utils.py

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#!/usr/bin/env python

# ##########################################################################
# Copyright (c) 2014 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation, either version 2 of the License, or (at your option)
# any later version.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program. If not, see <http://www.gnu.org/licenses/>.
#
# ###########################################################################

import rospy
from moveit_msgs.msg import Grasp
from trajectory_msgs.msg import JointTrajectoryPoint

_sr_joint_names = [
        'FFJ1', 'FFJ2', 'FFJ3', 'FFJ4',
        'LFJ1', 'LFJ2', 'LFJ3', 'LFJ4', 'LFJ5',
        'MFJ1', 'MFJ2', 'MFJ3', 'MFJ4',
        'RFJ1', 'RFJ2', 'RFJ3', 'RFJ4',
        'THJ1', 'THJ2', 'THJ3', 'THJ4', 'THJ5',
        'WRJ1', 'WRJ2']

_sr_joint_names_j0 = [
        'LFJ0', 'LFJ3', 'LFJ4', 'LFJ5',
        'RFJ0', 'RFJ3', 'RFJ4',
        'MFJ0', 'MFJ3', 'MFJ4',
        'FFJ0', 'FFJ3', 'FFJ4',
        'THJ1', 'THJ2', 'THJ3', 'THJ4', 'THJ5',
        'WRJ1', 'WRJ2']

def _fix_j0(joints):
    """
    Convert joints targets using J1 and J2 to J0, which the controllers use.
    Useful if using joint_states to get grasp joint positions.
    """
    for finger in ['FFJ', 'LFJ', 'MFJ', 'RFJ']:
        if finger+'1' in joints and finger+'2' in joints:
            joints[finger+'0'] = joints[finger+'1'] + joints[finger+'2']
            del joints[finger+'1']
            del joints[finger+'2']

def mk_grasp(joints, pre_joints=None, fix_j0=False):
    """
    Generate a moveit_msgs/Grasp from a set of joint angles given as a dict
    of joint_name -> position.
    """
    if pre_joints is None:
        pre_joints = {}

    sr_joint_names = _sr_joint_names
    if fix_j0:
        _fix_j0(joints)
        _fix_j0(pre_joints)
        sr_joint_names = _sr_joint_names_j0
    now = rospy.Time.now()
    grasp = Grasp()
    grasp.grasp_quality = 0.001
    grasp.grasp_pose.header.frame_id = "forearm"
    grasp.grasp_pose.header.stamp = now
    grasp.grasp_pose.pose.position.x = 0.01
    grasp.grasp_pose.pose.position.y = -0.045
    grasp.grasp_pose.pose.position.z = 0.321
    grasp.grasp_pose.pose.orientation.x = 0
    grasp.grasp_pose.pose.orientation.y = 0
    grasp.grasp_pose.pose.orientation.z = 0
    grasp.grasp_pose.pose.orientation.w = 0
    # pre-grasp (just zero all for now)
    grasp.pre_grasp_posture.header.stamp = now
    grasp.pre_grasp_posture.joint_names = sr_joint_names
    jtp = JointTrajectoryPoint()
    for jname in sr_joint_names:
        if jname in pre_joints:
            jtp.positions.append(pre_joints[jname])
        else:
            jtp.positions.append(0.0)
    grasp.pre_grasp_posture.points.append(jtp)
    # grasp
    grasp.grasp_posture.header.stamp = now
    grasp.grasp_posture.joint_names = sr_joint_names
    jtp = JointTrajectoryPoint()
    for jname in sr_joint_names:
        if jname in joints:
            jtp.positions.append(joints[jname])
        else:
            jtp.positions.append(0.0)
    grasp.grasp_posture.points.append(jtp)
    return grasp