def __init__(self, robot, execute, dt=8e-3):
self._execute = execute
self._robot = robot
self._dt = dt
# 1: position-controller
if execute == 1:
self._joint_controller = JointPositionController("denso")
# 2: trajectory-controller (via bCapServier)
elif execute == 2:
assert False, "This option is depreciated"
# self._trajectory_controller = bCap_JointTrajectoryController("bcap", 2)
# 3: trajectory-controller (via denso_control/trajectory controller)
elif execute == 3:
self._trajectory_controller = JointTrajectoryController("denso")
else:
logger.info("No hardware controller loaded.")
def __init__(self):
# Generic configuration
np.set_printoptions(precision=4, suppress=True)
# Read configuration parameters
self.ns = rospy.get_namespace()
robot_name = self.ns.replace('/','')
if len(robot_name) == 0:
rospy.logerr('Namespace is required by this script.')
#~ robot_name = 'right'
return
js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % robot_name, 250.0)
# Populate the OpenRAVE environment and robot
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
denso_base = env.ReadRobotXMLFile(models_dir + '/objects/denso_base.kinbody.xml')
denso_base.SetName('denso_base')
env.Add(denso_base)
robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_sensor_handle.robot.xml')
robot.SetName(robot_name)
env.Add(robot)
self.rave = Manipulator(env, robot, 'denso_ft_sensor_handle')
self.rave.EnableCollisionChecker()
RaveSetDebugLevel(DebugLevel.Fatal)
# enable OpenRave GUI
#~ env.SetViewer('QtCoin')
# Denso Controllers
self.denso = JointPositionController(robot_name)
self.rave.SetDOFValues(self.denso.get_joint_positions())
#~ denso = 0
self.rate = rospy.Rate(js_rate)
# Subscribe to FT sensor
rospy.Subscriber('/%s/ft_sensor/raw' % robot_name, WrenchStamped, self.ft_sensor_cb)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % robot_name)
# Move to first pre-contact position
q = self.rave.GetDOFValues()
q[1] = np.pi/2
Tprecontact = self.rave.GetEndEffectorTransform(q)
self.move_robot(Tprecontact)
while not rospy.is_shutdown():
continue
def __init__(self):
# Variables
self.contact = False
self.first_config = False
self.curr = np.array([0.,0.,0.,0.,0.,0.])
self.curr_buff = np.array([0.,0.,0.,0.,0.,0.])
self.pos_buff = np.array([0.,0.,0.,0.,0.,0.])
K_mot = np.array([0.,1.122861,0.695228,0.,0.,0.]) # Change K
self.param = np.array([[0.,0.,0.,0.,0.,0.],[0.,0.,0.,0.,0.,0.],[0.,0.,0.,0.,0.,0.]]) # initial is 0
self.z = np.array([0.,0.,0.,0.,0.,0.]) # initial is 0
self.time = [0]
self.qdd = np.array([0.,0.,0.,0.,0.,0.])
# Generic configuration
np.set_printoptions(precision=4, suppress=True)
# Read configuration parameters
self.ns = rospy.get_namespace()
robot_name = self.ns.replace('/','')
if len(robot_name) == 0:
#~ robot_name = 'right'
rospy.logerr('Namespace is required by this script.')
return
js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % robot_name, 125.0)
self.dt = 1. / js_rate
# Populate the OpenRAVE environment and robot
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
denso_base = env.ReadRobotXMLFile(models_dir + '/objects/denso_base.kinbody.xml')
denso_base.SetName('denso_base')
env.Add(denso_base)
robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_sensor_handle.robot.xml')
robot.SetName(robot_name)
env.Add(robot)
self.rave = Manipulator(env, robot, 'denso_ft_sensor_handle')
self.rave.EnableCollisionChecker()
RaveSetDebugLevel(DebugLevel.Fatal)
# enable OpenRave GUI
#~ env.SetViewer('QtCoin')
# Denso Controllers
self.denso = JointPositionController(robot_name)
self.rave.SetDOFValues(self.denso.get_joint_positions())
self.rate = rospy.Rate(js_rate)
# Subscribe to FT sensor and joint state
rospy.Subscriber('/%s/ft_sensor/raw' % robot_name, WrenchStamped, self.ft_sensor_cb)
rospy.Subscriber('/%s/joint_states' % robot_name, JointState, self.joint_states_cb)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status') and hasattr(self, 'effort') and hasattr(self, 'position'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % robot_name)
rospy.loginfo('Succefully connected to [/%s/joint_states/] topics' % robot_name)
# Move to first pre-contact position
Tprecontact = tr.euler_matrix(0, -np.pi/2 - np.pi/4 + 10/180.0*np.pi, 0)
Tprecontact[:3,3] = np.array([0.3, 0., -0.018])
self.move_robot(Tprecontact)
# Move to second pre-contact position
Tprecontact[0,3] -= 0.01
self.move_robot(Tprecontact)
rospy.sleep(0.5)
# Move until contact is happening (speed = 0.25 cm/s)
q = self.rave.GetDOFValues()
J = np.zeros((6,6))
curr_ref = self.curr[-1]
dx = np.array([-0.002*self.dt, 0., 0., 0., 0., 0.])
dq_buf = np.array([0.,0.,0.,0.,0.,0.])
