pose_.position.y = float(args['Y'])
if args['Z'] is not None and args['Z'] is not '-':
pose_.position.z = float(args['Z'])
if args['QX'] is not None and args['QX'] is not '-':
pose_.orientation.x = float(args['QX'])
if args['QY'] is not None and args['QY'] is not '-':
pose_.orientation.y = float(args['QY'])
if args['QZ'] is not None and args['QZ'] is not '-':
pose_.orientation.z = float(args['QZ'])
if args['QW'] is not None and args['QW'] is not '-':
pose_.orientation.w = float(args['QW'])
if args['--cartesian']:
(traj, fraction) = robot.compute_cartesian_path(
[pose_],
link_id,
eef_step=eef_step,
avoid_collisions=(not args['--no-check']))
print fraction
else:
robot.set_joint_value_target(pose_, link_id)
traj = robot.plan()
# Print some info
print "From: ", " pos: %+3.2f %+3.2f %+3.2f, ori: %+3.2f %+3.2f %+3.2f %+3.2f" % (
pose.position.x, pose.position.y, pose.position.z, pose.orientation.x,
pose.orientation.y, pose.orientation.z, pose.orientation.w)
print "To: ", " pos: %+3.2f %+3.2f %+3.2f, ori: %+3.2f %+3.2f %+3.2f %+3.2f" % (
pose_.position.x, pose_.position.y, pose_.position.z,
pose_.orientation.x, pose_.orientation.y, pose_.orientation.z,
pose_.orientation.w)
def compute_polish_move(hold_point,
start_point,
length=0.1,
frame_id="base_link"):
# Compute the third point
p0 = point_to_np(hold_point)
p1 = point_to_np(start_point)
v = p1 - p0
v = v / np.linalg.norm(v)
p2 = p1 + length * v
rospy.loginfo("p0=%s, p1=%s, p2=%s", str(p0), str(p1), str(p2))
# Get the vector angle
a = np.arctan2(v[1], v[0])
rospy.loginfo("Angle: [%f, %f]", a - angle_limit, a + angle_limit)
# Generate poses
poses0 = generate_poses(p0, 0, 2 * np.pi, no_candidates)
poses1 = generate_poses(p1, a - angle_limit, a + angle_limit,
no_candidates)
poses2 = generate_poses(p2, a - angle_limit, a + angle_limit,
no_candidates)
candidates = [(p[0], p[1][0], p[1][1])
for p in itertools.product(poses0, zip(poses1, poses2))]
arms = ClopemaRobotCommander("arms")
state = RobotState.from_robot_state_msg(arms.get_current_state())
trajs = []
for p0, p1, p2 in candidates:
trajs = []
state0 = deepcopy(state)
# Point for the first arm
r1_p03 = deepcopy(p0)
r1_p03.position.z = r1_p03.position.z + table_ofset
r1_p12 = deepcopy(p0)
# Points for the second arm
r2_p0 = deepcopy(p1)
r2_p0.position.z = r2_p0.position.z + table_ofset
r2_p1 = deepcopy(p1)
r2_p2 = deepcopy(p2)
r2_p3 = deepcopy(p2)
r2_p3.position.z = r2_p3.position.z + table_ofset
try:
state0.update_from_pose(pose_stamped(r1_p03, frame_id=frame_id),
ik_link_id=r1_ik_link)
except Exception as e:
rospy.logwarn("Arm: %s, pose: %s: %s", str(r1_ik_link),
show_pose(r1_p03), str(e))
continue
try:
state0.update_from_pose(pose_stamped(r2_p0, frame_id=frame_id),
ik_link_id=r2_ik_link)
except Exception as e:
rospy.logwarn("Arm: %s, pose: %s: %s", str(r2_ik_link),
show_pose(r2_p0), str(e))
continue
arms.set_start_state_to_current_state()
arms.set_joint_value_target(state0.joint_state)
traj = arms.plan()
trajs.append(traj)
if not traj:
rospy.logwarn("Unable to plan to initial position.")
continue
arms.set_start_state(state0)
arms.set_pose_reference_frame(frame_id)
wp_1 = [r1_p12, r1_p12, r1_p03]
wp_2 = [r2_p1, r2_p2, r2_p3]
traj, fraction = arms.compute_cartesian_path(zip(wp_1, wp_2),
(r1_ik_link, r2_ik_link),
jump_threshold=2,
avoid_collisions=False)
if fraction < 1:
rospy.logwarn("Unable to interpolate polish move")
continue
enable_collisions = [("t3_desk", "r1_gripper"),
("t3_desk", "r2_gripper")]
if not services.check_trajectory(
state0, traj, enable_collisions, wait_timeout=1):
rospy.logwarn("Found trajectory is in collision!")
continue
trajs.append(traj)
break
print len(trajs)
arms.set_robot_speed(0.05)
arms.execute(trajs[0])
arms.execute(trajs[1])