Package edu.tufts.hrilab.pr2
Class MockPR2Component
java.lang.Object
edu.tufts.hrilab.diarc.DiarcComponent
edu.tufts.hrilab.pr2.MockPR2Component
- All Implemented Interfaces:
ArmInterface
,LearningInterface
,MoveItInterface
,PR2Interface
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Field Summary
Fields inherited from class edu.tufts.hrilab.diarc.DiarcComponent
executionLoopCycleTime, log, shouldRunExecutionLoop
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Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptioncloseGripper
(String groupName) void
Turn off carrying orientation constraints.void
Turn on carrying orientation constraints.boolean
executeTrajectory
(String trajectory_name) Execute a previously recorded trajectory.org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,
javax.vecmath.Quat4d> Convenience method of getPose that finds the end-effector link based on the passed in groupName.float
getGripperPosition
(String groupName) org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,
javax.vecmath.Quat4d> Get the point and orientation of a link on the robot.boolean
Move robot to previously recorded robot state/pose.boolean
Move robot to previously recorded robot state/pose, using only the specified group name (e.g., right_arm).boolean
goToPoseNoPlanning
(String pose_name) boolean
boolean
goToStartPose
(boolean safe) Go to the start pose saved in the JSON file.graspObject
(String groupName, Symbol refId, float position) Close gripper(s) to specified amount and attach MemoryObject as a collision object.Use the passed in term to learn a new descriptor.void
loadEEPosesFromFile
(String filename) Load poses previously saved to file and make them accessible via goToPose.void
loadPosesFromFile
(String filename) Load poses previously saved to file and make them accessible via goToPose.void
loadTrajectoriesFromFile
(String filename) Load trajectories from a file that was generated via saveTrajectoriesToFile().boolean
moveGripper
(String groupName, float position) Move arms(s) to location of chosen grasp specified in MemoryObject.[ Move arms(s) to pose defined by the refId and constrained by a set of constraints.boolean
Move the groupName to a pose.boolean
moveTo
(String group_name, javax.vecmath.Point3d point_l, javax.vecmath.Quat4d orientation_l, javax.vecmath.Point3d point_r, javax.vecmath.Quat4d orientation_r) Move the groupName to specified poses(s).boolean
moveToCartesian
(String group_name, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) boolean
moveToJointPosition
(String joint, double position) Set the position of a single joint.boolean
moveToJointPositions
(String[] jointNames, double[] positions) boolean
moveToJointPositions
(String[] joint_names, double[] positions, double[] velocities, double[] efforts) moveToRelative
(String group_name, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) Move a certain amount from the current location, without any squeezing or releasing.openGripper
(String groupName) boolean
pointHeadTo
(Symbol objectRef) Point head in direction of target object in base_link coordinate frame.boolean
pointHeadTo
(javax.vecmath.Point3d target_point) Point head in direction of target point in base_link coordinate frame.boolean
Point a groupName to an object.boolean
pressObject
(String group_name, Symbol refID) Presses an object based off a given symbolpressObject
(String group_name, javax.vecmath.Point3d object_location, javax.vecmath.Quat4d object_orientation) Presses an object based off a given poseboolean
publishPointCloudToRos
(byte[] data) Publish the compressed depth data to ROS after being decompressed and converted to proper point cloud form.boolean
recordPose
(Symbol pose_name) Record current robot state (i.e., joint positions), and name it.releaseObject
(String groupName, Symbol refId, float position) Move arm(s) and open gripper(s) to specified amount and detach MemoryObject as collision object.boolean
saveEEPosesToFile
(String filename) Write the poses recorded via recordPose to file.boolean
savePosesToFile
(String filename) Write the poses recorded via recordPose to file.boolean
saveTrajectoriesToFile
(String filename) Take all trajectories saved via startRecordingTrajectory and save them to a file for later.boolean
setTorsoPosition
(double position) Move the torso to desired joint position.void
