def camTlaser(res=np.zeros(7)):
# @ Duke, res = np.array([0.8, 0.9, -1.7, 3.1, 0.061, 0.032, -0.035 ])
rot = tr.Ry(math.radians(0.0 + res[0])) * tr.Rz(
math.radians(0.0 + res[1])) * tr.Rx(
math.radians(-90.0 + res[2])) * tr.Rz(math.radians(-90.0 + res[3]))
disp = np.matrix([res[4], res[5], res[6]]).T + np.matrix([0.0, 0.0, 0.0]).T
return tr.composeHomogeneousTransform(rot, disp)
def createMecanumTransform():
''' mecanum frame -> global frame (ignores the zenither)
'''
disp = np.matrix([-0.25,0.,0.0]).T
rot = np.matrix(np.eye(3))
t = tr.composeHomogeneousTransform(rot,disp)
_globalT['mecanum'] = t
def createTorsoTransform():
''' torso frame -> global frame
'''
disp = np.matrix([0.,0.,0.]).T
rot = np.matrix(np.eye(3))
t = tr.composeHomogeneousTransform(rot,disp)
_globalT['torso'] = t
def process_read( pf, p_start, m ):
# Note: p_start is numpy array (Nx3) and it's weights ([:,2]) will be modified in-place!
# m is form: RFIDread, PoseStamped (ant in map), PoseStamped (robot base in map)
# We assume it is a postive reading for the desired tagID!
xy_map = np.copy( p_start[:,0:2].T ) # 2xN
# Antenna is at position given by m.ps_ant_map.
# IMPORTANT NOTE: I'm assuming that the antenna XY plane is parallel to the map XY plane!
o = m.ps_ant_map.pose.orientation
d = m.ps_ant_map.pose.position
roll, pitch, yaw = tft.euler_from_quaternion([ o.x, o.y, o.z, o.w ])
dx, dy = d.x, d.y
# Transform xy_map points into antenna frame
t_new = tr.composeHomogeneousTransform( tr.rotZ( yaw ),
np.matrix([dx,dy,0.0]).T )
trans = tr.invertHomogeneousTransform( t_new )
xy_new = (trans * tr.xyToHomogenous( xy_map ))[0:2] # This is a matrix! (2xN)
xy_new = np.array( xy_new ) # Convert it back to array!
# Build new particles using old weights (Nx3)
p_new = np.column_stack([ xy_new.T, p_start[:,2] ]) # take weights from last iteration
rv = pf.step( 0.0, m.read.rssi, p_new, should_resample_func = pfilter.retFalse )
# Put back the new weights:
p_start[:,2] = rv[:,2]
return
def createThok0Transform():
''' thok0 frame -> global frame
'''
disp = np.matrix([0.,0.,0.09]).T
rot = np.matrix(np.eye(3))
t = tr.composeHomogeneousTransform(rot,disp)
_globalT['thok0'] = t
def createUtm0Transform():
''' utm0 frame -> global frame
'''
disp = copy.copy(tr.getDispSubMat(_globalT['thok0']))
disp[2,0] += 0.055
rot = np.matrix(np.eye(3))
t = tr.composeHomogeneousTransform(rot,disp)
_globalT['utm0'] = t
def utmcam0Tglobal_mat(ang):
thok0Tglobal_mat = tr.invertHomogeneousTransform(_globalT['thok0'])
# servo angle.
disp = np.matrix([0.,0.,0.]).T
tmat = tr.composeHomogeneousTransform(tr.Ry(ang),disp)*thok0Tglobal_mat
# cameraTlaser from thok_cam_calib.py
x = 0.012
y = -0.056
z = 0.035
r1 = 0.
r2 = 0.
r3 = -0.7
disp = np.matrix([-x,-y,-z]).T
r = tr.Rz(math.radians(-90))*tr.Ry(math.radians(90.))
disp = r*disp
r = r*tr.Rx(math.radians(r1))
r = r*tr.Ry(math.radians(r2))
r = r*tr.Rz(math.radians(r3))
t = tr.composeHomogeneousTransform(r, disp)
tmat = t*tmat
return tmat
def process_read(pf, p_start, m):
# Note: p_start is numpy array (Nx3) and it's weights ([:,2]) will be modified in-place!
# m is form: RFIDread, PoseStamped (ant in map), PoseStamped (robot base in map)
# We assume it is a postive reading for the desired tagID!
xy_map = np.copy(p_start[:, 0:2].T) # 2xN
# Antenna is at position given by m.ps_ant_map.
# IMPORTANT NOTE: I'm assuming that the antenna XY plane is parallel to the map XY plane!
o = m.ps_ant_map.pose.orientation
d = m.ps_ant_map.pose.position
roll, pitch, yaw = tft.euler_from_quaternion([o.x, o.y, o.z, o.w])
dx, dy = d.x, d.y
# Transform xy_map points into antenna frame
t_new = tr.composeHomogeneousTransform(tr.rotZ(yaw),
np.matrix([dx, dy, 0.0]).T)
trans = tr.invertHomogeneousTransform(t_new)
xy_new = (trans *
tr.xyToHomogenous(xy_map))[0:2] # This is a matrix! (2xN)
xy_new = np.array(xy_new) # Convert it back to array!
