def execute(self, userdata):
initial_separation = 0.11
print 'Smooth distance: %d' % self.distance
if self.arm=="b":
rospy.loginfo('Self.arm is b')
outcome = SUCCESS
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.05
,link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.05
,link_frame_r="r_wrist_back_frame",dur=4.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 1: Success is %s', outcome==SUCCESS)
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 2: Success is %s', outcome==SUCCESS)
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,
y_offset_l=(self.distance+initial_separation)/2.0, z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,
y_offset_r=-1*(self.distance+initial_separation)/2.0, z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 3: Success is %s', outcome==SUCCESS)
GripUtils.recall_arm("b")
return outcome
else:
#Right is negative in the y axis
if self.arm=="r":
y_multiplier = -1
else:
y_multiplier = 1
rospy.loginfo('arm is %s, y multiplier is %s' % (self.arm, y_multiplier))
print 'Location: %s' % str(self.location)
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=0.05,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=4.0, verbose=True):
return FAILURE
rospy.loginfo('Step 2')
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=-0.01,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0, verbose=True):
#return FAILURE
pass
rospy.loginfo('Step 3')
print 'Offset: %f' % (y_multiplier*self.distance)
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
y_offset=y_multiplier*self.distance,z_offset=-0.01,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0, verbose=True):
return FAILURE
rospy.loginfo('Step 4. Done!')
return SUCCESS
def smooth(arm='b'):
location = PointStamped()
location.point.x = 0.5
location.header.frame_id = "table_height"
distance = TABLE_WIDTH/3
initial_separation = 0.11
GripUtils.recall_arm(arm)
if arm == 'b':
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.05
,link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.05
,link_frame_r="r_wrist_back_frame",dur=4.0):
success = False
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",dur=2.0):
success = False
if not GripUtils.go_to_pts(point_l=location,grip_r=True, grip_l=True, point_r=location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,
y_offset_l=(distance+initial_separation)/2.0, z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,
y_offset_r=-1*(distance+initial_separation)/2.0, z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",dur=2.0):
success = False
else:
#Right is negative in the y axis
if arm=="r":
y_multiplier = -1
else:
y_multiplier = 1
location.point.y -= y_multiplier*distance/2
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=0.05,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=4.0):
success = False
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=-0.01,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=2.0):
success = False
if not GripUtils.go_to_pt(point=location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
y_offset=y_multiplier*distance,z_offset=-0.01,arm=arm,
link_frame="%s_wrist_back_frame"%arm,dur=2.0):
success = False
GripUtils.recall_arm(arm)
return True
def execute(self, userdata):
self.location = userdata.location
self.distance = userdata.distance
initial_separation = 0.11
if self.arm=="b":
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=0.05
,link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=0.05
,link_frame_r="r_wrist_back_frame",dur=4.0):
return FAILURE
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,y_offset_l=initial_separation/2.0,z_offset_l=-0.04,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,y_offset_r=-1*initial_separation/2.0,z_offset_r=-0.04,
link_frame_r="r_wrist_back_frame",dur=2.0):
return FAILURE
if not GripUtils.go_to_pts(point_l=self.location,grip_r=True, grip_l=True, point_r=self.location,
roll_l=pi/2,yaw_l=0,pitch_l=-pi/2,
y_offset_l=(self.distance+initial_separation)/2.0, z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi/2,yaw_r=0,pitch_r=-pi/2,
y_offset_r=-1*(self.distance+initial_separation)/2.0, z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",dur=2.0):
return FAILURE
else:
#Right is negative in the y axis
if self.arm=="r":
y_multiplier = -1
else:
y_multiplier = 1.0
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=0.05,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=4.0):
return FAILURE
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
z_offset=-0.01,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0):
return FAILURE
if not GripUtils.go_to_pt(point=self.location,grip=True,roll=pi/2,yaw=0,pitch=-pi/2,
y_offset=y_multiplier*self.distance,z_offset=-0.00,arm=self.arm,
