pick_and_place_experiments.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import jupyros as jr\n",
    "import rospy\n",
    "import numpy as np\n",
    "from sensor_msgs import msg\n",
    "import cv2\n",
    "import cv_bridge\n",
    "from copy import deepcopy\n",
    "import ipywidgets as widgets\n",
    "from IPython.display import clear_output, Image, display\n",
    "import PIL.Image\n",
    "from cStringIO import StringIO\n",
    "import matplotlib.pyplot as plt\n",
    "import dvrk\n",
    "import PyKDL\n",
    "import tf\n",
    "from tf_conversions import posemath\n",
    "import time\n",
    "\n",
    "from __future__ import print_function\n",
    "from ipywidgets import interact, interactive, fixed, interact_manual\n",
    "import ipywidgets as widgets"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "rospy.init_node('notebook')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[['/dvrk/setup_joint/robot_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/current_state', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/wrench_body_current', 'geometry_msgs/WrenchStamped'],\n",
       " ['/dvrk/SUJ/PSM2/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM2/joint_velocity_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/PSM3/manip_clutch', 'std_msgs/Bool'],\n",
       " ['/dvrk/PSM3/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM1/status', 'std_msgs/String'],\n",
       " ['/dvrk/PSM2/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM1/joint_velocity_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/SUJ/PSM3/position_cartesian_local_current',\n",
       "  'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM2/position_cartesian_local_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM2/robot_state', 'std_msgs/String'],\n",
       " ['/dvrk/SUJ/PSM1/position_cartesian_local_current',\n",
       "  'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM1/jacobian_body', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/PSM2/current_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/error', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/twist_body_current', 'geometry_msgs/TwistStamped'],\n",
       " ['/dvrk/PSM3/position_cartesian_local_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/jacobian_body', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/ECM/joint_states', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/ECM/twist_body_current', 'geometry_msgs/TwistStamped'],\n",
       " ['/dvrk/PSM2/error', 'std_msgs/String'],\n",
       " ['/tf', 'tf2_msgs/TFMessage'],\n",
       " ['/stereo/right/camera_info', 'sensor_msgs/CameraInfo'],\n",
       " ['/dvrk/PSM2/wrench_body_current', 'geometry_msgs/WrenchStamped'],\n",
       " ['/dvrk/PSM3/state_jaw_current', 'sensor_msgs/JointState'],\n",
       " ['/stereo/left/camera_info', 'sensor_msgs/CameraInfo'],\n",
       " ['/dvrk/PSM1/position_cartesian_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/tf_static', 'tf2_msgs/TFMessage'],\n",
       " ['/dvrk/PSM2/jacobian_spatial', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/PSM3/twist_body_current', 'geometry_msgs/TwistStamped'],\n",
       " ['/dvrk/PSM2/warning', 'std_msgs/String'],\n",
       " ['/dvrk/PSM2/jacobian_body', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/PSM3/status', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/joint_acceleration_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/PSM2/joint_states', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM1/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/SUJ/PSM3/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/rosout_agg', 'rosgraph_msgs/Log'],\n",
       " ['/dvrk/SUJ/ECM/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM2/state_jaw_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/ECM/jacobian_spatial', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/ECM/goal_reached', 'std_msgs/Bool'],\n",
       " ['/dvrk/PSM3/wrench_body_current', 'geometry_msgs/WrenchStamped'],\n",
       " ['/dvrk/PSM1/warning', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/error', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/stereo/right/image_raw', 'sensor_msgs/Image'],\n",
       " ['/dvrk/PSM3/position_cartesian_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/position_cartesian_local_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/SUJ/PSM3/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/error', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/jacobian_body', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/console/teleop/scale', 'std_msgs/Float32'],\n",