# Build new particles using old weights (Nx3)
p_new = np.column_stack([xy_new.T,
p_start[:,
2]]) # take weights from last iteration
rv = pf.step(0.0,
m.read.rssi,
p_new,
should_resample_func=pfilter.retFalse)
# Put back the new weights:
p_start[:, 2] = rv[:, 2]
return
def make_pr2_gripper_marker(ps,
color,
orientation=None,
marker_array=None,
control=None,
mesh_id_start=0,
ns="pr2_gripper",
offset=-0.19):
mesh_id = mesh_id_start
# this is the palm piece
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1., 1., 1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/gripper_palm.dae"
mesh.type = Marker.MESH_RESOURCE
if orientation != None:
mesh.pose.orientation = Quaternion(*orientation)
else:
mesh.pose.orientation = Quaternion(0, 0, 0, 1)
mesh.pose.position.x = offset
if control != None:
control.markers.append(mesh)
elif marker_array != None:
mesh.pose.position = ps.pose.position
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id + 1
marker_array.markers.append(mesh)
# amount to open the gripper for each finger
angle_open = 0.4
if orientation == None:
rot0 = np.matrix(np.eye(3))
else:
rot0 = tr.quaternion_to_matrix(orientation)
if marker_array != None:
T0 = tr.composeHomogeneousTransform(
rot0, [ps.point.x, ps.point.y, ps.point.z])
else:
T0 = tr.composeHomogeneousTransform(rot0, [offset, 0.0, 0.])
#transforming the left finger and finger tip
rot1 = tr.rot_angle_direction(angle_open, np.matrix([0, 0, 1]))
T1 = tr.composeHomogeneousTransform(rot1, [0.07691, 0.01, 0.])
rot2 = tr.rot_angle_direction(-1 * angle_open, np.matrix([0, 0, 1]))
T2 = tr.composeHomogeneousTransform(rot2, [0.09137, 0.00495, 0.])
T_proximal = T0 * T1
T_distal = T0 * T1 * T2
finger_pos = tr.tft.translation_from_matrix(T_proximal)
finger_rot = tr.tft.quaternion_from_matrix(T_proximal)
tip_pos = tr.tft.translation_from_matrix(T_distal)
tip_rot = tr.tft.quaternion_from_matrix(T_distal)
#making the marker for the left finger
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1., 1., 1.)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger.dae"
mesh.color = ColorRGBA(*color)
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*finger_rot)
mesh.pose.position = Point(*finger_pos)
if control != None:
control.markers.append(mesh)
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id + 1
marker_array.markers.append(mesh)
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1., 1., 1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*tip_rot)
mesh.pose.position = Point(*tip_pos)
if control != None:
control.markers.append(mesh)
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id + 1
marker_array.markers.append(mesh)
#transforming the right finger and finger tip
rot1 = tr.rot_angle_direction(3.14, np.matrix(
[1, 0, 0])) * tr.rot_angle_direction(angle_open, np.matrix([0, 0, 1]))
T1 = tr.composeHomogeneousTransform(rot1, [0.07691, -0.01, 0.])
rot2 = tr.rot_angle_direction(-1 * angle_open, np.matrix([0, 0, 1]))
T2 = tr.composeHomogeneousTransform(rot2, [0.09137, 0.00495, 0.])
T_proximal = T0 * T1
T_distal = T0 * T1 * T2
finger_pos = tr.tft.translation_from_matrix(T_proximal)
finger_rot = tr.tft.quaternion_from_matrix(T_proximal)
tip_pos = tr.tft.translation_from_matrix(T_distal)
tip_rot = tr.tft.quaternion_from_matrix(T_distal)
#making the marker for the right finger
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1., 1., 1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*finger_rot)
mesh.pose.position = Point(*finger_pos)
if control != None:
control.markers.append(mesh)
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id + 1
marker_array.markers.append(mesh)
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1., 1., 1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*tip_rot)
mesh.pose.position = Point(*tip_pos)
if control != None:
control.markers.append(mesh)
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id + 1
marker_array.markers.append(mesh)
if control != None:
control.interaction_mode = InteractiveMarkerControl.BUTTON
return control
elif marker_array != None:
return marker_array
def tiltTpan(panAng, residuals = np.zeros(6) ):
rotResid, dispResid = residualXform( residuals )
rot = rotResid * tr.Rz( -1.0 * panAng )
disp = dispResid + np.matrix([ 0.07124, 0.0, 0.02243 ]).T
return tr.composeHomogeneousTransform(rot, disp)
def rollTtool_MA( residuals = np.zeros(6) ):
rotResid, dispResid = residualXform( residuals )
rot = rotResid * tr.Ry( math.radians( -90.0 ))
disp = dispResid + np.matrix([ 0.0476, 0.0, 0.0 ]).T
return tr.composeHomogeneousTransform(rot, disp)
