Exemplo n.º 1
0
def goToHomeSuction(plan=None):

    joint_topic = '/joint_states'
    ## initialize listener rospy
    listener = tf.TransformListener()
    br = tf.TransformBroadcaster()
    rospy.sleep(0.1)

    while True:
        APCrobotjoints = ROS_Wait_For_Msg(joint_topic,
                                          sensor_msgs.msg.JointState).getmsg()
        q0 = APCrobotjoints.position
        if len(q0) < 6:
            continue
        else:
            break

    plan_n = Plan()

    if q0[5] < 0:
        possible_start_config = [
            0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
            0.09102420595, 3.33888627518 - 2 * math.pi
        ]
    else:
        possible_start_config = [
            0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
            0.09102420595, 3.33888627518
        ]

    plan_n.q_traj = [possible_start_config]

    return plan_n
Exemplo n.º 2
0
import tf
import math
import numpy as np
import tf.transformations as tfm

import capsen.capsen
from ik.roshelper import pubFrame

# bin_1
# 1.1069; -0.018219; 1.3762 -0.54475; 0.075625; 0.20345; 0.81003
#-0.035814156250925766, 0.5470560007467684, -0.8243085337401062, -2.70526034059, 0.8721846604532582, -0.3148573970598978

rospy.init_node('listener', anonymous=True)
#desired_joint_pose = [-0.0087, 0.6423, -0.1222, 1.4731, 1.4643, 1.2]  # for bin 7
home_joint_pose = [0, -0.2, 0.2, 0.01, 1, 1.4]
plan = Plan()
plan.q_traj = [home_joint_pose]
plan.visualize()
plan.execute()
br = tf.TransformBroadcaster()

# generate targets for horizontal scan
#bin_cnstr = get_bin_cnstr()
bin_cnstr = get_bin_inner_cnstr()

target_poses = []
refind = 7
for i in range(12):
    #target_pose_7_vert = [1.1756, 0, 0.79966, 0.69537, 0.11132, 0.049168, 0.70827]  # for bin 7 vertical
    #target_pose_7_hori = [1.1756, -0.0080496, 0.79966, 0.96262, -0.039399, -0.25934, 0.06743]  # for bin 7 horizontal
    target_pose_7_vert = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(
def manual_cal_1(binNum = 0, strPos = None):
    
    if strPos  == None:
        print 'No desired position entered'
        return
        
    ## initialize listener rospy
    listener = tf.TransformListener()
    rospy.sleep(0.1)
    br = tf.TransformBroadcaster()
    rospy.sleep(0.1)
    joint_topic = '/joint_states'
    
    # set tcp
    l1 = 0.06345
    l2 = 0.400  
    tip_hand_transform = [l1, 0, l2, 0,0,0] # to be updated when we have a hand design finalized
    
    # broadcast frame attached to tcp
    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)
    
    # 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]
    tcpPosHome  = tcpPos
    orientation = [0.0, 0.7071, 0.0, 0.7071] # set topple orientation (rotate wrist)
    
    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)
    
    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]
    
    print 'TCP is at:', tcpPos
    
    distFromShelf = 0.05
    mouthBinShelf, binBaseHeightShelf = getBinMouthAndFloor(distFromShelf, binNum)
    mouthBin = coordinateFrameTransform(mouthBinShelf, 'shelf', 'map', listener)
    mouthBin = [mouthBin.pose.position.x, mouthBin.pose.position.y, mouthBin.pose.position.z]
    
    # define modes here:
    
    # go home
    if strPos  == 'home':
        print 'planning to go home'
        plan = Plan()
        plan.q_traj = [[0, -0.3959, 0.58466, 0.03,   0.1152, -0.1745]]
        plan.visualize()
        raw_input('execute?')
        plan.execute()
        print 'done going home'
    
    # go mouth
    if strPos  == 'mouth':
        print 'planning to go to mouth'
        Orientation = [0.0, 0.7071, 0.0, 0.7071]
        targetPt = mouthBin
        planner = IK(q0 = None, target_tip_pos = targetPt, 
                     target_tip_ori = Orientation, tip_hand_transform=tip_hand_transform, 
                     joint_topic=joint_topic)
        plan = planner.plan()
        plan.visualize()
        s = plan.success()
        if s:
            raw_input('execute?')
            plan.execute()
        if not s:
            print 'could not find plan'
        print 'done going to mouth'
    
