def _convert_inertial(urdf_inertial, R):
if urdf_inertial is None:
return None
if (urdf_inertial.mass is None or urdf_inertial.mass <=1e-6):
return None
m = urdf_inertial.mass
p_com = np.zeros((3,))
R_com = np.eye(3)
if (urdf_inertial.origin is not None):
if (urdf_inertial.origin.xyz is not None):
p_com[:] = urdf_inertial.origin.xyz
if (urdf_inertial.origin.rpy is not None):
R_com = _rpy_to_rot(urdf_inertial.origin.rpy)
I = np.zeros((3,3))
if (urdf_inertial.inertia is not None):
inr = urdf_inertial.inertia
I = np.matrix([[inr.ixx, inr.ixy, inr.ixz],
[inr.ixy, inr.iyy, inr.iyz],
[inr.ixz, inr.iyz, inr.izz]])
# Rotate inertia matrix
I = R_com.dot(I).dot(R_com.transpose())
# Translate inertia matrix (parallel axis theorem)
I += m * np.inner(p_com,p_com) * np.eye(3) - m * np.outer(p_com,p_com)
M = np.block([[I, m*rox.hat(p_com)],
[-m*rox.hat(p_com), m*np.eye(3)]])
return M
def __init__(self):
#Subscribe to controller_state
self.controller_state_sub = rospy.Subscriber("controller_state", controllerstate, self.callback)
self.last_ros_image_stamp = rospy.Time(0)
self.goal_handle=None
self.listener = PayloadTransformListener()
self.rapid_node = rapid_node_pkg.RAPIDCommander()
self.controller_commander = controller_commander_pkg.ControllerCommander()
self.object_commander = ObjectRecognitionCommander()
# Initilialize aruco boards and parameters
self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
self.parameters = cv2.aruco.DetectorParameters_create()
self.parameters.cornerRefinementMethod=cv2.aruco.CORNER_REFINE_SUBPIX
self.parameters.adaptiveThreshWinSizeMax=30
self.parameters.adaptiveThreshWinSizeStep=7
# ================== Cam 636
# --- Subscribe to Gripper camera node for image acquisition
#TODO: Take in camera names and make subscribers and triggers accordingly
self.ros_gripper_2_img_sub = rospy.Subscriber('/gripper_camera_2/image', Image, self.object_commander.ros_raw_gripper_2_image_cb)
self.ros_gripper_2_trigger = rospy.ServiceProxy('/gripper_camera_2/trigger', Trigger)
# --- Camera parameters
self.CamParam = CameraParams()
# --- Camera pose
#TODO: Substitute transform in here
R_Jcam = np.array([[0.9995,-0.0187,-0.0263],[-0.0191,-0.9997,-0.0135],[-0.0261,0.0140,-0.9996]])
r_cam = rox.hat(np.array([0.0707, 1.1395, 0.2747]))#rox.hat(np.array([- 0.2811, -1.1397,0.0335]))#rox.hat(np.array([- 0.2811, 1.1397,0.0335]))
self.R_Jcam = np.linalg.inv(np.vstack([ np.hstack([R_Jcam,np.zeros([3,3])]), np.hstack([np.dot(r_cam,R_Jcam),R_Jcam]) ]))
self.dt = None
self.iteration=0
self.board_ground = None
# functions like a gain, used with velocity to track position
self.FTdata = None
self.ft_flag = False
#self.FTdata_0 = self.FTdata
#self.FTdata_0est = self.compute_ft_est()
#self.result = self.take_image()
#TODO: replace with trajopt code
self.client = actionlib.SimpleActionClient("joint_trajectory_action", FollowJointTrajectoryAction)
# IBVS parameters
self.du_converge_TH = None
self.dv_converge_TH = None
self.iteration_limit = None
self.Ki = None
# Compliance controller parameters
self.F_d_set1 = None
self.F_d_set2 = None
self.Kc = None
self.ros_data=None
self.camMatrix=None
self.distCoeffs=None
self.ros_gripper_2_cam_info_sub=rospy.Subscriber('/gripper_camera_2/camera_info', CameraInfo, self.fill_camera_data)
def compute_ft_est(self):
Tran_z = np.array([[0,0,-1],[0,-1,0],[1,0,0]])
Vec_wrench = 100*np.array([0.019296738361905,0.056232033265447,0.088644197659430,
0.620524934626544,-0.517896661195076,0.279323567303444,-0.059640563813256,
0.631460085138371,-0.151143175570223,-6.018321330845553]).transpose()
T = self.listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8*np.matmul(np.matmul(T.R,Tran_z).transpose(),np.array([0,0,1]).transpose())
A1 = np.hstack([rox.hat(rg).transpose(),np.zeros([3,1]),np.eye(3),np.zeros([3,3])])
A2 = np.hstack([np.zeros([3,3]),rg.reshape([3,1]),np.zeros([3,3]),np.eye(3)])
A = np.vstack([A1,A2])
return np.matmul(A,Vec_wrench)
def main():
step_ts = 0.004
rospy.init_node("test_moveit_commander_custom_trajectory", anonymous=True)
rospy.Subscriber("controller_state", ControllerState, callback_function)
robot = urdf.robot_from_parameter_server()
controller_commander = controller_commander_pkg.ControllerCommander()
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 0.4, [], [])
time.sleep(0.5)
tran = np.array(
[2.197026484647054, 1.2179574262842452, 0.12376598588449844])
rot = np.array([[-0.99804142, 0.00642963, 0.06222524],
[0.00583933, 0.99993626, -0.00966372],
[-0.06228341, -0.00928144, -0.99801535]])
pose_target2 = rox.Transform(rot, tran)
pose_target2.p[2] += 0.20
print 'Target:', pose_target2
print "============ Move Close to Panel"
controller_commander.compute_cartesian_path_and_move(
pose_target2, avoid_collisions=False)
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 1.0, [], [])
time.sleep(1.0)
Kc = 0.004
time_save = []
FTdata_save = []
Tran_z = np.array([[0, 0, -1], [0, -1, 0], [1, 0, 0]])
Vec_wrench = 100 * np.array([
0.019296738361905, 0.056232033265447, 0.088644197659430,
0.620524934626544, -0.517896661195076, 0.279323567303444,
-0.059640563813256, 0.631460085138371, -0.151143175570223,
-6.018321330845553
]).transpose()
listener = PayloadTransformListener()
rapid_node = rapid_node_pkg.RAPIDCommander()
#controller_commander=controller_commander_pkg.arm_composites_manufacturing_controller_commander()
time.sleep(1.0)
FTdata_0 = FTdata
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack(
[np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)])
A = np.vstack([A1, A2])
FTdata_0est = np.matmul(A, Vec_wrench)
#print 'Test4:',controller_commander.ControllerState
for i in range(400):
tic = time.time()
plan = RobotTrajectory()
plan.joint_trajectory.joint_names = [
'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'
]
current_joint_angles = controller_commander.get_current_joint_values()
plan.joint_trajectory.header.frame_id = '/world'
p1 = JointTrajectoryPoint()
p1.positions = current_joint_angles
p1.velocities = np.zeros((6, ))
p1.accelerations = np.zeros((6, ))
p1.time_from_start = rospy.Duration(0)
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack([
np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)
])
A = np.vstack([A1, A2])
FTdata_est = np.matmul(A, Vec_wrench)
#print 'Test0:',FTdata,FTdata_0,FTdata_est,FTdata_0est
FTread = FTdata - FTdata_0 - FTdata_est + FTdata_0est
print 'FTread:', FTread
print 'FT:', FTdata
print 'Z', FTread[-1]
if FTread[-1] > -200:
F_d = -350
else:
F_d = -400
J = rox.robotjacobian(robot, current_joint_angles)
Vz = Kc * (F_d - FTread[-1])
joints_vel = np.linalg.pinv(J).dot(np.array([0, 0, 0, 0, 0, Vz]))
print 'Joint_command:', joints_vel.dot(step_ts)
p2 = JointTrajectoryPoint()
p2.positions = np.array(p1.positions) + joints_vel.dot(
step_ts) #np.array([0,np.deg2rad(-2),0,0,0,0])
p2.velocities = np.zeros((6, ))
p2.accelerations = np.zeros((6, ))
p2.time_from_start = rospy.Duration(step_ts)
# p3=JointTrajectoryPoint()
# p3.positions = np.array(p1.positions) + np.array([0,np.deg2rad(2),0,0,0,0])
# p3.velocities = np.zeros((6,))
# p3.accelerations = np.zeros((6,))
# p3.time_from_start = rospy.Duration(4)
plan.joint_trajectory.points.append(p1)
