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Max Hunt 2020-02-19 01:15:04 +00:00
parent d30dee449e
commit 816143a5e9
2 changed files with 109 additions and 175 deletions
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255
new_main.py
View File

@ -18,6 +18,8 @@ import target_poses as tps
import tuck_arms import tuck_arms
import target_angles as ta
brickstuff = tps.brick_directions_notf brickstuff = tps.brick_directions_notf
class PickAndPlace(object): class PickAndPlace(object):
@ -38,55 +40,6 @@ class PickAndPlace(object):
print("Enabling robot... ") print("Enabling robot... ")
self._rs.enable() self._rs.enable()
def move_to_start(self, start_angles=None):
print("Moving the {0} arm to start pose...".format(self._limb_name))
if not start_angles:
start_angles = dict(zip(self._joint_names, [0]*7))
self._guarded_move_to_joint_position(start_angles)
self.gripper_open()
rospy.sleep(0.2)
print("Running. Ctrl-c to quit")
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
def _guarded_move_to_joint_position(self, joint_angles): def _guarded_move_to_joint_position(self, joint_angles):
if joint_angles: if joint_angles:
self._limb.set_joint_position_speed(0.1) self._limb.set_joint_position_speed(0.1)
@ -102,72 +55,6 @@ class PickAndPlace(object):
self._gripper.close() self._gripper.close()
rospy.sleep(0.2) rospy.sleep(0.2)
def _approach(self, pose):
approach = copy.deepcopy(pose)
# approach with a pose the hover-distance above the requested pose
approach.position.z = approach.position.z + 0.05# self._hover_distance
joint_angles = self.ik_request(approach)
self._guarded_move_to_joint_position(joint_angles)
def _retract(self):
# retrieve current pose from endpoint
current_pose = self._limb.endpoint_pose()
ik_pose = Pose()
ik_pose.position.x = current_pose['position'].x
ik_pose.position.y = current_pose['position'].y
ik_pose.position.z = current_pose['position'].z + self._hover_distance
ik_pose.orientation.x = current_pose['orientation'].x
ik_pose.orientation.y = current_pose['orientation'].y
ik_pose.orientation.z = current_pose['orientation'].z
ik_pose.orientation.w = current_pose['orientation'].w
joint_angles = self.ik_request(ik_pose)
# servo up from current pose
self._guarded_move_to_joint_position(joint_angles)
def _servo_to_pose(self, pose):
# servo down to release
joint_angles = self.ik_request(pose)
self._guarded_move_to_joint_position(joint_angles)
def pick(self, pose):
# open the gripper
self.gripper_open()
# servo above pose
print('Approaching')
self._approach(pose)
# servo to pose
self._servo_to_pose(pose)
print('Ready to grip')
# close gripper
self.gripper_close()
print('grip')
# retract to clear object
self._retract()
def place(self, pose):
# servo above pose
self._approach(pose)
# servo to pose
self._servo_to_pose(pose)
# open the gripper
self.gripper_open()
# retract to clear object
self._retract()
def cust_place(self, pose):
# servo above pose
approach = copy.deepcopy(pose)
# approach with a pose the hover-distance above the requested pose
approach.position.z = approach.position.z + 0.1
joint_angles = self.ik_request(approach)
self._guarded_move_to_joint_position(joint_angles)
# servo to pose
self._servo_to_pose(pose)
# open the gripper
self.gripper_open()
# retract to clear object
self._retract()
def send(self, angles): def send(self, angles):
self._guarded_move_to_joint_position(angles) self._guarded_move_to_joint_position(angles)
@ -234,61 +121,85 @@ left_pnp = PickAndPlace('left', hover_distance)
left_pnp.gripper_open() left_pnp.gripper_open()
## TODO: MAKE hover_distance higher for place part or solve IK collision error def V_Routine():
spawn_v_brick()
left_pnp.send(ta.V_approach)
x = raw_input('Ready?')
left_pnp.send(ta.V_pickup)
left_pnp.gripper_close()
left_pnp.send(ta.V_approach)
def H_Routine():
spawn_h_brick()
left_pnp.send(ta.H_approach)
x = raw_input('Ready?')
left_pnp.send(ta.H_pickup)
left_pnp.gripper_close()
left_pnp.send(ta.H_approach)
V_Routine()
left_pnp.send(ta.B_1_A)
left_pnp.send(ta.B_1_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_1_A)
V_Routine()
left_pnp.send(ta.B_2_A)
left_pnp.send(ta.B_2_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_2_A)
V_Routine()
left_pnp.send(ta.B_3_A)
left_pnp.send(ta.B_3_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_3_A)
H_Routine()
left_pnp.send(ta.B_4_A)
left_pnp.send(ta.B_4_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_4_A)
