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)
def suction_side(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
#tcp_offset_variables
# plan store
plans = []
## 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)
vertical_dim=object_dim[vertical_index]
s1=np.fabs(obj_pose_orient[1,0])*object_dim[0]
s2=np.fabs(obj_pose_orient[1,1])*object_dim[1]
s3=np.fabs(obj_pose_orient[1,2])*object_dim[2]
s4=np.fabs(obj_pose_orient[1,vertical_index])*object_dim[vertical_index]
horizontal_dim=s1+s2+s3-s4
hand_gap=0
gripper.close()
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 = 0.43 #change this to edit where you think the cup is
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
# for i in range(5):
# 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)
pubFrame(br, pose=tip_hand_transform, frame_id='target_pose', parent_frame_id='tip', npub=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]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
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]
object_depth=objPosition[0]-binMouth[0]
finger_length=.23
finger_width=.08
up_offset=.05
down_offset=.01
cup_to_spatula=.08
hand_width=.15
max_gripper_width=.110
hand_top_offset=hand_width/2+vert_offset+.015
hand_bot_offset=hand_width/2-vert_offset+.015
up_down_adjust=.025
side_offset=.03
binFloorHeight=binMouth[2]-bin_height/2
binCeilHeight=binMouth[2]+bin_height/2
min_height=binFloorHeight+lipHeight+finger_width/2+down_offset
desired_height=objPosition[2]
max_height=binCeilHeight-lipHeight-finger_width/2-down_offset-up_down_adjust
target_height=desired_height
if target_height<min_height:
target_height=min_height
if target_height>max_height:
target_height=max_height
bin_sideways=binMouth[1]
sidepos=objPosition[1]
horz_offset=0.01
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
(binSmall,binLarge)=getSides(binNum,listener)
binRight=binSmall
binLeft=binLarge
if sidepos>bin_sideways:
#this stuff is what happens if the object is to the left
print '[SucSide] Object is to the left'
#turn the suction cup so that it is sideways left
scoopOrientation = [.5,-.5,.5,-.5]
side_waypoint1a=binRight+cup_to_spatula+.01
side_waypoint1b=sidepos-horizontal_dim/2-2*horz_offset
if side_waypoint1a>side_waypoint1b:
side_waypoint1=side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1=side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos+horizontal_dim-side_offset
side_waypoint2=binLeft-horizontal_dim-horz_offset
if side_waypoint2<side_waypoint1:
if side_waypoint2<side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1=side_waypoint2
else:
#this stuff is what happens if the object is to the right
print '[SucSide] Object is to the right'
#turn the suction cup so that it is sideways right
scoopOrientation = [0.5,.5,.5,.5]
side_waypoint1a=binLeft-cup_to_spatula-.01
side_waypoint1b=sidepos+horizontal_dim/2+2*horz_offset
if side_waypoint1a<side_waypoint1b:
side_waypoint1=side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1=side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos-horizontal_dim+side_offset
side_waypoint2=binRight+horizontal_dim+horz_offset
if side_waypoint2>side_waypoint1:
if side_waypoint2>side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1=side_waypoint2
targetPositionList=[
[binMouth[0]-.15, side_waypoint1, target_height+up_down_adjust],
[objPosition[0], side_waypoint1, target_height+up_down_adjust],
[objPosition[0], side_waypoint2, target_height+up_down_adjust],
[objPosition[0], side_waypoint2, target_height]]
qf=q0
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
frontOfObjectPtOutOfBin = targetPosition
q_initial = qf
planner = IK(q0 = q_initial, target_tip_pos = targetPosition, target_tip_ori = scoopOrientation, tip_hand_transform=tip_hand_transform, joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[SucSide] move to COM in y successful'