    # go mid back bin
    if strPos  == 'shelf':
        print 'planning to go to mid back of the bin'
        Orientation = [0.0, 0.7071, 0.0, 0.7071]
        targetPt = [mouthBin[0], mouthBin[1], mouthBin[2]] 
        planner = IK(q0 = None, target_tip_pos = targetPt, 
                     target_tip_ori = Orientation, tip_hand_transform=tip_hand_transform, 
                     joint_topic=joint_topic)
        plan = planner.plan()
        plan.visualize()
        s = plan.success()
        if s:
            raw_input('execute?')
            plan.execute()
        if not s:
            print 'could not find plan'
        print 'done going to mid back of the bin'
Exemplo n.º 4
0
def manual_cal_1(binNum=0, strPos=None):

    if strPos == None:
        print 'No desired position entered'
        return

    ## initialize listener rospy
    listener = tf.TransformListener()
    rospy.sleep(0.1)
    br = tf.TransformBroadcaster()
    rospy.sleep(0.1)
    joint_topic = '/joint_states'

    # set tcp
    l1 = 0.06345
    l2 = 0.400
    tip_hand_transform = [
        l1, 0, l2, 0, 0, 0
    ]  # to be updated when we have a hand design finalized

    # broadcast frame attached to tcp
    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)

    # 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
    ]
    tcpPosHome = tcpPos
    orientation = [0.0, 0.7071, 0.0,
                   0.7071]  # set topple orientation (rotate wrist)

    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)

    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
    ]

    print 'TCP is at:', tcpPos

    distFromShelf = 0.05
    mouthBinShelf, binBaseHeightShelf = getBinMouthAndFloor(
        distFromShelf, binNum)
    mouthBin = coordinateFrameTransform(mouthBinShelf, 'shelf', 'map',
                                        listener)
    mouthBin = [
        mouthBin.pose.position.x, mouthBin.pose.position.y,
        mouthBin.pose.position.z
    ]

    # define modes here:

    # go home
    if strPos == 'home':
        print 'planning to go home'
        plan = Plan()
        plan.q_traj = [[0, -0.3959, 0.58466, 0.03, 0.1152, -0.1745]]
        plan.visualize()
        raw_input('execute?')
        plan.execute()
        print 'done going home'

    # go mouth
    if strPos == 'mouth':
        print 'planning to go to mouth'
        Orientation = [0.0, 0.7071, 0.0, 0.7071]
        targetPt = mouthBin
        planner = IK(q0=None,
                     target_tip_pos=targetPt,
                     target_tip_ori=Orientation,
                     tip_hand_transform=tip_hand_transform,
                     joint_topic=joint_topic)
        plan = planner.plan()
        plan.visualize()
        s = plan.success()
        if s:
            raw_input('execute?')
            plan.execute()
        if not s:
            print 'could not find plan'
        print 'done going to mouth'

    # go mid back bin
    if strPos == 'shelf':
        print 'planning to go to mid back of the bin'
        Orientation = [0.0, 0.7071, 0.0, 0.7071]
        targetPt = [mouthBin[0], mouthBin[1], mouthBin[2]]
        planner = IK(q0=None,
                     target_tip_pos=targetPt,
                     target_tip_ori=Orientation,
                     tip_hand_transform=tip_hand_transform,
                     joint_topic=joint_topic)
        plan = planner.plan()
        plan.visualize()
        s = plan.success()
        if s:
            raw_input('execute?')
            plan.execute()
        if not s:
            print 'could not find plan'
        print 'done going to mid back of the bin'
def suction_down(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
    
    

    

    ## 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)
    object_dim=adjust_obj_dim(objId,object_dim)
    vertical_dim=object_dim[vertical_index]

    
    
        
    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 =.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
    pubFrame(br, pose=tip_hand_transform, frame_id='tip', parent_frame_id='link_6', npub=5)
    
    # 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)
    scoopOrientation = [0.7071, 0, 0.7071,0]
    
    
    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]
    
    
    
    finger_length=.23     
    finger_width=.08
    
    up_offset=.05
    down_offset=-.025
    cup_to_spatula=.08
    hand_width=.15
    max_gripper_width=110
    hand_top_offset=hand_width/2+vert_offset+.01
    hand_bot_offset=hand_width/2-vert_offset
    
    
    #this determines bin stuff based on bin input
    binFloorHeight=binMouth[2]-bin_height/2
    binCeilHeight=binMouth[2]+bin_height/2
    
    #this determines bin sides based on object
    (binSmall,binLarge)=getSides(objPosition[1],listener)
    
    horz_offset=0    
    small_limit=binSmall+finger_width/2+horz_offset
    large_limit=binLarge-finger_width/2-horz_offset
    
    
    
    
    

    plans = []
    plan = Plan()
    
    if objPosition[1]<0:
        link6_angle=(q0[5]-math.pi)
        possible_start_config=[0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539, 0.09102420595, 3.33888627518-2*math.pi]
    else:
        link6_angle=(q0[5]+math.pi)
        possible_start_config=[0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539, 0.09102420595, 3.33888627518]   
    
    #start_config=possible_start_config
    start_config=[q0[0],q0[1],q0[2],q0[3],q0[4],link6_angle];
    plan.q_traj=[q0,start_config]
    plans.append(plan)

    
    qf=plan.q_traj[-1]
    
