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1978 lines (1919 loc) · 69 KB
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="http://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script>
// CSS 레이아웃 정의
var resizeId = "";
window.addEventListener('resize', function(){
clearTimeout(resizeId);
resizeId = setTimeout(doneResizing, 250);
});
function doneResizing(){
console.log('doneResizing Window Width: '+window.innerWidth);
//반응형 레이아웃
}
// ROS 정의
var ros = new ROSLIB.Ros({
url: 'ws://192.168.0.33:9090'
});
var connected = 0;
// ROS 접속 여부 출력
ros.on('connection', function() {
console.log('Connected to websocket server.');
connected = 1;
});
ros.on('error', function(error) {
console.log('Error connecting to websocket server: ', error);
});
ros.on('close', function() {
console.log('Connection to websocket server closed.');
connected = 0;
});
// 이미지 토픽
var image_topic = new ROSLIB.Topic({
ros: ros,
name: '/niryo_one_vision/compressed_video_stream',
messageType: 'sensor_msgs/CompressedImage'
});
// 화면에 이미지 출력
image_topic.subscribe(function(message) {
// document.getElementById("image").src = "data:image/png;base64," + message.data;
document.getElementById("image").src = "data:image/jpg;base64," + message.data;
});
// Calibration Request (1: Auto, 2: Manual)
// Auto Calibration만 구현함
var request = new ROSLIB.ServiceRequest({
value: 1
});
// "Request Calibration" 버튼, 서비스 호출
function requestcali() {
// 서비스 정의
var request_new_calibration = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/request_new_calibration',
serviceType: 'niryo_one_msgs/SetInt'
});
// 서비스 호출
request_new_calibration.callService(request, function(result) {
console.log('Status: ' + result.status + ", " + result.message);
});
};
// "Calibrate" 버튼, 서비스 호출
function calibrate() {
var calibrate_motors = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/calibrate_motors',
serviceType: 'niryo_one_msgs/SetInt'
});
calibrate_motors.callService(request, function(result) {
console.log('Status: ' + result.status + ", " + result.message);
});
};
// "Set Learning Mode" 버튼, 서비스 호출
function learning() {
var activate_learning_mode = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/activate_learning_mode',
serviceType: 'niryo_one_msgs/SetInt'
});
activate_learning_mode.callService(request, function(result) {
console.log('Status: ' + result.status + ", " + result.message);
});
};
// Robot Move(Gripper, Joint, Pose)와 관련된 모든 기능에 관여하는 Action에 대해 Client 정의
// Niryo에는 Action Server가 작동 중인 상태
var MoveActionClient = new ROSLIB.ActionClient({
ros: ros,
serverName: '/niryo_one/commander/robot_action',
actionName: 'niryo_one_msgs/RobotMoveAction'
});
// "Move to Zero" 버튼
function MoveZero() {
if (connected == 0) return;
document.getElementById("joint1").value = 0;
document.getElementById("joint2").value = 0;
document.getElementById("joint3").value = 0;
document.getElementById("joint4").value = 0;
document.getElementById("joint5").value = 0;
document.getElementById("joint6").value = 0;
document.getElementById("x").value = 245;
document.getElementById("y").value = 0;
document.getElementById("z").value = 417;
document.getElementById("roll").value = 0;
document.getElementById("pitch").value = 0;
document.getElementById("yaw").value = 0;
MoveJoint();
};
// pose 토픽
var state = new ROSLIB.Topic({
ros: ros,
name: '/niryo_one/robot_state',
messageType: 'niryo_one_msgs/RobotState'
});
// pose 출력
state.subscribe(function(message) {
var xvalue = document.getElementById("xvalue");
var yvalue = document.getElementById("yvalue");
var zvalue = document.getElementById("zvalue");
