def init_reg_cb(self, req):
# TODO REMOVE THIS FACE SIDE MESS
self.publish_feedback("Performing Head Registration. Please Wait.")
self.face_side = rospy.get_param("/face_side", 'r')
bag_str = self.reg_dir + '/' + '_'.join(
[self.subject, self.face_side, "head_transform"]) + ".bag"
rospy.loginfo("[%s] Loading %s" % (rospy.get_name(), bag_str))
try:
bag = rosbag.Bag(bag_str, 'r')
for topic, msg, ts in bag.read_messages():
head_tf = msg
assert (head_tf
is not None), "Error reading head transform bagfile"
bag.close()
except Exception as e:
self.publish_feedback(
"Registration failed: Error loading saved registration.")
rospy.logerr(
"[%s] Cannot load registration parameters from %s:\r\n%s" %
(rospy.get_name(), bag_str, e))
return (False, PoseStamped())
if self.face_side == 'r':
head_registration = self.head_registration_r
else:
head_registration = self.head_registration_l
try:
rospy.loginfo(
"[%s] Requesting head registration for %s at pixel (%d, %d)." %
(rospy.get_name(), self.subject, req.u, req.v))
self.head_pc_reg = head_registration(req.u, req.v).reg_pose
if ((self.head_pc_reg.pose.position == Point(0.0, 0.0, 0.0))
and (self.head_pc_reg.pose.orientation == Quaternion(
0.0, 0.0, 0.0, 1.0))):
raise rospy.ServiceException("Unable to find a good match.")
self.head_pc_reg = None
except rospy.ServiceException as se:
self.publish_feedback("Registration failed: %s" % se)
return (False, PoseStamped())
pc_reg_mat = PoseConv.to_homo_mat(self.head_pc_reg)
head_tf_mat = PoseConv.to_homo_mat(
Transform(head_tf.transform.translation,
head_tf.transform.rotation))
self.head_pose = PoseConv.to_pose_stamped_msg(pc_reg_mat**-1 *
head_tf_mat)
self.head_pose.header.frame_id = self.head_pc_reg.header.frame_id
self.head_pose.header.stamp = self.head_pc_reg.header.stamp
side = "right" if (self.face_side == 'r') else "left"
self.publish_feedback(
"Registered head using %s cheek model, please check and confirm." %
side)
# rospy.loginfo('[%s] Head frame registered at:\r\n %s' %(rospy.get_name(), self.head_pose))
self.test_pose.publish(self.head_pose)
return (True, self.head_pose)
def register_ellipse(self, mode, side):
reg_e_params = EllipsoidParams()
try:
now = rospy.Time.now()
self.tfl.waitForTransform("/base_link", "/head_frame", now,
rospy.Duration(10.))
pos, quat = self.tfl.lookupTransform("/head_frame", "/base_frame",
now)
self.head_pose = PoseStamped()
self.head_pose.header.stamp = now
self.head_pose.header.frame_id = "/base_link"
self.head_pose.pose.position = Point(*pos)
self.head_pose.pose.orientation = Quaternion(*quat)
except:
rospy.logwarn("[%s] Head registration not loaded yet." %
rospy.get_name())
return (False, reg_e_params)
reg_prefix = rospy.get_param("~registration_prefix", "")
registration_files = rospy.get_param("~registration_files", None)
if mode not in registration_files:
rospy.logerr("[%s] Mode not in registration_files parameters" %
(rospy.get_name()))
return (False, reg_e_params)
try:
bag_str = reg_prefix + registration_files[mode][side]
rospy.loginfo("[%s] Loading %s" % (rospy.get_name(), bag_str))
bag = rosbag.Bag(bag_str, 'r')
e_params = None
for topic, msg, ts in bag.read_messages():
e_params = msg
assert e_params is not None
bag.close()
except:
rospy.logerr("[%s] Cannot load registration parameters from %s" %
(rospy.get_name(), bag_str))
return (False, reg_e_params)
head_reg_mat = PoseConv.to_homo_mat(self.head_pose)
ell_reg = PoseConv.to_homo_mat(
Transform(e_params.e_frame.transform.translation,
e_params.e_frame.transform.rotation))
reg_e_params.e_frame = PoseConv.to_tf_stamped_msg(head_reg_mat**-1 *
ell_reg)
reg_e_params.e_frame.header.frame_id = self.head_reg_tf.header.frame_id
reg_e_params.e_frame.child_frame_id = '/ellipse_frame'
reg_e_params.height = e_params.height
reg_e_params.E = e_params.E
self.ell_params_pub.publish(reg_e_params)
self.ell_frame = reg_e_params.e_frame
return (True, reg_e_params)
def robot_ellipsoidal_pose(self, lat, lon, height, orient_quat, kinect_frame_mat=None):
if kinect_frame_mat is None:
kinect_frame_mat = self.get_ell_frame()
pos, quat = self.ell_space.ellipsoidal_to_pose(lat, lon, height)
quat_rotated = trans.quaternion_multiply(quat, orient_quat)
ell_pose_mat = PoseConv.to_homo_mat(pos, quat_rotated)
return PoseConv.to_pos_rot(kinect_frame_mat * ell_pose_mat)
def command_absolute_cb(self, msg):
if self.arm is None:
rospy.logwarn(
"[cartesian_manager] Cartesian controller not enabled.")
return
self.cart_ctrl.stop_moving(wait=True)
if msg.header.frame_id == "":
msg.header.frame_id = "torso_lift_link"
if self.kin is None or msg.header.frame_id not in self.kin.get_link_names(
):
self.kin = create_joint_kin("torso_lift_link", msg.header.frame_id)
torso_pos_ep, torso_rot_ep = self.arm.get_ep()
torso_B_ref = self.kin.forward(base_link="torso_lift_link",
end_link=msg.header.frame_id)
ref_B_goal = PoseConv.to_homo_mat(msg)
torso_B_goal = torso_B_ref * ref_B_goal
change_pos, change_rot = PoseConv.to_pos_rot(torso_B_goal)
change_pos_xyz = change_pos.T.A[0]
rospy.loginfo("[cartesian_manager] Command absolute movement." +
str((change_pos_xyz, change_rot)))
self.cart_ctrl.execute_cart_move((change_pos_xyz, change_rot),
((1, 1, 1), 1),
velocity=self.velocity,
blocking=True)
def init_reg_cb(self, req):
# TODO REMOVE THIS FACE SIDE MESS
self.publish_feedback("Performing Head Registration. Please Wait.")
self.face_side = rospy.get_param("~face_side1", 'r')
bag_str = self.reg_dir + '/' + '_'.join([self.subject, self.face_side, "head_transform"]) + ".bag"
rospy.loginfo("[%s] Loading %s" %(rospy.get_name(), bag_str))
try:
bag = rosbag.Bag(bag_str, 'r')
for topic, msg, ts in bag.read_messages():
head_tf = msg
assert (head_tf is not None), "Error reading head transform bagfile"
bag.close()
except Exception as e:
self.publish_feedback("Registration failed: Error loading saved registration.")
