diff --git a/new_main.py b/new_main.py index 8a1a9c2..bab7733 100644 --- a/new_main.py +++ b/new_main.py @@ -141,7 +141,6 @@ def etq(roll, pitch, yaw): #Euler To Quaternian 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] - def spawn_v_brick(): '''Spawns Vertical brick in Gazebo simulation''' brick_pose = Pose() @@ -191,20 +190,6 @@ def spawn_tables(): spawn_sdf(table1_id, table_sdf, "/", table1, table_reference_frame) spawn_sdf(table2_id, table_sdf, "/", table2, table_reference_frame) - -rospy.init_node("MOTHER_CLUCKER") #Initializes rospy node - - -if simulation: - #Clean up any (known) preexisting objects in Gazebo and spawns the tables - cleanup() - spawn_tables() - -tuck_arms.init_arms() #Makes sure the arms are in known starting place - -hover_distance = 0.2 #Used for IK, not useful to us anymore -left_pnp = PickAndPlace('left', hover_distance) #Initializer - def open_and_wait(): '''Opens gripper and waits for uer input to close''' left_pnp.gripper_open() @@ -224,7 +209,6 @@ def gripperBrickChecker(): print('Exiting') exit(0) - def V_Routine(): '''Spawns vertical brick (if sim), sends gripper to brick position, asks if ready (if in debug), picks it up and checks that the brick is in the gripper''' if simulation: spawn_v_brick() @@ -253,8 +237,21 @@ def H_Routine(): left_pnp.goto(ta.H_approach) +rospy.init_node("MOTHER_CLUCKER") #Initializes rospy node + +if simulation: + #Clean up any (known) preexisting objects in Gazebo and spawns the tables + cleanup() + spawn_tables() + +tuck_arms.init_arms() #Makes sure the arms are in known starting place + +left_pnp = PickAndPlace('left', hover_distance) #Limb initializer + left_pnp.gripper_open() #Ensures gripper is open before grabbing brick + + V_Routine() left_pnp.goto(ta.B_1_A) diff --git a/target_angles.py b/target_angles.py index 5a452ea..684e8a9 100644 --- a/target_angles.py +++ b/target_angles.py @@ -1,28 +1,3 @@ -''' -Pickup Vertical Offset :: {'left_w0': 0.309347832698974, 'left_w1': 1.881132793719985, 'left_w2': 2.3018260606950194, 'left_e0': -0.6620952326288202, 'left_e1': 0.8506124094054622, 'left_s0': 0.4467327362087081, 'left_s1': -1.0924293648582206} -Pickup Vertical Pick :: {'left_w0': 0.32998286773274293, 'left_w1': 1.3930185907441222, 'left_w2': 2.2171019702140753, 'left_e0': -0.6821342836475758, 'left_e1': 1.3311146610544962, 'left_s0': 0.5323550070725158, 'left_s1': -1.0404847669613069} -Pickup Horizontal Offset : {'left_w0': 0.8139517749899786, 'left_w1': 1.7913332347783784, 'left_w2': 2.140253332470379, 'left_e0': -1.2881506550429311, 'left_e1': 0.9559160919794364, 'left_s0': 0.718405344706577, 'left_s1': -0.7389057972202023} -Pickup Horizontal Pick : {'left_w0': 0.9011295809085222, 'left_w1': 1.4021253667832847, 'left_w2': 2.0105076391011076, 'left_e0': -1.171667748823461, 'left_e1': 1.2991409722196496, 'left_s0': 0.7750446847107565, 'left_s1': -0.5757716624754514} -Place 1 Offset : {'left_w0': -0.24575885307317663, 'left_w1': 0.8749420307826046, 'left_w2': 1.6948949798814181, 'left_e0': 0.4583130030868797, 'left_e1': 1.8748037298799984, 'left_s0': -1.240546397484759, 'left_s1': -1.1229907414393936} -Place 1 Down : {'left_w0': -0.44706325183614026, 'left_w1': 0.5308931382072065, 'left_w2': 1.8176589482381398, 'left_e0': 0.2909093427758618, 'left_e1': 1.8092679400066711, 'left_s0': -1.1225317078625037, 'left_s1': -0.7034153618455765} -Place 2 Offset : {'left_w0': 1.0334701994763147, 'left_w1': 1.2668145176284678, 'left_w2': 0.9572318887458758, 'left_e0': -1.3409238316370244, 'left_e1': 1.7778524701894391, 'left_s0': 0.2271848446398137, 'left_s1': -0.573105088634528} -Place 2 Down : {'left_w0': 1.2915396241568844, 'left_w1': 0.964866770561432, 'left_w2': 0.8596545556176473, 'left_e0': -0.991322423912265, 'left_e1': 1.7633745271360939, 'left_s0': 0.07709549283393327, 'left_s1': -0.33774783820639565} -Place 3 Offset : {'left_w0': 0.803725300735474, 'left_w1': 1.194163188977739, 'left_w2': 1.4667013915694584, 'left_e0': -1.0771478530987262, 'left_e1': 1.58481527249928, 'left_s0': 0.3549391390860414, 'left_s1': -0.7083016536375286} -Place 3 Down : {'left_w0': 1.0094440753014968, 'left_w1': 0.8974942275422987, 'left_w2': 1.3801020782459945, 'left_e0': -0.8128594434709138, 'left_e1': 1.56853086901738, 'left_s0': 0.2186545601611162, 'left_s1': -0.4267459808731298} -Place 4 Offset : {'left_w0': 0.1671234856733194, 'left_w1': 0.8261944766180188, 'left_w2': 1.379487069256468, 'left_e0': -0.28247213805949767, 'left_e1': 1.8837252545953784, 'left_s0': -0.607713162458475, 'left_s1': -1.1163951963030918} -Place 4 Down : {'left_w0': 0.24419474317602866, 'left_w1': 0.6290231193065527, 'left_w2': 1.326407292573995, 'left_e0': -0.23303382594081024, 'left_e1': 1.8771117428607849, 'left_s0': -0.6460371665357855, 'left_s1': -0.9078139028116797} -Place 5 Offset : {'left_w0': 0.6984403275545308, 'left_w1': 1.2544926841081905, 'left_w2': 1.3544614580142273, 'left_e0': -1.1745832201258934, 'left_e1': 1.6458210205020332, 'left_s0': 0.31526732584172107, 'left_s1': -0.8464672073407838} -Place 5 Down : {'left_w0': 0.9437250579116295, 'left_w1': 0.9167077216413124, 'left_w2': 1.222379447910923, 'left_e0': -0.879490332019234, 'left_e1': 1.7294606327190576, 'left_s0': 0.15746537974463826, 'left_s1': -0.5907485424149368} -Place 6 Offset : {'left_w0': 0.13795791158290516, 'left_w1': 1.4976647271381562, 'left_w2': 1.3716861361389447, 'left_e0': -0.7668644025351493, 'left_e1': 1.5004594439971868, 'left_s0': -0.21720089382963984, 'left_s1': -1.3717982666530235} -Place 6 Down : {'left_w0': 0.30567556734697016, 'left_w1': 1.0253204952492578, 'left_w2': 1.2509852844361058, 'left_e0': -0.6998909977260979, 'left_e1': 1.8157485803507927, 'left_s0': -0.2856819912424196, 'left_s1': -1.1598950455287043} -Place 7 Offset : {'left_w0': 0.2880633344490283, 'left_w1': 1.586029171376809, 'left_w2': 1.618882284053745, 'left_e0': -0.9484107003286485, 'left_e1': 1.3454477156124263, 'left_s0': 0.1821213719091443, 'left_s1': -1.2157353154435486} -Place 7 Down : {'left_w0': 0.42723819133965163, 'left_w1': 1.1318459412158908, 'left_w2': 1.5190079397734162, 'left_e0': -0.8526717542593604, 'left_e1': 1.6855962489232676, 'left_s0': 0.13537792888171907, 'left_s1': -1.049425917711375} -Place 8 Offset : {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, 'left_w2': 1.3505030133400355, 