link_frame="%s_wrist_back_frame"%self.arm,dur=2.0):
return FAILURE
return SUCCESS
def execute(self, userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
midleft = bl
midleft.point.x = (bl.point.x + tl.point.x) / 2
midleft.point.y = (bl.point.y + tl.point.y) / 2
midleft.point.z = (bl.point.z + tl.point.z) / 2
midright = br
midright.point.x = (br.point.x + tr.point.x) / 2
midright.point.y = (br.point.y + tr.point.y) / 2
midright.point.z = (br.point.z + tr.point.z) / 2
if not GripUtils.grab_point(midleft,
roll=pi / 2,
yaw=-pi / 2,
pitch=pi / 4,
arm="l",
x_offset=-0.01,
z_offset=0.01,
INIT_SCOOT_AMT=0.01):
return FAILURE
if not GripUtils.grab_point(midright,
roll=-pi / 2,
yaw=pi / 2,
pitch=pi / 4,
arm="r",
x_offset=-0.01,
z_offset=0.01,
INIT_SCOOT_AMT=0.01):
return FAILURE
if not GripUtils.go_to_pts(point_l=midleft,
roll_l=pi / 2,
yaw_l=-pi / 2,
pitch_l=pi / 4,
grip_l=True,
point_r=midright,
roll_r=-pi / 2,
yaw_r=pi / 2,
pitch_r=pi / 4,
grip_r=True,
z_offset_l=0.4,
z_offset_r=0.4):
return FAILURE
return SUCCESS
def execute(self,userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
midleft = bl
midleft.point.x = (bl.point.x + tl.point.x)/2
midleft.point.y = (bl.point.y + tl.point.y)/2
midleft.point.z = (bl.point.z + tl.point.z)/2
midright = br
midright.point.x = (br.point.x + tr.point.x)/2
midright.point.y = (br.point.y + tr.point.y)/2
midright.point.z = (br.point.z + tr.point.z)/2
if not GripUtils.grab_point(midleft,roll=pi/2,yaw=-pi/2,pitch=pi/4,arm="l",x_offset=-0.01,z_offset=0.01,INIT_SCOOT_AMT = 0.01):
return FAILURE
if not GripUtils.grab_point(midright,roll=-pi/2,yaw=pi/2,pitch=pi/4,arm="r",x_offset=-0.01,z_offset=0.01,INIT_SCOOT_AMT = 0.01):
return FAILURE
if not GripUtils.go_to_pts(point_l=midleft,roll_l=pi/2,yaw_l=-pi/2,pitch_l=pi/4,grip_l=True,point_r=midright,roll_r=-pi/2,yaw_r=pi/2,pitch_r=pi/4,grip_r=True,z_offset_l=0.4,z_offset_r=0.4):
return FAILURE
return SUCCESS
def smooth(arm='b'):
location = PointStamped()
location.point.x = 0.5
location.header.frame_id = "table_height"
distance = TABLE_WIDTH / 3
initial_separation = 0.11
GripUtils.recall_arm(arm)
if arm == 'b':
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(point_l=location,
grip_r=True,
grip_l=True,
point_r=location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=0.05,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=0.05,
link_frame_r="r_wrist_back_frame",
dur=4.0):
success = False
if not GripUtils.go_to_pts(point_l=location,
grip_r=True,
grip_l=True,
point_r=location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",
dur=2.0):
success = False
if not GripUtils.go_to_pts(
point_l=location,
grip_r=True,
grip_l=True,
point_r=location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=(distance + initial_separation) / 2.0,
z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * (distance + initial_separation) / 2.0,
z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",
dur=2.0):
success = False
else:
#Right is negative in the y axis
if arm == "r":
y_multiplier = -1
else:
y_multiplier = 1
location.point.y -= y_multiplier * distance / 2
if not GripUtils.go_to_pt(point=location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=0.05,
arm=arm,
link_frame="%s_wrist_back_frame" % arm,
dur=4.0):
success = False
if not GripUtils.go_to_pt(point=location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=-0.01,
arm=arm,
link_frame="%s_wrist_back_frame" % arm,
dur=2.0):
success = False
if not GripUtils.go_to_pt(point=location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
y_offset=y_multiplier * distance,
z_offset=-0.01,
arm=arm,
link_frame="%s_wrist_back_frame" % arm,
dur=2.0):
success = False
GripUtils.recall_arm(arm)
return True
def execute(self, userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
center = bl
center.point.x = (bl.point.x + tl.point.x + br.point.x +
tr.point.x) / 4
center.point.y = (bl.point.y + tl.point.y + br.point.y +
tr.point.y) / 4
center.point.z = (bl.point.z + tl.point.z + br.point.z +
tr.point.z) / 4
#calculate width
rightTip = PointStamped()
rightTip.header.stamp = rospy.Time()
rightTip.frame_id = "r_tip_frame"
rFromL = self.listener.transformPoint("l_tip_frame", rightTip)
width = math.sqrt(rFromL.point.x**2 + rFromL.point.y**2 +
rFromL.point.z**2) #distance from right to left
#set point_l and point_r (remember to set z to the height of the table)
point_l = br
point_l.x = center.point.x
point_l.y = center.point.y + width / 2
point_l.z = TABLE_HEIGHT #is this wrong? what frame are bl, br, tl, and tr given in?
point_r = tl
point_r.x = center.point.x
point_r.y = center.point.y - width / 2
point_r.z = TABLE_HEIGHT #is this wrong? what frame are bl, br, tl, and tr given in?