Wref = np.array(self.wrench)
contact_force = np.array([1.0,10.0,5.0,0.0]),num = 0
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J[:3,:] = rave.manipulator.CalculateJacobian()
J[3:,:] = rave.manipulator.CalculateAngularVelocityJacobian()
dq = np.dot(np.linalg.pinv(J), dx)
self.qdd = (dq - dq_buf) / self.dt / self.dt
dq_buf = dq
q += dq
self.rave.SetDOFValues(q)
self.rave.SetDOFVelocities(dq/self.dt)
self.denso.set_joint_positions(q)
self.rate.sleep()
# Calculate F/T
Tor = []
for (i,Ki) in enumerate(K_mot):
Tor.append(Ki*(self.curr[i] - curr_ref[i]) + self.param[2,i] + self.z[i])
global_ft_calc = - np.dot(np.linalg.pinv(J.T), Tor)
T = self.rave.GetEndEffectorTransform(self.rave.GetDOFValues())
force_frame_transform
bXeF = force_frame_transform(T)
local_ft_calc = np.dot(np.linalg.pinv(bXeF), global_ft_calc)
print 'local_ft_calc: '
for (i,loc_i) in enumerate(local_ft_calc):
print('%f ' %loc_i)
print '\n'
# FT sensor
W = np.array(self.wrench)
F = W[:3] - Wref[:3]
if ((np.linalg.norm(F) > contact_force[num]) and (num<2)) or ((np.linalg.norm(F) < contact_force[num]) and (num>=2)):
rospy.loginfo('Contact %d detected' %(num+1))
if(num==0):
self.contact = True
self.first_config = True
num +=1
if(num==2):
dx[0] = -dx[0]
rospy.loginfo('Last local_ft_calc:')
local_ft_calc
rospy.loginfo('Last F:')
F
rospy.loginfo('Move to next contact point')
rospy.sleep(3)
continue
else:
rospy.loginfo('FT Sensor failed')
class CurrentEstimation(object):
global_frame = 'left/base_link'
def __init__(self):
# Variables
self.contact = False
self.first_config = False
self.curr = np.array([0.,0.,0.,0.,0.,0.])
self.curr_buff = np.array([0.,0.,0.,0.,0.,0.])
self.pos_buff = np.array([0.,0.,0.,0.,0.,0.])
K_mot = np.array([0.,1.122861,0.695228,0.,0.,0.]) # Change K
self.param = np.array([[0.,0.,0.,0.,0.,0.],[0.,0.,0.,0.,0.,0.],[0.,0.,0.,0.,0.,0.]]) # initial is 0
self.z = np.array([0.,0.,0.,0.,0.,0.]) # initial is 0
self.time = [0]
self.qdd = np.array([0.,0.,0.,0.,0.,0.])
# Generic configuration
np.set_printoptions(precision=4, suppress=True)
# Read configuration parameters
self.ns = rospy.get_namespace()
robot_name = self.ns.replace('/','')
if len(robot_name) == 0:
#~ robot_name = 'right'
rospy.logerr('Namespace is required by this script.')
return
js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % robot_name, 125.0)
self.dt = 1. / js_rate
# Populate the OpenRAVE environment and robot
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
denso_base = env.ReadRobotXMLFile(models_dir + '/objects/denso_base.kinbody.xml')
denso_base.SetName('denso_base')
env.Add(denso_base)
robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_sensor_handle.robot.xml')
robot.SetName(robot_name)
env.Add(robot)
self.rave = Manipulator(env, robot, 'denso_ft_sensor_handle')
self.rave.EnableCollisionChecker()
RaveSetDebugLevel(DebugLevel.Fatal)
# enable OpenRave GUI
#~ env.SetViewer('QtCoin')
# Denso Controllers
self.denso = JointPositionController(robot_name)
self.rave.SetDOFValues(self.denso.get_joint_positions())
self.rate = rospy.Rate(js_rate)
# Subscribe to FT sensor and joint state
rospy.Subscriber('/%s/ft_sensor/raw' % robot_name, WrenchStamped, self.ft_sensor_cb)
rospy.Subscriber('/%s/joint_states' % robot_name, JointState, self.joint_states_cb)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status') and hasattr(self, 'effort') and hasattr(self, 'position'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % robot_name)
rospy.loginfo('Succefully connected to [/%s/joint_states/] topics' % robot_name)
# Move to first pre-contact position
Tprecontact = tr.euler_matrix(0, -np.pi/2 - np.pi/4 + 10/180.0*np.pi, 0)
Tprecontact[:3,3] = np.array([0.3, 0., -0.018])
self.move_robot(Tprecontact)
# Move to second pre-contact position
Tprecontact[0,3] -= 0.01
self.move_robot(Tprecontact)
rospy.sleep(0.5)
# Move until contact is happening (speed = 0.25 cm/s)
q = self.rave.GetDOFValues()
J = np.zeros((6,6))
curr_ref = self.curr[-1]
dx = np.array([-0.002*self.dt, 0., 0., 0., 0., 0.])
dq_buf = np.array([0.,0.,0.,0.,0.,0.])
