def main():
rospy.init_node('test_pid_joint_control')
pid_jc_factory = PIDJCFactory('r', [0.05]*7, [0.25]*7,
[0.04]*7, [0.02]*7, [0.070]*7, [0.4]*7,
10., 0.1)
q = [-0.2795571923841168, 0.9737173354972255, 0.60073767302223002, -1.445674103265479, -6.0812198392665415, -1.1110966461101544, 0.3056365620075685]
q = [-0.1, 0.0, 0.0, -0.5, 0.0, -0.4, 0.0]
pid_jc = pid_jc_factory.create_pid_jc(q)
epc = EPC('test_pid_joint_control')
epc.epc_motion(pid_jc, 0.1, 50)
def main():
rospy.init_node('test_pid_joint_control')
pid_jc_factory = PIDJCFactory('r', [0.05] * 7, [0.25] * 7, [0.04] * 7,
[0.02] * 7, [0.070] * 7, [0.4] * 7, 10., 0.1)
q = [
-0.2795571923841168, 0.9737173354972255, 0.60073767302223002,
-1.445674103265479, -6.0812198392665415, -1.1110966461101544,
0.3056365620075685
]
q = [-0.1, 0.0, 0.0, -0.5, 0.0, -0.4, 0.0]
pid_jc = pid_jc_factory.create_pid_jc(q)
epc = EPC('test_pid_joint_control')
epc.epc_motion(pid_jc, 0.1, 50)
def __init__(self, arm):
self.time_step = 1. / 20.
self.gripper_rot = np.pi
self.arm = arm
self.ell_traj_behavior = EPC("ellipsoid_traj")
self.ell_space = EllipsoidSpace(1)
self.tf_list = tf.TransformListener()
self.found_params = False
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams,
self.read_params)
self.start_pub = rospy.Publisher("/start_pose", PoseStamped)
self.end_pub = rospy.Publisher("/end_pose", PoseStamped)
self.ctrl_switcher = ControllerSwitcher()
self.ell_cmd_lock = Lock()
self.params_lock = Lock()
self.ell_ep = None
self.action_preempted = False
self.ell_move_act = actionlib.SimpleActionServer(
"/ellipsoid_move", EllipsoidMoveAction, self.command_move_exec,
False)
self.ell_move_act.start()
def main():
rospy.init_node('test_epc')
pg.init()
screen = pg.display.set_mode((300,300))
test_gen = TestEPGenerator(100)
test_epc = EPC('test_epc')
# wait for keys p for pause and s for stop
test_epc.last_time = rospy.get_time()
def keyboard_cb(timer_event):
pg.event.get()
keys = pg.key.get_pressed()
if keys[pg.K_s] or keys[pg.K_q]:
test_epc.stop_epc = True
if keys[pg.K_p] and rospy.get_time() - test_epc.last_time > 0.3:
test_epc.pause_epc = not test_epc.pause_epc
test_epc.last_time = rospy.get_time()
Timer(rospy.Duration(0.1), keyboard_cb)
test_epc.epc_motion(test_gen, 0.1, 10)
def __init__(self, arm):
self.time_step = 1. / 20.
self.gripper_rot = np.pi
self.arm = arm
self.ell_traj_behavior = EPC("ellipsoid_traj")
self.ell_space = EllipsoidSpace(1)
self.tf_list = tf.TransformListener()
self.found_params = False
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams, self.read_params)
self.start_pub = rospy.Publisher("/start_pose", PoseStamped)
self.end_pub = rospy.Publisher("/end_pose", PoseStamped)
self.ctrl_switcher = ControllerSwitcher()
self.ell_cmd_lock = Lock()
self.params_lock = Lock()
self.ell_ep = None
self.action_preempted = False
self.ell_move_act = actionlib.SimpleActionServer("/ellipsoid_move", EllipsoidMoveAction,
self.command_move_exec, False)
self.ell_move_act.start()
class EllipsoidController(object):
def __init__(self, arm):
self.time_step = 1. / 20.
