hrl_face_adls: face_adls_parameters.py Source File

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00001 
00002 import numpy as np
00003 
00004 DANGEROUS_CB_COOLDOWN = 5.0
00005 CONTACT_CB_COOLDOWN = 0.5
00006 TIMEOUT_CB_COOLDOWN = 20.0
00007 
00008 APPROACH_VELOCITY = 0.0025
00009 GLOBAL_VELOCITY = 0.0025
00010 HEIGHT_STEP = 0.17
00011 LATITUDE_STEP = 0.12
00012 LOCAL_VELOCITY = 0.0025
00013 LONGITUDE_STEP = 0.06
00014 RETREAT_HEIGHT = 1.65
00015 SAFETY_RETREAT_HEIGHT = 2.5#1.9
00016 SAFETY_RETREAT_VELOCITY = 0.0150
00017 SLOW_RETREAT_VELOCITY = 0.0200
00018 SHAVE_HEIGHT = 0.8
00019 TIMEOUT_TIME = 30.0
00020 HEIGHT_CLOSER_ADJUST = 0.5
00021 TRIM_RETREAT_LATITUDE = 1.9
00022 
00023 LAT_BOUNDS = {'r' : (np.pi/8, 7*np.pi/8), 'l' : (np.pi/8, 7*np.pi/8)}
00024 #LON_BOUNDS = {'r' : (-np.inf, np.inf), 'l' : (-np.inf, np.inf)}
00025 LON_BOUNDS = {'r' : (-5*np.pi/8, np.pi/8), 'l' : (-np.pi/8, 5*np.pi/8)}
00026 HEIGHT_BOUNDS = {'r' : (0.2, 3.5), 'l' : (0.2, 3.5)}
00027 
00028 outcomes_spa = ['succeeded','preempted','aborted']
00029 
00030 #class TransitionIDs:
00031 #    GLOBAL_START      =  1
00032 #    GLOBAL_PREEMPT    =  2
00033 #    GLOBAL_STOP       =  2
00034 #    LOCAL_START       =  3 #TODO FIX
00035 #    LOCAL_PREEMPT     =  2
00036 #    LOCAL_STOP        =  4
00037 #    SHAVE_START       =  8
00038 #    MOVE_COLLISION        =  9
00039 #    ELL_RETREAT_GLOBAL    = 10
00040 #    ELL_MOVE_GLOBAL       = 11
00041 #    ELL_APPROACH_GLOBAL   = 12
00042 #    ELL_RETREAT_SLOW      = 13
00043 #    ELL_RETREAT_FAST      = 14
00044 #    HOLDING               = 15
00045 
00046 class Messages:
00047     ENABLE_CONTROLLER    = "Enabling ellipsoidal controller. Arm may twitch as it switches controllers."
00048     NO_PARAMS_LOADED     = "Cannot enable ellipsoidal controller. Must first register head."
00049     ARM_AWAY_FROM_HEAD   = "Cannot enable ellipsoidal controller. Tool must be setup near head."
00050     DISABLE_CONTROLLER   = "Disabling ellipsoidal controller. You must reenable to give more commands."
00051     DANGEROUS_FORCE      = "Dangerous force over %.1f N detected, retreating from face."
00052     TIMEOUT_RETREAT      = "Timeout from lack of contact over %.0f s, retreating from face."
00053     CONTACT_FORCE        = "Arm stopped due to sensing contact force over %.1f N."
00054     GLOBAL_START         = "Global ellipsoid move to pose %s running."
00055     GLOBAL_PREEMPT       = "Global ellipsoid move to pose %s preempted."
00056     GLOBAL_SUCCESS       = "Global ellipsoid move to pose %s successful."
00057     LOCAL_START          = "Local ellipsoid move %s running."
00058     ROT_RESET_START      = "Running reset rotation movement. The tool should rotate perpendicular to the head."
00059     LOCAL_PREEMPT        = "Local ellipsoid move %s preempted."
00060     LOCAL_SUCCESS        = "Local ellipsoid move %s successful."
00061 
00062 
00063 button_names_dict = {
00064     'translate_up'       : "translate up",
00065     'translate_down'     : "translate down",
00066     'translate_left'     : "translate left",
00067     'translate_right'    : "translate right",
00068     'translate_in'       : "translate in",
00069     'translate_out'      : "translate out",
00070 
00071     'rotate_y_neg'       : "rotate down",
00072     'rotate_y_pos'       : "rotate up",
00073     'rotate_z_neg'       : "rotate left",
00074     'rotate_z_pos'       : "rotate right",
00075     'rotate_x_neg'       : "rotate clockwise",
00076     'rotate_x_pos'       : "rotate counter clockwise",
00077 
00078     'reset_rotation'     : "reset rotation",
00079 }