Wref = np.array(self.wrench)
contact_force = np.array([1.0,10.0,5.0,0.0]),num = 0
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J[:3,:] = rave.manipulator.CalculateJacobian()
J[3:,:] = rave.manipulator.CalculateAngularVelocityJacobian()
dq = np.dot(np.linalg.pinv(J), dx)
self.qdd = (dq - dq_buf) / self.dt / self.dt
dq_buf = dq
q += dq
self.rave.SetDOFValues(q)
self.rave.SetDOFVelocities(dq/self.dt)
self.denso.set_joint_positions(q)
self.rate.sleep()
# Calculate F/T
Tor = []
for (i,Ki) in enumerate(K_mot):
Tor.append(Ki*(self.curr[i] - curr_ref[i]) + self.param[2,i] + self.z[i])
global_ft_calc = - np.dot(np.linalg.pinv(J.T), Tor)
T = self.rave.GetEndEffectorTransform(self.rave.GetDOFValues())
force_frame_transform
bXeF = force_frame_transform(T)
local_ft_calc = np.dot(np.linalg.pinv(bXeF), global_ft_calc)
print 'local_ft_calc: '
for (i,loc_i) in enumerate(local_ft_calc):
print('%f ' %loc_i)
print '\n'
# FT sensor
W = np.array(self.wrench)
F = W[:3] - Wref[:3]
if ((np.linalg.norm(F) > contact_force[num]) and (num<2)) or ((np.linalg.norm(F) < contact_force[num]) and (num>=2)):
rospy.loginfo('Contact %d detected' %(num+1))
if(num==0):
self.contact = True
self.first_config = True
num +=1
if(num==2):
dx[0] = -dx[0]
rospy.loginfo('Last local_ft_calc:')
local_ft_calc
rospy.loginfo('Last F:')
F
rospy.loginfo('Move to next contact point')
rospy.sleep(3)
continue
else:
rospy.loginfo('FT Sensor failed')
def move_robot(self, trans):
self.rave.MoveToHandPosition(trans)
while not self.rave.IsControllerDone() and not rospy.is_shutdown():
q = self.rave.GetDOFValues()
self.denso.set_joint_positions(q)
self.rate.sleep()
def curr_sgn(self):
# Compute Inverse Dynamics arm
Tmot = self.rave.ComputeInverseDynamics(self.qdd)
Tm = Tmot[0]
Tc = Tmot[1]
Tg = Tmot[2]
# Total computable torque
Tor = (Tm + Tc + Tg)
sgn = []
for (i,Ti) in enumerate(Tor):
if(Ti<0):
sgn.append(-1)
else:
sgn.append(1)
return sgn
def ft_sensor_cb(self, msg):
force = vector_msg_to_np(msg.wrench.force)
torque = vector_msg_to_np(msg.wrench.torque)
self.wrench = np.hstack((force, torque))
def diagnostics_cb(self, msg):
self.ft_status = msg.status[0].level
def joint_states_cb(self, msg):
self.position = np.array(msg.position)
self.effort = np.array(msg.effort)
q_sign = np.sign(self.position - self.pos_buff)
self.pos_buff = self.position
cur = []
if not(self.contact):
self.sgn = self.curr_sgn()
for (i,sgn_i) in enumerate(self.sgn):
cur.append(sgn_i * self.effort[i])
self.curr = np.vstack((self.curr,cur))
else:
if(self.first_config):
self.param = np.array([[0.,-0.756017,-0.416826,0.,0.,0.],[0.,-0.065002,-0.078240,0.,0.,0.],[0.,12.066892,5.219690,0.,0.,0.]])
self.z = np.array([0.,-12.474310,-6.174117,0.,0.,0.])
self.first_config = False
for (i,sgn_i) in enumerate(self.sgn):
if (q_sign[i]==0.):
continue
if (not(np.sign(sgn_i * self.effort[i] - self.curr[-1,i])==q_sign[i])) and (abs(self.curr[-1,i])<2.0):
self.sgn[i] = -self.sgn[i]
cur.append(self.sgn[i] * self.effort[i])
self.curr = np.vstack((self.curr,cur))
dz = np.multiply(self.param[0], (self.curr[-1] - self.curr_buff)) + np.multiply(np.multiply(self.param[1],np.absolute(self.curr[-1] - self.curr_buff)),self.z)
self.z = self.z + dz
self.curr_buff = self.curr[-1]
def __init__(self):
# Generic configuration
np.set_printoptions(precision=4, suppress=True)
# Read configuration parameters
self.ns = rospy.get_namespace()
robot_name = self.ns.replace('/','')
if len(robot_name) == 0:
rospy.logerr('Namespace is required by this script.')
return
js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % robot_name, 125.0)
# Populate the OpenRAVE environment and robot
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
denso_base = env.ReadRobotXMLFile(models_dir + '/objects/denso_base.kinbody.xml')
denso_base.SetName('denso_base')
env.Add(denso_base)
robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_sensor_handle.robot.xml')
robot.SetName(robot_name)
env.Add(robot)
rave = Manipulator(env, robot, 'denso_ft_sensor_handle')
rave.EnableCollisionChecker()
RaveSetDebugLevel(DebugLevel.Fatal)
# enable OpenRave GUI
#~ env.SetViewer('QtCoin')
# Denso Controllers
denso = JointPositionController(robot_name)
rave.SetDOFValues(denso.get_joint_positions())
rate = rospy.Rate(js_rate)
# Move to first pre-contact position
Tprecontact = tr.euler_matrix(0, -np.pi/2 - np.pi/4 + 20/180.0*np.pi, 0)
Tprecontact[:3,3] = np.array([0.3, 0., -0.018])
#~ draw = draw_frame(env,Tprecontact)
self.move_robot(denso, rave, Tprecontact, rate)
# Move to second pre-contact position
Tprecontact[0,3] -= 0.01
#~ draw = draw_frame(env,Tprecontact)
self.move_robot(denso, rave, Tprecontact, rate)
rospy.sleep(0.5)
# Subscribe to FT sensor
rospy.Subscriber('/%s/ft_sensor/raw' % robot_name, WrenchStamped, self.ft_sensor_cb)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % robot_name)
# Move until contact is happening (speed = 0.25 cm/s)
q = rave.GetDOFValues()
dt = 1. / js_rate
dx = np.array([-0.0025*dt, 0, 0])
Wref = np.array(self.wrench)
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J = rave.manipulator.CalculateJacobian()
dq = np.dot(np.linalg.pinv(J), dx)
q += dq
rave.SetDOFValues(q)
denso.set_joint_positions(q)
rate.sleep()
# FT sensor
W = np.array(self.wrench)
F = W[:3] - Wref[:3]
if (np.linalg.norm(F) > 1.):
rospy.loginfo('Contact detected')
break
else:
rospy.loginfo('FT Sensor failed')
# Apply sinusoidal motion profile using jacobian velocity
#~ x(t) = A * math.sin(w*t - (np.pi / 2.))
