Update
This commit is contained in:
Max Hunt
parent
4e434b5845
commit
faa8660474
1
Vanilla
Submodule
1
Vanilla
Submodule
@ -0,0 +1 @@
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Subproject commit 14d2871975996001d10457b6bdc752f296e1415f
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245
new_main.py
245
new_main.py
@ -58,6 +58,46 @@ class PickAndPlace(object):
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def send(self, angles):
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self._guarded_move_to_joint_position(angles)
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def ik_request(self, pose):
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hdr = Header(stamp=rospy.Time.now(), frame_id='base')
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ikreq = SolvePositionIKRequest()
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ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose))
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try:
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resp = self._iksvc(ikreq)
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except (rospy.ServiceException, rospy.ROSException), e:
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rospy.logerr("Service call failed: %s" % (e,))
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return False
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# Check if result valid, and type of seed ultimately used to get solution
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# convert rospy's string representation of uint8[]'s to int's
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resp_seeds = struct.unpack('<%dB' % len(resp.result_type), resp.result_type)
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limb_joints = {}
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if (resp_seeds[0] != resp.RESULT_INVALID):
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seed_str = {
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ikreq.SEED_USER: 'User Provided Seed',
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ikreq.SEED_CURRENT: 'Current Joint Angles',
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ikreq.SEED_NS_MAP: 'Nullspace Setpoints',
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}.get(resp_seeds[0], 'None')
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if self._verbose:
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print("IK Solution SUCCESS - Valid Joint Solution Found from Seed Type: {0}".format(
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(seed_str)))
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# Format solution into Limb API-compatible dictionary
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limb_joints = dict(zip(resp.joints[0].name, resp.joints[0].position))
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if self._verbose:
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# print("IK Joint Solution:\n{0}".format(limb_joints))
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print("------------------")
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else:
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rospy.logerr("INVALID POSE - No Valid Joint Solution Found.")
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return False
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print('@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@')
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print()
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print()
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print('Linb Joints:')
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print(limb_joints)
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print()
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print()
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print('@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@')
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return limb_joints
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brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
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@ -169,82 +209,155 @@ def H_Routine():
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V_Routine()
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left_pnp.send(ta.B_1_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_1_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_1_A)
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V_Routine()
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left_pnp.send(ta.B_2_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_2_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_2_A)
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V_Routine()
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left_pnp.send(ta.B_3_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_3_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_3_A)
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startv = Pose()
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startv.position.x = 0.474
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startv.position.y = 0.759
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startv.position.z = 0.234
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startv.orientation.x = -0.7071067811865476
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startv.orientation.y = -0.7071067811865475
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startv.orientation.z = 4.329780281177466e-17
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startv.orientation.w = 4.329780281177467e-17
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H_Routine()
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left_pnp.send(ta.B_4_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_4_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_4_A)
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print('-----START-V-----')
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print(left_pnp.ik_request(startv))
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print()
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print()
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H_Routine()
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left_pnp.send(ta.B_5_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_5_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_5_A)
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starth = Pose()
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starth.position.x = 0.464
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starth.position.y = 0.804
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starth.position.z = 0.126
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starth.orientation.x = 00.7071067811865476
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starth.orientation.y = 0.7071067811865475
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starth.orientation.z = 4.329780281177466e-17
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starth.orientation.w = 4.329780281177467e-17
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print('-----START-H-----')
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print(left_pnp.ik_request(starth))
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print()
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print()
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brick1 = Pose()
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brick1.position.x = 0.615
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brick1.position.y = 0.164
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brick1.position.z = -0.131
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brick1.orientation.x = -0.7071067811865476
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brick1.orientation.y = -0.7071067811865475
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brick1.orientation.z = 4.329780281177466e-17
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brick1.orientation.w = 4.329780281177467e-17
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print('-----BRICK-1-----')
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print(left_pnp.ik_request(brick1))
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print()
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print()
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V_Routine()
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left_pnp.send(ta.B_6_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_6_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_6_A)
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brick3 = Pose()
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brick3.position.x = 0.615
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brick3.position.y = 0.552
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brick3.position.z = -0.122
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brick3.orientation.x = -0.7071067811865476
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brick3.orientation.y = -0.7071067811865475
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brick3.orientation.z = 4.329780281177466e-17
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brick3.orientation.w = 4.329780281177467e-17
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V_Routine()
