fixes float32->float64; poses for insert
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Falloimitator
parent
26c883eacb
commit
2165c48415
2 changed files with 55 additions and 26 deletions
39
main.py
39
main.py
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@ -6,28 +6,28 @@ PORT = 9090
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config = {
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"pre_grasp_position": {
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'pos': [0.14726859839859208, 0.5302551637478977, 0.565792932407347],
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'ori': [0.1305294928324298, -0.34660161091966263, 0.8293216816453197, 0.4183956538514503]
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'pos': [0.11468976722774939, 0.49820734702047975, 0.232304304821942],
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'ori': [0.03139065917169165, 0.007114594087226847, 0.7337638657217594, 0.6786417305388762]
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},
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"grasp_position": {
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'pos': [0.15928907070579643, 0.5270829242433969, 0.6510703359003733],
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'ori': [0.15023706706737835, -0.32373703396446113, 0.8482916258752815, 0.39118342754871005]
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'pos': [0.10651987287035074, 0.4918349678759202, 0.12068363327771679],
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'ori': [0.0461769536371005, 0.019808331049769666, 0.7271651527969424, 0.68462117958154]
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},
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"post_grasp_position": {
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'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
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'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
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'pos': [0.10584392070929988, 0.4941985576613782, 0.1688168818859202],
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'ori': [0.04549168126833617, 0.01984700639803424, 0.7237928131621344, 0.6882300246917887]
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},
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"pre_insert_position": {
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'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
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'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
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'pos': [0.24027684741261485, 0.49126338168373945, 0.39655250532732794],
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'ori': [0.1964966354829754, -0.025599877633873055, 0.6813871431453161, 0.7045887308673521]
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},
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"insert_position": {
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"pos": [0.6, 0.0, 0.2],
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"ori_offset": [10, -5, 0],
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'pos': [0.27300632591107804, 0.48041141969089585, 0.3049992290184565],
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'ori': [0.17245191209515515, 6.719202049935031e-05, 0.7033203128819105, 0.689638217464526]
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},
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"post_insert_position": {
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"pos": [0.6, 0.0, 0.2],
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"ori_offset": [10, -5, 0],
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'pos': [0.2904632222294866, 0.4869030095129388, 0.1625443919495984],
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'ori': [0.20018806753589566, 0.023937708375556675, 0.688796013797962, 0.6963560691988031]
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},
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}
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@ -37,10 +37,17 @@ def main():
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#robot.set_joint_maxvelc(3)
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#robot.set_end_max_line_velc(0.6)
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robot.set_end_max_line_acc(0.8)
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robot.move_linear_cartesian(config["pre_grasp_position"])
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# robot.move_to_pose(config["pre_grasp_position"])
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# robot.move_to_pose(config["grasp_position"])
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# robot.move_to_pose(config["post_grasp_position"])
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robot.move_to_pose_joint(config["pre_grasp_position"])
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robot.move_to_pose_cart(config["grasp_position"])
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robot.move_to_pose_joint(config["post_grasp_position"])
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robot.move_to_pose_joint(config["pre_insert_position"])
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robot.move_to_pose_cart(config["insert_position"])
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robot.move_to_pose_cart(config["post_insert_position"])
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robot.move_to_pose_cart(config["insert_position"])
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robot.move_to_pose_joint(config["pre_insert_position"])
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robot.close()
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42
node.py
42
node.py
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@ -2,7 +2,7 @@
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import Float32MultiArray
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from std_msgs.msg import Float64MultiArray
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from sensor_msgs.msg import JointState
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from utils import RobotClient
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import time
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@ -14,7 +14,7 @@ class RobotControllerNode(Node):
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super().__init__("robot_controller_node")
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self.pub = self.create_publisher(
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Float32MultiArray, "/forward_position_controller/commands", 10
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Float64MultiArray, "/forward_position_controller/commands", 10
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)
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self.js_sub = self.create_subscription(
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JointState, "/joint_states", self.js_callback, 10
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@ -39,7 +39,7 @@ class RobotControllerNode(Node):
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self.last_js = msg
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def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
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msg = Float32MultiArray()
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msg = Float64MultiArray()
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msg.data = [target_pose]
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self.pub.publish(msg)
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self.get_logger().info(f"Sent gripper pose: {target_pose}")
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@ -71,6 +71,7 @@ class RobotControllerNode(Node):
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return False
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def run_sequence(self):
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print(f"STEP #{self.sequence_step}")
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if self.sequence_step == 0:
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self.get_logger().info("Moving to pre-grasp")
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self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
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@ -81,19 +82,40 @@ class RobotControllerNode(Node):
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self.robot_client.move_to_pose_cart(config["grasp_position"])
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self.sequence_step += 1
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elif self.sequence_step == 3:
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if self.send_gripper_command(target_pose=1.0, timeout=10.0):
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elif self.sequence_step == 2:
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if self.send_gripper_command(target_pose=0.582, timeout=10.0, tolerance=0.1):
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self.get_logger().info("Gripper closed")
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self.sequence_step += 1
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elif self.sequence_step == 3:
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self.get_logger().info("Moving to post-grasp")
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self.robot_client.move_to_pose_cart(config["post_grasp_position"])
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self.sequence_step += 1
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elif self.sequence_step == 4:
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self.get_logger().info("Moving to pre_insert_position")
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self.robot_client.move_to_pose_cart(config["pre_insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 5:
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self.get_logger().info("Moving to insert_position")
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self.robot_client.move_to_pose_joint(config["insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 6:
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self.get_logger().info("Moving to post_insert_position")
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self.robot_client.move_to_pose_joint(config["post_insert_position"])
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self.sequence_step += 1
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elif self.sequence_step == 7:
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if self.send_gripper_command(target_pose=0.54, timeout=10.0):
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self.get_logger().info("Gripper closed")
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self.sequence_step += 1
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# elif self.sequence_step == 3:
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# self.get_logger().info("Moving to post-grasp")
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# self.robot_client.move_to_pose_cart(config["post_grasp_position"])
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# self.sequence_step += 1
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#
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# ... и так далее для остальных шагов
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elif self.sequence_step >= 3: # Измените на последний шаг + 1
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elif self.sequence_step >= 8: # Измените на последний шаг + 1
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self.get_logger().info("Sequence complete")
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self.robot_client.close()
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self.destroy_timer(self.timer)
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