def init_atlas_command():
# Initialize an Atlas command structure
n = 28
command = AtlasCommand()
command.position = [0] * n
command.velocity = [0] * n
command.effort = [0] * n
command.kp_velocity = [0] * n
command.k_effort = [0] * n
command.kp_position = [ rospy.get_param('atlas_controller/gains/' + name + '/p')
for name in ATLAS_JOINT_NAMES ]
command.ki_position = [ rospy.get_param('atlas_controller/gains/' + name + '/i')
for name in ATLAS_JOINT_NAMES ]
command.kd_position = [ rospy.get_param('atlas_controller/gains/' + name + '/d')
for name in ATLAS_JOINT_NAMES ]
command.i_effort_max = [ rospy.get_param("atlas_controller/gains/" + name + "/i_clamp")
for name in ATLAS_JOINT_NAMES ]
command.i_effort_min = [ -i_clamp for i_clamp in command.i_effort_max ]
# Move the stupid head down
command.position[3] = 0.3
command.k_effort[3] = 255
return command
def initAtlasCommand():
n = 28
command = AtlasCommand()
command.position = [0] * n
command.velocity = [0] * n
command.effort = [0] * n
command.kp_position = [0] * n
command.ki_position = [0] * n
command.kd_position = [0] * n
command.kp_velocity = [0] * n
command.k_effort = [0] * n
return command
def demo(self):
# Step 1: Go to stand-prep pose under user control
stand_prep_msg = AtlasCommand()
# Always insert current time
stand_prep_msg.header.stamp = rospy.Time.now()
# Assign some position and gain values that will get us there.
stand_prep_msg.position = [
2.438504816382192e-05, 0.0015186156379058957,
9.983908967114985e-06, -0.0010675729718059301,
-0.0003740221436601132, 0.06201673671603203, -0.2333149015903473,
0.5181407332420349, -0.27610817551612854, -0.062101610004901886,
0.00035181696875952184, -0.06218484416604042, -0.2332201600074768,
0.51811283826828, -0.2762000858783722, 0.06211360543966293,
0.29983898997306824, -1.303462266921997, 2.0007927417755127,
0.49823325872421265, 0.0003098883025813848, -0.0044272784143686295,
0.29982614517211914, 1.3034454584121704, 2.000779867172241,
-0.498238742351532, 0.0003156556049361825, 0.004448802210390568
]
stand_prep_msg.velocity = [0.0] * self.NUM_JOINTS
stand_prep_msg.effort = [0.0] * self.NUM_JOINTS
stand_prep_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Going to stand prep position...')
self.ac_pub.publish(stand_prep_msg)
time.sleep(2.0)
# Step 2: Request BDI stand mode
stand_msg = AtlasSimInterfaceCommand()
# Always insert current time
stand_msg.header.stamp = rospy.Time.now()
# Tell it to stand
stand_msg.behavior = stand_msg.STAND_PREP
# Set k_effort = [255] to indicate that we still want all joints under user
# control. The stand behavior needs a few iterations before it start
# outputting force values.
stand_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Warming up BDI stand...')
self.asic_pub.publish(stand_msg)
time.sleep(1.0)
# Now switch to stand
stand_msg.behavior = stand_msg.STAND
# Set k_effort = [0] to indicate that we want all joints under BDI control
stand_msg.k_effort = [0] * self.NUM_JOINTS
# Publish and give time to take effect
print('[BDI] Standing...')