X,Y = np.meshgrid( np.arange(-10,10,0.1),
np.arange(-10,10,0.1) )
xyw = np.row_stack([ X.flatten(), # Build Nx3
Y.flatten(),
np.ones( X.shape ).flatten() ]).T # weights (multiplicative)
p_set = np.copy( xyw )
pf = pfilter.PFilter( rfid_model.NoMotion(), rfid_model.RfidModel( rfid_model.yaml_fname ))
t0 = time.time()
rv = pf.step( 0.0, 83, p_set, should_resample_func = pfilter.retFalse ) # rv are the new weights
# New antenna is at position (5,-5) and rotated 90-deg. relative to MAP frame
t_new = tr.composeHomogeneousTransform( tr.rotZ( math.radians(90) ), np.matrix([5,-5,0]).T )
# This transform takes points from map frame into t_new:
trans = tr.invertHomogeneousTransform( t_new )
xy_new = np.array((trans * tr.xyToHomogenous( xyw[:,0:2].T) )[0:2].T)
xyw_new = np.column_stack([ xy_new, rv[:,2] ]) # take weights from last iteration
rv = pf.step( 0.0, 83, xyw_new, should_resample_func = pfilter.retFalse ) # rv are the new weights
t1 = time.time()
print 'Time: %3.2f ' % (t1 - t0)
to_print = np.copy( xyw )
to_print[:,2] = rv[:,2] # Just keep weights, but use original points in "map" frame
def make_pr2_gripper_marker(ps, color, orientation = None,
marker_array=None, control=None,
mesh_id_start = 0, ns = "pr2_gripper",
offset=-0.19):
mesh_id = mesh_id_start
# this is the palm piece
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1.,1.,1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/gripper_palm.dae"
mesh.type = Marker.MESH_RESOURCE
if orientation != None:
mesh.pose.orientation = Quaternion(*orientation)
else:
mesh.pose.orientation = Quaternion(0,0,0,1)
mesh.pose.position.x = offset
if control != None:
control.markers.append( mesh )
elif marker_array != None:
mesh.pose.position = ps.pose.position
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id+1
marker_array.markers.append(mesh)
# amount to open the gripper for each finger
angle_open = 0.4
if orientation == None:
rot0 = np.matrix(np.eye(3))
else:
rot0 = tr.quaternion_to_matrix(orientation)
if marker_array != None:
T0 = tr.composeHomogeneousTransform(rot0, [ps.point.x, ps.point.y, ps.point.z])
else:
T0 = tr.composeHomogeneousTransform(rot0, [offset, 0.0, 0.])
#transforming the left finger and finger tip
rot1 = tr.rot_angle_direction(angle_open, np.matrix([0, 0, 1]))
T1 = tr.composeHomogeneousTransform(rot1, [0.07691, 0.01, 0.])
rot2 = tr.rot_angle_direction(-1*angle_open, np.matrix([0, 0, 1]))
T2 = tr.composeHomogeneousTransform(rot2, [0.09137, 0.00495, 0.])
T_proximal = T0*T1
T_distal = T0*T1*T2
finger_pos = tr.tft.translation_from_matrix(T_proximal)
finger_rot = tr.tft.quaternion_from_matrix(T_proximal)
tip_pos = tr.tft.translation_from_matrix(T_distal)
tip_rot = tr.tft.quaternion_from_matrix(T_distal)
#making the marker for the left finger
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1.,1.,1.)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger.dae"
mesh.color = ColorRGBA(*color)
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*finger_rot)
mesh.pose.position = Point(*finger_pos)
if control != None:
control.markers.append( mesh )
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id+1
marker_array.markers.append(mesh)
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1.,1.,1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*tip_rot)
mesh.pose.position = Point(*tip_pos)
if control != None:
control.markers.append( mesh )
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id+1
marker_array.markers.append(mesh)
#transforming the right finger and finger tip
rot1 = tr.rot_angle_direction(3.14, np.matrix([1, 0, 0]))*tr.rot_angle_direction(angle_open, np.matrix([0, 0, 1]))
T1 = tr.composeHomogeneousTransform(rot1, [0.07691, -0.01, 0.])
rot2 = tr.rot_angle_direction(-1*angle_open, np.matrix([0, 0, 1]))
T2 = tr.composeHomogeneousTransform(rot2, [0.09137, 0.00495, 0.])
T_proximal = T0*T1
T_distal = T0*T1*T2
finger_pos = tr.tft.translation_from_matrix(T_proximal)
finger_rot = tr.tft.quaternion_from_matrix(T_proximal)
tip_pos = tr.tft.translation_from_matrix(T_distal)
tip_rot = tr.tft.quaternion_from_matrix(T_distal)
#making the marker for the right finger
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1.,1.,1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*finger_rot)
mesh.pose.position = Point(*finger_pos)
if control != None:
control.markers.append( mesh )
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id+1
marker_array.markers.append(mesh)
mesh = Marker()
mesh.ns = ns
#mesh.mesh_use_embedded_materials = True
mesh.scale = Vector3(1.,1.,1.)
