def execute_trajectory(self, ell_f, gripper_rot, duration=5.):
ell_f[1] = np.mod(ell_f[1], 2 * np.pi)
num_samps = int(duration / self.time_step)
t_vals = min_jerk_traj(num_samps)
self.arm.reset_ep()
self.reset_ell_ep()
ell_init = np.mat(self.ell_ep).T
ell_final = np.mat(ell_f).T
if np.fabs(2 * np.pi + ell_final[1, 0] - ell_init[1, 0]) < np.pi:
ell_final[1, 0] += 2 * np.pi
print "wrapping; ell_f:", ell_f
elif np.fabs(-2 * np.pi + ell_final[1, 0] - ell_init[1, 0]) < np.pi:
ell_final[1, 0] -= 2 * np.pi
print "wrapping; ell_f:", ell_f
print "init", ell_init, "final", ell_final
ell_traj = np.array(ell_init) + np.array(
np.tile(ell_final - ell_init, (1, num_samps))) * np.array(t_vals)
# find the current ellipsoid frame
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame",
cur_time, rospy.Duration(3))
ell_frame_mat = PoseConverter.to_homo_mat(
self.tf_list.lookupTransform("/torso_lift_link", "/ellipse_frame",
cur_time))
print ell_frame_mat
print ell_traj.shape
ell_pose_traj = [
self.robot_ellipsoidal_pose(ell_traj[0, i], ell_traj[1, i],
ell_traj[2, i], gripper_rot,
ell_frame_mat)
for i in range(ell_traj.shape[1])
]
# replace the rotation matricies with a simple cartesian slerp
cart_interp_traj = self.arm.interpolate_ep(self.arm.get_ep(),
ell_pose_traj[-1], t_vals)
fixed_traj = [(ell_pose_traj[i][0], cart_interp_traj[i][1])
for i in range(num_samps)]
self.start_pub.publish(
PoseConverter.to_pose_stamped_msg("/torso_lift_link",
cart_interp_traj[0]))
self.end_pub.publish(
PoseConverter.to_pose_stamped_msg("/torso_lift_link",
cart_interp_traj[-1]))
#ep_traj_control = EPTrajectoryControl(self.arm, cart_interp_traj)
print_trajectory_stats(ell_traj, fixed_traj, t_vals)
ep_traj_control = EPTrajectoryControl(self.arm, fixed_traj)
self.action_preempted = False
self.ell_traj_behavior.stop_epc = False
monitor_timer = rospy.Timer(rospy.Duration(0.1), self._check_preempt)
self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
monitor_timer.shutdown()
if self.action_preempted:
self.reset_ell_ep()
else:
self.ell_ep = ell_f
def execute_trajectory(self, ell_f, gripper_rot, duration=5.):
ell_f[1] = np.mod(ell_f[1], 2 * np.pi)
num_samps = int(duration / self.time_step)
t_vals = min_jerk_traj(num_samps)
self.arm.reset_ep()
self.reset_ell_ep()
ell_init = np.mat(self.ell_ep).T
ell_final = np.mat(ell_f).T
if np.fabs(2 * np.pi + ell_final[1,0] - ell_init[1,0]) < np.pi:
ell_final[1,0] += 2 * np.pi
print "wrapping; ell_f:", ell_f
elif np.fabs(-2 * np.pi + ell_final[1,0] - ell_init[1,0]) < np.pi:
ell_final[1,0] -= 2 * np.pi
print "wrapping; ell_f:", ell_f
print "init", ell_init, "final", ell_final
ell_traj = np.array(ell_init) + np.array(np.tile(ell_final - ell_init, (1, num_samps))) * np.array(t_vals)
# find the current ellipsoid frame
cur_time = rospy.Time.now()
self.tf_list.waitForTransform("/torso_lift_link", "/ellipse_frame", cur_time, rospy.Duration(3))
ell_frame_mat = PoseConverter.to_homo_mat(
self.tf_list.lookupTransform("/torso_lift_link",
"/ellipse_frame", cur_time))
print ell_frame_mat
print ell_traj.shape
ell_pose_traj = [self.robot_ellipsoidal_pose(ell_traj[0,i], ell_traj[1,i], ell_traj[2,i],
gripper_rot, ell_frame_mat)
for i in range(ell_traj.shape[1])]
# replace the rotation matricies with a simple cartesian slerp
cart_interp_traj = self.arm.interpolate_ep(self.arm.get_ep(), ell_pose_traj[-1],
t_vals)
fixed_traj = [(ell_pose_traj[i][0], cart_interp_traj[i][1]) for i in range(num_samps)]
self.start_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cart_interp_traj[0]))
self.end_pub.publish(PoseConverter.to_pose_stamped_msg("/torso_lift_link", cart_interp_traj[-1]))
#ep_traj_control = EPTrajectoryControl(self.arm, cart_interp_traj)
print_trajectory_stats(ell_traj, fixed_traj, t_vals)
ep_traj_control = EPTrajectoryControl(self.arm, fixed_traj)
self.action_preempted = False
self.ell_traj_behavior.stop_epc = False
monitor_timer = rospy.Timer(rospy.Duration(0.1), self._check_preempt)
self.ell_traj_behavior.epc_motion(ep_traj_control, self.time_step)
monitor_timer.shutdown()
if self.action_preempted:
self.reset_ell_ep()
else:
self.ell_ep = ell_f
def setup_pr2_init_pose(self):
rospy.logout('Initializing the Robot..'+self.tool)
self.head.set_pose([0.15,0.,0.])
self.torso.down()
self.get_angles()
duration=5.
self.t_vals = eptc.min_jerk_traj(duration/self.time_step)
self.r_ep =np.array([-1.397, 0.375, -1.740, -2.122, -1.966, -1.680, -2.491])
self.l_ep =np.array([1.397, 0.375, 1.740, -2.122, 1.966, -1.680, -3.926])
# self.r_ep =np.array([-1.397, 0.375, -1.740, -2.122, -1.966, -1.680, .651])
# self.l_ep =np.array([1.397, 0.375, 1.740, -2.122, 1.966, -1.680, -.784])
self.cs.carefree_switch('r', '%s_arm_controller')
self.cs.carefree_switch('l', '%s_arm_controller')
self.epc_move_arm(self.r_arm, self.r_angle, self.r_ep, duration)
self.epc_move_arm(self.l_arm, self.l_angle, self.l_ep, duration)
self.pr2_init = True
def epc_move_arm(self, arm, ep1, ep2, duration=10.):
self.t_vals = eptc.min_jerk_traj(duration / self.time_step)
traj = arm.interpolate_ep(ep1, ep2, self.t_vals)
tc = eptc.EPTrajectoryControl(arm, traj)
self.epc.epc_motion(tc, self.time_step)
def epc_move_arm(self, arm, ep1, ep2, duration=10.):
self.t_vals = eptc.min_jerk_traj(duration/self.time_step)
traj = arm.interpolate_ep(ep1, ep2, self.t_vals)
tc = eptc.EPTrajectoryControl(arm, traj)
self.epc.epc_motion(tc, self.time_step)