H_Routine()
left_pnp.send(ta.B_5_A)
left_pnp.send(ta.B_5_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_5_A)
V_Routine()
left_pnp.send(ta.B_6_A)
left_pnp.send(ta.B_6_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_6_A)
V_Routine()
left_pnp.send(ta.B_7_A)
left_pnp.send(ta.B_7_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_7_A)
H_Routine()
left_pnp.send(ta.B_8_A)
left_pnp.send(ta.B_8_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_8_A)
V_Routine()
left_pnp.send(ta.B_9_A)
left_pnp.send(ta.B_9_P)
left_pnp.gripper_open()
left_pnp.send(ta.B_9_A)
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[2]['pose'])
# exit(0)
# tuck_arms.init_arms()
# paused = raw_input('Continue?')
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# print('\n \n-----------------------\n \n')
# left_pnp.place(brickstuff[3]['pose'])
# exit(1)
# tuck_arms.init_arms()
# paused = raw_input('Continue?')
# spawn_v_brick()
# # left_pnp.pick(brickstuff[0]['pose'])
spawn_v_brick()
left_pnp.send({'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})
left_pnp.send({'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})
left_pnp.gripper_close()
left_pnp.send({'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})
# left_pnp.place(brickstuff[4]['pose'])
# tuck_arms.init_arms()
# exit(0)
# paused = raw_input('Continue?')
# spawn_h_brick()
# left_pnp.send({'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})
# left_pnp.send({'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})
# left_pnp.gripper_close()
# left_pnp.send({'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})
# left_pnp.place(brickstuff[5]['pose'])
# exit(0)
# tuck_arms.init_arms()
# paused = raw_input('Continue?')
# spawn_h_brick()
# left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[6]['pose'])
# exit(0)
# paused = raw_input('Continue?')
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[7]['pose'])
# exit(0)
# paused = raw_input('Continue?')
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[8]['pose'])
# exit(0)
# paused = raw_input('Continue?')
# spawn_h_brick()
# left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[9]['pose'])
# exit(0)
# paused = raw_input('Continue?')
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[10]['pose'])

27
target_angles.py
View File

@ -1,6 +1,6 @@
''' '''
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 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 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 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} 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 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}
@ -22,3 +22,26 @@ Place 8 Down : {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, '
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 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} 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': 0.32998286773274293, 'left_w1': 1.3930185907441222, 'left_w2': 2.2171019702140753, 'left_e0': -0.6821342836475758, 'left_e1': 1.3311146610544962, 'left_s0': 0.5323550070725158, 'left_s1': -1.0404847669613069}
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}
H_pickup = {'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}
B_1_A = {'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}
B_1_P = {'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}
B_2_A = {'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}
B_2_P = {'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}
B_3_A = {'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}
B_3_P = {'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}
B_4_A = {'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}
B_4_P = {'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}
B_5_A = {'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}
B_5_P = {'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}
B_6_A = {'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}
B_6_P = {'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}
B_7_A = {'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}
B_7_P = {'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}
B_8_A = {'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}
B_8_P = {'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}
B_9_A = {'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}
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}