       " ['/dvrk/PSM3/goal_reached', 'std_msgs/Bool'],\n",
       " ['/stereo/right/image_flipped', 'sensor_msgs/Image'],\n",
       " ['/dvrk/PSM2/position_cartesian_local_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/SUJ/ECM/position_cartesian_local_current',\n",
       "  'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/console/teleop/teleop_psm_selected', 'diagnostic_msgs/KeyValue'],\n",
       " ['/dvrk/PSM3/current_state', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/state_joint_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/console/teleop/teleop_psm_unselected', 'diagnostic_msgs/KeyValue'],\n",
       " ['/dvrk/PSM2/position_cartesian_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/ECM/position_cartesian_local_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/tf_broadcast/period_statistics', 'cisst_msgs/mtsIntervalStatistics'],\n",
       " ['/dvrk/PSM1/desired_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM3/state_jaw_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/ECM/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM1/position_cartesian_local_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM1/wrench_body_current', 'geometry_msgs/WrenchStamped'],\n",
       " ['/dvrk/SUJ/ECM/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/ECM/status', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/current_state', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/joint_velocity_ratio', 'std_msgs/Float64'],\n",
       " ['/stereo/left/image_raw', 'sensor_msgs/Image'],\n",
       " ['/dvrk/PSM3/jacobian_spatial', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/ECM/manip_clutch', 'sensor_msgs/Joy'],\n",
       " ['/dvrk/PSM2/desired_state', 'std_msgs/String'],\n",
       " ['/dvrk/SUJ/PSM2/position_cartesian_local_current',\n",
       "  'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/SUJ/PSM1/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM2/manip_clutch', 'std_msgs/Bool'],\n",
       " ['/dvrk/ECM/position_cartesian_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/joint_acceleration_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/PSM2/state_jaw_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM3/desired_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/manip_clutch', 'std_msgs/Bool'],\n",
       " ['/dvrk/PSM1/state_joint_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/spin/period_statistics', 'cisst_msgs/mtsIntervalStatistics'],\n",
       " ['/dvrk/ECM/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/rosout', 'rosgraph_msgs/Log'],\n",
       " ['/dvrk/PSM3/robot_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM2/goal_reached', 'std_msgs/Bool'],\n",
       " ['/dvrk/PSM2/joint_acceleration_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/PSM2/status', 'std_msgs/String'],\n",
       " ['/dvrk/PSM2/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM1/goal_reached', 'std_msgs/Bool'],\n",
       " ['/stereo/left/image_flipped', 'sensor_msgs/Image'],\n",
       " ['/dvrk/PSM1/jacobian_spatial', 'std_msgs/Float64MultiArray'],\n",
       " ['/dvrk/PSM2/state_joint_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/SUJ/PSM2/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM1/joint_acceleration_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/SUJ/PSM1/position_cartesian_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/ECM/desired_state', 'std_msgs/String'],\n",
       " ['/dvrk/PSM1/position_cartesian_local_current', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/ECM/warning', 'std_msgs/String'],\n",
       " ['/dvrk/PSM3/joint_states', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM1/state_jaw_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/setup_joint/state_joint_current', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM3/joint_velocity_ratio', 'std_msgs/Float64'],\n",
       " ['/dvrk/publishers/period_statistics', 'cisst_msgs/mtsIntervalStatistics'],\n",
       " ['/dvrk/PSM1/joint_states', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM3/warning', 'std_msgs/String'],\n",
       " ['/dvrk/ECM/position_cartesian_local_desired', 'geometry_msgs/PoseStamped'],\n",
       " ['/dvrk/PSM3/state_joint_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM1/state_jaw_desired', 'sensor_msgs/JointState'],\n",
       " ['/dvrk/PSM2/twist_body_current', 'geometry_msgs/TwistStamped']]"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "rospy.get_published_topics()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "31e99bb97cb6477f8049d2b0e350b6fe",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "VkJveChjaGlsZHJlbj0oSEJveChjaGlsZHJlbj0oQnV0dG9uKGRlc2NyaXB0aW9uPXUnU3RvcCcsIHN0eWxlPUJ1dHRvblN0eWxlKCkpLCkpLCBPdXRwdXQobGF5b3V0PUxheW91dChib3JkZXLigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "bridge = cv_bridge.CvBridge()\n",
