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iros_3.py
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iros_3.py
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#!/usr/bin/env python
# Scripts for iros challenge 3: stir a mug of water with a spoon
import time
import copy
import math
import cv2
import imutils
from matplotlib import pyplot as plt
import numpy as np
import os
import iros_interface_cmds as ic
import iros_waypoints as iw
#import vision_copy as vc
import iros_vision_tools as ivt
import iros_vision_functions as ivfunc
PATH_TO_TASK_IMAGES = "task_images"
stir_waypoint_joints = {"x": 46.91, "y": -83.89, "z": 78.77, "rx": -78.57, "ry": -95.53, "rz": 4.40}
ROTATION=3
def begin(c,ser_ee,p1,inverse,CAMERA,crop_points):
## Object parameters
cup_radius = 40
cup_height = 60
spoon_bowl = -60 # lenght of spoon bowl (to be convered when stirring)
spoon_height = 11
stir_radius = cup_radius - 20
act_spoon = 75
task_img_3 = ivt.capture_pic(CAMERA,ROTATION)
cv2.imwrite(os.path.join(PATH_TO_TASK_IMAGES, 'task_img_3.jpg'), task_img_3)
crop_task_img_3 = ivt.crop_out(task_img_3, crop_points)
spoon_mug, spoon_edge_world, empty_cup_centre = ivfunc.find_spoon2(crop_task_img_3, show=True)
#vision stuff: get mug and saucer position
# mug and saucer centre positions
#mx,my,sx,sy = mug_saucer_pos
## Location of first mug ()
p_pix = [spoon_mug[0],spoon_mug[1]]
print "P_PIX: ", p_pix
px,py = ivt.pix3world(p1, inverse, p_pix)
px = px[0,0]
py = py[0,0]
print "SPOON: ", spoon_edge_world
s_pix = [spoon_edge_world[0], spoon_edge_world[1]-10]
print "S_PIX: ", s_pix
sx,sy = ivt.pix3world(p1, inverse, s_pix)
sx = sx[0,0]
sy = sy[0,0]
print "PX, PY, SX, SY: ", px, py, sx, sy
p_centre = [px, py]
p_edge = [sx, sy]
attack_angle=70
print "P_CENTRE: ", p_centre
print "P_EDGE: ", p_edge
## Location of Second Mug
m_pix = [empty_cup_centre[0],empty_cup_centre[1]]
print "EMPTY_MUG_PIX: ", m_pix
m_pix = [empty_cup_centre[0],empty_cup_centre[1]+0.05*(250-empty_cup_centre[1])]
print "CORRECTED_EMPTY_MUG_PIX: ", m_pix
mx,my = ivt.pix3world(p1, inverse, m_pix)
mx_2 = mx[0,0]
my_2 = my[0,0]
print "MX, MY: ", mx, my
# Home for end effector and actuator
demand_Grip = dict(iw.ee_home)
demand_Grip["act"] = act_spoon - 10
msg = ic.safe_move(c,ser_ee,Pose=dict(iw.home_joints),Grip=demand_Grip,CMD=2)
ic.socket_send(c,sCMD=201)
ic.socket_send(c,sCMD=203)
# Goto spoon (TO FINISH)
x_p, y_p, ori = get_grasping_coords(p_edge,p_centre)
x_p = p_edge[0]
y_p = p_edge[1]
ori = ori+90
angle_grasp(c,ser_ee,ori,attack_angle)
current_Joints = ic.get_ur_position(c,3)
if current_Joints[5] > 180:
demand_Joints = {"x":current_Joints[0], "y":current_Joints[1], "z":current_Joints[2], "rx":current_Joints[3], "ry":current_Joints[4], "rz":current_Joints[5]-90}
else:
demand_Joints = {"x":current_Joints[0], "y":current_Joints[1], "z":current_Joints[2], "rx":current_Joints[3], "ry":current_Joints[4], "rz":current_Joints[5]+90}
msg = ic.safe_ur_move(c,Pose=demand_Joints,CMD=2)
current_Pose = ic.get_ur_position(c,1)