startRecordingTrajectory
(String trajectory_name) Start recording a trajectory.void
Stop recording the currently running trajectory recording.Un-learns things that have been learned by the learn method.Methods inherited from class edu.tufts.hrilab.diarc.DiarcComponent
additionalUsageInfo, createInstance, createInstance, createInstance, createInstance, executionLoop, getMyGroupConstraints, getMyGroups, getMyService, getMyServices, init, main, parseArgs, shutdown, shutdownComponent
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Constructor Details
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MockPR2Component
public MockPR2Component()
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Method Details
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moveTo
public boolean moveTo(String group_name, javax.vecmath.Point3d point_l, javax.vecmath.Quat4d orientation_l, javax.vecmath.Point3d point_r, javax.vecmath.Quat4d orientation_r) Description copied from interface:ArmInterface
Move the groupName to specified poses(s). If group name only contains a single arm, use a different moveTo().Note that there's a baked-in assumption that the only two-arned nmachines will use a group name that is checked against in the 'isOneArm()' method (currently just "arms"). Update this function if this does not describe your use case. It also assumes that groupName "arms" can be described as independent movement of groupName "left_arm" and groupName "right_arm". At this point in time this is a safe assumption because of the state of the PR2's JSON config. point_l, orientation_l refer to the left arm, point_r and orientation_r refer to the right.
- Specified by:
moveTo
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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moveTo
public boolean moveTo(String group_name, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) Description copied from interface:ArmInterface
Move the groupName to a pose. Uses the default coordinate frame as set by JSON (defaulting to base_link).- Specified by:
moveTo
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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moveTo
Description copied from interface:ArmInterface
Move arms(s) to location of chosen grasp specified in MemoryObject. Uses the default "grasp_point(X)" constraint to select grasp points. Assumes default coordinate frame as set by JSON, defaulting to base_link. Note: gripper should already be open/closed before calling this method. This is an alternative method to moveTo that takes in POWER ref instead of MemoryObject.- Specified by:
moveTo
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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moveToJointPositions
- Specified by:
moveToJointPositions
in interfaceMoveItInterface
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moveToJointPositions
public boolean moveToJointPositions(String[] joint_names, double[] positions, double[] velocities, double[] efforts) - Specified by:
moveToJointPositions
in interfaceMoveItInterface
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moveTo
public Justification moveTo(String group_name, Symbol objectRef, List<? extends Term> grasp_constraints) Description copied from interface:ArmInterface
[ Move arms(s) to pose defined by the refId and constrained by a set of constraints. Assumes base_link coordinate frame. Note: gripper should already be open/closed before calling this method.- Specified by:
moveTo
in interfaceArmInterface
grasp_constraints
- a list of predicate constraints- Returns:
- true on success, false on failure. This function blocks.
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moveToRelative
public Justification moveToRelative(String group_name, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) Description copied from interface:ArmInterface
Move a certain amount from the current location, without any squeezing or releasing.- Specified by:
moveToRelative
in interfaceArmInterface
- Parameters:
group_name
- the name of the arm or arms to movepoint
- the amount of change in base frame the object is movedorientation
- the amount to rotate the object in goal state from its current rotation in base frame- Returns:
- success or failure to move. This function blocks.
