#!/usr/bin/env python

# Copyright (c) 2017, <NAME>, SIM Lab
# 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 SIM Lab 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

import rospy
import sys
import os
from hlpr_kinesthetic_teaching_api.msg import KTPlanDisplay
from hlpr_manipulation_utils.arm_moveit2 import ArmMoveIt


if __name__=="__main__":
    rospy.init_node("eef_kf_to_joint_kf")
    
    a = ArmMoveIt(planning_frame="base_link")
    a.group[0].set_end_effector_link("j2s7s300_ee_link")

    pb = rospy.Publisher("/KT/display_traj", KTPlanDisplay)

    n_points = 3
    eefs = []
    joints = []

    start = a.get_random_reachable().pose
    start_joints =  a.get_IK(start)
    
    for i in range(n_points):
        eef = a.get_random_reachable()
        eefs.append(eef)
        joints.append(a.get_IK(eef.pose))

    plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(start_joints))
    while not rospy.is_shutdown():
        if plans is None:
            print "No plan found :("
        else:
            pb.publish(KTPlanDisplay(plans=plans))


        frame_names = [str(i) for i in range(n_points)+1]
        print "Do what?"
        s = raw_input()
        if s == 'n':
            start = a.get_random_reachable().pose
            start_joints =  a.get_IK(start)
            eefs = []
            joints = []
            for i in range(n_points):
                eef = a.get_random_reachable()
                eefs.append(eef)
                joints.append(a.get_IK(eef.pose))
            plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(start_joints))
        elif s in frame_names:
            which = frame_names.index(s)-1
            if which == -1:
                start_joints = a.get_IK(start)
            else:
                joints[which] = a.get_ik(eefs[which].pose)
            plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(a.get_IK(start)))

#!/usr/bin/env python

# Copyright (c) 2017, <NAME>, SIM Lab
# 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 SIM Lab 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

import rospy
import sys
import os
from hlpr_kinesthetic_teaching_api.msg import KTPlanDisplay
from hlpr_manipulation_utils.arm_moveit2 import ArmMoveIt


if __name__=="__main__":
    rospy.init_node("eef_kf_to_joint_kf")
    
    a = ArmMoveIt(planning_frame="base_link")
    a.group[0].set_end_effector_link("j2s7s300_ee_link")

    pb = rospy.Publisher("/KT/display_traj", KTPlanDisplay)

    n_points = 3
    eefs = []
    joints = []

    start = a.get_random_reachable().pose
    start_joints =  a.get_IK(start)
    
    for i in range(n_points):
        eef = a.get_random_reachable()
        eefs.append(eef)
        joints.append(a.get_IK(eef.pose))

    plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(start_joints))
    while not rospy.is_shutdown():
        if plans is None:
            print "No plan found :("
        else:
            pb.publish(KTPlanDisplay(plans=plans))


        frame_names = [str(i) for i in range(n_points)+1]
        print "Do what?"
        s = raw_input()
        if s == 'n':
            start = a.get_random_reachable().pose
            start_joints =  a.get_IK(start)
            eefs = []
            joints = []
            for i in range(n_points):
                eef = a.get_random_reachable()
                eefs.append(eef)
                joints.append(a.get_IK(eef.pose))
            plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(start_joints))
        elif s in frame_names:
            which = frame_names.index(s)-1
            if which == -1:
                start_joints = a.get_IK(start)
            else:
                joints[which] = a.get_ik(eefs[which].pose)
            plans = a.plan_joint_waypoints(joints, starting_config = a.state_from_joints(a.get_IK(start)))

#!/usr/bin/env python # Copyright (c) 2017, <NAME>, SIM Lab # 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 SIM Lab 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.