plan.joint_trajectory.points.append(p2)
# plan.joint_trajectory.points.append(p3)
controller_commander.execute(plan)
print 'Time:', time.time() - tic
# print 'Joint:',controller_commander.get_current_joint_values()
time_save.append(time.time())
FTdata_save.append(FTread)
filename = "FTdata.txt"
f_handle = file(filename, 'a')
np.savetxt(f_handle, FTdata_save)
f_handle.close()
filename = "Time.txt"
f_handle = file(filename, 'a')
np.savetxt(f_handle, time_save)
f_handle.close()
def runTest(self):
k = [1, 2, 3]
k_hat = rox.hat(k)
k_hat_t = np.array([[0, -3, 2], [3, 0, -1], [-2, 1, 0]])
np.testing.assert_allclose(k_hat, k_hat_t)
def pbvs_jacobian(self):
self.controller_commander.set_controller_mode(
self.controller_commander.MODE_AUTO_TRAJECTORY, 0.7, [], [])
tvec_err = [100, 100, 100]
rvec_err = [100, 100, 100]
self.FTdata_0 = self.FTdata
error_transform = rox.Transform(rox.rpy2R([2, 2, 2]),
np.array([100, 100, 100]))
FT_data_ori = []
FT_data_biased = []
err_data_p = []
err_data_rpy = []
joint_data = []
time_data = []
#TODO: should listen to stage_3_tol_r not 1 degree
print self.desired_camera2_transform
#R_desired_cam = self.desired_camera2_transform.R.dot(self.desired_transform.R)
#R_desired_cam = R_desired_cam.dot(self.desired_camera2_transform.R.transpose())
#t_desired_cam = -self.desired_camera2_transform.R.dot(self.desired_transform.p)
while (error_transform.p[2] > 0.01 or np.linalg.norm(
[error_transform.p[0], error_transform.p[1]]) > self.stage3_tol_p
or
np.linalg.norm(rox.R2rpy(error_transform.R)) > np.deg2rad(1)):
img = self.receive_image()
fixed_marker_transform, payload_marker_transform, error_transform = self.compute_error_transform(
img)
#print self.desired_transform.R.T, -fixed_marker_transform.R.dot(self.desired_transform.p)
R_desired_cam = fixed_marker_transform.R.dot(
self.desired_transform.R)
R_desired_cam = R_desired_cam.dot(
fixed_marker_transform.R.transpose())
t_desired_cam = -fixed_marker_transform.R.dot(
self.desired_transform.p)
# Compute error directly in the camera frame
observed_R_difference = np.dot(
payload_marker_transform.R,
fixed_marker_transform.R.transpose())
k, theta = rox.R2rot(
np.dot(observed_R_difference, R_desired_cam.transpose())
) #np.array(rox.R2rpy(rvec_err1))
rvec_err1 = k * theta
observed_tvec_difference = fixed_marker_transform.p - payload_marker_transform.p
tvec_err1 = -fixed_marker_transform.R.dot(
self.desired_transform.p) - observed_tvec_difference
#print 'SPOT: ',tvec_err1, rvec_err1
# Map error to the robot spatial velocity
world_to_camera_tf = self.tf_listener.lookupTransform(
"world", "gripper_camera_2", rospy.Time(0))
camera_to_link6_tf = self.tf_listener.lookupTransform(
"gripper_camera_2", "link_6", rospy.Time(0))
t21 = -np.dot(
rox.hat(
np.dot(world_to_camera_tf.R,
(camera_to_link6_tf.p -
payload_marker_transform.p.reshape((1, 3))).T)),
world_to_camera_tf.R) #np.zeros((3,3))#
# v = R_oc(vc)c + R_oc(omeega_c)_c x (r_pe)_o = R_oc(vc)c - (r_pe)_o x R_oc(omeega_c)_c
tvec_err = t21.dot(rvec_err1).reshape(
(3, )) + world_to_camera_tf.R.dot(tvec_err1).reshape((3, ))
# omeega = R_oc(omeega_c)_c
rvec_err = world_to_camera_tf.R.dot(rvec_err1).reshape((3, ))
tvec_err = np.clip(tvec_err, -0.2, 0.2)
rvec_err = np.clip(rvec_err, -np.deg2rad(5), np.deg2rad(5))
if tvec_err[2] < 0.03:
rospy.loginfo("Only Compliance Control")
tvec_err[2] = 0
rot_err = rox.R2rpy(error_transform.R)
rospy.loginfo("tvec difference: %f, %f, %f", error_transform.p[0],
error_transform.p[1], error_transform.p[2])
rospy.loginfo("rvec difference: %f, %f, %f", rot_err[0],
rot_err[1], rot_err[2])
dx = -np.concatenate((rvec_err, tvec_err)) * self.K_pbvs
print np.linalg.norm([error_transform.p[0], error_transform.p[1]])
print np.linalg.norm(rox.R2rpy(error_transform.R))
# Compliance Force Control
if (not self.ft_flag):
raise Exception("havent reached FT callback")
# Compute the exteranl force
FTread = self.FTdata - self.FTdata_0 # (F)-(F0)
print '================ FT1 =============:', FTread
print '================ FT2 =============:', self.FTdata
if FTread[-1] > (self.F_d_set1 + 50):
F_d = self.F_d_set1
else:
F_d = self.F_d_set2
if (self.FTdata == 0).all():
rospy.loginfo("FT data overflow")
dx[-1] += self.K_pbvs * 0.004
else:
tx_correct = 0
if abs(self.FTdata[0]) > 80:
tx_correct = 0.0002 * (abs(self.FTdata[0]) - 80)
Vz = self.Kc * (F_d - FTread[-1]) + tx_correct
dx[-1] = dx[-1] + Vz
print "dx:", dx
current_joint_angles = self.controller_commander.get_current_joint_values(
)
joints_vel = QP_abbirb6640(
np.array(current_joint_angles).reshape(6, 1), np.array(dx))
goal = self.trapezoid_gen(
np.array(current_joint_angles) + joints_vel.dot(1),
np.array(current_joint_angles), 0.008, 0.008,
0.015) #acc,dcc,vmax)
print "joints_vel:", joints_vel
self.client.wait_for_server()
self.client.send_goal(goal)
self.client.wait_for_result()
res = self.client.get_result()
if (res.error_code != 0):
raise Exception("Trajectory execution returned error")
FT_data_ori.append(self.FTdata)
FT_data_biased.append(FTread)
err_data_p.append(error_transform.p)
err_data_rpy.append(rot_err)
joint_data.append(current_joint_angles)
time_data.append(time.time())
filename_pose = "/home/rpi-cats/Desktop/YC/Data/Panel2_Placement_In_Nest_Pose_" + str(
time.time()) + ".mat"
scipy.io.savemat(filename_pose,
mdict={
'FT_data_ori': FT_data_ori,
'FT_data_biased': FT_data_biased,
'err_data_p': err_data_p,
'err_data_rpy': err_data_rpy,
'joint_data': joint_data,
'time_data': time_data
})
rospy.loginfo("End ====================")
def main():
#Start timer to measure execution time
t1 = time.time()
#Subscribe to controller_state
rospy.Subscriber("controller_state", controllerstate, callback)
last_ros_image_stamp = rospy.Time(0)
#Force-torque
if not "disable-ft" in sys.argv:
ft_threshold1 = ft_threshold
else:
ft_threshold1 = []
#Initialize ros node of this process
rospy.init_node('Placement_DJ_1', anonymous=True)
process_client = actionlib.SimpleActionClient('process_step',
ProcessStepAction)
process_state_pub = rospy.Publisher("GUI_state",
ProcessState,
queue_size=100,
latch=True)
process_client.wait_for_server()
listener = PayloadTransformListener()
rapid_node = rapid_node_pkg.RAPIDCommander()
controller_commander = controller_commander_pkg.ControllerCommander()
object_commander = ObjectRecognitionCommander()
robot = urdf.robot_from_parameter_server()
#subscribe to Gripper camera node for image acquisition
ros_gripper_2_img_sub = rospy.Subscriber(
'/gripper_camera_2/image', Image,
object_commander.ros_raw_gripper_2_image_cb)
ros_gripper_2_trigger = rospy.ServiceProxy(
'/gripper_camera_2/camera_trigger', Trigger)
ros_gripper_2_trigger = rospy.ServiceProxy(
'gripper_camera_2/camera_trigger', Trigger)
#Set controller command mode
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 0.4, [], [])
time.sleep(0.5)
#open loop set the initial pose
#Set Location above the panel where the end effector goes first (in the world/base frame) Ideal location of panel.