for freq in np.array([0.01 , 0.03 , 0.1 , 0.3, 1.0]): # 0.01 , 0.03 , 0.1 , 0.3, 1.0
A = 0.0005
w = 2.*np.pi*freq
t = 0
rospy.loginfo('Applying motion profile with freq %f Hz' %freq)
while (t < 5./freq) and not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J = rave.manipulator.CalculateJacobian()
dx[0] = -w * A*math.cos(w*t - (np.pi / 2.)) * dt
dq = np.dot(np.linalg.pinv(J), dx)
q += dq
denso.set_joint_positions(q)
rate.sleep()
rave.SetDOFValues(q)
t += dt
else:
rospy.loginfo('FT Sensor failed')
rospy.loginfo('Finished motion profile freq %f Hz' %freq)
rospy.sleep(1)
class TrajectoryRunner(object):
def __init__(self, robot, execute, dt=8e-3):
self._execute = execute
self._robot = robot
self._dt = dt
# 1: position-controller
if execute == 1:
self._joint_controller = JointPositionController("denso")
# 2: trajectory-controller (via bCapServier)
elif execute == 2:
assert False, "This option is depreciated"
# self._trajectory_controller = bCap_JointTrajectoryController("bcap", 2)
# 3: trajectory-controller (via denso_control/trajectory controller)
elif execute == 3:
self._trajectory_controller = JointTrajectoryController("denso")
else:
logger.info("No hardware controller loaded.")
def execute_traj(self, q_arr):
""" The entry point of this controller.
Parameters
----------
q_arr: array
Waypoints to send to the robots.
"""
if self._execute == 1:
return self.execute_traj_position(q_arr)
elif self._execute == 2:
return self.execute_traj_trajectory(q_arr)
elif self._execute == 3:
return self.execute_traj_trajectory(q_arr)
else:
return self.execute_traj_rave(q_arr)
def execute_traj_trajectory(self, q_arr):
""" Execute trajectory using the stored trajectory controller.
"""
q_current = self._trajectory_controller.get_joint_positions()
self._robot.SetActiveDOFValues(q_current)
traj0 = raveutils.planning.plan_to_joint_configuration(
self._robot, q_arr[0])
traj0_ros = ros_traj_from_rave(self._robot, traj0)
traj1_ros = JointTrajectory()
for i, q in enumerate(q_arr):
pt = JointTrajectoryPoint()
pt.positions = q
pt.time_from_start = rospy.Duration(8e-3 * i)
traj1_ros.points.append(pt)
# execute trajectory
cmd = raw_input("Move to starting configuration y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
self._trajectory_controller.set_trajectory(traj0_ros)
self._trajectory_controller.start()
self._trajectory_controller.wait()
cmd = raw_input("Execute transport trajectory y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
self._trajectory_controller.set_trajectory(traj1_ros)
self._trajectory_controller.start()
self._trajectory_controller.wait()
def execute_traj_rave(self, q_arr):
self._robot.SetDOFValues(q_arr[0], range(6))
cmd = raw_input("[Enter] to execute path")
rate = rospy.Rate(125)
for q in q_arr:
self._robot.SetDOFValues(q, range(6))
rate.sleep()
def execute_traj_position(self, q_arr):
"""Execute a trajectory using the JointPositioncontroller.
"""
# Move to the starting conf
cmd = raw_input("Move to starting configuration y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
if self._execute:
q_init = q_arr[0]
move_to_joint_position(q_init,
self._joint_controller,
self._robot,
dt=self._dt,
require_confirm=True,
velocity_factor=0.2,
acceleration_factor=0.2)
else:
q_init = q_arr[0]
self._robot.SetActiveDOFValues(q_init)
# Execute starting trajectory
cmd = raw_input("Run traj? y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
rate = rospy.Rate(125)
if self._execute:
for q in q_arr:
self._joint_controller.set_joint_positions(q)
self._robot.SetDOFValues(q, range(6))
rate.sleep()
else:
for q in q_arr:
self._robot.SetDOFValues(q, range(6))
rate.sleep()
print("Trajectory execution finished! Exit now.")
