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arm_project_test.py
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arm_project_test.py
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#!/usr/bin/env python
import roslib; roslib.load_manifest('trajectory_planner')
import rospy
import threading
from trajectory_planner import *
from HaoUtil import *
key_hole_found = False
def main():
global global_data
global_data, ftm, tm = start()
rospy.loginfo('initialized')
move_forward_to_contact(global_data, 0.05)
def ip_thread():
from IPython.Shell import IPShellEmbed
ipshell = IPShellEmbed(argv='',banner = 'OpenRAVE Dropping into IPython, variables:' +
'env, robot',exit_msg = 'Leaving Interpreter and ' +
'closing program.')
ipshell(local_ns=locals())
def GrabKey():
MoveHandSrv(1,array([1.6,1.6,1.65,1.57]))
raw_input('Press enter to try with pelican case collisions turned off ...')
MoveHandSrv(1,array([1.8,1.8,1.65,1.57]))
pdb.set_trace()
def InsertKey():
'''
move left and right
move up and down
push
'''
vdist = 0.002
hdist = 0.002
for i in range(5):
#pdb.set_trace()
#hit to the surface again
#GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.001, 50, False)
#move down
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([0,1,0]), array([0,0,-1]), 'PALM', vdist, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.02, 200, False)
hole_localized = True
break
#move to the right
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([1,0,0]), array([0,0,-1]), 'PALM', hdist, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.02, 200, False)
hole_localized = True
break
#hit to the surface again
#GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.001, 50, False)
#move up
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([0,-1,0]), array([0,0,-1]), 'PALM', vdist, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.02, 200, False)
hole_localized = True
break
#move to the left
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([-1,0,0]), array([0,0,-1]), 'PALM', hdist, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,-1]),'PALM', 0.02, 200, False)
hole_localized = True
def LocalizeHole( vlevel, hlevel ):
#move up and left
MoveHand(global_data, array([0,-1,0]), 'PALM', vlevel/2)
#we do not want to move to the left a lot
MoveHand(global_data, array([-1,0,0]), 'PALM', hlevel/4)
#hit to the surface of the key hole
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.1, 30)
#scan using move until miss primitive
hole_localized = False
num_steps = 3
for i in range(num_steps):
#move down
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([0,1,0]), array([0,0,-1]), 'PALM', vlevel, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.01, 100, False)
hole_localized = True
break
#move to the right
if not key_hole_found:
MoveHand(global_data, array([0,0,-1]), 'PALM', 0.01)
MoveHand(global_data, array([1,0,0]), 'PALM', hlevel/num_steps)
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.015, 30)
## distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([1,0,0]), array([0,0,-1]), 'PALM', hlevel/num_steps, 50, 20, False)
## if isMissed:
## GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.01, 100, False)
## hole_localized = True
## break
#hit to the surface again
#GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.001, 50, False)
#move up
distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([0,-1,0]), array([0,0,-1]), 'PALM', vlevel, 50, 20, False)
if isMissed:
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.01, 100, False)
hole_localized = True
break
#move to the right
if not key_hole_found:
MoveHand(global_data, array([0,0,-1]), 'PALM', 0.01)
MoveHand(global_data, array([1,0,0]), 'PALM', hlevel/num_steps)
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.015, 30)
## distance, isMissed, isHit = GuardedMoveUntilMiss(global_data, array([1,0,0]), array([0,0,-1]), 'PALM', hlevel/num_steps, 50, 20, False)
## if isMissed:
## GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.01, 100, False)
## hole_localized = True
return hole_localized