mesh.color = ColorRGBA(*color)
mesh.mesh_resource = "package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"
mesh.type = Marker.MESH_RESOURCE
mesh.pose.orientation = Quaternion(*tip_rot)
mesh.pose.position = Point(*tip_pos)
if control != None:
control.markers.append( mesh )
elif marker_array != None:
mesh.header.frame_id = ps.header.frame_id
mesh.id = mesh_id
mesh_id = mesh_id+1
marker_array.markers.append(mesh)
if control != None:
control.interaction_mode = InteractiveMarkerControl.BUTTON
return control
elif marker_array != None:
return marker_array
Y.flatten(),
np.ones(X.shape).flatten()
]).T # weights (multiplicative)
p_set = np.copy(xyw)
pf = pfilter.PFilter(rfid_model.NoMotion(),
rfid_model.RfidModel(rfid_model.yaml_fname))
t0 = time.time()
rv = pf.step(0.0, 83, p_set,
should_resample_func=pfilter.retFalse) # rv are the new weights
# New antenna is at position (5,-5) and rotated 90-deg. relative to MAP frame
t_new = tr.composeHomogeneousTransform(tr.rotZ(math.radians(90)),
np.matrix([5, -5, 0]).T)
# This transform takes points from map frame into t_new:
trans = tr.invertHomogeneousTransform(t_new)
xy_new = np.array((trans * tr.xyToHomogenous(xyw[:, 0:2].T))[0:2].T)
xyw_new = np.column_stack([xy_new, rv[:,
2]]) # take weights from last iteration
rv = pf.step(0.0, 83, xyw_new,
should_resample_func=pfilter.retFalse) # rv are the new weights
t1 = time.time()
print 'Time: %3.2f ' % (t1 - t0)
to_print = np.copy(xyw)
to_print[:,
2] = rv[:,
def omni_pose_cb(self, msg):
self.publish_rviz_markers()
if self.enabled:
#Get the omni's tip pose in the PR2's torso frame
tip_omni, msg_frame = tfu.posestamped_as_matrix(msg)
self.torso_lift_link_T_omni(tip_omni, msg_frame)
#self.torso_T_omni(tip_omni, msg_frame)
#Publish new arm pose
ps = PoseStamped()
ps.header.frame_id = '/torso_lift_link'
ps.header.stamp = rospy.get_rostime()
ps.pose.position.x = self.tip_tt[0]
ps.pose.position.y = self.tip_tt[1]
ps.pose.position.z = self.tip_tt[2]
ps.pose.orientation.x = self.tip_tq[0]
ps.pose.orientation.y = self.tip_tq[1]
ps.pose.orientation.z = self.tip_tq[2]
ps.pose.orientation.w = self.tip_tq[3]
self.set_goal_pub.publish(ps)
if self.zero_out_forces:
wr = OmniFeedback()
wr.force.x = 0
wr.force.y = 0
wr.force.z = 0
self.omni_fb.publish(wr)
self.zero_out_forces = False
else:
#this is a zero order hold publishing the last received values until the control loop is active again
tip_tt = self.tip_tt
tip_tq = self.tip_tq
ps = PointStamped()
ps.header.frame_id = '/torso_lift_link'
ps.header.stamp = rospy.get_rostime()
ps.point.x = tip_tt[0]
ps.point.y = tip_tt[1]
ps.point.z = tip_tt[2]
ps.pose.orientation.x = tip_tq[0]
ps.pose.orientation.y = tip_tq[1]
ps.pose.orientation.z = tip_tq[2]
ps.pose.orientation.w = tip_tq[3]
self.set_goal_pub.publish(ps)
#this is to make the omni force well move if the arm has moved but the commanded
#position of the arm has not changed
tip_omni, msg_frame = tfu.posestamped_as_matrix(msg)
m_o1 = tfu.transform(self.omni_name, msg_frame, self.tflistener) * tip_omni
ee_point = np.matrix(tr.translation_from_matrix(m_o1)).T
q = self.robot.get_joint_angles()
pos, rot = self.robot.kinematics.FK(q, self.robot.kinematics.n_jts)
# tip_torso = tfu.transform('/torso_lift_link', self.gripper_tip_frame, self.tflistener) \
# * tfu.tf_as_matrix(([0.,0.,0.], tr.quaternion_from_euler(0,0,0)))
tip_torso = hrl_tr.composeHomogeneousTransform(rot, pos)
#tip_torso = tfu.tf_as_matrix(([pos, rot]))
#def composeHomogeneousTransform(rot, disp):
center_t, center_q = self.omni_T_torso(tip_torso)
center_col_vec = np.matrix(center_t).T
#Send force control info
wr = OmniFeedback()
# offsets (0, -.268, -.15) introduced by Hai in phantom driver
# should be cleaned up at some point so that it is consistent with position returned by phantom -marc
lock_pos = tr.translation_matrix(np.matrix([0,-.268,-.150]))*tfu.transform(self.omni_name+'_sensable', self.omni_name, self.tflistener)*np.row_stack((center_col_vec, np.matrix([1.])))
