def start(self):
self.proxy.start()
names=self.proxy.get_available_components('m3loadx6_ec')
if len(names):
ec_name=m3t.user_select_components_interactive(names)[0]
name=ec_name.replace('m3loadx6_ec','m3loadx6')
self.comp_ec=cf.create_component(ec_name)
self.proxy.subscribe_status(self.comp_ec)
self.proxy.make_operational(ec_name)
else:
print 'No loadx6_ec component available'
return
if self.proxy.is_component_available(name):
self.comp_rt=cf.create_component(name)
self.proxy.subscribe_status(self.comp_rt)
self.proxy.make_operational(name)
else:
self.comp_rt=None
#Create gui
self.fx=[0]
self.fy=[0]
self.fz=[0]
self.tx=[0]
self.ty=[0]
self.tz=[0]
self.status_dict=self.proxy.get_status_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=1)
self.gui.add('M3GuiSliders','Fx (g)', (self,'fx'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.add('M3GuiSliders','Fy (g)', (self,'fy'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.add('M3GuiSliders','Fz (g)', (self,'fz'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.add('M3GuiSliders','Tx (mNm)', (self,'tx'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.add('M3GuiSliders','Ty (mNm)', (self,'ty'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.add('M3GuiSliders','Tz (mNm)', (self,'tz'),range(1),[-7500,7500],m3g.M3GuiRead)
self.gui.start(self.step)
def do_log(proxy):
print 'Starting log...select component to log'
proxy.start(start_data_svc=False)
comp_name = m3t.user_select_components_interactive(
proxy.get_available_components())[0]
comp = mcf.create_component(comp_name)
proxy.register_log_component(comp)
print 'Enter log name [foo]'
try_again = True
while try_again:
logname = m3t.get_string('foo')
if not os.path.isdir(m3t.get_m3_log_path() + logname):
try_again = False
else:
print 'Log directory already exists. Please enter another name.'
print 'Enter sample frequence (0-X Hz) [250.0]'
freq = m3t.get_float(250.0)
default_samps = int(2 * freq / 5)
print 'Enter samples per file [' + str(default_samps) + ']'
samples = m3t.get_int(default_samps)
print 'Enter sample time (s) [5.0]'
duration = m3t.get_float(5.0)
print 'Hit enter to begin log...'
raw_input()
proxy.start_log_service(logname,
sample_freq_hz=freq,
samples_per_file=samples)
ts = time.time()
while time.time() - ts < duration:
time.sleep(0.25)
print 'Logging ', logname, ' Time: ', time.time() - ts
proxy.stop_log_service()
def start(self,ctype):
#Return true if success
#ctype. e.g.,: {'comp_ec':'m3actuator_ec','comp_rt':'m3actuator'}
self.proxy=m3p.M3RtProxy()
self.proxy.start()
print 'Select component'
ac=self.proxy.get_available_components(ctype['comp_rt'])
if len(ac)==0:
print 'Required components not available'
return False
self.name_rt=m3t.user_select_components_interactive(ac,single=True)[0]
self.name_ec=self.name_rt.replace(ctype['comp_rt'],ctype['comp_ec'])
self.comp_ec=m3f.create_component(self.name_ec)
self.comp_rt=m3f.create_component(self.name_rt)
if self.proxy.is_component_available(self.name_ec):
self.proxy.subscribe_status(self.comp_ec)
self.proxy.publish_command(self.comp_ec)
self.proxy.publish_param(self.comp_ec)
self.proxy.make_operational(self.name_ec)
if self.proxy.is_component_available(self.name_rt):
self.proxy.subscribe_status(self.comp_rt)
pwr_ec=self.proxy.get_available_components('m3pwr_ec')
pwr_rt=self.proxy.get_available_components('m3pwr')
if len(pwr_rt):
pr=m3f.create_component(pwr_rt[0])
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt[0])
pr.set_motor_power_on()
if len(pwr_ec):
self.proxy.make_operational(pwr_ec[0])
self.step()
return True
def start(self, ctype):
#Return true if success
#ctype. e.g.,: {'comp_ec':'m3actuator_ec','comp_rt':'m3actuator'}
self.proxy = m3p.M3RtProxy()
self.proxy.start()
print 'Select component'
ac = self.proxy.get_available_components(ctype['comp_rt'])
if len(ac) == 0:
print 'Required components not available'
return False
self.name_rt = m3t.user_select_components_interactive(ac,
single=True)[0]
self.name_ec = self.name_rt.replace(ctype['comp_rt'], ctype['comp_ec'])
self.comp_ec = m3f.create_component(self.name_ec)
self.comp_rt = m3f.create_component(self.name_rt)
if self.proxy.is_component_available(self.name_ec):
self.proxy.subscribe_status(self.comp_ec)
self.proxy.publish_command(self.comp_ec)
self.proxy.publish_param(self.comp_ec)
self.proxy.make_operational(self.name_ec)
if self.proxy.is_component_available(self.name_rt):
self.proxy.subscribe_status(self.comp_rt)
pwr_ec = self.proxy.get_available_components('m3pwr_ec')
pwr_rt = self.proxy.get_available_components('m3pwr')
if len(pwr_rt):
pr = m3f.create_component(pwr_rt[0])
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt[0])
pr.set_motor_power_on()
if len(pwr_ec):
self.proxy.make_operational(pwr_ec[0])
self.step()
return True
def do_log(proxy):
print 'Starting log...select component to log'
proxy.start(start_data_svc=False)
comp_name=m3t.user_select_components_interactive(proxy.get_available_components())[0]
comp=mcf.create_component(comp_name)
proxy.register_log_component(comp)
print 'Enter log name [foo]'
try_again = True
while try_again:
logname=m3t.get_string('foo')
if not os.path.isdir(m3t.get_m3_log_path()+logname):
try_again = False
else:
print 'Log directory already exists. Please enter another name.'
print 'Enter sample frequence (0-X Hz) [250.0]'
freq=m3t.get_float(250.0)
default_samps = int(2*freq/5)
print 'Enter samples per file ['+str(default_samps) +']'
samples=m3t.get_int(default_samps)
print 'Enter sample time (s) [5.0]'
duration=m3t.get_float(5.0)
print 'Hit enter to begin log...'
raw_input()
proxy.start_log_service(logname,sample_freq_hz=freq,samples_per_file=samples)
ts=time.time()
while time.time()-ts<duration:
time.sleep(0.25)
print 'Logging ',logname,' Time: ',time.time()-ts
proxy.stop_log_service()
def start(self):
self.proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm') != -1]
if len(arm_names) == 0:
print 'No arms found'
return
if len(arm_names) == 1:
self.arm_name = arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(
arm_names, single=True)[0]
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof = self.bot.get_num_dof(self.arm_name)
self.theta_curr = [0.0] * self.ndof
zlift_shm_names = self.proxy.get_available_components(
'm3joint_zlift_shm')
if len(zlift_shm_names) > 0:
self.proxy.make_safe_operational(zlift_shm_names[0])
omnibase_shm_names = self.proxy.get_available_components(
'm3omnibase_shm')
if len(omnibase_shm_names) > 0:
self.proxy.make_safe_operational(omnibase_shm_names[0])
humanoid_shm_names = self.proxy.get_available_components(
'm3humanoid_shm')
if len(humanoid_shm_names) > 0:
self.proxy.make_safe_operational(humanoid_shm_names[0])
print 'WARNING: Before raising E-Stop move a slider to initialize positions.'
#Create gui
self.mode = [0]
self.theta_desire_a = [0] * self.num_dof
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
# self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Current','Torque','Torque_GC','Theta','Theta_IMP','Jnt_Theta','No Brake'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=1)
# self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=1)
self.gui.start(self.step)
def start(self):
self.proxy.start()
cnames=self.proxy.get_available_components('m3actuator_ec')
pwr_ec=self.proxy.get_available_components('m3pwr_ec')
pwr_rt=self.proxy.get_available_components('m3pwr')
print 'Select two ACTUATOR_EC components'
self.names=m3t.user_select_components_interactive(cnames)
if len(self.names)!=2:
print 'Incorrect selection'
return
self.actuator_ec=[]
for name in self.names:
self.actuator_ec.append(m3f.create_component(name))
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_command(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
self.proxy.make_operational(name)
if len(pwr_rt):
pr=m3f.create_component(pwr_rt[0])
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt[0])
self.proxy.make_operational(pwr_ec[0])
pr.set_motor_power_on()
tmax=[x.param.t_max for x in self.actuator_ec]
tmin=[x.param.t_min for x in self.actuator_ec]
self.proxy.step()
for c in self.actuator_ec:
self.bias.append(c.status.adc_torque)
tl=min(tmin)-self.bias[0]
tu=max(tmax)-self.bias[0]
self.cycle=False
self.cycle_last=False
self.step_period=[2000.0]*len(self.actuator_ec)
#Create gui
self.mode=[0]*len(self.actuator_ec)
self.t_desire=[0]*len(self.actuator_ec)
self.pwm_desire_a=[0]*len(self.actuator_ec)
self.pwm_desire_b=[0]*len(self.actuator_ec)
self.save=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.actuator_ec)),[['Off','Pwm','PID'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','tqDesire', (self,'t_desire'),range(len(self.actuator_ec)),[tl,tu],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesireA', (self,'pwm_desire_a'),range(len(self.actuator_ec)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesireB', (self,'pwm_desire_b'),range(len(self.actuator_ec)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','StepPeriod (ms) ', (self,'step_period'),range(len(self.actuator_ec)),[0,4000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Cycle', (self,'cycle'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def get_component(self,name): if name[-3:-1] == '_j': self.comp_name = name else: cnames = self.proxy.get_available_components(name) if len(cnames)==0: print 'No ' + name + ' components found. Exiting...' exit() self.comp_name = m3t.user_select_components_interactive(cnames,single=True)[0] comp_type = [k for k, v in self.comps.iteritems() if self.comp_name.startswith(v['name'])][0] self.get_children_components(self.comp_name, comp_type)
def start(self):
self.ts=time.time()
self.proxy.start()
chain_names=self.proxy.get_available_components('m3ledx2_ec')
led_name=m3t.user_select_components_interactive(chain_names,single=True)[0]
pwr_name=self.proxy.get_available_components('m3pwr')[0]
pwr_ec_name=self.proxy.get_available_components('m3pwr_ec')[0]
self.pwr=m3f.create_component(pwr_name)
self.proxy.publish_command(self.pwr)
self.led=m3f.create_component(led_name)
self.proxy.publish_command(self.led)
self.proxy.subscribe_status(self.led)
self.proxy.make_operational(led_name)
self.proxy.make_operational(pwr_name)
self.proxy.make_operational(pwr_ec_name)
self.proxy.subscribe_status(self.pwr)
self.pwr.set_motor_power_on()
self.branch_a_board_a_r=[0]
self.branch_a_board_a_g=[0]
self.branch_a_board_a_b=[0]
self.branch_a_board_b_r=[0]
self.branch_a_board_b_g=[0]
self.branch_a_board_b_b=[0]
self.branch_b_board_a_r=[0]
self.branch_b_board_a_g=[0]
self.branch_b_board_a_b=[0]
self.branch_b_board_b_r=[0]
self.branch_b_board_b_g=[0]
self.branch_b_board_b_b=[0]
self.slew=[10000]
#Create gui
self.run=False
self.run_last=False
self.enable=False
self.pulse=False
self.status_dict=self.proxy.get_status_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=3)
self.gui.add('M3GuiToggle', 'Enable', (self,'enable'),[],[['On','Off']],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiToggle', 'Pulse', (self,'pulse'),[],[['On','Off']],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Slew', (self,'slew'),range(1),[0,25500],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardA.R', (self,'branch_a_board_a_r'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardA.G', (self,'branch_a_board_a_g'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardA.B', (self,'branch_a_board_a_b'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardB.R', (self,'branch_a_board_b_r'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardB.G', (self,'branch_a_board_b_g'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchA.BoardB.B', (self,'branch_a_board_b_b'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardA.R', (self,'branch_b_board_a_r'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardA.G', (self,'branch_b_board_a_g'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardA.B', (self,'branch_b_board_a_b'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardB.R', (self,'branch_b_board_b_r'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardB.G', (self,'branch_b_board_b_g'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','BranchB.BoardB.B', (self,'branch_b_board_b_b'),range(1),[0,1023],m3g.M3GuiWrite,column=1)
self.gui.start(self.step)
def start(self):
self.proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print "Error: no robot components found:", bot_names
return
self.bot = m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find("arm") != -1]
if len(arm_names) == 0:
print "No arms found"
return
if len(arm_names) == 1:
self.arm_name = arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(arm_names, single=True)[0]
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof = self.bot.get_num_dof(self.arm_name)
self.theta_curr = [0.0] * self.ndof
zlift_shm_names = self.proxy.get_available_components("m3joint_zlift_shm")
if len(zlift_shm_names) > 0:
self.proxy.make_safe_operational(zlift_shm_names[0])
omnibase_shm_names = self.proxy.get_available_components("m3omnibase_shm")
if len(omnibase_shm_names) > 0:
self.proxy.make_safe_operational(omnibase_shm_names[0])
humanoid_shm_names = self.proxy.get_available_components("m3humanoid_shm")
if len(humanoid_shm_names) > 0:
self.proxy.make_safe_operational(humanoid_shm_names[0])
print "WARNING: Before raising E-Stop move a slider to initialize positions."
# Create gui
self.mode = [0]
self.theta_desire_a = [0] * self.num_dof
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
# self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Current','Torque','Torque_GC','Theta','Theta_IMP','Jnt_Theta','No Brake'],1],m3g.M3GuiWrite)
self.gui.add("M3GuiTree", "Status", (self, "status_dict"), [], [], m3g.M3GuiRead, column=1)
# self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=1)
self.gui.start(self.step)
def get_component(self, name):
if name[-3:-1] == '_j':
self.comp_name = name
else:
cnames = self.proxy.get_available_components(name)
if len(cnames) == 0:
print 'No ' + name + ' components found. Exiting...'