#Cur_Pose = controller_commander.get_current_pose_msg()
#print Cur_Pose
#raw_input("confirm release vacuum")
tran = np.array(
[2.15484, 1.21372,
0.25766]) #np.array([2.17209718963,-1.13702651252,0.224273328841])
rot = rox.q2R(
[0.02110, -0.03317, 0.99922, -0.00468]
) #rox.q2R([0.0145063655084, -0.0282932350764, 0.999322921073, -0.0185137145776])
#tran = np.array([2.26476414097,-1.22419669418,0.411353037002])
#rot = np.array([[-0.9959393, -0.0305329, 0.0846911], [-0.0310315, 0.9995079, -0.0045767], [-0.0845097, -0.0071862, -0.9963967]])
pose_target2 = rox.Transform(rot, tran)
pose_target3 = copy.deepcopy(pose_target2)
##Execute movement to set location
print "Executing initial path"
controller_commander.compute_cartesian_path_and_move(
pose_target2, avoid_collisions=False)
#Initilialize aruco boards and parameters
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
parameters = cv2.aruco.DetectorParameters_create()
parameters.cornerRefinementMethod = cv2.aruco.CORNER_REFINE_SUBPIX
parameters.adaptiveThreshWinSizeMax = 30
parameters.adaptiveThreshWinSizeStep = 7
# 1st Panel tag info
board_ground = cv2.aruco.GridBoard_create(4, 4, .04, .0075, aruco_dict, 32)
board_panel = cv2.aruco.GridBoard_create(8, 3, .025, .0075, aruco_dict, 80)
#Load object points ground tag in panel tag coordinate system from mat file
loaded_object_points_ground_in_panel_system_stage_1 = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['object_points_ground_in_panel_tag_system']
loaded_object_points_ground_in_panel_system_stage_2 = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['object_points_ground_in_panel_tag_system']
loaded_object_points_ground_in_panel_system = loaded_object_points_ground_in_panel_system_stage_1
# #Initialize camera intrinsic parameters #18285636_10_05_2018_5_params
#18285636_10_05_2018_5_params_111122018
CamParam = CameraParams(2283.391289766133, 1192.255485086403,
2279.484382094687, 1021.399092147012, 1.0,
-0.022101211408596, -0.095163053709332,
-0.003986991791212, -0.003479613658352,
0.179926705467534)
#Subscribe tp controller state. Again?
rospy.Subscriber("controller_state", controllerstate, callback)
UV = np.zeros([150, 8])
P = np.zeros([150, 3])
#focal length in pixel units, this number is averaged values from f_hat for x and y
f_hat_u = 2283.391289766133 #2342.561249990927#2282.523358266698#2281.339593273153 #2446.88
f_hat_v = 2279.484382094687 #2338.448312671424#2280.155828279608
#functions like a gain, used with velocity to track position
dt = 0.1
du = 100.0
dv = 100.0
dutmp = 100.0
dvtmp = 100.0
#TimeGain = [0.1,0.1, 0.1]
du_array = []
dv_array = []
dx_array = []
iteration = 0
stage = 1
#step_ts = 0.004
Kc = 0.0002
#time_save = []
#FTdata_save = []
Tran_z = np.array([[0, 0, -1], [0, -1, 0], [1, 0, 0]])
Vec_wrench = 100 * np.array([
0.019296738361905, 0.056232033265447, 0.088644197659430,
0.620524934626544, -0.517896661195076, 0.279323567303444,
-0.059640563813256, 0.631460085138371, -0.151143175570223,
-6.018321330845553
]).transpose()
FTdata_0 = FTdata
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack(
[np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)])
A = np.vstack([A1, A2])
FTdata_0est = np.matmul(A, Vec_wrench)
FTread_array = []
FTdata_array = []
t_now_array = []
step_size = []
cv2.namedWindow('Image', cv2.WINDOW_NORMAL)
cv2.resizeWindow('Image', 490, 410)
### PBVS set the initial pose
#### Final Nest Placement Error Calculation ===============================
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger()
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
#false_ids_ind = np.where(ids>73)
mask = np.ones(ids.shape, dtype=bool)
#mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape([objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape([imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape([objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape([imgPoints_panel.shape[0], 2])
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in nest position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in nest position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
print "============== Difference in pose difference in nest position"
tvec_err = loaded_tvec_difference - observed_tvec_difference
rvec_err = loaded_rvec_difference - observed_rvec_difference
print "tvec difference: ", tvec_err
print "rvec differnece: ", rvec_err
# Adjustment
print "Adjustment ===================="
current_joint_angles = controller_commander.get_current_joint_values()
dx = np.array([0, 0, 0, -tvec_err[0], tvec_err[1] + 0.03, tvec_err[2]
]) * 0.75
joints_vel = QP_abbirb6640(
np.array(current_joint_angles).reshape(6, 1), np.array(dx))
goal = trapezoid_gen(
np.array(current_joint_angles) + joints_vel.dot(1),
np.array(current_joint_angles), 0.25, np.array(dx))
client = actionlib.SimpleActionClient("joint_trajectory_action",
FollowJointTrajectoryAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
res = client.get_result()
if (res.error_code != 0):
raise Exception("Trajectory execution returned error")
print res
#raw_input("confirm move...")
print "End of Initial Pose ===================="
### End of initial pose
step_size_min = 100000
stage = 2
loaded_object_points_ground_in_panel_system = loaded_object_points_ground_in_panel_system_stage_2
while (
(du > 4) | (dv > 4) and (iteration < 55)
): #try changing du and dv to lower values(number of iterations increases)
iteration += 1
t_now_array.append(time.time())
#Go to stage2 of movement(mostly downward z motion)
if ((du < 4) and (dv < 4) and (stage == 1)):
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in hovering position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in hovering position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
tvec_difference_Above_Nest = loaded_tvec_difference - observed_tvec_difference
rvec_difference_Above_Nest = loaded_rvec_difference - observed_rvec_difference
print "============== Difference in pose difference in hovering position"
print "tvec difference: ", tvec_difference_Above_Nest
print "rvec differnece: ", rvec_difference_Above_Nest
#Saving pose information to file
filename_pose1 = "/home/rpi-cats/Desktop/DJ/Code/Data/Panel1_Above_Nest_Pose_" + str(
t1) + ".mat"
scipy.io.savemat(filename_pose1,
mdict={
'tvec_ground_Above_Nest':
tvec_ground,
'tvec_panel_Above_Nest':
tvec_panel,
'Rca_ground_Above_Nest':
Rca_ground,
'Rca_panel_Above_Nest':
Rca_panel,
'tvec_difference_Above_Nest':
tvec_ground - tvec_panel,
'rvec_difference_Above_Nest':
rvec_ground - rvec_panel,
'loaded_tvec_difference':
loaded_tvec_difference,
'loaded_rvec_difference':
loaded_rvec_difference,
'observed_tvec_difference':
observed_tvec_difference,
'observed_rvec_difference':
observed_rvec_difference
})
#raw_input("Confirm Stage 2")
stage = 2
# dt=0.02
loaded_object_points_ground_in_panel_system = loaded_object_points_ground_in_panel_system_stage_2
#print pose_target2.p[2]
#Print current robot pose at the beginning of this iteration
Cur_Pose = controller_commander.get_current_pose_msg()
print "============ Current Robot Pose"
print Cur_Pose
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger()
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Save
# filename = "Acquisition3_%d.jpg" % (time.time())
# scipy.misc.imsave(filename, result)
#Display
# cv2.namedWindow('Aqcuired Image',cv2.WINDOW_NORMAL)
# cv2.imshow('Acquired Image',result)
# cv2.waitKey(1)
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
frame_with_markers_and_axis = result
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
false_ids_ind = np.where(ids > 150)
mask = np.ones(ids.shape, dtype=bool)
mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape(
[objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape(
[imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape(
[objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape(
[imgPoints_panel.shape[0], 2])
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
frame_with_markers_and_axis = cv2.aruco.drawAxis(
frame_with_markers_and_axis, CamParam.camMatrix,
CamParam.distCoeff, Rca_ground, tvec_ground, 0.2)
frame_with_markers_and_axis = cv2.aruco.drawAxis(
frame_with_markers_and_axis, CamParam.camMatrix,
CamParam.distCoeff, Rca_panel, tvec_panel, 0.2)
rvec_all_markers_ground, tvec_all_markers_ground, _ = aruco.estimatePoseSingleMarkers(
corners[0:20], 0.04, CamParam.camMatrix, CamParam.distCoeff)
rvec_all_markers_panel, tvec_all_markers_panel, _ = aruco.estimatePoseSingleMarkers(
corners[20:45], 0.025, CamParam.camMatrix, CamParam.distCoeff)
tvec_all = np.concatenate(
(tvec_all_markers_ground, tvec_all_markers_panel), axis=0)
for i_ids, i_corners, i_tvec in zip(ids, corners, tvec_all):
UV[i_ids, :] = i_corners.reshape(
[1, 8]) #np.average(i_corners, axis=1)
P[i_ids, :] = i_tvec
#print 'P',P
#used to find the height of the tags and the delta change of height, z height at desired position
Z = 1 * P[32:48,
2] #- [0.68184539, 0.68560932, 0.68966803, 0.69619578])
#check if all tags detected
if retVal_ground != 0 and retVal_panel != 0:
dutmp = []
dvtmp = []
#Pixel estimates of the ideal ground tag location
reprojected_imagePoints_ground_2, jacobian2 = cv2.projectPoints(
loaded_object_points_ground_in_panel_system.transpose(),
rvec_panel, tvec_panel, CamParam.camMatrix, CamParam.distCoeff)
reprojected_imagePoints_ground_2 = reprojected_imagePoints_ground_2.reshape(
[reprojected_imagePoints_ground_2.shape[0], 2])
#plot image points for ground tag from corner detection and from re-projections
for point1, point2 in zip(
imgPoints_ground,
np.float32(reprojected_imagePoints_ground_2)):
cv2.circle(frame_with_markers_and_axis, tuple(point1), 5,
(0, 0, 255), 3)
cv2.circle(frame_with_markers_and_axis, tuple(point2), 5,
(255, 0, 0), 3)
cv2.imshow('Image', frame_with_markers_and_axis)
cv2.waitKey(1)
#Save
filename_image = "/home/rpi-cats/Desktop/DJ/Code/Images/Panel1_Acquisition_" + str(
t1) + "_" + str(iteration) + ".jpg"
scipy.misc.imsave(filename_image, frame_with_markers_and_axis)
#Go through a particular point in all tags to build the complete Jacobian
for ic in range(4):
#uses first set of tags, numbers used to offset camera frame, come from camera parameters
#UV_target = np.vstack([UV[9:13,2*ic]-1209.151959040735,UV[9:13,2*ic+1]-1055.254852652610]).T - UV_shift[:,(2*ic):(2*ic+2)] #shift corner estimates to the image centers. Necessary for the image jacobian to work.