'left_e0': -1.2629306563238563, 'left_e1': 1.135600354775232, 'left_s0': 0.09497817386676323, 'left_s1': -1.0891358446984596} -Place 8 Down : {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, 'left_w2': 1.3505030133400355, 'left_e0': -1.2629306563238563, 'left_e1': 1.135600354775232, 'left_s0': 0.09497817386676323, 'left_s1': -1.0891358446984596} -Place 9 Offset : {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722} -Place 9 Down : {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427} -''' - V_approach = {'left_w0': 0.309347832698974, 'left_w1': 1.881132793719985, 'left_w2': 2.3018260606950194, 'left_e0': -0.6620952326288202, 'left_e1': 0.8506124094054622, 'left_s0': 0.4467327362087081, 'left_s1': -1.0924293648582206} V_pickup = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601} H_approach = {'left_w0': 0.8139517749899786, 'left_w1': 1.7913332347783784, 'left_w2': 2.140253332470379, 'left_e0': -1.2881506550429311, 'left_e1': 0.9559160919794364, 'left_s0': 0.718405344706577, 'left_s1': -0.7389057972202023} @@ -47,8 +22,60 @@ B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2 B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427} B_9_za = {'left_w0': 0.4224716898888107, 'left_w1': 2.0940001010894775, 'left_w2': 1.5055377828561145, 'left_e0': -0.9718054278924021, 'left_e1': 0.7415823040245637, 'left_s0': -0.1466335135058824, 'left_s1': -1.1271627193043057} B_9_zb = {'left_w0': 0.4347300274764977, 'left_w1': 2.0940001010894775, 'left_w2': 1.6022059702674842, 'left_e0': -0.9568544450910222, 'left_e1': 0.7236685435274075, 'left_s0': -0.07853688979435548, 'left_s1': -1.1083415625783348} -# vpk = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601} -# hpk = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158} -# 1pl = {'left_w0': 1.2027300003884847, 'left_w1': 0.8795510297892881, 'left_w2': 0.5632980390463863, 'left_e0': -0.8960386873043342, 'left_e1': 1.7558376775390683, 'left_s0': -0.31400273801416234, 'left_s1': -0.4013131412149057} -# 3pl = {'left_w0': 1.1424562096018538, 'left_w1': 0.995761483224297, 'left_w2': 1.3813210747199685, 'left_e0': -0.9434785814973881, 'left_e1': 1.5257241802006776, 'left_s0': 0.30682480243089416, 'left_s1': -0.3342487874061004} -# 8pl = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2': 1.1138183782919966, 'left_e0': -1.4329588050987652, 'left_e1': 1.5676992726056054, 'left_s0': 0.23139732100304755, 'left_s1': -0.7547923372600823} \ No newline at end of file + +instructions = [ + { + 'step':1, + 'hover':B_1_A, + 'pick':B_1_P, + 'vertical':True + }, + { + 'step':2, + 'hover':B_2_A, + 'pick':B_2_P, + 'vertical':True + }, + { + 'step':3, + 'hover':B_3_A, + 'pick':B_3_P, + 'vertical':True + }, + { + 'step':4, + 'hover':B_4_A, + 'pick':B_4_P, + 'vertical':False + }, + { + 'step':5, + 'hover':B_5_A, + 'pick':B_5_P, + 'vertical':False + }, + { + 'step':6, + 'hover':B_6_A, + 'pick':B_6_P, + 'vertical':True + }, + { + 'step':7, + 'hover':B_7_A, + 'pick':B_7_P, + 'vertical':True + }, + { + 'step':8, + 'hover':B_8_A, + 'pick':B_8_P, + 'vertical':False + }, + { + 'step':9, + 'hover':B_9_A, + 'pick':B_9_P, + 'vertical':True + } +] \ No newline at end of file