exit()
self.comp_name = m3t.user_select_components_interactive(
cnames, single=True)[0]
comp_type = [
k for k, v in self.comps.iteritems()
if self.comp_name.startswith(v['name'])
][0]
self.get_children_components(self.comp_name, comp_type)
def start(self,process_cb):
self.proxy = m3p.M3RtProxy()
self.proxy.start()
cnames=self.proxy.get_available_components('m3tactile_pps22_ec')
if len(cnames)==0:
print 'No PPS22 sensor present'
return
if len(cnames)>1:
name=m3t.user_select_components_interactive(cnames)[0]
else:
name=cnames[0]
self.pps=m3f.create_component(name)
self.proxy.subscribe_status(self.pps)
print 'Place sensor in unloaded state.Hit return when ready'
raw_input()
self.proxy.step()
self.zero=self.pps.get_taxels()
self.process_cb=process_cb
gtk.main()
def start(self, process_cb):
self.proxy = m3p.M3RtProxy()
self.proxy.start()
cnames = self.proxy.get_available_components('m3tactile_pps22_ec')
if len(cnames) == 0:
print 'No PPS22 sensor present'
return
if len(cnames) > 1:
name = m3t.user_select_components_interactive(cnames)[0]
else:
name = cnames[0]
self.pps = m3f.create_component(name)
self.proxy.subscribe_status(self.pps)
print 'Place sensor in unloaded state.Hit return when ready'
raw_input()
self.proxy.step()
self.zero = self.pps.get_taxels()
self.process_cb = process_cb
gtk.main()
def start(self):
self.proxy.start()
names = self.proxy.get_available_components('m3loadx6_ec')
if len(names):
ec_name = m3t.user_select_components_interactive(names)[0]
name = ec_name.replace('m3loadx6_ec', 'm3loadx6')
self.comp_ec = cf.create_component(ec_name)
self.proxy.subscribe_status(self.comp_ec)
self.proxy.make_operational(ec_name)
else:
print 'No loadx6_ec component available'
return
if self.proxy.is_component_available(name):
self.comp_rt = cf.create_component(name)
self.proxy.subscribe_status(self.comp_rt)
self.proxy.make_operational(name)
else:
self.comp_rt = None
#Create gui
self.fx = [0]
self.fy = [0]
self.fz = [0]
self.tx = [0]
self.ty = [0]
self.tz = [0]
self.status_dict = self.proxy.get_status_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=1)
self.gui.add('M3GuiSliders', 'Fx (g)', (self, 'fx'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.add('M3GuiSliders', 'Fy (g)', (self, 'fy'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.add('M3GuiSliders', 'Fz (g)', (self, 'fz'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.add('M3GuiSliders', 'Tx (mNm)', (self, 'tx'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.add('M3GuiSliders', 'Ty (mNm)', (self, 'ty'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.add('M3GuiSliders', 'Tz (mNm)', (self, 'tz'), range(1),
[-7500, 7500], m3g.M3GuiRead)
self.gui.start(self.step)
def start(self):
self.proxy.start()
joint_names=self.proxy.get_joint_components()
if len(joint_names)==0:
print 'No joint components available'
self.proxy.stop()
exit()
joint_names=m3t.user_select_components_interactive(joint_names)
actuator_ec_names=[]
actuator_names=[]
ctrl_names=[]
for n in joint_names:
ctrl = m3t.get_joint_ctrl_component_name(n)
if ctrl != "":
ctrl_names.append(ctrl)
actuator = m3t.get_joint_actuator_component_name(n)
if actuator != "":
actuator_names.append(actuator)
actuator_ec = m3t.get_actuator_ec_component_name(actuator)
if actuator_ec != "":
actuator_ec_names.append(actuator_ec)
self.joint=[]
self.actuator_ec=[]
self.actuator=[]
self.ctrl=[]
for n in actuator_ec_names:
c=m3f.create_component(n)
if c is not None:
try:
self.actuator_ec.append(c)
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
except:
print 'Component',n,'not available'
for n in actuator_names:
c=m3f.create_component(n)
if c is not None:
self.actuator.append(c)
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
for n in ctrl_names:
c=m3f.create_component(n)
if c is not None:
self.ctrl.append(c)
self.proxy.subscribe_status(self.ctrl[-1])
self.proxy.publish_param(self.ctrl[-1])
for n in joint_names:
c=m3f.create_component(n)
if c is not None:
self.joint.append(c)
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_command(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
#Enable motor power
pwr_rt=m3t.get_actuator_ec_pwr_component_name(actuator_ec_names[0])
self.pwr=m3f.create_component(pwr_rt)
if self.pwr is not None:
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Start them all up
self.proxy.make_operational_all()
#Force safe-op of robot, etc are present
types=['m3humanoid','m3hand','m3gripper']
for t in types:
cc=self.proxy.get_available_components(t)
for ccc in cc:
self.proxy.make_safe_operational(ccc)
#Force safe-op of chain so that gravity terms are computed
self.chain=None
if len(joint_names)>0:
for j in joint_names:
chain_name=m3t.get_joint_chain_name(j)
if chain_name!="":
self.proxy.make_safe_operational(chain_name)
#self.chain=m3f.create_component(chain_name)
#self.proxy.publish_param(self.chain) #allow to set payload
#Force safe-op of chain so that gravity terms are computed
dynamatics_name = m3t.get_chain_dynamatics_component_name(chain_name)
if dynamatics_name != "":
self.proxy.make_safe_operational(dynamatics_name)
self.dyn=m3f.create_component(dynamatics_name)
self.proxy.publish_param(self.dyn) #allow to set payload
#Force safe-op of robot so that gravity terms are computed
robot_name = m3t.get_robot_name()
if robot_name != "":
try:
self.proxy.make_safe_operational(robot_name)
self.robot=m3f.create_component(robot_name)
self.proxy.subscribe_status(self.robot)
self.proxy.publish_param(self.robot) #allow to set payload
except:
print 'Component',robot_name,'not available'
tmax=max([x.param.max_tq for x in self.actuator])
tmin=min([x.param.min_tq for x in self.actuator])
qmax=max([x.param.max_q for x in self.joint])
qmin=min([x.param.min_q for x in self.joint])
## Plots
self.scope_torque=[]
self.scope_theta=[]
self.scope_thetadot=[]
self.scope_thetadotdot=[]
self.scope_torquedot=[]
for i,name in zip(xrange(len(joint_names)),joint_names):
self.scope_torque.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Torque') )
self.scope_theta.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='Theta') )
self.scope_thetadot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDot') )
self.scope_thetadotdot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='ThetaDotDot'))
self.scope_torquedot.append( m3t.M3ScopeN(xwidth=100,yrange=None,title='TorqueDot') )
#Create gui
self.mode=[0]*len(self.joint)
self.tq_desire_a=[0]*len(self.joint)
self.tq_desire_b=[0]*len(self.joint)
self.pwm_desire=[0]*len(self.joint)
self.theta_desire_a=[0]*len(self.joint)
self.theta_desire_b=[0]*len(self.joint)
self.thetadot_desire=[0]*len(self.joint)
self.stiffness=[0]*len(self.joint)
self.slew=[0]*len(self.joint)
self.step_period=[2000.0]*len(self.joint)
self.cycle_theta=False
self.cycle_last_theta=False
self.cycle_thetadot=False
self.cycle_last_thetadot=False
self.cycle_torque=False
self.cycle_last_torque=False
self.save=False
self.do_scope_torque=False
self.do_scope_torquedot=False
self.do_scope_theta=False
self.do_scope_thetadot=False
self.do_scope_thetadotdot=False
self.brake=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.joint)),[['Off','Pwm','Torque','Theta','Torque_GC','Theta_GC','Theta_MJ', 'Theta_GC_MJ','Pose','Torque_GRAV_MODEL','ThetaDot_GC','ThetaDot'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','TorqueA (mNm)', (self,'tq_desire_a'),range(len(self.joint)),[tmin,tmax],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','TorqueB (mNm)', (self,'tq_desire_b'),range(len(self.joint)),[tmin,tmax],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Pwm', (self,'pwm_desire'),range(len(self.joint)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Theta A(Deg)', (self,'theta_desire_a'),range(len(self.joint)),[qmin,qmax],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Theta B(Deg)', (self,'theta_desire_b'),range(len(self.joint)),[qmin,qmax],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Thetadot (Deg)', (self,'thetadot_desire'),range(len(self.joint)),[-120.0,120.0],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiSliders','Slew ', (self,'slew'),range(len(self.joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorque', (self,'do_scope_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorqueDot', (self,'do_scope_torquedot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTheta', (self,'do_scope_theta'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDot', (self,'do_scope_thetadot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDotDot', (self,'do_scope_thetadotdot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','StepPeriod (ms) ', (self,'step_period'),range(len(self.joint)),[0,8000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTheta', (self,'cycle_theta'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleThetaDot', (self,'cycle_thetadot'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTorque', (self,'cycle_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Brake', (self,'brake'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
sea_joint_names=self.proxy.get_joint_components()
sea_joint_names=m3t.user_select_components_interactive(sea_joint_names)
self.sea_joint=[]
for n in sea_joint_names:
self.sea_joint.append(m3f.create_component(n))
self.proxy.subscribe_status(self.sea_joint[-1])
chain_names=self.proxy.get_chain_components()
self.chain=[]
if len(chain_names)>0:
print 'Select kinematic chain'
chain_names=m3t.user_select_components_interactive(chain_names)
for n in chain_names:
self.chain.append(m3f.create_component(n))
self.proxy.subscribe_status(self.chain[-1])
#Setup Components
base_name=self.proxy.get_available_components('m3omnibase')
if len(base_name)!=1:
print 'Invalid number of base components available'
self.proxy.stop()
exit()
self.omni=m3o.M3OmniBase(base_name[0])
print 'Base name ='+base_name[0]
self.proxy.publish_param(self.omni)
self.proxy.subscribe_status(self.omni)
self.proxy.publish_command(self.omni)
pwr_name=[m3t.get_omnibase_pwr_component_name(base_name[0])]
print "pwr_name :",pwr_name
self.pwr=m3f.create_component(pwr_name[0])
self.proxy.subscribe_status(self.pwr)
self.proxy.publish_command(self.pwr)
self.proxy.make_operational(pwr_name[0])
self.proxy.step()
self.pwr.set_motor_power_on()
self.proxy.make_operational_all()
self.proxy.step()
self.omni.calibrate(self.proxy)
#Create gui
self.ctrl_mode=[0]
self.traj_mode=[0]
self.joy_button=[0]
self.local_velocity_desired_x=[0]
self.local_velocity_desired_y=[0]
self.local_velocity_desired_heading=[0]
self.joy_x=[0]
self.joy_y=[0]
self.joy_yaw=[0]
self.goal_x=[0]
self.goal_y=[0]
self.goal_yaw=[0]
self.caster_ctrl_idx=[0]
self.caster_ctrl_mode=[0]
self.steer_or_roll_mode=[0]
self.op_force_desired_x=[0]
self.op_force_desired_y=[0]
self.op_torque_desired=[0]
self.joint_torque=[0]
self.joint_vel=[0]
self.save=False
self.save_last=False
self.init_g = self.omni.get_global_position()
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'CtrlMode', (self,'ctrl_mode'),range(1),[['Off','Calibrate','Caster','OpSpaceForce','OpSpaceTraj','CartLocal','CartGlob'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'TrajMode', (self,'traj_mode'),range(1),[['Off','Joystick','Goal','Vias'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Caster Steer/Roll', (self,'steer_or_roll_mode'),range(1),[['Steer','Roll'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'CasterCtrlIdx', (self,'caster_ctrl_idx'),range(1),[['0','1','2','3'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'CasterCtrlMode', (self,'caster_ctrl_mode'),range(1),[['Off','Tq','Vel'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'JoyButton', (self,'joy_button'),range(1),[['Tri','Circ','Sqr','X'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','JoystickX', (self,'joy_x'),range(1),[-1,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','JoystickY', (self,'joy_y'),range(1),[-1,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','JoystickYaw', (self,'joy_yaw'),range(1),[-1,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','LocalVelX (m/s)', (self,'local_velocity_desired_x'),range(1),[-1,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','LocalVelY (m/s)', (self,'local_velocity_desired_y'),range(1),[-1,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','LocalVelHeading (deg/s)', (self,'local_velocity_desired_heading'),range(1),[-60,60],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','OpForceX (N)', (self,'op_force_desired_x'),range(1),[-1000,1000],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','OpForceY (N)', (self,'op_force_desired_y'),range(1),[-1000,1000],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','OpTorque (Nm)', (self,'op_torque_desired'),range(1),[-50,50],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Jnt Torque (Nm)', (self,'joint_torque'),range(1),[-12.8,12.8],m3g.M3GuiWrite,column=1)
# self.gui.add('M3GuiSliders','Jnt Torque (Nm)', (self,'joint_torque'),range(1),[-6.4,6.4],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Jnt Vel (deg/s)', (self,'joint_vel'),range(1),[-90,90],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Goal X (m)', (self,'goal_x'),range(1),[-2,2],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Goal Y (m)', (self,'goal_y'),range(1),[-2,2],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Goal Yaw(deg)', (self,'goal_yaw'),range(1),[-180,180],m3g.M3GuiWrite,column=1)
time.sleep(0.5)
self.omni.set_local_position(0,0,0,self.proxy)
self.omni.set_global_position(0,0,0,self.proxy)
self.gui.start(self.step)
def start(self):
self.proxy.start()
print '--------------------------'
print 'Enable RVIZ? (y/n)'
print '--------------------------'
print
self.rviz = False
if m3t.get_yes_no():
self.rviz = True
sea_joint_names=self.proxy.get_joint_components()
sea_joint_names=m3t.user_select_components_interactive(sea_joint_names)
self.sea_joint=[]
for n in sea_joint_names:
self.sea_joint.append(m3f.create_component(n))
self.proxy.subscribe_status(self.sea_joint[-1])
chain_names=self.proxy.get_chain_components()
self.chain=[]
if len(chain_names)>0:
print 'Select kinematic chain'
chain_names=m3t.user_select_components_interactive(chain_names)
for n in chain_names:
self.chain.append(m3f.create_component(n))
self.proxy.subscribe_status(self.chain[-1])
kine_names=self.proxy.get_available_components('m3dynamatics')
self.kine = []
if len(kine_names)>0:
print 'Select dynamatics controller'
kine_names=m3t.user_select_components_interactive(kine_names)
for n in kine_names:
self.kine.append(m3f.create_component(n))
self.proxy.subscribe_status(self.kine[-1])
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3f.create_component(bot_name)
if self.rviz:
self.viz = m3v.M3Viz(self.proxy, self.bot)
#self.proxy.publish_param(self.bot) #allow to set payload
#self.proxy.subscribe_status(self.bot)
#self.proxy.publish_command(self.bot)
#self.proxy.make_operational_all()
self.bot.initialize(self.proxy)
self.chain_names = self.bot.get_available_chains()
#Create gui
self.mode=[0]
self.theta_desire_right_arm=[0]*self.bot.get_num_dof('right_arm')
self.theta_desire_left_arm=[0]*self.bot.get_num_dof('left_arm')
self.theta_desire_torso=[0]*self.bot.get_num_dof('torso')
self.theta_desire_head=[0]*self.bot.get_num_dof('head')
self.stiffness_right_arm=[0]*self.bot.get_num_dof('right_arm')
self.stiffness_left_arm=[0]*self.bot.get_num_dof('left_arm')
self.stiffness_torso=[0]*self.bot.get_num_dof('torso')
self.stiffness_head=[0]*self.bot.get_num_dof('head')
self.stiffness=[0]
#self.slew=[0]
self.save=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=3)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Pwm','Torque','Theta','Torque_GC','Theta_GC','Theta_MJ', 'Theta_GC_MJ'],1],m3g.M3GuiWrite)
#self.gui.add('M3GuiSliders','Torque (mNm)', (self,'tq_desire'),range(len(self.bot.right_arm_ndof)),[-8000,8000],m3g.M3GuiWrite)
#self.gui.add('M3GuiSliders','Pwm', (self,'pwm_desire'),range(len(self.sea_joint)),[-3200,3200],m3g.M3GuiWrite)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(1),[0,100],m3g.M3GuiWrite,column=1)