var rollvalue = document.getElementById("rollvalue");
var pitchvalue = document.getElementById("pitchvalue");
var yawvalue = document.getElementById("yawvalue");
xvalue.innerHTML = Math.round(message.position.x * 1000);
yvalue.innerHTML = Math.round(message.position.y * 1000);
zvalue.innerHTML = Math.round(message.position.z * 1000);
rollvalue.innerHTML = Math.round(message.rpy.roll * 180 / Math.PI);
pitchvalue.innerHTML = Math.round(message.rpy.pitch * 180 / Math.PI);
yawvalue.innerHTML = Math.round(message.rpy.yaw * 180 / Math.PI);
});
// joints 토픽
var joints = new ROSLIB.Topic({
ros: ros,
name: '/joint_states',
messageType: 'sensor_msgs/JointState'
});
// joints 출력
joints.subscribe(function(message) {
var j1 = document.getElementById("j1");
var j2 = document.getElementById("j2");
var j3 = document.getElementById("j3");
var j4 = document.getElementById("j4");
var j5 = document.getElementById("j5");
var j6 = document.getElementById("j6");
j1.innerHTML = Math.round(message.position[0] * 180 / Math.PI);
j2.innerHTML = Math.round(message.position[1] * 180 / Math.PI);
j3.innerHTML = Math.round(message.position[2] * 180 / Math.PI);
j4.innerHTML = Math.round(message.position[3] * 180 / Math.PI);
j5.innerHTML = Math.round(message.position[4] * 180 / Math.PI);
j6.innerHTML = Math.round(message.position[5] * 180 / Math.PI);
});
// "Show State" 버튼
function showstate() {
// 한 번 state를 출력한 후 다시 unsubscribe하므로 위의 state 토픽을 이용하지 않고 새로운 토픽을 정의함
var statetopic = new ROSLIB.Topic({
ros: ros,
name: '/niryo_one/robot_state',
messageType: 'niryo_one_msgs/RobotState'
});
statetopic.subscribe(function(message) {
console.log(message.position.x + ", " + message.position.y + ", " + message.position.z);
statetopic.unsubscribe();
});
};
// "Show Joints" 버튼
function showjoints() {
var jointstopic = new ROSLIB.Topic({
ros: ros,
name: '/joint_states',
messageType: 'sensor_msgs/JointState'
});
jointstopic.subscribe(function(message) {
console.log(message.position[0] + ", " + message.position[1] + ", " + message.position[2] + ", " + message.position[3] + ", " + message.position[4] + ", " + message.position[5]);
jointstopic.unsubscribe();
});
};
// Gripper 관련 Action Goal을 설정할 때 전역 변수로 설정하지 않고 함수마다 새롭게 정의해주는데,
// 전역 변수로 설정 시 Action의 결과를 바탕으로 다음 동작을 지시할 때 함수가 서로 섞여 오작동하므로
// 필요할 때마다 함수 안에서 지역 변수로 설정하였음
// "Open Gripper" 버튼
function OpenGripper() {
var opengoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 1,
gripper_open_speed: 100
}
}
}
});
opengoal.send();
}
// "Close Gripper" 버튼
function CloseGripper() {
var closegoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 2,
gripper_close_speed: 100
}
}
}
});
closegoal.send();
}
// "Move Joint" 버튼
function MoveJoint() {
var joint1 = document.getElementById("joint1").value * (Math.PI / 180);
var joint2 = document.getElementById("joint2").value * (Math.PI / 180);
var joint3 = document.getElementById("joint3").value * (Math.PI / 180);
var joint4 = document.getElementById("joint4").value * (Math.PI / 180);
var joint5 = document.getElementById("joint5").value * (Math.PI / 180);
var joint6 = document.getElementById("joint6").value * (Math.PI / 180);
var goal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 1,
joints: [joint1, joint2, joint3, joint4, joint5, joint6]
}
}
});
goal.send();
};
// Move Pose 버튼
function MovePose() {
var x = document.getElementById("x").value / 1000.0;
var y = document.getElementById("y").value / 1000.0;
var z = document.getElementById("z").value / 1000.0;
var roll = document.getElementById("roll").value * (Math.PI / 180);
var pitch = document.getElementById("pitch").value * (Math.PI / 180);