self.asic_pub.publish(stand_msg)
time.sleep(2.0)
# Step 3: Move the arms and head a little (not too much; don't want to fall
# over)
slight_movement_msg = AtlasCommand()
# Always insert current time
slight_movement_msg.header.stamp = rospy.Time.now()
# Start with 0.0 and set values for the joints that we want to control
slight_movement_msg.position = [0.0] * self.NUM_JOINTS
slight_movement_msg.position[AtlasState.neck_ry] = -0.1
slight_movement_msg.position[AtlasState.l_arm_ely] = 2.1
slight_movement_msg.position[AtlasState.l_arm_wrx] = -0.1
slight_movement_msg.position[AtlasState.r_arm_ely] = 2.1
slight_movement_msg.position[AtlasState.r_arm_wrx] = -0.1
slight_movement_msg.velocity = [0.0] * self.NUM_JOINTS
slight_movement_msg.effort = [0.0] * self.NUM_JOINTS
slight_movement_msg.kp_position = [
20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0,
300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0,
200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0,
100.0
]
slight_movement_msg.ki_position = [0.0] * self.NUM_JOINTS
slight_movement_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
stand_prep_msg.kp_velocity = [50.0] * self.NUM_JOINTS
slight_movement_msg.i_effort_min = [0.0] * self.NUM_JOINTS
slight_movement_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] for the joints that we want to control.
# BDI has control of the other joints
slight_movement_msg.k_effort = [0] * self.NUM_JOINTS
slight_movement_msg.k_effort[AtlasState.neck_ry] = 255
slight_movement_msg.k_effort[AtlasState.l_arm_ely] = 255
slight_movement_msg.k_effort[AtlasState.l_arm_wrx] = 255
slight_movement_msg.k_effort[AtlasState.r_arm_ely] = 255
slight_movement_msg.k_effort[AtlasState.r_arm_wrx] = 255
# Publish and give time to take effect
print('[USER/BDI] Command neck and arms...')
self.ac_pub.publish(slight_movement_msg)
time.sleep(2.0)
# Step 4: Request BDI walk
walk_msg = AtlasSimInterfaceCommand()
# Always insert current time
walk_msg.header.stamp = rospy.Time.now()
# Tell it to walk
walk_msg.behavior = walk_msg.WALK
walk_msg.walk_params.use_demo_walk = False
# Fill in some steps
for i in range(4):
step_data = AtlasBehaviorStepData()
# Steps are indexed starting at 1
step_data.step_index = i + 1
# 0 = left, 1 = right
step_data.foot_index = i % 2
# 0.3 is a good number
step_data.swing_height = 0.3
# 0.63 is a good number
step_data.duration = 0.63
# We'll specify desired foot poses in ego-centric frame then
# transform them into the robot's world frame.
# Match feet so that we end with them together
step_data.pose.position.x = (1 + i / 2) * 0.25
# Step 0.15m to either side of center, alternating with feet
step_data.pose.position.y = 0.15 if (i % 2 == 0) else -0.15
step_data.pose.position.z = 0.0
# Point those feet straight ahead
step_data.pose.orientation.x = 0.0
step_data.pose.orientation.y = 0.0
step_data.pose.orientation.z = 0.0
step_data.pose.orientation.w = 1.0
# Transform this foot pose according to robot's
# current estimated pose in the world, which is a combination of IMU
# and internal position estimation.
# http://www.ros.org/wiki/kdl/Tutorials/Frame%20transformations%20%28Python%29
f1 = posemath.fromMsg(step_data.pose)
f2 = PyKDL.Frame(
PyKDL.Rotation.Quaternion(self.imu_msg.orientation.x,
self.imu_msg.orientation.y,
self.imu_msg.orientation.z,
self.imu_msg.orientation.w),
PyKDL.Vector(self.asis_msg.pos_est.position.x,
self.asis_msg.pos_est.position.y,
self.asis_msg.pos_est.position.z))
f = f2 * f1
step_data.pose = posemath.toMsg(f)
walk_msg.walk_params.step_queue[i] = step_data
# Use the same k_effort from the last step, to retain user control over some
# joints. BDI has control of the other joints.
walk_msg.k_effort = slight_movement_msg.k_effort
# Publish and give time to take effect
print('[USER/BDI] Walking...')