#self.gui.add('M3GuiSliders','Slew ', (self,'slew'),range(0),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiSliders','Theta RA (Deg)', (self,'theta_desire_right_arm'),range(len(self.theta_desire_right_arm)),[-45,140],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Theta LA (Deg)', (self,'theta_desire_left_arm'),range(len(self.theta_desire_left_arm)),[-45,140],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Theta T (Deg)', (self,'theta_desire_torso'),range(len(self.theta_desire_torso)),[-45,140],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Theta H (Deg)', (self,'theta_desire_head'),range(len(self.theta_desire_head)),[-45,140],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Stiffness RA ', (self,'stiffness_right_arm'),range(len(self.stiffness_right_arm)),[0,100],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness LA )', (self,'stiffness_left_arm'),range(len(self.stiffness_left_arm)),[0,100],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness T ', (self,'stiffness_torso'),range(len(self.stiffness_torso)),[0,100],m3g.M3GuiWrite,column=2)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.sea_joint)),[0,100],m3g.M3GuiWrite,column=3)
#self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print "Error: no robot components found:", bot_names
return
self.bot = m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find("arm") != -1]
if len(arm_names) == 0:
print "No arms found"
return
if len(arm_names) == 1:
self.arm_name = arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(arm_names, single=True)[0]
# ####### Setup Hand #############
hand_names = self.proxy.get_available_components("m3hand")
hand_name = ""
if len(hand_names) > 1:
hand_name = m3t.user_select_components_interactive(chain_names, single=True)
if len(hand_names) == 1:
hand_name = hand_names[0]
if len(hand_name):
self.hand = m3.hand.M3Hand(hand_name)
self.proxy.publish_command(self.hand)
self.proxy.subscribe_status(self.hand)
else:
self.hand = None
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof = self.bot.get_num_dof(self.arm_name)
self.via_traj = {}
self.via_traj_first = True
# ######## Demo and GUI #########################
self.off = False
self.grasp = False
self.hammer_up = False
self.switch_start = True
self.task_mode_names = ["Off", "Zero", "HammerGrasp", "Hammer"]
self.arm_mode_methods = [self.step_off, self.step_zero, self.step_hammer_grasp, self.step_hammer]
self.hand_mode_methods = [self.step_hand_off, self.step_hand_off, self.step_hand_grasp, self.step_hand_grasp]
self.task_mode = [0]
self.poses = {
"zero": {"right_arm": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]},
"hammer_grasp": {"right_arm": [33, 0, 0, 120.18858337402344, 0, -60, 0]},
"hammer_up": {"right_arm": [33, 0, 0, 120.18858337402344, 0, -60, 0]},
"hammer_down": {"right_arm": [33, 0, 0, 71.249755859375, 0, -60, 0]},
}
self.stiffness = [100]
self.velocity = [25]
self.cycle_time = [3000]
self.gui.add(
"M3GuiModes", "TaskMode", (self, "task_mode"), range(1), [self.task_mode_names, 1], m3g.M3GuiWrite, column=1
)
if self.hand is not None:
self.gui.add(
"M3GuiToggle", "Grasp", (self, "grasp"), [], [["GraspOpen", "GraspClosed"]], m3g.M3GuiWrite, column=1
)
self.gui.add("M3GuiSliders", "Stiffness ", (self, "stiffness"), [0], [0, 100], m3g.M3GuiWrite, column=1)
self.gui.add("M3GuiSliders", "Velocity ", (self, "velocity"), [0], [0, 40], m3g.M3GuiWrite, column=1)
self.gui.add("M3GuiSliders", "CycleTimeMs", (self, "cycle_time"), [0], [0, 4000], m3g.M3GuiWrite, column=1)
self.gui.start(self.step)
def start(self):
self.proxy.start()
cnames = self.proxy.get_available_components("m3actuator_ec")
self.names = m3t.user_select_components_interactive(cnames)
if len(self.names) == 0:
return
self.actuator_ec = []
for name in self.names:
self.actuator_ec.append(m3f.create_component(name))
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_command(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
self.proxy.make_operational(name)
# pwr_ec=self.proxy.get_available_components('m3pwr_ec')
# pwr_rt=self.proxy.get_available_components('m3pwr')
# print 'A',pwr_rt[0],pwr_ec[0]
# if len(pwr_rt):
# pr=m3f.create_component(pwr_rt[0])
# self.proxy.publish_command(pr)
# self.proxy.make_operational(pwr_rt[0])
# self.proxy.make_operational(pwr_ec[0])
# pr.set_motor_power_on()
pwr_rt = m3t.get_actuator_ec_pwr_component_name(self.names[0])
pwr_ec = pwr_rt.replace("m3pwr", "m3pwr_ec")
pr = m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
pr.set_motor_power_on()
tmax = [x.param.t_max for x in self.actuator_ec]
tmin = [x.param.t_min for x in self.actuator_ec]
self.proxy.step()
for c in self.actuator_ec:
self.bias.append(c.status.adc_torque)
tl = min(tmin) - self.bias[0]
tu = max(tmax) - self.bias[0]
self.cycle_pwm = False
self.cycle_last_pwm = False
self.cycle_tq = False
self.cycle_last_tq = False
self.step_period = [2000.0] * len(self.actuator_ec)
self.brake = [0]
# Create gui
self.mode = [0] * len(self.actuator_ec)
self.t_desire_a = [0] * len(self.actuator_ec)
self.t_desire_b = [0] * len(self.actuator_ec)
self.pwm_desire_a = [0] * len(self.actuator_ec)
self.pwm_desire_b = [0] * len(self.actuator_ec)
self.current_desire_a = [0] * len(self.actuator_ec)
self.current_desire_b = [0] * len(self.actuator_ec)
self.save = False
self.save_last = False
self.do_scope_torque = False
self.scope_torque = None
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add("M3GuiTree", "Status", (self, "status_dict"), [], [], m3g.M3GuiRead, column=2)
self.gui.add("M3GuiTree", "Param", (self, "param_dict"), [], [], m3g.M3GuiWrite, column=3)
self.gui.add(
"M3GuiModes",
"Mode",
(self, "mode"),
range(len(self.actuator_ec)),
[["Off", "Pwm", "PID", "CURRENT"], 1],
m3g.M3GuiWrite,
)
self.gui.add("M3GuiModes", "Brake", (self, "brake"), range(1), [["Enabled", "Disabled"], 1], m3g.M3GuiWrite)
self.gui.add(
"M3GuiSliders", "tqDesire", (self, "t_desire_a"), range(len(self.actuator_ec)), [tl, tu], m3g.M3GuiWrite
)
self.gui.add(
"M3GuiSliders", "tqDesire", (self, "t_desire_b"), range(len(self.actuator_ec)), [tl, tu], m3g.M3GuiWrite
)
self.gui.add(
"M3GuiSliders",
"pwmDesireA",
(self, "pwm_desire_a"),
range(len(self.actuator_ec)),
[-3200, 3200],
m3g.M3GuiWrite,
)
self.gui.add(
"M3GuiSliders",
"pwmDesireB",
(self, "pwm_desire_b"),
range(len(self.actuator_ec)),
[-3200, 3200],
m3g.M3GuiWrite,
)
self.gui.add(
"M3GuiSliders",
"currentDesireA",
(self, "current_desire_a"),
range(len(self.actuator_ec)),
[-100, 100],
m3g.M3GuiWrite,
)
self.gui.add(
"M3GuiSliders",
"currentDesireB",
(self, "current_desire_b"),
range(len(self.actuator_ec)),
[-3200, 3200],
m3g.M3GuiWrite,
)
self.gui.add(
"M3GuiSliders",
"StepPeriod (ms) ",
(self, "step_period"),
range(len(self.actuator_ec)),
[0, 4000],
m3g.M3GuiWrite,
)
self.gui.add("M3GuiToggle", "CyclePwm", (self, "cycle_pwm"), [], [["On", "Off"]], m3g.M3GuiWrite)
self.gui.add("M3GuiToggle", "CycleTq", (self, "cycle_tq"), [], [["On", "Off"]], m3g.M3GuiWrite)
self.gui.add("M3GuiToggle", "Save", (self, "save"), [], [["On", "Off"]], m3g.M3GuiWrite)
self.gui.add("M3GuiToggle", "Scope", (self, "do_scope_torque"), [], [["On", "Off"]], m3g.M3GuiWrite)
self.gui.start(self.step)
import time
import m3.rt_proxy as m3p
import m3.toolbox as m3t
import m3.component_factory as m3f
import Numeric as nu
import math
# ######################################################
proxy = m3p.M3RtProxy()
proxy.start()
proxy.make_operational_all()
chain_names=proxy.get_available_components('m3hand')
if len(chain_names)>1:
hand_name=m3t.user_select_components_interactive(chain_names,single=True)
else:
hand_name=chain_names
pwr_name=proxy.get_available_components('m3pwr')[0]
hand=m3f.create_component(hand_name[0])
proxy.publish_command(hand)
proxy.subscribe_status(hand)
pwr=m3f.create_component(pwr_name)
proxy.publish_command(pwr)
pwr.set_motor_power_on()
hand.set_mode_torque()
print 'Enter duration (s) [30.0]'
d=m3t.get_float(30.0)
ts=time.time()
def start(self):
self.proxy.start()
sea_joint_names = self.proxy.get_joint_components()
sea_joint_names = m3t.user_select_components_interactive(
sea_joint_names)
self.sea_joint = []
for n in sea_joint_names:
self.sea_joint.append(m3f.create_component(n))
self.proxy.subscribe_status(self.sea_joint[-1])
chain_names = self.proxy.get_chain_components()
self.chain = []
if len(chain_names) > 0:
print 'Select kinematic chain'
chain_names = m3t.user_select_components_interactive(chain_names)
for n in chain_names:
self.chain.append(m3f.create_component(n))
self.proxy.subscribe_status(self.chain[-1])
#Setup Components
base_name = self.proxy.get_available_components('m3omnibase')
if len(base_name) != 1:
print 'Invalid number of base components available'
self.proxy.stop()
exit()
self.omni = m3o.M3OmniBase(base_name[0])
print 'Base name =' + base_name[0]
self.proxy.publish_param(self.omni)
self.proxy.subscribe_status(self.omni)
self.proxy.publish_command(self.omni)
pwr_name = [m3t.get_omnibase_pwr_component_name(base_name[0])]
print "pwr_name :", pwr_name
self.pwr = m3f.create_component(pwr_name[0])
self.proxy.subscribe_status(self.pwr)
self.proxy.publish_command(self.pwr)
self.proxy.make_operational(pwr_name[0])
self.proxy.step()
self.pwr.set_motor_power_on()
self.proxy.make_operational_all()
self.proxy.step()
self.omni.calibrate(self.proxy)
#Create gui
self.ctrl_mode = [0]
self.traj_mode = [0]
self.joy_button = [0]
self.local_velocity_desired_x = [0]
self.local_velocity_desired_y = [0]
self.local_velocity_desired_heading = [0]
self.joy_x = [0]
self.joy_y = [0]
self.joy_yaw = [0]
self.goal_x = [0]
self.goal_y = [0]
self.goal_yaw = [0]
self.caster_ctrl_idx = [0]
self.caster_ctrl_mode = [0]
self.steer_or_roll_mode = [0]
self.op_force_desired_x = [0]
self.op_force_desired_y = [0]
self.op_torque_desired = [0]
self.joint_torque = [0]
self.joint_vel = [0]
self.save = False
self.save_last = False
self.init_g = self.omni.get_global_position()
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=2)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiModes', 'CtrlMode', (self, 'ctrl_mode'), range(1),
[[
'Off', 'Calibrate', 'Caster', 'OpSpaceForce',
'OpSpaceTraj', 'CartLocal', 'CartGlob'
], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'TrajMode', (self, 'traj_mode'), range(1),
[['Off', 'Joystick', 'Goal', 'Vias'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Caster Steer/Roll',
(self, 'steer_or_roll_mode'), range(1),
[['Steer', 'Roll'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'CasterCtrlIdx', (self, 'caster_ctrl_idx'),
range(1), [['0', '1', '2', '3'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'CasterCtrlMode',
(self, 'caster_ctrl_mode'), range(1),
[['Off', 'Tq', 'Vel'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'JoyButton', (self, 'joy_button'), range(1),
[['Tri', 'Circ', 'Sqr', 'X'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders',
'JoystickX', (self, 'joy_x'),
range(1), [-1, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'JoystickY', (self, 'joy_y'),
range(1), [-1, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'JoystickYaw', (self, 'joy_yaw'),
range(1), [-1, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'LocalVelX (m/s)', (self, 'local_velocity_desired_x'),
range(1), [-1, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'LocalVelY (m/s)', (self, 'local_velocity_desired_y'),
range(1), [-1, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'LocalVelHeading (deg/s)',
(self, 'local_velocity_desired_heading'),
range(1), [-60, 60],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'OpForceX (N)', (self, 'op_force_desired_x'),
range(1), [-1000, 1000],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'OpForceY (N)', (self, 'op_force_desired_y'),
range(1), [-1000, 1000],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'OpTorque (Nm)', (self, 'op_torque_desired'),
range(1), [-50, 50],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Jnt Torque (Nm)', (self, 'joint_torque'),
range(1), [-12.8, 12.8],
m3g.M3GuiWrite,
column=1)
# self.gui.add('M3GuiSliders','Jnt Torque (Nm)', (self,'joint_torque'),range(1),[-6.4,6.4],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders',
'Jnt Vel (deg/s)', (self, 'joint_vel'),
range(1), [-90, 90],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Goal X (m)', (self, 'goal_x'),
range(1), [-2, 2],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Goal Y (m)', (self, 'goal_y'),
range(1), [-2, 2],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Goal Yaw(deg)', (self, 'goal_yaw'),
range(1), [-180, 180],
m3g.M3GuiWrite,
column=1)
time.sleep(0.5)
self.omni.set_local_position(0, 0, 0, self.proxy)
self.omni.set_global_position(0, 0, 0, self.proxy)
self.gui.start(self.step)
bot = m3f.create_component(bot_name)
if rviz == True:
viz = m3v.M3Viz(proxy, bot)
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
proxy.step()
if rviz == True:
viz.step()
print 'Select chains:'
chains = m3t.user_select_components_interactive(bot.get_available_chains(),
single=False)
# ######################################################
#Hardcode defaults for now...should move to config file
stiffness = {
'right_arm': [
0.5, #J0
0.5, #J1
0.5, #J2
0.5, #J3
0.5, #J4
0.5, #J5
0.5
], #J6
'left_arm': [
0.5, #J0
0.5, #J1
def start(self):
self.proxy.start()
joint_names = self.proxy.get_joint_components()
if len(joint_names) == 0:
print 'No joint components available'
self.proxy.stop()
exit()
joint_names = m3t.user_select_components_interactive(joint_names)
actuator_ec_names = []
actuator_names = []
ctrl_names = []
for n in joint_names:
ctrl = m3t.get_joint_ctrl_component_name(n)
if ctrl != "":
ctrl_names.append(ctrl)
actuator = m3t.get_joint_actuator_component_name(n)
if actuator != "":
actuator_names.append(actuator)
actuator_ec = m3t.get_actuator_ec_component_name(actuator)
if actuator_ec != "":
actuator_ec_names.append(actuator_ec)
self.joint = []
self.actuator_ec = []
self.actuator = []
self.ctrl = []
for n in actuator_ec_names:
c = m3f.create_component(n)
if c is not None:
try:
self.actuator_ec.append(c)
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
except:
print 'Component', n, 'not available'
for n in actuator_names:
c = m3f.create_component(n)
if c is not None:
self.actuator.append(c)
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
for n in ctrl_names:
c = m3f.create_component(n)
if c is not None:
self.ctrl.append(c)
self.proxy.subscribe_status(self.ctrl[-1])
self.proxy.publish_param(self.ctrl[-1])
for n in joint_names:
c = m3f.create_component(n)
if c is not None:
self.joint.append(c)
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_command(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
#Enable motor power
pwr_rt = m3t.get_actuator_ec_pwr_component_name(actuator_ec_names[0])
self.pwr = m3f.create_component(pwr_rt)
if self.pwr is not None:
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Start them all up
self.proxy.make_operational_all()
#Force safe-op of robot, etc are present
types = ['m3humanoid', 'm3hand', 'm3gripper']
for t in types:
cc = self.proxy.get_available_components(t)
for ccc in cc:
self.proxy.make_safe_operational(ccc)
#Force safe-op of chain so that gravity terms are computed
self.chain = None
if len(joint_names) > 0:
for j in joint_names:
chain_name = m3t.get_joint_chain_name(j)
if chain_name != "":
self.proxy.make_safe_operational(chain_name)
#self.chain=m3f.create_component(chain_name)
#self.proxy.publish_param(self.chain) #allow to set payload
#Force safe-op of chain so that gravity terms are computed
dynamatics_name = m3t.get_chain_dynamatics_component_name(
chain_name)
if dynamatics_name != "":
self.proxy.make_safe_operational(dynamatics_name)
self.dyn = m3f.create_component(dynamatics_name)
self.proxy.publish_param(
self.dyn) #allow to set payload
#Force safe-op of robot so that gravity terms are computed
robot_name = m3t.get_robot_name()
if robot_name != "":
try:
self.proxy.make_safe_operational(robot_name)
self.robot = m3f.create_component(robot_name)
self.proxy.subscribe_status(self.robot)
self.proxy.publish_param(self.robot) #allow to set payload
except:
print 'Component', robot_name, 'not available'
tmax = max([x.param.max_tq for x in self.actuator])
tmin = min([x.param.min_tq for x in self.actuator])
qmax = max([x.param.max_q for x in self.joint])
qmin = min([x.param.min_q for x in self.joint])
## Plots
self.scope_torque = []
self.scope_theta = []
self.scope_thetadot = []
self.scope_thetadotdot = []
self.scope_torquedot = []
for i, name in zip(xrange(len(joint_names)), joint_names):
self.scope_torque.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='Torque'))
self.scope_theta.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='Theta'))
self.scope_thetadot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='ThetaDot'))
