{ "cells": [ { "metadata": {}, "cell_type": "markdown", "source": [ "# Justin Demo Notebook\n", "\n", "This Jupyter notebook demonstrates controlling Justin, a humanoid robot, using Giskard motion control framework. The demo showcases several capabilities:\n", "\n", "- Kinematic simulation of Justin robot using Giskard\n", "- Picking up objects with one hand\n", "- Handing objects between hands\n", "- Opening/closing cabinet doors while holding objects\n", "- Placing objects inside cabinets\n", "\n", "The demo uses ROS (Robot Operating System) and GiskardPy for motion control. Key features of the implementation include:\n", "\n", "- Cartesian motion goals\n", "- Joint space motion goals\n", "- Collision avoidance\n", "- Multi-step manipulation sequences\n", "- Parallel execution of motion goals\n", "- World model updates during execution\n", "\n", "Follow along with the step-by-step cells to see Justin perform a complete manipulation task.\n" ], "id": "e9966ef8ca3f4194" }, { "metadata": {}, "cell_type": "markdown", "source": "Launch Giskard as a kinematic simulator.", "id": "801d6d15958a83ad" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:12:51.253363Z", "start_time": "2025-05-16T09:12:51.238558Z" } }, "cell_type": "code", "source": [ "%%bash --bg\n", "roslaunch giskardpy_ros giskardpy_justin_standalone.launch" ], "id": "initial_id", "outputs": [], "execution_count": 1 }, { "metadata": {}, "cell_type": "markdown", "source": "Start a node that visualized the current Motion Statechart that Giskard executed.", "id": "290fa9176c5a4ba8" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:12:51.416959Z", "start_time": "2025-05-16T09:12:51.408553Z" } }, "cell_type": "code", "source": [ "%%bash --bg\n", "rosrun giskardpy_ros motion_statechart_inspector.py" ], "id": "bdf5190087a3def3", "outputs": [], "execution_count": 2 }, { "metadata": {}, "cell_type": "markdown", "source": "Import necessary dependencies", "id": "aab60eec0100b633" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:12:51.997236Z", "start_time": "2025-05-16T09:12:51.455878Z" } }, "cell_type": "code", "source": [ "import rospy\n", "from geometry_msgs.msg import PoseStamped, Quaternion\n", "import numpy as np\n", "from giskardpy.utils.math import quaternion_from_axis_angle, quaternion_from_rotation_matrix\n", "from giskardpy_ros.python_interface.python_interface import GiskardWrapper\n", "from copy import deepcopy" ], "id": "72c38de35029aa72", "outputs": [], "execution_count": 3 }, { "metadata": {}, "cell_type": "markdown", "source": "Initialize ROS and Giskard and define default poses and joint states.", "id": "393161f8adbe4c6e" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:12:54.474815Z", "start_time": "2025-05-16T09:12:52.206871Z" } }, "cell_type": "code", "source": [ "rospy.init_node('justin_demo')\n", "giskard = GiskardWrapper()\n", "default_pose = {\n", " \"torso1_joint\": 0.0,\n", " \"torso2_joint\": -0.9,\n", " \"torso3_joint\": 1.26,\n", " \"head1_joint\": 0.0,\n", " \"head2_joint\": 0.0\n", "}\n", "default_left_arm = {\n", " \"left_arm1_joint\": 0.41,\n", " \"left_arm2_joint\": -1.64,\n", " \"left_arm3_joint\": 0.12,\n", " \"left_arm4_joint\": 0.96,\n", " \"left_arm5_joint\": 0.71,\n", " \"left_arm6_joint\": -0.02,\n", " \"left_arm7_joint\": 0.43\n", "}\n", "default_right_arm = {\n", " \"right_arm1_joint\": 0.6,\n", " \"right_arm2_joint\": -1.59,\n", " \"right_arm3_joint\": 2.97,\n", " \"right_arm4_joint\": -0.99,\n", " \"right_arm5_joint\": -2.44,\n", " \"right_arm6_joint\": 0.0,\n", " \"right_arm7_joint\": 0.0,\n", "}\n", "\n", "better_pose = default_pose\n", "better_pose.update(default_left_arm)\n", "better_pose.update(default_right_arm)\n", "right_closed = {\n", " \"right_1thumb1_joint\": 0.0,\n", " \"right_1thumb2_joint\": 0.5,\n", " \"right_1thumb3_joint\": 0.5,\n", " \"right_3middle1_joint\": 0.0,\n", " \"right_3middle2_joint\": 0.5,\n", " \"right_3middle3_joint\": 0.5,\n", " \"right_4ring1_joint\": 0.0,\n", " \"right_4ring2_joint\": 0.5,\n", " \"right_4ring3_joint\": 0.5,\n", " \"right_2tip1_joint\": 0.0,\n", " \"right_2tip2_joint\": 0.5,\n", " \"right_2tip3_joint\": 0.5,\n", "}\n", "left_open = {\n", " \"left_1thumb1_joint\": 0.0,\n", " \"left_1thumb2_joint\": 0.0,\n", " \"left_1thumb3_joint\": 0.0,\n", " \"left_3middle1_joint\": 0.0,\n", " \"left_3middle2_joint\": 0.0,\n", " \"left_3middle3_joint\": 0.0,\n", " \"left_4ring1_joint\": 0.0,\n", " \"left_4ring2_joint\": 0.0,\n", " \"left_4ring3_joint\": 0.0,\n", " \"left_2tip1_joint\": 0.0,\n", " \"left_2tip2_joint\": 0.0,\n", " \"left_2tip3_joint\": 0.0,\n", "}\n", "left_closed = {\n", " \"left_1thumb1_joint\": 0.0,\n", " \"left_1thumb2_joint\": 0.5,\n", " \"left_1thumb3_joint\": 0.5,\n", " \"left_3middle1_joint\": 0.0,\n", " \"left_3middle2_joint\": 0.5,\n", " \"left_3middle3_joint\": 0.5,\n", " \"left_4ring1_joint\": 0.0,\n", " \"left_4ring2_joint\": 0.5,\n", " \"left_4ring3_joint\": 0.5,\n", " \"left_2tip1_joint\": 0.0,\n", " \"left_2tip2_joint\": 0.5,\n", " \"left_2tip3_joint\": 0.5,\n", "}\n", "right_open = {\n", " \"right_1thumb1_joint\": 0.0,\n", " \"right_1thumb2_joint\": 0.0,\n", " \"right_1thumb3_joint\": 0.0,\n", " \"right_3middle1_joint\": 0.0,\n", " \"right_3middle2_joint\": 0.0,\n", " \"right_3middle3_joint\": 0.0,\n", " \"right_4ring1_joint\": 0.0,\n", " \"right_4ring2_joint\": 0.0,\n", " \"right_4ring3_joint\": 0.0,\n", " \"right_2tip1_joint\": 0.0,\n", " \"right_2tip2_joint\": 0.0,\n", " \"right_2tip3_joint\": 0.0,\n", "}\n", "handle_frame_id = 'dlr_kitchen/fridge_door_handle'\n", "handle_name = 'fridge_door_handle'\n", "door_joint = 'fridge_door_joint'\n", "fridge = 'dlr_kitchen/fridge'\n", "box_name = 'box'\n", "kitchenette = 'dlr_kitchen/kitchenette'\n", "r_tip = 'r_gripper_tool_frame'\n", "l_tip = 'l_gripper_tool_frame'\n", "kitchen_name = 'dlr_kitchen'" ], "id": "856a48e7a7b6d753", "outputs": [], "execution_count": 4 }, { "metadata": {}, "cell_type": "markdown", "source": "### Reset Giskard and spawn kitchen.", "id": "804c72c169960e6d" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:06.072718Z", "start_time": "2025-05-16T09:12:54.509701Z" } }, "cell_type": "code", "source": [ "giskard.world.clear()\n", "# spawn kitchen\n", "kitchen_pose = PoseStamped()\n", "kitchen_pose.header.frame_id = 'map'\n", "kitchen_pose.pose.position.x = -2\n", "kitchen_pose.pose.position.y = 2\n", "kitchen_pose.pose.orientation = Quaternion(*quaternion_from_axis_angle([0, 0, 1], -np.pi / 2))\n", "giskard.world.add_urdf(name=kitchen_name,\n", " urdf=rospy.get_param('kitchen_description'),\n", " pose=kitchen_pose)\n", "\n", "# move robot to initial state\n", "giskard.motion_goals.add_joint_position(better_pose)\n", "giskard.add_default_end_motion_conditions()\n", "giskard.execute()\n", "\n", "# spawn box ontop of kitchen\n", "box_pose = PoseStamped()\n", "box_pose.header.frame_id = kitchenette\n", "box_pose.pose.position.z = 0.22\n", "box_pose.pose.position.x = -0.15\n", "box_pose.pose.orientation.w = 1.0\n", "giskard.world.add_box(name=box_name, size=(0.03, 0.15, 0.2), pose=box_pose, parent_link=kitchenette)\n", "giskard.world.dye_group(group_name=box_name, rgba=(0.0, 0.0, 1.0, 1.0))" ], "id": "dac7719d5252f955", "outputs": [ { "data": { "text/plain": [ "error_codes: 0" ] }, "execution_count": 5, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 5 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 1: Grasp Object", "id": "15821156eda7b250" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:09.553443Z", "start_time": "2025-05-16T09:13:06.093024Z" } }, "cell_type": "code", "source": [ "pre_grasp_pose = PoseStamped()\n", "pre_grasp_pose.header.frame_id = box_name\n", "pre_grasp_pose.pose.orientation = Quaternion(0, 1, 0, 0)\n", "pre_grasp_pose.pose.position.z = 0.35\n", "box_pre_grasped = 'pregrasp pose'\n", "giskard.motion_goals.add_cartesian_pose(name=box_pre_grasped,\n", " goal_pose=pre_grasp_pose,\n", " tip_link='r_gripper_tool_frame',\n", " root_link='map', end_condition=box_pre_grasped)\n", "\n", "grasp_pose = deepcopy(pre_grasp_pose)\n", "grasp_pose.pose.position.z -= 0.2\n", "box_grasped = giskard.motion_goals.add_cartesian_pose(name='grasp box',\n", " goal_pose=grasp_pose,\n", " tip_link='r_gripper_tool_frame',\n", " root_link='map',\n", " start_condition=box_pre_grasped)\n", "right_hand_closed = giskard.motion_goals.add_joint_position(name='close right hand',\n", " goal_state=right_closed,\n", " start_condition=box_pre_grasped)\n", "\n", "giskard.monitors.add_end_motion(start_condition=f'{box_grasped} and {right_hand_closed}')\n", "# dlr_kitchen_setup.motion_goals.allow_self_collision(end_condition=box_pre_grasped)\n", "giskard.motion_goals.allow_collision(group1='rollin_justin', group2=box_name)\n", "giskard.motion_goals.allow_self_collision()\n", "giskard.motion_goals.add_justin_torso_limit(name='torso4_joint', end_condition='')\n", "result = giskard.execute()" ], "id": "d6e4ead23415f096", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''\n", "trajectory: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 0\n", " nsecs: 0\n", " frame_id: ''\n", " joint_names: \n", " - torso1_joint\n", " - torso2_joint\n", " - torso3_joint\n", " - head1_joint\n", " - head2_joint\n", " - left_arm1_joint\n", " - left_arm2_joint\n", " - left_arm3_joint\n", " - left_arm4_joint\n", " - left_arm5_joint\n", " - left_arm6_joint\n", " - left_arm7_joint\n", " - left_1thumb1_joint\n", " - left_1thumb2_joint\n", " - left_1thumb3_joint\n", " - left_1thumb3_joint\n", " - left_2tip1_joint\n", " - left_2tip2_joint\n", " - left_2tip3_joint\n", " - left_2tip3_joint\n", " - left_3middle1_joint\n", " - left_3middle2_joint\n", " - left_3middle3_joint\n", " - left_3middle3_joint\n", " - left_4ring1_joint\n", " - left_4ring2_joint\n", " - left_4ring3_joint\n", " - left_4ring3_joint\n", " - right_arm1_joint\n", " - right_arm2_joint\n", " - right_arm3_joint\n", " - right_arm4_joint\n", " - right_arm5_joint\n", " - right_arm6_joint\n", " - right_arm7_joint\n", " - right_1thumb1_joint\n", " - right_1thumb2_joint\n", " - right_1thumb3_joint\n", " - right_1thumb3_joint\n", " - right_3middle1_joint\n", " - right_3middle2_joint\n", " - right_3middle3_joint\n", " - right_3middle3_joint\n", " - right_4ring1_joint\n", " - right_4ring2_joint\n", " - right_4ring3_joint\n", " - right_4ring3_joint\n", " - right_2tip1_joint\n", " - right_2tip2_joint\n", " - right_2tip3_joint\n", " - right_2tip3_joint\n", " - brumbrum_x\n", " - brumbrum_y\n", " - brumbrum_yaw\n", " - drawer_02_joint\n", " - drawer_03_joint\n", " - oven_door_joint\n", " - oven_drawer_joint\n", " - drawer_04_joint\n", " - drawer_05_joint\n", " - drawer_06_joint\n", " - drawer_01_joint\n", " - fridge_door_joint\n", " points: \n", " - \n", " positions: [0.0, -0.8999999998035999, 1.2596011769109, 0.0, 0.0, 0.41, -1.64, 0.12, 0.96, 0.71, -0.02, 0.43, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6, -1.59, 2.9658717392073664, -0.99, -2.44, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " accelerations: []\n", " effort: []\n", " time_from_start: \n", " secs: 0\n", " nsecs: 0\n", " - \n", " positions: [0.0011106459955015219, -0.8988891748036468, 1.2607120019103, 0.0, 0.0, 0.41, -1.64, 0.12, 0.96, 0.71, -0.02, 0.43, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6047223624999319, -1.5852776375000288, 2.9624820886983203, -0.9852779456235362, -2.4447223624992214, 0.00472236249996153, 0.0047223624999546965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0011095903826971395, -0.0011120582465691735, -0.0011108249999547866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " velocities: [0.022212919910030438, 0.022216499999060536, 0.022216499988001244, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.09444724999863979, 0.09444724999942639, -0.06779301018091961, 0.09444108752927555, -0.09444724998442894, 0.0944472499992306, 0.09444724999909392, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02219180765394279, -0.022241164931383468, -0.02221649999909573, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " accelerations: []\n", " effort: []\n", " time_from_start: \n", " secs: 0\n", " nsecs: 100000000\n", " - \n", " positions: [0.0022211129872727726, -0.8955566998038227, 1.2618404841149466, 0.0, 0.0, 0.41, -1.64, 0.12, 0.96, 0.71, -0.02, 0.43, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6188894499996892, -1.5711105500001603, 2.9521421056816344, -0.9753266760021552, -2.4498468175361747, 0.018889449999792148, 0.01888944999974053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004427225348759885, -0.004459307487605319, -0.0044432999997579105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " velocities: 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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " accelerations: []\n", " effort: []\n", " time_from_start: \n", " secs: 3\n", " nsecs: 950000000\n", "execution_state: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 1747386789\n", " nsecs: 536813020\n", " frame_id: ''\n", " goal_id: 1\n", " tasks: \n", " - \n", " name: \"pregrasp pose\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"pregrasp pose\\\"\"\n", " - \n", " name: \"grasp box\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"\\\"pregrasp pose\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"close right hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"pregrasp pose\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"torso4_joint\"\n", " class_name: \"JustinTorsoLimitCart\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " task_parents: \n", " - ''\n", " - ''\n", " - ''\n", " - ''\n", " monitors: \n", " - \n", " name: \"M0 [EndMotion]\"\n", " class_name: \"EndMotion\"\n", " kwargs: ''\n", " start_condition: \"\\\"grasp box\\\" and \\\"close right hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " monitor_parents: \n", " - ''\n", " goals: \n", " - \n", " name: \"collision avoidance\"\n", " class_name: \"CollisionAvoidance\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " goal_parents: \n", " - ''\n", " task_state: [1.0, 1.0, 1.0, 1.0]\n", " task_life_cycle_state: [3.0, 1.0, 1.0, 1.0]\n", " monitor_state: [1.0]\n", " monitor_life_cycle_state: [1.0]\n", " goal_state: [0.5]\n", " goal_life_cycle_state: [1.0]" ] }, "execution_count": 6, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 6 }, { "metadata": {}, "cell_type": "markdown", "source": [ "### Step 1.1: attach grasped object\n", "The world model cannot change mid motion, so we have to have a break here" ], "id": "cbc8defda881d2cd" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:12.620126Z", "start_time": "2025-05-16T09:13:09.578711Z" } }, "cell_type": "code", "source": "giskard.world.update_parent_link_of_group(name=box_name, parent_link='r_gripper_tool_frame')", "id": "f43de6c52a965d58", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''" ] }, "execution_count": 7, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 7 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 2: Hand box over to left hand.", "id": "11ebde0a502c0b6d" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:16.377784Z", "start_time": "2025-05-16T09:13:12.644390Z" } }, "cell_type": "code", "source": [ "base_pose = PoseStamped()\n", "base_pose.header.frame_id = 'base_footprint'\n", "base_pose.pose.orientation.w = 1.0\n", "base_pose.pose.position.x = -1\n", "drove_back = giskard.motion_goals.add_cartesian_pose(name='drive back',\n", " goal_pose=base_pose,\n", " tip_link='base_footprint',\n", " root_link='map')\n", "\n", "hand_over_pose = PoseStamped()\n", "hand_over_pose.header.frame_id = 'l_gripper_tool_frame'\n", "hand_over_pose.pose.orientation = Quaternion(1, 0, 0, 0)\n", "hand_over_pose.pose.position.z = 0.3\n", "handed_over = 'hand over'\n", "giskard.motion_goals.add_cartesian_pose(name=handed_over,\n", " goal_pose=hand_over_pose,\n", " tip_link='r_gripper_tool_frame',\n", " root_link='l_gripper_tool_frame',\n", " end_condition=handed_over)\n", "left_hand_opened = 'open left hand'\n", "giskard.motion_goals.add_joint_position(name=left_hand_opened,\n", " goal_state=left_open,\n", " end_condition=left_hand_opened)\n", "left_hand_closed = 'close left hand'\n", "giskard.motion_goals.add_joint_position(name=left_hand_closed,\n", " goal_state=left_closed,\n", " start_condition=f'{handed_over} and {left_hand_opened}',\n", " end_condition=left_hand_closed)\n", "right_hand_opened = 'open right hand'\n", "giskard.motion_goals.add_joint_position(name=right_hand_opened,\n", " goal_state=right_open,\n", " start_condition=f'{left_hand_closed}',\n", " end_condition=right_hand_opened)\n", "\n", "giskard.monitors.add_end_motion(start_condition=f'{right_hand_opened} and {drove_back}')\n", "giskard.motion_goals.allow_collision(group1='rollin_justin', group2=box_name)\n", "giskard.motion_goals.allow_self_collision()\n", "giskard.motion_goals.add_justin_torso_limit(name='torso4_joint', end_condition='')\n", "result = giskard.execute()" ], "id": "746530890ac65052", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''\n", "trajectory: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 0\n", " nsecs: 0\n", " frame_id: ''\n", " joint_names: \n", " - torso1_joint\n", " - torso2_joint\n", " - torso3_joint\n", " - head1_joint\n", " - head2_joint\n", " - left_arm1_joint\n", " - left_arm2_joint\n", " - left_arm3_joint\n", " - left_arm4_joint\n", " - left_arm5_joint\n", " - left_arm6_joint\n", " - left_arm7_joint\n", " - left_1thumb1_joint\n", " - left_1thumb2_joint\n", " - left_1thumb3_joint\n", " - left_1thumb3_joint\n", " - left_2tip1_joint\n", " - left_2tip2_joint\n", " - left_2tip3_joint\n", " - left_2tip3_joint\n", " - left_3middle1_joint\n", " - left_3middle2_joint\n", " - left_3middle3_joint\n", " - left_3middle3_joint\n", " - left_4ring1_joint\n", " - left_4ring2_joint\n", " - left_4ring3_joint\n", " - left_4ring3_joint\n", " - right_arm1_joint\n", " - right_arm2_joint\n", " - right_arm3_joint\n", " - right_arm4_joint\n", " - right_arm5_joint\n", " - right_arm6_joint\n", " - right_arm7_joint\n", " - right_1thumb1_joint\n", " - right_1thumb2_joint\n", " - right_1thumb3_joint\n", " - right_1thumb3_joint\n", " - right_3middle1_joint\n", " - right_3middle2_joint\n", " - right_3middle3_joint\n", " - right_3middle3_joint\n", " - right_4ring1_joint\n", " - right_4ring2_joint\n", " - right_4ring3_joint\n", " - right_4ring3_joint\n", " - right_2tip1_joint\n", " - right_2tip2_joint\n", " - right_2tip3_joint\n", " - right_2tip3_joint\n", " - brumbrum_x\n", " - brumbrum_y\n", " - brumbrum_yaw\n", " - drawer_02_joint\n", " - drawer_03_joint\n", " - oven_door_joint\n", " - oven_drawer_joint\n", " - drawer_04_joint\n", " - drawer_05_joint\n", " - drawer_06_joint\n", " - drawer_01_joint\n", " - fridge_door_joint\n", " points: \n", " - \n", " positions: [0.4848276423380092, -0.5100675434031874, 1.2239134684580557, 0.0, 0.0, 0.46378623414912135, -1.7559820652407263, 0.01634830747779154, 1.0196222811593405, 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0.00482006423325486, 0.00482006423325486, 0.00482006423325486, 0.0, 0.00482006423325486, 0.00482006423325486, 0.00482006423325486, 0.0, 0.00482006423325486, 0.00482006423325486, 0.00482006423325486, -0.40815770106640015, -0.010865511619889554, -0.2556665096790733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " accelerations: []\n", " effort: []\n", " time_from_start: \n", " secs: 5\n", " nsecs: 250000000\n", "execution_state: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 1747386796\n", " nsecs: 356273412\n", " frame_id: ''\n", " goal_id: 2\n", " tasks: \n", " - \n", " name: \"drive back\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"hand over\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"hand over\\\"\"\n", " - \n", " name: \"open left hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"open left hand\\\"\"\n", " - \n", " name: \"close left hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"hand over\\\" and \\\"open left hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"close left hand\\\"\"\n", " - \n", " name: \"open right hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"close left hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"open right hand\\\"\"\n", " - \n", " name: \"torso4_joint\"\n", " class_name: \"JustinTorsoLimitCart\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " task_parents: \n", " - ''\n", " - ''\n", " - ''\n", " - ''\n", " - ''\n", " - ''\n", " monitors: \n", " - \n", " name: \"M0 [EndMotion]\"\n", " class_name: \"EndMotion\"\n", " kwargs: ''\n", " start_condition: \"\\\"open right hand\\\" and \\\"drive back\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " monitor_parents: \n", " - ''\n", " goals: \n", " - \n", " name: \"collision avoidance\"\n", " class_name: \"CollisionAvoidance\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " goal_parents: \n", " - ''\n", " task_state: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]\n", " task_life_cycle_state: [1.0, 3.0, 3.0, 3.0, 3.0, 1.0]\n", " monitor_state: [1.0]\n", " monitor_life_cycle_state: [1.0]\n", " goal_state: [0.5]\n", " goal_life_cycle_state: [1.0]" ] }, "execution_count": 8, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 8 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 2.1: Tell Giskard the box is now attached to the left hand.", "id": "92db7d6c5f832502" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:19.582586Z", "start_time": "2025-05-16T09:13:16.405253Z" } }, "cell_type": "code", "source": "giskard.world.update_parent_link_of_group(name=box_name, parent_link='l_gripper_tool_frame')", "id": "d3fe24b9a6f0070d", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''" ] }, "execution_count": 9, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 9 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 3: Open the fridge and start placing the object one the fridge is half open.", "id": "dbc396db6a878bcb" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:25.042172Z", "start_time": "2025-05-16T09:13:19.610700Z" } }, "cell_type": "code", "source": [ "in_default_pose = 'default joint pose'\n", "giskard.motion_goals.add_joint_position(name=in_default_pose,\n", " goal_state=default_pose,\n", " end_condition=in_default_pose)\n", "handle_grasp_pose = PoseStamped()\n", "handle_grasp_pose.header.frame_id = handle_frame_id\n", "handle_grasp_pose.pose.orientation = Quaternion(*quaternion_from_rotation_matrix([[0, 0, 1, 0],\n", " [1, 0, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 0, 1]]))\n", "handle_grasp_pose.pose.position.x = -0.12\n", "handle_graped = 'grasp handle'\n", "giskard.motion_goals.add_cartesian_pose(name=handle_graped,\n", " goal_pose=handle_grasp_pose,\n", " tip_link=r_tip,\n", " root_link='map',\n", " start_condition=in_default_pose,\n", " end_condition=handle_graped)\n", "right_hand_closed = 'close right hand'\n", "giskard.motion_goals.add_joint_position(name=right_hand_closed,\n", " goal_state=right_closed,\n", " start_condition=f'{handle_graped}',\n", " end_condition=right_hand_closed)\n", "\n", "door_open = 'open fridge'\n", "giskard.motion_goals.add_open_container(name=door_open,\n", " tip_link=r_tip,\n", " environment_link=handle_name,\n", " start_condition=right_hand_closed,\n", " end_condition='')\n", "door_half_open = 'is door half open?'