var yaw = document.getElementById("yaw").value * (Math.PI / 180);
var goal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: x,
y: y,
z: z
},
rpy: {
roll: roll,
pitch: pitch,
yaw: yaw
}
}
}
});
goal.send();
}
// html에서 수치를 입력받아 작동하는 함수
// "Set Velocity Factor" 버튼
function SetVFactor() {
var set_max_velocity_scaling_factor = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/commander/set_max_velocity_scaling_factor',
serviceType: 'niryo_one_msgs/SetInt'
});
var factor = document.getElementById('factor').value;
factor *= 1;
var VFactor = new ROSLIB.ServiceRequest({
value: factor
});
set_max_velocity_scaling_factor.callService(VFactor, function(result) {
console.log('Status: ' + result.status + ", Scaling Factor set to " + factor);
});
}
// argument를 받아서 사용하는 set velocity factor 함수, Put In Capsule에서 속도 조절용으로 사용됨
function SetVFactorArgument(factor) {
var set_max_velocity_scaling_factor = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/commander/set_max_velocity_scaling_factor',
serviceType: 'niryo_one_msgs/SetInt'
});
var VFactor = new ROSLIB.ServiceRequest({
value: factor
});
set_max_velocity_scaling_factor.callService(VFactor, function(result) {
console.log('Status: ' + result.status + ", Scaling Factor set to " + factor);
});
}
// select tool 서비스
var select_tool_service = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/change_tool',
serviceType: 'niryo_one_msgs/SetInt'
});
// "Select Tool" 버튼
function SelectTool() {
tool = document.getElementById('tool');
toolnum = tool.options[tool.selectedIndex].value;
toolnum *= 1;
var toolrequest = new ROSLIB.ServiceRequest({
value: toolnum
});
select_tool_service.callService(toolrequest, function(result) {
console.log(result.message);
});
}
// 현재 사용중인 tool id에 대한 토픽
var current_tool_id = new ROSLIB.Topic({
ros: ros,
name: '/niryo_one/current_tool_id',
messageType: 'std_msgs/Int32'
});
// 색 추출 관련 함수
// "Observation Pose" 버튼
function ObservationPose() {
if (connected == 0) return;
document.getElementById("joint1").value = 0;
document.getElementById("joint2").value = 0;
document.getElementById("joint3").value = 0;
document.getElementById("joint4").value = 0;
document.getElementById("joint5").value = -90;
document.getElementById("joint6").value = 0;
document.getElementById("x").value = 217;
document.getElementById("y").value = 0;
document.getElementById("z").value = 399;
document.getElementById("roll").value = -5;
document.getElementById("pitch").value = 89;
document.getElementById("yaw").value = -4;
var goal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 1,
joints: [0, 0, 0, 0, -90 * (Math.PI / 180), 0]
}
}
});
// 이동 후 takePicture() 함수 호출
goal.send();
goal.on('result', function() {
takePicture();
});
};
// "Take Picture" 버튼
function takePicture() {
img = document.getElementById("image");
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");
ctx.drawImage(img, 0, 0);
}
// "Grab Capsule" 버튼
function grabCapsule() {
if (connected == 0) {
document.getElementById("color").textContent = "Not connected"
return;
}
toolnum = 0;
current_tool_id.subscribe(function(message) {
toolnum = message.data;
console.log('tool id: ' + message.data);
current_tool_id.unsubscribe();
});
// 기본적으로 Gripper3을 사용하고 있다고 가정함
var toolrequest = new ROSLIB.ServiceRequest({
value: 13
});
select_tool_service.callService(toolrequest, function(result) {
console.log(result.message);
});
var MoveActionClient = new ROSLIB.ActionClient({
ros: ros,
serverName: '/niryo_one/commander/robot_action',
actionName: 'niryo_one_msgs/RobotMoveAction'
});
// color_detection 서비스를 이용해 원하는 색 범위 내에 있는 이미지 추출, x, y, yaw 반환
