# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import random
import time
import interface
import util
import shelf_stow_locator
import grab
import arm_control_wrapper
(logdebug, loginfo, logwarn, logerr) = util.get_loggers("VisibleGreedyStowing")
class ItemChoiceMode:
RANDOM, SMALLEST, LARGEST, VISIBLE = range(4)
CHOICE_MODE = ItemChoiceMode.VISIBLE
class VisibleGreedyStowing(interface.StowProcessStrategy):
"""VisibleGreedyStowing scans the tote and takes the item with the
highest score to the shelf."""
def execute(self):
# get a stratey to determine free space
stow_strategy = shelf_stow_locator.select_tote2bin_strategy(
# See the License for the specific language governing permissions and
# limitations under the License.
import random
import interface
import util
import shelf_stow_locator
import grab
from grab.vacuum_imgproc import gaussian_interpolation,
import arm_control_wrapper
import conv_bin_coord
(logdebug, loginfo, logwarn, logerr) = util.get_loggers("SmallBinFirstStowing")
class SmallBinFirstStowing(interface.StowProcessStrategy):
"""VisibleGreedyStowing scans the tote and takes the item with the
highest score to the shelf."""
def execute(self):
super(SmallBinFirstStowing, self).calibrate()
# get a stratey to determine free space
stow_strategy = shelf_stow_locator.select_strategy(self.pos_info)
loginfo("ShelfStowLocatorStrategy: %s" % stow_strategy)
try_count = 0
items_in_tote = self.pos_info.tote[:]
while items_in_tote and try_count < 20:
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rospy
import shelf_stow_locator
import arm_control_wrapper
import grab
import util
import interface
(logdebug, loginfo, logwarn,
logerr) = util.get_loggers("MoveUntilGrabbablePicking")
class GrabResult:
SUCCESS, CANNOT_GRAB, FAILED_GRAB = range(3)
class MoveUntilGrabbablePicking(interface.GetItemFromBinStrategy):
# MoveUntilGrabbablePicking moves items that are obstacles to a different
# bin until the difficulty to grab the target item is low enough.
def __init__(self, pos_info):
self.pos_info = pos_info
def get_max_tries(self, item, strategy):
# number of attempts to take an item using grab_from_shelf
if isinstance(strategy, grab.vacuum.VacuumGrabbing):
# See the License for the specific language governing permissions and
# limitations under the License.
import time
import threading
import rospy
import actionlib
from actionlib_msgs.msg import GoalStatus
from apc2016.msg import CalibrationAction, CalibrationGoal
from apc2016.srv import Success, CalibrationUpdate
import util
(logdebug, loginfo, logwarn, logerr) = util.get_loggers("PickProcessStrategy")
class PickProcessStrategy(object):
def __init__(self, pos_info):
self.pos_info = pos_info
self.start = time.time()
cd = threading.Thread(target=self.countdown)
cd.daemon = True
cd.start()
def countdown(self):
while True:
time.sleep(10)
elapsed = util.get_elapsed_time(self.start)
loginfo("elapsed time: %s" % elapsed)
# limitations under the License.
import rospy
import interface
import get_item
import shelf_stow_locator
import tote_stow_locator
import arm_control_wrapper
import grab
import util
import time
(logdebug, loginfo, logwarn, logerr) = util.get_loggers("MoveUntilGrabbablePicking")
class DifficultyOrderPicking(interface.PickProcessStrategy):
def execute(self, items):
# get the strategy for how to prepare the actual pick
get_item_strategy = get_item.select_strategy(self.pos_info)
loginfo("GetItemFromBinStrategy: %s" % get_item_strategy)
# get the strategy for where to store items
target_locator = tote_stow_locator.select_strategy(self.pos_info)
loginfo("ToteStowLocatorStrategy: %s" % target_locator)
calib_ok = super(DifficultyOrderPicking, self).calibrate()
if not calib_ok:
logerr("calibration failed")
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import json
from collections import OrderedDict
import util
(logdebug, loginfo, logwarn, logerr) = util.get_loggers("ItemLocations")
class ItemLocations:
allowed_items = set([
"i_am_a_bunny_book", "laugh_out_loud_joke_book", "rawlings_baseball",
"folgers_classic_roast_coffee", "scotch_bubble_mailer",
"elmers_washable_no_run_school_glue", "hanes_tube_socks",
"womens_knit_gloves", "cloud_b_plush_bear",
"kyjen_squeakin_eggs_plush_puppies", "creativity_chenille_stems",
"oral_b_toothbrush_red", "cool_shot_glue_sticks",
"dr_browns_bottle_brush", "fiskars_scissors_red",
"platinum_pets_dog_bowl", "fitness_gear_3lb_dumbbell",
"rolodex_jumbo_pencil_cup", "expo_dry_erase_board_eraser",
"kleenex_tissue_box", "crayola_24_ct", "dove_beauty_bar",
"staples_index_cards", "up_glucose_bottle", "dasani_water_bottle",