class KBEnv(object): def __init__(self, path): rospy.init_node('sawyer_arm_cntrl') self.load_inits(path+'/pg_init.yaml') self.limb = Limb() self.all_jnts = copy.copy(self.limb.joint_names()) self.limb.set_joint_position_speed(0.2) def load_inits(self, path): stream = open(path, "r") config = yaml.load(stream) stream.close() # these indices and names have to be in ascending order self.jnt_indices = config['jnt_indices'] self.cmd_names = config['cmd_names'] self.init_pos = config['initial-position'] def chng_jnt_state(self, values, mode, iterations=20): # Command Sawyer's joints to angles or velocity robot = URDF.from_parameter_server() kdl_kin_r = KDLKinematics(robot, 'base', 'right_gripper_r_finger_tip') kdl_kin_l = KDLKinematics(robot, 'base', 'right_gripper_l_finger_tip') q_jnt_angles = np.zeros(8) q_jnt_angles[:7] = copy.copy(values) q_jnt_angles[7] = 0.0 pose_r = kdl_kin_r.forward(q_jnt_angles) pose_l = kdl_kin_l.forward(q_jnt_angles) pose = 0.5*(pose_l + pose_r) x, y, z = transformations.translation_from_matrix(pose)[:3] print("goal cartesian: ", x, y, z) timeout = 30.0 if mode == 4: positions = dict() i = 0 for jnt_name in self.all_jnts: positions[jnt_name] = values[i] i += 1 self.limb.move_to_joint_positions(positions, timeout) else: velocities = dict() i = 0 for name in self.cmd_names: velocities[name] = values[i] i += 1 for _ in range(iterations): self.limb.set_joint_velocities(velocities) time.sleep(0.5)
class Fencer(): def __init__(self): self.Blist = sw.Blist self.M = sw.M self.Slist = mr.Adjoint(self.M).dot(self.Blist) self.eomg = 0.01 # positive tolerance on end-effector orientation error self.ev = 0.001 # positive tolerance on end-effector position error self.arm = None self.listener = None self.home_config = { 'right_j6': -1.3186796875, 'right_j5': 0.5414912109375, 'right_j4': 2.9682451171875, 'right_j3': 1.7662939453125, 'right_j2': -3.0350302734375, 'right_j1': 1.1202939453125, 'right_j0': -0.0001572265625 } self.tracker_position = None self.arm_position = None self.sword_position = None self.sword_zoffset = 0.25 self.end_effector_directions = [-1.0, 1.0] self.tracker_twist = 50 self.end_effector_vel = np.zeros(6) # velocities need to be passed in as a dictionary self.joint_vels_dict = {} # set the end effector twist self.sword_twist = Twist() self.arm_twist = Twist() self.no_twist = Twist() self.no_twist.linear.x = 0 self.no_twist.linear.y = 0 self.no_twist.linear.z = 0 self.no_twist.angular.x = 0 self.no_twist.angular.y = 0 self.no_twist.angular.z = 0 self.arm = Limb() self.clash_pub = rospy.Publisher('clash', Float64, queue_size=1) self.twist_sub = rospy.Subscriber('/vive/twist1', TwistStamped, self.twist_callback, queue_size=1) self.tf_listener = tf.TransformListener() self.rate = rospy.Rate(10.0) def move(self, twist_msg): # have to switch the order of linear and angular velocities in twist # message so that it comes in the form needed by the modern_robotics library self.end_effector_vel[0] = 0 #twist_msg.angular.x self.end_effector_vel[1] = 0 #twist_msg.angular.y self.end_effector_vel[2] = 0 #twist_msg.angular.z self.end_effector_vel[3] = twist_msg.linear.x self.end_effector_vel[4] = twist_msg.linear.y self.end_effector_vel[5] = twist_msg.linear.z arm_angles_dict = self.arm.joint_angles() thetalist0 = [] for i in range(len(arm_angles_dict)): thetalist0.append(arm_angles_dict['right_j' + str(i)]) J = mr.JacobianSpace(self.Slist, np.array(thetalist0)) pinv_J = np.linalg.pinv(J) # print("The shape of the end effector velocity vector is {}".format(self.end_effector_vel.shape)) # print("The shape of the Jacobian Pseudo Inverse matrix is {}".format(pinv_J.shape)) joint_vels = np.dot(pinv_J, self.end_effector_vel) for i, vel in enumerate(joint_vels): self.joint_vels_dict['right_j' + str(i)] = vel # set joint velocities self.arm.set_joint_velocities(self.joint_vels_dict) def twist_callback(self, msg): # get magnitude of tracker twist self.tracker_twist = np.linalg.norm([msg.twist.linear.x, \ msg.twist.linear.y, \ msg.twist.linear.z]) def fence(self): old_tracker_pose = 0 while not rospy.is_shutdown(): try: # (controller_pos, controller_quat) = listener.lookupTransform('world', 'controller', rospy.Time(0)) (self.tracker_position, _) = self.tf_listener.lookupTransform('world', 'tracker', rospy.Time(0)) # get sword pose (self.sword_position, _) = self.tf_listener.lookupTransform('world', 'sword_tip', rospy.Time(0)) # get arm position armpose = self.arm.endpoint_pose() self.arm_position = armpose['position'] except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): continue self.tracker_position = np.array(self.tracker_position) self.arm_position = np.array(self.arm_position) self.sword_position = np.array(self.sword_position) #offset tracker position so that robot sword meets at mid point self.tracker_position[2] += self.sword_zoffset # displacement = self.tracker_position - self.sword_position # set velocity in the direction of the displacement disp_mag = np.linalg.norm(displacement) self.clash_pub.publish(disp_mag) tracker_pos_mag = np.linalg.norm(self.tracker_position) # print("distance between tracker and world {}".format(tracker_pos_mag)) # print("The distance between the arm and tracker is {}".format(disp_mag)) #print("distance is {}".format(tracker_pos_mag)) self.arm_twist.linear.x = 0.30 * displacement[0] / disp_mag self.arm_twist.linear.y = 0.30 * displacement[1] / disp_mag self.arm_twist.linear.z = 0.30 * displacement[2] / disp_mag self.arm_twist.angular.x = 0.3 * np.random.choice( self.end_effector_directions) self.arm_twist.angular.y = 0 self.arm_twist.angular.z = 0 pos_diff = np.linalg.norm(old_tracker_pose) - tracker_pos_mag print("tracker twist is {}".format(self.tracker_twist)) # if user sword is less than 1.25m to robot # and distance between robot arm and user sword is less than 0.15m # and user sword is moving towards robot... if tracker_pos_mag < 1.25 and disp_mag > 0.07: #pass self.move(self.arm_twist) if self.tracker_twist < 0.15: self.arm.set_joint_positions(self.arm.joint_angles()) elif tracker_pos_mag > 1.25: #pass self.arm.set_joint_positions(self.home_config) else: #pass self.move(self.no_twist) old_tracker_pose = tracker_pos_mag self.rate.sleep()
class Fencer(): def __init__(self): self.Blist = sw.Blist self.M = sw.M self.Slist = mr.Adjoint(self.M).dot(self.Blist) self.eomg = 0.01 # positive tolerance on end-effector orientation error self.ev = 0.001 # positive tolerance on end-effector position error self.arm = None self.listener = None self.home_config = { 'right_j6': -1.3186796875, 'right_j5': 0.5414912109375, 'right_j4': 2.9682451171875, 'right_j3': 1.7662939453125, 'right_j2': -3.0350302734375, 'right_j1': 1.1202939453125, 'right_j0': -0.0001572265625 } self.tracker_position = None self.tracker_pos_mag = None self.arm_position = None self.sword_position = None self.attack_position = None self.tag_position = None self.disp_mag = None self.attack_disp_mag = None self.fence_region = 1.50 self.fence_speed = 0.50 self.sword_zoffset = 0.25 self.end_effector_directions = [-1.0, 1.0] self.tracker_twist = 50 self.end_effector_vel = np.zeros(6) # velocities need to be passed in as a dictionary self.joint_vels_dict = {} # set the end effector twist self.sword_twist = Twist() self.arm_twist = Twist() self.no_twist = Twist() self.no_twist.linear.x = 0 self.no_twist.linear.y = 0 self.no_twist.linear.z = 0 self.no_twist.angular.x = 0 self.no_twist.angular.y = 0 self.no_twist.angular.z = 0 self.arm = Limb() print("going to home configuration") self.arm.set_joint_positions(self.home_config) self.clash_pub = rospy.Publisher('clash', Float64, queue_size=1) self.twist_sub = rospy.Subscriber('/vive/twist1', TwistStamped, self.twist_callback, queue_size=1) self.tf_listener = tf.TransformListener() self.rate = rospy.Rate(10.0) def move(self, twist_msg): # have to switch the order of linear and angular velocities in twist # message so that it comes in the form needed by the modern_robotics library self.end_effector_vel[0] = 0 #twist_msg.angular.x self.end_effector_vel[1] = 0 #twist_msg.angular.y self.end_effector_vel[2] = 0 #twist_msg.angular.z self.end_effector_vel[3] = twist_msg.linear.x self.end_effector_vel[4] = twist_msg.linear.y self.end_effector_vel[5] = twist_msg.linear.z arm_angles_dict = self.arm.joint_angles() thetalist0 = [] for i in range(len(arm_angles_dict)): thetalist0.append(arm_angles_dict['right_j' + str(i)]) J = mr.JacobianSpace(self.Slist, np.array(thetalist0)) pinv_J = np.linalg.pinv(J) # print("The shape of the end effector velocity vector is {}".format(self.end_effector_vel.shape)) # print("The shape of the Jacobian Pseudo