def __init__(self):
# Generic configuration
np.set_printoptions(precision = 4, suppress=True)
# Read configuration parameters
left_robot_name = read_parameter('~left_robot_name', 'left')
self.js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % left_robot_name, 125.0)
self.table_id = int(read_parameter('~table_id', 2))
self.stick_id = int(read_parameter('~stick_id', 3))
# Populate the OpenRAVE environment
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
left_robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_gripper_with_base.robot.xml')
left_robot.SetName('left_robot')
table = env.ReadKinBodyXMLFile(models_dir + '/objects/table.kinbody.xml')
pin = env.ReadKinBodyXMLFile(models_dir + '/objects/pin.kinbody.xml')
wood_stick = env.ReadKinBodyXMLFile(models_dir + '/objects/wood_stick.kinbody.xml')
env.Add(left_robot)
env.Add(table)
env.Add(pin)
env.Add(wood_stick)
self.left_rave = Manipulator(env, left_robot, 'denso_ft_sensor_gripper')
#Change the limits of the gripper in the model so that the model in openrave can close until touch the pin
[lowerlimits, upperlimits] = left_robot.GetDOFLimits()
upperlimits[-1] = np.deg2rad(43)
left_robot.SetDOFLimits(lowerlimits, upperlimits)
RaveSetDebugLevel(DebugLevel.Fatal)
# Place elements in OpenRAVE using TF information
self.tf_updater = TFtoOpenRAVE(env, self.global_frame)
self.tf_updater.add_body('%s/base_link' % left_robot_name, left_robot, duration=5.)
self.tf_updater.add_body('rigid_body_%d' % self.table_id, table, duration=5.)
self.tf_updater.add_body('rigid_body_%d' % self.stick_id, wood_stick)
self.tf_updater.start()
env.SetViewer('QtCoin')
# Denso Controllers
self.left_denso = JointPositionController(left_robot_name)
self.left_rave.SetDOFValues(self.left_denso.get_joint_positions())
self.left_rave.EnableCollisionChecker()
rospy.Subscriber('/optitrack_rigid_bodies', RigidBodyArray, self.optitrack_cb)
rospy.loginfo('Reading object poses from optitrack...')
#Set the pin into the position-in openrave env (grasped by the gripper)
q_denso = self.left_denso.get_joint_positions()
T_denso = self.left_rave.GetEndEffectorTransform(q_denso)
c90 = np.cos(np.pi/2)
s90 = np.sin(np.pi/2)
T_pininhand = np.array(
[[c90,-s90, 0, 0.015],
[s90, c90, 0, 0 ],
[0 ,0 , 1, 0.005 ],
[0 ,0 , 0, 1 ]])
pin.SetTransform(np.dot(T_denso, T_pininhand))
self.left_rave.CloseGripper()
self.left_rave.robot.WaitForController(5)
with self.left_rave.env:
self.left_rave.robot.Grab(pin)
# Position-based explicit force control
self.state_alive = False
rospy.Subscriber('/%s/endpoint_state' % left_robot_name, EndpointState, self.endpoint_state_cb)
rospy.loginfo('Waiting for [/%s/endpoint_state] topic' % left_robot_name)
self.state_alive = False
while not self.state_alive and not rospy.is_shutdown():
rospy.sleep(0.1)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % left_robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % left_robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % left_robot_name)
# Real code that make the robot move
exploration_data = []
# TODO: identify 3 points of 3 planes to explore (will be developed further, using region growing or planar detector..)
point1 = np.array([0,0,0,1])
direction = np.array([0,0,-1])
ex1 = [point1,direction]
exploration_data.append(ex1)
point2 = np.array([-0.03,-0.01,-0.05,1])
direction2 = np.array([1,0,0])
ex2 = [point2,direction2]
exploration_data.append(ex2)
point3 = np.array([0., -0.01,-0.05,1])
direction3 = np.array([0,1,0])
ex3 = [point3,direction3]
exploration_data.append(ex3)
#TODO: Estimate the pin position
do_the_pin_estimation = raw_input('Press E if you want to estimate the pin position ')
if do_the_pin_estimation == 'e' or do_the_pin_estimation == 'E':
estimate_hand2pin()
else:
self.T_hand2pin = np.eye(4)
self.T_hand2pin[:3,3] = np.array([-0.03,0,-0.015])
# TODO: Collect measurements
o_p = 2e-3
o_n = 15/180.0*np.pi
Tws = wood_stick.GetTransform()
Tws[:3,3] = Tws[:3,3] + np.array([0.00,0.0,0.017])
collecteddata = []
self.forcelist = []
for i in range(3):
waitkey = raw_input("Press Enter to collect new data point...")
num_points = 0
point = np.dot(Tws,exploration_data[i][0])
direction = np.dot(Tws[:3,:3],exploration_data[i][1])
touched = self.touch_surface(point[:3], direction, 0.4 , 0.03)
if not((touched==np.zeros(3)).all()):
num_points +=1
d = [touched, direction, o_p,o_n]
collecteddata.append(d)
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
else:
print "Not touched! Moving to another exploration position"
while num_points < 2:
#TODO: plan new point
waitkey = raw_input("Press Enter to continue...")