    "left_image = None\n",
    "left_image_msg = None\n",
    "left_camera_info = None\n",
    "\n",
    "right_image = None\n",
    "right_image_msg = None\n",
    "right_camera_info = None\n",
    "\n",
    "def left_image_callback(im_msg):\n",
    "    global left_image, left_image_msg\n",
    "    left_image = bridge.imgmsg_to_cv2(im_msg, desired_encoding='rgb8')\n",
    "    left_image_msg = im_msg\n",
    "    \n",
    "def right_image_callback(im_msg):\n",
    "    global right_image, right_image_msg\n",
    "    right_image = bridge.imgmsg_to_cv2(im_msg, desired_encoding='rgb8')\n",
    "    right_image_msg = im_msg\n",
    "    \n",
    "def left_camera_info_callback(camera_info_msg):\n",
    "    global left_camera_info\n",
    "    left_camera_info = camera_info_msg\n",
    "    \n",
    "def right_camera_info_callback(camera_info_msg):\n",
    "    global right_camera_info\n",
    "    right_camera_info = camera_info_msg\n",
    "    \n",
    "jr.subscribe('/stereo/left/image_flipped', msg.Image, left_image_callback)\n",
    "jr.subscribe('/stereo/left/camera_info', msg.CameraInfo, left_camera_info_callback)\n",
    "jr.subscribe('/stereo/right/image_flipped', msg.Image, right_image_callback)\n",
    "jr.subscribe('/stereo/right/camera_info', msg.CameraInfo, right_camera_info_callback)\n",
    "\n",
    "# while left_image is None or right_image is None:\n",
    "#     print(\"left or right image not receieved\")\n",
    "#     time.sleep(0.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4b458b7c90>"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.imshow(left_image)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7f4b457cab50>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.imshow(right_image)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "LEFT CAM\n",
      "header: \n",
      "  seq: 402\n",
      "  stamp: \n",
      "    secs: 1627246924\n",
      "    nsecs: 158421993\n",
      "  frame_id: \"left_camera\"\n",
      "height: 288\n",
      "width: 360\n",
      "distortion_model: \"plumb_bob\"\n",
      "D: [0.0, 0.0, 0.0, 0.0, 0.0]\n",
      "K: [311.9603517065951, 0.0, 180.0, 0.0, 311.9603517065951, 144.0, 0.0, 0.0, 1.0]\n",
      "R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]\n",
      "P: [311.9603517065951, 0.0, 180.0, 0.0, 0.0, 311.9603517065951, 144.0, 0.0, 0.0, 0.0, 1.0, 0.0]\n",
      "binning_x: 1\n",
      "binning_y: 1\n",
      "roi: \n",
      "  x_offset: 0\n",
      "  y_offset: 0\n",
      "  height: 0\n",
      "  width: 0\n",
      "  do_rectify: True\n",
      "RIGHT_CAM\n",
      "header: \n",
      "  seq: 402\n",
      "  stamp: \n",
      "    secs: 1627246924\n",
      "    nsecs: 158421993\n",
      "  frame_id: \"right_camera\"\n",
      "height: 288\n",
      "width: 360\n",
      "distortion_model: \"plumb_bob\"\n",
      "D: [0.0, 0.0, 0.0, 0.0, 0.0]\n",
      "K: [311.9603517065951, 0.0, 180.0, 0.0, 311.9603517065951, 144.0, 0.0, 0.0, 1.0]\n",
      "R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]\n",
      "P: [311.9603517065951, 0.0, 180.0, -1.5598017585329753, 0.0, 311.9603517065951, 144.0, 0.0, 0.0, 0.0, 1.0, 0.0]\n",
      "binning_x: 1\n",
      "binning_y: 1\n",
      "roi: \n",
      "  x_offset: 0\n",
      "  y_offset: 0\n",
      "  height: 0\n",
      "  width: 0\n",
      "  do_rectify: True\n"
     ]
    }
   ],
   "source": [
    "print(\"LEFT CAM\")\n",
    "print(left_camera_info)\n",
    "print(\"RIGHT_CAM\")\n",
    "print(right_camera_info)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "psm1 = None \n",
    "ecm = None\n",
    "suj = None\n",
    "debug_output = widgets.Output(layout={'border': '1px solid black'})\n",
    "\n",
    "with debug_output:\n",
    "    global psm1, psm2, psm3, ecm\n",
    "    psm1 = dvrk.psm('PSM1')\n",
    "    ecm = dvrk.ecm('ECM')\n",
    "    psm2 = dvrk.psm('PSM2')\n",
    "    psm3 = dvrk.psm('PSM3')\n",
    "    \n",
    "    psm1_suj = dvrk.suj('PSM1')\n",
    "    psm2_suj = dvrk.suj('PSM2')\n",
    "    psm3_suj = dvrk.suj('PSM3')\n",
    "    ecm_suj = dvrk.suj('ECM')\n",
    "    \n",
    "while ecm.get_current_position() == PyKDL.Frame() or ecm.get_desired_position() == PyKDL.Frame():\n",
    "    time.sleep(0.5)\n",
    "while psm1.get_current_position() == PyKDL.Frame() or psm1.get_desired_position() == PyKDL.Frame():\n",