rospy.logerr("[%s] Cannot load registration parameters from %s:\r\n%s" %
(rospy.get_name(), bag_str, e))
return (False, PoseStamped())
if self.face_side == 'r':
head_registration = self.head_registration_r
else:
head_registration = self.head_registration_l
try:
rospy.loginfo("[%s] Requesting head registration for %s at pixel (%d, %d)." %(rospy.get_name(),
self.subject,
req.u, req.v))
self.head_pc_reg = head_registration(req.u, req.v).reg_pose
if ((self.head_pc_reg.pose.position == Point(0.0, 0.0, 0.0)) and
(self.head_pc_reg.pose.orientation == Quaternion(0.0, 0.0, 0.0, 1.0))):
raise rospy.ServiceException("Unable to find a good match.")
self.head_pc_reg = None
except rospy.ServiceException as se:
self.publish_feedback("Registration failed: %s" %se)
return (False, PoseStamped())
pc_reg_mat = PoseConv.to_homo_mat(self.head_pc_reg)
head_tf_mat = PoseConv.to_homo_mat(Transform(head_tf.transform.translation,
head_tf.transform.rotation))
self.head_pose = PoseConv.to_pose_stamped_msg(pc_reg_mat**-1 * head_tf_mat)
self.head_pose.header.frame_id = self.head_pc_reg.header.frame_id
self.head_pose.header.stamp = self.head_pc_reg.header.stamp
side = "right" if (self.face_side == 'r') else "left"
self.publish_feedback("Registered head using %s cheek model, please check and confirm." %side)
# rospy.loginfo('[%s] Head frame registered at:\r\n %s' %(rospy.get_name(), self.head_pose))
self.test_pose.publish(self.head_pose)
return (True, self.head_pose)
def cal_joint_angle_kdl(self, x_w, y_w, z_w):
pos_euler = [[x_w, y_w, z_w], [0.0, 0.0, 0.0]]
twist_msg = PoseConv.to_twist_msg(pos_euler)
homo_mat = PoseConv.to_homo_mat(twist_msg)
print(homo_mat)
q = self.kdl_kin.random_joint_angles()
q_r = self.kdl_kin.inverse(homo_mat, q)
return q_r
def load_params(self, params):
kinect_B_head = PoseConv.to_homo_mat(params.e_frame)
base_B_kinect = self.kin_head.forward(base_link="base_link",
end_link=self.kinect_frame)
base_B_head = base_B_kinect * kinect_B_head
self.head_center = PoseConv.to_pose_stamped_msg("/base_link",base_B_head)
self.ell_space = EllipsoidSpace()
self.ell_space.load_ell_params(params.E, params.is_oblate, params.height)
rospy.loginfo("Loaded ellispoidal parameters.")
def point_towards_midpoint(self, clean_joints, psm1_pos, psm2_pos, key_hole,ecm_pose):
mid_point = (psm1_pos + psm2_pos)/2
# mid_point = ecm_pose[0:3,3] - numpy.array([0,0,.01]).reshape(3,1)
self.add_marker(PoseConv.to_homo_mat([mid_point, [0,0,0]]), '/marker_subscriber',color=[1,0,0], scale=[0.047/5,0.047/5,0.047/5])
self.add_marker(PoseConv.to_homo_mat([key_hole,[0,0,0]]), '/keyhole_subscriber',[0,0,1])
self.add_marker(ecm_pose, '/current_ecm_pose', [1,0,0], Marker.ARROW, scale=[.1,.005,.005])
temp = clean_joints['ecm'].position
b,_ = self.ecm_kin.FK([temp[0],temp[1],.14,temp[3]])
# find the equation of the line that goes through the key_hole and the
# mid_point
ab_vector = (mid_point-key_hole)
ecm_current_direction = b-key_hole
self.add_marker(ecm_pose, '/midpoint_to_keyhole', [0,1,1], type=Marker.LINE_LIST, scale = [0.005, 0.005, 0.005], points=[b, key_hole])
self.add_marker(PoseConv.to_homo_mat([ab_vector,[0,0,0]]), '/ab_vector',[0,1,0], type=Marker.ARROW)
r = self.find_rotation_matrix_between_two_vectors(ecm_current_direction, ab_vector)
m = math.sqrt(ab_vector[0]**2 + ab_vector[1]**2 + ab_vector[2]**2) # ab_vector's length
# insertion joint length
l = math.sqrt( (ecm_pose[0,3]-key_hole[0])**2 + (ecm_pose[1,3]-key_hole[1])**2 + (ecm_pose[2,3]-key_hole[2])**2)
# Equation of the line that passes through the midpoint of the tools and the key hole
x = lambda t: key_hole[0] + ab_vector[0] * t
y = lambda t: key_hole[1] + ab_vector[1] * t
z = lambda t: key_hole[2] + ab_vector[2] * t
t = l/m
new_ecm_position = numpy.array([x(t), y(t), z(t)]).reshape(3,1)
ecm_pose[0:3,0:3] = r* ecm_pose[0:3,0:3]
ecm_pose[0:3,3] = new_ecm_position
self.add_marker(ecm_pose, '/target_ecm_pose', [0,0,1], Marker.ARROW, scale=[.1,.005,.005])
output_msg = clean_joints['ecm']
try:
p = self.ecm_kin.inverse(ecm_pose)
except Exception as e:
rospy.logerr('error')
if p != None:
p[3] = 0
output_msg.position = p
return output_msg
def register_ellipse(self, mode, side):
reg_e_params = EllipsoidParams()
try:
now = rospy.Time.now()
self.tfl.waitForTransform("/base_link", "/head_frame", now, rospy.Duration(10.))
pos, quat = self.tfl.lookupTransform("/head_frame", "/base_frame", now)
self.head_pose = PoseStamped()
self.head_pose.header.stamp = now
self.head_pose.header.frame_id = "/base_link"
self.head_pose.pose.position = Point(*pos)
self.head_pose.pose.orientation = Quaternion(*quat)
except:
rospy.logwarn("[%s] Head registration not loaded yet." %rospy.get_name())
return (False, reg_e_params)
reg_prefix = rospy.get_param("~registration_prefix", "")
registration_files = rospy.get_param("~registration_files", None)
if mode not in registration_files:
rospy.logerr("[%s] Mode not in registration_files parameters" % (rospy.get_name()))
return (False, reg_e_params)
try:
bag_str = reg_prefix + registration_files[mode][side]
rospy.loginfo("[%s] Loading %s" %(rospy.get_name(), bag_str))
bag = rosbag.Bag(bag_str, 'r')
e_params = None
for topic, msg, ts in bag.read_messages():
e_params = msg
assert e_params is not None
bag.close()
except:
rospy.logerr("[%s] Cannot load registration parameters from %s" %(rospy.get_name(), bag_str))
return (False, reg_e_params)
head_reg_mat = PoseConv.to_homo_mat(self.head_pose)
ell_reg = PoseConv.to_homo_mat(Transform(e_params.e_frame.transform.translation,
e_params.e_frame.transform.rotation))
reg_e_params.e_frame = PoseConv.to_tf_stamped_msg(head_reg_mat**-1 * ell_reg)
reg_e_params.e_frame.header.frame_id = self.head_reg_tf.header.frame_id
reg_e_params.e_frame.child_frame_id = '/ellipse_frame'
reg_e_params.height = e_params.height
reg_e_params.E = e_params.E
self.ell_params_pub.publish(reg_e_params)
self.ell_frame = reg_e_params.e_frame
return (True, reg_e_params)
def load_params(self, params):
kinect_B_head = PoseConv.to_homo_mat(params.e_frame)
base_B_kinect = self.kin_head.forward(base_link="base_link",
end_link=self.kinect_frame)
base_B_head = base_B_kinect * kinect_B_head
self.head_center = PoseConv.to_pose_stamped_msg(
"/base_link", base_B_head)
self.ell_space = EllipsoidSpace()
self.ell_space.load_ell_params(params.E, params.is_oblate,
params.height)
rospy.loginfo("Loaded ellispoidal parameters.")