demand_Pose = {"x":current_Pose[0], "y":current_Pose[1], "z":cup_height+spoon_height+80, "rx":current_Pose[3], "ry":current_Pose[4], "rz":current_Pose[5]}
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
demand_Pose["x"]=x_p
demand_Pose["y"]=y_p
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
demand_Pose["z"]=cup_height+spoon_height
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
# Grasp spoon
demand_Grip["servo"]=30
msg = ic.end_effector_move(ser_ee,demand_Grip)
demand_Grip["act"]=act_spoon
msg = ic.end_effector_move(ser_ee,demand_Grip)
time.sleep(0.5)
# Lift spoon
demand_Pose["z"]=cup_height+spoon_height+120
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
# Tilt spoon
msg = ic.safe_ur_move(c,Pose=dict(stir_waypoint_joints),CMD=2)
## Move to second cup x, y
ic.socket_send(c,sCMD=201)
current_Pose = ic.get_ur_position(c,1)
demand_Pose = {"x":mx_2, "y":my_2, "z":current_Pose[2], "rx":current_Pose[3], "ry":current_Pose[4], "rz":current_Pose[5]}
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
## Lower spoon
demand_Pose["z"]=cup_height+spoon_height-spoon_bowl
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
## Stir spoon
add_stir = [0, stir_radius, 0, -stir_radius, 0]
for j in range (0,3):
for i in range (0,4):
demand_Pose["x"]=mx_2 + add_stir[i+1]
demand_Pose["y"]=my_2 + add_stir[i]
msg = ic.safe_ur_move(c,Pose=demand_Pose,Speed=0.15,CMD=4)
## Lift spoon
demand_Pose["z"]=cup_height+spoon_height+120
msg = ic.safe_ur_move(c,Pose=demand_Pose,CMD=4)
ic.socket_send(c,sCMD=200)
## Home
msg = ic.safe_move(c,ser_ee,Pose=dict(iw.home_joints),CMD=2)
print ".....................Done......................"
def get_grasping_coords(p_centre,p_edge):
#aoa = 70
ori = math.atan2(p_centre[1]-p_edge[1],p_centre[0]-p_edge[0])*180.0/math.pi
print "ori: ",ori
ori = ori-180
if ori<-180:
ori=360+ori
x = p_edge[0]
y = p_edge[1]
return float(x), float(y), ori
def angle_grasp(c,ser_ee,orientation,angle_of_attack):
# Break-up rotations into max 90degrees
thetaz = 0
if orientation>90:
orientation=orientation-90
thetaz=math.pi/2
elif orientation<-90:
orientation=orientation+90
thetaz=-math.pi/2
# Avoid singularity at +/-45degrees
if orientation==45:
orientation = 44
elif orientation==-45:
orientation = -44
# Convert to radians
angle_of_attack=angle_of_attack*math.pi/180.0
orientation=orientation*math.pi/180.0
thetay=135.0*math.pi/180.0
# Cartesian rotation matrices to match uw.grabbing_joints rotation
x_rot = np.matrix([[ 1.0, 0.0, 0.0],
[ 0.0, math.cos(math.pi/2), -math.sin(math.pi/2)],
[ 0.0, math.sin(math.pi/2), math.cos(math.pi/2)]]) # x_rot[rows][columns]
y_rot = np.matrix([[ math.cos(thetay), 0.0, -math.sin(thetay)],
[ 0.0, 1.0, 0.0],
[ math.sin(thetay), 0.0, math.cos(thetay)]]) # y_rot[rows][columns]
z_rot = np.matrix([[ math.cos(0.0), -math.sin(0.0), 0.0],
[ math.sin(0.0), math.cos(0.0), 0.0],
[ 0.0, 0.0, 1.0]]) # z_rot[rows][columns]
# Move to grabbing waypoint
msg = ic.safe_ur_move(c,Pose=dict(iw.grabbing_joints_waypoint),Speed=1.0,CMD=2)
# Create rotation matrix for current position
R=z_rot*y_rot*x_rot