self.scope_thetadotdot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='ThetaDotDot'))
self.scope_torquedot.append(
m3t.M3ScopeN(xwidth=100, yrange=None, title='TorqueDot'))
#Create gui
self.mode = [0] * len(self.joint)
self.tq_desire_a = [0] * len(self.joint)
self.tq_desire_b = [0] * len(self.joint)
self.pwm_desire = [0] * len(self.joint)
self.theta_desire_a = [0] * len(self.joint)
self.theta_desire_b = [0] * len(self.joint)
self.thetadot_desire = [0] * len(self.joint)
self.stiffness = [0] * len(self.joint)
self.slew = [0] * len(self.joint)
self.step_period = [2000.0] * len(self.joint)
self.cycle_theta = False
self.cycle_last_theta = False
self.cycle_thetadot = False
self.cycle_last_thetadot = False
self.cycle_torque = False
self.cycle_last_torque = False
self.save = False
self.do_scope_torque = False
self.do_scope_torquedot = False
self.do_scope_theta = False
self.do_scope_thetadot = False
self.do_scope_thetadotdot = False
self.brake = False
self.save_last = False
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=2)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'),
range(len(self.joint)), [[
'Off', 'Pwm', 'Torque', 'Theta', 'Torque_GC',
'Theta_GC', 'Theta_MJ', 'Theta_GC_MJ', 'Pose',
'Torque_GRAV_MODEL', 'ThetaDot_GC', 'ThetaDot'
], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'TorqueA (mNm)', (self, 'tq_desire_a'),
range(len(self.joint)), [tmin, tmax], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'TorqueB (mNm)', (self, 'tq_desire_b'),
range(len(self.joint)), [tmin, tmax], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Pwm', (self, 'pwm_desire'),
range(len(self.joint)), [-3200, 3200], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders',
'Theta A(Deg)', (self, 'theta_desire_a'),
range(len(self.joint)), [qmin, qmax],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Theta B(Deg)', (self, 'theta_desire_b'),
range(len(self.joint)), [qmin, qmax],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Thetadot (Deg)', (self, 'thetadot_desire'),
range(len(self.joint)), [-120.0, 120.0],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Stiffness ', (self, 'stiffness'),
range(len(self.joint)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiSliders',
'Slew ', (self, 'slew'),
range(len(self.joint)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiToggle', 'Save', (self, 'save'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorque', (self, 'do_scope_torque'),
[], [['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTorqueDot',
(self, 'do_scope_torquedot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeTheta', (self, 'do_scope_theta'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDot',
(self, 'do_scope_thetadot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ScopeThetaDotDot',
(self, 'do_scope_thetadotdot'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'StepPeriod (ms) ', (self, 'step_period'),
range(len(self.joint)), [0, 8000], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTheta', (self, 'cycle_theta'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleThetaDot', (self, 'cycle_thetadot'),
[], [['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTorque', (self, 'cycle_torque'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Brake', (self, 'brake'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
cnames=self.proxy.get_available_components('m3actuator_ec')
self.names=m3t.user_select_components_interactive(cnames)
if len(self.names)==0:
return
self.actuator_ec=[]
for name in self.names:
self.actuator_ec.append(m3f.create_component(name))
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_command(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
self.proxy.make_operational(name)
#pwr_ec=self.proxy.get_available_components('m3pwr_ec')
#pwr_rt=self.proxy.get_available_components('m3pwr')
#print 'A',pwr_rt[0],pwr_ec[0]
#if len(pwr_rt):
#pr=m3f.create_component(pwr_rt[0])
#self.proxy.publish_command(pr)
#self.proxy.make_operational(pwr_rt[0])
#self.proxy.make_operational(pwr_ec[0])
#pr.set_motor_power_on()
pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.names[0])
pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
pr=m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
pr.set_motor_power_on()
tmax=[x.param.t_max for x in self.actuator_ec]
tmin=[x.param.t_min for x in self.actuator_ec]
self.proxy.step()
for c in self.actuator_ec:
self.bias.append(c.status.adc_torque)
tl=min(tmin)-self.bias[0]
tu=max(tmax)-self.bias[0]
self.cycle_pwm=False
self.cycle_last_pwm=False
self.cycle_tq=False
self.cycle_last_tq=False
self.step_period=[2000.0]*len(self.actuator_ec)
self.brake=[0]
#Create gui
self.mode=[0]*len(self.actuator_ec)
self.t_desire_a=[0]*len(self.actuator_ec)
self.t_desire_b=[0]*len(self.actuator_ec)
self.pwm_desire_a=[0]*len(self.actuator_ec)
self.pwm_desire_b=[0]*len(self.actuator_ec)
self.current_desire_a=[0]*len(self.actuator_ec)
self.current_desire_b=[0]*len(self.actuator_ec)
self.save=False
self.save_last=False
self.do_scope_torque=False
self.scope_torque=None
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.actuator_ec)),[['Off','Pwm','PID','CURRENT'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Brake', (self,'brake'),range(1),[['Enabled','Disabled'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','tqDesire', (self,'t_desire_a'),range(len(self.actuator_ec)),[tl,tu],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','tqDesire', (self,'t_desire_b'),range(len(self.actuator_ec)),[tl,tu],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesireA', (self,'pwm_desire_a'),range(len(self.actuator_ec)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesireB', (self,'pwm_desire_b'),range(len(self.actuator_ec)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','currentDesireA', (self,'current_desire_a'),range(len(self.actuator_ec)),[-100,100],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','currentDesireB', (self,'current_desire_b'),range(len(self.actuator_ec)),[-3200,3200],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','StepPeriod (ms) ', (self,'step_period'),range(len(self.actuator_ec)),[0,4000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CyclePwm', (self,'cycle_pwm'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'CycleTq', (self,'cycle_tq'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self,'do_scope_torque'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
if len(humanoid_shm_names) > 0:
proxy.make_safe_operational(humanoid_shm_names[0])
if not rviz == True:
bot.set_motor_power_on()
proxy.step()
if rviz == True:
viz.step()
stiffness = 0.5
step_delta = .002 #meters
print 'Select arm:'
arm_names = ['right_arm', 'left_arm']
arm_name = m3t.user_select_components_interactive(arm_names, single=True)[0]
while True:
proxy.step()
print '--------------'
print 's: set stiffness (Current', stiffness, ')'
print 'd: set step delta (Current', step_delta, '(m))'
print 'e: execute ijkt controller'
print 'q: quit'
print '--------------'
print
k = m3t.get_keystroke()
if k == 'q':
break
if k == 's':
print 'Enter stiffness (0-1.0) [', stiffness, ']'
proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print "Error: no robot components found:", bot_name
exit()
bot = m3f.create_component(bot_name)
proxy.publish_param(bot) # allow to set payload
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
proxy.step()
chains = bot.get_available_chains()
print "Select chains to pose"
chains = m3t.user_select_components_interactive(chains)
menu = menu_thread(bot, chains)
menu.start()
slew = {}
qdes = {}
fn = m3t.get_m3_animation_path() + m3t.get_robot_name() + "_poser_config.yml"
f = file(fn, "r")
config = yaml.safe_load(f.read())
f.close()
stiffness = config["stiffness"]
delta_thresh = config["delta_thresh"]
slew_rate = config["slew_rate"]
proxy.step()
dbg = ""
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
self.current_first = True
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm')!=-1]
if len(arm_names)==0:
print 'No arms found'
return
if len(arm_names)==1:
self.arm_name=arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(arm_names,single=True)[0]
self.jnts = self.bot.get_joint_names(self.arm_name)
comp={}
for c in self.jnts:
comp[c]={'comp_rt':None,'comp_j':None,'torque_act':[],'torque_joint':[],'torque_gravity':[],'is_wrist':False}
if (c.find('j5')>=0 or c.find('j6')>=0):
comp[c]['is_wrist']=True
for c in self.jnts:
comp[c]['comp_j']=mcf.create_component(c)
comp[c]['comp_rt']=mcf.create_component(c.replace('joint','actuator'))
self.proxy.subscribe_status(comp[c]['comp_rt'])
self.proxy.subscribe_status(comp[c]['comp_j'])
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof=self.bot.get_num_dof(self.arm_name)
humanoid_shm_names=self.proxy.get_available_components('m3humanoid_shm')
if len(humanoid_shm_names) > 0:
self.proxy.make_safe_operational(humanoid_shm_names[0])
self.bot.set_mode_off(self.arm_name)
print 'This script will calibrate the zero-torque of the A2 arm while posed using current torque_gravity estimate'
print '----------------------------------------------------------------------------------------------------------'
print 'With E-Stop down, pose the arm in desired position to calibrate torque zeroes around.'
print 'Press any key when ready posed.'
raw_input()
time.sleep(0.5)
self.proxy.step()
self.theta_curr = self.bot.get_theta_deg(self.arm_name)[:]
self.proxy.step()
print 'Posed position set.'
print 'Release E-stop and press any key for arm to hold pose.'
raw_input()
self.bot.set_mode_theta_gc(self.arm_name)
self.bot.set_theta_deg(self.arm_name,self.theta_curr)
self.bot.set_stiffness(self.arm_name,[1.0]*7)
self.bot.set_slew_rate_proportion(self.arm_name,[1.0]*self.ndof)
self.proxy.step()
print 'Press any key to start torque calibration for all joints.'
raw_input()
self.proxy.step()
# ###########################
ns=30
for i in range(ns):
self.proxy.step()
print '---------'
for c in comp.keys():
tqj=comp[c]['comp_j'].get_torque_mNm()
tqg=comp[c]['comp_j'].get_torque_gravity_mNm()/1000.0
tqa=comp[c]['comp_rt'].get_torque_mNm()
comp[c]['torque_act'].append(tqa)
comp[c]['torque_joint'].append(tqj)
comp[c]['torque_gravity'].append(tqg)
if comp[c]['is_wrist']:
print c,':joint',tqj,':gravity',tqg,':actuator',tqa
else:
print c,':joint',tqj,':gravity',tqg,
time.sleep(0.05)
do_query = True
# ###########################
for c in comp.keys():
print '--------',c,'---------'
tqg=float(na.array(comp[c]['torque_gravity'],na.Float32).mean())
tqj=float(na.array(comp[c]['torque_joint'],na.Float32).mean())
tqa=float(na.array(comp[c]['torque_act'],na.Float32).mean())
if not comp[c]['is_wrist']:
bias=tqa+tqg
torque=M3TorqueSensor(comp[c]['comp_rt'].config['calib']['torque']['type'])
print 'Measured torque:',tqa,'Torque gravity:', tqg
print 'Delta of',bias,'mNm'
comp[c]['comp_rt'].config['calib']['torque']['cb_bias']=comp[c]['comp_rt'].config['calib']['torque']['cb_bias']-bias
comp[c]['comp_rt'].config['calibration_date']=time.asctime()
if do_query:
print 'Save calibration? [y]'
if m3t.get_yes_no('y'):
comp[c]['comp_rt'].write_config()
else:
comp[c]['comp_rt'].write_config()
else:
print 'Wrist joint...'
if c.find('j5')!=-1: #do j5/j6 at once
cc=None
for x in comp.keys():
if x.find('j6')!=-1:
cc=x
if cc is None:
print 'Did not find coupled joint to',c
tqg_c=float(na.array(comp[cc]['torque_gravity'],na.Float32).mean())
tqj_c=float(na.array(comp[cc]['torque_joint'],na.Float32).mean())
tqa_c=float(na.array(comp[cc]['torque_act'],na.Float32).mean())
x=comp[c]['comp_j'].config['transmission']['tqj_to_tqa'][0] #Joint to actuator matrix
y=comp[c]['comp_j'].config['transmission']['tqj_to_tqa'][1]
m=comp[cc]['comp_j'].config['transmission']['tqj_to_tqa'][0]
n=comp[cc]['comp_j'].config['transmission']['tqj_to_tqa'][1]
tqg_a5= x*tqg+y*tqg_c
tqg_a6= m*tqg_c+n*tqg
bias_5=tqa+tqg_a5
bias_6=tqa_c+tqg_a6
torque_5=M3TorqueSensor(comp[c]['comp_rt'].config['calib']['torque']['type'])
torque_6=M3TorqueSensor(comp[cc]['comp_rt'].config['calib']['torque']['type'])
print '------------'
print 'J5: Previous joint torque',tqj,'with joint torque gravity', tqg
print 'J5: Previous actuator torque',tqa,'with actuator torque gravity', tqg_a5
print 'J5: Actuator delta of',bias_5,'mNm'
print '------------'
print 'J6: Previous joint torque',tqj_c,'with joint torque gravity', tqg_c
print 'J6: Previous actuator torque',tqa_c,'with actuator torque gravity', tqg_a6
print 'J6: Actuator delta of',bias_6,'mNm'
print '------------'
comp[c]['comp_rt'].config['calib']['torque']['cb_bias']=comp[c]['comp_rt'].config['calib']['torque']['cb_bias']-bias_5
comp[c]['comp_rt'].config['calibration_date']=time.asctime()
comp[cc]['comp_rt'].config['calib']['torque']['cb_bias']=comp[cc]['comp_rt'].config['calib']['torque']['cb_bias']-bias_6
comp[cc]['comp_rt'].config['calibration_date']=time.asctime()
if do_query:
print 'Save calibration? [y]'
if m3t.get_yes_no('y'):
comp[c]['comp_rt'].write_config()
comp[cc]['comp_rt'].write_config()
else:
comp[c]['comp_rt'].write_config()
comp[cc]['comp_rt'].write_config()
self.bot.set_mode_off(self.arm_name)
self.proxy.stop()
def start(self):
self.proxy.start()
#print 'Enable RVIZ [n]?'
self.rviz = False
#if m3t.get_yes_no('n'):
# self.rviz = True
chain_names=self.proxy.get_chain_components()
self.chain=[]
if len(chain_names)>0:
print 'Select kinematic chain'
self.chain_names=m3t.user_select_components_interactive(chain_names,single=True)
self.chain.append(m3f.create_component(self.chain_names[0]))
self.proxy.subscribe_status(self.chain[-1])
self.limb=m3t.get_chain_limb_name(self.chain_names[0])
joint_names=m3t.get_chain_joint_names(self.chain_names[0])
print 'Select joint'
joint_names=m3t.user_select_components_interactive(joint_names,single=True)
self.joint=[]
self.actuator=[]
self.actuator_ec=[]
acutator_names=[]
for n in joint_names:
self.joint.append(m3f.create_component(n))
actuator_name = m3t.get_joint_actuator_component_name(n)
actuator_ec_name = m3t.get_actuator_ec_component_name(actuator_name)
self.actuator.append(m3f.create_component(actuator_name))
self.actuator_ec.append(m3f.create_component(actuator_ec_name))
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
if self.actuator_ec[0] is not None:
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
#kine_names=self.proxy.get_available_components('m3dynamatics')
self.kine = []
#if len(kine_names)>0:
#print 'Select dynamatics controller'
#kine_names=m3t.user_select_components_interactive(kine_names)
#for n in kine_names:
#self.kine.append(m3f.create_component(n))
#self.proxy.subscribe_status(self.kine[-1])
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3f.create_component(bot_name)
if self.rviz:
self.viz = m3v.M3Viz(self.proxy, self.bot)
#self.proxy.publish_param(self.bot) #allow to set payload
#self.proxy.subscribe_status(self.bot)
#self.proxy.publish_command(self.bot)
#self.proxy.make_operational_all()
self.bot.initialize(self.proxy)
#self.chain_names = self.bot.get_available_chains()
#Create gui
self.mode=[0]
self.posture=[0]
self.theta_desire_a=[0]*self.bot.get_num_dof(self.limb)
self.theta_desire_b=[0]*self.bot.get_num_dof(self.limb)
self.stiffness=[50.0]*self.bot.get_num_dof(self.limb)
self.thetadot=[10.0]*self.bot.get_num_dof(self.limb)
#print 'Selected: ',self.chain_names[0],self.limb,self.bot.get_num_dof(self.limb)
#self.slew=[0]
self.save=False
self.save_last=False
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Pwm','Torque','Theta','Torque_GC','Theta_GC','Theta_MJ', 'Theta_GC_MJ'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=1)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','ThetaA (Deg)', (self,'theta_desire_a'),range(len(self.theta_desire_a)),[-45,140],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiModes', 'Posture', (self,'posture'),range(1),[['A','B','Cycle'],1],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','ThetaB (Deg)', (self,'theta_desire_b'),range(len(self.theta_desire_b)),[-45,140],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.stiffness)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiSliders','ThetaDot ', (self,'thetadot'),range(len(self.thetadot)),[0,100],m3g.M3GuiWrite,column=3)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.sea_joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.start(self.step)
#INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES INCLUDING,
#BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#POSSIBILITY OF SUCH DAMAGE.
