From 7fe5c5bbe7d05031b98886938cc1d8c98230220f Mon Sep 17 00:00:00 2001 From: shryt-mech Date: Wed, 16 Nov 2022 18:55:03 +0900 Subject: [PATCH 1/2] add sahara project. --- jsk_2022_10_semi/euslisp/sahara/demo.l | 28 +++++++++++ jsk_2022_10_semi/euslisp/sahara/demo_copy.l | 32 +++++++++++++ jsk_2022_10_semi/euslisp/sahara/spot.lisp | 0 jsk_2022_10_semi/euslisp/sahara/test.lisp | 52 +++++++++++++++++++++ 4 files changed, 112 insertions(+) create mode 100644 jsk_2022_10_semi/euslisp/sahara/demo.l create mode 100644 jsk_2022_10_semi/euslisp/sahara/demo_copy.l create mode 100644 jsk_2022_10_semi/euslisp/sahara/spot.lisp create mode 100644 jsk_2022_10_semi/euslisp/sahara/test.lisp diff --git a/jsk_2022_10_semi/euslisp/sahara/demo.l b/jsk_2022_10_semi/euslisp/sahara/demo.l new file mode 100644 index 0000000000..216fb4fc01 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/demo.l @@ -0,0 +1,28 @@ +(load "package://fetcheus/fetch-interface.l") +;git clone https://github.com/jsk-ros-pkg/jsk_pr2eus.git +;rosdep install --from-path . --ignore-src -y -r +;catkin build +;rlwrap roseus + +(unless (boundp '*ri*) (fetch-init)) +(objects (list *fetch*)) + +(send *fetch* :reset-pose) +(send *irtviewer* :draw-objects) + +;send *ri* :state :potentio-vector +;send *fetch* :angle-vector (send *ri* :state :potentio-vector) +;send *ri* :angle-vector (send *fetch* :angle-vector) 5000 + +;(setq *rarm-end* (send *fetch* :rarm :end-coords :copy-worldcoords)) +;(send *rarm-end* :translate (float-vector 10.0 10.0 -10.0)) +;(send *fetch* :rarm :inverse-kinematics *rarm-end* 2000) +(send *fetch* :rarm :shoulder-y :joint-angle) +(send *fetch* :rarm :shoulder-y :joint-angle 30) +(send *fetch* :rarm :shoulder-r :joint-angle -120) +(send *fetch* :rarm :elbow-r :joint-angle 30) +(send *irtviewer* :draw-objects) + +;(# # # # # # #) +;(20.0 -70.0 80.2141 70.0 98.5487 10.0 70.0 0.0 0.0 0.0) +;(20.7292 43.1076 -34.5316 -56.8115 64.3184 -41.7296 66.5712 -0.006954 -0.753425 1.62224) \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/demo_copy.l b/jsk_2022_10_semi/euslisp/sahara/demo_copy.l new file mode 100644 index 0000000000..a9e1d14ff2 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/demo_copy.l @@ -0,0 +1,32 @@ +(load "package://fetcheus/fetch-interface.l") +(fetch-init) + +;(objects (list *fetch*)) + +;;(print (send *ri* :state :potentio-vector)) +;;(send *fetch* :angle-vector (send *ri* :state :potentio-vector)) +;;reset (list 17.3036 75.715 80.1657 -11.5478 98.5958 -0.003545 95.1357 -0.028927 0.56082 0.567554) +;; (list 17.2349 75.6931 80.4074 -12.0312 102.221 -0.04749 51.498 -0.072829 0.368209 1.68816) +;; (list 17.2731 75.6931 80.4733 -65.4028 102.177 -0.025528 51.476 -0.072829 0.413527 1.66618) +;; (17.2654 75.737 80.4294 -65.4028 102.111 0.0404 51.454 -0.138747 18.2804 -19.6473) +(print "start") +(send *fetch* :reset-pose) +(send *ri* :angle-vector (send *fetch* :angle-vector) 5000) +(send *ri* :wait-interpolation) +(print "first") +(send *fetch* :angle-vector (list 17.2349 75.6931 80.4074 -12.0312 102.221 -0.04749 51.498 -0.072829 0.368209 1.68816)) +(send *ri* :angle-vector (send *fetch* :angle-vector) 5000) +(send *ri* :wait-interpolation) +(print "second") +(send *fetch* :angle-vector (list 17.2731 75.6931 80.4733 -65.4028 102.177 -0.025528 51.476 -0.072829 0.413527 1.66618)) +(send *ri* :angle-vector (send *fetch* :angle-vector) 5000) +(send *ri* :wait-interpolation) +(print "third") +(send *fetch* :angle-vector (list 17.2654 75.737 80.4294 -65.4028 102.111 0.0404 51.454 -0.138747 18.2804 -19.6473)) +(send *ri* :angle-vector (send *fetch* :angle-vector) 5000) +(send *ri* :wait-interpolation) +(print "third") +(send *fetch* :reset-pose) +(send *ri* :angle-vector (send *fetch* :angle-vector) 5000) +(send *ri* :wait-interpolation) +(print "finish") \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/spot.lisp b/jsk_2022_10_semi/euslisp/sahara/spot.lisp new file mode 100644 index 0000000000..e69de29bb2 diff --git a/jsk_2022_10_semi/euslisp/sahara/test.lisp b/jsk_2022_10_semi/euslisp/sahara/test.lisp new file mode 100644 index 0000000000..590a456ff3 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/test.lisp @@ -0,0 +1,52 @@ +(load "package://spoteus/spot-interface.l") +(if t ;実機につなぐなら + (spot-init) + (setq *spot* (instance spot-robot :init)) +) +;(send *ri* :speak-jp "こんにちは") + +(objects (list *spot*)) + +;(setq pose (send *ri* :potentio-vector)) + +;初期姿勢 +(send *spot* :reset-pose) +(send *ri* :angle-vector (send *spot* :angle-vector) 2000) + +(send *ri* :gripper-open) + +;手を地面付近に下ろす +(setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする +(objects (list endcoords *spot*)) ;座標系を表示 + +(send endcoords :rotate (/ (- pi) 2) :z) ;座標系の回転移動 +(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + +(send endcoords :translate #f(300 0 0) :world) ;座標系の平行移動 +(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + +(send endcoords :translate #f(0 0 -600) :world) +(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + + +(send *ri* :wait-interpolation) +(send *ri* :angle-vector (send *spot* :angle-vector) 2000) + +;手を対象物に持っていく +(setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする +(objects (list endcoords *spot*)) ;座標系を表示 + +(send endcoords :translate #f(0 0 -100) :world) +(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis nil :revert-if-fail nil) + +(send *ri* :wait-interpolation) +(send *ri* :angle-vector (send *spot* :angle-vector) 2000) + +;もとに戻る +(send *ri* :wait-interpolation) +(send *ri* :gripper-close) + +(send *spot* :reset-pose) + +(send *ri* :wait-interpolation) +(send *ri* :angle-vector (send *spot* :angle-vector) 2000) From 87be1c6c94851dcf85bf5044c8d454c61a335740 Mon Sep 17 00:00:00 2001 From: shryt-mech Date: Wed, 21 Dec 2022 15:11:28 +0900 Subject: [PATCH 2/2] To test on spot --- jsk_2022_10_semi/euslisp/sahara/all.lisp | 2 + jsk_2022_10_semi/euslisp/sahara/camera.launch | 34 ++ jsk_2022_10_semi/euslisp/sahara/find_ball.py | 42 ++ jsk_2022_10_semi/euslisp/sahara/image.png | Bin 0 -> 400364 bytes jsk_2022_10_semi/euslisp/sahara/init.lisp | 10 + .../euslisp/sahara/pick_object_test.l | 25 ++ jsk_2022_10_semi/euslisp/sahara/ri_methods | 151 ++++++++ jsk_2022_10_semi/euslisp/sahara/spot_methods | 360 ++++++++++++++++++ jsk_2022_10_semi/euslisp/sahara/test.lisp | 143 +++++-- 9 files changed, 735 insertions(+), 32 deletions(-) create mode 100644 jsk_2022_10_semi/euslisp/sahara/all.lisp create mode 100644 jsk_2022_10_semi/euslisp/sahara/camera.launch create mode 100755 jsk_2022_10_semi/euslisp/sahara/find_ball.py create mode 100644 jsk_2022_10_semi/euslisp/sahara/image.png create mode 100644 jsk_2022_10_semi/euslisp/sahara/init.lisp create mode 100644 jsk_2022_10_semi/euslisp/sahara/pick_object_test.l