wr.position.x = (lock_pos[0,0])*1000.0 #multiply by 1000 mm/m to get units phantom expects
wr.position.y = (lock_pos[1,0])*1000.0
wr.position.z = (lock_pos[2,0])*1000.0
# wr.position.x = tip_tt[0] #multiply by 1000 mm/m to get units phantom expects
# wr.position.y = tip_tt[1]
# wr.position.z = tip_tt[2]
self.omni_fb.publish(wr)
def process_bag(full_bag_name, prosilica_image_file, model_image_file, experiment_start_condition_pkl, arm_used='left'):
bag_path, bag_name_ext = os.path.split(full_bag_name)
filename, ext = os.path.splitext(bag_name_ext)
###############################################################################
# Playback the bag
bag_playback = Process(target=playback_bag, args=(full_bag_name,))
bag_playback.start()
###############################################################################
## Listen for transforms using rosbag
rospy.init_node('bag_proceessor')
tl = tf.TransformListener()
print 'waiting for transform'
tl.waitForTransform('map', 'base_footprint', rospy.Time(), rospy.Duration(20))
# Extract the starting location map_T_bf
p_base = tfu.transform('map', 'base_footprint', tl) \
* tfu.tf_as_matrix(([0., 0., 0., 1.], tr.quaternion_from_euler(0,0,0)))
t, r = tfu.matrix_as_tf(p_base)
pose_base = (t, r)
print 'done with tf'
##########################################################
## Find contact locations
start_conditions = ut.load_pickle(experiment_start_condition_pkl)
start_conditions['highdef_image'] = prosilica_image_file
start_conditions['model_image'] = model_image_file
rospy.loginfo('extracting object localization features')
start_conditions['pose_parameters'] = extract_object_localization_features2(start_conditions, tl, arm_used, p_base)
if bag_playback.is_alive():
rospy.loginfo('Terminating playback process')
bag_playback.terminate()
time.sleep(1)
bag_playback.terminate()
time.sleep(1)
rospy.loginfo('Playback process terminated? %s' % str(not bag_playback.is_alive()))
###############################################################################
#Read bag using programmatic API
pr2_kinematics = pr2k.PR2Kinematics(tl)
converter = JointMsgConverter()
rospy.loginfo('opening bag, reading state topics')
topics_dict = ru.bag_sel(full_bag_name, ['/joint_states', '/l_cart/command_pose',
'/r_cart/command_pose', '/torso_controller/state',
'/pressure/l_gripper_motor', '/pressure/r_gripper_motor'])
## Select the arm that has been moving, segment joint states based on contact states.
if arm_used == 'left':
pressures = topics_dict['/pressure/l_gripper_motor']
elif arm_used == 'right':
pressures = topics_dict['/pressure/r_gripper_motor']
else:
raise RuntimeError('arm_used invalid')
## find contact times
rospy.loginfo('Finding contact times')
left_f, right_f, ptimes = hpr2.pressure_state_to_mat(pressures['msg'])
## create segments based on contacts
# TODO: make this accept more contact stages
contact_times = find_contact_times(left_f, right_f, ptimes, 250)
if len(contact_times) > 2:
time_segments = [['start', contact_times[0]], [contact_times[0], contact_times[-1]], [contact_times[-1], 'end']]
else:
time_segments = [['start', 'end']]
rospy.loginfo('Splitting messages based on contact times')
## split pressure readings based on contact times
pressure_lseg = segment_msgs(time_segments, topics_dict['/pressure/l_gripper_motor']['msg'])
pressure_rseg = segment_msgs(time_segments, topics_dict['/pressure/r_gripper_motor']['msg'])
## split cartesian commands based on contact times
lcart_seg = segment_msgs(time_segments, topics_dict['/l_cart/command_pose']['msg'])
rcart_seg = segment_msgs(time_segments, topics_dict['/r_cart/command_pose']['msg'])
## split joint states
joint_states = topics_dict['/joint_states']['msg']
print 'there are %d joint state messages in bag' % len(joint_states)
j_segs = segment_msgs(time_segments, topics_dict['/joint_states']['msg'])
jseg_dicts = [converter.msgs_to_dict(seg) for seg in j_segs]
# find the first set of joint states
j0_dict = jseg_dicts[0][0]
## perform FK
rospy.loginfo('Performing FK to find tip locations')
bf_T_obj = htf.composeHomogeneousTransform(start_conditions['pose_parameters']['frame_bf'],
start_conditions['pose_parameters']['center_bf'])
obj_T_bf = np.linalg.inv(bf_T_obj)
for jseg_dict in jseg_dicts:
for d in jseg_dict:
rtip_bf = pr2_kinematics.right.fk('base_footprint',
'r_wrist_roll_link', 'r_gripper_tool_frame',
d['poses']['rarm'].A1.tolist())
ltip_bf = pr2_kinematics.left.fk('base_footprint',
'l_wrist_roll_link', 'l_gripper_tool_frame',
d['poses']['larm'].A1.tolist())
rtip_obj = obj_T_bf * rtip_bf
ltip_obj = obj_T_bf * ltip_bf
d['rtip_obj'] = tfu.matrix_as_tf(rtip_obj)
d['ltip_obj'] = tfu.matrix_as_tf(ltip_obj)
d['rtip_bf'] = tfu.matrix_as_tf(rtip_bf)
d['ltip_bf'] = tfu.matrix_as_tf(ltip_bf)
###############################################################################
# make movement state dictionaries, one for each state
movement_states = []
for i, seg in enumerate(time_segments):
name = "state_%d" % i
start_times = [lcart_seg[i][0].header.stamp.to_time(),
rcart_seg[i][0].header.stamp.to_time(),
jseg_dicts[i][0]['time'],
pressure_lseg[i][0].header.stamp.to_time(),
pressure_rseg[i][0].header.stamp.to_time()]
sdict = {'name': name,
'start_time': np.min(start_times),
'cartesian': [[ru.ros_to_dict(ps) for ps in lcart_seg[i]],
[ru.ros_to_dict(ps) for ps in rcart_seg[i]]],
'joint_states': jseg_dicts[i]
#'pressure': [pressure_lseg[i], pressure_rseg[i]]
}
movement_states.append(sdict)
# store in a dict
data = {'start_conditions': start_conditions, # ['camera_info', 'map_T_bf', 'pro_T_bf', 'points' (in base_frame),
# 'highdef_image', 'model_image',
## 'pose_parameters'
## 'descriptors'
## 'directions' (wrt to cannonical orientation)
## 'closest_feature'
'base_pose': pose_base,
'robot_pose': j0_dict,
'arm': arm_used,
'movement_states': movement_states}
# save dicts to pickles
processed_bag_name = '%s_processed.pkl' % os.path.join(bag_path, filename)
rospy.loginfo('saving to %s' % processed_bag_name)
ut.save_pickle(data, processed_bag_name)
bag_playback.join()
rospy.loginfo('finished!')