reprojected_imagePoints_ground_2 = np.reshape(
reprojected_imagePoints_ground_2, (16, 8))
UV_target = np.vstack([
reprojected_imagePoints_ground_2[:, 2 * ic] -
1192.255485086403,
reprojected_imagePoints_ground_2[:, 2 * ic + 1] -
1021.399092147012
]).T
uc = UV_target[:, 0]
vc = UV_target[:, 1]
# print 'UV_target', UV_target
UV_current = np.vstack([
UV[32:48, 2 * ic] - 1192.255485086403,
UV[32:48, 2 * ic + 1] - 1021.399092147012
]).T
#find difference between current and desired tag difference
delta_UV = UV_target - UV_current
dutmp.append(np.mean(delta_UV[:, 0]))
dvtmp.append(np.mean(delta_UV[:, 1]))
for tag_i in range(16):
if tag_i == 0:
J_cam_tmp = 1.0 * np.array(
[[
-f_hat_u / Z[tag_i], 0.0, uc[tag_i] / Z[tag_i],
uc[tag_i] * vc[tag_i] / f_hat_u, -1.0 *
(uc[tag_i] * uc[tag_i] / f_hat_u + f_hat_u),
vc[tag_i]
],
[
0.0, -f_hat_v / Z[tag_i], vc[tag_i] /
Z[tag_i], vc[tag_i] * vc[tag_i] / f_hat_v +
f_hat_v, -1.0 * uc[tag_i] * vc[tag_i] /
f_hat_v, -uc[tag_i]
]])
else:
J_cam_tmp = np.concatenate(
(J_cam_tmp,
1.0 * np.array(
[[
-f_hat_u / Z[tag_i], 0.0,
uc[tag_i] / Z[tag_i],
uc[tag_i] * vc[tag_i] / f_hat_u, -1.0 *
(uc[tag_i] * uc[tag_i] / f_hat_u +
f_hat_u), vc[tag_i]
],
[
0.0, -f_hat_v / Z[tag_i], vc[tag_i] /
Z[tag_i], vc[tag_i] * vc[tag_i] / f_hat_v
+ f_hat_v, -1.0 * uc[tag_i] * vc[tag_i] /
f_hat_v, -uc[tag_i]
]])),
axis=0)
#camera jacobian
if ic == 0:
J_cam = J_cam_tmp
delta_UV_all = delta_UV.reshape(32, 1)
UV_target_all = UV_target.reshape(32, 1)
else:
J_cam = np.vstack([J_cam, J_cam_tmp])
delta_UV_all = np.vstack(
[delta_UV_all, delta_UV.reshape(32, 1)])
UV_target_all = np.vstack(
[UV_target_all,
UV_target.reshape(32, 1)])
print 'dutmp: ', dutmp
print 'dvtmp: ', dvtmp
du = np.mean(np.absolute(dutmp))
dv = np.mean(np.absolute(dvtmp))
print 'Average du of all points:', du, 'Average dv of all points:', dv
du_array.append(du)
dv_array.append(dv)
#print "Jcam",J_cam
#print "UV",delta_UV_all
#dx = np.matmul(np.linalg.pinv(J_cam),np.array(delta_UV_all))
dx = QP_Cam(
J_cam, delta_UV_all
) #np.matmul(np.linalg.pinv(J_cam),np.array(delta_UV_all))
dx = dx.reshape([6, 1])
dx_array.append(dx)
#print '**************Jac:',dx, QP_Cam(J_cam,delta_UV_all)
dx = np.array([
dx[3, 0], -dx[4, 0], -dx[5, 0], dx[0, 0], -dx[1, 0], -dx[2, 0]
])
if stage == 2:
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack([
np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)
])
A = np.vstack([A1, A2])
FTdata_est = np.matmul(A, Vec_wrench)
FTread = FTdata - FTdata_0 - FTdata_est + FTdata_0est
print 'FTread:', FTread
print 'Z', FTread[-1]
if FTread[-1] > -100:
F_d = -150
Kc = 0.0001
else:
Kc = 0.0001
F_d = -200
Vz = Kc * (F_d - FTread[-1])
print 'Vz', Vz
dx[-1] = Vz + dx[-1]
FTread_array.append(FTread)
FTdata_array.append(FTdata)
current_joint_angles = controller_commander.get_current_joint_values(
)
step_size_tmp = np.linalg.norm(dx)
if step_size_tmp <= step_size_min:
step_size_min = step_size_tmp
else:
dx = dx / step_size_tmp * step_size_min
joints_vel = QP_abbirb6640(
np.array(current_joint_angles).reshape(6, 1), np.array(dx))
goal = trapezoid_gen(
np.array(current_joint_angles) + joints_vel.dot(dt),
np.array(current_joint_angles), 0.25, np.array(dx))
step_size.append(np.linalg.norm(dx))
client = actionlib.SimpleActionClient("joint_trajectory_action",
FollowJointTrajectoryAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
res = client.get_result()
if (res.error_code != 0):
raise Exception("Trajectory execution returned error")
print res
print 'Current Iteration Finished.'