def robot_ellipsoidal_pose(self,
lat,
lon,
height,
orient_quat,
kinect_frame_mat=None):
if kinect_frame_mat is None:
kinect_frame_mat = self.get_ell_frame()
pos, quat = self.ell_space.ellipsoidal_to_pose(lat, lon, height)
quat_rotated = trans.quaternion_multiply(quat, orient_quat)
ell_pose_mat = PoseConv.to_homo_mat(pos, quat_rotated)
return PoseConv.to_pos_rot(kinect_frame_mat * ell_pose_mat)
def create_tool_arrow():
arrows = MarkerArray()
color = ColorRGBA(0., 0., 1., 1.)
for i, param in enumerate(params):
ell_pos, ell_rot = params[param]
_, ell_rot_mat = PoseConv.to_pos_rot([0]*3, ell_rot)
cart_pose = PoseConv.to_homo_mat(ell_space.ellipsoidal_to_pose(*ell_pos))
cart_pose[:3,:3] = cart_pose[:3,:3] * ell_rot_mat
arrow = create_arrow_marker(cart_pose, i, color)
arrow.header.stamp = rospy.Time.now()
arrows.markers.append(arrow)
return arrows
def ar_sub(self, msg):
if self.kin_arm == None:
self.kin_arm = create_joint_kin(base_link="base_link",
end_link=msg.header.frame_id)
base_B_camera = self.kin_arm.forward()
camera_B_tag = PoseConv.to_homo_mat(msg.markers[0].pose.pose) #changed to use Alvar Markers
cur_ar_pose = base_B_camera * camera_B_tag
# check to see if the tag is in front of the robot
if cur_ar_pose[0,3] < 0.:
rospy.logwarn("Tag behind robot: Strange AR toolkit bug!")
return
self.cur_ar_pose = cur_ar_pose
self.ar_pose_updated = True
def main():
rospy.init_node("joint_kinematics")
import sys
def usage():
print("Tests for kdl_parser:\n")
print("kdl_parser <urdf file>")
print("\tLoad the URDF from file.")
print("kdl_parser")
print("\tLoad the URDF from the parameter server.")
sys.exit(1)
if len(sys.argv) > 2:
usage()
if len(sys.argv) == 2 and (sys.argv[1] == "-h" or sys.argv[1] == "--help"):
usage()
if (len(sys.argv) == 1):
robot = URDF.from_parameter_server()
else:
f = file(sys.argv[1], 'r')
robot = Robot.from_xml_string(f.read())
f.close()
if True:
import random
base_link = robot.get_root()
end_link = robot.link_map.keys()[random.randint(
0,
len(robot.link_map) - 1)]
print("Root link: %s; Random end link: %s" % (base_link, end_link))
js_kin = JointKinematics(robot, base_link, end_link)
print("Joint angles:", js_kin.get_joint_angles())
print("Joint angles (wrapped):", js_kin.get_joint_angles(True))
print("Joint velocities:", js_kin.get_joint_velocities())
print("Joint efforts:", js_kin.get_joint_efforts())
print("Jacobian:", js_kin.jacobian())
kdl_pose = js_kin.forward()
print("FK:", kdl_pose)
print("End effector force:", js_kin.end_effector_force())
if True:
import tf
from hrl_geom.pose_converter import PoseConv
tf_list = tf.TransformListener()
rospy.sleep(1)
t = tf_list.getLatestCommonTime(base_link, end_link)
tf_pose = PoseConv.to_homo_mat(
tf_list.lookupTransform(base_link, end_link, t))
print("Error with TF:", np.linalg.norm(kdl_pose - tf_pose))
def main():
rospy.init_node("joint_kinematics")
import sys
def usage():
print("Tests for kdl_parser:\n")
print("kdl_parser <urdf file>")
print("\tLoad the URDF from file.")
print("kdl_parser")
print("\tLoad the URDF from the parameter server.")
sys.exit(1)
if len(sys.argv) > 2:
usage()
if len(sys.argv) == 2 and (sys.argv[1] == "-h" or sys.argv[1] == "--help"):
usage()
if (len(sys.argv) == 1):
robot = URDF.load_from_parameter_server(verbose=False)
else:
robot = URDF.load_xml_file(sys.argv[1], verbose=False)
if True:
import random
base_link = robot.get_root()
end_link = robot.links.keys()[random.randint(0, len(robot.links)-1)]
print "Root link: %s; Random end link: %s" % (base_link, end_link)
js_kin = JointKinematics(robot, base_link, end_link)
print "Joint angles:", js_kin.get_joint_angles()
print "Joint angles (wrapped):", js_kin.get_joint_angles(True)
print "Joint velocities:", js_kin.get_joint_velocities()
print "Joint efforts:", js_kin.get_joint_efforts()
print "Jacobian:", js_kin.jacobian()
kdl_pose = js_kin.forward()
print "FK:", kdl_pose
print "End effector force:", js_kin.end_effector_force()
if True:
import tf
from hrl_geom.pose_converter import PoseConv
tf_list = tf.TransformListener()
rospy.sleep(1)
t = tf_list.getLatestCommonTime(base_link, end_link)
tf_pose = PoseConv.to_homo_mat(tf_list.lookupTransform(base_link, end_link, t))
print "Error with TF:", np.linalg.norm(kdl_pose - tf_pose)
def _ctrl_state_cb(self, ctrl_state):
self._save_ep(PoseConv.to_homo_mat(ctrl_state.x_desi_filtered))
with self.ctrl_state_lock:
self.ctrl_state_dict["frame"] = ctrl_state.header.frame_id
self.ctrl_state_dict["x_desi"] = PoseConv.to_pos_rot(ctrl_state.x_desi)
self.ctrl_state_dict["xd_desi"] = extract_twist(ctrl_state.xd_desi)
self.ctrl_state_dict["x_act"] = PoseConv.to_pos_rot(ctrl_state.x)
self.ctrl_state_dict["xd_act"] = extract_twist(ctrl_state.xd)
self.ctrl_state_dict["x_desi_filt"] = PoseConv.to_pos_rot(
ctrl_state.x_desi_filtered)
self.ctrl_state_dict["x_err"] = extract_twist(ctrl_state.x_err)
self.ctrl_state_dict["tau_pose"] = np.array(ctrl_state.tau_pose)
self.ctrl_state_dict["tau_posture"] = np.array(ctrl_state.tau_posture)
self.ctrl_state_dict["tau"] = np.array(ctrl_state.tau)
self.ctrl_state_dict["F"] = np.array([ctrl_state.F.force.x,
ctrl_state.F.force.y,
ctrl_state.F.force.z,
ctrl_state.F.torque.x,
ctrl_state.F.torque.y,
ctrl_state.F.torque.z])
def command_absolute_cb(self, msg):
if self.arm is None:
rospy.logwarn("[cartesian_manager] Cartesian controller not enabled.")