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graspObject
Description copied from interface:ArmInterface
Close gripper(s) to specified amount and attach MemoryObject as a collision object. Alternative method to graspObject that takes in POWER ref instead of MemoryObject.- Specified by:
graspObject
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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releaseObject
Description copied from interface:ArmInterface
Move arm(s) and open gripper(s) to specified amount and detach MemoryObject as collision object. Alternative method to releaseObject that takes in POWER ref instead of MemoryObject.- Specified by:
releaseObject
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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getEEPose
public org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getEEPose(String group_name) Description copied from interface:ArmInterface
Convenience method of getPose that finds the end-effector link based on the passed in groupName.- Specified by:
getEEPose
in interfaceArmInterface
- Returns:
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getPose
public org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getPose(String link_name) Description copied from interface:ArmInterface
Get the point and orientation of a link on the robot.- Specified by:
getPose
in interfaceArmInterface
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moveToCartesian
public boolean moveToCartesian(String group_name, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) - Specified by:
moveToCartesian
in interfaceMoveItInterface
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pointHeadTo
Description copied from interface:PR2Interface
Point head in direction of target object in base_link coordinate frame. Alternative method to pointHeadTo that takes in POWER ref instead of MemoryObject.- Specified by:
pointHeadTo
in interfacePR2Interface
- Returns:
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pointHeadTo
public boolean pointHeadTo(javax.vecmath.Point3d target_point) Description copied from interface:PR2Interface
Point head in direction of target point in base_link coordinate frame.- Specified by:
pointHeadTo
in interfacePR2Interface
- Returns:
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pointTo
Description copied from interface:ArmInterface
Point a groupName to an object.- Specified by:
pointTo
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks
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pointTo
- Specified by:
pointTo
in interfaceMoveItInterface
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setTorsoPosition
public boolean setTorsoPosition(double position) Description copied from interface:PR2Interface
Move the torso to desired joint position. TODO: replace this with the more general setJointPosition(String joint, double position) method in MoveItComponent- Specified by:
setTorsoPosition
in interfacePR2Interface
- Parameters:
position
- all the way down is 0.0, and all the way up is approximately 0.3- Returns:
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goToStartPose
public boolean goToStartPose(boolean safe) Description copied from interface:ArmInterface
Go to the start pose saved in the JSON file.- Specified by:
goToStartPose
in interfaceArmInterface
- Returns:
- success
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recordPose
Description copied from interface:ArmInterface
Record current robot state (i.e., joint positions), and name it.- Specified by:
recordPose
in interfaceArmInterface
- Parameters:
pose_name
- The name of the pose to be saved.- Returns:
- true on success, false on failure. This function blocks.
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saveEEPosesToFile
Description copied from interface:ArmInterface
Write the poses recorded via recordPose to file.- Specified by:
saveEEPosesToFile
in interfaceArmInterface
- Returns:
- true on success
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loadEEPosesFromFile
Description copied from interface:ArmInterface
Load poses previously saved to file and make them accessible via goToPose.- Specified by:
loadEEPosesFromFile
in interfaceArmInterface
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goToPose
Description copied from interface:ArmInterface
Move robot to previously recorded robot state/pose. Currently set to ignore gripper joints so it will leave grippers in current state of open/closed.- Specified by:
goToPose
in interfaceArmInterface
- Parameters:
pose_name
- name of pose to move into- Returns:
- true on success, false on failure. This function blocks.
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goToStartPose
public boolean goToStartPose()- Specified by:
goToStartPose
in interfaceMoveItInterface
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goToPose
Description copied from interface:ArmInterface
Move robot to previously recorded robot state/pose, using only the specified group name (e.g., right_arm). Currently set to ignore gripper joints so it will leave grippers in current state of open/closed.- Specified by:
goToPose
in interfaceArmInterface
- Parameters:
pose_name
- which arm(s) should move (rightArm, leftArm, arms, etc)group_name
- name of pose to move into- Returns:
- true on success, false on failure. This function blocks.
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goToPoseNoPlanning
- Specified by:
goToPoseNoPlanning
in interfacePR2Interface
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startRecordingTrajectory
Description copied from interface:ArmInterface
Start recording a trajectory. Trajectory recording can be started here, the robot can be physically manipulated, and then stopRecordingTrajectory can be called to stop the current recording.- Specified by:
startRecordingTrajectory
in interfaceArmInterface
- Parameters:
trajectory_name
- The name of the trajectory to be saved.
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stopRecordingTrajectory
public void stopRecordingTrajectory()Description copied from interface:ArmInterface
Stop recording the currently running trajectory recording.- Specified by:
stopRecordingTrajectory
in interfaceArmInterface
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executeTrajectory
Description copied from interface:ArmInterface
Execute a previously recorded trajectory.- Specified by:
executeTrajectory
in interfaceArmInterface
- Returns:
- true on success, false on failure. This function blocks.