    
    
    
    
    

    
    
    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)
    
    
    target_offset=get_test_offset(objId)
    target_x_list=[objPosition[0],objPosition[0]-target_offset,objPosition[0],objPosition[0],objPosition[0]+target_offset]
    target_y_list=[objPosition[1],objPosition[1],objPosition[1]+target_offset,objPosition[1]-target_offset,objPosition[1]]
    
    count=0
    
    suction_succeed=False
    
    overall_plan_succeed=False
                
    for count in range(0,len(target_x_list)):
        
        (plan_succeed,suction_succeed)=try_suction(target_x=target_x_list[count],target_y=target_y_list[count],qf=qf,num_iter=count)
        
        if suction_succeed:
            return (plan_succeed,suction_succeed)
            
        if plan_succeed==True:
            overall_plan_succeed=True
        
        while True:
            APCrobotjoints = ROS_Wait_For_Msg(joint_topic, sensor_msgs.msg.JointState).getmsg() 
            qf = APCrobotjoints.position
            if len(qf) < 6:
                continue
            else:
                break
        print qf
        
        plans=[]
        count=count+1
    
    return (overall_plan_succeed,suction_succeed)
Exemplo n.º 6
0
def suction_down(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=True):
    ## 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

    ## 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)
    object_dim = adjust_obj_dim(objId, object_dim)
    vertical_dim = object_dim[vertical_index]

    while True:
        APCrobotjoints = ROS_Wait_For_Msg(joint_topic,
                                          sensor_msgs.msg.JointState).getmsg()
        q0 = APCrobotjoints.position
        if len(q0) >= 6:
            q0 = q0[
                0:
                6]  # take first 6, because in virtual environmet there will be additional 2 hand joint
            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 = .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
    pubFrame(br,
             pose=tip_hand_transform,
             frame_id='tip',
             parent_frame_id='link_6',
             npub=5)

    # 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)
    scoopOrientation = [0.7071, 0, 0.7071, 0]

    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
    ]

    hand_gap = 0
    gripper.close()

    finger_length = .23
    finger_width = .08

    up_offset = .05
    down_offset = -.025
    cup_to_spatula = .08
    hand_width = .15
    max_gripper_width = 110
    hand_top_offset = hand_width / 2 + vert_offset + .01
    hand_bot_offset = hand_width / 2 - vert_offset

    #this determines bin stuff based on bin input
    binFloorHeight = binMouth[2] - bin_height / 2
    binCeilHeight = binMouth[2] + bin_height / 2

    #this determines bin sides based on object
    #(binSmall,binLarge)=getSides(objPosition[1],listener)
    (binSmall, binLarge) = getSides(binNum, listener)

    horz_offset = 0
    small_limit = binSmall + finger_width / 2 + horz_offset
    large_limit = binLarge - finger_width / 2 - horz_offset

    plans = []
    plan = Plan()

    if objPosition[1] < 0:
        link6_angle = (q0[5] - math.pi)
        possible_start_config = [
            0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
            0.09102420595, 3.33888627518 - 2 * math.pi
        ]
    else:
        link6_angle = (q0[5] + math.pi)
        possible_start_config = [
            0.007996209289, -0.6193283503, 0.5283758664, -0.1974229539,
            0.09102420595, 3.33888627518
        ]

    #start_config=possible_start_config
    start_config = [q0[0], q0[1], q0[2], q0[3], q0[4], link6_angle]
    planner = IKJoint(q0=q0, target_joint_pos=start_config)
    plan = planner.plan()
    #plan.q_traj=[q0,start_config]

    plans.append(plan)

    qf = plan.q_traj[-1]

    def get_motion_param(target_x, target_y):
        object_depth = target_x - binMouth[0]
        sidepos = min(max(target_y, small_limit), large_limit)

        if object_depth < finger_length:
            print '[SucDown] shallow suction'
            h1 = binCeilHeight - lipHeight - cup_to_spatula
            h2 = binFloorHeight + vertical_dim - down_offset
        else:
            print '[SucDown] deep suction, quitting'
            h1 = binCeilHeight - lipHeight - hand_top_offset
            h2a = binFloorHeight + vertical_dim - down_offset
            h2b = binFloorHeight + hand_bot_offset + lipHeight
            h2 = max(h2a, h2b)
            return False, h1, h2, sidepos

        h2 = max(h2, binFloorHeight)

        if h2 > h1:
            print '[SucDown] cant go in'
            return False, h1, h2, sidepos
        return True, h1, h2, sidepos

    def generate_plan(targetPositionList, plans, qf):
        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 '[SucDown] Plan number:', tp_index + 1
            if s:
                print '[SucDown] Plan calculated successfully'
                plans.append(plan)

            else:
                print '[SucDown] Plan calulation failed'
                return (False, plans, qf)

            qf = plan.q_traj[-1]
        return (True, plans, qf)

    def execute_forward(plans, hand_gap):
        for numOfPlan in range(0, len(plans)):
            if isExecute:
                plans[numOfPlan].visualize(hand_param=hand_gap)
                pauseFunc(withPause)
                plans[numOfPlan].execute()

    def execute_backward(plans, hand_gap, plan_offset):
        for numOfPlan in range(0, len(plans) - plan_offset):
            plans[len(plans) - numOfPlan -
                  1].visualizeBackward(hand_param=hand_gap)
            if isExecute:
                pauseFunc(withPause)
                plans[len(plans) - numOfPlan - 1].executeBackward()