return
self.cart_ctrl.stop_moving(wait=True)
if msg.header.frame_id == "":
msg.header.frame_id = "torso_lift_link"
if self.kin is None or msg.header.frame_id not in self.kin.get_link_names():
self.kin = create_joint_kin("torso_lift_link", msg.header.frame_id)
torso_pos_ep, torso_rot_ep = self.arm.get_ep()
torso_B_ref = self.kin.forward(base_link="torso_lift_link",
end_link=msg.header.frame_id)
ref_B_goal = PoseConv.to_homo_mat(msg)
torso_B_goal = torso_B_ref * ref_B_goal
change_pos, change_rot = PoseConv.to_pos_rot(torso_B_goal)
change_pos_xyz = change_pos.T.A[0]
rospy.loginfo("[cartesian_manager] Command absolute movement." +
str((change_pos_xyz, change_rot)))
self.cart_ctrl.execute_cart_move((change_pos_xyz, change_rot), ((1, 1, 1), 1),
velocity=self.velocity, blocking=True)
def get_ell_pose(self, pose):
torso_B_kinect = self.kin_head.forward(base_link="/torso_lift_link")
torso_B_ee = PoseConv.to_homo_mat(pose)
kinect_B_ee = torso_B_kinect**-1 * torso_B_ee
ell_B_pose = self.get_ell_frame(self.kinect_frame)**-1 * kinect_B_ee
return self.ell_space.pose_to_ellipsoidal(ell_B_pose)
def __init__(self):
# Read parameters to configure the node
tf_publish_rate = read_parameter('~tf_publish_rate', 50.)
tf_period = 1. / tf_publish_rate if tf_publish_rate > 0 else float(
'inf')
parent_frame = read_parameter('~parent_frame', 'world')
optitrack_frame = read_parameter('~optitrack_frame', 'optitrack')
rigid_bodies = read_parameter('~rigid_bodies', dict())
names = []
ids = []
for name, value in rigid_bodies.items():
names.append(name)
ids.append(value)
# Setup Publishers
pose_pub = rospy.Publisher('/optitrack/rigid_bodies',
RigidBodyArray,
queue_size=3)
# Setup TF listener and broadcaster
tf_listener = tf.TransformListener()
tf_broadcaster = tf.TransformBroadcaster()
# Connect to the optitrack system
iface = read_parameter('~iface', 'eth1')
version = (2, 9, 0, 0) # the latest SDK version
optitrack = rx.mkdatasock(ip_address=get_ip_address(iface))
rospy.loginfo('Successfully connected to optitrack')
# Get transformation from the world to optitrack frame
(parent, child) = (parent_frame, optitrack_frame)
try:
now = rospy.Time.now() + rospy.Duration(1.0)
tf_listener.waitForTransform(parent, child, now,
rospy.Duration(5.0))
(pos, rot) = tf_listener.lookupTransform(parent, child, now)
wTo = PoseConv.to_homo_mat(pos, rot)
except (tf.Exception, tf.LookupException, tf.ConnectivityException):
rospy.logwarn('Failed to get transformation from %r to %r frame' %
(parent, child))
parent_frame = optitrack_frame
wTo = np.eye(4)
# Track up to 24 rigid bodies
prevtime = np.ones(24) * rospy.get_time()
while not rospy.is_shutdown():
try:
data = optitrack.recv(rx.MAX_PACKETSIZE)
except socket.error:
if rospy.is_shutdown(): # exit gracefully
return
else:
rospy.logwarn('Failed to receive packet from optitrack')
packet = rx.unpack(data, version=version)
if type(packet) is rx.SenderData:
version = packet.natnet_version
rospy.loginfo('NatNet version received: ' + str(version))
if type(packet) in [rx.SenderData, rx.ModelDefs, rx.FrameOfData]:
# Optitrack gives the position of the centroid.
array_msg = RigidBodyArray()
for i, rigid_body in enumerate(packet.rigid_bodies):
body_id = rigid_body.id
pos_opt = np.array(rigid_body.position)
rot_opt = np.array(rigid_body.orientation)
oTr = PoseConv.to_homo_mat(pos_opt, rot_opt)
# Transformation between world frame and the rigid body
wTr = np.dot(wTo, oTr)
array_msg.header.stamp = rospy.Time.now()
array_msg.header.frame_id = parent_frame
body_msg = RigidBody()
pose = Pose()
pose.position = Point(*wTr[:3, 3])
pose.orientation = Quaternion(
*tr.quaternion_from_matrix(wTr))
body_msg.id = body_id
body_msg.tracking_valid = rigid_body.tracking_valid
body_msg.mrk_mean_error = rigid_body.mrk_mean_error
body_msg.pose = pose
for marker in rigid_body.markers:
# TODO: Should transform the markers as well
body_msg.markers.append(Point(*marker))
array_msg.bodies.append(body_msg)
# Control the publish rate for the TF broadcaster
if rigid_body.tracking_valid and (
rospy.get_time() - prevtime[body_id] >= tf_period):
body_name = 'rigid_body_%d' % (body_id)
if body_id in ids:
idx = ids.index(body_id)
body_name = names[idx]
tf_broadcaster.sendTransform(pos_opt, rot_opt,
rospy.Time.now(),
body_name,
optitrack_frame)
prevtime[body_id] = rospy.get_time()
pose_pub.publish(array_msg)
def main():
if len(sys.argv) < 3:
print 'grab_cbs_auto cb_config.yaml output_bag.bag'
return
rospy.init_node("grab_cbs")
f = file(sys.argv[1], 'r')
cb_config = yaml.safe_load(f.read())
print cb_config
f.close()
is_kinect = rospy.get_param("/grab_cbs/is_kinect", True)
# load cb stuff
chessboard = ChessboardInfo()
chessboard.n_cols = cb_config['cols'] # 6
chessboard.n_rows = cb_config['rows'] # 7
chessboard.dim = cb_config['dim'] # 0.0258
calib = Calibrator([chessboard])
bridge = CvBridge()
l = DataListener(is_kinect, bridge, calib)
tf_list = tf.TransformListener()
cb_knowns = []
for j in range(chessboard.n_cols):
for i in range(chessboard.n_rows):
cb_knowns.append((chessboard.dim*i, chessboard.dim*j, 0.0))
bag = rosbag.Bag(sys.argv[2], 'w')
i = 0
while not rospy.is_shutdown():
if raw_input("Press enter to take CB, type 'q' to quit: ") == "q":
break
tries = 0
while not rospy.is_shutdown() and tries < 3:
corners = l.wait_for_new(5.)
if corners is None:
print "No corners detected"
tries += 1
continue
corners_2d = np.uint32(np.round(corners)).tolist()
corners_3d = []
if is_kinect:
for x,y,z in read_points(l.cur_pc, field_names=['x', 'y', 'z'], uvs=corners_2d):
corners_3d.append((x,y,z))
frame_id = l.cur_pc.header
else:
obj_pts = cv.fromarray(np.array(cb_knowns))
img_pts = cv.fromarray(np.array(corners))
K = cv.fromarray(np.reshape(l.cam_info.K,(3,3)))
D = cv.fromarray(np.array([l.cam_info.D]))
R_vec = cv.fromarray(np.zeros((3,1)))
t = cv.fromarray(np.zeros((3,1)))
cv.FindExtrinsicCameraParams2(obj_pts, img_pts, K, D, R_vec, t)
R_mat = cv.fromarray(np.zeros((3,3)))
cv.Rodrigues2(R_vec, R_mat)
T = PoseConv.to_homo_mat(np.mat(np.asarray(t)).T.A.tolist(),
np.mat(np.asarray(R_mat)).A.tolist())
cb_knowns_mat = np.vstack((np.mat(cb_knowns).T, np.mat(np.ones((1, len(cb_knowns))))))
corners_3d = np.array((T * cb_knowns_mat)[:3,:].T)
frame_id = l.cur_img.header
print corners_3d
if np.any(np.isnan(corners_3d)):
print "Pointcloud malformed"
tries += 1
continue
now = rospy.Time.now()
corners_pc = create_cloud_xyz32(frame_id, corners_3d)
try:
pose = tf_list.lookupTransform('/base_link', '/ee_link', rospy.Time(0))
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
print "TF screwed up..."