    "    time.sleep(0.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "tf_listener = tf.TransformListener()\n",
    "time.sleep(5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/iandre/dvrk_ws/src/geometry/tf/src/tf/listener.py:97: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.\n",
      "  data = yaml.load(self._buffer.all_frames_as_yaml()) or {}\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "['PSM2_tool_wrist_shaft_link',\n",
       " 'PSM3_outer_pitch_bottom_link',\n",
       " 'PSM1_RCM',\n",
       " 'PSM3_outer_pitch_front_link',\n",
       " 'PSM2_tool_main_link',\n",
       " 'PSM2_outer_insertion_link',\n",
       " 'PSM1_tool_wrist_sca_ee_link_0',\n",
       " 'PSM1_tool_wrist_sca_ee_link_1',\n",
       " 'PSM1_tool_wrist_sca_ee_link_2',\n",
       " 'PSM2_outer_pitch_bottom_link',\n",
       " 'PSM2_tool_wrist_caudier_link_shaft',\n",
       " 'PSM3_tool_wrist_link',\n",
       " 'ECM',\n",
       " 'PSM1_outer_pitch_link',\n",
       " 'PSM2_base',\n",
       " 'camera',\n",
       " 'PSM1_outer_pitch_front_link',\n",
       " 'ecm_pitch_link',\n",
       " 'PSM2_RCM',\n",
       " 'PSM2_tool_wrist_caudier_link',\n",
       " 'PSM3_tool_wrist_caudier_link_2_right',\n",
       " 'ecm_pitch_link_1',\n",
       " 'ecm_pitch_link_2',\n",
       " 'PSM3_tool_wrist_caudier_link',\n",
       " 'PSM1_tool_wrist_sca_link',\n",
       " 'PSM2_outer_pitch_top_link',\n",
       " 'PSM3_tool_wrist_caudier_link_2_left',\n",
       " 'PSM3_outer_pitch_back_link',\n",
       " 'PSM1_outer_pitch_top_link',\n",
       " 'Vision_sensor_left',\n",
       " 'simworld',\n",
       " 'PSM2_tool_wrist_caudier_link_2_right',\n",
       " 'ecm_base_link',\n",
       " 'PSM1_tool_wrist_link',\n",
       " 'PSM1_tool_main_link',\n",
       " 'PSM3_tool_wrist_caudier_ee_link_0',\n",
       " 'PSM2_tool_wrist_link',\n",
       " 'Jp21_ECM',\n",
       " 'ecm_setup_base_link',\n",
       " 'PSM3_tool_wrist_caudier_ee_link',\n",
       " 'PSM1_tool_wrist_sca_shaft_link',\n",
       " 'PSM2_psm_base_link',\n",
       " 'PSM3_outer_pitch_link',\n",
       " 'PSM3_outer_insertion_link',\n",
       " 'PSM2_outer_pitch_front_link',\n",
       " 'ecm_roll_link',\n",
       " 'PSM2_tool_wrist_caudier_link_2_left',\n",
       " 'PSM1',\n",
       " 'PSM2',\n",
       " 'PSM3',\n",
       " 'PSM2_tool_wrist_caudier_ee_link',\n",
       " 'ecm_setup_link',\n",
       " 'ECM_RCM',\n",
       " 'ecm_yaw_link',\n",
       " 'PSM2_outer_pitch_link',\n",
       " 'ecm_pitch_link_3',\n",
       " 'PSM1_outer_yaw_link',\n",
       " 'PSM1_tool_wrist_shaft_link',\n",
       " 'PSM2_outer_pitch_back_link',\n",
       " 'PSM3_base',\n",
       " 'PSM2_tool_wrist_caudier_ee_link_0',\n",
       " 'PSM1_outer_insertion_link',\n",
       " 'PSM3_tool_main_link',\n",
       " 'PSM1_tool_tip_link',\n",
       " 'ECM_base',\n",
       " 'ecm_insertion_link',\n",
       " 'PSM1_outer_pitch_bottom_link',\n",
       " 'PSM3_outer_pitch_top_link',\n",
       " 'PSM3_tool_wrist_shaft_link',\n",
       " 'PSM1_psm_base_link',\n",
       " 'PSM1_outer_pitch_back_link',\n",
       " 'PSM2_outer_yaw_link',\n",
       " 'PSM3_tool_wrist_caudier_link_shaft',\n",
       " 'PSM1_base',\n",
       " 'PSM3_RCM',\n",
       " 'PSM3_psm_base_link',\n",
       " 'J1_PSM1',\n",
       " 'PSM3_outer_yaw_link',\n",
       " 'J1_PSM3',\n",
       " 'J1_PSM2']"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "tf_listener.getFrameStrings()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[-0.          1.39999998 -1.79999995 -0.38       -0.69999999]\n",
      "[ 0.51999998  0.94999999 -1.79999995  0.80000001]\n",
      "----------------------------------\n",
      "[[           1,           0,           0;\n",
      "            0,           1,           0;\n",
      "            0,           0,           1]\n",
      "[-1.50197e-06,      2.0009,      0.9163]]\n",
      "[[          -1, 6.27081e-06, 2.59709e-06;\n",
      " -6.27081e-06,   -0.707176,   -0.707037;\n",
      " -2.59709e-06,   -0.707037,    0.707176]\n",
      "[  3.6871e-06,    0.495318,    0.329477]]\n"
     ]
    }
   ],
   "source": [
    "from math import radians as r\n",
    "\n",
    "# 3 arm setup\n",
    "#height, shoulder, elbow, wrist, rotate\n",
    "# sm1 = [-0.0, -1.3, 1.9, -0.1, -0.8]  # right\n",
    "# sm2 = [-0.0, 1.3, -1.8, -0.2, -0.8]  #  left\n",
    "sm3 = [-0.0, 1.4, -1.8, -0.38, -0.7]  # middle\n",
    "cm = [0.52, 0.95, -1.8, 0.8, 0.0]\n",
    "time.sleep(1)\n",
    "\n",
    "# psm1_suj.move_joint(np.asarray(sm1))\n",
    "# psm2_suj.move_joint(np.asarray(sm2))\n",
    "psm3_suj.move_joint(np.asarray(sm3))\n",
