Update
This commit is contained in:
Max Hunt
parent
0f493b2c2a
commit
21eaf26457
68
new_main.py
68
new_main.py
@ -22,6 +22,10 @@ import target_angles as ta
|
||||
|
||||
brickstuff = tps.brick_directions_notf
|
||||
|
||||
global sumulation
|
||||
|
||||
simulation = True
|
||||
|
||||
class PickAndPlace(object):
|
||||
def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE):
|
||||
self._accuracy = accuracy
|
||||
@ -58,6 +62,46 @@ class PickAndPlace(object):
|
||||
def send(self, angles):
|
||||
self._guarded_move_to_joint_position(angles)
|
||||
|
||||
def ik_request(self, pose):
|
||||
hdr = Header(stamp=rospy.Time.now(), frame_id='base')
|
||||
ikreq = SolvePositionIKRequest()
|
||||
ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose))
|
||||
try:
|
||||
resp = self._iksvc(ikreq)
|
||||
except (rospy.ServiceException, rospy.ROSException), e:
|
||||
rospy.logerr("Service call failed: %s" % (e,))
|
||||
return False
|
||||
# Check if result valid, and type of seed ultimately used to get solution
|
||||
# convert rospy's string representation of uint8[]'s to int's
|
||||
resp_seeds = struct.unpack('<%dB' % len(resp.result_type), resp.result_type)
|
||||
limb_joints = {}
|
||||
if (resp_seeds[0] != resp.RESULT_INVALID):
|
||||
seed_str = {
|
||||
ikreq.SEED_USER: 'User Provided Seed',
|
||||
ikreq.SEED_CURRENT: 'Current Joint Angles',
|
||||
ikreq.SEED_NS_MAP: 'Nullspace Setpoints',
|
||||
}.get(resp_seeds[0], 'None')
|
||||
if self._verbose:
|
||||
print("IK Solution SUCCESS - Valid Joint Solution Found from Seed Type: {0}".format(
|
||||
(seed_str)))
|
||||
# Format solution into Limb API-compatible dictionary
|
||||
limb_joints = dict(zip(resp.joints[0].name, resp.joints[0].position))
|
||||
if self._verbose:
|
||||
# print("IK Joint Solution:\n{0}".format(limb_joints))
|
||||
print("------------------")
|
||||
else:
|
||||
rospy.logerr("INVALID POSE - No Valid Joint Solution Found.")
|
||||
return False
|
||||
print('@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@')
|
||||
print()
|
||||
print()
|
||||
print('Linb Joints:')
|
||||
print(limb_joints)
|
||||
print()
|
||||
print()
|
||||
print('@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@')
|
||||
return limb_joints
|
||||
|
||||
|
||||
brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
|
||||
|
||||
@ -84,6 +128,8 @@ def etq(roll, pitch, yaw):
|
||||
qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2)
|
||||
qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
|
||||
return [qx, qy, qz, qw]
|
||||
#LET THE SHITSTORM END
|
||||
|
||||
|
||||
def spawn_v_brick():
|
||||
brick_pose = Pose()
|
||||
@ -134,8 +180,8 @@ def spawn_tables():
|
||||
|
||||
rospy.init_node("I_still_have_some_hope") # Am I wrong??
|
||||
|
||||
if simulation:
|
||||
cleanup()
|
||||
|
||||
spawn_tables()
|
||||
|
||||
tuck_arms.init_arms()
|
||||
@ -146,7 +192,8 @@ left_pnp = PickAndPlace('left', hover_distance)
|
||||
left_pnp.gripper_open()
|
||||
|
||||
def V_Routine():
|
||||
# spawn_v_brick()
|
||||
if simulation:
|
||||
spawn_v_brick()
|
||||
|
||||
left_pnp.send(ta.V_approach)
|
||||
x = raw_input('Ready?')
|
||||
@ -160,8 +207,8 @@ def V_Routine():
|
||||
|
||||
|
||||
def H_Routine():
|
||||
# spawn_h_brick()
|
||||
|
||||
if simulation:
|
||||
spawn_h_brick()
|
||||
left_pnp.send(ta.H_approach)
|
||||
x = raw_input('Ready?')
|
||||
if x == 'n':exit(0)
|
||||
@ -173,6 +220,10 @@ def H_Routine():
|
||||
|
||||
|
||||
V_Routine()
|
||||
|
||||
sendy_a = left_pnp.ik_request(tps.brick1mid)
|
||||
left_pnp.send(sendy_a)
|
||||
|
||||
left_pnp.send(ta.B_1_A)
|
||||
x = raw_input('Continue?: ')
|
||||
left_pnp.send(ta.B_1_P)
|
||||
@ -181,6 +232,10 @@ left_pnp.gripper_open()
|
||||
left_pnp.send(ta.B_1_A)
|
||||
|
||||
V_Routine()
|
||||
|
||||
sendy_c = left_pnp.ik_request(tps.brick3mid)
|
||||
left_pnp.send(sendy_c)
|
||||
|
||||
left_pnp.send(ta.B_2_A)
|
||||
x = raw_input('Continue?: ')
|
||||
left_pnp.send(ta.B_2_P)
|
||||
@ -246,7 +301,10 @@ x = raw_input('Continue?: ')
|
||||
left_pnp.send(ta.B_9_P)
|
||||
x = raw_input('Continue?: ')
|
||||
left_pnp.gripper_open()
|
||||
left_pnp.send(ta.B_9_A)
|
||||
|
||||
|
||||
sendy_i = left_pnp.ik_request(tps.brick9after)
|
||||
left_pnp.send(sendy_i)
|
||||
|
||||
|
||||
left_pnp.send(ta.H_pickup)
|
||||
|
||||
@ -54,8 +54,8 @@ brick1.orientation.w = 4.329780281177467e-17
|
||||
|
||||
brick1mid = Pose()
|
||||
brick1mid.position.x = 0.615
|
||||
brick1mid.position.y = 0.164
|
||||
brick1mid.position.z = -0.131
|
||||
brick1mid.position.y = 0.4
|
||||
brick1mid.position.z = 0.1
|
||||
brick1mid.orientation.x = -0.7071067811865476
|
||||
brick1mid.orientation.y = -0.7071067811865475
|
||||
brick1mid.orientation.z = 4.329780281177466e-17
|
||||
@ -81,8 +81,8 @@ brick3.orientation.w = 4.329780281177467e-17
|
||||
|
||||
brick3mid = Pose()
|
||||
brick3mid.position.x = 0.615
|
||||
brick3mid.position.y = 0.164
|
||||
brick3mid.position.z = -0.131
|
||||
brick3mid.position.y = 0.6
|
||||
brick3mid.position.z = 0.2
|
||||
brick3mid.orientation.x = -0.7071067811865476
|
||||
brick3mid.orientation.y = -0.7071067811865475
|
||||
brick3mid.orientation.z = 4.329780281177466e-17
|
||||
@ -142,6 +142,15 @@ brick9.orientation.y = -0.7071067811865475
|
||||
brick9.orientation.z = 4.329780281177466e-17
|
||||
brick9.orientation.w = 4.329780281177467e-17
|
||||
|
||||
brick9after = Pose()
|
||||
brick9after.position.x = 0.635
|
||||
brick9after.position.y = 0.349
|
||||
brick9after.position.z = 0.436
|
||||
brick9after.orientation.x = -0.7071067811865476
|
||||
brick9after.orientation.y = -0.7071067811865475
|
||||
brick9after.orientation.z = 4.329780281177466e-17
|
||||
brick9after.orientation.w = 4.329780281177467e-17
|
||||
|
||||
|
||||
brick_directions_notf = [
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user