def table1ToTable2(width):
global numStacked
GripUtils.go_to_relative_multi(0, 0, 0.2, True, 0, 0, 0.2, True, "base_footprint", None)
goFromAToB("Table1", "Table2")
GripUtils.go_to_relative_multi(0, 0, -0.2+0.02*numStacked, True, 0, 0, -0.2+0.02*numStacked, True, "base_footprint", None)
numStacked += 1
GripUtils.open_grippers()
def table1ToTable2(width):
global numStacked
GripUtils.go_to_relative_multi(0, 0, 0.2, True, 0, 0, 0.2, True, "base_footprint", None)
goFromAToB("Table1", "Table2")
GripUtils.go_to_relative_multi(0, 0, -0.2+0.02*numStacked, True, 0, 0, -0.2+0.02*numStacked, True, "base_footprint", None)
numStacked += 1
GripUtils.open_grippers()
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_relative_multi(0, 0, 0.4, True, 0, 0, 0.4, True, "base_footprint"):
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_relative_multi(0, 0, 0.4, True, 0, 0, 0.4, True,
"base_footprint"):
return FAILURE
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
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