#Saving iteration data to file
filename_data = "/home/rpi-cats/Desktop/YC/Data/Panel1_Data_" + str(
t1) + ".mat"
scipy.io.savemat(filename_data,
mdict={
'du_array': du_array,
'dv_array': dv_array,
'dx_array': dx_array,
'step_size': step_size,
'iteration': iteration
})
#Saving force data to file
filename_force_data = "/home/rpi-cats/Desktop/YC/Data/Panel1_Data_force_" + str(
t1) + ".mat"
scipy.io.savemat(filename_force_data,
mdict={
'FTread': FTread_array,
'FTdata': FTdata_array,
't_now_array': t_now_array
})
print '###############################'
print 'step_size', step_size
print 'iteration', iteration
print '###############################'
'''
print "============ Final Push Down to Nest"
controller_commander.set_controller_mode(controller_commander.MODE_AUTO_TRAJECTORY, 0.2, [],[])
Cur_Pose = controller_commander.get_current_pose_msg()
rot_current = [Cur_Pose.pose.orientation.w, Cur_Pose.pose.orientation.x,Cur_Pose.pose.orientation.y,Cur_Pose.pose.orientation.z]
trans_current = [Cur_Pose.pose.position.x,Cur_Pose.pose.position.y,Cur_Pose.pose.position.z]
pose_target2.R = rox.q2R([rot_current[0], rot_current[1], rot_current[2], rot_current[3]])
pose_target2.p = trans_current
pose_target2.p[2] -= 0.11
'''
#### Final Nest Placement Error Calculation ===============================
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger()
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
#false_ids_ind = np.where(ids>73)
mask = np.ones(ids.shape, dtype=bool)
#mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape([objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape([imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape([objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape([imgPoints_panel.shape[0], 2])
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in nest position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in nest position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
print "============== Difference in pose difference in nest position"
tvec_err = loaded_tvec_difference - observed_tvec_difference
rvec_err = loaded_rvec_difference - observed_rvec_difference
print "tvec difference: ", tvec_err
print "rvec differnece: ", rvec_err
# Adjustment
print "Adjustment ===================="
current_joint_angles = controller_commander.get_current_joint_values()
dx = np.array([0, 0, 0, -tvec_err[0], tvec_err[1], 0])
joints_vel = QP_abbirb6640(
np.array(current_joint_angles).reshape(6, 1), np.array(dx))
goal = trapezoid_gen(
np.array(current_joint_angles) + joints_vel.dot(1),
np.array(current_joint_angles), 0.25, np.array(dx))
client = actionlib.SimpleActionClient("joint_trajectory_action",
FollowJointTrajectoryAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
res = client.get_result()
if (res.error_code != 0):
raise Exception("Trajectory execution returned error")
print res
print "End of Adjustment ===================="
#### Final Nest Placement Error Calculation ===============================
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger()
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
#false_ids_ind = np.where(ids>73)
mask = np.ones(ids.shape, dtype=bool)
#mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape([objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape([imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape([objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape([imgPoints_panel.shape[0], 2])
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in nest position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Panel1_Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in nest position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
print "============== Difference in pose difference in nest position"
tvec_err = loaded_tvec_difference - observed_tvec_difference
rvec_err = loaded_rvec_difference - observed_rvec_difference
rospy.loginfo("tvec difference: %f, %f, %f", tvec_err[0], tvec_err[1],
tvec_err[2])
rospy.loginfo("rvec difference: %f, %f, %f", rvec_err[0], rvec_err[1],
rvec_err[2])
print "rvec differnece: ", tvec_err
print "rvec differnece: ", rvec_err
#Saving pose information to file
filename_pose2 = "/home/rpi-cats/Desktop/DJ/Code/Data/In_Nest_Pose_" + str(
t1) + ".mat"
scipy.io.savemat(filename_pose2,
mdict={
'tvec_ground_In_Nest': tvec_ground,
'tvec_panel_In_Nest': tvec_panel,
'Rca_ground_In_Nest': Rca_ground,
'Rca_panel_In_Nest': Rca_panel,
'tvec_difference_In_Nest': tvec_ground - tvec_panel,
'rvec_difference_In_Nest': rvec_ground - rvec_panel,
'loaded_tvec_difference': loaded_tvec_difference,
'loaded_rvec_difference': loaded_rvec_difference,
'observed_tvec_difference': observed_tvec_difference,
'observed_rvec_difference': observed_rvec_difference
})
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 0.7, [])
# raw_input("confirm release vacuum")
rapid_node.set_digital_io("Vacuum_enable", 0)
g = ProcessStepGoal('plan_place_set_second_step', "")
process_client.send_goal(g)
#self.in_process=True
print process_client.get_result()
print "VACUUM OFF!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
time.sleep(0.5)
tran = np.array([2.17209718963, -1.13702651252, 0.224273328841])
rot = rox.q2R(
[0.0145063655084, -0.0282932350764, 0.999322921073, -0.0185137145776])
pose_target2 = rox.Transform(rot, tran)
Cur_Pose = controller_commander.get_current_pose_msg()
rot_current = [
Cur_Pose.pose.orientation.w, Cur_Pose.pose.orientation.x,
Cur_Pose.pose.orientation.y, Cur_Pose.pose.orientation.z
]
trans_current = [
Cur_Pose.pose.position.x, Cur_Pose.pose.position.y,
Cur_Pose.pose.position.z
]
pose_target2.R = rox.q2R(
[rot_current[0], rot_current[1], rot_current[2], rot_current[3]])
pose_target2.p = trans_current
pose_target2.p[2] += 0.5
#
#
# #print 'Target:',pose_target3
#
# #print "============ Executing plan4"
controller_commander.compute_cartesian_path_and_move(
pose_target2, avoid_collisions=False)
t2 = time.time()
print 'Execution Finished.'
print "Execution time: " + str(t2 - t1) + " seconds"
s = ProcessState()
s.state = "place_set"
s.payload = "leeward_mid_panel"
s.target = ""
process_state_pub.publish(s)
def main():
#Start timer to measure execution time
t1 = time.time()
#Subscribe to controller_state
rospy.Subscriber("controller_state", controllerstate, callback)
last_ros_image_stamp = rospy.Time(0)
#Force-torque
if not "disable-ft" in sys.argv:
ft_threshold1 = ft_threshold
else:
ft_threshold1 = []
#Initialize ros node of this process
rospy.init_node('Placement_DJ_1', anonymous=True)
#print "============ Starting setup"
listener = PayloadTransformListener()
rapid_node = rapid_node_pkg.RAPIDCommander()
controller_commander = controller_commander_pkg.ControllerCommander()
object_commander = ObjectRecognitionCommander()
robot = urdf.robot_from_parameter_server()
#subscribe to Gripper camera node for image acquisition
ros_gripper_2_img_sub = rospy.Subscriber(
'/gripper_camera_2/image', Image,
object_commander.ros_raw_gripper_2_image_cb)
ros_gripper_2_trigger = rospy.ServiceProxy(
'/gripper_camera_2/continuous_trigger', CameraTrigger)
#Set controller command mode
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 0.4, ft_threshold_place, [])
time.sleep(0.5)
#Set Location above the panel where the end effector goes first (in the world/base frame) Ideal location of panel.
tran = np.array([2.20120663258, 1.2145882986, 0.0798989466944])
rot = np.array([[-0.9971185, 0.0071821, 0.0755188],
[0.0056502, 0.9997743, -0.0204797],
[-0.0756488, -0.0199939, -0.9969341]])
pose_target2 = rox.Transform(rot, tran)
pose_target3 = copy.deepcopy(pose_target2)
pose_target2.p[2] += 0.35 #20 cm above ideal location of panel
#Execute movement to set location
print "Executing initial path"
controller_commander.compute_cartesian_path_and_move(
pose_target2, avoid_collisions=False)
#Initilialize aruco boards and parameters
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_ARUCO_ORIGINAL)
parameters = cv2.aruco.DetectorParameters_create()
parameters.cornerRefinementMethod = cv2.aruco.CORNER_REFINE_SUBPIX
board_ground = cv2.aruco.GridBoard_create(5, 4, 0.04, 0.01, aruco_dict, 20)
board_panel = cv2.aruco.GridBoard_create(8, 3, 0.025, 0.0075, aruco_dict,
50)
# tag_ids=["vacuum_gripper_marker_1","leeward_mid_panel_marker_1", "aligner_ref_1", "aligner_ref_2", "aligner_ref_3", "aligner_ref_4"]
# boards=[gripper_board, panel_board, ref1, ref2, ref3, ref4]
#Initialize camera intrinsic parameters #18285636_10_05_2018_5_params
CamParam = CameraParams(2342.561249990927, 1209.151959040735,
2338.448312671424, 1055.254852652610, 1.0,
-0.014840837133389, -0.021008029929566,
3.320024219653553e-04, -0.002187550225028,
-0.025059986937316)
#Subscribe tp controller state. Again?