import m3.toolbox as m3t
import m3.toolbox_ctrl as m3tc
import time
proxy = m3p.M3RtProxy()
proxy.start()
name_ec = m3t.user_select_components_interactive(
proxy.get_available_components('m3actuator_ec'), single=True)
if name_ec is None:
exit()
comp = m3f.create_component(name_ec)
proxy.subscribe_status(comp)
proxy.make_operational(name_ec)
q_log = []
tq_log = []
print 'Ready to generate motion? Hit any key to start'
m3t.get_keystroke()
ts = time.time()
try:
while time.time() - ts > 5.0:
proxy.step()
q = comp.status.qei_on
tq = comp.status.adc_torque
#You should have received a copy of the GNU Lesser General Public License
#along with M3. If not, see <http://www.gnu.org/licenses/>.
import m3.rt_proxy as m3p
import m3.pwr as m3rt
import m3.pwr_ec as m3e
import m3.toolbox as m3t
import m3.omnibase as m3o
import time
proxy = m3p.M3RtProxy()
proxy.start()
pwr_name=proxy.get_available_components('m3pwr')
if len(pwr_name)>1:
pwr_name=m3t.user_select_components_interactive(pwr_name,single=True)
pwr=m3rt.M3Pwr(pwr_name[0])
proxy.subscribe_status(pwr)
base_name=proxy.get_available_components('m3omnibase')
if len(base_name)!=1:
print 'Invalid number of base components available'
proxy.stop()
exit()
omni=m3o.M3OmniBase(base_name[0])
proxy.subscribe_status(omni)
scope_steer = m3t.M3ScopeN(xwidth=100,title='Steer and Total Currents')
scope_roll = m3t.M3ScopeN(xwidth=100,title='Roll Currents')
bot = m3f.create_component(bot_name)
if rviz == True:
viz = m3v.M3Viz(proxy, bot)
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
proxy.step()
if rviz == True:
viz.step()
print "Select chains:"
chains = m3t.user_select_components_interactive(bot.get_available_chains(), single=False)
# ######################################################
# Hardcode defaults for now...should move to config file
stiffness = {
"right_arm": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], # J0 # J1 # J2 # J3 # J4 # J5 # J6
"left_arm": [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], # J0 # J1 # J2 # J3 # J4 # J5 # J6
"torso": [0.65, 0.65, 0.65], # J0 # J1
} # J2
# Deg/S
vel_avg = {
"right_arm": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0], # J0 # J1 # J2 # J3 # J4 # J5 # J6
"left_arm": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0], # J0 # J1 # J2 # J3 # J4 # J5 # J6
"torso": [5.0, 5.0, 5.0], # J0 # J1
} # J2
scale_stiffness = {"right_arm": 1.0, "left_arm": 1.0, "torso": 1.0}
scale_vel_avg = {"right_arm": 1.0, "left_arm": 1.0, "torso": 1.0}
def get_boards():
print 'Finding burnable board from m3_config.yml...'
name_ec = m3t.get_ec_component_names()
boards = {}
for n in name_ec:
config = m3t.get_component_config(n)
try:
fw = config['firmware'] + '.hex'
except KeyError:
print 'Missing firmware key for', n, '...skipping'
fw = None
sn = config['ethercat']['serial_number']
try:
chid = config['chid']
except KeyError:
chid = 0
ssn = get_slave_sn()
sid = None
for s in ssn:
if sn == s[0]:
sid = s[1]
ff = m3t.get_m3_config_path() + 'eeprom/eeprom*_sn_' + str(sn) + '.hex'
eepf = glob.glob(ff)
if len(eepf) == 0:
print 'EEPROM file not found', ff, 'skipping board...'
if len(eepf) > 1:
print 'Multiple eeproms found for', ff
print 'Select correct eeprom ID'
for i in range(len(eepf)):
print i, ' : ', eepf[i]
idx = m3t.get_int()
eepf = [eepf[idx]]
if sid != None and len(eepf) == 1 and fw is not None and chid == 0:
boards[n] = {
'firmware': fw,
'sn': sn,
'slave_id': sid,
'eeprom': eepf[0],
'connected': False,
'write_success': False
}
print 'Found the following valid configurations: '
print boards.keys()
print
print 'Selection type'
print '-----------------'
print 'a: all boards'
print 's: single board'
print 'm: multiple boards'
t = raw_input()
if t != 'a' and t != 's' and t != 'm':
print 'Invalid selection'
return {}
rem = []
if t == 'm':
for k in boards.keys():
print '-----------------------'
print 'Burn ', k, 'board [y]?'
if not m3t.get_yes_no('y'):
rem.append(k)
for r in rem:
boards.pop(r)
if t == 's':
k = m3t.user_select_components_interactive(boards.keys(), single=True)
if len(k) == 0:
return {}
boards = {k[0]: boards[k[0]]}
print '-------------------------------'
print 'Burning the following boards: '
for k in boards.keys():
print k
return boards
def start(self):
self.proxy.start()
self.proxy.make_operational_all()
chain_names = self.proxy.get_available_components('m3hand')
if len(chain_names) > 1:
hand_name = m3t.user_select_components_interactive(chain_names,
single=True)
else:
hand_name = chain_names
pwr_name = self.proxy.get_available_components('m3pwr')
if len(pwr_name) > 1:
pwr_name = m3t.user_select_components_interactive(pwr_name,
single=True)
print 'Position arm [y]?'
if m3t.get_yes_no('y'):
arm_names = self.proxy.get_available_components('m3arm')
if len(arm_names) > 1:
print 'Select arm: '
arm_name = m3t.user_select_components_interactive(
arm_names, single=True)[0]
else:
arm_name = arm_names[0]
self.arm = m3f.create_component(arm_name)
self.proxy.publish_command(self.arm)
self.arm.set_mode_theta_gc()
self.arm.set_theta_deg([30, 0, 0, 110, 0, 0, 0])
self.arm.set_stiffness(0.5)
self.arm.set_slew_rate_proportion([0.75] * 7)
self.chain = m3f.create_component(hand_name[0])
self.proxy.publish_command(self.chain)
self.proxy.subscribe_status(self.chain)
self.pwr = m3f.create_component(pwr_name[0])
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Force safe-op of robot if present
hum = self.proxy.get_available_components('m3humanoid')
if len(hum) > 0:
self.proxy.make_safe_operational(hum[0])
#Setup postures
self.posture_filename = m3t.get_m3_animation_path(
) + self.chain.name + '_postures.yml'
f = file(self.posture_filename, 'r')
self.data = yaml.safe_load(f.read())
self.param = self.data['param']
f.close()
self.theta_desire = [0, 0, 0, 0, 0]
self.mode = [1, 1, 1, 1, 1]
#Create gui
self.run = False
self.run_last = False
self.running = False
self.grasp = False
self.grasp_last = False
self.grasp_off = False
self.grasp_off_ts = time.time()
self.status_dict = self.proxy.get_status_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=3)
self.gui.add('M3GuiTree',
'Param', (self, 'param'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiToggle',
'Animation', (self, 'run'), [], [['Run', 'Stop']],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiModes',
'Joint', (self, 'mode'),
range(5), [['Off', 'Enabled'], 1],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Theta (Deg)', (self, 'theta_desire'),
range(5), [0, 300],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiToggle',
'Power Grasp', (self, 'grasp'), [], [['Run', 'Stop']],
m3g.M3GuiWrite,
column=2)
self.gui.start(self.step)
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
self.current_first = True
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm') != -1]
if len(arm_names) == 0:
print 'No arms found'
return
if len(arm_names) == 1:
self.arm_name = arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(
arm_names, single=True)[0]
# ####### Setup Hand #############
hand_names = self.proxy.get_available_components('m3hand')
hand_name = ''
if len(hand_names) > 1:
hand_name = m3t.user_select_components_interactive(chain_names,
single=True)
if len(hand_names) == 1:
hand_name = hand_names[0]
if len(hand_name):
self.hand = m3.hand.M3Hand(hand_name)
self.proxy.publish_command(self.hand)
self.proxy.subscribe_status(self.hand)
else:
self.hand = None
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof = self.bot.get_num_dof(self.arm_name)
self.via_traj = {}
self.via_traj_first = True
self.theta_curr = [0.0] * self.ndof
# ######## Square/Circle stuff #########################
if self.arm_name == 'right_arm':
self.center = [0.450, -0.28, -0.1745]
else:
self.center = [0.450, 0.28, -0.1745]
avail_chains = self.bot.get_available_chains()
for c in avail_chains:
if c == 'torso':
self.center[2] += 0.5079
self.jt = m3jt.JointTrajectory(7)
self.axis_demo = [0, 0, 1]
# ##### Generate square vias ############################
ik_vias = []
length_m = 25 / 100.0
resolution = 20
y_left = self.center[1] + length_m / 2.0
y_right = self.center[1] - length_m / 2.0
z_top = self.center[2] + length_m / 2.0
z_bottom = self.center[2] - length_m / 2.0
dy = (y_left - y_right) / nu.float(resolution)
dz = (z_top - z_bottom) / nu.float(resolution)
x = self.center[0]
if self.arm_name == 'right_arm':
# first add start point
ik_vias.append([
x, y_left, z_top, self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add top line
for i in range(resolution):
ik_vias.append([
x, y_left - (i + 1) * dy, z_top, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add right line
for i in range(resolution):
ik_vias.append([
x, y_right, z_top - (i + 1) * dz, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add bottom line
for i in range(resolution):
ik_vias.append([
x, y_right + (i + 1) * dy, z_bottom, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add left line
for i in range(resolution):
ik_vias.append([
x, y_left, z_bottom + (i + 1) * dz, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
else:
# first add start point
ik_vias.append([
x, y_right, z_top, self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add top line
for i in range(resolution):
ik_vias.append([
x, y_right + (i + 1) * dy, z_top, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add right line
for i in range(resolution):
ik_vias.append([
x, y_left, z_top - (i + 1) * dz, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add bottom line
for i in range(resolution):
ik_vias.append([
x, y_left - (i + 1) * dy, z_bottom, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add left line
for i in range(resolution):
ik_vias.append([
x, y_right, z_bottom + (i + 1) * dz, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
self.via_traj['Square'] = []
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,
[0] * self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
#print 'solving for square ik via:', ikv
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3],
ikv[3:], theta_soln):
self.via_traj['Square'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name, theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,
[0] * self.bot.get_num_dof(self.arm_name))
# ##### Generate circle vias ############################
ik_vias = []
diameter_m = 25.0 / 100.0
resolution = 20
x = self.center[0]
for i in range(resolution * 4 + 1):
dt = 2 * nu.pi / (nu.float(resolution) * 4)
t = (nu.pi / 2) + i * dt
if t > nu.pi:
t -= 2 * nu.pi
y = self.center[1] + (diameter_m / 2.0) * nu.cos(t)
z = self.center[2] + (diameter_m / 2.0) * nu.sin(t)
ik_vias.append([
x, y, z, self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
self.via_traj['Circle'] = []
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,
[0] * self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3],
ikv[3:], theta_soln):
self.via_traj['Circle'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name, theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,
[0] * self.bot.get_num_dof(self.arm_name))
# ##### Load Via Trajectories ############################
self.via_files = {'TrajA': 'kha1.via'}
pt = m3t.get_m3_animation_path()
for k in self.via_files.keys():
fn = pt + self.via_files[k]
try:
f = file(fn, 'r')
d = yaml.safe_load(f.read())
self.via_traj[k] = d[self.arm_name]
except IOError:
print 'Via file', k, 'not present. Skipping...'
# ##### Hand Trajectories ############################
if self.hand is not None:
pf = m3t.get_m3_animation_path() + hand_name + '_postures.yml'
f = file(pf, 'r')
self.hand_data = yaml.safe_load(f.read())
f.close()
self.hand_traj_first = True
# ######## Demo and GUI #########################
self.off = False
self.grasp = False
self.arm_mode_names = [
'Off', 'Zero', 'Current', 'HoldUp', 'Square', 'Circle', 'TrajA'
]
self.hand_mode_names = ['Off', 'Open', 'Grasp', 'Animation']
self.arm_mode_methods = [
self.step_off, self.step_zero, self.step_current,
self.step_hold_up, self.step_via_traj, self.step_via_traj,
self.step_via_traj
]
self.hand_mode_methods = [
self.step_hand_off, self.step_hand_open, self.step_hand_grasp,
self.step_hand_animation
]
self.arm_mode = [0]
self.hand_mode = [0]
self.poses = {
'zero': {
'right_arm': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'left_arm': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
},
'holdup': {
'right_arm': [56.0, 26.0, -8.0, 84.0, 119.0, -36.0, 2.0],
'left_arm': [56.0, -26.0, 8.0, 84.0, -119.0, -36.0, -2.0]
}
}
self.stiffness = [50]
self.velocity = [25]
self.gui.add('M3GuiModes',
'Arm Mode', (self, 'arm_mode'),
range(1), [self.arm_mode_names, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiToggle',
'ESTOP', (self, 'off'), [],
[['Arm Enabled', 'Arm Disabled']],
m3g.M3GuiWrite,
column=1)
if self.hand is not None:
self.gui.add('M3GuiToggle',
'Grasp', (self, 'grasp'), [],
[['GraspOpen', 'GraspClosed']],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiModes',
'Hand Mode', (self, 'hand_mode'),
range(1), [self.hand_mode_names, 1],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Stiffness ', (self, 'stiffness'), [0], [0, 100],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Velocity ', (self, 'velocity'), [0], [0, 40],
m3g.M3GuiWrite,
column=1)
self.gui.start(self.step)
def start(self):
self.proxy.start()
self.proxy.make_operational_all()
chain_names=self.proxy.get_available_components('m3hand')
if len(chain_names)>1:
hand_name=m3t.user_select_components_interactive(chain_names,single=True)
else:
hand_name=chain_names
pwr_name=self.proxy.get_available_components('m3pwr')
if len(pwr_name)>1:
pwr_name=m3t.user_select_components_interactive(pwr_name,single=True)
print 'Position arm [y]?'
