From 561aa845076b3b4ed683a8affb350bb710e32e43 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Fri, 9 Sep 2022 18:51:14 -0700 Subject: [PATCH] Open Drawer RE2V0 bump extend_hook_until_contact thresh --- stretch_demos/nodes/open_drawer | 43 ++++++++++++++++++--------------- 1 file changed, 23 insertions(+), 20 deletions(-) diff --git a/stretch_demos/nodes/open_drawer b/stretch_demos/nodes/open_drawer index 9eedcfb..d2a97c0 100755 --- a/stretch_demos/nodes/open_drawer +++ b/stretch_demos/nodes/open_drawer @@ -24,6 +24,7 @@ import argparse as ap import hello_helpers.hello_misc as hm import stretch_funmap.navigate as nv +from stretch_body.robot_params import RobotParams class OpenDrawerNode(hm.HelloNode): @@ -36,18 +37,18 @@ class OpenDrawerNode(hm.HelloNode): 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: + 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') - trigger_request = TriggerRequest() + trigger_request = TriggerRequest() trigger_result = self.trigger_align_with_nearest_cliff_service(trigger_request) rospy.loginfo('trigger_result = {0}'.format(trigger_result)) @@ -57,10 +58,12 @@ class OpenDrawerNode(hm.HelloNode): max_reach_m = 0.4 extension_m = self.wrist_position + max_reach_m extension_m = min(extension_m, max_extension_m) - extension_contact_effort = 18.5 #effort_pct #42.0 #40.0 from funmap + extension_contact_effort = 40 #effort_pct #42.0 #40.0 from funmap + if RobotParams.get_params()[1]['robot']['model_name']=='RE1V0': + extension_contact_effort = 18.5 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') max_drop_m = 0.15 @@ -94,7 +97,7 @@ class OpenDrawerNode(hm.HelloNode): 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: @@ -131,7 +134,7 @@ class OpenDrawerNode(hm.HelloNode): else: rospy.logerr('pull_open: self.wrist_position is None!') return False - + def move_to_initial_configuration(self): initial_pose = {'wrist_extension': 0.01, 'joint_wrist_yaw': 1.570796327, @@ -141,7 +144,7 @@ class OpenDrawerNode(hm.HelloNode): 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') @@ -158,11 +161,11 @@ class OpenDrawerNode(hm.HelloNode): message='Failed to backoff from the surface.' ) - if direction == 'down': + if direction == 'down': self.lower_hook_until_contact() elif direction == 'up': self.raise_hook_until_contact() - + success = self.pull_open() if not success: return TriggerResponse( @@ -171,21 +174,21 @@ class OpenDrawerNode(hm.HelloNode): ) push_drawer_closed = False - if push_drawer_closed: + if push_drawer_closed: rospy.sleep(3.0) self.push_closed() - + return TriggerResponse( success=True, message='Completed opening the drawer!' ) - + def main(self): hm.HelloNode.main(self, 'open_drawer', 'open_drawer', wait_for_first_pointcloud=False) 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_down', Trigger, self.trigger_open_drawer_down_callback) @@ -193,8 +196,8 @@ class OpenDrawerNode(hm.HelloNode): 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.') self.trigger_align_with_nearest_cliff_service = rospy.ServiceProxy('/funmap/trigger_align_with_nearest_cliff', Trigger) @@ -206,12 +209,12 @@ class OpenDrawerNode(hm.HelloNode): rospy.wait_for_service('/funmap/trigger_lower_until_contact') rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.') self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger) - + rate = rospy.Rate(self.rate) while not rospy.is_shutdown(): rate.sleep() - + if __name__ == '__main__': try: parser = ap.ArgumentParser(description='Open Drawer behavior for stretch.')