// x, y, yaw 값을 get_target_pose에 전달해 workspace 내에서 상대적인 위치 반환
// 이 위치로 이동
// grippper 조절, move joint 등 이용
var color_detection = new ROSLIB.Service({
ros: ros,
name: '/niryo_one_vision/color_detection',
serviceType: 'niryo_one_msgs/CapsuleColor'
});
h = document.getElementById("h").textContent;
s = document.getElementById("s").textContent;
v = document.getElementById("v").textContent;
if (h == "") {
document.getElementById("color").textContent = "Choose Color First"
return;
}
h = parseInt(h);
s = parseInt(s);
v = parseInt(v);
hdif = document.getElementById("hdif").value;
sdif = document.getElementById("sdif").value;
vdif = document.getElementById("vdif").value;
hdif *= 1;
sdif *= 1;
vdif *= 1;
console.log(h + ', ' + s + ', ' + v);
x = 0;
y = 0;
z = 0;
roll = 0;
pitch = 0;
yaw = 0;
var HSV = new ROSLIB.ServiceRequest({
h: h,
s: s,
v: v,
hdif: hdif,
sdif: sdif,
vdif: vdif
});
var get_target_pose = new ROSLIB.Service({
ros: ros,
name: '/niryo_one/pose_converter/get_target_pose',
serviceType: 'niryo_one_msgs/GetTargetPose'
});
color_detection.callService(HSV, function(result) {
img = document.getElementById("contour");
img.src = "data:image/jpg;base64," + result.img.data;
x = result.obj_pose.x;
y = result.obj_pose.y;
yaw = result.obj_pose.yaw;
console.log(x + ', ' + y + ', ' + yaw);
var target_request = new ROSLIB.ServiceRequest({
workspace: "workspace",
grip: "auto",
tool_id: 13,
height_offset: 0.05,
x_rel: x,
y_rel: y,
yaw_rel: yaw,
});
get_target_pose.callService(target_request, function(result) {
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");
ctx.drawImage(img, 0, 0);
x = result.target_pose.position.x + 0.02;
y = result.target_pose.position.y;
z = result.target_pose.position.z;
roll = result.target_pose.rpy.roll;
pitch = result.target_pose.rpy.pitch;
yaw = result.target_pose.rpy.yaw;
console.log(x + ', ' + y + ', ' + z + ', ' + roll + ', ' + pitch + ', ' + yaw);
if (Math.round(x * 1000) == 387 && Math.round(y * 1000) == 75) {
console.log('Capsule not found or too dark.');
return;
}
var goal1 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: x,
y: y,
z: z
},
rpy: {
roll: roll,
pitch: pitch,
yaw: yaw
}
}
}
});
var goal2 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: x,
y: y,
z: z - 0.03
},
rpy: {
roll: roll,
pitch: pitch,
yaw: yaw
}
}
}
});
var open = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 1,
gripper_open_speed: 100
}
}
}
});
var close = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 2,
gripper_close_speed: 100
}
}
}
});
goal1.on('result', function(result) {
// console.log('Final result: ' + result.status);
open.send();
open.on('result', function() {
goal2.send();
goal2.on('result', function() {
close.send();
close.on('result', function() {
MoveZero();
});
});
});
});
goal1.send();
});
});
}
// 색 범위 추출용 전역 변수
var firstx;
var firsty;
var positiongrab = 0;
// canvas mousedown 시 x, y 좌표 저장
function firstpoint(event) {
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");
img = document.getElementById("image");
ctx.clearRect(0, 0, 640, 480);
ctx.drawImage(img, 0, 0);
var x = event.layerX;
var y = event.layerY;
//console.log(x + ', ' + y);
firstx = x;
firsty = y;
}
// canvas mouseup 시 x, y 좌표와 firstx, firsty를 바탕으로 색 범위 계산, zoom 캔버스에 출력
function secondpoint(event) {
var canvas = document.getElementById("canvas");
var ctx = canvas.getContext("2d");
// 캔버스에 아무 이미지도 없으면 아무 동작도 하지 않음
if (!ctx.getImageData(0, 0, canvas.width, canvas.height).data.some(channel => channel !== 0)) {
document.getElementById("color").textContent = "Take Picture First"
return;
}
var x = event.layerX;
var y = event.layerY;
// console.log(x + ', ' + y);