radius = np.random.uniform(0.01,0.015)
rand_perpendicular_vector = perpendicular_vector(direction)/np.linalg.norm(perpendicular_vector(direction))
new_point = point[:3] + radius*rand_perpendicular_vector
new_direction = direction
#TODO: approach and touch
touched = self.touch_surface(new_point, new_direction, 0.4 , 0.03)
#TODO: update num_points
if not((touched==np.zeros(3)).all()):
num_points +=1
d = [touched, new_direction, o_p,o_n]
collecteddata.append(d)
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
else:
print "Not touched! Moving to another exploration position"
if rospy.is_shutdown():
return
rospy.loginfo("COLLECT MEASUREMENT DONE")
print collecteddata
# TODO: Insert the pin into the hole
rospy.loginfo("Move the pin to the correct position and start inserting")
delta0 = 22
dim = 6 # 6 DOFs
ptcl0 = ParticleFilterLib.Particle(Tws[:3,3], tr.euler_from_matrix(Tws[:3,:3]))
V0 = ParticleFilterLib.Region([ptcl0], delta0)
M = 6 # No. of particles per delta-neighbohood
delta_desired = 0.9 # Terminal value of delta
woodstick = env.ReadKinBodyXMLFile('wood_stick.xml')
env.Add(woodstick,True)
env.Remove(wood_stick)
list_particles, weights = ParticleFilterLib.ScalingSeries(V0, collecteddata, M, delta0, delta_desired, dim, body = woodstick, env = env)
est = ParticleFilterLib.VisualizeParticles(list_particles, weights, env= env, body=woodstick, showestimated = True)
# print "Real transf. ", Tws
# self.touch_surface(est[:3,3], direction, 0.4 , 0.03)
rospy.loginfo("DONE")
class PoseRefinement(object):
global_frame = 'left/base_link'
def __init__(self):
# Generic configuration
np.set_printoptions(precision = 4, suppress=True)
# Read configuration parameters
left_robot_name = read_parameter('~left_robot_name', 'left')
self.js_rate = read_parameter('/%s/joint_state_controller/publish_rate' % left_robot_name, 125.0)
self.table_id = int(read_parameter('~table_id', 2))
self.stick_id = int(read_parameter('~stick_id', 3))
# Populate the OpenRAVE environment
rospack = rospkg.RosPack()
models_dir = rospack.get_path('denso_openrave')
env = Environment()
left_robot = env.ReadRobotXMLFile(models_dir + '/robots/denso_ft_gripper_with_base.robot.xml')
left_robot.SetName('left_robot')
table = env.ReadKinBodyXMLFile(models_dir + '/objects/table.kinbody.xml')
pin = env.ReadKinBodyXMLFile(models_dir + '/objects/pin.kinbody.xml')
wood_stick = env.ReadKinBodyXMLFile(models_dir + '/objects/wood_stick.kinbody.xml')
env.Add(left_robot)
env.Add(table)
env.Add(pin)
env.Add(wood_stick)
self.left_rave = Manipulator(env, left_robot, 'denso_ft_sensor_gripper')
#Change the limits of the gripper in the model so that the model in openrave can close until touch the pin
[lowerlimits, upperlimits] = left_robot.GetDOFLimits()
upperlimits[-1] = np.deg2rad(43)
left_robot.SetDOFLimits(lowerlimits, upperlimits)
RaveSetDebugLevel(DebugLevel.Fatal)
# Place elements in OpenRAVE using TF information
self.tf_updater = TFtoOpenRAVE(env, self.global_frame)
self.tf_updater.add_body('%s/base_link' % left_robot_name, left_robot, duration=5.)
self.tf_updater.add_body('rigid_body_%d' % self.table_id, table, duration=5.)
self.tf_updater.add_body('rigid_body_%d' % self.stick_id, wood_stick)
self.tf_updater.start()
env.SetViewer('QtCoin')
# Denso Controllers
self.left_denso = JointPositionController(left_robot_name)
self.left_rave.SetDOFValues(self.left_denso.get_joint_positions())
self.left_rave.EnableCollisionChecker()
rospy.Subscriber('/optitrack_rigid_bodies', RigidBodyArray, self.optitrack_cb)
rospy.loginfo('Reading object poses from optitrack...')
#Set the pin into the position-in openrave env (grasped by the gripper)
q_denso = self.left_denso.get_joint_positions()
T_denso = self.left_rave.GetEndEffectorTransform(q_denso)
c90 = np.cos(np.pi/2)
s90 = np.sin(np.pi/2)
T_pininhand = np.array(
[[c90,-s90, 0, 0.015],
[s90, c90, 0, 0 ],
[0 ,0 , 1, 0.005 ],
[0 ,0 , 0, 1 ]])
pin.SetTransform(np.dot(T_denso, T_pininhand))
self.left_rave.CloseGripper()
self.left_rave.robot.WaitForController(5)
with self.left_rave.env:
self.left_rave.robot.Grab(pin)
# Position-based explicit force control
self.state_alive = False
rospy.Subscriber('/%s/endpoint_state' % left_robot_name, EndpointState, self.endpoint_state_cb)
rospy.loginfo('Waiting for [/%s/endpoint_state] topic' % left_robot_name)
self.state_alive = False
while not self.state_alive and not rospy.is_shutdown():
rospy.sleep(0.1)
rospy.Subscriber('/%s/ft_sensor/diagnostics' % left_robot_name, DiagnosticArray, self.diagnostics_cb)
rospy.loginfo('Waiting for [/%s/ft_sensor/] topics' % left_robot_name)
while not rospy.is_shutdown():
rospy.sleep(0.1)
if hasattr(self, 'wrench') and hasattr(self, 'ft_status'):
break
rospy.loginfo('Succefully connected to [/%s/ft_sensor/] topics' % left_robot_name)
# Real code that make the robot move
exploration_data = []