def LocalizeHandle1():
'''
first version, move the hand to the left end of the handle
'''
#move forward to hit the door
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.15)
rospy.loginfo('door hit')
#move back
MoveHand(global_data, array([0,0,-1]),'PALM', 0.045)
#move down to hit the handle
GuardedMoveUntilHit(global_data, array([0,1,0]),'PALM', 0.5)
rospy.loginfo('handle hit')
#move up 2 cm
MoveHand(global_data, array([0,-1,0]),'PALM', 0.02)
#move to the left
MoveHand(global_data, array([-1,0,0]), 'PALM', 0.1)
#move down to the handle range
MoveHand(global_data, array([0,1,0]), 'PALM', 0.03)
#move forward a little so that the knuckle hits the handle side
MoveHand(global_data, array([0,0,1]), 'PALM', 0.03)
#move to the right to hit the handle
GuardedMoveUntilHit(global_data, array([1,0,0]),'PALM', 0.2)
#move to the left again
MoveHand(global_data, array([-1,0,0]), 'PALM', 0.01)
#move back
MoveHand(global_data, array([0,0,-1]), 'PALM', 0.06)
#move to the right
MoveHand(global_data, array([1,0,0]), 'PALM', 0.13)
def LocalizeHandle2():
'''
second version, move the hand to the right end of the handle
'''
#move forward to hit the door
GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.15)
rospy.loginfo('door hit')
#move back
MoveHand(global_data, array([0,0,-1]),'PALM', 0.045)
#move down to hit the handle
GuardedMoveUntilHit(global_data, array([0,1,0]),'PALM', 0.5)
rospy.loginfo('handle hit')
#move up
MoveHand(global_data, array([0,-1,0]),'PALM', 0.04)
#move to the right
MoveHand(global_data, array([1,0,0]),'PALM', 0.12)
#move forward
MoveHand(global_data, array([0,0,1]),'PALM', 0.035)
#move to the left
GuardedMoveUntilHit(global_data, array([-1,0,0]),'PALM', 0.1)
#move to the right to get away from the contact
MoveHand(global_data, array([1,0,0]), 'PALM', 0.01)
#move down
GuardedMoveUntilHit(global_data, array([0,1,0]),'PALM', 0.1)
#retract
MoveHand(global_data, array([0,0,-1]),'PALM', 0.08)
#-x: -0.02201925
MoveHand(global_data, array([-1,0,0]),'PALM', 0.032)
#-y: 0.01447249
MoveHand(global_data, array([0,1,0]),'PALM', 0.038)
if __name__ == '__main__':
NODE_NAME='test'
#MoveHandSrv(1,[3.1,3.1,3.1,0])
#rospy.init_node(NODE_NAME)
#ipython_thread = threading.Thread(None, ip_thread)
#ipython_thread.start()
#rospy.spin()
#global global_data
global_data, ftm, tm = start()
rospy.loginfo('initialized')
#MoveHand(global_data, array([0,0,-1]),'PALM', 0.01)
pdb.set_trace()
## return
## ReOrient2(global_data,20.*pi/180.)
## ReOrient2(global_data,20.*pi/180.)
## #key insertion
## #GrabKey()
## pdb.set_trace()
## LocalizeHandle2()
## LocalizeHole(0.01, 0.01)
## LocalizeHole(0.002, 0.005)
## InsertKey()
## while not rospy.is_shutdown():
## rospy.sleep(1.0)
def NaiveScan():
#let's begin the scanning
dx = 0.0015
dy = 0.0015
done = False
for x_steps in range(4):
if done == True:
break
#scan horizontal lines
MoveHand(global_data, array([1,0,0]), 'PALM', dx)
MoveHand(global_data, array([0,-1,0]), 'PALM', 2*dy)
for y_steps in range(4):
#scan vertical lines
MoveHand(global_data, array([0,1,0]), 'PALM', dy)
#hit the hole
dist, isHit = GuardedMoveUntilHit(global_data, array([0,0,1]),'PALM', 0.07, 150)
rospy.loginfo('distance moved is: %s', dist)
if dist > 0.04:
rospy.logerr('I believe that I inserted the key')
done = True
break
#move back a little bit
MoveHand(global_data, array([0,0,-1]), 'PALM', 0.03)
#move up the the original height
MoveHand(global_data, array([0,-1,0]), 'PALM', 2*dy)
def new_test( grasp_tran = [], visualize_openrave = True, object_name = 'flask' ):
""" Move the hand to a pregrasp position. If no grasp is given, moves the hand 5 cm above the object with it's palm pointed down.
"""
global_data = SetupStaubliEnv(visualize_openrave)
object_name = file_name_dict['object_name']
if not grasp_tran:
grasp_tran = eye(4)
grasp_tran[1,1] = -1
grasp_tran[2,2] = -1
grasp_tran[2,3] = get_object_height(global_data.or_env, 'object', file_name_dict[object_name])
pregrasp_object(global_data, file_name_dict[object_name], grasp_tran, run_it = True)
return