    "ecm_suj.move_joint(np.asarray(cm))\n",
    "\n",
    "# print(psm1_suj.get_current_joint_position())\n",
    "# print(psm2_suj.get_current_joint_position())\n",
    "print(psm3_suj.get_current_joint_position())\n",
    "print(ecm_suj.get_current_joint_position())\n",
    "print('----------------------------------')\n",
    "# print(psm1_suj.get_current_position())\n",
    "# print(psm2_suj.get_current_position())\n",
    "print(psm3_suj.get_current_position())\n",
    "print(ecm_suj.get_current_position())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "85bbee772cce46c9b22891850bbafdc6",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "aW50ZXJhY3RpdmUoY2hpbGRyZW49KEZsb2F0U2xpZGVyKHZhbHVlPTAuNSwgZGVzY3JpcHRpb249dSdhJywgbWF4PTEuMCksIEludFNsaWRlcih2YWx1ZT0wLCBkZXNjcmlwdGlvbj11J2InLCDigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "#a=height,b=shoulder J1,c=elbow J2,d=wrist J3\n",
    "def move_ecm_suj(a, b, c, d, e, f):\n",
    "    ecm_suj.move_joint(np.asarray([a, r(b), r(c), r(d), r(e), r(f)]))\n",
    "interact(move_ecm_suj, a=(0.0,1.0), b=(-180,180), c=(-180,180), d=(-180,180), e=(-180,180), f=(-180,180));"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "46070d32a3674da4901986f1694ec334",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "aW50ZXJhY3RpdmUoY2hpbGRyZW49KEZsb2F0U2xpZGVyKHZhbHVlPTAuNSwgZGVzY3JpcHRpb249dSdhJywgbWF4PTEuMCksIEludFNsaWRlcih2YWx1ZT0wLCBkZXNjcmlwdGlvbj11J2InLCDigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def move_psm1_suj(a, b, c, d, e, f):\n",
    "    psm1_suj.move_joint(np.asarray([a, r(b), r(c), r(d), r(e), r(f)]))\n",
    "interact(move_psm1_suj, a=(0.0,1.0), b=(-180,180), c=(-180,180), d=(-180,180), e=(-180,180), f=(-180,180));"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "8798b2ad78b84b47bcd46303e7f4e1e1",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "aW50ZXJhY3RpdmUoY2hpbGRyZW49KEZsb2F0U2xpZGVyKHZhbHVlPTAuNSwgZGVzY3JpcHRpb249dSdhJywgbWF4PTEuMCksIEludFNsaWRlcih2YWx1ZT0wLCBkZXNjcmlwdGlvbj11J2InLCDigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def move_psm2_suj(a, b, c, d, e, f):\n",
    "    psm2_suj.move_joint(np.asarray([a, r(b), r(c), r(d), r(e), r(f)]))\n",
    "interact(move_psm2_suj, a=(0.0,1.0), b=(-180,180), c=(-180,180), d=(-180,180), e=(-180,180), f=(-180,180));"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "e9186facc44f4bb39cd49b128d960231",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "aW50ZXJhY3RpdmUoY2hpbGRyZW49KEZsb2F0U2xpZGVyKHZhbHVlPTAuNSwgZGVzY3JpcHRpb249dSdhJywgbWF4PTEuMCksIEludFNsaWRlcih2YWx1ZT0wLCBkZXNjcmlwdGlvbj11J2InLCDigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def move_psm3_suj(a, b, c, d, e, f):\n",
    "    psm3_suj.move_joint(np.asarray([a, r(b), r(c), r(d), r(e), r(f)]))\n",
    "interact(move_psm3_suj, a=(0.0,1.0), b=(-180,180), c=(-180,180), d=(-180,180), e=(-180,180), f=(-180,180));"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "#Home PSMs and ECM\n",
    "# ecm: rotate, up/down, zoom, rotate view\n",
    "HARDCODED_ECM_POS = np.array([-0.00, -0.13, 0.15, 0.0])\n",
    "ecm.move_joint(HARDCODED_ECM_POS)\n",
    "\n",
    "# psm: rotate left/right (-1.6,1.6), back/fwd (-60,60), canula up/down (3,15),\n",
    "# canula rot CCW/CW (-360,360), midpoint tip right/left (-90,90), tip right/left(-140,140)\n",
    "PSM_HOME_POS = np.asarray([0.0, 0.2, 0.12, 0.0, 0.0, 0.0])\n",
    "time.sleep(1)\n",
    "\n",
    "#psm1.move_joint(PSM_HOME_POS)\n",
    "psm1.close_jaw()\n",
    "\n",
    "#psm2.move_joint(PSM_HOME_POS)\n",
    "psm2.close_jaw()\n",
    "\n",
    "psm3.move_joint(deepcopy(PSM_HOME_POS))\n",
    "psm3.close_jaw()\n",
    "time.sleep(1)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "47e854182f934d06ab9526eeeb9dab54",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "aW50ZXJhY3RpdmUoY2hpbGRyZW49KEZsb2F0U2xpZGVyKHZhbHVlPTAuMCwgZGVzY3JpcHRpb249dSdhJywgbWF4PTEuNiwgbWluPS0xLjYpLCBGbG9hdFNsaWRlcih2YWx1ZT0wLjAsIGRlc2PigKY=\n"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def move_psm3(a, b, c, d, e, f):\n",
    "    psm3.move_joint(deepcopy(np.asarray([a, r(b), r(c), r(d), r(e), r(f)])))\n",
    "interact(move_psm3, a=(-1.6,1.6), b=(-60.0,60.0), c=(3.0,15.0), d=(-360.0,360.0), e=(-90.0,90.0), f=(-140.0,140.0));"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[    -0.95482,   0.0359685,     1.03764]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x7ff71e615710>"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 720x360 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pick_and_place_utils = None\n",
    "from pick_and_place_utils import get_objects_and_img, tf_to_pykdl_frame, PSM_J1_TO_BASE_LINK_TF\n",