self.asic_pub.publish(walk_msg)
time.sleep(6.0)
# Step 5: Go back to home pose under user control
home_msg = AtlasCommand()
# Always insert current time
home_msg.header.stamp = rospy.Time.now()
# Assign some position and gain values that will get us there.
home_msg.position = [0.0] * self.NUM_JOINTS
home_msg.velocity = [0.0] * self.NUM_JOINTS
home_msg.effort = [0.0] * self.NUM_JOINTS
home_msg.kp_position = [
20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0,
300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0,
200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0,
100.0
]
home_msg.ki_position = [0.0] * self.NUM_JOINTS
home_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
home_msg.kp_velocity = [50.0] * self.NUM_JOINTS
home_msg.i_effort_min = [0.0] * self.NUM_JOINTS
home_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] to indicate that we want all joints under user control
home_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Going to home position...')
self.ac_pub.publish(home_msg)
time.sleep(2.0)
2000, 1000, 200, 200, 50, 100, # left arm
2000, 1000, 200, 200, 50, 100] # right arm
g_jc.kd_position = [0.1, 2.0, 1.0, 1.0, # back
0.01, 1.0, 10.0, 10.0, 2.0, 1.0, # left leg
0.01, 1.0, 10.0, 10.0, 2.0, 1.0, # right leg
3.0, 20.0, 3.0, 3.0, 0.1, 0.2, # left arm
3.0, 20.0, 3.0, 3.0, 0.1, 0.2] # right arm
'''
g_jc.kp_position = [4000, 4000, 14000, 20, # back
2000, 2000, 2000, 1000, 900, 300, # left leg
2000, 2000, 2000, 1000, 900, 300, # right leg
2000, 1000, 200, 200, 50, 100, # left arm
2000, 1000, 200, 200, 50, 100] # right arm
g_jc.kd_position = [100.0, 100.0, 100.0, 1.0, # back
10.0, 10.0, 10.0, 10.0, 2.0, 1.0, # left leg
10.0, 10.0, 10.0, 10.0, 2.0, 1.0, # right leg
20.0, 20.0, 3.0, 3.0, 0.1, 0.2, # left arm
20.0, 20.0, 3.0, 3.0, 0.1, 0.2] # right arm
g_jc.position = [0] * 28
g_jc.k_effort = [255] * 28 # full User PID mode
# g_jc.k_effort = [ 255, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255] # uncomment to work with manipulate stand mode
g_ac_pub = rospy.Publisher('atlas/atlas_command', AtlasCommand)
g_jc_rh.name = ["f0_j0", "f0_j1", "f0_j2",
"f1_j0", "f1_j1", "f1_j2",
"f2_j0", "f2_j1", "f2_j2",
"f3_j0", "f3_j1", "f3_j2"]
g_jc_lh.name = ["f0_j0", "f0_j1", "f0_j2",
"f1_j0", "f1_j1", "f1_j2",
def demo(self):
# Step 0: Go to home pose under user control
home_msg = AtlasCommand()
# Always insert current time
home_msg.header.stamp = rospy.Time.now()
# Assign some position and gain values that will get us there.
home_msg.position = [0.0] * self.NUM_JOINTS
home_msg.velocity = [0.0] * self.NUM_JOINTS
home_msg.effort = [0.0] * self.NUM_JOINTS
home_msg.kp_position = [20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0]
home_msg.ki_position = [0.0] * self.NUM_JOINTS
home_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
home_msg.kp_velocity = [50.0] * self.NUM_JOINTS
home_msg.i_effort_min = [0.0] * self.NUM_JOINTS
home_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] to indicate that we want all joints under user control
home_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Going to home position...')