Inverse matrix is {}".format(pinv_J.shape)) joint_vels = np.dot(pinv_J, self.end_effector_vel) for i, vel in enumerate(joint_vels): self.joint_vels_dict['right_j' + str(i)] = vel # set joint velocities self.arm.set_joint_velocities(self.joint_vels_dict) def twist_callback(self, msg): # get magnitude of tracker twist self.tracker_twist = np.linalg.norm([msg.twist.linear.x, \ msg.twist.linear.y, \ msg.twist.linear.z]) def fence(self): while not rospy.is_shutdown(): try: # (controller_pos, controller_quat) = listener.lookupTransform('world', 'controller', rospy.Time(0)) (self.tracker_position, _) = self.tf_listener.lookupTransform('world', 'tracker', rospy.Time(0)) # get sword pose (self.sword_position, _) = self.tf_listener.lookupTransform('world', 'sword_tip', rospy.Time(0)) # get tag position # (self.tag_position, _) = self.tf_listener.lookupTransform('world', 'ar_marker_0', rospy.Time(0)) except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): self.tracker_position = None self.sword_position = None self.tag_position = None self.arm.set_joint_positions(self.home_config) continue # get arm position armpose = self.arm.endpoint_pose() self.arm_position = armpose['position'] self.tracker_position = np.array(self.tracker_position) self.arm_position = np.array(self.arm_position) self.sword_position = np.array(self.sword_position) self.tag_position = np.array(self.tag_position) #offset tracker position so that robot sword meets at mid point self.tracker_position[2] += self.sword_zoffset print("tracker twist is {}".format(self.tracker_twist)) if self.tracker_twist > 0.20: # user moving sword self.defend() else: self.attack() self.rate.sleep() def defend(self): if self.tracker_position is None: self.arm.set_joint_positions(self.home_config) return else: displacement = self.tracker_position - self.sword_position # set velocity in the direction of the displacement self.disp_mag = np.linalg.norm(displacement) self.clash_pub.publish(self.disp_mag) self.tracker_pos_mag = np.linalg.norm(self.tracker_position) # print("distance between tracker and world {}".format(tracker_pos_mag)) self.arm_twist.linear.x = self.fence_speed * displacement[ 0] / self.disp_mag self.arm_twist.linear.y = self.fence_speed * displacement[ 1] / self.disp_mag self.arm_twist.linear.z = self.fence_speed * displacement[ 2] / self.disp_mag self.arm_twist.angular.x = self.fence_speed * np.random.choice( self.end_effector_directions) self.arm_twist.angular.y = 0 self.arm_twist.angular.z = 0 if self.tracker_pos_mag < self.fence_region and self.disp_mag > 0.07: #pass self.move(self.arm_twist) if self.disp_mag < 0.40: self.arm.set_joint_positions(self.arm.joint_angles()) time.sleep(1) elif self.tracker_pos_mag > self.fence_region: self.arm.set_joint_positions(self.home_config) else: #pass self.move(self.no_twist) def attack(self): #self.arm.set_joint_positions(self.home_config) # define new attack point x_point = np.random.uniform(low=self.tracker_position[0] + 0.10, high=self.tracker_position[0] + 0.10) y_point = np.random.uniform(low=self.tracker_position[1] - 0.50, high=self.tracker_position[1]) z_point = np.random.uniform(low=self.tracker_position[2], high=self.tracker_position[2] + 0.40) self.attack_position = np.array([x_point, y_point, z_point]) # if self.tag_position is None: # self.arm.set_joint_positions(self.home_config) # return # else: # displacement = self.tag_position - self.arm_position displacement = self.attack_position - self.arm_position # set velocity in the direction of the displacement self.attack_disp_mag = np.linalg.norm(displacement) self.clash_pub.publish(self.disp_mag) self.arm_twist.linear.x = self.fence_speed * displacement[ 0] / self.attack_disp_mag self.arm_twist.linear.y = self.fence_speed * displacement[ 1] / self.attack_disp_mag self.arm_twist.linear.z = self.fence_speed * displacement[ 2] / self.attack_disp_mag self.arm_twist.angular.x = 0 self.arm_twist.angular.y = self.fence_speed * np.random.choice( self.end_effector_directions) self.arm_twist.angular.z = 0 self.move(self.arm_twist) if self.disp_mag < 0.40: self.arm.set_joint_positions(self.arm.joint_angles()) time.sleep(1) elif self.tracker_pos_mag > self.fence_region: self.arm.set_joint_positions(self.home_config) else: #pass #self.move(self.no_twist) self.arm.set_joint_positions(self.home_config)