if not GripUtils.go_to_pts(point_l,
pi / 2,
pi / 4,
-pi / 2,
True,
point_r,
-pi / 2,
pi / 4,
pi / 2,
True,
z_offset_l=0.4,
z_offset_r=0.4):
return FAILURE
numTowelsInStack = 0
try:
numTowelsInStack = userdata.stackNum
except KeyError:
pass
z_offset = -0.4 + 0.02 * numTowelsInStack
if not GripUtils.go_to_relative_multi(
0, 0, z_offset, True, 0, 0, z_offset, True, "base_footprint"):
return FAILURE
if not GripUtils.open_grippers():
return FAILURE
userdata.stackNum = numTowelsInStack + 1
return SUCCESS
def execute(self, userdata):
self.location = userdata.location
self.distance = userdata.distance
initial_separation = 0.11
if self.arm == "b":
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=0.05,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=0.05,
link_frame_r="r_wrist_back_frame",
dur=4.0):
return FAILURE
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",
dur=2.0):
return FAILURE
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=(self.distance + initial_separation) / 2.0,
z_offset_l=-0.03,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * (self.distance + initial_separation) / 2.0,
z_offset_r=-0.03,
link_frame_r="r_wrist_back_frame",
dur=2.0):
return FAILURE
else:
#Right is negative in the y axis
if self.arm == "r":
y_multiplier = -1
else:
y_multiplier = 1
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=0.05,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=4.0):
return FAILURE
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=-0.01,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=2.0):
return FAILURE
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
y_offset=y_multiplier * self.distance,
z_offset=-0.01,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=2.0):
return FAILURE
return SUCCESS
def execute(self, userdata):
initial_separation = 0.11
print 'Smooth distance: %d' % self.distance
if self.arm == "b":
rospy.loginfo('Self.arm is b')
outcome = SUCCESS
#Put arms together, with a gap of initial_separation between grippers
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=0.05,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=0.05,
link_frame_r="r_wrist_back_frame",
dur=4.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 1: Success is %s',
outcome == SUCCESS)
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=initial_separation / 2.0,
z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * initial_separation / 2.0,
z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",
dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 2: Success is %s',
outcome == SUCCESS)
if not GripUtils.go_to_pts(
point_l=self.location,
grip_r=True,
grip_l=True,
point_r=self.location,
roll_l=pi / 2,
yaw_l=0,
pitch_l=-pi / 2,
y_offset_l=(self.distance + initial_separation) / 2.0,
z_offset_l=0.00,
link_frame_l="l_wrist_back_frame",
roll_r=pi / 2,
yaw_r=0,
pitch_r=-pi / 2,
y_offset_r=-1 * (self.distance + initial_separation) / 2.0,
z_offset_r=0.00,
link_frame_r="r_wrist_back_frame",
dur=2.0):
outcome = FAILURE
rospy.loginfo('Smooth on table goto 3: Success is %s',
outcome == SUCCESS)
GripUtils.recall_arm("b")
return outcome
else:
#Right is negative in the y axis
if self.arm == "r":
y_multiplier = -1
else:
y_multiplier = 1
rospy.loginfo('arm is %s, y multiplier is %s' %
(self.arm, y_multiplier))
print 'Location: %s' % str(self.location)
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=0.05,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=4.0,
verbose=True):
return FAILURE
rospy.loginfo('Step 2')
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
z_offset=-0.01,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=2.0,
verbose=True):
#return FAILURE
pass
rospy.loginfo('Step 3')
print 'Offset: %f' % (y_multiplier * self.distance)
if not GripUtils.go_to_pt(
point=self.location,
grip=True,
roll=pi / 2,
yaw=0,
pitch=-pi / 2,
y_offset=y_multiplier * self.distance,
z_offset=-0.01,
arm=self.arm,
link_frame="%s_wrist_back_frame" % self.arm,
dur=2.0,
verbose=True):
return FAILURE
rospy.loginfo('Step 4. Done!')
return SUCCESS
def execute(self, userdata):
bl = userdata.bl
br = userdata.br
tl = userdata.tl
tr = userdata.tr
center = bl
center.point.x = (bl.point.x + tl.point.x + br.point.x + tr.point.x) / 4
center.point.y = (bl.point.y + tl.point.y + br.point.y + tr.point.y) / 4
center.point.z = (bl.point.z + tl.point.z + br.point.z + tr.point.z) / 4
# calculate width
rightTip = PointStamped()
rightTip.header.stamp = rospy.Time()
rightTip.frame_id = "r_tip_frame"
rFromL = self.listener.transformPoint("l_tip_frame", rightTip)
width = math.sqrt(
rFromL.point.x ** 2 + rFromL.point.y ** 2 + rFromL.point.z ** 2
) # distance from right to left
# set point_l and point_r (remember to set z to the height of the table)
point_l = br
point_l.x = center.point.x
point_l.y = center.point.y + width / 2
point_l.z = TABLE_HEIGHT # is this wrong? what frame are bl, br, tl, and tr given in?
point_r = tl
point_r.x = center.point.x
point_r.y = center.point.y - width / 2
point_r.z = TABLE_HEIGHT # is this wrong? what frame are bl, br, tl, and tr given in?
if not GripUtils.go_to_pts(
point_l,
pi / 2,
pi / 4,
-pi / 2,
True,
point_r,
-pi / 2,
pi / 4,
pi / 2,
True,
z_offset_l=0.4,
z_offset_r=0.4,
):
return FAILURE
numTowelsInStack = 0
try:
numTowelsInStack = userdata.stackNum
except KeyError:
pass
z_offset = -0.4 + 0.02 * numTowelsInStack
if not GripUtils.go_to_relative_multi(0, 0, z_offset, True, 0, 0, z_offset, True, "base_footprint"):
return FAILURE
if not GripUtils.open_grippers():
return FAILURE
userdata.stackNum = numTowelsInStack + 1
return SUCCESS