self.ac_pub.publish(home_msg)
time.sleep(2.0)
# Step 1: Go to stand-prep pose under user control
stand_prep_msg = AtlasCommand()
# Always insert current time
stand_prep_msg.header.stamp = rospy.Time.now()
# Assign some position and gain values that will get us there.
stand_prep_msg.position = [2.438504816382192e-05, 0.0015186156379058957, 9.983908967114985e-06, -0.0010675729718059301, -0.0003740221436601132, 0.06201673671603203, -0.2333149015903473, 0.5181407332420349, -0.27610817551612854, -0.062101610004901886, 0.00035181696875952184, -0.06218484416604042, -0.2332201600074768, 0.51811283826828, -0.2762000858783722, 0.06211360543966293, 0.29983898997306824, -1.303462266921997, 2.0007927417755127, 0.49823325872421265, 0.0003098883025813848, -0.0044272784143686295, 0.29982614517211914, 1.3034454584121704, 2.000779867172241, -0.498238742351532, 0.0003156556049361825, 0.004448802210390568]
stand_prep_msg.velocity = [0.0] * self.NUM_JOINTS
stand_prep_msg.effort = [0.0] * self.NUM_JOINTS
stand_prep_msg.kp_position = [20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0]
stand_prep_msg.ki_position = [0.0] * self.NUM_JOINTS
stand_prep_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
stand_prep_msg.kp_velocity = [50.0] * self.NUM_JOINTS
stand_prep_msg.i_effort_min = [0.0] * self.NUM_JOINTS
stand_prep_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] to indicate that we want all joints under user control
stand_prep_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Going to stand prep position...')
self.ac_pub.publish(stand_prep_msg)
time.sleep(2.0)
# Step 2: Request BDI stand mode
stand_msg = AtlasSimInterfaceCommand()
# Always insert current time
stand_msg.header.stamp = rospy.Time.now()
# Tell it to stand
stand_msg.behavior = stand_msg.STAND_PREP
# Set k_effort = [255] to indicate that we still want all joints under user
# control. The stand behavior needs a few iterations before it start
# outputting force values.
stand_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Warming up BDI stand...')
self.asic_pub.publish(stand_msg)
time.sleep(1.0)
# Now switch to stand
stand_msg.behavior = stand_msg.STAND
# Set k_effort = [0] to indicate that we want all joints under BDI control
stand_msg.k_effort = [0] * self.NUM_JOINTS
# Publish and give time to take effect
print('[BDI] Standing...')
self.asic_pub.publish(stand_msg)
time.sleep(2.0)
# Step 3: Move the arms and head a little (not too much; don't want to fall
# over)
slight_movement_msg = AtlasCommand()
# Always insert current time
slight_movement_msg.header.stamp = rospy.Time.now()
# Start with 0.0 and set values for the joints that we want to control
slight_movement_msg.position = [0.0] * self.NUM_JOINTS
slight_movement_msg.position[AtlasState.neck_ay] = -0.1
slight_movement_msg.position[AtlasState.l_arm_ely] = 2.1
slight_movement_msg.position[AtlasState.l_arm_mwx] = -0.1
slight_movement_msg.position[AtlasState.r_arm_ely] = 2.1
slight_movement_msg.position[AtlasState.r_arm_mwx] = -0.1
slight_movement_msg.velocity = [0.0] * self.NUM_JOINTS
slight_movement_msg.effort = [0.0] * self.NUM_JOINTS
slight_movement_msg.kp_position = [20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0]
slight_movement_msg.ki_position = [0.0] * self.NUM_JOINTS
slight_movement_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
stand_prep_msg.kp_velocity = [50.0] * self.NUM_JOINTS
slight_movement_msg.i_effort_min = [0.0] * self.NUM_JOINTS
slight_movement_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] for the joints that we want to control.
