From 64b17dfcaba6c5384678282b2a20b9606007500e Mon Sep 17 00:00:00 2001
From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com>
Date: Wed, 24 Jun 2020 18:39:14 -0400
Subject: [PATCH] object grasping demo improvements

---
 stretch_demos/nodes/grasp_object              | 32 +++++++++++++------
 .../stretch_funmap/manipulation_planning.py   |  2 +-
 2 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/stretch_demos/nodes/grasp_object b/stretch_demos/nodes/grasp_object
index 9b28adb..d1b2eb0 100755
--- a/stretch_demos/nodes/grasp_object
+++ b/stretch_demos/nodes/grasp_object
@@ -101,6 +101,9 @@ class GraspObjectNode(hm.HelloNode):
         
     def trigger_grasp_object_callback(self, request):
         actually_move = True
+        max_lift_m = 1.09
+        min_extension_m = 0.01
+        max_extension_m = 0.5
         
         use_default_mode = False
         if use_default_mode: 
@@ -137,7 +140,8 @@ class GraspObjectNode(hm.HelloNode):
 
             if actually_move:
                 rospy.loginfo('Raise tool to pregrasp height.')
-                lift_to_pregrasp_m = self.lift_position + pregrasp_lift_m
+                lift_to_pregrasp_m = max(self.lift_position + pregrasp_lift_m, 0.1)
+                lift_to_pregrasp_m = min(lift_to_pregrasp_m, max_lift_m)
                 pose = {'joint_lift': lift_to_pregrasp_m}
                 self.move_to_pose(pose)
 
@@ -147,7 +151,6 @@ class GraspObjectNode(hm.HelloNode):
 
             if actually_move:
                 rospy.loginfo('Rotate the gripper for grasping.')
-                lift_to_pregrasp_m = self.lift_position + pregrasp_lift_m
                 pose = {'joint_wrist_yaw': pregrasp_yaw}
                 self.move_to_pose(pose)
                 
@@ -168,12 +171,13 @@ class GraspObjectNode(hm.HelloNode):
                 self.drive(pregrasp_mobile_base_m)
 
                 if pregrasp_wrist_extension_m > 0.0:
+                    extension_m = max(self.wrist_position + pregrasp_wrist_extension_m, min_extension_m)
+                    extension_m = min(extension_m, max_extension_m)
                     rospy.loginfo('Extend tool above surface.')
-                    pose = {'wrist_extension': self.wrist_position + pregrasp_wrist_extension_m}
+                    pose = {'wrist_extension': extension_m} 
                     self.move_to_pose(pose)
                 else:
                     print('negative wrist extension for pregrasp, so not extending or retracting.')
-
                     
             # sleep to make sure the joint poses are up to date - this
             # should be changed to look at time stamps of the joints...
@@ -183,9 +187,16 @@ class GraspObjectNode(hm.HelloNode):
 
             if actually_move: 
                 rospy.loginfo('Move the grasp pose from the pregrasp pose.')
+
+                lift_m = max(self.lift_position + grasp_lift_m, 0.1)
+                lift_m = min(lift_m, max_lift_m)
+                
+                extension_m = max(self.wrist_position + grasp_wrist_extension_m, min_extension_m)
+                extension_m = min(extension_m, max_extension_m)
+                
                 pose = {'translate_mobile_base': grasp_mobile_base_m,
-                        'joint_lift': self.lift_position + grasp_lift_m, 
-                        'wrist_extension': self.wrist_position + grasp_wrist_extension_m}
+                        'joint_lift': lift_m,  
+                        'wrist_extension': extension_m}
                 self.move_to_pose(pose)
 
                 rospy.loginfo('Attempt to close the gripper on the object.')
@@ -200,10 +211,11 @@ class GraspObjectNode(hm.HelloNode):
 
                 rospy.loginfo('Attempt to lift the object.')
                 object_lift_height_m = 0.1
-                lift_height_m = self.lift_position + object_lift_height_m
-                if lift_height_m > 0.94:
-                    lift_height_m = 0.94
-                pose = {'joint_lift': lift_height_m}
+
+                lift_m = max(self.lift_position + object_lift_height_m, 0.2)
+                lift_m = min(lift_m, max_lift_m)
+                
+                pose = {'joint_lift': lift_m}
                 self.move_to_pose(pose)
 
                 rospy.loginfo('Open the gripper a little to avoid overtorquing and overheating the gripper motor.')
diff --git a/stretch_funmap/src/stretch_funmap/manipulation_planning.py b/stretch_funmap/src/stretch_funmap/manipulation_planning.py
index fa786c8..5591941 100755
--- a/stretch_funmap/src/stretch_funmap/manipulation_planning.py
+++ b/stretch_funmap/src/stretch_funmap/manipulation_planning.py
@@ -252,7 +252,7 @@ class ManipulationView():
 
     def move_head(self, move_to_pose):
         tilt = -0.8
-        pan = -1.5
+        pan = -1.6
         # This head configuration can reduce seeing the hand or arm when they are held high, which can avoid noise due to the hand and arm being to close to the head.
         #tilt = -0.6
         #pan = -0.9