    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)

    target_offset = get_test_offset(objId)
    target_x_list = [
        objPosition[0], objPosition[0] - target_offset, objPosition[0],
        objPosition[0], objPosition[0] + target_offset
    ]
    target_y_list = [
        objPosition[1], objPosition[1], objPosition[1] + target_offset,
        objPosition[1] - target_offset, objPosition[1]
    ]

    count = 0

    suction_succeed = False

    overall_plan_succeed = False

    (continue_val, h1, h2,
     sidepos) = get_motion_param(target_x=target_x_list[0],
                                 target_y=target_y_list[0])

    if continue_val == False:
        return False, False

    #targetPositionList=[
    #[binMouth[0]-.15, sidepos, h1],
    #[binMouth[0]-.15, sidepos, h1],
    #[target_x_list[0], sidepos, h1]]

    targetPositionListA = [[binMouth[0] - .15, sidepos, h1],
                           [binMouth[0] - .15, sidepos, h1]]

    targetPositionListB = [[target_x_list[0], sidepos, h1]]

    (continue_val, plans1, qf) = generate_plan(targetPositionListA, plans, qf)

    if continue_val == False:
        return False, False

    (continue_val, plans2, qf) = generate_plan(targetPositionListB, [], qf)

    if continue_val == False:
        return False, False

    setSpeedByName(speedName='yolo')
    execute_forward(plans1, 0)

    setSpeedByName(speedName='faster')
    execute_forward(plans2, 0)

    suction.start()
    #time.sleep(6)

    #plans_store=plans
    plans = []

    for count in range(0, len(target_x_list)):

        (plan_succeed,
         suction_succeed) = try_suction(target_x=target_x_list[count],
                                        target_y=target_y_list[count],
                                        plans=plans,
                                        qf=qf,
                                        num_iter=count)

        if suction_succeed:
            overall_plan_succeed = True
            break
            #return (plan_succeed,suction_succeed)

        if plan_succeed == True:
            overall_plan_succeed = True

        while True:
            APCrobotjoints = ROS_Wait_For_Msg(
                joint_topic, sensor_msgs.msg.JointState).getmsg()
            qf = APCrobotjoints.position
            if len(qf) < 6:
                continue
            else:
                break
        print '[SucDown] qf:', hand_gap

        plans = []
        count = count + 1

    execute_backward(plans2, 0, 0)

    if not suction_succeed:
        suction.stop()

    return (overall_plan_succeed, suction_succeed)
import tf
import math
import numpy as np
import tf.transformations as tfm

import capsen.capsen
from ik.roshelper import pubFrame

# bin_1
# 1.1069; -0.018219; 1.3762 -0.54475; 0.075625; 0.20345; 0.81003
#-0.035814156250925766, 0.5470560007467684, -0.8243085337401062, -2.70526034059, 0.8721846604532582, -0.3148573970598978

rospy.init_node('listener', anonymous=True)
#desired_joint_pose = [-0.0087, 0.6423, -0.1222, 1.4731, 1.4643, 1.2]  # for bin 7
home_joint_pose = [0, -0.2, 0.2, 0.01, 1, 1.4]
plan = Plan(); plan.q_traj = [home_joint_pose]; plan.visualize(); plan.execute()
br = tf.TransformBroadcaster()

# generate targets for horizontal scan
#bin_cnstr = get_bin_cnstr()
bin_cnstr = get_bin_inner_cnstr()


target_poses = []
refind = 7
for i in range(12):
    #target_pose_7_vert = [1.1756, 0, 0.79966, 0.69537, 0.11132, 0.049168, 0.70827]  # for bin 7 vertical
    #target_pose_7_hori = [1.1756, -0.0080496, 0.79966, 0.96262, -0.039399, -0.25934, 0.06743]  # for bin 7 horizontal
    target_pose_7_vert = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(math.pi, 1.4, math.pi).tolist() # for bin 7 vertical
    target_pose_7_hori = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(2.2, 0, math.pi/2).tolist()
    target_pose_7_invhori = [1.1756, 0, 0.79966] + tfm.quaternion_from_euler(-math.pi/2, 0, -math.pi/2).tolist()