# TODO: identify 3 points of 3 planes to explore (will be developed further, using region growing or planar detector..)
point1 = np.array([0,0,0,1])
direction = np.array([0,0,-1])
ex1 = [point1,direction]
exploration_data.append(ex1)
point2 = np.array([-0.03,-0.01,-0.05,1])
direction2 = np.array([1,0,0])
ex2 = [point2,direction2]
exploration_data.append(ex2)
point3 = np.array([0., -0.01,-0.05,1])
direction3 = np.array([0,1,0])
ex3 = [point3,direction3]
exploration_data.append(ex3)
#TODO: Estimate the pin position
do_the_pin_estimation = raw_input('Press E if you want to estimate the pin position ')
if do_the_pin_estimation == 'e' or do_the_pin_estimation == 'E':
estimate_hand2pin()
else:
self.T_hand2pin = np.eye(4)
self.T_hand2pin[:3,3] = np.array([-0.03,0,-0.015])
# TODO: Collect measurements
o_p = 2e-3
o_n = 15/180.0*np.pi
Tws = wood_stick.GetTransform()
Tws[:3,3] = Tws[:3,3] + np.array([0.00,0.0,0.017])
collecteddata = []
self.forcelist = []
for i in range(3):
waitkey = raw_input("Press Enter to collect new data point...")
num_points = 0
point = np.dot(Tws,exploration_data[i][0])
direction = np.dot(Tws[:3,:3],exploration_data[i][1])
touched = self.touch_surface(point[:3], direction, 0.4 , 0.03)
if not((touched==np.zeros(3)).all()):
num_points +=1
d = [touched, direction, o_p,o_n]
collecteddata.append(d)
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
else:
print "Not touched! Moving to another exploration position"
while num_points < 2:
#TODO: plan new point
waitkey = raw_input("Press Enter to continue...")
radius = np.random.uniform(0.01,0.015)
rand_perpendicular_vector = perpendicular_vector(direction)/np.linalg.norm(perpendicular_vector(direction))
new_point = point[:3] + radius*rand_perpendicular_vector
new_direction = direction
#TODO: approach and touch
touched = self.touch_surface(new_point, new_direction, 0.4 , 0.03)
#TODO: update num_points
if not((touched==np.zeros(3)).all()):
num_points +=1
d = [touched, new_direction, o_p,o_n]
collecteddata.append(d)
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
else:
print "Not touched! Moving to another exploration position"
if rospy.is_shutdown():
return
rospy.loginfo("COLLECT MEASUREMENT DONE")
print collecteddata
# TODO: Insert the pin into the hole
rospy.loginfo("Move the pin to the correct position and start inserting")
delta0 = 22
dim = 6 # 6 DOFs
ptcl0 = ParticleFilterLib.Particle(Tws[:3,3], tr.euler_from_matrix(Tws[:3,:3]))
V0 = ParticleFilterLib.Region([ptcl0], delta0)
M = 6 # No. of particles per delta-neighbohood
delta_desired = 0.9 # Terminal value of delta
woodstick = env.ReadKinBodyXMLFile('wood_stick.xml')
env.Add(woodstick,True)
env.Remove(wood_stick)
list_particles, weights = ParticleFilterLib.ScalingSeries(V0, collecteddata, M, delta0, delta_desired, dim, body = woodstick, env = env)
est = ParticleFilterLib.VisualizeParticles(list_particles, weights, env= env, body=woodstick, showestimated = True)
# print "Real transf. ", Tws
# self.touch_surface(est[:3,3], direction, 0.4 , 0.03)
rospy.loginfo("DONE")
def touch_surface(self, point, direction, touch_force = 0.4, tolerance = 0.02):
"""
Move the robot to the pre-touched point with the given DIRECTION and TOLERANCE, then approach the surface following the given direction. Return the touched point if any
@type point: array([x,y,z])
@param point: stores the point position
@type direction: array([n1,n2,n3])
@param directions: stores the appoaching direction (counter the normal of the surface)
@type force: float
@param force: condition for the touch event
@type tolerance: float
@param tolerance: distance to the surface (in meter)
"""
direction = direction/np.linalg.norm(direction)
found = False
#------1ST STAGE------#
# TODO: move to the pre-touched point with given direction
Tmove = np.eye(4)
Tpin = np.eye(4)
Ppin = point - tolerance*direction
Tpin[:3,3] = Ppin
for angle in np.linspace(0,2*np.pi,36):
Rpin = get_rotation_matrix(angle, direction)
Tpin[:3,:3] = Rpin[:3,:3]
Tmove = np.dot(Tpin, self.T_hand2pin) #note that: Tmove this the transformation of the gripper NOT the pin. The transf. sent to the robot is Tmove
try:
self.left_rave.MoveToHandPosition(Tmove)
rospy.loginfo('Moving the hand to pre-touched position')
found = True
break
except PlanningError:
continue
if not found:
rospy.logwarn('Failed MoveToHandPosition for moving the hand to the pre-touched position')
return
rate = rospy.Rate(self.js_rate)
while not self.left_rave.IsControllerDone() and not rospy. is_shutdown():
q = self.left_rave.GetDOFValues()
self.left_denso.set_joint_positions(q)
rate.sleep()
