def main():
print('sup')
rospy.init_node('sawyer_kinematics')
print('init')
# rospy.sleep(10)
# init node????
# step 1 determine initial point
# step 2 determine desired endpoint
# in loop now
# step 3 measure force and position
# step 4 determine force we need to apply to push towards desired endpoint
# step 5 convert force to joint torques with Jacobian
# step 6 command joint torques
# end of loop
r = rospy.Rate(200)
limb = Limb()
kin = sawyer_kinematics('right')
#step 1
pose = limb.endpoint_pose()
point = pose.get('position')
quaternion = pose.get('orientation') # both are 3x
#step 2
path = np.array([.1, 0, 0])
des_point = point + path
des_quaternion = quaternion
path_dir = normalize(path)
#step 3
#stiffness
alpha = 1 #multiplier
while not rospy.is_shutdown() and error > tol:
#step 3
force = get_end_force(limb)
# print("force is:", force)
f_mag = force_mag(force)
f_dir = force_dir(force)
#step 4
f_right = proj(path, force) * path_dir
f_wrong = force - f_right
force_apply = f_right * alpha - f_wrong * K
force_apply = np.hstack((force_apply, np.array([0, 0, 0])))
# print('force_apply is:', force_apply)
#step 5
Jt = kin.jacobian_transpose()
joint_torques = np.dot(Jt, force_apply) #make sure right dims
joint_torques = np.asarray(joint_torques)
joint_torques = np.array([[0, 0, 0, 0, 0, 0, 0]])
# print('set joints as:', joint_torques[0])
set_torques = joint_array_to_dict(joint_torques[0], limb)
print(set_torques)
print()
#step 6
# limb.set_joint_torques(set_torques)
cur_point = limb.endpoint_pose().get('position')
error = np.linalg.norm(des_point - cur_point)
r.sleep()
def main():
try:
rospy.init_node('avalos_limb_py')
limb = Limb()
print "Joint Name:"
print limb.joint_names()
print "\n" + "Joint Angles:"
print limb.joint_angles()
print "\n" + "Joint Velocities:"
print limb.joint_velocities()
print "\n" + "Endpoint Pose:"
print limb.endpoint_pose()
print "\n" + "Endpoint Velocity:"
print limb.endpoint_velocity()
except rospy.ROSInterruptException:
rospy.logerr(
'Keyboard interrupt detected from the user. Exiting before trajectory completion.'
)
def main():
rospy.init_node('testing_node')
limb = Limb('right')
print('yay')
# r = rospy.Rate(1000)
# limb.set_command_timeout(.1)
wrench = limb.endpoint_effort()
force = wrench['force']
mag = force_mag(force)
force_2d_dir = normalize(
proj(force, normalize([1, 1, 0])) * normalize([force[0], force[1], 0]))
rotation_matrix = np.matrix([[np.cos(np.pi / 2), -np.sin(np.pi / 2), 0],
[np.sin(np.pi / 2),
np.cos(np.pi / 2), 0], [0, 0, 1]])
force_base_frame = rotation_matrix * np.reshape(force_2d_dir, (3, 1))
force_base_frame[0] = -force_base_frame[0]
force_base_frame = np.array(force_base_frame).flatten()
print("force_base_frame: ", force_base_frame)
print("force_base_frame: ", type(force_base_frame))
# print(force_2d_dir)
cur_pos = limb.endpoint_pose().get('position')
print("force: ", force)
print("force 2d dir", type(force_2d_dir))
def main():
rospy.init_node("get_arm_pose")
arm = Limb()
tf_listener = tf.TransformListener()
armpose = arm.endpoint_pose()
quat_arr = armpose['orientation']
print("position is {}".format(armpose['position']))
print("\n")
print("orientation is {}".format(quat_arr))
# euler_angles = euler_from_quaternion(quat_arr, 'sxyz')
# print("The euler angles are {}".format(euler_angles))
#joints = arm.joint_angles()
#print(joints)
# rate = rospy.Rate(10.0)
# while not rospy.is_shutdown():
# try:
# # (controller_pos, controller_quat) = listener.lookupTransform('world', 'controller', rospy.Time(0))
# (pos, quat) = tf_listener.lookupTransform('world', 'reference/right_hand', rospy.Time(0))
# print("right hand orientation is {}".format(euler_from_quaternion(quat, 'sxyz')))
# except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
# continue
# rate.sleep()
rospy.spin()
def attach_springs(self):
"""
Switches to joint torque mode and attached joint springs to current
joint positions.