if m3t.get_yes_no('y'):
arm_names=self.proxy.get_available_components('m3arm')
if len(arm_names)>1:
print 'Select arm: '
arm_name=m3t.user_select_components_interactive(arm_names,single=True)[0]
else:
arm_name=arm_names[0]
self.arm=m3f.create_component(arm_name)
self.proxy.publish_command(self.arm)
self.arm.set_mode_theta_gc()
self.arm.set_theta_deg([30,0,0,110,0,0,0])
self.arm.set_stiffness(0.5)
self.arm.set_slew_rate_proportion([0.75]*7)
self.chain=m3f.create_component(hand_name[0])
self.proxy.publish_command(self.chain)
self.proxy.subscribe_status(self.chain)
self.pwr=m3f.create_component(pwr_name[0])
self.proxy.publish_command(self.pwr)
self.pwr.set_motor_power_on()
#Force safe-op of robot if present
hum=self.proxy.get_available_components('m3humanoid')
if len(hum)>0:
self.proxy.make_safe_operational(hum[0])
#Setup postures
self.posture_filename=m3t.get_m3_animation_path()+self.chain.name+'_postures.yml'
f=file(self.posture_filename,'r')
self.data= yaml.safe_load(f.read())
self.param=self.data['param']
f.close()
self.theta_desire=[0,0,0,0,0]
self.mode=[1,1,1,1,1]
#Create gui
self.run=False
self.run_last=False
self.running=False
self.grasp=False
self.grasp_last=False
self.grasp_off=False
self.grasp_off_ts=time.time()
self.status_dict=self.proxy.get_status_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=3)
self.gui.add('M3GuiTree', 'Param', (self,'param'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiToggle', 'Animation', (self,'run'),[],[['Run','Stop']],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiModes', 'Joint', (self,'mode'),range(5),[['Off','Enabled'],1],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiSliders','Theta (Deg)', (self,'theta_desire'),range(5),[0,300],m3g.M3GuiWrite,column=2)
self.gui.add('M3GuiToggle', 'Power Grasp', (self,'grasp'),[],[['Run','Stop']],m3g.M3GuiWrite,column=2)
self.gui.start(self.step)
def start(self):
self.ts = time.time()
self.proxy.start()
chain_names = self.proxy.get_available_components('m3ledx2_ec')
led_name = m3t.user_select_components_interactive(chain_names,
single=True)[0]
pwr_name = self.proxy.get_available_components('m3pwr')[0]
pwr_ec_name = self.proxy.get_available_components('m3pwr_ec')[0]
self.pwr = m3f.create_component(pwr_name)
self.proxy.publish_command(self.pwr)
self.led = m3f.create_component(led_name)
self.proxy.publish_command(self.led)
self.proxy.subscribe_status(self.led)
self.proxy.make_operational(led_name)
self.proxy.make_operational(pwr_name)
self.proxy.make_operational(pwr_ec_name)
self.proxy.subscribe_status(self.pwr)
self.pwr.set_motor_power_on()
self.branch_a_board_a_r = [0]
self.branch_a_board_a_g = [0]
self.branch_a_board_a_b = [0]
self.branch_a_board_b_r = [0]
self.branch_a_board_b_g = [0]
self.branch_a_board_b_b = [0]
self.branch_b_board_a_r = [0]
self.branch_b_board_a_g = [0]
self.branch_b_board_a_b = [0]
self.branch_b_board_b_r = [0]
self.branch_b_board_b_g = [0]
self.branch_b_board_b_b = [0]
self.slew = [10000]
#Create gui
self.run = False
self.run_last = False
self.enable = False
self.pulse = False
self.status_dict = self.proxy.get_status_dict()
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=3)
self.gui.add('M3GuiToggle',
'Enable', (self, 'enable'), [], [['On', 'Off']],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiToggle',
'Pulse', (self, 'pulse'), [], [['On', 'Off']],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'Slew', (self, 'slew'),
range(1), [0, 25500],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardA.R', (self, 'branch_a_board_a_r'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardA.G', (self, 'branch_a_board_a_g'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardA.B', (self, 'branch_a_board_a_b'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardB.R', (self, 'branch_a_board_b_r'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardB.G', (self, 'branch_a_board_b_g'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchA.BoardB.B', (self, 'branch_a_board_b_b'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardA.R', (self, 'branch_b_board_a_r'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardA.G', (self, 'branch_b_board_a_g'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardA.B', (self, 'branch_b_board_a_b'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardB.R', (self, 'branch_b_board_b_r'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardB.G', (self, 'branch_b_board_b_g'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'BranchB.BoardB.B', (self, 'branch_b_board_b_b'),
range(1), [0, 1023],
m3g.M3GuiWrite,
column=1)
self.gui.start(self.step)
if bot_name == "":
print 'Error: no robot components found:', bot_name
bot=m3f.create_component(bot_name)
proxy.publish_param(bot) #allow to set payload
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
humanoid_shm_names=proxy.get_available_components('m3humanoid_shm')
if len(humanoid_shm_names) > 0:
proxy.make_safe_operational(humanoid_shm_names[0])
chains=bot.get_available_chains()
print 'Select chain'
chains=m3t.user_select_components_interactive(chains,single=True)
stiffness=0.5
print 'Enter stiffness (0-1.0) [',stiffness,']'
stiffness=max(0,min(1.0,m3t.get_float(stiffness)))
for c in chains:
ndof=bot.get_num_dof(c)
bot.set_mode_pose(c)
bot.set_stiffness(c,[stiffness]*ndof)
bot.set_slew_rate_proportion(c,[1.0]*ndof)
try:
while True:
proxy.step()
for c in chains:
print '---------------------------------------------'
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
self.current_first = True
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm')!=-1]
if len(arm_names)==0:
print 'No arms found'
return
if len(arm_names)==1:
self.arm_name=arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(arm_names,single=True)[0]
# ####### Setup Hand #############
hand_names = self.bot.get_available_chains()
hand_names = [x for x in hand_names if x.find('hand')!=-1]
if len(hand_names)==0:
print 'No hands found'
return
if len(arm_names)==1:
self.hand_name=hand_names[0]
else:
self.hand_name = m3t.user_select_components_interactive(hand_names,single=True)[0]
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof=self.bot.get_num_dof(self.arm_name)
humanoid_shm_names=self.proxy.get_available_components('m3humanoid_shm')
if len(humanoid_shm_names) > 0:
self.proxy.make_safe_operational(humanoid_shm_names[0])
self.via_traj={}
self.via_traj_first=True
self.theta_curr = [0.0]*self.ndof
# ######## Square/Circle stuff #########################
if self.arm_name == 'right_arm':
self.center = [0.450, -0.28, -0.1745]
else:
self.center = [0.450, 0.28, -0.1745]
avail_chains = self.bot.get_available_chains()
for c in avail_chains:
if c == 'torso':
self.center[2] += 0.5079
self.jt = m3jt.JointTrajectory(7)
self.axis_demo = [0, 0, 1]
# ##### Generate square vias ############################
'''ik_vias=[]
length_m = 25/ 100.0
resolution = 20
y_left = self.center[1] + length_m/2.0
y_right = self.center[1] - length_m/2.0
z_top = self.center[2] + length_m/2.0
z_bottom = self.center[2] - length_m/2.0
dy = (y_left - y_right) / nu.float(resolution)
dz = (z_top - z_bottom) / nu.float(resolution)
x = self.center[0]
if self.arm_name=='right_arm':
# first add start point
ik_vias.append([x, y_left, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
ik_vias.append([x, y_left - (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
ik_vias.append([x, y_right, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
ik_vias.append([x, y_right + (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
ik_vias.append([x, y_left, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
else:
# first add start point
ik_vias.append([x, y_right, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
ik_vias.append([x, y_right + (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
ik_vias.append([x, y_left, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
ik_vias.append([x, y_left - (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
ik_vias.append([x, y_right, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
self.via_traj['Square']=[]
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
#print 'solving for square ik via:', ikv
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.via_traj['Square'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name,theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
'''
# ##### Generate circle vias ############################
ik_vias=[]
diameter_m = 25.0 / 100.0
resolution = 40
x = self.center[0]
for i in range(resolution*4 + 1):
dt = 2*nu.pi/(nu.float(resolution)*4)
t = (nu.pi/2) + i*dt
if t > nu.pi:
t -= 2*nu.pi
y = self.center[1] + (diameter_m/2.0) * nu.cos(t)
z = self.center[2] + (diameter_m/2.0) * nu.sin(t)
ik_vias.append([x, y, z, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
self.via_traj['Circle']=[]
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.via_traj['Circle'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name,theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
# ##### Load Via Trajectories ############################
self.via_files={'TrajA':'kha1.via'}
for k in self.via_files.keys():
fn=m3t.get_animation_file(self.via_files[k])
print "Loading:",fn
try:
with open(fn,'r') as f:
d=yaml.safe_load(f.read())
self.via_traj[k]=d[self.arm_name]
except IOError:
print 'Via file',k,'not present. Skipping...'
# ##### Hand Trajectories ############################
if self.hand_name is not None:
try:
with open(m3t.get_animation_file(self.hand_name+'_postures.yml'),'r') as f:
self.hand_data= yaml.safe_load(f.read())
except Exception,e:
print e
#You should have received a copy of the GNU Lesser General Public License
#along with M3. If not, see <http://www.gnu.org/licenses/>.
import m3.rt_proxy as m3p
import m3.pwr as m3rt
import m3.pwr_ec as m3e
import m3.toolbox as m3t
import m3.omnibase as m3o
import time
proxy = m3p.M3RtProxy()
proxy.start()
pwr_name = proxy.get_available_components('m3pwr')
if len(pwr_name) > 1:
pwr_name = m3t.user_select_components_interactive(pwr_name, single=True)
pwr = m3rt.M3Pwr(pwr_name[0])
proxy.subscribe_status(pwr)
base_name = proxy.get_available_components('m3omnibase')
if len(base_name) != 1:
print 'Invalid number of base components available'
proxy.stop()
exit()
omni = m3o.M3OmniBase(base_name[0])
proxy.subscribe_status(omni)
scope_steer = m3t.M3ScopeN(xwidth=100, title='Steer and Total Currents')
scope_roll = m3t.M3ScopeN(xwidth=100, title='Roll Currents')
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
self.current_first = True
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm')!=-1]
if len(arm_names)==0:
print 'No arms found'
return
if len(arm_names)==1:
self.arm_name=arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(arm_names,single=True)[0]
# ####### Setup Hand #############
hand_names=self.proxy.get_available_components('m3hand')
hand_name=''
if len(hand_names)>1:
hand_name=m3t.user_select_components_interactive(chain_names,single=True)
if len(hand_names)==1:
hand_name=hand_names[0]
if len(hand_name):
self.hand=m3.hand.M3Hand(hand_name)
self.proxy.publish_command(self.hand)
self.proxy.subscribe_status(self.hand)
else:
self.hand=None
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof=self.bot.get_num_dof(self.arm_name)
self.via_traj={}
self.via_traj_first=True
self.theta_curr = [0.0]*self.ndof
# ######## Square/Circle stuff #########################
if self.arm_name == 'right_arm':
self.center = [0.450, -0.28, -0.1745]
else:
self.center = [0.450, 0.28, -0.1745]
avail_chains = self.bot.get_available_chains()
for c in avail_chains:
if c == 'torso':
self.center[2] += 0.5079
self.jt = m3jt.JointTrajectory(7)
self.axis_demo = [0, 0, 1]
# ##### Generate square vias ############################
ik_vias=[]
length_m = 25/ 100.0
resolution = 20
y_left = self.center[1] + length_m/2.0
y_right = self.center[1] - length_m/2.0
z_top = self.center[2] + length_m/2.0
z_bottom = self.center[2] - length_m/2.0
dy = (y_left - y_right) / nu.float(resolution)
dz = (z_top - z_bottom) / nu.float(resolution)
x = self.center[0]
if self.arm_name=='right_arm':
# first add start point
ik_vias.append([x, y_left, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
ik_vias.append([x, y_left - (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
ik_vias.append([x, y_right, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
ik_vias.append([x, y_right + (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
ik_vias.append([x, y_left, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
else:
# first add start point
ik_vias.append([x, y_right, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
ik_vias.append([x, y_right + (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
ik_vias.append([x, y_left, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
ik_vias.append([x, y_left - (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
ik_vias.append([x, y_right, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
self.via_traj['Square']=[]
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
#print 'solving for square ik via:', ikv
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.via_traj['Square'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name,theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
# ##### Generate circle vias ############################
ik_vias=[]
diameter_m = 25.0 / 100.0
resolution = 20
x = self.center[0]
for i in range(resolution*4 + 1):
dt = 2*nu.pi/(nu.float(resolution)*4)
t = (nu.pi/2) + i*dt
if t > nu.pi:
t -= 2*nu.pi
y = self.center[1] + (diameter_m/2.0) * nu.cos(t)
z = self.center[2] + (diameter_m/2.0) * nu.sin(t)
ik_vias.append([x, y, z, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
self.via_traj['Circle']=[]
# use zero position as reference for IK solver
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
for ikv in ik_vias:
theta_soln = []
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.via_traj['Circle'].append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name,theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,[0]*self.bot.get_num_dof(self.arm_name))
# ##### Load Via Trajectories ############################
self.via_files={'TrajA':'kha1.via'}
pt=m3t.get_m3_animation_path()
for k in self.via_files.keys():
fn=pt+self.via_files[k]
try:
f=file(fn,'r')
d=yaml.safe_load(f.read())
self.via_traj[k]=d[self.arm_name]
except IOError:
print 'Via file',k,'not present. Skipping...'
# ##### Hand Trajectories ############################
if self.hand is not None:
pf=m3t.get_m3_animation_path()+hand_name+'_postures.yml'
f=file(pf,'r')
self.hand_data= yaml.safe_load(f.read())
f.close()
self.hand_traj_first=True
# ######## Demo and GUI #########################
self.off=False
self.grasp=False
self.arm_mode_names=['Off','Zero','Current','HoldUp','Square','Circle','TrajA']
self.hand_mode_names=['Off','Open','Grasp','Animation']
self.arm_mode_methods=[self.step_off,self.step_zero,self.step_current,self.step_hold_up,self.step_via_traj,
self.step_via_traj,self.step_via_traj]
self.hand_mode_methods=[self.step_hand_off,self.step_hand_open,self.step_hand_grasp,self.step_hand_animation]
self.arm_mode=[0]
self.hand_mode=[0]
self.poses={'zero': {'right_arm':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],'left_arm':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]},
'holdup':{'right_arm':[56.0, 26.0, -8.0, 84.0, 119.0, -36.0, 2.0],'left_arm':[56.0, -26.0, 8.0, 84.0, -119.0, -36.0, -2.0]}}
self.stiffness=[50]
self.velocity=[25]
self.gui.add('M3GuiModes', 'Arm Mode', (self,'arm_mode'),range(1),[self.arm_mode_names,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiToggle', 'ESTOP', (self,'off'),[],[['Arm Enabled','Arm Disabled']],m3g.M3GuiWrite,column=1)
if self.hand is not None:
self.gui.add('M3GuiToggle', 'Grasp', (self,'grasp'),[],[['GraspOpen','GraspClosed']],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiModes', 'Hand Mode', (self,'hand_mode'),range(1),[self.hand_mode_names,1],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),[0],[0,100],m3g.M3GuiWrite,column=1)
self.gui.add('M3GuiSliders','Velocity ', (self,'velocity'),[0],[0,40],m3g.M3GuiWrite,column=1)
self.gui.start(self.step)
def start(self):
print '--------------------------'
print 'm: Target M3 arm'
print 'v: Target RVIZ'
print 'b: Target Both M3 and RVIZ'
print 'q: quit'
print '--------------'
print
self.k = 'a'
while self.k!='m' and self.k!='v' and self.k!='b' and self.k!='q':
self.k=m3t.get_keystroke()
if self.k=='q':
return
self.proxy = m3p.M3RtProxy()
if self.k=='m' or self.k=='b':
self.proxy.start()
bot_name=m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot=m3f.create_component(bot_name)
arm_names = ['right_arm', 'left_arm']
self.arm_name = m3t.user_select_components_interactive(arm_names,single=True)[0]
if self.arm_name == 'right_arm':
self.center = [0.450, -0.25, -0.1745]
else:
self.center = [0.450, 0.25, -0.1745]
avail_chains = self.bot.get_available_chains()
for c in avail_chains:
if c == 'torso':
self.center[2] += 0.5079
if self.k=='v' or self.k=='b':
self.viz = m3v.M3Viz(self.proxy, self.bot)
self.viz_launched = True
self.viz.turn_sim_on()
if self.k=='v':
self.theta_0[:] = self.bot.get_theta_sim_deg(self.arm_name)[:]
if self.k=='m' or self.k=='b':
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.proxy.step()
self.theta_0[:] = self.bot.get_theta_deg(self.arm_name)[:]
self.m3_launched = True
self.theta_soln_deg = [0.]*self.bot.get_num_dof(self.arm_name)
self.thetadot_0 = [0.]*self.bot.get_num_dof(self.arm_name)
self.bot.set_slew_rate_proportion(self.arm_name, [1.0]*7)
while True:
print '--------------------------'
print 'g: generate vias'
print 'd: display vias'
print 'v: set avg velocity (Current ',self.vel_avg,')'
print 's: set stiffness (Current',self.stiffness,')'
if self.k=='b' or self.k=='m':
print 'e: execute vias'
if self.k=='b' or self.k=='v':
print 't: test vias in visualizer'
print 'q: quit'
print '--------------'
print
m=m3t.get_keystroke()
if m=='q':
return
if m=='v':
print 'Enter avg velocity (0-60 Deg/S) [',self.vel_avg,']'
self.vel_avg=max(0,min(60,m3t.get_float(self.vel_avg)))
if m=='s':
print 'Enter stiffness (0-1.0) [',self.stiffness,']'
self.stiffness=max(0,min(1.0,m3t.get_float(self.stiffness)))
if m == 'g':
self.vias=[]
print
print '(s)quare or (c)ircle?'