continue
bag.write("/pose", PoseConv.to_pose_stamped_msg('/base_link', pose), now)
bag.write("/pc", corners_pc, now)
print "Wrote pose/CB to bag file"
break
i += 1
bag.close()
def find_zoom_level(self, msg, cam_info, clean_joints):
if cam_info != None:
T1W = self.psm1_kin.forward(clean_joints['psm1'].position)
T2W = self.psm2_kin.forward(clean_joints['psm2'].position)
TEW = self.ecm_kin.forward(clean_joints['ecm'].position)
TEW_inv = numpy.linalg.inv(TEW)
T1W_inv = numpy.linalg.inv(T1W)
T2W_inv = numpy.linalg.inv(T2W)
mid_point = (T1W[0:4,3] + T2W[0:4,3])/2
p1 = T1W[0:4,3]
p2 = T2W[0:4,3]
T2E = TEW_inv * T2W
# ig = image_geometry.PinholeCameraModel()
ig = image_geometry.StereoCameraModel()
ig.fromCameraInfo(cam_info['right'], cam_info['left'])
# Format in fakecam.launch: x y z yaw pitch roll [fixed-axis rotations: x(roll),y(pitch),z(yaw)]
# Format for PoseConv.to_homo_mat: (x,y,z) (roll, pitch, yaw) [fixed-axis rotations: x(roll),y(pitch),z(yaw)]
r = PoseConv.to_homo_mat( [ (0.0, 0.0, 0.0), (0.0, 0.0, 1.57079632679) ])
r_inv = numpy.linalg.inv(r);
# r = numpy.linalg.inv(r)
self.logerror( r.__str__())
# rotate_vector = lambda x: (r * numpy.array([ [x[0]], [x[1]], [x[2]], [1] ]) )[0:3,3]
self.add_marker(T2W, '/left_arm', scale=[.002,.002,.002])
l1, r1 = ig.project3dToPixel( ( r_inv * TEW_inv * T1W )[0:3,3]) # tool1 left and right pixel positions
l2, r2 = ig.project3dToPixel( ( r_inv * TEW_inv * T2W )[0:3,3]) # tool2 left and right pixel positions
lm, rm = ig.project3dToPixel( ( r_inv * TEW_inv * mid_point)[0:3,0]) # midpoint left and right pixel positions
# add_100 = lambda x : (x[0] *.5 + cam_info.width/2, x[1])
# l1 = add_100(l1)
# l2 = add_100(l2)
# lm = add_100(lm)
self.zoom_level_positions = {'l1':l1, 'r1':r1, 'l2':l2, 'r2':r2, 'lm':lm, 'rm':rm}
test1_l, test1_r = ig.project3dToPixel( [1,0,0])
test2_l, test2_r = ig.project3dToPixel( [0,0,1])
self.logerror('\ntest1_l = ' + test1_l.__str__() + '\ntest2_l = ' + test2_l.__str__() )
# logerror('xm=%f,'%lm[0] + 'ym=%f'%lm[1])
msg.position[3] = 0
# zoom_percentage = zoom_fitness(cam_info=cam_info, mid_point=[xm, ym], inner_margin=.20,
# deadzone_margin= .70, tool_point= [x1,y1])
zoom_percentage = self.zoom_fitness2(cam_info['left'], mid_point=lm, tool_point=l1,
tool_point2=l2, radius=.1, deadzone_radius=.01)
msg.position[2] = msg.position[2] + zoom_percentage
if msg.position[2] < 0 : # minimum 0
msg.position[2] = 0.00
elif msg.position[2] > .21: # maximum .23
msg.position[2] = .21
return msg
def __init__(self):
# Read parameters to configure the node
tf_publish_rate = read_parameter('~tf_publish_rate', 50.)
tf_period = 1. / tf_publish_rate if tf_publish_rate > 0 else float(
'inf')
parent_frame = read_parameter('~parent_frame', 'world')
optitrack_frame = read_parameter('~optitrack_frame', 'optitrack')
rigid_bodies = read_parameter('~rigid_bodies', dict())
names = []
ids = []
for name, value in rigid_bodies.items():
names.append(name)
ids.append(value)
# Setup Publishers
pose_pub = rospy.Publisher('/optitrack/rigid_bodies',
RigidBodyArray,
queue_size=3)
# Setup TF listener and broadcaster
tf_listener = tf.TransformListener()
tf_broadcaster = tf.TransformBroadcaster()
# Connect to the optitrack system
iface = read_parameter('~iface', 'eth0') #('~iface', 'eth1')
version = (2, 7, 0, 0) # the latest SDK version
#IPython.embed()
#optitrack = rx.mkdatasock(ip_address=get_ip_address(iface))
#Modified by Nikhil
# optitrack = rx.mkdatasock(ip_address=iface)
optitrack = rx.mkcmdsock(ip_address=iface)
msg = struct.pack("I", rx.NAT_PING)
server_address = '10.0.0.1' #'192.168.1.205'
result = optitrack.sendto(msg, (server_address, rx.PORT_COMMAND))
rospy.loginfo('Successfully connected to optitrack')
# Get transformation from the world to optitrack frame
(parent, child) = (parent_frame, optitrack_frame)
try:
now = rospy.Time.now() + rospy.Duration(1.0)
tf_listener.waitForTransform(parent, child, now,
rospy.Duration(5.0))
(pos, rot) = tf_listener.lookupTransform(parent, child, now)
wTo = PoseConv.to_homo_mat(pos, rot)
except (tf.Exception, tf.LookupException, tf.ConnectivityException):
rospy.logwarn('Failed to get transformation from %r to %r frame' %
(parent, child))
parent_frame = optitrack_frame
wTo = np.eye(4)
# Track up to 24 rigid bodies
prevtime = np.ones(24) * rospy.get_time()
# IPython.embed()
rospy.loginfo('Successfully got transformation')
while not rospy.is_shutdown():
try:
data = optitrack.recv(rx.MAX_PACKETSIZE)
# data, address = optitrack.recvfrom(rx.MAX_PACKETSIZE + 4)
except socket.error:
if rospy.is_shutdown(): # exit gracefully
return
else:
rospy.logwarn('Failed to receive packet from optitrack')
msgtype, packet = rx.unpack(data, version=version)
if type(packet) is rx.SenderData:
version = packet.natnet_version
rospy.loginfo('NatNet version received: ' + str(version))
if type(packet) in [rx.SenderData, rx.ModelDefs, rx.FrameOfData]:
# Optitrack gives the position of the centroid.
array_msg = RigidBodyArray()
# IPython.embed()
if msgtype == rx.NAT_FRAMEOFDATA:
# IPython.embed()
for i, rigid_body in enumerate(packet.rigid_bodies):
body_id = rigid_body.id
pos_opt = np.array(rigid_body.position)
rot_opt = np.array(rigid_body.orientation)
oTr = PoseConv.to_homo_mat(pos_opt, rot_opt)
# Transformation between world frame and the rigid body
wTr = np.dot(wTo, oTr)
array_msg.header.stamp = rospy.Time.now()
array_msg.header.frame_id = parent_frame
body_msg = RigidBody()
pose = Pose()
pose.position = Point(*wTr[:3, 3])
pose.orientation = Quaternion(
*tr.quaternion_from_matrix(wTr))
body_msg.id = body_id
body_msg.tracking_valid = rigid_body.tracking_valid
body_msg.mrk_mean_error = rigid_body.mrk_mean_error
body_msg.pose = pose
for marker in rigid_body.markers:
# TODO: Should transform the markers as well
body_msg.markers.append(Point(*marker))
array_msg.bodies.append(body_msg)
# Control the publish rate for the TF broadcaster
if rigid_body.tracking_valid and (
rospy.get_time() - prevtime[body_id] >=
tf_period):
body_name = 'rigid_body_%d' % (body_id)
if body_id in ids:
idx = ids.index(body_id)
body_name = names[idx]
tf_broadcaster.sendTransform(
pos_opt, rot_opt, rospy.Time.now(), body_name,
optitrack_frame)
prevtime[body_id] = rospy.get_time()
logFile = open("optitrack_position", "a")
strX = str(array_msg.bodies[0].pose.position.x).decode('utf-8')
strX = strX[2:-2]
strY = str(array_msg.bodies[0].pose.position.y).decode('utf-8')
strY = strY[2:-2]
strZ = str(array_msg.bodies[0].pose.position.z).decode('utf-8')
strZ = strZ[2:-2]
logFile.write(strX)
logFile.write(", ")
logFile.write(strY)
logFile.write(", ")
logFile.write(strZ)
logFile.write("\n")
logFile.close()
pose_pub.publish(array_msg)
try:
fltX = float(strX)
fltY = float(strY)
fltZ = float(strZ)
rospy.loginfo("x: %.4lf | y: %.4lf | z: %.4lf" %
(fltX, fltY, fltZ))
except:
rospy.logwarn('didn\'t read correctly')
logFile = open("optitrack_orientation", "a")
q1 = str(
array_msg.bodies[0].pose.orientation.x).decode('utf-8')
q1 = q1[2:-2]
q2 = str(
array_msg.bodies[0].pose.orientation.y).decode('utf-8')
q2 = q2[2:-2]
q3 = str(
array_msg.bodies[0].pose.orientation.z).decode('utf-8')
q3 = q3[2:-2]
q4 = str(
array_msg.bodies[0].pose.orientation.w).decode('utf-8')
q4 = q4[2:-2]
logFile.write(q1)
logFile.write(", ")
logFile.write(q2)
logFile.write(", ")
logFile.write(q3)
logFile.write(", ")
logFile.write(q4)
logFile.write("\n")
logFile.close()
pose_pub.publish(array_msg)
def get_ell_pose(self, pose):
torso_B_kinect = self.kin_head.forward(base_link="/torso_lift_link")
torso_B_ee = PoseConv.to_homo_mat(pose)
kinect_B_ee = torso_B_kinect**-1 * torso_B_ee
ell_B_pose = self.get_ell_frame(self.kinect_frame)**-1 * kinect_B_ee
return self.ell_space.pose_to_ellipsoidal(ell_B_pose)
def __init__(self):
# Read parameters to configure the node
tf_publish_rate = read_parameter('~tf_publish_rate', 50.)
tf_period = 1. / tf_publish_rate if tf_publish_rate > 0 else float(
'inf')
parent_frame = read_parameter('~parent_frame', 'world')
optitrack_frame = read_parameter('~optitrack_frame', 'optitrack')
rigid_bodies = read_parameter('~rigid_bodies', dict())
names = []
ids = []
for name, value in rigid_bodies.items():
names.append(name)
ids.append(value)
# Setup Publishers
pose_pub = rospy.Publisher('/optitrack/rigid_bodies',
RigidBodyArray,
queue_size=3)
# Setup TF listener and broadcaster
tf_listener = tf.TransformListener()
tf_broadcaster = tf.TransformBroadcaster()
# Connect to the optitrack system
iface = read_parameter('~iface', 'eth1')
version = (2, 7, 0, 0) # the latest SDK version
#IPython.embed()
#optitrack = rx.mkdatasock(ip_address=get_ip_address(iface))
#Modified by Nikhil
# optitrack = rx.mkdatasock(ip_address=iface)
optitrack = rx.mkcmdsock(ip_address=iface)
msg = struct.pack("I", rx.NAT_PING)
server_address = '192.168.1.205'
result = optitrack.sendto(msg, (server_address, rx.PORT_COMMAND))
rospy.loginfo('Successfully connected to optitrack')
# Get transformation from the world to optitrack frame
(parent, child) = (parent_frame, optitrack_frame)
try:
now = rospy.Time.now() + rospy.Duration(1.0)
tf_listener.waitForTransform(parent, child, now,
rospy.Duration(5.0))
(pos, rot) = tf_listener.lookupTransform(parent, child, now)
wTo = PoseConv.to_homo_mat(pos, rot) # return 4x4 numpy mat
except (tf.Exception, tf.LookupException, tf.ConnectivityException):
rospy.logwarn('Failed to get transformation from %r to %r frame' %
(parent, child))
parent_frame = optitrack_frame
wTo = np.eye(4)
# Track up to 24 rigid bodies
prevtime = np.ones(24) * rospy.get_time()
# IPython.embed()
while not rospy.is_shutdown():
try:
# data = optitrack.recv(rx.MAX_PACKETSIZE)
data, address = optitrack.recvfrom(rx.MAX_PACKETSIZE + 4)
except socket.error:
if rospy.is_shutdown(): # exit gracefully
return
else:
rospy.logwarn('Failed to receive packet from optitrack')
msgtype, packet = rx.unpack(data, version=version)
if type(packet) is rx.SenderData:
version = packet.natnet_version
rospy.loginfo('NatNet version received: ' + str(version))
if type(packet) in [rx.SenderData, rx.ModelDefs, rx.FrameOfData]:
# Optitrack gives the position of the centroid.
array_msg = RigidBodyArray()
# IPython.embed()
if msgtype == rx.NAT_FRAMEOFDATA:
# IPython.embed()
for i, rigid_body in enumerate(packet.rigid_bodies):
body_id = rigid_body.id
pos_opt = np.array(rigid_body.position)
rot_opt = np.array(rigid_body.orientation)
# IPython.embed()
oTr = PoseConv.to_homo_mat(pos_opt, rot_opt)
# Transformation between world frame and the rigid body
WTr = np.dot(wTo, oTr)
wTW = np.array([[0, -1, 0, 0], [1, 0, 0, 0],
[0, 0, 1, 0], [0, 0, 0, 1]])
wTr = np.dot(wTW, WTr)
## New Change ##
# Toffset = np.array( [[0, 1, 0, 0],[0, 0, 1, 0],[1, 0, 0, 0],[0, 0, 0, 1]] )
# tf_wTr = np.dot(oTr,Toffset)
# tf_pose = Pose()
# tf_pose.position = Point(*tf_wTr[:3,3])
# tf_pose.orientation = Quaternion(*tr.quaternion_from_matrix(tf_wTr))
# IPython.embed()
array_msg.header.stamp = rospy.Time.now()
array_msg.header.frame_id = parent_frame
body_msg = RigidBody()
pose = Pose()
pose.position = Point(*wTr[:3, 3])
# OTr = np.dot(oTr,Toffset)
# pose.orientation = Quaternion(*tr.quaternion_from_matrix(oTr))
# change 26 Feb. 2017
# get the euler angle we want then compute the new quaternion
euler = tr.euler_from_quaternion(rot_opt)
quaternion = tr.quaternion_from_euler(
euler[2], euler[0], euler[1])
pose.orientation.x = quaternion[0]
pose.orientation.y = quaternion[1]
pose.orientation.z = quaternion[2]
pose.orientation.w = quaternion[3]
body_msg.id = body_id
body_msg.tracking_valid = rigid_body.tracking_valid
body_msg.mrk_mean_error = rigid_body.mrk_mean_error
body_msg.pose = pose
for marker in rigid_body.markers:
# TODO: Should transform the markers as well
body_msg.markers.append(Point(*marker))
array_msg.bodies.append(body_msg)
# Control the publish rate for the TF broadcaster
if rigid_body.tracking_valid and (
rospy.get_time() - prevtime[body_id] >=
tf_period):
body_name = 'rigid_body_%d' % (body_id)
if body_id in ids:
idx = ids.index(body_id)
body_name = names[idx]
## no change ##
# tf_broadcaster.sendTransform(pos_opt, rot_opt, rospy.Time.now(), body_name, optitrack_frame)
# change 1 ##
# pos2 = np.array([tf_pose.position.x, tf_pose.position.y, tf_pose.position.z])
# rot2 = np.array([tf_pose.orientation.x, tf_pose.orientation.y, tf_pose.orientation.z, tf_pose.orientation.w])
# tf_broadcaster.sendTransform(pos2, rot2, rospy.Time.now(), body_name, optitrack_frame)
## change 2 ## <fail>
# pos2 = np.array([-pose.position.y, pose.position.x, pose.position.z])
# rot2 = np.array([-pose.orientation.y, pose.orientation.x, pose.orientation.z, pose.orientation.w])
# tf_broadcaster.sendTransform(pos2, rot2, rospy.Time.now(), body_name, optitrack_frame)
## change 3 ## <fail>
# pos2 = np.array([-pos_opt[1],pos_opt[0],pos_opt[2]])
# rot2 = np.array([-rot_opt[1],rot_opt[0],rot_opt[2],rot_opt[3]])
# tf_broadcaster.sendTransform(pos2, rot2, rospy.Time.now(), body_name, optitrack_frame)
## change 4 ## <>
pos2 = np.array([
pose.position.x, pose.position.y,
pose.position.z
])
rot2 = np.array([
pose.orientation.x, pose.orientation.y,
pose.orientation.z, pose.orientation.w
])
tf_broadcaster.sendTransform(
pos2, rot2, rospy.Time.now(), body_name,
parent_frame)
prevtime[body_id] = rospy.get_time()
pose_pub.publish(array_msg)
def get_ell_frame(self, frame="/torso_lift_link"):
# find the current ellipsoid frame location in this frame
base_B_head = PoseConv.to_homo_mat(self.head_center)
target_B_base = self.kin_head.forward(end_link=frame)
return target_B_base**-1 * base_B_head
def get_ell_frame(self, frame="/torso_lift_link"):
# find the current ellipsoid frame location in this frame
base_B_head = PoseConv.to_homo_mat(self.head_center)
target_B_base = self.kin_head.forward(end_link=frame)
return target_B_base**-1 * base_B_head
def main():
if True:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
d1, a2, a3, d4, d5, d6 = [
0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922
]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi / 2, 0, 0, pi / 2, -pi / 2, 0]
kin = RAVEKinematics()
rospy.init_node("test_ur_ik")
start_time = rospy.get_time()
n = 0
while not rospy.is_shutdown():
q = (np.random.rand(6) - .5) * 4 * pi
x1 = kin.forward(q)
pos, euler = PoseConv.to_pos_euler(x1)
m = np.random.randint(-4, 5)
euler = [euler[0], m * np.pi / 2 + 0., euler[2]]
#euler = [euler[0], 0.*np.pi/2 + m*np.pi, euler[2]]
T = PoseConv.to_homo_mat(pos, euler)
#q[4] = 0.
T = kin.forward(q)
sols = inverse_kin(T, a, d, l)
print m, len(sols)
if False and len(sols) == 0:
print 'wuh', T
sols = inverse_kin(T, a, d, l, True)
if True:
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
#print qsol
#print q
#print Tsol
#print T
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3, 3])
#print ang, dist
if abs(dist) > 1e-5 or abs(ang) > 1e-5:
print 'BAD'
else:
pass
#print 'GOOD'
n += 1
time_diff = rospy.get_time() - start_time
print time_diff, n, n / time_diff
if False:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
d1, a2, a3, d4, d5, d6 = [
0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922
]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi / 2, 0, 0, pi / 2, -pi / 2, 0]
kin = RAVEKinematics()
rospy.init_node("test_ur_ik")
start_time = rospy.get_time()
n = 0
while not rospy.is_shutdown():
q = (np.random.rand(6) - .5) * 4 * pi
T = kin.forward(q)
sols = inverse_kin(T, a, d, l)
#print len(sols)
if False:
print len(sols)
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3, 3])
#print ang, dist
if abs(dist) > 1e-8 or abs(ang) > 1e-8:
print 'BAD'
n += 1
time_diff = rospy.get_time() - start_time
print time_diff, n, n / time_diff
if False:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
q = (np.random.rand(6) - .5) * 4 * pi
d1, a2, a3, d4, d5, d6 = [
0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922
]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi / 2, 0, 0, pi / 2, -pi / 2, 0]
kin = RAVEKinematics()
T = kin.forward(q)
print T
print forward_kin(q, a, d, l)
print q
sols = inverse_kin(T, a, d, l)
for qsol in sols:
Tsol, _ = forward_kin(qsol, a, d, l)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3, 3])
if False:
if abs(dist) > 1e-6:
print '-' * 80
else:
print '+' * 80
print 'T', T
print 'qsol', qsol