if thetaz!=0:
# Axis rotation matricies for grasping position, rotate around x-axis by aoa, then z-axis by ori
x_rot = np.matrix([[ 1.0, 0.0, 0.0],
[ 0.0, math.cos(angle_of_attack), -math.sin(angle_of_attack)],
[ 0.0, math.sin(angle_of_attack), math.cos(angle_of_attack)]]) # x_rot[rows][columns]
z_rot = np.matrix([[ math.cos(thetaz), -math.sin(thetaz), 0.0],
[ math.sin(thetaz), math.cos(thetaz), 0.0],
[ 0.0, 0.0, 1.0]]) # z_rot[rows][columns]
# Cartesian rotation matrix of desired orientation
R=z_rot*x_rot*R
# Cartesian to axis-angle
theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1.0)/2)
multi = 1 / (2 * math.sin(theta))
rx = multi * (R[2, 1] - R[1, 2]) * theta * 180/math.pi
ry = multi * (R[0, 2] - R[2, 0]) * theta * 180/math.pi
rz = multi * (R[1, 0] - R[0, 1]) * theta * 180/math.pi
print rx, ry, rz
# Rotate around tool centre point defined by tcp_2
current_Pose = ic.get_ur_position(c,1)
demand_Pose = {"x":current_Pose[0],"y":current_Pose[1],"z":current_Pose[2],"rx":rx,"ry":ry,"rz":rz}
msg = ic.safe_ur_move(c,Pose=dict(demand_Pose),CMD=8)
# Axis rotation matricies for grasping position, rotate around x-axis by aoa, then z-axis by ori
z_rot = np.matrix([[ math.cos(orientation), -math.sin(orientation), 0.0],
[ math.sin(orientation), math.cos(orientation), 0.0],
[ 0.0, 0.0, 1.0]]) # z_rot[rows][columns]
# Cartesian rotation matrix of desired orientation
R=z_rot*R
# Cartesian to axis-angle
theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1.0)/2)
multi = 1 / (2 * math.sin(theta))
rx = multi * (R[2, 1] - R[1, 2]) * theta * 180/math.pi
ry = multi * (R[0, 2] - R[2, 0]) * theta * 180/math.pi
rz = multi * (R[1, 0] - R[0, 1]) * theta * 180/math.pi
print rx, ry, rz
# Rotate around tool centre point defined by tcp_2
current_Pose = ic.get_ur_position(c,1)
demand_Pose = {"x":current_Pose[0],"y":current_Pose[1],"z":current_Pose[2],"rx":rx,"ry":ry,"rz":rz}
msg = ic.safe_ur_move(c,Pose=dict(demand_Pose),CMD=8)
else:
# Axis rotation matricies for grasping position, rotate around x-axis by aoa, then z-axis by ori
x_rot = np.matrix([[ 1.0, 0.0, 0.0],
[ 0.0, math.cos(angle_of_attack), -math.sin(angle_of_attack)],
[ 0.0, math.sin(angle_of_attack), math.cos(angle_of_attack)]]) # x_rot[rows][columns]
z_rot = np.matrix([[ math.cos(orientation), -math.sin(orientation), 0.0],
[ math.sin(orientation), math.cos(orientation), 0.0],
[ 0.0, 0.0, 1.0]]) # z_rot[rows][columns]
# Cartesian rotation matrix of desired orientation
R=z_rot*x_rot*R
# Cartesian to axis-angle
theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1.0)/2)
multi = 1 / (2 * math.sin(theta))
rx = multi * (R[2, 1] - R[1, 2]) * theta * 180/math.pi
ry = multi * (R[0, 2] - R[2, 0]) * theta * 180/math.pi
rz = multi * (R[1, 0] - R[0, 1]) * theta * 180/math.pi
print rx, ry, rz
# Rotate around tool centre point defined by tcp_2
current_Pose = ic.get_ur_position(c,1)
demand_Pose = {"x":current_Pose[0],"y":current_Pose[1],"z":current_Pose[2],"rx":rx,"ry":ry,"rz":rz}
msg = ic.safe_ur_move(c,Pose=dict(demand_Pose),CMD=8)