self.gripper_rot = np.pi
self.arm = arm
self.ell_traj_behavior = EPC("ellipsoid_traj")
self.ell_space = EllipsoidSpace(1)
self.tf_list = tf.TransformListener()
self.found_params = False
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams, self.read_params)
self.start_pub = rospy.Publisher("/start_pose", PoseStamped)
self.end_pub = rospy.Publisher("/end_pose", PoseStamped)
self.ctrl_switcher = ControllerSwitcher()
self.ell_cmd_lock = Lock()
self.params_lock = Lock()
self.ell_ep = None
self.action_preempted = False
self.ell_move_act = actionlib.SimpleActionServer("/ellipsoid_move", EllipsoidMoveAction,
self.command_move_exec, False)
self.ell_move_act.start()
def read_params(self, e_params):
with self.params_lock:
self.ell_space.load_ell_params(e_params)
self.ell_space.center = np.mat(np.zeros((3, 1)))
self.ell_space.rot = np.mat(np.eye(3))
if not self.found_params:
rospy.loginfo("[ellipsoid_controller] Found params from /ellipsoid_params")
self.reset_ell_ep()
self.found_params = True
def reset_ell_ep(self):
ee_pose = PoseConverter.to_pose_stamped_msg("/torso_lift_link", self.arm.get_end_effector_pose())
cur_time = rospy.Time.now()
ee_pose.header.stamp = cur_time
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame", cur_time, rospy.Duration(3))
ell_pose = self.tf_list.transformPose("/ellipse_frame", ee_pose)
pos, quat = PoseConverter.to_pos_quat(ell_pose)
self.ell_ep = list(self.ell_space.pos_to_ellipsoidal(*pos))
def update_ellipse_pose(self):
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame", cur_time, rospy.Duration(3))
cur_tf = self.tf_list.lookupTransform("/torso_lift_link", "/ellipse_frame", cur_time, rospy.Duration(3))
self.ell_tf = PoseConverter.to_homo_mat(cur_tf)
def robot_ellipsoidal_pose(self, lat, lon, height, gripper_rot, ell_frame_mat):
"""
Get pose in robot's frame of ellipsoidal coordinates
"""
pos, quat = self.ell_space.ellipsoidal_to_pose(lat, lon, height)
quat_gripper_rot = tf_trans.quaternion_from_euler(gripper_rot, 0, 0)
quat_rotated = tf_trans.quaternion_multiply(quat, quat_gripper_rot)
ell_pose_mat = PoseConverter.to_homo_mat(pos, quat_rotated)
return PoseConverter.to_pos_rot(ell_frame_mat * ell_pose_mat)
# def reset_arm_orientation(self, duration=10.):
# if not ell_ep:
# rospy.logerr("Haven't gotten parameters from /ellipsoid_params")
# return
# with self.ell_cmd_lock:
# num_samps = duration / self.time_step
# cur_pose = self.arm.get_end_effector_pose()
# ell_pose = self.robot_ellipsoidal_pose(*(self.ell_ep + [self.gripper_rot]))
# adjust_traj = self.arm.interpolate_ep(cur_pose, ell_pose, min_jerk_traj(num_samps))
# ep_traj_control = EPTrajectoryControl(self.arm, adjust_traj)
# self.start_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cur_pose))
# self.end_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", ell_pose))
# self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
def command_stop(self):
self.ell_traj_behavior.stop_epc = True
def command_move_exec(self, req):
with self.params_lock:
with self.ell_cmd_lock:
change_ep = np.array([req.change_latitude, req.change_longitude, req.change_height])
abs_ep_sel = np.array([req.absolute_latitude, req.absolute_longitude, req.absolute_height])
rospy.loginfo("Commanding ellipsoidal move: (%f, %f, %f), Abs: (%d, %d, %d)" %
(change_ep[0], change_ep[1], change_ep[2],
abs_ep_sel[0], abs_ep_sel[1], abs_ep_sel[2]))
self.arm.reset_ep()
self.reset_ell_ep()
ell_f = np.where(abs_ep_sel, change_ep, self.ell_ep + change_ep)
if req.duration == 0:
self.execute_trajectory(ell_f, req.gripper_rot)
else:
self.execute_trajectory(ell_f, req.gripper_rot, req.duration)
self.ell_move_act.set_succeeded(EllipsoidMoveResult(*self.ell_ep))
def _check_preempt(self, timer_event):
if self.ell_move_act.is_preempt_requested():
self.ell_traj_behavior.stop_epc = True
self.action_preempted = True
def execute_trajectory(self, ell_f, gripper_rot, duration=5.):
ell_f[1] = np.mod(ell_f[1], 2 * np.pi)
num_samps = int(duration / self.time_step)
t_vals = min_jerk_traj(num_samps)
self.arm.reset_ep()
self.reset_ell_ep()
ell_init = np.mat(self.ell_ep).T
ell_final = np.mat(ell_f).T
if np.fabs(2 * np.pi + ell_final[1,0] - ell_init[1,0]) < np.pi:
ell_final[1,0] += 2 * np.pi
print "wrapping; ell_f:", ell_f
elif np.fabs(-2 * np.pi + ell_final[1,0] - ell_init[1,0]) < np.pi:
ell_final[1,0] -= 2 * np.pi
print "wrapping; ell_f:", ell_f
print "init", ell_init, "final", ell_final
ell_traj = np.array(ell_init) + np.array(np.tile(ell_final - ell_init, (1, num_samps))) * np.array(t_vals)
# find the current ellipsoid frame
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame", cur_time, rospy.Duration(3))
ell_frame_mat = PoseConverter.to_homo_mat(
self.tf_list.lookupTransform("/torso_lift_link",
"/ellipse_frame", cur_time))
print ell_frame_mat
print ell_traj.shape
ell_pose_traj = [self.robot_ellipsoidal_pose(ell_traj[0,i], ell_traj[1,i], ell_traj[2,i],
gripper_rot, ell_frame_mat)
for i in range(ell_traj.shape[1])]
# replace the rotation matricies with a simple cartesian slerp
cart_interp_traj = self.arm.interpolate_ep(self.arm.get_ep(), ell_pose_traj[-1],
t_vals)
fixed_traj = [(ell_pose_traj[i][0], cart_interp_traj[i][1]) for i in range(num_samps)]
self.start_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cart_interp_traj[0]))
self.end_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cart_interp_traj[-1]))
#ep_traj_control = EPTrajectoryControl(self.arm, cart_interp_traj)
print_trajectory_stats(ell_traj, fixed_traj, t_vals)
ep_traj_control = EPTrajectoryControl(self.arm, fixed_traj)
self.action_preempted = False
self.ell_traj_behavior.stop_epc = False
monitor_timer = rospy.Timer(rospy.Duration(0.1), self._check_preempt)
self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
monitor_timer.shutdown()
if self.action_preempted:
self.reset_ell_ep()
else:
self.ell_ep = ell_f
class EllipsoidController(object):
def __init__(self, arm):
self.time_step = 1. / 20.
self.gripper_rot = np.pi
self.arm = arm
self.ell_traj_behavior = EPC("ellipsoid_traj")
self.ell_space = EllipsoidSpace(1)
self.tf_list = tf.TransformListener()
self.found_params = False
self.ell_sub = rospy.Subscriber("/ellipsoid_params", EllipsoidParams,
self.read_params)
self.start_pub = rospy.Publisher("/start_pose", PoseStamped)
self.end_pub = rospy.Publisher("/end_pose", PoseStamped)
self.ctrl_switcher = ControllerSwitcher()
self.ell_cmd_lock = Lock()
self.params_lock = Lock()
self.ell_ep = None
self.action_preempted = False
self.ell_move_act = actionlib.SimpleActionServer(
"/ellipsoid_move", EllipsoidMoveAction, self.command_move_exec,
False)
self.ell_move_act.start()
def read_params(self, e_params):
with self.params_lock:
self.ell_space.load_ell_params(e_params)
self.ell_space.center = np.mat(np.zeros((3, 1)))
self.ell_space.rot = np.mat(np.eye(3))
if not self.found_params:
rospy.loginfo(
"[ellipsoid_controller] Found params from /ellipsoid_params"
)
self.reset_ell_ep()
self.found_params = True
def reset_ell_ep(self):
ee_pose = PoseConverter.to_pose_stamped_msg(
"/torso_lift_link", self.arm.get_end_effector_pose())
cur_time = rospy.Time.now()
ee_pose.header.stamp = cur_time
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame",
cur_time, rospy.Duration(3))
ell_pose = self.tf_list.transformPose("/ellipse_frame", ee_pose)
pos, quat = PoseConverter.to_pos_quat(ell_pose)
self.ell_ep = list(self.ell_space.pos_to_ellipsoidal(*pos))
def update_ellipse_pose(self):
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame",
cur_time, rospy.Duration(3))
cur_tf = self.tf_list.lookupTransform("/torso_lift_link",
"/ellipse_frame", cur_time,
rospy.Duration(3))
self.ell_tf = PoseConverter.to_homo_mat(cur_tf)
def robot_ellipsoidal_pose(self, lat, lon, height, gripper_rot,
ell_frame_mat):
"""
Get pose in robot's frame of ellipsoidal coordinates
"""
pos, quat = self.ell_space.ellipsoidal_to_pose(lat, lon, height)