print 'q234', np.sum(qsol[1:4])
print 'q5', qsol[4]
print '-sin(q2 + q3 + q4)*sin(q5)', -sin(qsol[1] + qsol[2] +
qsol[3]) * sin(
qsol[4])
print 'z3', T[2, 0]
if abs(dist) > 1e-6:
print '-' * 80
else:
print '+' * 80
print ang, dist
print np.sort(sols, 0)
print len(sols)
#unique_sols = np.array(sols)[np.where(np.hstack(([True], np.sum(np.diff(np.sort(sols,0), 1, 0),1) > 0.000)))[0]]
#print unique_sols
#print len(unique_sols)
#print len(np.hstack(([True], np.sum(np.diff(np.sort(sols,0), 1, 0),1) > 0.000)))
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3, 3])
print ang, dist
if abs(dist) > 1e-8:
print 'BAD'
kin.robot.SetDOFValues(np.array([0.] * 6))
rave_sols = kin.manip.FindIKSolutions(T.A, kin.ik_options)
rave_list = []
for qsol in rave_sols:
rave_list.append(np.array(qsol))
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3, 3])
print ang, dist
if abs(dist) > 1e-8:
print 'BAD'
print np.sort(rave_list, 0)
#print diff
#print q
#print qsol
#print '-'*80
if False:
q = (np.random.rand(3) - 0.5) * 4. * np.pi
T04 = forward_rrr(q)
print T04
qs = inverse_rrr(T04)
print qs
print T04**-1 * forward_rrr(qs[0])
print T04**-1 * forward_rrr(qs[1])
#!/usr/bin/python
import numpy as np
import roslib
roslib.load_manifest("hrl_geom")
import rospy
from hrl_geom.pose_converter import PoseConv
if __name__ == "__main__":
rospy.init_node("test_poseconv")
homo_mat = PoseConv.to_homo_mat([0., 1., 2.], [0., 0., np.pi/2])
pose_msg = PoseConv.to_pose_msg(homo_mat)
pos, quat = PoseConv.to_pos_quat(pose_msg)
pose_stamped_msg = PoseConv.to_pose_stamped_msg("/base_link", pos, quat)
pose_stamped_msg2 = PoseConv.to_pose_stamped_msg("/base_link", [pos, quat])
tf_stamped = PoseConv.to_tf_stamped_msg("/new_link", pose_stamped_msg)
p, R = PoseConv.to_pos_rot("/new_link", tf_stamped)
for name in ["homo_mat", "pose_msg", "pos", "quat", "pose_stamped_msg",
"pose_stamped_msg2", "tf_stamped", "p", "R"]:
print "%s: \n" % name, locals()[name]
def main():
if True:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
d1, a2, a3, d4, d5, d6 = [0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi/2, 0, 0, pi/2, -pi/2, 0]
kin = RAVEKinematics()
rospy.init_node("test_ur_ik")
start_time = rospy.get_time()
n = 0
while not rospy.is_shutdown():
q = (np.random.rand(6)-.5)*4*pi
x1 = kin.forward(q)
pos, euler = PoseConv.to_pos_euler(x1)
m = np.random.randint(-4,5)
euler = [euler[0], m*np.pi/2 + 0., euler[2]]
#euler = [euler[0], 0.*np.pi/2 + m*np.pi, euler[2]]
T = PoseConv.to_homo_mat(pos, euler)
#q[4] = 0.
T = kin.forward(q)
sols = inverse_kin(T,a,d,l)
print m, len(sols)
if False and len(sols) == 0:
print 'wuh', T
sols = inverse_kin(T,a,d,l,True)
if True:
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
#print qsol
#print q
#print Tsol
#print T
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3,3])
#print ang, dist
if abs(dist) > 1e-5 or abs(ang) > 1e-5:
print 'BAD'
else:
pass
#print 'GOOD'
n += 1
time_diff = rospy.get_time() - start_time
print time_diff, n, n/time_diff
if False:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
d1, a2, a3, d4, d5, d6 = [0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi/2, 0, 0, pi/2, -pi/2, 0]
kin = RAVEKinematics()
rospy.init_node("test_ur_ik")
start_time = rospy.get_time()
n = 0
while not rospy.is_shutdown():
q = (np.random.rand(6)-.5)*4*pi
T = kin.forward(q)
sols = inverse_kin(T,a,d,l)
#print len(sols)
if False:
print len(sols)
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3,3])
#print ang, dist
if abs(dist) > 1e-8 or abs(ang) > 1e-8:
print 'BAD'
n += 1
time_diff = rospy.get_time() - start_time
print time_diff, n, n/time_diff
if False:
#q = [ 4.07545758, 5.71643082, -4.57552159, -2.79061482, -3.17069678, 1.42865389]
q = (np.random.rand(6)-.5)*4*pi
d1, a2, a3, d4, d5, d6 = [0.1273, -0.612, -0.5723, 0.163941, 0.1157, 0.0922]
a = [0, a2, a3, 0, 0, 0]
d = [d1, 0, 0, d4, d5, d6]
l = [pi/2, 0, 0, pi/2, -pi/2, 0]
kin = RAVEKinematics()
T = kin.forward(q)
print T
print forward_kin(q,a,d,l)
print q
sols = inverse_kin(T,a,d,l)
for qsol in sols:
Tsol, _ = forward_kin(qsol, a, d, l)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3,3])
if False:
if abs(dist) > 1e-6:
print '-'*80
else:
print '+'*80
print 'T', T
print 'qsol', qsol
print 'q234', np.sum(qsol[1:4])
print 'q5', qsol[4]
print '-sin(q2 + q3 + q4)*sin(q5)', -sin(qsol[1] + qsol[2] + qsol[3])*sin(qsol[4])
print 'z3', T[2,0]
if abs(dist) > 1e-6:
print '-'*80
else:
print '+'*80
print ang, dist
print np.sort(sols,0)
print len(sols)
#unique_sols = np.array(sols)[np.where(np.hstack(([True], np.sum(np.diff(np.sort(sols,0), 1, 0),1) > 0.000)))[0]]
#print unique_sols
#print len(unique_sols)
#print len(np.hstack(([True], np.sum(np.diff(np.sort(sols,0), 1, 0),1) > 0.000)))
for qsol in sols:
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3,3])
print ang, dist
if abs(dist) > 1e-8:
print 'BAD'
kin.robot.SetDOFValues(np.array([0.]*6))
rave_sols = kin.manip.FindIKSolutions(T.A, kin.ik_options)
rave_list = []
for qsol in rave_sols:
rave_list.append(np.array(qsol))
#Tsol, _ = forward_kin(qsol, a, d, l)
Tsol = kin.forward(qsol)
diff = Tsol**-1 * T
ang, _, _ = mat_to_ang_axis_point(diff)
dist = np.linalg.norm(diff[:3,3])
print ang, dist
if abs(dist) > 1e-8:
print 'BAD'
print np.sort(rave_list,0)
#print diff
#print q
#print qsol
#print '-'*80
if False:
q = (np.random.rand(3)-0.5)*4.*np.pi
T04 = forward_rrr(q)
print T04
qs = inverse_rrr(T04)
print qs
print T04**-1 * forward_rrr(qs[0])
print T04**-1 * forward_rrr(qs[1])
#import roslib; roslib.load_manifest("hrl_geom")
from hrl_geom.pose_converter import PoseConv
pos_euler = [[0.1, 0.2, 0.3], [0.3, 0., 0.]]
twist_msg = PoseConv.to_twist_msg(pos_euler)
print twist_msg
#linear:
# x: 0.1
# y: 0.2
# z: 0.3
#angular:
# x: 0.3
# y: 0.0
# z: 0.0
homo_mat = PoseConv.to_homo_mat(twist_msg)
print homo_mat
#[[ 1. 0. 0. 0.1 ]
# [ 0. 0.95533649 -0.29552021 0.2 ]
# [-0. 0.29552021 0.95533649 0.3 ]
# [ 0. 0. 0. 1. ]]
[pos, rot] = homo_mat[:3, 3], homo_mat[:3, :3]
tf_stamped_msg = PoseConv.to_tf_stamped_msg("base_link", pos, rot)
print tf_stamped_msg
#header:
# seq: 0
# stamp:
# secs: 1341611677
# nsecs: 579762935
# frame_id: base_link
#child_frame_id: ''
#transform:
