
self.vec_bndry = self.vec_bndry/self.dist_boundary
vec_bndry = self.vec_bndry
dist_boundary = self.dist_boundary
avel = -sa * 0.05 # maintaining the orientation of the segway.
eq_mec = mcf.mecanumTglobal(mcf.globalTtorso(self.eq_pt_cartesian))
svel_rot_y = -avel*eq_mec[0,0] # segway vel in y direction due to rotation
svel_rot_x = avel*eq_mec[1,0] # segway vel in x direction due to rotation
if self.zenither_moving:
sp = 0.075
else:
sp = 0.075
st = ht*sp + np.matrix([svel_rot_x,svel_rot_y]).T
st[0,0] = min(st[0,0],0.) # disallowing +ve translation.
self.move_segway_lock.acquire()
self.segway_motion_tup = (st[0,0],st[1,0],avel)
self.new_segway_command = True
self.move_segway_lock.release()
proj = (self.eq_motion_vec[0:2,0].T*vec_bndry)[0,0]
proj_threshold = math.cos(math.radians(100))
if (dist_boundary<= 0.04 and proj<proj_threshold) or \
dist_boundary<0.03:
#dist_boundary<0.01 or dist_bndry_ee < 0.04:
self.eq_motion_vec = np.matrix([0.,0.,0.]).T
self.eq_pt_close_to_bndry = True
if self.eq_pt_close_to_bndry:
if not self.zenither_moving:
self.eq_pt_not_moving_counter += 1
else:
self.eq_pt_not_moving_counter = 0
else:
self.eq_pt_not_moving_counter = 0
print '-------------------------------------'
print 'segway_translation:',st[0,0],st[1,0]
print 'avel:',math.degrees(avel)
print 'dist_boundary:', dist_boundary
print 'proj,proj_threshold:',proj,proj_threshold
print 'self.eq_pt_cartesian:',self.eq_pt_cartesian.A1.tolist()
print 'self.eq_pt_close_to_bndry?',self.eq_pt_close_to_bndry
print 'dist_bndry_ee:',dist_bndry_ee
def tlRts(vecs_ts, a):
vecs_ms = mcf.mecanumTglobal(mcf.globalTtorso(vecs_ts, True), True)
vecs_ml = tr.Rz(a) * vecs_ms
vecs_tl = mcf.torsoTglobal(mcf.globalTmecanum(vecs_ml, True), True)
return vecs_tl
def tsTtl(pts_tl,x,y,a):
pts_ml = mcf.mecanumTglobal(mcf.globalTtorso(pts_tl))
v_org_ms = np.matrix([x,y,0.]).T
pts_ms = tr.Rz(-a) * pts_ml + v_org_ms
pts_ts = mcf.torsoTglobal(mcf.globalTmecanum(pts_ms))
return pts_ts
def tsRtl(vecs_tl, a):
vecs_ml = mcf.mecanumTglobal(mcf.globalTtorso(vecs_tl, True), True)
vecs_ms = tr.Rz(-a) * vecs_ml
vecs_ts = mcf.torsoTglobal(mcf.globalTmecanum(vecs_ms, True), True)
return vecs_ts
def tlTts(pts_ts,x,y,a):
pts_ms = mcf.mecanumTglobal(mcf.globalTtorso(pts_ts))
v_org_ms = np.matrix([x,y,0.]).T
pts_ml = tr.Rz(a)*(pts_ms-v_org_ms)
pts_tl = mcf.torsoTglobal(mcf.globalTmecanum(pts_ml))
return pts_tl
def tlRts(vecs_ts, a):
vecs_ms = mcf.mecanumTglobal(mcf.globalTtorso(vecs_ts, True), True)
vecs_ml = tr.Rz(a) * vecs_ms
vecs_tl = mcf.torsoTglobal(mcf.globalTmecanum(vecs_ml, True), True)
return vecs_tl
def tsRtl(vecs_tl, a):
vecs_ml = mcf.mecanumTglobal(mcf.globalTtorso(vecs_tl, True), True)
vecs_ms = tr.Rz(-a) * vecs_ml
vecs_ts = mcf.torsoTglobal(mcf.globalTmecanum(vecs_ms, True), True)
return vecs_ts
def tsTtl(pts_tl, x, y, a):
pts_ml = mcf.mecanumTglobal(mcf.globalTtorso(pts_tl))
v_org_ms = np.matrix([x, y, 0.]).T
pts_ms = tr.Rz(-a) * pts_ml + v_org_ms
pts_ts = mcf.torsoTglobal(mcf.globalTmecanum(pts_ms))
return pts_ts
def tlTts(pts_ts, x, y, a):
pts_ms = mcf.mecanumTglobal(mcf.globalTtorso(pts_ts))
v_org_ms = np.matrix([x, y, 0.]).T
pts_ml = tr.Rz(a) * (pts_ms - v_org_ms)
pts_tl = mcf.torsoTglobal(mcf.globalTmecanum(pts_ml))
return pts_tl