# BDI has control of the other joints
slight_movement_msg.k_effort = [0] * self.NUM_JOINTS
slight_movement_msg.k_effort[AtlasState.neck_ay] = 255
slight_movement_msg.k_effort[AtlasState.l_arm_ely] = 255
slight_movement_msg.k_effort[AtlasState.l_arm_mwx] = 255
slight_movement_msg.k_effort[AtlasState.r_arm_ely] = 255
slight_movement_msg.k_effort[AtlasState.r_arm_mwx] = 255
# Publish and give time to take effect
print('[USER/BDI] Command neck and arms...')
self.ac_pub.publish(slight_movement_msg)
time.sleep(2.0)
# Step 4: Request BDI walk
walk_msg = AtlasSimInterfaceCommand()
# Always insert current time
walk_msg.header.stamp = rospy.Time.now()
# Tell it to walk
walk_msg.behavior = walk_msg.WALK
walk_msg.walk_params.use_demo_walk = False
# Fill in some steps
for i in range(4):
step_data = AtlasBehaviorStepData()
# Steps are indexed starting at 1
step_data.step_index = i+1
# 0 = left, 1 = right
step_data.foot_index = i%2
# 0.3 is a good number
step_data.swing_height = 0.3
# 0.63 is a good number
step_data.duration = 0.63
# We'll specify desired foot poses in ego-centric frame then
# transform them into the robot's world frame.
# Match feet so that we end with them together
step_data.pose.position.x = (1+i/2)*0.25
# Step 0.15m to either side of center, alternating with feet
step_data.pose.position.y = 0.15 if (i%2==0) else -0.15
step_data.pose.position.z = 0.0
# Point those feet straight ahead
step_data.pose.orientation.x = 0.0
step_data.pose.orientation.y = 0.0
step_data.pose.orientation.z = 0.0
step_data.pose.orientation.w = 1.0
# Transform this foot pose according to robot's
# current estimated pose in the world, which is a combination of IMU
# and internal position estimation.
# http://www.ros.org/wiki/kdl/Tutorials/Frame%20transformations%20%28Python%29
f1 = posemath.fromMsg(step_data.pose)
f2 = PyKDL.Frame(PyKDL.Rotation.Quaternion(self.imu_msg.orientation.x,
self.imu_msg.orientation.y,
self.imu_msg.orientation.z,
self.imu_msg.orientation.w),
PyKDL.Vector(self.asis_msg.pos_est.position.x,
self.asis_msg.pos_est.position.y,
self.asis_msg.pos_est.position.z))
f = f2 * f1
step_data.pose = posemath.toMsg(f)
walk_msg.walk_params.step_queue[i] = step_data
# Use the same k_effort from the last step, to retain user control over some
# joints. BDI has control of the other joints.
walk_msg.k_effort = slight_movement_msg.k_effort
# Publish and give time to take effect
print('[USER/BDI] Walking...')
self.asic_pub.publish(walk_msg)
time.sleep(6.0)
# Step 5: Go back to home pose under user control
home_msg = AtlasCommand()
# Always insert current time
home_msg.header.stamp = rospy.Time.now()
# Assign some position and gain values that will get us there.
home_msg.position = [0.0] * self.NUM_JOINTS
home_msg.velocity = [0.0] * self.NUM_JOINTS
home_msg.effort = [0.0] * self.NUM_JOINTS
home_msg.kp_position = [20.0, 4000.0, 2000.0, 20.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 5.0, 100.0, 2000.0, 1000.0, 900.0, 300.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0, 2000.0, 1000.0, 200.0, 200.0, 50.0, 100.0]
home_msg.ki_position = [0.0] * self.NUM_JOINTS
home_msg.kd_position = [0.0] * self.NUM_JOINTS
# Bump up kp_velocity to reduce the jerkiness of the transition
home_msg.kp_velocity = [50.0] * self.NUM_JOINTS
home_msg.i_effort_min = [0.0] * self.NUM_JOINTS
home_msg.i_effort_max = [0.0] * self.NUM_JOINTS
# Set k_effort = [1] to indicate that we want all joints under user control
home_msg.k_effort = [255] * self.NUM_JOINTS
# Publish and give time to take effect
print('[USER] Going to home position...')
self.ac_pub.publish(home_msg)
time.sleep(2.0)