    "import image_geometry\n",
    "\n",
    "stereo_cam = image_geometry.StereoCameraModel()\n",
    "stereo_cam.fromCameraInfo(left_camera_info, right_camera_info)\n",
    "\n",
    "tf_cam_to_world = tf_to_pykdl_frame(tf_listener.lookupTransform('simworld', 'Vision_sensor_left', rospy.Time()))\n",
    "tf_world_to_psm1 = \\\n",
    "    tf_to_pykdl_frame(tf_listener.lookupTransform('PSM1_base', 'simworld', rospy.Time()))\n",
    "tf_world_to_psm2 = \\\n",
    "    tf_to_pykdl_frame(tf_listener.lookupTransform('PSM2_base', 'simworld', rospy.Time()))\n",
    "# tf_world_to_psm3 = \\\n",
    "#     tf_to_pykdl_frame(tf_listener.lookupTransform('PSM3_base', 'simworld', rospy.Time()))\n",
    "\n",
    "objects, left_frame = get_objects_and_img(left_image_msg, right_image_msg, stereo_cam, tf_cam_to_world)\n",
    "\n",
    "ball_pos_cam = objects[0].pos\n",
    "print(ball_pos_cam)\n",
    "\n",
    "plt.figure(figsize=(10, 5))\n",
    "plt.imshow(left_frame)\n",
    "# depth error experiments\n",
    "# (-0.02772727272727273, 0.009545454545454546, 0.14180015986663413) {-0.02987164259, 0.01018744707, 0.1481492519}\n",
    "# (-0.028636363636363637, 0.01, 0.14180015986663413) {-0.02869459987, 0.009940028191, 0.1379978657} \n",
    "# (-0.013333333333333334, 0.010416666666666666, 0.12998347987774794) {-0.01380112767, 0.009659290314, 0.1300171614} \n",
    "# (0.04038461538461539, 0.008076923076923077, 0.11998475065638273) {-0.009348809719, 0.01096570492, 0.1307697296} "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "6"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(objects)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "ename": "TransformException",
     "evalue": "Lookup would require extrapolation into the past.  Requested time 602685.250000000 but the earliest data is at time 1619806930.746637106, when looking up transform from frame [Vision_sensor_left] to frame [ecm_pitch_link_1]",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mTransformException\u001b[0m                        Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-20-88f4ff371f28>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0mball_pos_cam\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mPyKDL\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mVector\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m*\u001b[0m\u001b[0mball_pos_cam\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      2\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m \u001b[0mtf_listener\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mwaitForTransform\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'ecm_pitch_link_1'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'Vision_sensor_left'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrospy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mTime\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrospy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mDuration\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m4.0\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      4\u001b[0m \u001b[0mtf_insertion_to_cam\u001b[0m \u001b[0;34m=\u001b[0m     \u001b[0mtf_listener\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlookupTransform\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'ecm_pitch_link_1'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'Vision_sensor_left'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mrospy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mTime\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      5\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/home/iandre/dvrk_ws/src/geometry/tf/src/tf/listener.pyc\u001b[0m in \u001b[0;36mwaitForTransform\u001b[0;34m(self, target_frame, source_frame, time, timeout, polling_sleep_duration)\u001b[0m\n\u001b[1;32m     74\u001b[0m         \u001b[0mcan_transform\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0merror_msg\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_buffer\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcan_transform\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mstrip_leading_slash\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtarget_frame\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mstrip_leading_slash\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0msource_frame\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtime\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtimeout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mreturn_debug_tuple\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     