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savePosesToFile
Description copied from interface:ArmInterface
Write the poses recorded via recordPose to file.- Specified by:
savePosesToFile
in interfaceArmInterface
- Returns:
- true on success
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loadPosesFromFile
Description copied from interface:ArmInterface
Load poses previously saved to file and make them accessible via goToPose.- Specified by:
loadPosesFromFile
in interfaceArmInterface
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saveTrajectoriesToFile
Description copied from interface:ArmInterface
Take all trajectories saved via startRecordingTrajectory and save them to a file for later.- Specified by:
saveTrajectoriesToFile
in interfaceArmInterface
- Parameters:
filename
- Path to file- Returns:
- true on success, false on failure.
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loadTrajectoriesFromFile
Description copied from interface:ArmInterface
Load trajectories from a file that was generated via saveTrajectoriesToFile(). The loaded trajectories will then be executable via executeTrajectory().- Specified by:
loadTrajectoriesFromFile
in interfaceArmInterface
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closeGripper
- Specified by:
closeGripper
in interfaceArmInterface
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openGripper
- Specified by:
openGripper
in interfaceArmInterface
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moveGripper
- Specified by:
moveGripper
in interfaceArmInterface
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getGripperPosition
- Specified by:
getGripperPosition
in interfaceArmInterface
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pressObject
public Justification pressObject(String group_name, javax.vecmath.Point3d object_location, javax.vecmath.Quat4d object_orientation) Description copied from interface:ArmInterface
Presses an object based off a given pose- Specified by:
pressObject
in interfaceArmInterface
- Parameters:
group_name
- The arm group to do the pressing (i.e. "arm")object_location
- The location of the object relative to the base linkobject_orientation
- The orientation of the object relative to the base link with the normal vector coming out of the object- Returns:
- Condition Justification stating if the action is successful or not
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pressObject
Description copied from interface:ArmInterface
Presses an object based off a given symbol- Specified by:
pressObject
in interfaceArmInterface
- Parameters:
group_name
- The arm group to do the pressing (i.e. "arm")refID
- Symbol representing the object to be pressed- Returns:
- Condition Justification stating if the action is successful or not
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moveToJointPosition
Description copied from interface:MoveItInterface
Set the position of a single joint. All remaining joints will remain in the same position.- Specified by:
moveToJointPosition
in interfaceMoveItInterface
- Parameters:
joint
- The name of the joint to manipulate, as found in `names` of /joint_statesposition
- The goal position, as viewed in /joint_states- Returns:
- true on success, false on failure. This function blocks.
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enableCarryingConstraints
public void enableCarryingConstraints()Description copied from interface:MoveItInterface
Turn on carrying orientation constraints. This will apply to all moveTo and goToPose methods.- Specified by:
enableCarryingConstraints
in interfaceMoveItInterface
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disableCarryingConstraints
public void disableCarryingConstraints()Description copied from interface:MoveItInterface
Turn off carrying orientation constraints.- Specified by:
disableCarryingConstraints
in interfaceMoveItInterface
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publishPointCloudToRos
public boolean publishPointCloudToRos(byte[] data) Description copied from interface:MoveItInterface
Publish the compressed depth data to ROS after being decompressed and converted to proper point cloud form.- Specified by:
publishPointCloudToRos
in interfaceMoveItInterface
- Parameters:
data
- A byte array containing the point cloud data.- Returns:
- true on success.
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learn
Description copied from interface:LearningInterface
Use the passed in term to learn a new descriptor. The term must have two arguments, the first arg 'describing' the new thing-to-learn, and the second arg 'naming' the new thing-to-learn. The description must be composed entirely of things vision already knows about.- Specified by:
learn
in interfaceLearningInterface
- Parameters:
learningTerm
- term specifying the thing to learn (e.g., instanceOf(X,Y))- Returns:
- if thing-to-learn was successfully learned
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unlearn
Description copied from interface:LearningInterface
Un-learns things that have been learned by the learn method.- Specified by:
unlearn
in interfaceLearningInterface
- Returns:
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