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left_pnp.send(ta.B_7_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_7_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_7_A)
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print('-----BRICK-3-----')
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print(left_pnp.ik_request(brick3))
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print()
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print()
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H_Routine()
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left_pnp.send(ta.B_8_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_8_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_8_A)
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brick8 = Pose()
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brick8.position.x = 0.635
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brick8.position.y = 0.349
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brick8.position.z = 0.209
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brick8.orientation.x = -0.7071067811865476
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brick8.orientation.y = -0.7071067811865475
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brick8.orientation.z = 4.329780281177466e-17
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brick8.orientation.w = 4.329780281177467e-17
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print('-----BRICK-8-----')
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print(left_pnp.ik_request(brick8))
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print()
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print()
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# V_Routine()
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# left_pnp.send(ta.B_1_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_1_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_1_A)
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# V_Routine()
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# left_pnp.send(ta.B_2_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_2_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_2_A)
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# V_Routine()
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# left_pnp.send(ta.B_3_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_3_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_3_A)
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V_Routine()
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left_pnp.send(ta.B_9_A)
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x = raw_input('Continue?: ')
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left_pnp.send(ta.B_9_P)
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x = raw_input('Continue?: ')
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left_pnp.gripper_open()
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left_pnp.send(ta.B_9_A)
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# H_Routine()
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# left_pnp.send(ta.B_4_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_4_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_4_A)
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# H_Routine()
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# left_pnp.send(ta.B_5_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_5_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_5_A)
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left_pnp.send(ta.H_pickup)
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# V_Routine()
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# left_pnp.send(ta.B_6_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_6_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_6_A)
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# V_Routine()
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# left_pnp.send(ta.B_7_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_7_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_7_A)
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# H_Routine()
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# left_pnp.send(ta.B_8_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_8_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_8_A)
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# V_Routine()
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# left_pnp.send(ta.B_9_A)
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# x = raw_input('Continue?: ')
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# left_pnp.send(ta.B_9_P)
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# x = raw_input('Continue?: ')
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# left_pnp.gripper_open()
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# left_pnp.send(ta.B_9_A)
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# left_pnp.send(ta.H_pickup)
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@ -22,18 +22,22 @@ Place 8 Down : {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, '
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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}
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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}
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'''
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# 1 cm up
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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}
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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}
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# 1 cm down
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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}
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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}
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# 1 cm down
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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}
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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}
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# 3 cm to the left
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#^^Problematic
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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}
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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}
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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}
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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}
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# 2 cm to the right
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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}
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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}
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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}
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@ -44,6 +48,7 @@ B_7_A = {'left_w0': 0.2880633344490283, 'left_w1': 1.586029171376809, 'left_w2':
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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}
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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}
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B_8_P = {'left_w0': 0.5436725589260862, 'left_w1': 1.3428680926888281, 'left_w2': 1.2439396903866538, 'left_e0': -1.172890274584358, 'left_e1': 1.5875808001304175, 'left_s0': 0.1289507547348684, 'left_s1': -0.992605606172027}
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# 1 cm to the right
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#^^Problematic
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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}
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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}
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@ -28,7 +28,7 @@ from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
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startv = Pose()
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startv.position.x = 0.474
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startv.position.y = 0.759
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startv.position.z = 0.224
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startv.position.z = 0.234
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startv.orientation.x = -0.7071067811865476
|
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startv.orientation.y = -0.7071067811865475
|
||||
startv.orientation.z = 4.329780281177466e-17
|
||||
@ -37,7 +37,7 @@ startv.orientation.w = 4.329780281177467e-17
|
||||
starth = Pose()
|
||||
starth.position.x = 0.464
|
||||
starth.position.y = 0.804
|
||||
starth.position.z = 0.116
|
||||
starth.position.z = 0.126
|
||||
starth.orientation.x = 00.7071067811865476
|
||||
starth.orientation.y = 0.7071067811865475
|
||||
starth.orientation.z = 4.329780281177466e-17
|
||||
|
||||
Loading…
Reference in New Issue
Block a user