75\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mcan_transform\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 76\u001b[0;31m             \u001b[0;32mraise\u001b[0m \u001b[0mtf2_ros\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mTransformException\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0merror_msg\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0;34m\"no such transformation: \\\"{}\\\" -> \\\"{}\\\"\"\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mformat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0msource_frame\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtarget_frame\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     77\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     78\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mwaitForTransformFull\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtarget_frame\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtarget_time\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0msource_frame\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0msource_time\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfixed_frame\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtimeout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mpolling_sleep_duration\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mNone\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mTransformException\u001b[0m: Lookup would require extrapolation into the past.  Requested time 602685.250000000 but the earliest data is at time 1619806930.746637106, when looking up transform from frame [Vision_sensor_left] to frame [ecm_pitch_link_1]"
     ]
    }
   ],
   "source": [
    "ball_pos_cam = PyKDL.Vector(*ball_pos_cam)\n",
    "\n",
    "tf_listener.waitForTransform('ecm_pitch_link_1', 'camera', rospy.Time(), rospy.Duration(4.0))\n",
    "tf_insertion_to_cam = \\\n",
    "    tf_listener.lookupTransform('ecm_pitch_link_1', 'camera', rospy.Time())\n",
    "\n",
    "tf_cam_to_jp21 = tf_to_pykdl_frame(tf_insertion_to_cam)\n",
    "ball_pos_jp21 = tf_cam_to_jp21 * ball_pos_cam\n",
    "ball_pos_jp21"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "([-0.3403690046901159, -0.01721697189238136, 1.1507461650239748e-12],\n",
       " [0.7071067811848165,\n",
       "  -1.6653345369377348e-16,\n",
       "  6.938893903907228e-17,\n",
       "  0.7071067811882789])"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# did this to confirm that the /tf transforms provided by dVRK are within margin of error of \n",
    "# actual sim coordinates\n",
    "tf_insertion_to_jp21 = tf_listener.lookupTransform('ecm_pitch_link_1', 'ecm_insertion_link', rospy.Time())\n",
    "tf_insertion_to_jp21"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[    -1.13722,   -0.682046,   -0.116679]"
      ]
     },
     "execution_count": 28,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "tf_jp21_to_world = tf_to_pykdl_frame(tf_listener.lookupTransform('world', 'Jp21_ECM', rospy.Time()))\n",
    "ball_pos_world = tf_jp21_to_world * ball_pos_jp21\n",
    "# i'm a winner\n",
    "ball_pos_world"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[    -0.43362,     1.63785,   -0.446923]"
      ]
     },
     "execution_count": 29,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "tf_world_to_psm2_j1 = tf_to_pykdl_frame(tf_listener.lookupTransform('J1_PSM2', 'world', rospy.Time()))\n",
    "ball_pos_psm2_j1 = tf_world_to_psm2_j1 * ball_pos_world\n",
    "# ok not off by *too* much\n",
    "ball_pos_psm2_j1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[     0.43362,    0.446923,    -1.63785]"
      ]
     },
     "execution_count": 30,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ball_pos_psm2_main = PSM_J1_TO_BASE_LINK_TF * ball_pos_psm2_j1\n",
    "ball_pos_psm2_main"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[ 4.16909e-07, 4.50335e-07,     -0.1135]"
      ]
     },
     "execution_count": 31,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "psm2_rot = psm2.get_current_position().M\n",
    "psm2_pos = psm2.get_current_position().p\n",
    "psm2_pos"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 32,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "psm2.move(ball_pos_psm2_main)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "metadata": {},
   "outputs": [],
   "source": [
    "cam_z_vec_world = (tf_jp21_to_world * tf_cam_to_jp21).M * PyKDL.Vector(0, 0, 1.0)\n",
    "cam_z_vec_psm2_main = (PSM_J1_TO_BASE_LINK_TF * tf_world_to_psm2_j1).M * cam_z_vec_world"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 34,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "psm2.move_joint_one(0., 5)\n",