np.ones( X.shape ).flatten() ]).T # weights (multiplicative)
xyw_orig = np.copy( xyw )
rm = rfid_model.RfidModel( rfid_model.yaml_fname )
# pf = lib_pfilter.PFilter( lib_pfilter.NoMotion(), rm, xyw )
# pf.measurement( 80 )
# Antenna reading at origin (max near 4,0)
# rv = np.copy( xyw )
rv = rm.weight_set( 83, xyw )
# Move antenna to 4,-4 and rotated 90 deg
xy = xyw[:,0:2]
trans = tr.composeHomogeneousTransform( tr.rotZ( math.radians(-90) ), np.matrix([5,5,0]).T )
xy_new = np.array((trans * tr.xyToHomogenous( xy.T) )[0:2].T)
xyw_new = np.column_stack([ xy_new, rv[:,2] ]) # take weights from last iteration
rv_new = rm.weight_set( 83, xyw_new )
to_print = np.copy( xyw_orig )
to_print[:,2] = rv_new[:,2] # Just keep weights, but use original points in "map" frame
dw = DisplayWeights()
while not rospy.is_shutdown():
print 'UPDATING'
dw.update( to_print )
def camTlaser( res = np.zeros(7) ):
# @ Duke, res = np.array([0.8, 0.9, -1.7, 3.1, 0.061, 0.032, -0.035 ])
rot = tr.Ry( math.radians( 0.0 + res[0] )) * tr.Rz( math.radians( 0.0 + res[1] )) * tr.Rx( math.radians( -90.0 + res[2] )) * tr.Rz( math.radians( -90.0 + res[3]))
disp = np.matrix([ res[4], res[5], res[6] ]).T + np.matrix([ 0.0, 0.0, 0.0 ]).T
return tr.composeHomogeneousTransform(rot, disp)
np.ones(X.shape).flatten()
]).T # weights (multiplicative)
xyw_orig = np.copy(xyw)
rm = rfid_model.RfidModel(rfid_model.yaml_fname)
# pf = lib_pfilter.PFilter( lib_pfilter.NoMotion(), rm, xyw )
# pf.measurement( 80 )
# Antenna reading at origin (max near 4,0)
# rv = np.copy( xyw )
rv = rm.weight_set(83, xyw)
# Move antenna to 4,-4 and rotated 90 deg
xy = xyw[:, 0:2]
trans = tr.composeHomogeneousTransform(tr.rotZ(math.radians(-90)),
np.matrix([5, 5, 0]).T)
xy_new = np.array((trans * tr.xyToHomogenous(xy.T))[0:2].T)
xyw_new = np.column_stack([xy_new, rv[:,
2]]) # take weights from last iteration
rv_new = rm.weight_set(83, xyw_new)
to_print = np.copy(xyw_orig)
to_print[:,
2] = rv_new[:,
2] # Just keep weights, but use original points in "map" frame
dw = DisplayWeights()
while not rospy.is_shutdown():
print 'UPDATING'
def panTroll(rollAng, residuals = np.zeros(6) ):
rotResid, dispResid = residualXform( residuals )
rot = rotResid * tr.Rx( -1.0 * rollAng )
disp = dispResid + np.matrix([0.02021, 0.0, 0.04236 ]).T
return tr.composeHomogeneousTransform(rot, disp)
def process_bag(full_bag_name,
prosilica_image_file,
model_image_file,
experiment_start_condition_pkl,
arm_used='left'):
bag_path, bag_name_ext = os.path.split(full_bag_name)
filename, ext = os.path.splitext(bag_name_ext)
###############################################################################
# Playback the bag
bag_playback = Process(target=playback_bag, args=(full_bag_name, ))
bag_playback.start()
###############################################################################
## Listen for transforms using rosbag
rospy.init_node('bag_proceessor')
tl = tf.TransformListener()
print 'waiting for transform'
tl.waitForTransform('map', 'base_footprint', rospy.Time(),
rospy.Duration(20))
# Extract the starting location map_T_bf
p_base = tfu.transform('map', 'base_footprint', tl) \
* tfu.tf_as_matrix(([0., 0., 0., 1.], tr.quaternion_from_euler(0,0,0)))
t, r = tfu.matrix_as_tf(p_base)
pose_base = (t, r)
print 'done with tf'
##########################################################
## Find contact locations
start_conditions = ut.load_pickle(experiment_start_condition_pkl)
start_conditions['highdef_image'] = prosilica_image_file
start_conditions['model_image'] = model_image_file
rospy.loginfo('extracting object localization features')
start_conditions[
'pose_parameters'] = extract_object_localization_features2(
start_conditions, tl, arm_used, p_base)
if bag_playback.is_alive():
rospy.loginfo('Terminating playback process')
bag_playback.terminate()
time.sleep(1)
bag_playback.terminate()
time.sleep(1)
rospy.loginfo('Playback process terminated? %s' %
str(not bag_playback.is_alive()))
###############################################################################