\n", "giskard.monitors.add_joint_position_above(name=door_half_open,\n", " joint_name=door_joint,\n", " threshold=np.pi / 4,\n", " start_condition=handle_graped,\n", " end_condition=door_half_open)\n", "\n", "place_pose = PoseStamped()\n", "place_pose.header.frame_id = fridge\n", "place_pose.pose.orientation = Quaternion(*quaternion_from_rotation_matrix([[0, 0, 1, 0],\n", " [1, 0, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 0, 1]]))\n", "place_pose.pose.position.z = 0.4\n", "place_pose.pose.position.x = 0.\n", "box_placed = 'place box'\n", "giskard.motion_goals.add_cartesian_pose(name=box_placed,\n", " goal_pose=place_pose,\n", " tip_link=box_name,\n", " root_link='map',\n", " start_condition=door_half_open,\n", " end_condition=box_placed)\n", "left_hand_opened = 'open left hand'\n", "giskard.motion_goals.add_joint_position(name=left_hand_opened,\n", " goal_state=left_open,\n", " start_condition=f'{box_placed}',\n", " end_condition=left_hand_opened)\n", "\n", "done = f'{door_open} and {left_hand_opened}'\n", "giskard.monitors.add_end_motion(start_condition=done)\n", "giskard.motion_goals.allow_collision(group2='right_hand',\n", " group1='dlr_kitchen')\n", "giskard.motion_goals.allow_self_collision()\n", "giskard.motion_goals.add_justin_torso_limit(name='torso4_joint', end_condition='')\n", "result = giskard.execute()" ], "id": "d21e62bd5dd0abc0", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''\n", "trajectory: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 0\n", " nsecs: 0\n", " frame_id: ''\n", " joint_names: \n", " - torso1_joint\n", " - torso2_joint\n", " - torso3_joint\n", " - head1_joint\n", " - head2_joint\n", " - left_arm1_joint\n", " - left_arm2_joint\n", " - left_arm3_joint\n", " - left_arm4_joint\n", " - left_arm5_joint\n", " - left_arm6_joint\n", " - left_arm7_joint\n", " - left_1thumb1_joint\n", " - left_1thumb2_joint\n", " - left_1thumb3_joint\n", " - left_1thumb3_joint\n", " - left_2tip1_joint\n", " - left_2tip2_joint\n", " - left_2tip3_joint\n", " - left_2tip3_joint\n", " - left_3middle1_joint\n", " - left_3middle2_joint\n", " - left_3middle3_joint\n", " - left_3middle3_joint\n", " - left_4ring1_joint\n", " - left_4ring2_joint\n", " - left_4ring3_joint\n", " - left_4ring3_joint\n", " - right_arm1_joint\n", " - right_arm2_joint\n", " - right_arm3_joint\n", " - right_arm4_joint\n", " - right_arm5_joint\n", " - right_arm6_joint\n", " - right_arm7_joint\n", " - right_1thumb1_joint\n", " - right_1thumb2_joint\n", " - right_1thumb3_joint\n", " - right_1thumb3_joint\n", " - right_3middle1_joint\n", " - right_3middle2_joint\n", " - right_3middle3_joint\n", " - right_3middle3_joint\n", " - right_4ring1_joint\n", " - right_4ring2_joint\n", " - right_4ring3_joint\n", " - right_4ring3_joint\n", " - right_2tip1_joint\n", " - right_2tip2_joint\n", " - right_2tip3_joint\n", " - right_2tip3_joint\n", " - brumbrum_x\n", " - brumbrum_y\n", " - brumbrum_yaw\n", " - drawer_02_joint\n", " - drawer_03_joint\n", " - oven_door_joint\n", " - oven_drawer_joint\n", " - drawer_04_joint\n", " - drawer_05_joint\n", " - drawer_06_joint\n", " - drawer_01_joint\n", " - fridge_door_joint\n", " points: \n", " - \n", " positions: [0.45541210446860947, -0.5327602570163539, 1.2035555108329805, 0.0, 0.0, 0.414473566650949, -1.9233235929769785, -0.17281955153088935, 1.2366077568261438, 0.5940266763287188, -0.47855947317554814, 0.9148290007184994, 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0.003998396317569285, 0.003998396317569285, 0.003998396317569285, 0.0, 0.003998396317569285, 0.003998396317569285, 0.003998396317569285, 0.0, 0.003998396317569285, 0.003998396317569285, 0.003998396317569285, 0.0, 0.003998396317569285, 0.003998396317569285, 0.003998396317569285, 0.3115161499685691, -1.5004606495398585, 2.0579198074244403, -1.326502317194863, -2.5085471073659127, -0.579014385285649, 0.7328268873637479, 0.0, 0.4959458828965893, 0.4959458828965893, 0.4959458828965893, 0.0, 0.4959458828965893, 0.4959458828965893, 0.4959458828965893, 0.0, 0.4959458828965893, 0.4959458828965893, 0.4959458828965893, 0.0, 0.4959458828965893, 0.4959458828965893, 0.4959458828965893, 0.4313528667180184, 0.17538668044245795, -0.258888974638807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5693086138728305]\n", " velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\n", " accelerations: []\n", " effort: []\n", " time_from_start: \n", " secs: 