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[WIP] Fix duration handling in :move-hand #2724

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[WIP] Fix duration handling in :move-hand #2724

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e5cecf5
Fix duration handling in :move-hand
pazeshun Oct 11, 2020
d3b7b82
Keep robot motion the same even with new :move-hand
pazeshun Oct 11, 2020
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4 changes: 2 additions & 2 deletions demos/baxter_paper_filing/euslisp/baxterlgv8-sensor-eval.l
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,9 @@
(send *ri* :wait-interpolation)
(unix::sleep 1)
(send *ri* :move-hand :larm
(send *baxter* :hand :larm :angle-vector (float-vector 0 72 72)) 1500)
(send *baxter* :hand :larm :angle-vector (float-vector 0 72 72)) 1000)
(send *ri* :move-hand :larm
(send *baxter* :hand :larm :angle-vector (float-vector 0 90 90)) 1500 :wait nil)
(send *baxter* :hand :larm :angle-vector (float-vector 0 90 90)) 1000 :wait nil)
(let (cancel-func stopped-p l-prox r-prox l-thre r-thre l-refl r-refl)
(if intensity
(progn
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24 changes: 12 additions & 12 deletions demos/sphand_ros/sphand_driver/euslisp/baxterlgv8-gv8-movement.l
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,9 @@
(&key (type :lgripper-controller))
(sphand_driver::baxterlgv8-init :type type)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1000)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
(send *baxter* :rotate-gripper *arm* 0 :relative nil)
(send *baxter* :slide-gripper *arm* 0 :relative nil)
(send *ri* :angle-vector (send *baxter* :angle-vector))
Expand All @@ -25,33 +25,33 @@
(when move-fingers
;; test of abduction/adduction
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical) 1000)
(unix::sleep 2)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
(unix::sleep 2)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1000)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1500)
(send *baxter* :hand-grasp-pose *arm* :cylindrical :angle 0) 1000)
(unix::sleep 2)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1500)
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 0) 1000)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
(unix::sleep 2)
;; test of closing fingers
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1500)
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 80) 1000)
(unix::sleep 1)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
(unix::sleep 1)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1500)
(send *baxter* :hand-grasp-pose *arm* :opposed :angle 100) 1000)
(unix::sleep 1)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500))
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000))
;; test of prismatic joint
(send *baxter* :slide-gripper *arm* 206 :relative nil)
(send *ri* :angle-vector (send *baxter* :angle-vector) :fast nil 0)
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2 changes: 1 addition & 1 deletion demos/sphand_ros/sphand_driver/euslisp/lib/baxterlgv8-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@
(list (instance trajectory_msgs::JointTrajectoryPoint
:init
:positions (mapcar #'deg2rad av-list)
:time_from_start (ros::time (/ tm 1000)))))
:time_from_start (ros::time (/ tm 1000.0)))))
(send goal :goal :trajectory traj)
(send (gethash arm hand-actions-) :send-goal goal)
(setq res (send (gethash arm hand-actions-) :get-result))
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24 changes: 12 additions & 12 deletions jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/fixed-picking.l
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
(send *baxter* :rotate-gripper *arm* 0 :relative nil)
1500)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(send *ri* :spin-off-by-wrist *arm* :times 20)
(send *ri* :gripper-servo-on *arm*)
(send *ri* :wait-interpolation)
Expand All @@ -43,7 +43,7 @@
(send *ri* :wait-interpolation)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
)


Expand All @@ -55,7 +55,7 @@

(send *baxter* :hand-grasp-pre-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
(send *ri* :move-arm-body->bin *arm* *bin*)
(send *ri* :wait-interpolation)
Expand All @@ -77,7 +77,7 @@
(send *ri* :wait-interpolation)
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
;; approach to object
(pushback (send *baxter* *arm* :move-end-pos #f(50 0 0) :world) avs)
(pushback (send *baxter* *arm* :move-end-pos #f(50 0 0) :world) avs)
Expand Down Expand Up @@ -105,7 +105,7 @@
(send *ri* :wait-interpolation)
(send *baxter* :hand-grasp-pose *arm* :cylindrical)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
;; draw out object
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
Expand Down Expand Up @@ -137,7 +137,7 @@

(send *baxter* :hand-grasp-pre-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
(send *ri* :move-arm-body->bin *arm* *bin*)
(send *ri* :wait-interpolation)
Expand Down Expand Up @@ -181,7 +181,7 @@
;; grasp object by hand
(send *baxter* :hand-grasp-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
;; draw out object
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 10) :world) avs)
Expand Down Expand Up @@ -217,7 +217,7 @@

(send *baxter* :hand-grasp-pre-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
(send *ri* :move-arm-body->bin *arm* *bin*)
(send *ri* :wait-interpolation)
Expand Down Expand Up @@ -261,7 +261,7 @@
;; grasp object by hand
(send *baxter* :hand-grasp-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
;; draw out object
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
(pushback (send *baxter* *arm* :move-end-pos #f(0 0 10) :world) avs)
Expand Down Expand Up @@ -297,7 +297,7 @@

(send *baxter* :hand-grasp-pre-pose *arm* :opposed)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
(send *ri* :move-arm-body->bin *arm* *bin*)
(send *ri* :wait-interpolation)
Expand Down Expand Up @@ -331,7 +331,7 @@
;; prepare fingers
(send *baxter* :hand-grasp-pre-pose *arm* :cylindrical)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
;; approach and drag object by sliding gripper
(pushback (send *baxter* *arm* :move-end-pos #f(0 40 0) :world) avs)
Expand All @@ -344,7 +344,7 @@
;; grasp object by hand
(send *baxter* :hand-grasp-pose *arm* :cylindrical)
(send *ri* :move-hand *arm*
(send *baxter* :hand *arm* :angle-vector) 1500)
(send *baxter* :hand *arm* :angle-vector) 1000)
(unix::sleep 3)
;; draw out object
;(pushback (send *baxter* *arm* :move-end-pos #f(0 0 50) :world) avs)
Expand Down
4 changes: 2 additions & 2 deletions jsk_2016_01_baxter_apc/euslisp/examples/right-gripper-v5/picking-with-sib.l
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Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,15 @@
(progn
;; gripper-v5
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* (send *ri* :get-val '_grasp-style)) 1000)
(send *baxter* :slide-gripper *arm* 100 :relative nil)
(send *ri* :send-av 1000)
(send *ri* :wait-interpolation)
(send *baxter* :slide-gripper *arm* 0 :relative nil)
(send *ri* :send-av 1000)
(send *ri* :wait-interpolation)
(send *ri* :move-hand *arm*
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1500)
(send *baxter* :hand-grasp-pre-pose *arm* :opposed) 1000)
(send *ri* :spin-off-by-wrist *arm* :times 5)
)
(send *ri* :spin-off-by-wrist arm :times 20)
Expand Down
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