set_gripper_configuration.py

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#!/usr/bin/env python



# Copyright (c) 2021, Robot Control and Pattern Recognition Group,
# Institute of Control and Computation Engineering
# Warsaw University of Technology
#
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Warsaw University of Technology nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL <COPYright HOLDER> BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Author: Dawid Seredynski
#

import roslib; roslib.load_manifest('velma_task_cs_ros_interface')
import rospy
import sys
import math
from velma_common import VelmaInterface
from rcprg_ros_utils import exitError

def deg2rad(deg):
    return float(deg)/180.0*math.pi

def printUsage():
    print('Usage:')
    print('set_gripper_configuration left|right reset')
    print('set_gripper_configuration left|right <q_f1_deg> <q_f2_deg> <q_f3_deg> <q_spread_deg>')

if __name__ == "__main__":

    reset = False
    if len(sys.argv) == 6:
        q_f1_deg = float(sys.argv[2])
        q_f2_deg = float(sys.argv[3])
        q_f3_deg = float(sys.argv[4])
        q_spread_deg = float(sys.argv[5])
    elif len(sys.argv) == 3 and sys.argv[2] == 'reset':
        reset = True
    else:
        printUsage()
        exitError(1, msg='Wrong arguments')

    side = sys.argv[1]
    if side != 'left' and side != 'right':
        printUsage()
        exitError(2, msg='Wrong side: "{}"'.format(side))

    rospy.init_node('set_gripper_configuration', anonymous=False)
    rospy.sleep(1)
    print "waiting for init..."

    velma = VelmaInterface()

    print "Waiting for VelmaInterface initialization..."
    if not velma.waitForInit(timeout_s=10.0):
        print "Could not initialize VelmaInterface\n"
        exitError(3)

    print "Initialization ok!\n"

    diag = velma.getCoreCsDiag()
    if (not diag.inStateCartImp()) and (not diag.inStateJntImp()):
        exitError(4, msg='Velma should be in cart_imp or jnt_imp state')

    if reset:
        velma.resetHand(side)
        if velma.waitForHand(side) != 0:
            exitError(5)
        exitError(0)

    q = [deg2rad(q_f1_deg), deg2rad(q_f2_deg), deg2rad(q_f3_deg), deg2rad(q_spread_deg)]
    velma.moveHand(side, q, [1, 1, 1, 1], [4000,4000,4000,4000], 1000, hold=False)
    if velma.waitForHand(side) != 0:
        exitError(6)
    exitError(0)