12\n", " nsecs: 50000000\n", "execution_state: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 1747386805\n", " nsecs: 5810022\n", " frame_id: ''\n", " goal_id: 3\n", " tasks: \n", " - \n", " name: \"default joint pose\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"default joint pose\\\"\"\n", " - \n", " name: \"grasp handle\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"\\\"default joint pose\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"grasp handle\\\"\"\n", " - \n", " name: \"close right hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"grasp handle\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"close right hand\\\"\"\n", " - \n", " name: \"open fridge/hinge\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"close right hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"open fridge/hold handle\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"\\\"close right hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"place box\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"\\\"is door half open?\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"place box\\\"\"\n", " - \n", " name: \"open left hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"place box\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"open left hand\\\"\"\n", " - \n", " name: \"torso4_joint\"\n", " class_name: \"JustinTorsoLimitCart\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " task_parents: \n", " - ''\n", " - ''\n", " - ''\n", " - open fridge\n", " - open fridge\n", " - ''\n", " - ''\n", " - ''\n", " monitors: \n", " - \n", " name: \"is door half open?\"\n", " class_name: \"JointPositionAbove\"\n", " kwargs: ''\n", " start_condition: \"\\\"grasp handle\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"is door half open?\\\"\"\n", " - \n", " name: \"M1 [EndMotion]\"\n", " class_name: \"EndMotion\"\n", " kwargs: ''\n", " start_condition: \"\\\"open fridge\\\" and \\\"open left hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " monitor_parents: \n", " - ''\n", " - ''\n", " goals: \n", " - \n", " name: \"open fridge\"\n", " class_name: \"Open\"\n", " kwargs: ''\n", " start_condition: \"\\\"close right hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"collision avoidance\"\n", " class_name: \"CollisionAvoidance\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " goal_parents: \n", " - ''\n", " - ''\n", " task_state: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]\n", " task_life_cycle_state: [3.0, 3.0, 3.0, 1.0, 1.0, 3.0, 3.0, 1.0]\n", " monitor_state: [1.0, 1.0]\n", " monitor_life_cycle_state: [3.0, 1.0]\n", " goal_state: [1.0, 0.5]\n", " goal_life_cycle_state: [1.0, 1.0]" ] }, "execution_count": 10, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 10 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 3.1: Tell Giskard the box is now attached to the fridge instead of the robot.", "id": "912f9114abdd258c" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:25.388546Z", "start_time": "2025-05-16T09:13:25.078755Z" } }, "cell_type": "code", "source": "giskard.world.update_parent_link_of_group(name=box_name, parent_link=fridge)", "id": "81a7a1abc79d11a3", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''" ] }, "execution_count": 11, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 11 }, { "metadata": {}, "cell_type": "markdown", "source": "### Step 4: Retract the left hand and close the fridge.", "id": "17bad845dafcf3d2" }, { "metadata": { "ExecuteTime": { "end_time": "2025-05-16T09:13:28.360149Z", "start_time": "2025-05-16T09:13:25.410989Z" } }, "cell_type": "code", "source": [ "retract_pose = PoseStamped()\n", "retract_pose.header.frame_id = 'l_gripper_tool_frame'\n", "retract_pose.pose.orientation.w = 1.0\n", "retract_pose.pose.position.z = -0.5\n", "retracted = 'retract left hand'\n", "giskard.motion_goals.add_joint_position(name=retracted,\n", " goal_state=default_left_arm,\n", " end_condition=retracted)\n", "delay = giskard.monitors.add_sleep(name='wait 1s', seconds=1)\n", "giskard.motion_goals.add_open_container(name='hold handle',\n", " tip_link='r_gripper_tool_frame',\n", " environment_link=handle_name,\n", " end_condition=delay)\n", "\n", "door_closed = giskard.motion_goals.add_close_container(name='close fridge',\n", " tip_link='r_gripper_tool_frame',\n", " environment_link=handle_name,\n", " start_condition=delay)\n", "giskard.monitors.add_end_motion(start_condition=f'{door_closed} and {retracted}')\n", "giskard.motion_goals.allow_collision(group2='right_hand',\n", " group1='dlr_kitchen')\n", "giskard.motion_goals.allow_self_collision()\n", "giskard.motion_goals.add_justin_torso_limit(name='torso4_joint', end_condition='')\n", "result = giskard.execute()" ], "id": "7730760de243bf47", "outputs": [ { "data": { "text/plain": [ "error: \n", " type: ''\n", " msg: ''\n", "trajectory: \n", " header: \n", " seq: 0\n", " stamp: \n", " secs: 0\n", " nsecs: 0\n", " frame_id: ''\n", " joint_names: \n", " - torso1_joint\n", " - torso2_joint\n", " - torso3_joint\n", " - head1_joint\n", " - head2_joint\n", " - left_arm1_joint\n", " - left_arm2_joint\n", " - left_arm3_joint\n", " - left_arm4_joint\n", " - left_arm5_joint\n", " - left_arm6_joint\n", " - left_arm7_joint\n", " - left_1thumb1_joint\n", " - left_1thumb2_joint\n", " - left_1thumb3_joint\n", " - left_1thumb3_joint\n", " - left_2tip1_joint\n", " - left_2tip2_joint\n", " - left_2tip3_joint\n", " - left_2tip3_joint\n", " - left_3middle1_joint\n", " - left_3middle2_joint\n", " - left_3middle3_joint\n", " - left_3middle3_joint\n", " - left_4ring1_joint\n", " - left_4ring2_joint\n", " - left_4ring3_joint\n", " - left_4ring3_joint\n", " - right_arm1_joint\n", " - right_arm2_joint\n", " - right_arm3_joint\n", " - right_arm4_joint\n", " - right_arm5_joint\n", " - right_arm6_joint\n", " - right_arm7_joint\n", " - right_1thumb1_joint\n", " - right_1thumb2_joint\n", " - right_1thumb3_joint\n", " - right_1thumb3_joint\n", " - right_3middle1_joint\n", " - right_3middle2_joint\n", " - right_3middle3_joint\n", " - right_3middle3_joint\n", " - right_4ring1_joint\n", " - right_4ring2_joint\n", " - right_4ring3_joint\n", " - right_4ring3_joint\n", " - right_2tip1_joint\n", " - right_2tip2_joint\n", " - right_2tip3_joint\n", " - right_2tip3_joint\n", " - brumbrum_x\n", " - brumbrum_y\n", " - brumbrum_yaw\n", " - drawer_02_joint\n", " - drawer_03_joint\n", " - oven_door_joint\n", " - oven_drawer_joint\n", " - drawer_04_joint\n", " - drawer_05_joint\n", " - drawer_06_joint\n", " - drawer_01_joint\n", " - fridge_door_joint\n", " points: \n", " - \n", " positions: 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1747386808\n", " nsecs: 342639923\n", " frame_id: ''\n", " goal_id: 4\n", " tasks: \n", " - \n", " name: \"retract left hand\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"retract left hand\\\"\"\n", " - \n", " name: \"hold handle/hinge\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"wait 1s\\\"\"\n", " - \n", " name: \"hold handle/hold handle\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"wait 1s\\\"\"\n", " - \n", " name: \"close fridge/hinge\"\n", " class_name: \"JointPositionList\"\n", " kwargs: ''\n", " start_condition: \"\\\"wait 1s\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"close fridge/hold handle\"\n", " class_name: \"CartesianPose\"\n", " kwargs: ''\n", " start_condition: \"\\\"wait 1s\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"torso4_joint\"\n", " class_name: \"JustinTorsoLimitCart\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " task_parents: \n", " - ''\n", " - hold handle\n", " - hold handle\n", " - close fridge\n", " - close fridge\n", " - ''\n", " monitors: \n", " - \n", " name: \"wait 1s\"\n", " class_name: \"Sleep\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"wait 1s\\\"\"\n", " - \n", " name: \"M1 [EndMotion]\"\n", " class_name: \"EndMotion\"\n", " kwargs: ''\n", " start_condition: \"\\\"close fridge\\\" and \\\"retract left hand\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " monitor_parents: \n", " - ''\n", " - ''\n", " goals: \n", " - \n", " name: \"hold handle\"\n", " class_name: \"Open\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"\\\"wait 1s\\\"\"\n", " - \n", " name: \"close fridge\"\n", " class_name: \"Close\"\n", " kwargs: ''\n", " start_condition: \"\\\"wait 1s\\\"\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " - \n", " name: \"collision avoidance\"\n", " class_name: \"CollisionAvoidance\"\n", " kwargs: ''\n", " start_condition: \"True\"\n", " reset_condition: \"False\"\n", " pause_condition: \"False\"\n", " end_condition: \"False\"\n", " goal_parents: \n", " - ''\n", " - ''\n", " - ''\n", " task_state: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]\n", " task_life_cycle_state: [3.0, 3.0, 3.0, 1.0, 1.0, 1.0]\n", " monitor_state: [1.0, 1.0]\n", " monitor_life_cycle_state: [3.0, 1.0]\n", " goal_state: [1.0, 1.0, 0.5]\n", " goal_life_cycle_state: [3.0, 1.0, 1.0]" ] }, "execution_count": 12, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 12 } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 2 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython2", "version": "2.7.6" } }, "nbformat": 4, "nbformat_minor": 5 }