print '[SucSide] tcp at:', targetPosition
plan.visualize(hand_param=hand_gap)
plans.append(plan)
#if isExecute:
# pauseFunc(withPause)
# plan.execute()
else:
print '[SucSide] move to COM in y fail'
return (False, False)
#print plan.q_traj
qf = plan.q_traj[-1]
print '[SucSide] qf:', qf
#set robot speed
setSpeedByName(speedName = 'faster')
for numOfPlan in range(0, len(plans)):
if numOfPlan >=len(plans)-2:
setSpeedByName(speedName = 'fast')
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
suction.start()
final_hand_gap=110
gripper.set_force(12)
gripper.grasp(move_pos=final_hand_gap)
gripper.close()
hand_gap=final_hand_gap
print '[SucSide] hand_gap:', hand_gap
continue_suction=suction_items(objId)
if continue_suction:
print '[SucSide] object is of type that suction side will try to remove from bin'
else:
print '[SucSide] object is to big to remove from bin'
## retreat
for numOfPlan in range(0, len(plans)-1):
plans[len(plans)-numOfPlan-1].visualizeBackward(hand_param=hand_gap)
if isExecute:
pauseFunc(withPause)
plans[len(plans)-numOfPlan-1].executeBackward()
if not continue_suction:
suction.stop()
rospy.sleep(3)
print '[SucSide] Is suction in contact still? Lets see:'
print '[SucSide] suction.check(): ', suction.check()
print '[SucSide] suction.check(): ', suction.check()
if suction.check():
#set robot speed
print '[SucSide] got item. continuing. suction'
setSpeedByName(speedName = 'fast')
return (True, True)
else:
print '[SucSide] did not get item. Stopping suction'
suction.stop()
return (True, False)
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)
def suction_side(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
#tcp_offset_variables
# plan store
plans = []
## 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)
vertical_dim = object_dim[vertical_index]
s1 = np.fabs(obj_pose_orient[1, 0]) * object_dim[0]
s2 = np.fabs(obj_pose_orient[1, 1]) * object_dim[1]
s3 = np.fabs(obj_pose_orient[1, 2]) * object_dim[2]
s4 = np.fabs(obj_pose_orient[1,
vertical_index]) * object_dim[vertical_index]
horizontal_dim = s1 + s2 + s3 - s4
hand_gap = 0
gripper.close()
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 = 0.43 #change this to edit where you think the cup is
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
# for i in range(5):
# 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)
pubFrame(br,
pose=tip_hand_transform,
frame_id='target_pose',
parent_frame_id='tip',
npub=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
]
#this may cause issues!!!
tcpPosHome = tcpPos
# set scoop orientation (rotate wrist)
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
]
object_depth = objPosition[0] - binMouth[0]
finger_length = .23
finger_width = .08
up_offset = .05
down_offset = .01
cup_to_spatula = .08
hand_width = .15
max_gripper_width = .110
hand_top_offset = hand_width / 2 + vert_offset + .015
hand_bot_offset = hand_width / 2 - vert_offset + .015
up_down_adjust = .025
side_offset = .03
binFloorHeight = binMouth[2] - bin_height / 2
binCeilHeight = binMouth[2] + bin_height / 2
min_height = binFloorHeight + lipHeight + finger_width / 2 + down_offset
desired_height = objPosition[2]
max_height = binCeilHeight - lipHeight - finger_width / 2 - down_offset - up_down_adjust
target_height = desired_height
if target_height < min_height:
target_height = min_height
if target_height > max_height:
target_height = max_height
bin_sideways = binMouth[1]
sidepos = objPosition[1]
horz_offset = 0.01
#this determines bin sides based on object
#(binSmall,binLarge)=getSides(objPosition[1],listener)
(binSmall, binLarge) = getSides(binNum, listener)
binRight = binSmall
binLeft = binLarge
