srs_decision_making: robot_configuration.py Source File

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00001 #!/usr/bin/python
00002 #################################################################
00003 ##\file
00004 #
00005 # \note
00006 # Copyright (c) 2011 \n
00007 # Cardiff University \n\n
00008 #
00009 #################################################################
00010 #
00011 # \note
00012 # Project name: Multi-Role Shadow Robotic System for Independent Living
00013 # \note
00014 # ROS stack name: srs
00015 # \note
00016 # ROS package name: srs_decision_making
00017 #
00018 # \author
00019 # Author: Renxi Qiu, email: renxi.qiu@gmail.com
00020 #
00021 # \date Date of creation: Oct 2011
00022 #
00023 # \brief
00024 # Task coordination and interfacing for SRS decision making
00025 #
00026 #################################################################
00027 #
00028 # Redistribution and use in source and binary forms, with or without
00029 # modification, are permitted provided that the following conditions are met:
00030 #
00031 # - Redistributions of source code must retain the above copyright
00032 # notice, this list of conditions and the following disclaimer. \n
00033 #
00034 # - Redistributions in binary form must reproduce the above copyright
00035 # notice, this list of conditions and the following disclaimer in the
00036 # documentation and/or other materials provided with the distribution. \n
00037 #
00038 # This program is free software: you can redistribute it and/or modify
00039 # it under the terms of the GNU Lesser General Public License LGPL as
00040 # published by the Free Software Foundation, either version 3 of the
00041 # License, or (at your option) any later version.
00042 #
00043 # This program is distributed in the hope that it will be useful,
00044 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00045 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00046 # GNU Lesser General Public License LGPL for more details.
00047 #
00048 # You should have received a copy of the GNU Lesser General Public
00049 # License LGPL along with this program.
00050 # If not, see <http://www.gnu.org/licenses/>.
00051 #
00052 #################################################################
00053 
00054 """
00055 This file contains settings for robot configuration 
00056 
00057 """
00058 
00059 class Ddict(dict):
00060     def __init__(self, default=None):
00061         self.default = default
00062 
00063     def __getitem__(self, key):
00064         if not self.has_key(key):
00065             self[key] = self.default()
00066         return dict.__getitem__(self, key)
00067     
00068     
00069 component_list = ['torso','tray','arm','sdh','head']
00070     
00071     
00072 robot_config_pre = Ddict(dict)
00073 
00074 robot_config_post = Ddict(dict)
00075 
00076 #DM = doesn't matter
00077 #NC = no change required
00078 #CALCULATION = need to be calculated on-line, 
00079 #in this program CALCULATION is same as NC, as the calculation is carried out already during action, the is no change required for pre post check. 
00080 # 
00081 robot_config_need_no_action = ['DM','NC','CALCULATION']
00082 
00083 #Navigation with no object 
00084 #pre-config
00085 robot_config_pre['navigation_no_object']['torso']='home'
00086 robot_config_pre['navigation_no_object']['tray']='down'
00087 robot_config_pre['navigation_no_object']['arm']='look_at_table-to-folded'
00088 robot_config_pre['navigation_no_object']['sdh']='home'
00089 robot_config_pre['navigation_no_object']['head']='front'
00090 #post-config
00091 robot_config_post['navigation_no_object']['torso']='DM' 
00092 robot_config_post['navigation_no_object']['tray']='NC'
00093 robot_config_post['navigation_no_object']['arm']='NC'
00094 robot_config_post['navigation_no_object']['sdh']='DM'
00095 robot_config_post['navigation_no_object']['head']='front'
00096 
00097 
00098 #Navigation with object on tray and no object in sdh
00099 #pre-config
00100 robot_config_pre['navigation_object_on_tray']['torso']='home'
00101 robot_config_pre['navigation_object_on_tray']['tray']='NC'
00102 robot_config_pre['navigation_object_on_tray']['arm']='folded'
00103 robot_config_pre['navigation_object_on_tray']['sdh']='DM'
00104 robot_config_pre['navigation_object_on_tray']['head']='front'
00105 #post-config
00106 robot_config_post['navigation_object_on_tray']['torso']="DM"
00107 robot_config_post['navigation_object_on_tray']['tray']='NC'
00108 robot_config_post['navigation_object_on_tray']['arm']='NC'
00109 robot_config_post['navigation_object_on_tray']['sdh']='DM'
00110 robot_config_post['navigation_object_on_tray']['head']='front'
00111 
00112 
00113 #Navigation with no object on tray but with object in sdh
00114 #pre-config