rospy.Subscriber("controller_state", controllerstate, callback)
UV = np.zeros([74, 8])
P = np.zeros([74, 3])
#Load object points ground tag in panel tag coordinate system from mat file
loaded_object_points_ground_in_panel_system_stage_1 = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['object_points_ground_in_panel_tag_system']
loaded_object_points_ground_in_panel_system_stage_2 = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['object_points_ground_in_panel_tag_system']
loaded_object_points_ground_in_panel_system = loaded_object_points_ground_in_panel_system_stage_1
#focal length in pixel units, this number is averaged values from f_hat for x and y
f_hat_u = 2342.561249990927 #2282.523358266698#2281.339593273153 #2446.88
f_hat_v = 2338.448312671424 #2280.155828279608
#functions like a gain, used with velocity to track position
dt = 0.1
du = 100.0
dv = 100.0
dutmp = 100.0
dvtmp = 100.0
TimeGain = [0.1, 0.1, 0.1]
du_array = []
dv_array = []
dx_array = []
iteration = 0
stage = 1
step_ts = 0.004
Kc = 0.0002
time_save = []
FTdata_save = []
Tran_z = np.array([[0, 0, -1], [0, -1, 0], [1, 0, 0]])
Vec_wrench = 100 * np.array([
0.019296738361905, 0.056232033265447, 0.088644197659430,
0.620524934626544, -0.517896661195076, 0.279323567303444,
-0.059640563813256, 0.631460085138371, -0.151143175570223,
-6.018321330845553
]).transpose()
FTdata_0 = FTdata
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack(
[np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)])
A = np.vstack([A1, A2])
FTdata_0est = np.matmul(A, Vec_wrench)
FTread_array = []
FTdata_array = []
t_now_array = []
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 1.0, [], [])
#while (pose_target2.p[2] > 0.185):
# while ((du>10) | (dv>10) | (pose_target2.p[2] > 0.172)): #try changing du and dv to lower values(number of iterations increases)
while (
(du > 1) | (dv > 1) and (iteration < 125)
): #try changing du and dv to lower values(number of iterations increases)
# while ((np.max(np.abs(dutmp))>0.5) | (np.max(np.abs(dvtmp))>0.5)): #try changing du and dv to lower values(number of iterations increases)
iteration += 1
t_now_array.append(time.time())
#Go to stage2 of movement(mostly downward z motion)
if ((du < 2) and (dv < 2) and (stage == 1)):
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in hovering position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in hovering position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
tvec_difference_Above_Nest = loaded_tvec_difference - observed_tvec_difference
rvec_difference_Above_Nest = loaded_rvec_difference - observed_rvec_difference
print "============== Difference in pose difference in hovering position"
print "tvec difference: ", tvec_difference_Above_Nest
print "rvec differnece: ", rvec_difference_Above_Nest
#Saving pose information to file
filename_pose1 = "/home/rpi-cats/Desktop/DJ/Code/Data/Above_Nest_Pose_" + str(
t1) + ".mat"
scipy.io.savemat(filename_pose1,
mdict={
'tvec_ground_Above_Nest':
tvec_ground,
'tvec_panel_Above_Nest':
tvec_panel,
'Rca_ground_Above_Nest':
Rca_ground,
'Rca_panel_Above_Nest':
Rca_panel,
'tvec_difference_Above_Nest':
tvec_ground - tvec_panel,
'rvec_difference_Above_Nest':
rvec_ground - rvec_panel,
'loaded_tvec_difference':
loaded_tvec_difference,
'loaded_rvec_difference':
loaded_rvec_difference,
'observed_tvec_difference':
observed_tvec_difference,
'observed_rvec_difference':
observed_rvec_difference
})
raw_input("Confirm Stage 2")
stage = 2
# dt=0.02
loaded_object_points_ground_in_panel_system = loaded_object_points_ground_in_panel_system_stage_2
#print pose_target2.p[2]
#Print current robot pose at the beginning of this iteration
Cur_Pose = controller_commander.get_current_pose_msg()
print "============ Current Robot Pose"
print Cur_Pose
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger(False)
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Save
# filename = "Acquisition3_%d.jpg" % (time.time())
# scipy.misc.imsave(filename, result)
#Display
# cv2.namedWindow('Aqcuired Image',cv2.WINDOW_NORMAL)
# cv2.imshow('Acquired Image',result)
# cv2.waitKey(1)
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
frame_with_markers_and_axis = result
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
# print "combined_list:",combined_list
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
false_ids_ind = np.where(ids > 73)
mask = np.ones(ids.shape, dtype=bool)
mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape(
[objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape(
[imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape(
[objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape(
[imgPoints_panel.shape[0], 2])
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
frame_with_markers_and_axis = cv2.aruco.drawAxis(
frame_with_markers_and_axis, CamParam.camMatrix,
CamParam.distCoeff, Rca_ground, tvec_ground, 0.2)
frame_with_markers_and_axis = cv2.aruco.drawAxis(
frame_with_markers_and_axis, CamParam.camMatrix,
CamParam.distCoeff, Rca_panel, tvec_panel, 0.2)
rvec_all_markers_ground, tvec_all_markers_ground, _ = aruco.estimatePoseSingleMarkers(
corners[0:20], 0.04, CamParam.camMatrix, CamParam.distCoeff)
rvec_all_markers_panel, tvec_all_markers_panel, _ = aruco.estimatePoseSingleMarkers(
corners[20:45], 0.025, CamParam.camMatrix, CamParam.distCoeff)
tvec_all = np.concatenate(
(tvec_all_markers_ground, tvec_all_markers_panel), axis=0)
for i_ids, i_corners, i_tvec in zip(ids, corners, tvec_all):
#print 'i_corners',i_corners,i_corners.reshape([1,8])
UV[i_ids, :] = i_corners.reshape(
[1, 8]) #np.average(i_corners, axis=1)
P[i_ids, :] = i_tvec
#used to find the height of the tags and the delta change of height, z height at desired position
Z = 1 * P[20:40,
2] #- [0.68184539, 0.68560932, 0.68966803, 0.69619578])
#check if all tags detected
if retVal_ground != 0 and retVal_panel != 0:
dutmp = []
dvtmp = []
#Pixel estimates of the ideal ground tag location
reprojected_imagePoints_ground_2, jacobian2 = cv2.projectPoints(
loaded_object_points_ground_in_panel_system.transpose(),
rvec_panel, tvec_panel, CamParam.camMatrix, CamParam.distCoeff)
reprojected_imagePoints_ground_2 = reprojected_imagePoints_ground_2.reshape(
[reprojected_imagePoints_ground_2.shape[0], 2])
# print "Image Points Ground:", imgPoints_ground
# print "Reprojected Image Points Ground2:", reprojected_imagePoints_ground_2
# print "Reprojectoin error:",imgPoints_ground-reprojected_imagePoints_ground_2
# print "Average Reprojectoin error: ",np.mean(imgPoints_ground-reprojected_imagePoints_ground_2, axis=0)
#print "Reprojected Image Points Ground2 type:", type(reprojected_imagePoints_ground_2)
#plot image points for ground tag from corner detection and from re-projections
for point1, point2 in zip(
imgPoints_ground,
np.float32(reprojected_imagePoints_ground_2)):
cv2.circle(frame_with_markers_and_axis, tuple(point1), 5,
(0, 0, 255), 3)
cv2.circle(frame_with_markers_and_axis, tuple(point2), 5,
(255, 0, 0), 3)
# cv2.namedWindow('Aqcuired Image',cv2.WINDOW_NORMAL)
# cv2.imshow('Acquired Image',frame_with_markers_and_axis)
# cv2.waitKey(1)
#Save
filename_image = "/home/rpi-cats/Desktop/DJ/Code/Images/Acquisition_" + str(
t1) + "_" + str(iteration) + ".jpg"
scipy.misc.imsave(filename_image, frame_with_markers_and_axis)
#Go through a particular point in all tags to build the complete Jacobian
for ic in range(4):
#uses first set of tags, numbers used to offset camera frame, come from camera parameters
#UV_target = np.vstack([UV[9:13,2*ic]-1209.151959040735,UV[9:13,2*ic+1]-1055.254852652610]).T - UV_shift[:,(2*ic):(2*ic+2)] #shift corner estimates to the image centers. Necessary for the image jacobian to work.