# waitkey = raw_input("Press Enter to continue...")
#~ #------2ND STAGE------#
#~ # TODO: approach the surface with the given direction
dt = 1. / self.js_rate
q = self.left_rave.GetDOFValues()
q_exploration = np.array(q)
Wref = np.array(self.wrench)
dx = 0.005*dt*direction #0.007
rospy.loginfo('Approaching')
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J = self.left_rave.manipulator.CalculateJacobian()
dq = np.dot(np.linalg.pinv(J), dx)
q += dq
self.left_rave.SetDOFValues(q)
self.left_denso.set_joint_positions(q)
rate.sleep()
# FT sensor
W = np.array(self.wrench)
F = W[:3] - Wref[:3]
if (np.linalg.norm(F) > touch_force):
rospy.sleep(1)
self.forcelist.append(np.array(self.wrench) - Wref)
rospy.loginfo('Contact detected')
rospy.loginfo('Moving back to pre-touched position')
q_b = self.left_rave.GetDOFValues()
dx_b = -0.025*dt*direction
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J_b = self.left_rave.manipulator.CalculateJacobian()
dq_b = np.dot(np.linalg.pinv(J_b), dx_b)
q_b += dq_b
self.left_rave.SetDOFValues(q_b)
self.left_denso.set_joint_positions(q_b)
rate.sleep()
# FT sensor
W_b = np.array(self.wrench)
# print 1
if np.linalg.norm(self.left_rave.GetEndEffectorTransform(q_b)[:3,3] - (self.left_rave.GetEndEffectorTransform(q_exploration)[:3,3])) < 1e-4:
rospy.loginfo('Successfully move hand to pre-touched position')
return np.dot(self.left_rave.GetEndEffectorTransform(q),np.linalg.inv(self.T_hand2pin))[:3,3]
elif np.linalg.norm(self.left_rave.GetEndEffectorTransform(q)[:3,3] - (self.left_rave.GetEndEffectorTransform(q_exploration)[:3,3])) > tolerance + (0.007):
rospy.loginfo('No object surface here')
rospy.loginfo('Moving back to pre-touched position')
q_b = self.left_rave.GetDOFValues()
dx_b = -0.025*dt*direction
while not rospy.is_shutdown():
if self.ft_status == DiagnosticStatus().OK:
J_b = self.left_rave.manipulator.CalculateJacobian()
dq_b = np.dot(np.linalg.pinv(J_b), dx_b)
q_b += dq_b
self.left_rave.SetDOFValues(q_b)
self.left_denso.set_joint_positions(q_b)
rate.sleep()
# FT sensor
W_b = np.array(self.wrench)
if np.linalg.norm(self.left_rave.GetEndEffectorTransform(q_b)[:3,3] - (self.left_rave.GetEndEffectorTransform(q_exploration)[:3,3])) < 1e-4:
rospy.loginfo('Successfully move hand to pre-touched position')
return np.array([0,0,0])
rospy.loginfo('Finished!')
#------3RD STAGE------#
# TODO: return the touched point
return
def estimate_hand2pin():
#TODO: Estimate the pin position ###NOT UPDATED
"""Position of the pin is crucial (especially in z direction) (y = 0, x is compensated as the approaching direction is always follow x direction)
"""
self.T_hand2pin = np.eye(4)
self.T_hand2pin[:3,3] = np.array([-0.03,0,-0.015]) #initial transf.
list_planepoints = []
self.forcelist = []
waitkey = raw_input("Press Enter to start the pin estimation...")
plane = []
num_points = 0
point = np.dot(Tws,exploration_data[0][0])
direction = np.dot(Tws[:3,:3],exploration_data[0][1])
print "oringinal", point
touched = self.touch_surface(point[:3], direction, 0.4 , 0.03)
if not((touched==np.zeros(3)).all()):
num_points +=1
plane.append(touched)
self.T_hand2pin[0,3] = self.T_hand2pin[0,3] + np.linalg.norm(point[:3]-touched[:3])
waitkey = raw_input("Press Enter to start the pin estimation...")
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
else:
print "Not touched\n"
while num_points <3:
#plan new point
waitkey = raw_input("Press Enter to continue...")
radius = np.random.uniform(0.005,0.0125)
rand_perpendicular_vector = perpendicular_vector(direction)/np.linalg.norm(perpendicular_vector(direction))
new_point = point[:3] + radius*rand_perpendicular_vector
new_direction = direction
#approach and touch
touched = self.touch_surface(new_point, new_direction, 0.4 , 0.03)
#update num_points
if not((touched==np.zeros(3)).all()):
num_points +=1
plane.append(touched)
print "Found ", num_points, " point(s) on the surface\n"
print "New point found: ", touched ,"\n"
print new_point, "\n"
avg = np.zeros(6)
for w in self.forcelist:
avg = avg + w
avg = avg/len(self.forcelist)
print avg
# print np.linalg.norm(avg[3:])/np.linalg.norm(avg[:3])-0.155
self.T_hand2pin[2,3] = 0.155-np.linalg.norm(avg[3:])/np.linalg.norm(avg[:3]) # update z direction
print "The new-estimated-pin-hand transformation:\n",self.T_hand2pin
def endpoint_state_cb(self, msg):
force = vector_msg_to_np(msg.wrench.force)
torque = vector_msg_to_np(msg.wrench.torque)
self.wrench = np.hstack((force, torque))
self.jnt_pos_filt = np.array(msg.joint_state.position)
if not self.state_alive:
self.state_alive = True
def diagnostics_cb(self, msg):
self.ft_status = msg.status[0].level
def optitrack_cb(self, msg):
if msg.header.frame_id != self.global_frame:
return
for rigid_body in msg.bodies:
if rigid_body.tracking_valid:
if rigid_body.id == self.table_id:
frame = posemath.fromMsg(rigid_body.pose)
self.Ttable = posemath.toMatrix(frame)
if rigid_body.id == self.stick_id:
frame = posemath.fromMsg(rigid_body.pose)
self.Tshort = posemath.toMatrix(frame)
