From 031849fd518e6512f33fd27c76654653d95c217b Mon Sep 17 00:00:00 2001
From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com>
Date: Wed, 1 Jul 2020 22:15:06 -0400
Subject: [PATCH] drawer opening progress
+ move up or down to contact handles
+ use new stretch_driver custom effort thresholds
+ successful with tool chest drawer, but has 10 second timeouts after each move until contact
---
stretch_core/nodes/keyboard_teleop | 17 ++++--
stretch_demos/launch/open_drawer.launch | 3 -
stretch_demos/nodes/open_drawer | 77 +++++++++++++++++++------
3 files changed, 72 insertions(+), 25 deletions(-)
diff --git a/stretch_core/nodes/keyboard_teleop b/stretch_core/nodes/keyboard_teleop
index 60e7e0c..8354486 100755
--- a/stretch_core/nodes/keyboard_teleop
+++ b/stretch_core/nodes/keyboard_teleop
@@ -121,9 +121,13 @@ class GetKeyboardCommands:
trigger_request = TriggerRequest()
trigger_result = node.trigger_write_hello_service(trigger_request)
rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+ if ((c == 'z') or (c == 'Z')) and self.open_drawer_on:
+ trigger_request = TriggerRequest()
+ trigger_result = node.trigger_open_drawer_down_service(trigger_request)
+ rospy.loginfo('trigger_result = {0}'.format(trigger_result))
if ((c == '.') or (c == '>')) and self.open_drawer_on:
trigger_request = TriggerRequest()
- trigger_result = node.trigger_open_drawer_service(trigger_request)
+ trigger_result = node.trigger_open_drawer_up_service(trigger_request)
rospy.loginfo('trigger_result = {0}'.format(trigger_result))
if ((c == '/') or (c == '?')) and self.clean_surface_on:
trigger_request = TriggerRequest()
@@ -289,10 +293,15 @@ class KeyboardTeleopNode(hm.HelloNode):
self.trigger_write_hello_service = rospy.ServiceProxy('/hello_world/trigger_write_hello', Trigger)
if self.open_drawer_on:
- rospy.wait_for_service('/open_drawer/trigger_open_drawer')
- rospy.loginfo('Node ' + self.node_name + ' connected to /open_drawer/trigger_open_drawer.')
- self.trigger_open_drawer_service = rospy.ServiceProxy('/open_drawer/trigger_open_drawer', Trigger)
+ rospy.wait_for_service('/open_drawer/trigger_open_drawer_down')
+ rospy.loginfo('Node ' + self.node_name + ' connected to /open_drawer/trigger_open_drawer_down.')
+ self.trigger_open_drawer_down_service = rospy.ServiceProxy('/open_drawer/trigger_open_drawer_down', Trigger)
+ rospy.wait_for_service('/open_drawer/trigger_open_drawer_up')
+ rospy.loginfo('Node ' + self.node_name + ' connected to /open_drawer/trigger_open_drawer_up.')
+ self.trigger_open_drawer_up_service = rospy.ServiceProxy('/open_drawer/trigger_open_drawer_up', Trigger)
+
+
if self.clean_surface_on:
rospy.wait_for_service('/clean_surface/trigger_clean_surface')
rospy.loginfo('Node ' + self.node_name + ' connected to /clean_surface/trigger_clean_surface.')
diff --git a/stretch_demos/launch/open_drawer.launch b/stretch_demos/launch/open_drawer.launch
index 90639e5..13231c4 100644
--- a/stretch_demos/launch/open_drawer.launch
+++ b/stretch_demos/launch/open_drawer.launch
@@ -15,9 +15,6 @@
-
-
-
diff --git a/stretch_demos/nodes/open_drawer b/stretch_demos/nodes/open_drawer
index 6f890c3..075fcf1 100755
--- a/stretch_demos/nodes/open_drawer
+++ b/stretch_demos/nodes/open_drawer
@@ -37,12 +37,15 @@ class OpenDrawerNode(hm.HelloNode):
self.move_base = nv.MoveBase(self)
self.letter_height_m = 0.2
self.wrist_position = None
+ self.lift_position = None
def joint_states_callback(self, joint_states):
with self.joint_states_lock:
self.joint_states = joint_states
wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(joint_states)
- self.wrist_position = wrist_position
+ self.wrist_position = wrist_position
+ lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states)
+ self.lift_position = lift_position
def align_to_surface(self):
rospy.loginfo('align_to_surface')
@@ -52,20 +55,41 @@ class OpenDrawerNode(hm.HelloNode):
def extend_hook_until_contact(self):
rospy.loginfo('extend_hook_until_contact')
- trigger_request = TriggerRequest()
- trigger_result = self.trigger_reach_until_contact_service(trigger_request)
- rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+ max_extension_m = 0.5
+ max_reach_m = 0.4
+ extension_m = self.wrist_position + max_reach_m
+ extension_m = min(extension_m, max_extension_m)
+ extension_contact_effort = 45.0 #42.0 #40.0 from funmap
+ pose = {'wrist_extension': (extension_m, extension_contact_effort)}
+ self.move_to_pose(pose, custom_contact_thresholds=True)
def lower_hook_until_contact(self):
rospy.loginfo('lower_hook_until_contact')
- trigger_request = TriggerRequest()
- trigger_result = self.trigger_lower_until_contact_service(trigger_request)
- rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+ max_drop_m = 0.15
+ lift_m = self.lift_position - max_drop_m
+ lift_contact_effort = 18.0 #20.0 #20.0 from funmap
+ pose = {'joint_lift': (lift_m, lift_contact_effort)}
+ self.move_to_pose(pose, custom_contact_thresholds=True)
+
+ def raise_hook_until_contact(self):
+ rospy.loginfo('raise_hook_until_contact')
+ max_raise_m = 0.15
+ lift_m = self.lift_position + max_raise_m
+ lift_contact_effort = 45.0
+ pose = {'joint_lift': (lift_m, lift_contact_effort)}
+ self.move_to_pose(pose, custom_contact_thresholds=True)
+
+ # raise due to contact detection drop
+ rospy.sleep(0.5) # wait for new lift position
+ lift_m = self.lift_position + 0.015
+ pose = {'joint_lift': lift_m}
+ self.move_to_pose(pose)
+ rospy.sleep(0.5) # wait for new lift position
def backoff_from_surface(self):
rospy.loginfo('backoff_from_surface')
if self.wrist_position is not None:
- wrist_target_m = self.wrist_position - 0.012 #0.015 #0.018 #0.02 #0.022 #0.025 #0.008 #0.005
+ wrist_target_m = self.wrist_position - 0.005
pose = {'wrist_extension': wrist_target_m}
self.move_to_pose(pose)
return True
@@ -76,9 +100,12 @@ class OpenDrawerNode(hm.HelloNode):
def pull_open(self):
rospy.loginfo('pull_open')
if self.wrist_position is not None:
- wrist_target_m = self.wrist_position - 0.2
- pose = {'wrist_extension': wrist_target_m}
- self.move_to_pose(pose)
+ max_extension_m = 0.5
+ extension_m = self.wrist_position - 0.2
+ extension_m = min(extension_m, max_extension_m)
+ extension_contact_effort = 60.0 #40.0 from funmap
+ pose = {'wrist_extension': (extension_m, extension_contact_effort)}
+ self.move_to_pose(pose, custom_contact_thresholds=True)
return True
else:
rospy.logerr('pull_open: self.wrist_position is None!')
@@ -97,14 +124,19 @@ class OpenDrawerNode(hm.HelloNode):
def move_to_initial_configuration(self):
initial_pose = {'wrist_extension': 0.01,
- 'joint_gripper': 1.62,
- 'joint_gripper_finger_left': -0.25}
- #'joint_lift': 0.71,
+ 'joint_wrist_yaw': 1.570796327,
+ 'gripper_aperture': 0.0}
rospy.loginfo('Move to the initial configuration for drawer opening.')
self.move_to_pose(initial_pose)
- def trigger_open_drawer_callback(self, request):
+ def trigger_open_drawer_down_callback(self, request):
+ return self.open_drawer('down')
+
+ def trigger_open_drawer_up_callback(self, request):
+ return self.open_drawer('up')
+
+ def open_drawer(self, direction):
self.move_to_initial_configuration()
#self.align_to_surface()
@@ -115,8 +147,12 @@ class OpenDrawerNode(hm.HelloNode):
success=False,
message='Failed to backoff from the surface.'
)
+
+ if direction == 'down':
+ self.lower_hook_until_contact()
+ elif direction == 'up':
+ self.raise_hook_until_contact()
- self.lower_hook_until_contact()
success = self.pull_open()
if not success:
return TriggerResponse(
@@ -140,9 +176,14 @@ class OpenDrawerNode(hm.HelloNode):
self.joint_states_subscriber = rospy.Subscriber('/stretch/joint_states', JointState, self.joint_states_callback)
- self.trigger_open_drawer_service = rospy.Service('/open_drawer/trigger_open_drawer',
+ self.trigger_open_drawer_service = rospy.Service('/open_drawer/trigger_open_drawer_down',
Trigger,
- self.trigger_open_drawer_callback)
+ self.trigger_open_drawer_down_callback)
+
+ self.trigger_open_drawer_service = rospy.Service('/open_drawer/trigger_open_drawer_up',
+ Trigger,
+ self.trigger_open_drawer_up_callback)
+
rospy.wait_for_service('/funmap/trigger_align_with_nearest_cliff')
rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_align_with_nearest_cliff.')