shape = None
while shape != 's' and shape != 'c':
shape=m3t.get_keystroke()
length_m = 0.0
if shape == 's':
print
print 'Length of square side in cm (10-25) [25]'
length_cm = nu.float(max(10,min(25,m3t.get_int(25))))
length_m = length_cm / 100.0
diameter_m = 0.0
if shape == 'c':
print
print 'Diameter of circle in cm (10-25) [25]'
diameter_cm = nu.float(max(10,min(25,m3t.get_int(25))))
diameter_m = diameter_cm / 100.0
print
print 'Enter shape resolution (1-20 vias/side) [20]'
resolution = max(1,min(20,m3t.get_int(20)))
if self.m3_launched:
self.proxy.step()
x = self.center[0]
if shape == 's':
y_left = self.center[1] + length_m/2.0
y_right = self.center[1] - length_m/2.0
z_top = self.center[2] + length_m/2.0
z_bottom = self.center[2] - length_m/2.0
dy = (y_left - y_right) / nu.float(resolution)
dz = (z_top - z_bottom) / nu.float(resolution)
if self.arm_name=='right_arm':
# first add start point
self.ik_vias.append([x, y_left, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
self.ik_vias.append([x, y_left - (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
self.ik_vias.append([x, y_right, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
self.ik_vias.append([x, y_right + (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
self.ik_vias.append([x, y_left, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
else:
# first add start point
self.ik_vias.append([x, y_right, z_top, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add top line
for i in range(resolution):
self.ik_vias.append([x, y_right + (i+1)*dy, z_top, self.axis_demo[0],self.axis_demo[1], self.axis_demo[2]])
# add right line
for i in range(resolution):
self.ik_vias.append([x, y_left, z_top - (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add bottom line
for i in range(resolution):
self.ik_vias.append([x, y_left - (i+1)*dy, z_bottom, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
# add left line
for i in range(resolution):
self.ik_vias.append([x, y_right, z_bottom + (i+1)*dz, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
if shape == 'c':
for i in range(resolution*4 + 1):
dt = 2*nu.pi/(nu.float(resolution)*4)
t = (nu.pi/2) + i*dt
if t > nu.pi:
t -= 2*nu.pi
y = self.center[1] + (diameter_m/2.0) * nu.cos(t)
z = self.center[2] + (diameter_m/2.0) * nu.sin(t)
self.ik_vias.append([x, y, z, self.axis_demo[0], self.axis_demo[1], self.axis_demo[2]])
self.vias.append(self.theta_0[:])
# use zero position as reference for IK solver
ref=[0]*self.bot.get_num_dof(self.arm_name)
# use holdup position as reference
ref= [30,0,0,40,0,0,0]
self.bot.set_theta_sim_deg(self.arm_name,ref)
for ikv in self.ik_vias:
theta_soln = []
print 'solving for ik via:', ikv
if self.bot.get_tool_axis_2_theta_deg_sim(self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.vias.append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name,theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name,ref)
if self.viz_launched:
self.viz.step()
self.vias.append(self.theta_0[:])
if m=='d':
print
print '--------- IK Vias (', len(self.ik_vias), ')--------'
print '---------------[end_xyz[3], end_axis[3]]-----------'
for ikv in self.ik_vias:
print ikv
print
print '--------- Joint Vias (', len(self.vias), ')--------'
for v in self.vias:
print v
if m == 'e' or m=='t':
if len(self.vias) != 0:
for v in self.vias:
#print 'Adding via',v
self.jt.add_via_deg(v, [self.vel_avg]*self.ndof)
self.jt.start(self.theta_0[:], self.thetadot_0[:])
print
print '--------- Splines (', len(self.jt.splines), ')--------'
print '------------q_0, q_f, qdot_0, qdot_f, tf--------------'
for s in self.jt.splines:
print s.q_0, s.q_f, s.qdot_0, s.qdot_f, s.tf
print
print 'Hit any key to start or (q) to quit execution'
p=m3t.get_keystroke()
if p != 'q':
if self.m3_launched and m=='e':
self.bot.set_motor_power_on()
self.bot.set_mode_theta_gc(self.arm_name)
self.bot.set_stiffness(self.arm_name, [self.stiffness]*self.bot.get_num_dof(self.arm_name))
while not self.jt.is_splined_traj_complete():
q = self.jt.step()
if self.viz_launched and m=='t':
self.bot.set_theta_sim_deg(self.arm_name, q)
self.viz.step()
time.sleep(0.1)
elif self.m3_launched and m=='e':
self.bot.set_theta_deg(self.arm_name, q)
self.proxy.step()
self.ik_vias=[]
proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_name
exit()
bot = m3f.create_component(bot_name)
proxy.publish_param(bot) #allow to set payload
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
proxy.step()
chains = bot.get_available_chains()
print 'Select chains to pose'
chains = m3t.user_select_components_interactive(chains)
menu = menu_thread(bot, chains)
menu.start()
slew = {}
qdes = {}
fn = m3t.get_m3_animation_path() + m3t.get_robot_name() + '_poser_config.yml'
f = file(fn, 'r')
config = yaml.safe_load(f.read())
f.close()
stiffness = config['stiffness']
delta_thresh = config['delta_thresh']
slew_rate = config['slew_rate']
proxy.step()
dbg = ''
for c in chains:
@author: Antoine Hoarau
"""
"""
This is just a simple demo of the new velocity_gc mode, setting vel to zero"
"""
import m3.rt_proxy as m3p
import m3.humanoid as m3h
proxy = m3p.M3RtProxy()
proxy.start()
bot = m3h.M3Humanoid()
bot.initialize(proxy)
proxy.step()
import m3.toolbox as m3t
arm = m3t.user_select_components_interactive(['right_arm','left_arm'],single=True)[0]
bot.set_mode_thetadot_gc(arm)
bot.set_slew_rate_proportion(arm,[1.0]*bot.get_num_dof(arm))
bot.set_stiffness(arm,[1.0]*bot.get_num_dof(arm))
bot.set_thetadot_deg(arm,[0.0]*bot.get_num_dof(arm))
print("This will set the velocity to 0 (tries to stay still)")
raw_input("Press Enter to start")
proxy.step()
raw_input("Press Enter to stop")
proxy.stop()
exit()
def get_boards():
print "Finding burnable board from m3_config.yml..."
name_ec = m3t.get_ec_component_names()
boards = {}
for n in name_ec:
config = m3t.get_component_config(n)
try:
fw = config["firmware"] + ".hex"
except KeyError:
print "Missing firmware key for", n, "...skipping"
fw = None
sn = config["ethercat"]["serial_number"]
try:
chid = config["chid"]
except KeyError:
chid = 0
ssn = get_slave_sn()
sid = None
for s in ssn:
if sn == s[0]:
sid = s[1]
ff = m3t.get_m3_config_path() + "eeprom/eeprom*_sn_" + str(sn) + ".hex"
eepf = glob.glob(ff)
if len(eepf) == 0:
print "EEPROM file not found", ff, "skipping board..."
if len(eepf) > 1:
print "Multiple eeproms found for", ff
print "Select correct eeprom ID"
for i in range(len(eepf)):
print i, " : ", eepf[i]
idx = m3t.get_int()
eepf = [eepf[idx]]
if sid != None and len(eepf) == 1 and fw is not None and chid == 0:
boards[n] = {
"firmware": fw,
"sn": sn,
"slave_id": sid,
"eeprom": eepf[0],
"connected": False,
"write_success": False,
}
print "Found the following valid configurations: "
print boards.keys()
print
print "Selection type"
print "-----------------"
print "a: all boards"
print "s: single board"
print "m: multiple boards"
t = raw_input()
if t != "a" and t != "s" and t != "m":
print "Invalid selection"
return {}
rem = []
if t == "m":
for k in boards.keys():
print "-----------------------"
print "Burn ", k, "board [y]?"
if not m3t.get_yes_no("y"):
rem.append(k)
for r in rem:
boards.pop(r)
if t == "s":
k = m3t.user_select_components_interactive(boards.keys(), single=True)
if len(k) == 0:
return {}
boards = {k[0]: boards[k[0]]}
print "-------------------------------"
print "Burning the following boards: "
for k in boards.keys():
print k
return boards
# ######################################################
proxy = m3p.M3RtProxy()
proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_name
bot = m3f.create_component(bot_name)
proxy.publish_param(bot) #allow to set payload
proxy.subscribe_status(bot)
proxy.publish_command(bot)
proxy.make_operational_all()
bot.set_motor_power_on()
chains = bot.get_available_chains()
print 'Select chain'
chains = m3t.user_select_components_interactive(chains, single=True)
for c in chains:
ndof = bot.get_num_dof(c)
bot.set_mode_theta_gc(c)
bot.set_theta_deg(c, [0.0] * ndof)
bot.set_stiffness(c, [0.0] * ndof)
try:
while True:
proxy.step()
for c in chains:
print '---------------------------------------------'
print 'Chain: ', c
print 'Tool Position: (m)', bot.get_tool_position(c)
print 'Theta (Deg): ', bot.get_theta_deg(c)
print 'Tool Velocity (m/S)', bot.get_tool_velocity(c)
time.sleep(0.1)
gripper.set_mode_torque()
gripper.set_force_g([a,b])
proxy.step()
for i in range(n):
proxy.step()
print 'Force (g)',gripper.get_force_g()
print 'Position (mm)',gripper.get_pos_mm()
time.sleep(0.2)
proxy = m3p.M3RtProxy()
proxy.start()
proxy.make_operational_all()
#Setup Components
chain_names=proxy.get_available_components('m3gripper')
gripper_name=m3t.user_select_components_interactive(chain_names,single=True)
gripper=m3h.M3Gripper(gripper_name[0])
proxy.publish_command(gripper)
proxy.subscribe_status(gripper)
if len(proxy.get_available_components('m3pwr')):
pwr_name=proxy.get_available_components('m3pwr')[0]
pwr=m3f.create_component(pwr_name)
proxy.publish_command(pwr)
pwr.set_motor_power_on()
while True:
proxy.step()
print '--------------'
print 'f: grip'
print 'o: open'
print 'd: demo'
#CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#POSSIBILITY OF SUCH DAMAGE.
import m3.toolbox as m3t
import m3.toolbox_ctrl as m3tc
import time
proxy = m3p.M3RtProxy()
proxy.start()
name_ec=m3t.user_select_components_interactive(proxy.get_available_components('m3actuator_ec'),single=True)
if name_ec is None:
exit()
comp=m3f.create_component(name_ec)
proxy.subscribe_status(comp)
proxy.make_operational(name_ec)
q_log=[]
tq_log=[]
print 'Ready to generate motion? Hit any key to start'
m3t.get_keystroke()
ts=time.time()
try:
while time.time()-ts>5.0:
proxy.step()
q=comp.status.qei_on
tq=comp.status.adc_torque
def start(self):
self.proxy.start()
cnames=self.proxy.get_available_components('m3actuator_ec')
self.names=m3t.user_select_components_interactive(cnames)
if len(self.names)==0:
return
self.actuator_ec=[]
for name in self.names:
self.actuator_ec.append(m3f.create_component(name))
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_command(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
self.proxy.make_operational(name)
#pwr_ec=self.proxy.get_available_components('m3pwr_ec')
#pwr_rt=self.proxy.get_available_components('m3pwr')
#print 'A',pwr_rt[0],pwr_ec[0]
#if len(pwr_rt):
#pr=m3f.create_component(pwr_rt[0])
#self.proxy.publish_command(pr)
#self.proxy.make_operational(pwr_rt[0])
#self.proxy.make_operational(pwr_ec[0])
#pr.set_motor_power_on()
pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.names[0])
pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
pr=m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
self.proxy.subscribe_status(pr)
pr.set_motor_power_on()
tmax=[x.param.t_max for x in self.actuator_ec]
tmin=[x.param.t_min for x in self.actuator_ec]
self.proxy.step()
for c in self.actuator_ec:
self.bias.append(c.status.adc_torque)
tl=min(tmin)-self.bias[0]
tu=max(tmax)-self.bias[0]
#Create gui
self.mode=[0]
self.pwm_desire=[0]
self.current_desire=[0]
self.save=False
self.save_last=False
self.do_scope=False
self.scope = None
self.scope_keys=m3t.get_msg_fields(self.actuator_ec[0].status)
self.scope_keys.sort()
self.scope_keys=['None']+self.scope_keys
self.scope_field1=[0]
self.scope_field2=[0]
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.actuator_ec)),[['off','pwm','torque','current','brake'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesire', (self,'pwm_desire'),range(len(self.actuator_ec)),[-1000,1000],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','currentDesire', (self,'current_desire'),range(len(self.actuator_ec)),[-10000,10000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self,'do_scope'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope1', (self,'scope_field1'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope2', (self,'scope_field2'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
#print 'Enable RVIZ [n]?'
self.rviz = False
#if m3t.get_yes_no('n'):
# self.rviz = True
chain_names = self.proxy.get_chain_components()
self.chain = []
if len(chain_names) > 0:
print 'Select kinematic chain'
self.chain_names = m3t.user_select_components_interactive(
chain_names, single=True)
self.chain.append(m3f.create_component(self.chain_names[0]))
self.proxy.subscribe_status(self.chain[-1])
self.limb = m3t.get_chain_limb_name(self.chain_names[0])
joint_names = m3t.get_chain_joint_names(self.chain_names[0])
print 'Select joint'
joint_names = m3t.user_select_components_interactive(joint_names,
single=True)
self.joint = []
self.actuator = []
self.actuator_ec = []
acutator_names = []
for n in joint_names:
self.joint.append(m3f.create_component(n))
actuator_name = m3t.get_joint_actuator_component_name(n)
actuator_ec_name = m3t.get_actuator_ec_component_name(
actuator_name)
self.actuator.append(m3f.create_component(actuator_name))
self.actuator_ec.append(m3f.create_component(actuator_ec_name))
self.proxy.subscribe_status(self.joint[-1])
self.proxy.publish_param(self.joint[-1])
self.proxy.subscribe_status(self.actuator[-1])
self.proxy.publish_param(self.actuator[-1])
if self.actuator_ec[0] is not None:
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
#kine_names=self.proxy.get_available_components('m3dynamatics')
self.kine = []
#if len(kine_names)>0:
#print 'Select dynamatics controller'
#kine_names=m3t.user_select_components_interactive(kine_names)
#for n in kine_names:
#self.kine.append(m3f.create_component(n))
#self.proxy.subscribe_status(self.kine[-1])
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3f.create_component(bot_name)
if self.rviz:
self.viz = m3v.M3Viz(self.proxy, self.bot)
#self.proxy.publish_param(self.bot) #allow to set payload
#self.proxy.subscribe_status(self.bot)
#self.proxy.publish_command(self.bot)
#self.proxy.make_operational_all()
self.bot.initialize(self.proxy)
#self.chain_names = self.bot.get_available_chains()
#Create gui
self.mode = [0]
self.posture = [0]
self.theta_desire_a = [0] * self.bot.get_num_dof(self.limb)
self.theta_desire_b = [0] * self.bot.get_num_dof(self.limb)
self.stiffness = [50.0] * self.bot.get_num_dof(self.limb)
self.thetadot = [10.0] * self.bot.get_num_dof(self.limb)
#print 'Selected: ',self.chain_names[0],self.limb,self.bot.get_num_dof(self.limb)
#self.slew=[0]
self.save = False
self.save_last = False
self.status_dict = self.proxy.get_status_dict()
self.param_dict = self.proxy.get_param_dict()
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'), range(1), [[
'Off', 'Pwm', 'Torque', 'Theta', 'Torque_GC', 'Theta_GC',
'Theta_MJ', 'Theta_GC_MJ'
], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=1)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=1)
self.gui.add('M3GuiSliders',
'ThetaA (Deg)', (self, 'theta_desire_a'),
range(len(self.theta_desire_a)), [-45, 140],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiModes',
'Posture', (self, 'posture'),
range(1), [['A', 'B', 'Cycle'], 1],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'ThetaB (Deg)', (self, 'theta_desire_b'),
range(len(self.theta_desire_b)), [-45, 140],
m3g.M3GuiWrite,
column=2)
self.gui.add('M3GuiSliders',
'Stiffness ', (self, 'stiffness'),
range(len(self.stiffness)), [0, 100],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiToggle',
'Save', (self, 'save'), [], [['On', 'Off']],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiSliders',
'ThetaDot ', (self, 'thetadot'),
range(len(self.thetadot)), [0, 100],
m3g.M3GuiWrite,
column=3)
#self.gui.add('M3GuiSliders','Stiffness ', (self,'stiffness'),range(len(self.sea_joint)),[0,100],m3g.M3GuiWrite,column=3)
self.gui.start(self.step)
def start(self):
# ######## Setup Proxy and Components #########################
self.proxy.start()
self.current_first = True
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3.humanoid.M3Humanoid(bot_name)
arm_names = self.bot.get_available_chains()
arm_names = [x for x in arm_names if x.find('arm') != -1]
if len(arm_names) == 0:
print 'No arms found'
return
if len(arm_names) == 1:
self.arm_name = arm_names[0]
else:
self.arm_name = m3t.user_select_components_interactive(
arm_names, single=True)[0]
self.jnts = self.bot.get_joint_names(self.arm_name)
comp = {}
for c in self.jnts:
comp[c] = {
'comp_rt': None,
'comp_j': None,
'torque_act': [],
'torque_joint': [],
'torque_gravity': [],
'is_wrist': False
}
if (c.find('j5') >= 0 or c.find('j6') >= 0):
comp[c]['is_wrist'] = True
for c in self.jnts:
comp[c]['comp_j'] = mcf.create_component(c)
comp[c]['comp_rt'] = mcf.create_component(
c.replace('joint', 'actuator'))
self.proxy.subscribe_status(comp[c]['comp_rt'])
self.proxy.subscribe_status(comp[c]['comp_j'])
# ####### Setup Proxy #############
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.bot.set_motor_power_on()
self.ndof = self.bot.get_num_dof(self.arm_name)
humanoid_shm_names = self.proxy.get_available_components(
'm3humanoid_shm')
if len(humanoid_shm_names) > 0:
self.proxy.make_safe_operational(humanoid_shm_names[0])
self.bot.set_mode_off(self.arm_name)
print 'This script will calibrate the zero-torque of the A2 arm while posed using current torque_gravity estimate'
print '----------------------------------------------------------------------------------------------------------'
print 'With E-Stop down, pose the arm in desired position to calibrate torque zeroes around.'