secondx = x;
secondy = y;
positiongrab = 0;
var minH = 360;
var maxH = 0;
var minS = 255;
var maxS = 0;
var minV = 255;
var maxV = 0;
var numpix = 0;
if (firstx <= secondx) {
smallx = firstx;
largex = secondx;
} else {
smallx = secondx;
largex = firstx;
}
if (firsty <= secondy) {
smally = firsty;
largey = secondy;
} else {
smally = secondy;
largey = firsty;
}
for (i = smallx; i <= largex; i++) {
for (j = smally; j <= largey; j++) {
var pixel = ctx.getImageData(i, j, 1, 1);
var data = pixel.data;
var R = data[0];
var G = data[1];
var B = data[2];
var HSV = rgb2hsv(R, G, B);
var H = HSV[0];
var S = HSV[1];
var V = HSV[2];
if (minH > H) minH = H;
if (maxH < H) maxH = H;
if (minS > S) minS = S;
if (maxS < S) maxS = S;
if (minV > V) minV = V;
if (maxV < V) maxV = V;
numpix++;
}
}
if (maxH - minH > 180) {
minH = 540;
maxH = 180;
for (i = smallx; i <= largex; i++) {
for (j = smally; j <= largey; j++) {
var pixel = ctx.getImageData(i, j, 1, 1);
var data = pixel.data;
var R = data[0];
var G = data[1];
var B = data[2];
var HSV = rgb2hsv(R, G, B);
var H = HSV[0];
if (H >= 0 && H < 180) H += 360;
if (minH > H) minH = H;
if (maxH < H) maxH = H;
}
midH = Math.round((minH + maxH) / 2.0);
Hdif = Math.round(maxH - midH);
if (midH >= 360) midH -= 360;
if (maxH >= 360) maxH -= 360;
if (minH >= 360) minH -= 360;
}
} else {
midH = Math.round((minH + maxH) / 2.0);
Hdif = Math.round(maxH - midH);
}
midS = Math.round((minS + maxS) / 2.0);
Sdif = Math.max(Math.round(maxS - midS), Math.round(midS - minS));
midV = Math.round((minV + maxV) / 2.0);
Vdif = Math.max(Math.round(maxV - midV), Math.round(midV - minV));
// console.log('(' + midH + ', ' + midS + ', ' + midV + '), ' + Hdif + ', ' + Sdif + ', ' + Vdif);
h = document.getElementById("h");
s = document.getElementById("s");
v = document.getElementById("v");
hdif = document.getElementById("hdif");
sdif = document.getElementById("sdif");
vdif = document.getElementById("vdif");
h.textContent = midH;
s.textContent = midS;
v.textContent = midV;
hdif.value = Hdif;
sdif.value = Sdif;
vdif.value = Vdif;
RGB = hsv2rgb(midH, midS, midV);
R = Math.round(RGB[0]);
G = Math.round(RGB[1]);
B = Math.round(RGB[2]);
minrgb = hsv2rgb(minH, minS, minV);
maxrgb = hsv2rgb(maxH, maxS, maxV);
min_R = minrgb[0];
min_G = minrgb[1];
min_B = minrgb[2];
max_R = maxrgb[0];
max_G = maxrgb[1];
max_B = maxrgb[2];
minhsv = document.getElementById("minhsv");
maxhsv = document.getElementById("maxhsv");
var min_rgba = 'RGBA(' + min_R + ', ' + min_G +
', ' + min_B + ', ' + 1 + ')';
var max_rgba = 'RGBA(' + max_R + ', ' + max_G +
', ' + max_B + ', ' + 1 + ')';
minhsv.style.background = min_rgba;
maxhsv.style.background = max_rgba;
var zoomctx = document.getElementById('zoom').getContext('2d');
midx = (firstx + secondx) / 2;
midy = (firsty + secondy) / 2;
var SPX = 20;
var DPX = 200;
zoomctx.drawImage(canvas,
Math.min(Math.max(0, midx - SPX / 2), img.width - SPX),
Math.min(Math.max(0, midy - SPX / 2), img.height - SPX),
SPX, SPX,
0, 0,
DPX, DPX);
var rgba = 'RGBA(' + R + ', ' + G +
', ' + B + ', ' + (255 / 255) + ')';
wrapper.style.background = rgba;
color = document.getElementById("color");
color.textContent = rgba;
if (R + G + B < 480) {
color.style.color = "white";
h.style.color = "white";
s.style.color = "white";
v.style.color = "white";
ctx.strokeStyle = "white";
} else {
color.style.color = "black";
h.style.color = "black";
s.style.color = "black";
v.style.color = "black";
ctx.strokeStyle = "black";
}
ctx.strokeRect(smallx, smally, largex - smallx, largey - smally);
}
// RGB에서 HSV로 변환하는 함수
function rgb2hsv(r, g, b) {
var R = r;
var G = g;
