Package edu.tufts.hrilab.spot
Class MockSpotComponent
java.lang.Object
edu.tufts.hrilab.diarc.DiarcComponent
edu.tufts.hrilab.spot.MockSpotComponent
- All Implemented Interfaces:
ArmInterface
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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) boolean
boolean
executeTrajectory
(String trajectoryName) 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
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.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 meters) 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 groupName, 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).moveToRelative
(String groupName, javax.vecmath.Point3d point, javax.vecmath.Quat4d orientation) Move a certain amount from the current location, without any squeezing or releasing.boolean
openDoor()
openGripper
(String groupName) boolean
Point a groupName to an object.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
recordPose
(Symbol poseName) 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
sit()
boolean
stand()
void
startRecordingTrajectory
(String trajectoryName) Start recording a trajectory.void
Stop recording the currently running trajectory recording.boolean
stowArm()
boolean
turnLeft()
boolean
undock()
boolean
boolean
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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MockSpotComponent
public MockSpotComponent()
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Method Details
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walkForward
public boolean walkForward() -
walkBackward
public boolean walkBackward() -
turnRight
public boolean turnRight() -
turnLeft
public boolean turnLeft() -
stopWalking
public boolean stopWalking() -
dock
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undock
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detectAndOpenDoor
public boolean detectAndOpenDoor() -
openDoor
public boolean openDoor() -
stand
public boolean stand() -
sit
public boolean sit() -
moveArmOverTable
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moveArmOverBody
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stowArm
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unStowArm
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moveArmToCarryPosition
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openGripper
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closeGripper
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moveTo
public boolean moveTo(String groupName, 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
public boolean moveTo(String groupName, 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
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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moveTo
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
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 groupName, 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:
groupName
- 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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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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getEEPose
public org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> getEEPose(String groupName) 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 linkName) 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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recordPose
Description copied from interface:ArmInterface
Record current robot state (i.e., joint positions), and name it.- Specified by:
recordPose
in interfaceArmInterface
- Parameters:
poseName
- 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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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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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:
groupName
- which arm(s) should move (rightArm, leftArm, arms, etc)poseName
- name of pose to move into- Returns:
- true on success, false on failure. This function blocks.
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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:
poseName
- name of pose to move into- Returns:
- true on success, false on failure. This function blocks.
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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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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:
trajectoryName
- 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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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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