create mode 100644 jsk_2022_10_semi/euslisp/sahara/ri_methods create mode 100644 jsk_2022_10_semi/euslisp/sahara/spot_methods diff --git a/jsk_2022_10_semi/euslisp/sahara/all.lisp b/jsk_2022_10_semi/euslisp/sahara/all.lisp new file mode 100644 index 0000000000..7205b17c4d --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/all.lisp @@ -0,0 +1,2 @@ +(load "init.lisp") +(load "test.lisp") \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/camera.launch b/jsk_2022_10_semi/euslisp/sahara/camera.launch new file mode 100644 index 0000000000..be212e1a6e --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/camera.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/find_ball.py b/jsk_2022_10_semi/euslisp/sahara/find_ball.py new file mode 100755 index 0000000000..dd2e5b3d4e --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/find_ball.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python +import rospy +import message_filters +from jsk_recognition_msgs.msg import ClassificationResult,RectArray +rospy.init_node("find_ball") + + +def callback_each(class_msg,rect_msg,label_name,publisher): + # print "callback" + # print(class_msg.labels) + # print(class_msg.label_names) + ball_rect_list = [] + if len(rect_msg.rects)>=len(class_msg.label_names): + for i,v in enumerate(class_msg.label_names): + if v==label_name : + ball_rect_list.append(rect_msg.rects[i]) + if len(ball_rect_list) > 0: + ball_rectarray = RectArray() + ball_rectarray.header = rect_msg.header + ball_rectarray.rects = ball_rect_list + print(ball_rectarray) + print(label_name,class_msg.label_proba[0]) + publisher.publish(ball_rectarray) + +def callback(class_msg,rect_msg): + callback_each(class_msg,rect_msg,"lined_ball",pub_lined_ball_rect) + callback_each(class_msg,rect_msg,"yellow_ball",pub_yellow_ball_rect) + callback_each(class_msg,rect_msg,"white_ball",pub_white_ball_rect) + +pub_lined_ball_rect = rospy.Publisher('/find_ball/lined_ball_rect',RectArray , queue_size=1) +pub_yellow_ball_rect = rospy.Publisher('/find_ball/yellow_ball_rect',RectArray , queue_size=1) +pub_white_ball_rect = rospy.Publisher('/find_ball/white_ball_rect',RectArray , queue_size=1) + + +sub_class = message_filters.Subscriber('/edgetpu_object_detector/output/class', ClassificationResult) +sub_rect = message_filters.Subscriber('/edgetpu_object_detector/output/rects', RectArray) + +sync = message_filters.ApproximateTimeSynchronizer([sub_class,sub_rect], 10, 0.5) +sync.registerCallback(callback) + +print "start" +rospy.spin() diff --git a/jsk_2022_10_semi/euslisp/sahara/image.png b/jsk_2022_10_semi/euslisp/sahara/image.png new file mode 100644 index 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zei9{9ohD6==&Gr0^IAd?c-?$W1*AL9b##7q$7VCt(UjeX=+BR$V zclLlN&U6XKlarAdW?K+?>Q*9u%Rl<%-nT%=?|wwit^QGHjsLf>m%)?r*4x(}p0&N# zW3Po5|JK?3dSvshLHpC?U({{SX?@tKXU}RJ0Y@k4cOISEJl{PNVpuc-LbN5Z>3j!x zRKJ@ku&=*(_me?w`>VU7dX$X~5+qmhMI>{78q05cD)7WC03JTeJ0-K}NtJm*$tg_H zjJ@U)$|I?uowLPetWC^goA_n?+|F^uUHtg>N2=HymAEhN;u|MdpaTfPWGOggLN01G z@qlogAWE^rtZh2QBamd-u=64zjM|rClglwH00>DdF5Pc*EjTJarLYi**gLSTgrkp zdO{BVQ6jpN=Up;#ayP%vYxH*k0nN}N?DppU>R!;%@+c`yU~ouMV^LutGnynxks>yj zWONq9rgl7AwI{}7SDF}dsx!