quat_gripper_rot = tf_trans.quaternion_from_euler(gripper_rot, 0, 0)
quat_rotated = tf_trans.quaternion_multiply(quat, quat_gripper_rot)
ell_pose_mat = PoseConverter.to_homo_mat(pos, quat_rotated)
return PoseConverter.to_pos_rot(ell_frame_mat * ell_pose_mat)
# def reset_arm_orientation(self, duration=10.):
# if not ell_ep:
# rospy.logerr("Haven't gotten parameters from /ellipsoid_params")
# return
# with self.ell_cmd_lock:
# num_samps = duration / self.time_step
# cur_pose = self.arm.get_end_effector_pose()
# ell_pose = self.robot_ellipsoidal_pose(*(self.ell_ep + [self.gripper_rot]))
# adjust_traj = self.arm.interpolate_ep(cur_pose, ell_pose, min_jerk_traj(num_samps))
# ep_traj_control = EPTrajectoryControl(self.arm, adjust_traj)
# self.start_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cur_pose))
# self.end_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", ell_pose))
# self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
def command_stop(self):
self.ell_traj_behavior.stop_epc = True
def command_move_exec(self, req):
with self.params_lock:
with self.ell_cmd_lock:
change_ep = np.array([
req.change_latitude, req.change_longitude,
req.change_height
])
abs_ep_sel = np.array([
req.absolute_latitude, req.absolute_longitude,
req.absolute_height
])
rospy.loginfo(
"Commanding ellipsoidal move: (%f, %f, %f), Abs: (%d, %d, %d)"
% (change_ep[0], change_ep[1], change_ep[2], abs_ep_sel[0],
abs_ep_sel[1], abs_ep_sel[2]))
self.arm.reset_ep()
self.reset_ell_ep()
ell_f = np.where(abs_ep_sel, change_ep,
self.ell_ep + change_ep)
if req.duration == 0:
self.execute_trajectory(ell_f, req.gripper_rot)
else:
self.execute_trajectory(ell_f, req.gripper_rot,
req.duration)
self.ell_move_act.set_succeeded(
EllipsoidMoveResult(*self.ell_ep))
def _check_preempt(self, timer_event):
if self.ell_move_act.is_preempt_requested():
self.ell_traj_behavior.stop_epc = True
self.action_preempted = True
def execute_trajectory(self, ell_f, gripper_rot, duration=5.):
ell_f[1] = np.mod(ell_f[1], 2 * np.pi)
num_samps = int(duration / self.time_step)
t_vals = min_jerk_traj(num_samps)
self.arm.reset_ep()
self.reset_ell_ep()
ell_init = np.mat(self.ell_ep).T
ell_final = np.mat(ell_f).T
if np.fabs(2 * np.pi + ell_final[1, 0] - ell_init[1, 0]) < np.pi:
ell_final[1, 0] += 2 * np.pi
print "wrapping; ell_f:", ell_f
elif np.fabs(-2 * np.pi + ell_final[1, 0] - ell_init[1, 0]) < np.pi:
ell_final[1, 0] -= 2 * np.pi
print "wrapping; ell_f:", ell_f
print "init", ell_init, "final", ell_final
ell_traj = np.array(ell_init) + np.array(
np.tile(ell_final - ell_init, (1, num_samps))) * np.array(t_vals)
# find the current ellipsoid frame
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame",
cur_time, rospy.Duration(3))
ell_frame_mat = PoseConverter.to_homo_mat(
self.tf_list.lookupTransform("/torso_lift_link", "/ellipse_frame",
cur_time))
print ell_frame_mat
print ell_traj.shape
ell_pose_traj = [
self.robot_ellipsoidal_pose(ell_traj[0, i], ell_traj[1, i],
ell_traj[2, i], gripper_rot,
ell_frame_mat)
for i in range(ell_traj.shape[1])
]
# replace the rotation matricies with a simple cartesian slerp
cart_interp_traj = self.arm.interpolate_ep(self.arm.get_ep(),
ell_pose_traj[-1], t_vals)
fixed_traj = [(ell_pose_traj[i][0], cart_interp_traj[i][1])
for i in range(num_samps)]
self.start_pub.publish(
PoseConverter.to_pose_stamped_msg("/torso_lift_link",
cart_interp_traj[0]))
self.end_pub.publish(
PoseConverter.to_pose_stamped_msg("/torso_lift_link",
cart_interp_traj[-1]))
#ep_traj_control = EPTrajectoryControl(self.arm, cart_interp_traj)
print_trajectory_stats(ell_traj, fixed_traj, t_vals)
ep_traj_control = EPTrajectoryControl(self.arm, fixed_traj)
self.action_preempted = False
self.ell_traj_behavior.stop_epc = False
monitor_timer = rospy.Timer(rospy.Duration(0.1), self._check_preempt)
self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
monitor_timer.shutdown()
if self.action_preempted:
self.reset_ell_ep()
else:
self.ell_ep = ell_f
