243 lines
8.4 KiB
Python
243 lines
8.4 KiB
Python
import argparse
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import struct
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import sys
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import copy
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import rospy
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import rospkg
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from gazebo_msgs.srv import (SpawnModel, DeleteModel)
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from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
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from std_msgs.msg import (Header, Empty)
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from baxter_core_msgs.srv import (SolvePositionIK, SolvePositionIKRequest)
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import baxter_interface
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import target_poses as tps
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import tuck_arms
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brickstuff = tps.brick_directions_notf
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class PickAndPlace(object):
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def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE):
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self._speed = 0.2
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self._accuracy = accuracy
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self._limb_name = limb # string
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self._hover_distance = hover_distance # in meters
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self._verbose = verbose # bool
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self._limb = baxter_interface.Limb(limb)
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self._gripper = baxter_interface.Gripper(limb)
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ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
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self._iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
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rospy.wait_for_service(ns, 5.0)
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# verify robot is enabled
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print("Getting robot state... ")
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self._rs = baxter_interface.RobotEnable(baxter_interface.CHECK_VERSION)
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self._init_state = self._rs.state().enabled
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print("Enabling robot... ")
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self._rs.enable()
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def move_to_start(self, start_angles=None):
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print("Moving the {0} arm to start pose...".format(self._limb_name))
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if not start_angles:
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start_angles = dict(zip(self._joint_names, [0]*7))
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self._guarded_move_to_joint_position(start_angles)
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self.gripper_open()
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rospy.sleep(0.2)
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print("Running. Ctrl-c to quit")
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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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return limb_joints
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def _guarded_move_to_joint_position(self, joint_angles):
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if joint_angles:
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self._limb.set_joint_position_speed(0.2)
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self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy)
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else:
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rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.")
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def gripper_open(self):
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self._gripper.open()
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rospy.sleep(0.2)
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def gripper_close(self):
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self._gripper.close()
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rospy.sleep(0.2)
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def _approach(self, pose):
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approach = copy.deepcopy(pose)
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# approach with a pose the hover-distance above the requested pose
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approach.position.z = approach.position.z + self._hover_distance
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joint_angles = self.ik_request(approach)
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self._guarded_move_to_joint_position(joint_angles)
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def _retract(self):
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# retrieve current pose from endpoint
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current_pose = self._limb.endpoint_pose()
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ik_pose = Pose()
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ik_pose.position.x = current_pose['position'].x
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ik_pose.position.y = current_pose['position'].y
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ik_pose.position.z = current_pose['position'].z + self._hover_distance
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ik_pose.orientation.x = current_pose['orientation'].x
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ik_pose.orientation.y = current_pose['orientation'].y
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ik_pose.orientation.z = current_pose['orientation'].z
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ik_pose.orientation.w = current_pose['orientation'].w
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joint_angles = self.ik_request(ik_pose)
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# servo up from current pose
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self._guarded_move_to_joint_position(joint_angles)
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def _servo_to_pose(self, pose):
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# servo down to release
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joint_angles = self.ik_request(pose)
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self._guarded_move_to_joint_position(joint_angles)
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def pick(self, pose):
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# open the gripper
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self.gripper_open()
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# servo above pose
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print('Approaching')
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self._approach(pose)
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# servo to pose
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self._servo_to_pose(pose)
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print('Ready to grip')
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# close gripper
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self.gripper_close()
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print('grip')
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# retract to clear object
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self._retract()
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def place(self, pose):
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# servo above pose
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self._approach(pose)
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# servo to pose
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self._servo_to_pose(pose)
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# open the gripper
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# self.gripper_open()
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# retract to clear object
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# self._retract()
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brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
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with open ("brick/model.sdf", "r") as brick_file:brick_sdf=brick_file.read().replace('\n', '')
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rospy.wait_for_service('/gazebo/spawn_sdf_model')
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spawn_sdf = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
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delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
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def cleanup():
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for obj in brick_ids:
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delete_model(obj)
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# LET THE SHITSTORM BEGIN
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import numpy as np
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import time
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def etq(roll, pitch, yaw):
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qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2)
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qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2)
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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)
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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)
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return [qx, qy, qz, qw]
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def spawn_v_brick():
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brick_pose = Pose()
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brick_pose.position.x = 0.475
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brick_pose.position.y = 0.759
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brick_pose.position.z = 0.818
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QUATS = etq(0, 1.57, 1.57)
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brick_pose.orientation.x = QUATS[0]
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brick_pose.orientation.y = QUATS[1]
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brick_pose.orientation.z = QUATS[2]
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brick_pose.orientation.w = QUATS[3]
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brick_reference_frame = 'world'
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brick_id = brick_ids.pop()
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spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)
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def spawn_h_brick():
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brick_pose = Pose()
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brick_pose.position.x = 0.4664
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brick_pose.position.y = 0.8069
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brick_pose.position.z = 0.7533
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brick_pose.orientation.x = 0
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brick_pose.orientation.y = 0
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brick_pose.orientation.z = 0.707
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brick_pose.orientation.w = 0.707
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brick_reference_frame = 'world'
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brick_id = brick_ids.pop()
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spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)
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rospy.init_node("I_still_have_some_hope") # Am I wrong??
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cleanup()
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tuck_arms.init_arms()
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hover_distance = 0.2
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left_pnp = PickAndPlace('left', hover_distance)
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## TODO: MAKE hover_distance higher for place part or solve IK collision error
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spawn_v_brick()
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left_pnp.pick(brickstuff[0]['pose'])
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left_pnp.place(brickstuff[2]['pose'])
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exit(0)
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spawn_v_brick()
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left_pnp.pick(brickstuff[0]['pose'])
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left_pnp.place(brickstuff[3]['pose'])
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spawn_v_brick()
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left_pnp.pick(brickstuff[0]['pose'])
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left_pnp.place(brickstuff[4]['pose'])
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spawn_h_brick()
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left_pnp.pick(brickstuff[1]['pose'])
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left_pnp.place(brickstuff[5]['pose'])
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spawn_h_brick()
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left_pnp.pick(brickstuff[1]['pose'])
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left_pnp.place(brickstuff[6]['pose'])
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spawn_v_brick()
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left_pnp.pick(brickstuff[0]['pose'])
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left_pnp.place(brickstuff[7]['pose'])
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spawn_v_brick()
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left_pnp.pick(brickstuff[0]['pose'])
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left_pnp.place(brickstuff[8]['pose'])
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spawn_h_brick()
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left_pnp.pick(brickstuff[1]['pose'])
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left_pnp.place(brickstuff[9]['pose'])
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spawn_v_brick()
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# left_pnp.pick(brickstuff[0]['pose'])
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# left_pnp.place(brickstuff[10]['pose'])
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