var B = b;
var H = 0;
var S = 0;
var V = Math.max(R, G, B);
if (V != 0) {
S = (V - Math.min(R, G, B)) / V * 255;
} else {
S = 0;
}
if (V == R) {
H = (60 * (G - B)) / (V - Math.min(R, G, B));
} else if (V == G) {
H = 120 + (60 * (B - R)) / (V - Math.min(R, G, B));
} else {
H = 240 + (60 * (R - G)) / (V - Math.min(R, G, B));
}
if (H < 0) {
H = H + 360;
}
H = Math.round(H);
S = Math.round(S);
V = Math.round(V);
return [H, S, V];
}
// HSV에서 RGB로 변환하는 함수
function hsv2rgb(h, s, v) {
H = h;
S = s / 255.0;
V = v / 255.0;
C = V * S;
X = C * (1 - Math.abs((H / 60.0) % 2 - 1));
m = V - C;
if (H >= 0 && H < 60) {
R_ = C;
G_ = X;
B_ = 0;
} else if (H >= 60 && H < 120) {
R_ = X;
G_ = C;
B_ = 0;
} else if (H >= 120 && H < 180) {
R_ = 0;
G_ = C;
B_ = X;
} else if (H >= 180 && H < 240) {
R_ = 0;
G_ = X;
B_ = C;
} else if (H >= 240 && H < 300) {
R_ = X;
G_ = 0;
B_ = C;
} else {
R_ = C;
G_ = 0;
B_ = X;
}
R = (R_ + m) * 255.0;
G = (G_ + m) * 255.0;
B = (B_ + m) * 255.0;
return [R, G, B];
}
// "Put Down Capsule" 버튼
// 단순 절대좌표 이용 이동
function PutDownCapsule() {
if (connected == 0) return;
document.getElementById("joint1").value = 0;
document.getElementById("joint2").value = -36;
document.getElementById("joint3").value = -18;
document.getElementById("joint4").value = 0;
document.getElementById("joint5").value = -32;
document.getElementById("joint6").value = 0;
document.getElementById("x").value = 274;
document.getElementById("y").value = -5;
document.getElementById("z").value = 168;
document.getElementById("roll").value = 11;
document.getElementById("pitch").value = 86;
document.getElementById("yaw").value = 10;
var putdowngoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 1,
joints: [0, -0.627, -0.313, 0, -0.564, 0]
}
}
});
var opengoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 1,
gripper_open_speed: 100
}
}
}
});
var closegoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 2,
gripper_close_speed: 500
}
}
}
});
var restjoint = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 1,
joints: [0, 0.62, -1.359, 0, 0, 0]
}
}
});
putdowngoal.send();
putdowngoal.on('result', function() {
opengoal.send();
opengoal.on('result', function() {
restjoint.send();
restjoint.on('result', function() {
closegoal.send();
closegoal.on('result', function() {
learning();
});
});
});
});
};
// "Put In Capsule" 버튼
// 절대 좌표 이용, 속도 조절 추가
function PutInCapsule() {
if (connected == 0) return;
SetVFactorArgument(30);
var machinegoal1 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: 0.25,
y: -0.16,
z: 0.417
},
rpy: {
roll: 0,
pitch: 0,
yaw: 0
}
}
}
});
var machinegoal2 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: 0.27,
y: -0.17,
z: 0.36
},
rpy: {
roll: 0,
pitch: 1.2,
yaw: 0
}
}
}
});
var machinegoal3 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: 0.34,
y: -0.17,
z: 0.376
},
rpy: {
roll: 0,
pitch: 1.2,
yaw: 0
}
}
}
});
var machinegoal4 = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 2,
position: {
x: 0.25,
y: -0.16,
z: 0.417
},
rpy: {
roll: 0,
pitch: 0,
yaw: 0
}
}
}
});
var opengoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 1,
gripper_open_speed: 100
}
}
}
});
var closegoal = new ROSLIB.Goal({
actionClient: MoveActionClient,
goalMessage: {
cmd: {
cmd_type: 6,
tool_cmd: {
tool_id: 13,
cmd_type: 2,
gripper_close_speed: 300
}
}
}
});
machinegoal1.send();
machinegoal1.on('result', function() {
machinegoal2.send();
SetVFactorArgument(10);
machinegoal2.on('result', function() {
opengoal.send();
opengoal.on('result', function() {
SetVFactorArgument(100);
closegoal.send();
closegoal.on('result', function() {
machinegoal4.send();
});
});