    "psm2.open_jaw()\n",
    "psm2.dmove(0.03 * cam_z_vec_psm2_main)\n",
    "psm2.close_jaw()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 35,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "psm2.dmove( PyKDL.Vector(0, 0, 0.1))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.colorbar.Colorbar at 0x7f38244ace10>"
      ]
     },
     "execution_count": 34,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 2 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "stereo = cv2.StereoSGBM_create(minDisparity=1, numDisparities=16, blockSize=5)\n",
    "\n",
    "left_image_bw = cv2.cvtColor(left_image, cv2.COLOR_RGB2GRAY)\n",
    "right_image_bw = cv2.cvtColor(right_image, cv2.COLOR_RGB2GRAY)\n",
    "disparity_map = stereo.compute(left_image_bw, right_image_bw)\n",
    "plt.imshow(disparity_map)\n",
    "plt.colorbar()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {
    "lines_to_next_cell": 0
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[[ 61  74]]\n",
      "\n",
      " [[ 60  75]]\n",
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      " [[ 58  75]]\n",
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      " [[ 96 100]]\n",
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    {
     "data": {
      "text/plain": [
       "<matplotlib.collections.PathCollection at 0x7f382456d210>"
      ]
     },
     "execution_count": 35,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "from feature_processor import feature_processor\n",
    "from pick_and_place_utils import FEAT_PATHS, CV_TO_CAM_FRAME_ROT\n",
    "\n",
    "fp = feature_processor(FEAT_PATHS)\n",
    "feats, frame = fp.FindImageFeatures(left_image_msg)\n",
    "\n",
    "bowl = max(feats, key=lambda feat : cv2.contourArea(feat.contour))\n",
    "bowl_pts_cam = []\n",
    "print(bowl.contour)\n",
    "\n",
    "for pt_ in bowl.contour:\n",
    "    pt = tuple(np.clip(pt_[0], (0, 0), np.array(left_image_bw.shape) - np.array([1, 1])))\n",
    "    disparity = disparity_map[pt]\n",
    "    if disparity < 1:\n",
    "        continue\n",
    "    print(disparity)\n",
    "    \n",
    "    cam_xyz = stereo_cam.projectPixelTo3d(pt, disparity)\n",
    "    cam_pt = np.matmul(CV_TO_CAM_FRAME_ROT, cam_xyz)\n",
    "    bowl_pts_cam.append(PyKDL.Vector(*cam_pt))\n",
    "\n",
    "plt.scatter([pt[0] for pt in bowl_pts_cam], [pt[1] for pt in bowl_pts_cam])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {
    "lines_to_next_cell": 2,
    "scrolled": false
   },
   "outputs": [
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       "            </script>\n",
       "        </div>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import plotly\n",
    "import plotly.graph_objects as go \n",
    "\n",
    "plotly.offline.init_notebook_mode()\n",
    "trace = go.Scatter3d(\n",
    "    x = [pt[0] for pt in bowl_pts_cam],\n",
    "    y = [pt[1] for pt in bowl_pts_cam],\n",
    "    z = [pt[2] for pt in bowl_pts_cam],\n",
    "    mode = 'markers', \n",
    "    marker = {\n",
    "            'size': 5,\n",
    "            'opacity': 0.8,\n",
    "        })\n",
    "\n",
    "layout = go.Layout(\n",
    "    margin={'l': 0, 'r': 0, 'b': 0, 't': 0}\n",
    "\n",
    ")\n",
    "\n",
    "data = [trace]\n",
    "plot_figure = go.Figure(data=data, layout=layout)\n",
    "plotly.offline.iplot(plot_figure)\n",
    "# StereoSGBM officially a failed experiment\n",
    "# the point cloud plot is pretty cool though"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[   -0.888332,     0.12878,     1.03925]"
      ]
     },
     "execution_count": 37,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from feature_processor import FeatureType\n",
    "bowl_obj = None\n",
    "for obj in objects:\n",
    "    if obj.type == FeatureType.BOWL:\n",
    "        bowl_obj = obj\n",
    "bowl_obj.pos"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "True"
      ]
     },
     "execution_count": 38,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "bowl_pos_cam = PyKDL.Vector(*bowl_obj.pos)\n",
    "bowl_pos_world = tf_jp21_to_world * (tf_cam_to_jp21 * bowl_pos_cam)\n",
    "bowl_pos_psm2_main = PSM_J1_TO_BASE_LINK_TF * (tf_world_to_psm2_j1 * bowl_pos_world)\n",
    "# add a little bit to the z-axis to avoid hitting the bowl\n",
    "dest_psm2 = bowl_pos_psm2_main + PyKDL.Vector(0, 0, 0.1)\n",
    "psm2.move(dest_psm2)\n",
    "psm2.open_jaw()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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