#Read bag using programmatic API
pr2_kinematics = pr2k.PR2Kinematics(tl)
converter = JointMsgConverter()
rospy.loginfo('opening bag, reading state topics')
topics_dict = ru.bag_sel(full_bag_name, [
'/joint_states', '/l_cart/command_pose', '/r_cart/command_pose',
'/torso_controller/state', '/pressure/l_gripper_motor',
'/pressure/r_gripper_motor'
])
## Select the arm that has been moving, segment joint states based on contact states.
if arm_used == 'left':
pressures = topics_dict['/pressure/l_gripper_motor']
elif arm_used == 'right':
pressures = topics_dict['/pressure/r_gripper_motor']
else:
raise RuntimeError('arm_used invalid')
## find contact times
rospy.loginfo('Finding contact times')
left_f, right_f, ptimes = hpr2.pressure_state_to_mat(pressures['msg'])
## create segments based on contacts
# TODO: make this accept more contact stages
contact_times = find_contact_times(left_f, right_f, ptimes, 250)
if len(contact_times) > 2:
time_segments = [['start', contact_times[0]],
[contact_times[0], contact_times[-1]],
[contact_times[-1], 'end']]
else:
time_segments = [['start', 'end']]
rospy.loginfo('Splitting messages based on contact times')
## split pressure readings based on contact times
pressure_lseg = segment_msgs(
time_segments, topics_dict['/pressure/l_gripper_motor']['msg'])
pressure_rseg = segment_msgs(
time_segments, topics_dict['/pressure/r_gripper_motor']['msg'])
## split cartesian commands based on contact times
lcart_seg = segment_msgs(time_segments,
topics_dict['/l_cart/command_pose']['msg'])
rcart_seg = segment_msgs(time_segments,
topics_dict['/r_cart/command_pose']['msg'])
## split joint states
joint_states = topics_dict['/joint_states']['msg']
print 'there are %d joint state messages in bag' % len(joint_states)
j_segs = segment_msgs(time_segments, topics_dict['/joint_states']['msg'])
jseg_dicts = [converter.msgs_to_dict(seg) for seg in j_segs]
# find the first set of joint states
j0_dict = jseg_dicts[0][0]
## perform FK
rospy.loginfo('Performing FK to find tip locations')
bf_T_obj = htf.composeHomogeneousTransform(
start_conditions['pose_parameters']['frame_bf'],
start_conditions['pose_parameters']['center_bf'])
obj_T_bf = np.linalg.inv(bf_T_obj)
for jseg_dict in jseg_dicts:
for d in jseg_dict:
rtip_bf = pr2_kinematics.right.fk('base_footprint',
'r_wrist_roll_link',
'r_gripper_tool_frame',
d['poses']['rarm'].A1.tolist())
ltip_bf = pr2_kinematics.left.fk('base_footprint',
'l_wrist_roll_link',
'l_gripper_tool_frame',
d['poses']['larm'].A1.tolist())
rtip_obj = obj_T_bf * rtip_bf
ltip_obj = obj_T_bf * ltip_bf
d['rtip_obj'] = tfu.matrix_as_tf(rtip_obj)
d['ltip_obj'] = tfu.matrix_as_tf(ltip_obj)
d['rtip_bf'] = tfu.matrix_as_tf(rtip_bf)
d['ltip_bf'] = tfu.matrix_as_tf(ltip_bf)
###############################################################################
# make movement state dictionaries, one for each state
movement_states = []
for i, seg in enumerate(time_segments):
name = "state_%d" % i
start_times = [
lcart_seg[i][0].header.stamp.to_time(),
rcart_seg[i][0].header.stamp.to_time(), jseg_dicts[i][0]['time'],
pressure_lseg[i][0].header.stamp.to_time(),
pressure_rseg[i][0].header.stamp.to_time()
]
sdict = {
'name':
name,
'start_time':
np.min(start_times),
'cartesian': [[ru.ros_to_dict(ps) for ps in lcart_seg[i]],
[ru.ros_to_dict(ps) for ps in rcart_seg[i]]],
'joint_states':
jseg_dicts[i]
#'pressure': [pressure_lseg[i], pressure_rseg[i]]
}
movement_states.append(sdict)
# store in a dict
data = {
'start_conditions':
start_conditions, # ['camera_info', 'map_T_bf', 'pro_T_bf', 'points' (in base_frame),
# 'highdef_image', 'model_image',
## 'pose_parameters'
## 'descriptors'
## 'directions' (wrt to cannonical orientation)
## 'closest_feature'
'base_pose': pose_base,
'robot_pose': j0_dict,
'arm': arm_used,
'movement_states': movement_states
}
# save dicts to pickles
processed_bag_name = '%s_processed.pkl' % os.path.join(bag_path, filename)
rospy.loginfo('saving to %s' % processed_bag_name)
ut.save_pickle(data, processed_bag_name)
bag_playback.join()
rospy.loginfo('finished!')
