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Updates to hand functions #2

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Merged
pazeshun merged 12 commits into from
Apr 8, 2019
Merged

Updates to hand functions #2

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1f86a1c
Change 'set-hand-width' to 'hand-width'
Affonso-Gui Dec 3, 2018
bc3363a
Replace set-hand-width
Affonso-Gui Dec 3, 2018
a0ca0e8
Read robot state on hironxjsk-init
Affonso-Gui Dec 4, 2018
0b9949b
Add :time key to :start-grasp
Affonso-Gui Dec 4, 2018
32ddc9b
Add :time key to :stop-grasp
Affonso-Gui Dec 4, 2018
9f9067f
Add assertation message
Affonso-Gui Dec 4, 2018
eccd724
Allow sequence input on :hand-effort
Affonso-Gui Dec 5, 2018
d987336
Do not load force-moment offset in simulation mode
Affonso-Gui Dec 20, 2018
9a4d49e
Provide hand functions on simulation mode
Affonso-Gui Dec 20, 2018
8a99955
Allow ignoring safetymargin on hand-width
Affonso-Gui Dec 21, 2018
1e70084
Add typecheck to hand functions
Affonso-Gui Apr 3, 2019
4ddedec
Add printing information to typecheck
Affonso-Gui Apr 4, 2019
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50 changes: 29 additions & 21 deletions hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,7 @@
;; and https://github.com/start-jsk/rtmros_tutorials/blob/0.1.6/hrpsys_ros_bridge_tutorials/euslisp/hrp2-common-interface.l
(defmethod hironxjsk-interface
(:hand-angle-vector
(&optional (hand :hands) av (tm 1000))
(hand &optional av (tm 1000))
(if av
;; setjointangles
(let ((av-rad-list (map cons #'deg2rad av)))
Expand Down Expand Up @@ -303,36 +303,44 @@
#'(lambda (id) (send (send self :call-operation-return :servocontrollerservice_getmaxtorque :id id) :percentage))
ids))))
(:hand-width2angles (width)
(let ((safetymargin 3) (l1 41.9) (l2 19) xpos a2pos a1radh a1rad a1deg)
(when (or (< width 0) (> width (* (- (+ l1 l2) safetymargin) 2)))
(let ((safetymargin 3) (w0 19) (l1 41.9))
(unless (<= 0 width %(2 * (w0 + l1 - safetymargin)))
(warn ";; width value ~a is off margins~%" width)
(return-from :hand-width2angles nil))
(setq xpos (+ (/ width 2.0) safetymargin))
(setq a2pos (- xpos l2))
(setq a1radh (acos (/ a2pos l1)))
(setq a1rad (- (/ pi 2.0) a1radh))
(setq a1deg (rad2deg a1rad))
(float-vector a1deg (- a1deg) (- a1deg) a1deg)))
(:set-hand-width (hand width &key (tm 1000) effort)
(when effort
(send self :hand-effort hand effort))
(send self :hand-angle-vector hand (send self :hand-width2angles width) tm))
(let ((a (rad2deg %(pi/2 - acos((width / 2.0 + safetymargin - w0) / l1)))))
(float-vector a (- a) (- a) a))))
(:hand-angles2width (vec)
(assert (= (length vec) 4))
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(let ((safetymargin 3) (w0 19) (l1 41.9) (l2 20))
(flet ((get-width (r1 r2) %( w0 + l1 * cos(pi/2 - r1) + l2 * cos(pi/2 - r1 - r2) - safetymargin)))
(multiple-value-bind (a1 a2 b1 b2) (map cons #'deg2rad vec)
(+ (get-width a1 a2)
(get-width (- b1) (- b2)))))))
(:hand-width (hand &optional width &key (tm 1000) effort)
(if width
;; set hand width
(progn
(when effort (send self :hand-effort hand effort))
(send self :hand-angle-vector hand (send self :hand-width2angles width) tm))
;; get hand width
(send self :hand-angles2width (send self :hand-angle-vector hand))))
(:start-grasp (&optional (arm :arms) &key effort)
(cond ((eq arm :rarm)
(send self :set-hand-width :rhand 0 :effort effort))
(send self :hand-width :rhand 0 :effort effort))
((eq arm :larm)
(send self :set-hand-width :lhand 0 :effort effort))
(send self :hand-width :lhand 0 :effort effort))
((eq arm :arms)
(send self :set-hand-width :rhand 0 :effort effort)
(send self :set-hand-width :lhand 0 :effort effort))
(send self :hand-width :rhand 0 :effort effort)
(send self :hand-width :lhand 0 :effort effort))
(t (error ";; No such arm: ~A~%." arm))))
(:stop-grasp (&optional (arm :arms) &key effort)
(cond ((eq arm :rarm)
(send self :set-hand-width :rhand 100 :effort effort))
(send self :hand-width :rhand 100 :effort effort))
((eq arm :larm)
(send self :set-hand-width :lhand 100 :effort effort))
(send self :hand-width :lhand 100 :effort effort))
((eq arm :arms)
(send self :set-hand-width :rhand 100 :effort effort)
(send self :set-hand-width :lhand 100 :effort effort))
(send self :hand-width :rhand 100 :effort effort)
(send self :hand-width :lhand 100 :effort effort))
(t (error ";; No such arm: ~A~%." arm)))))

(defun hironxjsk-init (&rest args)
Expand Down