grasp_preprogrammed.py

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#!/usr/bin/env python
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## Gazebo tug arms for navigation

PKG = 'pr2_gazebo'
NAME = 'grasp_preprogrammed'

import math
import roslib
roslib.load_manifest(PKG)

import sys, unittest
import os, os.path, threading, time
import rospy, rostest

from std_msgs.msg import Float64
from nav_msgs.msg import Odometry


CMD_POS_1      =  0.0
CMD_POS_2      =  0.0
CMD_POS_3      =  0.0
CMD_POS_4      =  0.0
CMD_POS_5      =  0.0
CMD_POS_6      =  0.0
CMD_POS_7      =  0.0
LOWER_Z        =  0.1
PAN_RAD        =  0.5
G_OPEN         =  0.058;
G_CLOSE        =  0.0199;

p3d_received   = False

def p3dReceived(stuff):
    global p3d_received
    if not p3d_received:
        p3d_received = True

if __name__ == '__main__':
    pub_r_shoulder_pan   = rospy.Publisher("r_shoulder_pan_position_controller/command", Float64)
    pub_r_shoulder_lift  = rospy.Publisher("r_shoulder_lift_position_controller/command", Float64)
    pub_r_upper_arm_roll = rospy.Publisher("r_upper_arm_roll_position_controller/command", Float64)
    pub_r_elbow_flex     = rospy.Publisher("r_elbow_flex_position_controller/command", Float64)
    pub_r_forearm_roll   = rospy.Publisher("r_forearm_roll_position_controller/command", Float64)
    pub_r_wrist_flex     = rospy.Publisher("r_wrist_flex_position_controller/command", Float64)
    pub_r_wrist_roll     = rospy.Publisher("r_wrist_roll_position_controller/command", Float64)
    pub_r_gripper        = rospy.Publisher("r_gripper_position_controller/command", Float64)
    rospy.Subscriber("r_gripper_palm_pose_ground_truth", Odometry, p3dReceived)
    rospy.init_node(NAME, anonymous=True)


    #sleep for a while
    while not p3d_received:
      time.sleep(1)

    #open gripper
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper        .publish(Float64(G_OPEN))
    time.sleep(8)

    #lower arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2+LOWER_Z))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_OPEN))
    time.sleep(2)

    #close gripper
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2+LOWER_Z))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_CLOSE))
    time.sleep(8)

    #raise arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_CLOSE))
    time.sleep(20)

    #pan arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1+PAN_RAD))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_CLOSE))
    time.sleep(10)

    #lower arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1+PAN_RAD))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2+LOWER_Z))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_CLOSE))
    time.sleep(8)

    #open gripper
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1+PAN_RAD))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2+LOWER_Z))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_OPEN))
    time.sleep(8)

    #raise arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1+PAN_RAD))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_OPEN))
    time.sleep(10)

    #return arm
    pub_r_shoulder_pan   .publish(Float64(CMD_POS_1))
    pub_r_shoulder_lift  .publish(Float64(CMD_POS_2))
    pub_r_upper_arm_roll .publish(Float64(CMD_POS_3))
    pub_r_elbow_flex     .publish(Float64(CMD_POS_4))
    pub_r_forearm_roll   .publish(Float64(CMD_POS_5))
    pub_r_wrist_flex     .publish(Float64(CMD_POS_6))
    pub_r_wrist_roll     .publish(Float64(CMD_POS_7))
    pub_r_gripper.publish(Float64(G_CLOSE))