def laserTtilt(tiltAng, residuals = np.zeros(6) ):
rotResid, dispResid = residualXform( residuals )
rot = rotResid * tr.Ry( +1.0 * tiltAng )
disp = dispResid + np.matrix([ 0.03354, 0.0, 0.23669 ]).T
return tr.composeHomogeneousTransform(rot, disp)
def omni_pose_cb(self, msg):
self.publish_rviz_markers()
if self.enabled:
#Get the omni's tip pose in the PR2's torso frame
tip_omni, msg_frame = tfu.posestamped_as_matrix(msg)
self.torso_lift_link_T_omni(tip_omni, msg_frame)
#self.torso_T_omni(tip_omni, msg_frame)
#Publish new arm pose
ps = PoseStamped()
ps.header.frame_id = '/torso_lift_link'
ps.header.stamp = rospy.get_rostime()
ps.pose.position.x = self.tip_tt[0]
ps.pose.position.y = self.tip_tt[1]
ps.pose.position.z = self.tip_tt[2]
ps.pose.orientation.x = self.tip_tq[0]
ps.pose.orientation.y = self.tip_tq[1]
ps.pose.orientation.z = self.tip_tq[2]
ps.pose.orientation.w = self.tip_tq[3]
self.set_goal_pub.publish(ps)
if self.zero_out_forces:
wr = OmniFeedback()
wr.force.x = 0
wr.force.y = 0
wr.force.z = 0
self.omni_fb.publish(wr)
self.zero_out_forces = False
else:
#this is a zero order hold publishing the last received values until the control loop is active again
tip_tt = self.tip_tt
tip_tq = self.tip_tq
ps = PointStamped()
ps.header.frame_id = '/torso_lift_link'
ps.header.stamp = rospy.get_rostime()
ps.point.x = tip_tt[0]
ps.point.y = tip_tt[1]
ps.point.z = tip_tt[2]
ps.pose.orientation.x = tip_tq[0]
ps.pose.orientation.y = tip_tq[1]
ps.pose.orientation.z = tip_tq[2]
ps.pose.orientation.w = tip_tq[3]
self.set_goal_pub.publish(ps)
#this is to make the omni force well move if the arm has moved but the commanded
#position of the arm has not changed
tip_omni, msg_frame = tfu.posestamped_as_matrix(msg)
m_o1 = tfu.transform(self.omni_name, msg_frame,
self.tflistener) * tip_omni
ee_point = np.matrix(tr.translation_from_matrix(m_o1)).T
q = self.robot.get_joint_angles()
pos, rot = self.robot.kinematics.FK(q, self.robot.kinematics.n_jts)
# tip_torso = tfu.transform('/torso_lift_link', self.gripper_tip_frame, self.tflistener) \
# * tfu.tf_as_matrix(([0.,0.,0.], tr.quaternion_from_euler(0,0,0)))
tip_torso = hrl_tr.composeHomogeneousTransform(rot, pos)
#tip_torso = tfu.tf_as_matrix(([pos, rot]))
#def composeHomogeneousTransform(rot, disp):
center_t, center_q = self.omni_T_torso(tip_torso)
center_col_vec = np.matrix(center_t).T
#Send force control info
wr = OmniFeedback()
# offsets (0, -.268, -.15) introduced by Hai in phantom driver
# should be cleaned up at some point so that it is consistent with position returned by phantom -marc
lock_pos = tr.translation_matrix(np.matrix(
[0, -.268, -.150])) * tfu.transform(
self.omni_name + '_sensable', self.omni_name,
self.tflistener) * np.row_stack(
(center_col_vec, np.matrix([1.])))
wr.position.x = (
lock_pos[0, 0]
) * 1000.0 #multiply by 1000 mm/m to get units phantom expects
wr.position.y = (lock_pos[1, 0]) * 1000.0
wr.position.z = (lock_pos[2, 0]) * 1000.0
# wr.position.x = tip_tt[0] #multiply by 1000 mm/m to get units phantom expects
# wr.position.y = tip_tt[1]
# wr.position.z = tip_tt[2]
self.omni_fb.publish(wr)