if sidepos > bin_sideways:
#this stuff is what happens if the object is to the left
print '[SucSide] Object is to the left'
#turn the suction cup so that it is sideways left
scoopOrientation = [.5, -.5, .5, -.5]
side_waypoint1a = binRight + cup_to_spatula + .01
side_waypoint1b = sidepos - horizontal_dim / 2 - 2 * horz_offset
if side_waypoint1a > side_waypoint1b:
side_waypoint1 = side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1 = side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos+horizontal_dim-side_offset
side_waypoint2 = binLeft - horizontal_dim - horz_offset
if side_waypoint2 < side_waypoint1:
if side_waypoint2 < side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1 = side_waypoint2
else:
#this stuff is what happens if the object is to the right
print '[SucSide] Object is to the right'
#turn the suction cup so that it is sideways right
scoopOrientation = [0.5, .5, .5, .5]
side_waypoint1a = binLeft - cup_to_spatula - .01
side_waypoint1b = sidepos + horizontal_dim / 2 + 2 * horz_offset
if side_waypoint1a < side_waypoint1b:
side_waypoint1 = side_waypoint1a
print '[SucSide] side waypoint A'
else:
side_waypoint1 = side_waypoint1b
print '[SucSide] side waypoint B'
#side_waypoint2=sidepos-horizontal_dim+side_offset
side_waypoint2 = binRight + horizontal_dim + horz_offset
if side_waypoint2 > side_waypoint1:
if side_waypoint2 > side_waypoint1a:
print '[SucSide] Not enought gap'
return (False, False)
else:
side_waypoint1 = side_waypoint2
targetPositionList = [
[binMouth[0] - .15, side_waypoint1, target_height + up_down_adjust],
[objPosition[0], side_waypoint1, target_height + up_down_adjust],
[objPosition[0], side_waypoint2, target_height + up_down_adjust],
[objPosition[0], side_waypoint2, target_height]
]
qf = q0
for tp_index in range(0, len(targetPositionList)):
targetPosition = targetPositionList[tp_index]
frontOfObjectPtOutOfBin = targetPosition
q_initial = qf
planner = IK(q0=q_initial,
target_tip_pos=targetPosition,
target_tip_ori=scoopOrientation,
tip_hand_transform=tip_hand_transform,
joint_topic=joint_topic)
plan = planner.plan()
s = plan.success()
if s:
print '[SucSide] move to COM in y successful'
print '[SucSide] tcp at:', targetPosition
plan.visualize(hand_param=hand_gap)
plans.append(plan)
#if isExecute:
# pauseFunc(withPause)
# plan.execute()
else:
print '[SucSide] move to COM in y fail'
return (False, False)
#print plan.q_traj
qf = plan.q_traj[-1]
print '[SucSide] qf:', qf
#set robot speed
setSpeedByName(speedName='faster')
for numOfPlan in range(0, len(plans)):
if numOfPlan >= len(plans) - 2:
setSpeedByName(speedName='fast')
if isExecute:
plans[numOfPlan].visualize(hand_param=hand_gap)
pauseFunc(withPause)
plans[numOfPlan].execute()
suction.start()
final_hand_gap = 110
gripper.set_force(12)
gripper.grasp(move_pos=final_hand_gap)
gripper.close()
hand_gap = final_hand_gap
print '[SucSide] hand_gap:', hand_gap
continue_suction = suction_items(objId)
if continue_suction:
print '[SucSide] object is of type that suction side will try to remove from bin'
else:
print '[SucSide] object is to big to remove from bin'
## retreat
for numOfPlan in range(0, len(plans) - 1):
plans[len(plans) - numOfPlan -
1].visualizeBackward(hand_param=hand_gap)
if isExecute:
pauseFunc(withPause)
plans[len(plans) - numOfPlan - 1].executeBackward()
if not continue_suction:
suction.stop()
rospy.sleep(3)
print '[SucSide] Is suction in contact still? Lets see:'
print '[SucSide] suction.check(): ', suction.check()
print '[SucSide] suction.check(): ', suction.check()
if suction.check():
#set robot speed
print '[SucSide] got item. continuing. suction'
setSpeedByName(speedName='fast')
return (True, True)
else:
print '[SucSide] did not get item. Stopping suction'
suction.stop()
return (True, False)