+V*=5{eV9D3WJo7vnUwPhDyT|lHu2BffF^`SC)~+V} z%7Vcl#~~hI|HYEegXmOQ2{ttWTZ4Uqd literal 0 HcmV?d00001 diff --git a/jsk_2022_10_semi/euslisp/sahara/init.lisp b/jsk_2022_10_semi/euslisp/sahara/init.lisp new file mode 100644 index 0000000000..2bbb481bdf --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/init.lisp @@ -0,0 +1,10 @@ +(load "package://spoteus/spot-interface.l") +(ros::roseus-add-msgs "jsk_recognition_msgs") +(if t ;実機につなぐなら + (spot-init) + (setq *spot* (instance spot-robot :init)) +) +;(send *ri* :speak-jp "こんにちは") +(send *ri* :speak "initialized") + +(objects (list *spot*)) \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/pick_object_test.l b/jsk_2022_10_semi/euslisp/sahara/pick_object_test.l new file mode 100644 index 0000000000..1f69f4f9c8 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/pick_object_test.l @@ -0,0 +1,25 @@ +#!/usr/bin/env roseus + +(load "package://spoteus/spot-interface.l") +(ros::roseus-add-msgs "jsk_recognition_msgs") + +(spot-init nil) +(setq *image-source* "hand_color") + +(ros::subscribe "/edgetpu_object_detector/output/rects" jsk_recognition_msgs::RectArray #'cb) + +(defun pick-object-in-image (image-source center-x center-y) + (send *ri* :pick-object-in-image image-source center-x center-y)) + +(defun cb (msg) + (let ((x (send (send msg :rects) :x)) + (y (send (send msg :rects) :y)) + (width (send (send msg :rects) :width)) + (height (send (send msg :rects) :height)) + (center-x (+ x (/ width 2))) + (center-y (+ y (/ height 2)))) + (pick-object-in-image *image-source* center-x center-y) + (unix::sleep 5) + (send *ri* :stow-arm) + ;;(send *ri* :wait-interpolation) + )) diff --git a/jsk_2022_10_semi/euslisp/sahara/ri_methods b/jsk_2022_10_semi/euslisp/sahara/ri_methods new file mode 100644 index 0000000000..9346808fb7 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/ri_methods @@ -0,0 +1,151 @@ +:init +:default-controllerarm-controller:set-impedance-param +:unstow-arm +:stow-arm +:gripper-open +:gripper-close +:start-grasp +:stop-grasp +:pick-object-in-image +:pick-object-in-image-feedback-cb +:pick-object-in-image-feedback-msg +:pick-object-in-image-wait-for-result +:pick-object-in-image-get-state +:spot-status-metrics-callback +:spot-status-leases-callback +:spot-status-feet-callback +:spot-status-estop-callback +:spot-status-wifi-callback +:spot-status-manipulator-state-callback +:spot-status-power-state-callback +:spot-status-battery-states-callback +:spot-status-behavior-faults-callback +:spot-status-system-faults-callback +:spot-feedback-callback +:state +:estop-gentle +:estop-hard +:claim +:release +:power-on +:power-off +:self-right +:stand +:sit +:stop +:set-locomotion-mode +:set-stair-mode +:dock +:undock +:send-cmd-vel-raw +:go-velocity +:go-pos +:go-pos-wait +:go-pos-no-wait +:body-pose +:find-waypoint-position-from-id +:find-waypoint-id-from-position +:initial-localization-fiducial +:initial-localization-waypoint +:upload-path +:list-graph +:navigate-to +:create-quaternion-from-rpy +:create-quaternion-msg-from-rpy +:init +:odom-callback +:go-stop +:make-plan +:move-to +:move-to-send +:move-to-wait +:go-waitp +:go-pos +:go-pos-no-wait +:go-wait +:send-cmd-vel-raw +:go-velocity +:go-pos-unsafe +:go-pos-unsafe-no-wait +:go-pos-unsafe-wait +:move-trajectory-sequence +:move-trajectory +:state +:robot-interface-simulation-callback +:clear-costmap +:change-inflation-range +:init +:add-controller +:robot-interface-simulation-callback +:publish-joint-state +:angle-vector-safe +:angle-vector-duration +:angle-vector-simulation +:angle-vector +:angle-vector-sequence +:wait-interpolation +:interpolatingp +:wait-interpolation-smooth +:interpolating-smoothp +:stop-motion +:cancel-angle-vector +:worldcoords +:torque-vector +:potentio-vector +:reference-vector +:actual-vector +:error-vector +:state-vector +:stamp +:send-ros-controller +:set-robot-state1 +:get-robot-state +:ros-state-callback +:wait-until-update-all-joints +:update-robot-state +:state +:default-controller +:sub-angle-vector +:robot +:viewer +:objects +:set-simulation-default-look-at +:draw-objects +:find-object +:joint-action-enable +:simulation-modep +:warningp +:spin-once +:send-trajectory +:send-trajectory-each +:ros-wait +:go-pos +:go-pos-no-wait +:go-wait +:go-velocity +:go-stop +:gripper +:joint-trajectory-to-angle-vector-list +:show-goal-hand-coords +:find-descendants-dae-links +:show-mesh-traj-with-color +:nod +:eus-mannequin-mode +:play-sound +:speak +:speak-en +:speak-jp +:plist +:get +:put +:name +:remprop +:prin1 +:prin1 +:warning +:error +:slots +:methods +:super +:get-val +:set-val \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/spot_methods b/jsk_2022_10_semi/euslisp/sahara/spot_methods new file mode 100644 index 0000000000..1aa1eccfe3 --- /dev/null +++ b/jsk_2022_10_semi/euslisp/sahara/spot_methods @@ -0,0 +1,360 @@ +:init-orig +:reset-pose +:arm0.el0 +:arm0.el1 +:arm0.f1x +:arm0.hr0 +:arm0.sh0 +:arm0.sh1 +:arm0.wr0 +:arm0.wr1 +:base_link_joint +:front_left_hip_x +:front_left_hip_y +:front_left_knee +:front_rail_joint +:front_right_hip_x +:front_right_hip_y +:front_right_knee +:rear_left_hip_x +:rear_left_hip_y +:rear_left_knee +:rear_rail_joint +:rear_right_hip_x +:rear_right_hip_y +:rear_right_knee +:links +:arm0.link_el0_lk +:arm0.link_el1_lk +:arm0.link_fngr_lk +:arm0.link_hr0_lk +:arm0.link_sh0_lk +:arm0.link_sh1_lk +:arm0.link_wr0_lk +:arm0.link_wr1_lk +:base_link_lk +:body_lk +:front_left_hip_lk +:front_left_lower_leg_lk +:front_left_upper_leg_lk +:front_rail_lk +:front_right_hip_lk +:front_right_lower_leg_lk +:front_right_upper_leg_lk +:rear_left_hip_lk +:rear_left_lower_leg_lk +:rear_left_upper_leg_lk +:rear_rail_lk +:rear_right_hip_lk +:rear_right_lower_leg_lk +:rear_right_upper_leg_lk +:lfleg-crotch-r +:lfleg-crotch-p +:lfleg-knee-p +:rfleg-crotch-r +:rfleg-crotch-p +:rfleg-knee-p +:lrleg-crotch-r +:lrleg-crotch-p +:lrleg-knee-p +:rrleg-crotch-r +:rrleg-crotch-p +:rrleg-knee-p +:arm-shoulder-y +:arm-shoulder-p +:arm-elbow-p +:arm-elbow-r +:arm-wrist-p +:arm-wrist-r +:hand-gripper-p +:lfleg +:lfleg-end-coords +:lfleg-root-link +:rfleg +:rfleg-end-coords +:rfleg-root-link +:lrleg +:lrleg-end-coords +:lrleg-root-link +:rrleg +:rrleg-end-coords +:rrleg-root-link +:arm +:arm-end-coords +:arm-root-link +:hand +:hand-end-coords +:hand-root-link +:_make_instance_body_geom0 +:_make_instance_front_left_hip_geom0 +:_make_instance_front_left_upper_leg_geom0 +:_make_instance_front_left_lower_leg_geom0 +:_make_instance_front_right_hip_geom0 +:_make_instance_front_right_upper_leg_geom0 +:_make_instance_front_right_lower_leg_geom0 +:_make_instance_rear_left_hip_geom0 +:_make_instance_rear_left_upper_leg_geom0 +:_make_instance_rear_left_lower_leg_geom0 +:_make_instance_rear_right_hip_geom0 +:_make_instance_rear_right_upper_leg_geom0 +:_make_instance_rear_right_lower_leg_geom0 +:_make_instance_arm0.link_sh0_geom0 +:_make_instance_arm0.link_sh1_geom0 +:_make_instance_arm0.link_hr0_geom0 +:_make_instance_arm0.link_el0_geom0 +:_make_instance_arm0.link_el1_geom0 +:_make_instance_arm0.link_wr0_geom0 +:_make_instance_arm0.link_wr1_geom0 +:_make_instance_arm0.link_fngr_geom0 +:init +:head +:legs +:body-inverse-kinematics +:init-ending +:change-visual +:fullbody-inverse-kinematics +:make-collision-model-for-links +:init-ending +:rarm-end-coords +:larm-end-coords +:rleg-end-coords +:lleg-end-coords +:head-end-coords +:torso-end-coords +:rarm-root-link +:larm-root-link +:rleg-root-link +:lleg-root-link +:head-root-link +:torso-root-link +:limb +:inverse-kinematics-loop-for-look-at +:gripper +:camera +:force-sensor +:imu-sensor +:get-sensor-method +:get-sensors-method-by-limb +:force-sensors +:imu-sensors +:cameras +:larm +:rarm +:lleg +:rleg +:head +:torso +:arms +:legs +:look-at-hand +:inverse-kinematics +:inverse-kinematics-loop +:look-at-target +:init-pose +:torque-vector +:distribute-total-wrench-to-torque-method-default +:calc-force-from-joint-torque +:fullbody-inverse-kinematics +:joint-angle-limit-nspace-for-6dof +:joint-order +:print-vector-for-robot-limb +:calc-zmp-from-forces-moments +:foot-midcoords +:fix-leg-to-coords +:move-centroid-on-foot +:calc-walk-pattern-from-footstep-list +:draw-gg-debug-view +:gen-footstep-parameter +:footstep-parameter +:go-pos-params->footstep-list +:go-pos-quadruped-params->footstep-list +:support-polygons +:support-polygon +:make-support-polygons +:make-sole-polygon +:make-default-linear-link-joint-between-attach-coords +:calc-static-balance-point +:init +:init-ending +:links +:joint-list +:link +:joint +:end-coords +:bodies +:faces +:update-descendants +:angle-vector +:find-link-route +:link-list +:make-joint-min-max-table +:make-min-max-table-using-collision-check +:plot-joint-min-max-table-common +:plot-joint-min-max-table +:calc-target-axis-dimension +:calc-union-link-list +:calc-target-joint-dimension +:calc-inverse-jacobian +:calc-gradh-from-link-list +:calc-jacobian-from-link-list +:calc-joint-angle-speed +:calc-joint-angle-speed-gain +:collision-avoidance-links +:collision-avoidance-link-pair-from-link-list +:collision-avoidance-calc-distance +:collision-avoidance-args +:collision-avoidance +:move-joints +:find-joint-angle-limit-weight-old-from-union-link-list +:reset-joint-angle-limit-weight-old +:calc-weight-from-joint-limit +:calc-inverse-kinematics-weight-from-link-list +:calc-nspace-from-joint-limit +:calc-inverse-kinematics-nspace-from-link-list +:move-joints-avoidance +:inverse-kinematics-args +:draw-collision-debug-view +:inverse-kinematics-loop +:inverse-kinematics +:ik-convergence-check +:calc-vel-from-pos +:calc-vel-from-rot +:collision-check-pairs +:self-collision-check +:calc-grasp-matrix +:inverse-kinematics-for-closed-loop-forward-kinematics +:calc-jacobian-for-interlocking-joints +:calc-vel-for-interlocking-joints +:set-midpoint-for-interlocking-joints +:interlocking-joint-pairs +:check-interlocking-joint-angle-validity +:update-mass-properties +:calc-inertia-matrix-from-link-list +:calc-cog-jacobian-from-link-list +:cog-jacobian-balance-nspace +:calc-vel-for-cog +:difference-cog-position +:cog-convergence-check +:max-torque-vector +:torque-ratio-vector +:calc-torque-buffer-args +:calc-torque +:calc-torque-without-ext-wrench +:calc-torque-from-vel-acc +:calc-root-coords-vel-acc-from-pos +:calc-av-vel-acc-from-pos +:calc-torque-from-ext-wrenches +:calc-zmp +:calc-cop-from-force-moment +:wrench-vector->wrench-list +:wrench-list->wrench-vector +:calc-contact-wrenches-from-total-wrench +:draw-torque +:weight +:centroid +:inertia-tensor +:preview-control-dynamics-filter +:parent +:descendants +:inheritance +:leaves +:assoc +:dissoc +:clear-assoc +:obey +:disobey +:newcoords +:changed +:worldrot +:worldpos +:worldcoords +:copy-worldcoords +:update +:parentcoords +:transform-vector +:rotate-vector +:inverse-transform-vector +:inverse-transformation +:transformation +:transform +:move-to +:rotate-with-matrix +:rotate +:orient-with-matrix +:orient +:parent-vector +:parent-orientation +:manager +:init +:inverse-rotate-vector +:make-pqpmodel +:make-btmodel +:make-collisionmodel +:dimension +:rot +:pos +:x-axis +:y-axis +:z-axis +:name +:newcoords +:replace-rot +:replace-pos +:replace-coords +:copy-rot +:copy-pos +:copy-coords +:coords +:worldrot +:worldpos +:worldcoords +:copy-worldcoords +:parentcoords +:changed +:reset-coords +:move-to +:rotate-vector +:transform-vector +:inverse-transform-vector +:inverse-transformation +:transformation +:transform +:rotate-with-matrix +:rotate +:orient-with-matrix +:orient +:parent-vector +:parent-orientation +:translate +:locate +:scale +:euler +:euler-angle +:rpy +:rpy-angle +:rotation-angle +:4x4 +:prin1 +:create +:init +:axis +:difference-position +:difference-rotation +:move-coords +:inverse-rotate-vector +:vertices +:draw-on +:plist +:get +:put +:name +:remprop +:prin1 +:prin1 +:warning +:error +:slots +:methods +:super +:get-val +:set-val \ No newline at end of file diff --git a/jsk_2022_10_semi/euslisp/sahara/test.lisp b/jsk_2022_10_semi/euslisp/sahara/test.lisp index 590a456ff3..d0ee4d5fd6 100644 --- a/jsk_2022_10_semi/euslisp/sahara/test.lisp +++ b/jsk_2022_10_semi/euslisp/sahara/test.lisp @@ -1,52 +1,131 @@ -(load "package://spoteus/spot-interface.l") -(if t ;実機につなぐなら - (spot-init) - (setq *spot* (instance spot-robot :init)) -) -;(send *ri* :speak-jp "こんにちは") - -(objects (list *spot*)) - ;(setq pose (send *ri* :potentio-vector)) ;初期姿勢 +(send *ri* :speak "start") +(send *ri* :gripper-open) (send *spot* :reset-pose) (send *ri* :angle-vector (send *spot* :angle-vector) 2000) +(send *ri* :wait-interpolation) (send *ri* :gripper-open) ;手を地面付近に下ろす -(setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする -(objects (list endcoords *spot*)) ;座標系を表示 +(defun hand-down + (height pitch) + (send *spot* :reset-pose) + (setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする + (objects (list endcoords *spot*)) ;座標系を表示 -(send endcoords :rotate (/ (- pi) 2) :z) ;座標系の回転移動 -(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + (send endcoords :rotate pitch :z) ;座標系の回転移動 + (send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) -(send endcoords :translate #f(300 0 0) :world) ;座標系の平行移動 -(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + (send endcoords :translate (float-vector 300 0 0) :world) ;座標系の平行移動 + (send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) -(send endcoords :translate #f(0 0 -600) :world) -(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) + (send endcoords :translate (float-vector 0 0 height) :world) + (send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis t :revert-if-fail nil) +) +(hand-down -100 (- (/ pi 2))) +(send *ri* :angle-vector (send *spot* :angle-vector) 2000) +(send *ri* :wait-interpolation) + +;; (exit) +(setq *moving* nil) + +(defun cb (msg ball) + (unless *moving* + (setq *moving* t) + (let (ballrects ballrect center-x center-y) + (ros::ros-info ball) + (send *ri* :speak ball) + ;; (setq ballrects (one-shot-subscribe "/find_ball/ball_rect" jsk_recognition_msgs::RectArray)) + (setq ballrects msg) + (setq ballrect (elt (send ballrects :rects) 0)) + (setq center-x (+ (send ballrect :x) (/ (send ballrect :width) 2)) ) + (setq center-y (+ (send ballrect :y) (/ (send ballrect :height) 2)) ) + (send *ri* :pick-object-in-image "hand_color" center-x center-y) + (send *ri* :pick-object-in-image-wait-for-result) + + ;; (send *ri* :gripper-close) + ;; (send *ri* :stow-arm) + + (cond + ( + (string= ball "yellow") + (hand-down -300 (- (/ pi 3))) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + (hand-down -500 (- (/ pi 2))) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + (send *ri* :gripper-open) + + (hand-down -100 (- (/ pi 2))) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + ) + ( + t + (send *spot* :reset-pose) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + (send *ri* :go-pos 0 0 -30) + (hand-down -100 0) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + (send *ri* :gripper-open) + (unix:sleep 5) + (hand-down -100 (- (/ pi 2))) + (send *ri* :angle-vector (send *spot* :angle-vector) 2000) + (send *ri* :wait-interpolation) + ) + ) + + ;; (exit) + (unix:sleep 5) + ) + (setq *moving* nil) + ) +) +(defun cb_lined + (msg) + (cb msg "lined") +) +(defun cb_yellow + (msg) + (cb msg "yellow") +) +(defun cb_white + (msg) + (cb msg "white") +) +(ros::subscribe "/find_ball/lined_ball_rect" jsk_recognition_msgs::RectArray #'cb_lined) +(ros::subscribe "/find_ball/yellow_ball_rect" jsk_recognition_msgs::RectArray #'cb_yellow) +(ros::subscribe "/find_ball/white_ball_rect" jsk_recognition_msgs::RectArray #'cb_white) -(send *ri* :wait-interpolation) -(send *ri* :angle-vector (send *spot* :angle-vector) 2000) +(ros::rate 1) +(do-until-key + (ros::spin-once) + (ros::sleep) +) +;; (ros::spin) -;手を対象物に持っていく -(setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする -(objects (list endcoords *spot*)) ;座標系を表示 +;; ;手を対象物に持っていく +;; (setq endcoords (send (send *spot* :arm :end-coords) :copy-worldcoords)) ;手先の座標系を取得し、コピーする +;; (objects (list endcoords *spot*)) ;座標系を表示 -(send endcoords :translate #f(0 0 -100) :world) -(send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis nil :revert-if-fail nil) +;; (send endcoords :translate #f(0 0 -100) :world) +;; (send *spot* :inverse-kinematics endcoords :move-target (send *spot* :arm :end-coords) :rotation-axis nil :revert-if-fail nil) -(send *ri* :wait-interpolation) -(send *ri* :angle-vector (send *spot* :angle-vector) 2000) +;; (send *ri* :wait-interpolation) +;; (send *ri* :angle-vector (send *spot* :angle-vector) 2000) -;もとに戻る -(send *ri* :wait-interpolation) -(send *ri* :gripper-close) +;; ;もとに戻る +;; (send *ri* :wait-interpolation) +;; (send *ri* :gripper-close) -(send *spot* :reset-pose) +;; (send *spot* :reset-pose) -(send *ri* :wait-interpolation) -(send *ri* :angle-vector (send *spot* :angle-vector) 2000) +;; (send *ri* :wait-interpolation) +;; (send *ri* :angle-vector (send *spot* :angle-vector) 2000)

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