"""
# record initial joint angles
self._start_angles = self._limb.joint_angles()
# set control rate
control_rate = rospy.Rate(self._rate)
# for safety purposes, set the control rate command timeout.
# if the specified number of command cycles are missed, the robot
# will timeout and return to Position Control Mode
self._limb.set_command_timeout((1.0 / self._rate) * self._missed_cmds)
limb = Limb()
kin = sawyer_kinematics('right')
pose = limb.endpoint_pose()
point = pose.get('position')
quaternion = pose.get('orientation')
# loop at specified rate commanding new joint torques
while not rospy.is_shutdown():
if not self._rs.state().enabled:
rospy.logerr("Joint torque example failed to meet "
"specified control rate timeout.")
break
self._update_forces(limb, kin, point, quaternion)
control_rate.sleep()
def sendIOT():
#rospy.init_node('avalos_limb_py')
while not rospy.is_shutdown():
limb = Limb()
j_p=limb.joint_angles()
j_v=limb.joint_velocities()
p_p=limb.endpoint_pose()
v_p=limb.endpoint_velocity()
if running_status:
joint_p = {'right_j0': j_p['right_j0'],
'right_j1': j_p['right_j1'],
'right_j2': j_p['right_j2'],
'right_j3': j_p['right_j3'],
'right_j4': j_p['right_j4'],
'right_j5': j_p['right_j5'],
'right_j6': j_p['right_j6']}
joint_v = {'right_j0': j_v['right_j0'],
'right_j1': j_v['right_j1'],
'right_j2': j_v['right_j2'],
'right_j3': j_v['right_j3'],
'right_j4': j_v['right_j4'],
'right_j5': j_v['right_j5'],
'right_j6': j_v['right_j6']}
success = device_client.publishEvent(
"joint_angle",
"json",
{'j_p': joint_p,'j_v': joint_v},
qos=0,
on_publish=my_on_publish_callback())
#print data
time.sleep(0.1)
if not success:
print("Not connected to WatsonIoTP")
def main():
rospy.init_node("parry")
global arm
global listener
arm = Limb()
clash_pub = rospy.Publisher('clash', Float64, queue_size=1)
twist_sub = rospy.Subscriber('/vive/twist1',
TwistStamped,
twist_callback,
queue_size=1)
listener = tf.TransformListener()
old_tracker_pose = 0
# set the end effector twist
sword_twist = Twist()
arm_twist = Twist()
no_twist = Twist()
no_twist.linear.x, no_twist.linear.y, no_twist.linear.z = 0, 0, 0
no_twist.angular.x, no_twist.angular.y, no_twist.angular.z = 0, 0, 0
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
try:
# (controller_pos, controller_quat) = listener.lookupTransform('world', 'controller', rospy.Time(0))
(tracker_pos,
tracker_quat) = listener.lookupTransform('world', 'tracker',
rospy.Time(0))
# get sword pose
(sword_position,
_) = listener.lookupTransform('world', 'sword_tip', rospy.Time(0))
# get arm position
armpose = arm.endpoint_pose()
arm_position = armpose['position']
except (tf.LookupException, tf.ConnectivityException,
tf.ExtrapolationException):
continue
tracker_pos = np.array(tracker_pos)
arm_position = np.array(arm_position)
sword_position = np.array(sword_position)
#offset tracker position so that robot sword meets at mid point
tracker_pos[2] += sword_zoffset
#
displacement = tracker_pos - sword_position
# set velocity in the direction of the displacement
disp_mag = np.linalg.norm(displacement)
clash_pub.publish(disp_mag)
tracker_pos_mag = np.linalg.norm(tracker_pos)
# 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))
arm_twist.linear.x = 0.30 * displacement[0] / disp_mag
arm_twist.linear.y = 0.30 * displacement[1] / disp_mag
arm_twist.linear.z = 0.30 * displacement[2] / disp_mag
arm_twist.angular.x = 0.3 * np.random.choice(end_effector_directions)
arm_twist.angular.y = 0
arm_twist.angular.z = 0
pos_diff = np.linalg.norm(old_tracker_pose) - tracker_pos_mag
print("tracker twist is {}".format(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
move(arm_twist)
if tracker_twist < 0.15:
arm.set_joint_positions(arm.joint_angles())
elif tracker_pos_mag > 1.25:
#pass
arm.set_joint_positions(home_config)
else:
#pass
move(no_twist)
old_tracker_pose = tracker_pos_mag
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.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)