print 'Press any key when ready posed.'
raw_input()
time.sleep(0.5)
self.proxy.step()
self.theta_curr = self.bot.get_theta_deg(self.arm_name)[:]
self.proxy.step()
print 'Posed position set.'
print 'Release E-stop and press any key for arm to hold pose.'
raw_input()
self.bot.set_mode_theta_gc(self.arm_name)
self.bot.set_theta_deg(self.arm_name, self.theta_curr)
self.bot.set_stiffness(self.arm_name, [1.0] * 7)
self.bot.set_slew_rate_proportion(self.arm_name, [1.0] * self.ndof)
self.proxy.step()
print 'Press any key to start torque calibration for all joints.'
raw_input()
self.proxy.step()
# ###########################
ns = 30
for i in range(ns):
self.proxy.step()
print '---------'
for c in comp.keys():
tqj = comp[c]['comp_j'].get_torque_mNm()
tqg = comp[c]['comp_j'].get_torque_gravity_mNm() / 1000.0
tqa = comp[c]['comp_rt'].get_torque_mNm()
comp[c]['torque_act'].append(tqa)
comp[c]['torque_joint'].append(tqj)
comp[c]['torque_gravity'].append(tqg)
if comp[c]['is_wrist']:
print c, ':joint', tqj, ':gravity', tqg, ':actuator', tqa
else:
print c, ':joint', tqj, ':gravity', tqg,
time.sleep(0.05)
do_query = True
# ###########################
for c in comp.keys():
print '--------', c, '---------'
tqg = float(na.array(comp[c]['torque_gravity'], na.Float32).mean())
tqj = float(na.array(comp[c]['torque_joint'], na.Float32).mean())
tqa = float(na.array(comp[c]['torque_act'], na.Float32).mean())
if not comp[c]['is_wrist']:
bias = tqa + tqg
torque = M3TorqueSensor(
comp[c]['comp_rt'].config['calib']['torque']['type'])
print 'Measured torque:', tqa, 'Torque gravity:', tqg
print 'Delta of', bias, 'mNm'
comp[c]['comp_rt'].config['calib']['torque']['cb_bias'] = comp[
c]['comp_rt'].config['calib']['torque']['cb_bias'] - bias
comp[c]['comp_rt'].config['calibration_date'] = time.asctime()
if do_query:
print 'Save calibration? [y]'
if m3t.get_yes_no('y'):
comp[c]['comp_rt'].write_config()
else:
comp[c]['comp_rt'].write_config()
else:
print 'Wrist joint...'
if c.find('j5') != -1: #do j5/j6 at once
cc = None
for x in comp.keys():
if x.find('j6') != -1:
cc = x
if cc is None:
print 'Did not find coupled joint to', c
tqg_c = float(
na.array(comp[cc]['torque_gravity'],
na.Float32).mean())
tqj_c = float(
na.array(comp[cc]['torque_joint'], na.Float32).mean())
tqa_c = float(
na.array(comp[cc]['torque_act'], na.Float32).mean())
x = comp[c]['comp_j'].config['transmission']['tqj_to_tqa'][
0] #Joint to actuator matrix
y = comp[c]['comp_j'].config['transmission']['tqj_to_tqa'][
1]
m = comp[cc]['comp_j'].config['transmission'][
'tqj_to_tqa'][0]
n = comp[cc]['comp_j'].config['transmission'][
'tqj_to_tqa'][1]
tqg_a5 = x * tqg + y * tqg_c
tqg_a6 = m * tqg_c + n * tqg
bias_5 = tqa + tqg_a5
bias_6 = tqa_c + tqg_a6
torque_5 = M3TorqueSensor(
comp[c]['comp_rt'].config['calib']['torque']['type'])
torque_6 = M3TorqueSensor(
comp[cc]['comp_rt'].config['calib']['torque']['type'])
print '------------'
print 'J5: Previous joint torque', tqj, 'with joint torque gravity', tqg
print 'J5: Previous actuator torque', tqa, 'with actuator torque gravity', tqg_a5
print 'J5: Actuator delta of', bias_5, 'mNm'
print '------------'
print 'J6: Previous joint torque', tqj_c, 'with joint torque gravity', tqg_c
print 'J6: Previous actuator torque', tqa_c, 'with actuator torque gravity', tqg_a6
print 'J6: Actuator delta of', bias_6, 'mNm'
print '------------'
comp[c]['comp_rt'].config['calib']['torque'][
'cb_bias'] = comp[c]['comp_rt'].config['calib'][
'torque']['cb_bias'] - bias_5
comp[c]['comp_rt'].config[
'calibration_date'] = time.asctime()
comp[cc]['comp_rt'].config['calib']['torque'][
'cb_bias'] = comp[cc]['comp_rt'].config['calib'][
'torque']['cb_bias'] - bias_6
comp[cc]['comp_rt'].config[
'calibration_date'] = time.asctime()
if do_query:
print 'Save calibration? [y]'
if m3t.get_yes_no('y'):
comp[c]['comp_rt'].write_config()
comp[cc]['comp_rt'].write_config()
else:
comp[c]['comp_rt'].write_config()
comp[cc]['comp_rt'].write_config()
self.bot.set_mode_off(self.arm_name)
self.proxy.stop()
proxy.make_safe_operational(humanoid_shm_names[0])
if not rviz == True:
bot.set_motor_power_on()
proxy.step()
if rviz == True:
viz.step()
stiffness=0.5
step_delta=.002 #meters
print 'Select arm:'
arm_names = ['right_arm', 'left_arm']
arm_name = m3t.user_select_components_interactive(arm_names,single=True)[0]
while True:
proxy.step()
print '--------------'
print 's: set stiffness (Current',stiffness,')'
print 'd: set step delta (Current',step_delta,'(m))'
print 'e: execute ijkt controller'
print 'q: quit'
print '--------------'
print
k=m3t.get_keystroke()
if k=='q':
break
if k=='s':
print 'Enter stiffness (0-1.0) [',stiffness,']'
def start(self):
print '--------------------------'
print 'm: Target M3 arm'
print 'v: Target RVIZ'
print 'b: Target Both M3 and RVIZ'
print 'q: quit'
print '--------------'
print
self.k = 'a'
while self.k != 'm' and self.k != 'v' and self.k != 'b' and self.k != 'q':
self.k = m3t.get_keystroke()
if self.k == 'q':
return
self.proxy = m3p.M3RtProxy()
if self.k == 'm' or self.k == 'b':
self.proxy.start()
bot_name = m3t.get_robot_name()
if bot_name == "":
print 'Error: no robot components found:', bot_names
return
self.bot = m3f.create_component(bot_name)
arm_names = ['right_arm', 'left_arm']
self.arm_name = m3t.user_select_components_interactive(arm_names,
single=True)[0]
if self.arm_name == 'right_arm':
self.center = [0.450, -0.25, -0.1745]
else:
self.center = [0.450, 0.25, -0.1745]
avail_chains = self.bot.get_available_chains()
for c in avail_chains:
if c == 'torso':
self.center[2] += 0.5079
if self.k == 'v' or self.k == 'b':
self.viz = m3v.M3Viz(self.proxy, self.bot)
self.viz_launched = True
self.viz.turn_sim_on()
if self.k == 'v':
self.theta_0[:] = self.bot.get_theta_sim_deg(self.arm_name)[:]
if self.k == 'm' or self.k == 'b':
self.proxy.subscribe_status(self.bot)
self.proxy.publish_command(self.bot)
self.proxy.make_operational_all()
self.proxy.step()
self.theta_0[:] = self.bot.get_theta_deg(self.arm_name)[:]
self.m3_launched = True
self.theta_soln_deg = [0.] * self.bot.get_num_dof(self.arm_name)
self.thetadot_0 = [0.] * self.bot.get_num_dof(self.arm_name)
self.bot.set_slew_rate_proportion(self.arm_name, [1.0] * 7)
while True:
print '--------------------------'
print 'g: generate vias'
print 'd: display vias'
print 'v: set avg velocity (Current ', self.vel_avg, ')'
print 's: set stiffness (Current', self.stiffness, ')'
if self.k == 'b' or self.k == 'm':
print 'e: execute vias'
if self.k == 'b' or self.k == 'v':
print 't: test vias in visualizer'
print 'q: quit'
print '--------------'
print
m = m3t.get_keystroke()
if m == 'q':
return
if m == 'v':
print 'Enter avg velocity (0-60 Deg/S) [', self.vel_avg, ']'
self.vel_avg = max(0, min(60, m3t.get_float(self.vel_avg)))
if m == 's':
print 'Enter stiffness (0-1.0) [', self.stiffness, ']'
self.stiffness = max(0, min(1.0,
m3t.get_float(self.stiffness)))
if m == 'g':
self.vias = []
print
print '(s)quare or (c)ircle?'
shape = None
while shape != 's' and shape != 'c':
shape = m3t.get_keystroke()
length_m = 0.0
if shape == 's':
print
print 'Length of square side in cm (10-25) [25]'
length_cm = nu.float(max(10, min(25, m3t.get_int(25))))
length_m = length_cm / 100.0
diameter_m = 0.0
if shape == 'c':
print
print 'Diameter of circle in cm (10-25) [25]'
diameter_cm = nu.float(max(10, min(25, m3t.get_int(25))))
diameter_m = diameter_cm / 100.0
print
print 'Enter shape resolution (1-20 vias/side) [20]'
resolution = max(1, min(20, m3t.get_int(20)))
if self.m3_launched:
self.proxy.step()
x = self.center[0]
if shape == 's':
y_left = self.center[1] + length_m / 2.0
y_right = self.center[1] - length_m / 2.0
z_top = self.center[2] + length_m / 2.0
z_bottom = self.center[2] - length_m / 2.0
dy = (y_left - y_right) / nu.float(resolution)
dz = (z_top - z_bottom) / nu.float(resolution)
if self.arm_name == 'right_arm':
# first add start point
self.ik_vias.append([
x, y_left, z_top, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add top line
for i in range(resolution):
self.ik_vias.append([
x, y_left - (i + 1) * dy, z_top,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add right line
for i in range(resolution):
self.ik_vias.append([
x, y_right, z_top - (i + 1) * dz,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add bottom line
for i in range(resolution):
self.ik_vias.append([
x, y_right + (i + 1) * dy, z_bottom,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add left line
for i in range(resolution):
self.ik_vias.append([
x, y_left, z_bottom + (i + 1) * dz,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
else:
# first add start point
self.ik_vias.append([
x, y_right, z_top, self.axis_demo[0],
self.axis_demo[1], self.axis_demo[2]
])
# add top line
for i in range(resolution):
self.ik_vias.append([
x, y_right + (i + 1) * dy, z_top,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add right line
for i in range(resolution):
self.ik_vias.append([
x, y_left, z_top - (i + 1) * dz,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add bottom line
for i in range(resolution):
self.ik_vias.append([
x, y_left - (i + 1) * dy, z_bottom,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
# add left line
for i in range(resolution):
self.ik_vias.append([
x, y_right, z_bottom + (i + 1) * dz,
self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
if shape == 'c':
for i in range(resolution * 4 + 1):
dt = 2 * nu.pi / (nu.float(resolution) * 4)
t = (nu.pi / 2) + i * dt
if t > nu.pi:
t -= 2 * nu.pi
y = self.center[1] + (diameter_m / 2.0) * nu.cos(t)
z = self.center[2] + (diameter_m / 2.0) * nu.sin(t)
self.ik_vias.append([
x, y, z, self.axis_demo[0], self.axis_demo[1],
self.axis_demo[2]
])
self.vias.append(self.theta_0[:])
# use zero position as reference for IK solver
ref = [0] * self.bot.get_num_dof(self.arm_name)
# use holdup position as reference
ref = [30, 0, 0, 40, 0, 0, 0]
self.bot.set_theta_sim_deg(self.arm_name, ref)
for ikv in self.ik_vias:
theta_soln = []
print 'solving for ik via:', ikv
if self.bot.get_tool_axis_2_theta_deg_sim(
self.arm_name, ikv[:3], ikv[3:], theta_soln):
self.vias.append(theta_soln)
self.bot.set_theta_sim_deg(self.arm_name, theta_soln)
else:
print 'WARNING: no IK solution found for via ', ikv
self.bot.set_theta_sim_deg(self.arm_name, ref)
if self.viz_launched:
self.viz.step()
self.vias.append(self.theta_0[:])
if m == 'd':
print
print '--------- IK Vias (', len(self.ik_vias), ')--------'
print '---------------[end_xyz[3], end_axis[3]]-----------'
for ikv in self.ik_vias:
print ikv
print
print '--------- Joint Vias (', len(self.vias), ')--------'
for v in self.vias:
print v
if m == 'e' or m == 't':
if len(self.vias) != 0:
for v in self.vias:
#print 'Adding via',v
self.jt.add_via_deg(v, [self.vel_avg] * self.ndof)
self.jt.start(self.theta_0[:], self.thetadot_0[:])
print
print '--------- Splines (', len(
self.jt.splines), ')--------'
print '------------q_0, q_f, qdot_0, qdot_f, tf--------------'
for s in self.jt.splines:
print s.q_0, s.q_f, s.qdot_0, s.qdot_f, s.tf
print
print 'Hit any key to start or (q) to quit execution'
p = m3t.get_keystroke()
if p != 'q':
if self.m3_launched and m == 'e':
self.bot.set_motor_power_on()
self.bot.set_mode_theta_gc(self.arm_name)
self.bot.set_stiffness(
self.arm_name, [self.stiffness] *
self.bot.get_num_dof(self.arm_name))
while not self.jt.is_splined_traj_complete():
q = self.jt.step()
if self.viz_launched and m == 't':
self.bot.set_theta_sim_deg(self.arm_name, q)
self.viz.step()
time.sleep(0.1)
elif self.m3_launched and m == 'e':
self.bot.set_theta_deg(self.arm_name, q)
self.proxy.step()
self.ik_vias = []