reprojected_imagePoints_ground_2 = np.reshape(
reprojected_imagePoints_ground_2, (20, 8))
UV_target = np.vstack([
reprojected_imagePoints_ground_2[:, 2 * ic] -
1209.151959040735,
reprojected_imagePoints_ground_2[:, 2 * ic + 1] -
1055.254852652610
]).T
uc = UV_target[:, 0]
vc = UV_target[:, 1]
# print 'UV_target', UV_target
UV_current = np.vstack([
UV[20:40, 2 * ic] - 1209.151959040735,
UV[20:40, 2 * ic + 1] - 1055.254852652610
]).T
#find difference between current and desired tag difference
delta_UV = UV_target - UV_current
# print 'delta_UV: ',ic, delta_UV
dutmp.append(np.mean(delta_UV[:, 0]))
dvtmp.append(np.mean(delta_UV[:, 1]))
for tag_i in range(20):
if tag_i == 0:
J_cam_tmp = 1.0 * np.array(
[[
-f_hat_u / Z[tag_i], 0.0, uc[tag_i] / Z[tag_i],
uc[tag_i] * vc[tag_i] / f_hat_u, -1.0 *
(uc[tag_i] * uc[tag_i] / f_hat_u + f_hat_u),
vc[tag_i]
],
[
0.0, -f_hat_v / Z[tag_i], vc[tag_i] /
Z[tag_i], vc[tag_i] * vc[tag_i] / f_hat_v +
f_hat_v, -1.0 * uc[tag_i] * vc[tag_i] /
f_hat_v, -uc[tag_i]
]])
else:
J_cam_tmp = np.concatenate(
(J_cam_tmp,
1.0 * np.array(
[[
-f_hat_u / Z[tag_i], 0.0,
uc[tag_i] / Z[tag_i],
uc[tag_i] * vc[tag_i] / f_hat_u, -1.0 *
(uc[tag_i] * uc[tag_i] / f_hat_u +
f_hat_u), vc[tag_i]
],
[
0.0, -f_hat_v / Z[tag_i], vc[tag_i] /
Z[tag_i], vc[tag_i] * vc[tag_i] / f_hat_v
+ f_hat_v, -1.0 * uc[tag_i] * vc[tag_i] /
f_hat_v, -uc[tag_i]
]])),
axis=0)
#camera jacobian
if ic == 0:
J_cam = J_cam_tmp
delta_UV_all = delta_UV.reshape(40, 1)
UV_target_all = UV_target.reshape(40, 1)
else:
J_cam = np.vstack([J_cam, J_cam_tmp])
delta_UV_all = np.vstack(
[delta_UV_all, delta_UV.reshape(40, 1)])
UV_target_all = np.vstack(
[UV_target_all,
UV_target.reshape(40, 1)])
print 'dutmp: ', dutmp
print 'dvtmp: ', dvtmp
du = np.mean(np.absolute(dutmp))
dv = np.mean(np.absolute(dvtmp))
print 'Average du of all points:', du, 'Average dv of all points:', dv
du_array.append(du)
dv_array.append(dv)
# print 'delta_UV_all',delta_UV_all
dx = np.matmul(np.linalg.pinv(J_cam), np.array(delta_UV_all))
dx_array.append(dx)
# print 'dx:',dx #translational and angular velocity
#print '1:',dx[0:3,0]
#print '2:',np.hstack([0,-dx[0:3,0]])
#print '3:',np.hstack([dx[0:3,0].reshape(3,1),rox.hat(np.array(dx[0:3,0]))])
#coordinate system change, replace with tf transform
#dx_w = np.array([dx[3,0],-dx[4,0],-dx[5,0]]) #angular velocity
#map omega to current quaternion
#Omega = 0.5*np.vstack([np.hstack([0,-dx_w]),np.hstack([dx_w.reshape(3,1),rox.hat(np.array(dx_w))])])
#print Omega
#rot_current = [Cur_Pose.pose.orientation.w, Cur_Pose.pose.orientation.x,Cur_Pose.pose.orientation.y,Cur_Pose.pose.orientation.z]
#rot = np.matmul(expm(Omega*dt),np.array(rot_current))
#trans_current = [Cur_Pose.pose.position.x,Cur_Pose.pose.position.y,Cur_Pose.pose.position.z]
#trans = trans_current + np.array([dx[0,0],-dx[1,0],-dx[2,0]])*TimeGain
#pose_target2 = rox.Transform(rox.q2R([rot[0], rot[1], rot[2], rot[3]]), trans)
#Vz=0
dx = np.array([
dx[3, 0], -dx[4, 0], -dx[5, 0], dx[0, 0], -dx[1, 0], -dx[2, 0]
])
if stage == 2:
T = listener.lookupTransform("base", "link_6", rospy.Time(0))
rg = 9.8 * np.matmul(
np.matmul(T.R, Tran_z).transpose(),
np.array([0, 0, 1]).transpose())
A1 = np.hstack([
rox.hat(rg).transpose(),
np.zeros([3, 1]),
np.eye(3),
np.zeros([3, 3])
])
A2 = np.hstack([
np.zeros([3, 3]),
rg.reshape([3, 1]),
np.zeros([3, 3]),
np.eye(3)
])
A = np.vstack([A1, A2])
FTdata_est = np.matmul(A, Vec_wrench)
FTread = FTdata - FTdata_0 - FTdata_est + FTdata_0est
print 'FTread:', FTread
print 'Z', FTread[-1]
if FTread[-1] > -100:
F_d = -150
Kc = 0.0001
else:
Kc = 0.0001
F_d = -200
Vz = Kc * (F_d - FTread[-1])
print 'Vz', Vz
dx[-1] = Vz + dx[-1]
FTread_array.append(FTread)
FTdata_array.append(FTdata)
current_joint_angles = controller_commander.get_current_joint_values(
)
J = rox.robotjacobian(robot, current_joint_angles)
joints_vel = np.linalg.pinv(J).dot(np.array(dx))
print 'vel_norm:', np.linalg.norm(joints_vel)
t_duration = np.log(np.linalg.norm(joints_vel) * 10 + 1) + 0.1
if t_duration < 0.1:
t_duration = 0.1
goal = trapezoid_gen(
np.array(current_joint_angles) + joints_vel.dot(dt),
np.array(current_joint_angles), t_duration)
'''
plan=RobotTrajectory()
plan.joint_trajectory.joint_names=['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
plan.joint_trajectory.header.frame_id='/world'
p1=JointTrajectoryPoint()
p1.positions = current_joint_angles
p1.velocities = np.zeros((6,))
p1.accelerations = np.zeros((6,))
p1.time_from_start = rospy.Duration(0)
p2=JointTrajectoryPoint()
p2.positions = np.array(p1.positions) + joints_vel.dot(dt)
p2.velocities = np.zeros((6,))
p2.accelerations = np.zeros((6,))
p2.time_from_start = rospy.Duration(dt)
controller_commander.set_controller_mode(controller_commander.MODE_AUTO_TRAJECTORY, 1.0, [], [])
plan.joint_trajectory.points.append(p1)
plan.joint_trajectory.points.append(p2)
'''
client = actionlib.SimpleActionClient("joint_trajectory_action",
FollowJointTrajectoryAction)
client.wait_for_server()
client.send_goal(goal)
client.wait_for_result()
res = client.get_result()
if (res.error_code != 0):
raise Exception("Trajectory execution returned error")
print res
#break
#raw_input("confirm move...")
'''
print "============ Executing Current Iteration movement"
try:
controller_commander.execute(plan)
#controller_commander.compute_cartesian_path_and_move(pose_target2, avoid_collisions=False)
except:
pass
'''
print 'Current Iteration Finished.'
# filename = "delta_UV_all.txt"
# f_handle = file(filename, 'a')
# np.savetxt(f_handle, delta_UV_all)
# f_handle.close()
#
# filename = "UV_target_all.txt"
# f_handle = file(filename, 'a')
# np.savetxt(f_handle, UV_target_all)
# f_handle.close()
#
# filename = "P.txt"
# f_handle = file(filename, 'a')
# np.savetxt(f_handle, P)
# f_handle.close()
#
#
# filename = "Robot.txt"
# f_handle = file(filename, 'a')
# np.savetxt(f_handle, np.hstack([np.array(trans_current),np.array(rot_current)]))
# f_handle.close()
#Saving iteration data to file
filename_data = "/home/rpi-cats/Desktop/DJ/Code/Data/Data_" + str(
t1) + ".mat"
scipy.io.savemat(filename_data,
mdict={
'du_array': du_array,
'dv_array': dv_array,
'dx_array': dx_array
})
#Saving force data to file
filename_force_data = "/home/rpi-cats/Desktop/DJ/Code/Data/Data_force_" + str(
t1) + ".mat"
scipy.io.savemat(filename_force_data,
mdict={
'FTread': FTread_array,
'FTdata': FTdata_array,
't_now_array': t_now_array
})
# ####Hovering error calculation
# #Read new image
# last_ros_image_stamp = object_commander.ros_image_stamp
# try:
# ros_gripper_2_trigger.wait_for_service(timeout=0.1)
# ros_gripper_2_trigger(False)
# except:
# pass
# wait_count=0
# while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
# if wait_count > 50:
# raise Exception("Image receive timeout")
# time.sleep(0.25)
# wait_count += 1
# result = object_commander.ros_image
#
# #Detect tag corners in aqcuired image using aruco
# corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(result, aruco_dict, parameters=parameters)
#
# #Sort corners and ids according to ascending order of ids
# corners_original=copy.deepcopy(corners)
# ids_original=np.copy(ids)
# sorting_indices=np.argsort(ids_original,0)
# ids_sorted=ids_original[sorting_indices]
# ids_sorted=ids_sorted.reshape([len(ids_original),1])
# combined_list=zip(np.ndarray.tolist(ids.flatten()),corners_original)
# combined_list.sort()
# corners_sorted=[x for y,x in combined_list]
# ids=np.copy(ids_sorted)
# corners=copy.deepcopy(corners_sorted)
#
# #Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
# false_ids_ind = np.where(ids>73)
# mask = np.ones(ids.shape, dtype=bool)
# mask[false_ids_ind] = False
# ids = ids[mask]
# corners = np.array(corners)
# corners = corners[mask.flatten(),:]
# corners = list(corners)
#
# #Define object and image points of both tags
# objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(board_ground, corners, ids)
# objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(board_panel, corners, ids)
# objPoints_ground=objPoints_ground.reshape([objPoints_ground.shape[0],3])
# imgPoints_ground=imgPoints_ground.reshape([imgPoints_ground.shape[0],2])
# objPoints_panel=objPoints_panel.reshape([objPoints_panel.shape[0],3])
# imgPoints_panel=imgPoints_panel.reshape([imgPoints_panel.shape[0],2])
#
# #Save pose of marker boards after the iterations end(while in the final hovering position above nest)
# #Get pose of both ground and panel markers from detected corners
# retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(objPoints_ground, imgPoints_ground, CamParam.camMatrix, CamParam.distCoeff)
# Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
# retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(objPoints_panel, imgPoints_panel, CamParam.camMatrix, CamParam.distCoeff)
# Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
#
# print"============== Observed Pose difference in hovering position"
# observed_tvec_difference=tvec_ground-tvec_panel
# observed_rvec_difference=rvec_ground-rvec_panel
# print "tvec difference: ",observed_tvec_difference
# print "rvec differnece: ",observed_rvec_difference
#
# #Load ideal pose differnece information from file
# loaded_rvec_difference = loadmat('/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat')['rvec_difference']
# loaded_tvec_difference = loadmat('/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_Above_Nest.mat')['tvec_difference']
#
# print"============== Ideal Pose difference in hovering position"
# print "tvec difference: ",loaded_tvec_difference
# print "rvec differnece: ",loaded_rvec_difference
#
# print"============== Difference in pose difference in hovering position"
# print "tvec difference: ",loaded_tvec_difference-observed_tvec_difference
# print "rvec differnece: ",loaded_rvec_difference-observed_rvec_difference
#
# #Saving pose information to file
# filename_pose1 = "/home/armabb6640/Desktop/DJ/Code/Data/Above_Nest_Pose_"+str(t1)+".mat"
# scipy.io.savemat(filename_pose1, mdict={'tvec_ground_Above_Nest':tvec_ground, 'tvec_panel_Above_Nest':tvec_panel,
# 'Rca_ground_Above_Nest':Rca_ground, 'Rca_panel_Above_Nest': Rca_panel, 'tvec_difference_Above_Nest': tvec_ground-tvec_panel, 'rvec_difference_Above_Nest': rvec_ground-rvec_panel})
print "============ Final Push Down to Nest"
# while (1):
#DJ Final push from hovering above nest into resting in the nest
controller_commander.set_controller_mode(
controller_commander.MODE_AUTO_TRAJECTORY, 0.2, [], [])
# pose_target2.p[2] = 0.115
# pose_target2.p[2] = 0.15
Cur_Pose = controller_commander.get_current_pose_msg()
rot_current = [
Cur_Pose.pose.orientation.w, Cur_Pose.pose.orientation.x,
Cur_Pose.pose.orientation.y, Cur_Pose.pose.orientation.z
]
trans_current = [
Cur_Pose.pose.position.x, Cur_Pose.pose.position.y,
Cur_Pose.pose.position.z
]
pose_target2.R = rox.q2R(
[rot_current[0], rot_current[1], rot_current[2], rot_current[3]])
pose_target2.p = trans_current
pose_target2.p[2] -= 0.11
# pose_target2.p[0] += 0.005
# pose_target2.p[1] -= 0.002
# controller_commander.compute_cartesian_path_and_move(pose_target2, avoid_collisions=False)
#### Final Nest Placement Error Calculation ===============================
#Read new image
last_ros_image_stamp = object_commander.ros_image_stamp
try:
ros_gripper_2_trigger.wait_for_service(timeout=0.1)
ros_gripper_2_trigger(False)
except:
pass
wait_count = 0
while object_commander.ros_image is None or object_commander.ros_image_stamp == last_ros_image_stamp:
if wait_count > 50:
raise Exception("Image receive timeout")
time.sleep(0.25)
wait_count += 1
result = object_commander.ros_image
#Detect tag corners in aqcuired image using aruco
corners, ids, rejectedImgPoints = cv2.aruco.detectMarkers(
result, aruco_dict, parameters=parameters)
#Sort corners and ids according to ascending order of ids
corners_original = copy.deepcopy(corners)
ids_original = np.copy(ids)
sorting_indices = np.argsort(ids_original, 0)
ids_sorted = ids_original[sorting_indices]
ids_sorted = ids_sorted.reshape([len(ids_original), 1])
combined_list = zip(np.ndarray.tolist(ids.flatten()), corners_original)
combined_list.sort()
corners_sorted = [x for y, x in combined_list]
ids = np.copy(ids_sorted)
corners = copy.deepcopy(corners_sorted)
#Remove ids and corresponsing corners not in range (Parasitic detections in random locations in the image)
false_ids_ind = np.where(ids > 73)
mask = np.ones(ids.shape, dtype=bool)
mask[false_ids_ind] = False
ids = ids[mask]
corners = np.array(corners)
corners = corners[mask.flatten(), :]
corners = list(corners)
#Define object and image points of both tags
objPoints_ground, imgPoints_ground = aruco.getBoardObjectAndImagePoints(
board_ground, corners, ids)
objPoints_panel, imgPoints_panel = aruco.getBoardObjectAndImagePoints(
board_panel, corners, ids)
objPoints_ground = objPoints_ground.reshape([objPoints_ground.shape[0], 3])
imgPoints_ground = imgPoints_ground.reshape([imgPoints_ground.shape[0], 2])
objPoints_panel = objPoints_panel.reshape([objPoints_panel.shape[0], 3])
imgPoints_panel = imgPoints_panel.reshape([imgPoints_panel.shape[0], 2])
#Save pose of marker boards after the iterations end(while in the final hovering position above nest)
#Get pose of both ground and panel markers from detected corners
retVal_ground, rvec_ground, tvec_ground = cv2.solvePnP(
objPoints_ground, imgPoints_ground, CamParam.camMatrix,
CamParam.distCoeff)
Rca_ground, b_ground = cv2.Rodrigues(rvec_ground)
retVal_panel, rvec_panel, tvec_panel = cv2.solvePnP(
objPoints_panel, imgPoints_panel, CamParam.camMatrix,
CamParam.distCoeff)
Rca_panel, b_panel = cv2.Rodrigues(rvec_panel)
print "============== Observed Pose difference in nest position"
observed_tvec_difference = tvec_ground - tvec_panel
observed_rvec_difference = rvec_ground - rvec_panel
print "tvec difference: ", observed_tvec_difference
print "rvec differnece: ", observed_rvec_difference
#Load ideal pose differnece information from file
loaded_rvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['rvec_difference']
loaded_tvec_difference = loadmat(
'/home/rpi-cats/Desktop/DJ/Ideal Position/Cam_636_object_points_ground_tag_in_panel_frame_In_Nest.mat'
)['tvec_difference']
print "============== Ideal Pose difference in nest position"
print "tvec difference: ", loaded_tvec_difference
print "rvec differnece: ", loaded_rvec_difference
print "============== Difference in pose difference in nest position"
print "tvec difference: ", loaded_tvec_difference - observed_tvec_difference
print "rvec differnece: ", loaded_rvec_difference - observed_rvec_difference
#Saving pose information to file
filename_pose2 = "/home/rpi-cats/Desktop/DJ/Code/Data/In_Nest_Pose_" + str(
t1) + ".mat"
scipy.io.savemat(filename_pose2,
mdict={
'tvec_ground_In_Nest': tvec_ground,
'tvec_panel_In_Nest': tvec_panel,
'Rca_ground_In_Nest': Rca_ground,
'Rca_panel_In_Nest': Rca_panel,
'tvec_difference_In_Nest': tvec_ground - tvec_panel,
'rvec_difference_In_Nest': rvec_ground - rvec_panel,
'loaded_tvec_difference': loaded_tvec_difference,
'loaded_rvec_difference': loaded_rvec_difference,
'observed_tvec_difference': observed_tvec_difference,
'observed_rvec_difference': observed_rvec_difference
})
# print "============ Lift gripper!"
# controller_commander.set_controller_mode(controller_commander.MODE_AUTO_TRAJECTORY, 0.7, [])
# raw_input("confirm release vacuum")
# #rapid_node.set_digital_io("Vacuum_enable", 0)
# print "VACUUM OFF!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
# time.sleep(0.5)
# pose_target3.p[2] += 0.2
#
#
# #print 'Target:',pose_target3
#
# #print "============ Executing plan4"
# #controller_commander.compute_cartesian_path_and_move(pose_target3, avoid_collisions=False)
t2 = time.time()
print 'Execution Finished.'
print "Execution time: " + str(t2 - t1) + " seconds"