00115 robot_config_pre['navigation_object_in_sdh']['torso']='home'
00116 robot_config_pre['navigation_object_in_sdh']['tray']='down'
00117 robot_config_pre['navigation_object_in_sdh']['arm']='hold'
00118 robot_config_pre['navigation_object_in_sdh']['sdh']='NC'  #should be closed, but the exact location is calculated early during grasp
00119 robot_config_pre['navigation_object_in_sdh']['head']='front'
00120 #post config
00121 robot_config_post['navigation_object_in_sdh']['torso']="DM"
00122 robot_config_post['navigation_object_in_sdh']['tray']='NC'
00123 robot_config_post['navigation_object_in_sdh']['arm']='NC'
00124 robot_config_post['navigation_object_in_sdh']['sdh']='NC'  #should be closed, but the exact location is calculated early
00125 robot_config_post['navigation_object_in_sdh']['head']='front'
00126 #Instead of hold we could also use folded, this depends on the object we are handling. In any cases the arm has to be closed 
00127 #to the torso so that nothing is out of the rectangular footprint of the robot
00128 #we should be able to check what object need to be hold or hold
00129 
00130 #Navigation with  object on tray and object in sdh
00131 #pre-config
00132 robot_config_pre['navigation_object_on_tray_and_sdh']['torso']='home'
00133 robot_config_pre['navigation_object_on_tray_and_sdh']['tray']='NC'
00134 robot_config_pre['navigation_object_on_tray_and_sdh']['arm']='NC'
00135 robot_config_pre['navigation_object_on_tray_and_sdh']['sdh']='NC'  #should be closed, but the exact location is calculated early during grasp
00136 robot_config_pre['navigation_object_on_tray_and_sdh']['head']='front'
00137 #post config
00138 robot_config_post['navigation_object_on_tray_and_sdh']['torso']="DM"
00139 robot_config_post['navigation_object_on_tray_and_sdh']['tray']='NC'
00140 robot_config_post['navigation_object_on_tray_and_sdh']['arm']='NC'
00141 robot_config_post['navigation_object_on_tray_and_sdh']['sdh']='NC'  #should be closed, but the exact location is calculated early
00142 robot_config_post['navigation_object_on_tray_and_sdh']['head']='front'
00143 
00144 
00145 #detection
00146 #pre-config
00147 robot_config_pre['detection']['torso']='DM'
00148 robot_config_pre['detection']['tray']='down'
00149 robot_config_pre['detection']['arm']='folded'
00150 robot_config_pre['detection']['sdh']='cylclosed'
00151 robot_config_pre['detection']['head']='DM'
00152 #post-config
00153 robot_config_post['detection']['torso']='home'
00154 robot_config_post['detection']['tray']='NC'
00155 robot_config_post['detection']['arm']='NC'
00156 robot_config_post['detection']['sdh']='cylclosed'
00157 robot_config_post['detection']['head']='front'   
00158 
00159 #environment update
00160 #pre-config
00161 robot_config_pre['enviroment_update']['torso']='DM'
00162 robot_config_pre['enviroment_update']['tray']='down'
00163 robot_config_pre['enviroment_update']['arm']='folded'
00164 robot_config_pre['enviroment_update']['sdh']='DM'
00165 robot_config_pre['enviroment_update']['head']='DM'
00166 #post-config
00167 robot_config_post['enviroment_update']['torso']='home'
00168 robot_config_post['enviroment_update']['tray']='NC'
00169 robot_config_post['enviroment_update']['arm']='NC'
00170 robot_config_post['enviroment_update']['sdh']='DM'
00171 robot_config_post['enviroment_update']['head']='front'
00172 
00173 
00174 #grasp (including detection for grasp + grasp after detection)
00175 #pre-config
00176 robot_config_pre['grasp']['torso']='DM'
00177 robot_config_pre['grasp']['tray']='down'
00178 robot_config_pre['grasp']['arm']='folded-to-look_at_table'
00179 robot_config_pre['grasp']['sdh']='DM'
00180 robot_config_pre['grasp']['head']='back'
00181 #post-config
00182 robot_config_post['grasp']['torso']='DM'
00183 robot_config_post['grasp']['tray']='NC'
00184 robot_config_post['grasp']['arm']='CALCULATION' # can be used for both put object on tray and  hold object
00185 robot_config_post['grasp']['sdh']='CALCULATION'  #should be closed, but the exact location should have been calculated
00186 robot_config_post['grasp']['head']='DM'
00187 
00188 #Put object on tray
00189 #pre-config
00190 robot_config_pre['put_on_tray']['torso']='home'
00191 robot_config_pre['put_on_tray']['tray']='up'
00192 robot_config_pre['put_on_tray']['arm']='NC'
00193 robot_config_pre['put_on_tray']['sdh']='NC'
00194 robot_config_pre['put_on_tray']['head']='NC'
00195 #post-config
00196 robot_config_post['put_on_tray']['torso']="home"
00197 robot_config_post['put_on_tray']['tray']='NC'
00198 robot_config_post['put_on_tray']['arm']='folded' 
00199 robot_config_post['put_on_tray']['sdh']='home'  
00200 robot_config_post['put_on_tray']['head']='front'
00201 
00202 #place object on table
00203 #pre-config
00204 #To be added
00205 #post-config
00206 #To be added