def follow_joint_trajectory(self, traj):
traj = np.r_[np.atleast_2d(self.get_joint_positions()), traj]
for i in [2,4,6]:
traj[:,i] = np.unwrap(traj[:,i])
times = retiming.retime_with_vel_limits(traj, self.vel_limits)
times_up = np.arange(0,times[-1],.1)
traj_up = mu.interp2d(times_up, times, traj)
vels = ku.get_velocities(traj_up, times_up, .001)
self.follow_timed_joint_trajectory(traj_up, vels, times_up)
def follow_joint_trajectory(self, traj):
traj = np.r_[np.atleast_2d(self.get_joint_positions()), traj]
for i in [2,4,6]:
traj[:,i] = np.unwrap(traj[:,i])
times = retiming.retime_with_vel_limits(traj, self.vel_limits)
times_up = np.arange(0,times[-1],.1)
traj_up = mu.interp2d(times_up, times, traj)
vels = resampling.get_velocities(traj_up, times_up, .001)
self.follow_timed_joint_trajectory(traj_up, vels, times_up)
def retime_hmats(lhmats, rhmats, max_cart_vel=.02, upsample_time=.1):
"""
retimes hmats (4x4 transforms) for left and right grippers
"""
assert len(lhmats) == len(rhmats)
cart_traj = np.empty((len(rhmats), 6))
for i in xrange(len(lhmats)):
cart_traj[i,:3] = lhmats[i][:3,3]
cart_traj[i,3:] = rhmats[i][:3,3]
times = retiming.retime_with_vel_limits(cart_traj, np.repeat(max_cart_vel, 6))
times_up = np.linspace(0, times[-1], times[-1]/upsample_time) if times[-1] > upsample_time else times
lhmats_up = resampling.interp_hmats(times_up, times, lhmats)
rhmats_up = resampling.interp_hmats(times_up, times, rhmats)
return (lhmats_up, rhmats_up)
def retime_traj(robot, inds, traj, max_cart_vel=.02, upsample_time=.1):
"""retime a trajectory so that it executes slowly enough for the simulation"""
cart_traj = np.empty((len(traj), 6))
leftarm, rightarm = robot.GetManipulator("leftarm"), robot.GetManipulator("rightarm")
with robot:
for i in range(len(traj)):
robot.SetDOFValues(traj[i], inds)
cart_traj[i,:3] = leftarm.GetTransform()[:3,3]
cart_traj[i,3:] = rightarm.GetTransform()[:3,3]
times = retiming.retime_with_vel_limits(cart_traj, np.repeat(max_cart_vel, 6))
times_up = np.linspace(0, times[-1], times[-1]/upsample_time) if times[-1] > upsample_time else times
traj_up = math_utils.interp2d(times_up, times, traj)
return traj_up
def retime_hmats(lhmats, rhmats, max_cart_vel=.02, upsample_time=.1):
"""
retimes hmats (4x4 transforms) for left and right grippers
"""
assert len(lhmats) == len(rhmats)
cart_traj = np.empty((len(rhmats), 6))
for i in xrange(len(lhmats)):
cart_traj[i, :3] = lhmats[i][:3, 3]
cart_traj[i, 3:] = rhmats[i][:3, 3]
times = retiming.retime_with_vel_limits(cart_traj,
np.repeat(max_cart_vel, 6))
times_up = np.linspace(
0, times[-1], times[-1] /
upsample_time) if times[-1] > upsample_time else times
lhmats_up = resampling.interp_hmats(times_up, times, lhmats)
rhmats_up = resampling.interp_hmats(times_up, times, rhmats)
return (lhmats_up, rhmats_up)
def exec_traj_maybesim(bodypart2traj, speed_factor=0.5):
if args.animation:
"""
dof_inds = []
trajs = []
for (part_name, traj) in bodypart2traj.items():
manip_name = {"larm":"leftarm","rarm":"rightarm"}[part_name]
dof_inds.extend(Globals.robot.GetManipulator(manip_name).GetArmIndices())
trajs.append(traj)
full_traj = np.concatenate(trajs, axis=1)
Globals.robot.SetActiveDOFs(dof_inds)
animate_traj.animate_traj(full_traj, Globals.robot, restore=False,pause=True)
"""
name2part = {"lgrip":Globals.pr2.lgrip,
"rgrip":Globals.pr2.rgrip,
"larm":Globals.pr2.larm,
"rarm":Globals.pr2.rarm,
"base":Globals.pr2.base}
dof_inds = []
trajs = []
vel_limits = []
for (part_name, traj) in bodypart2traj.items():
manip_name = {"larm":"leftarm","rarm":"rightarm"}[part_name]
vel_limits.extend(name2part[part_name].vel_limits)
dof_inds.extend(Globals.robot.GetManipulator(manip_name).GetArmIndices())
if traj.ndim == 1: traj = traj.reshape(-1,1)
trajs.append(traj)
trajectories = np.concatenate(trajs, 1)
print trajectories.shape
times = retiming.retime_with_vel_limits(trajectories, np.array(vel_limits))
times_up = np.linspace(0, times[-1], int(np.ceil(times[-1]/.1)))
full_traj = mu.interp2d(times_up, times, trajectories)
print full_traj.shape
Globals.robot.SetActiveDOFs(dof_inds)
animate_traj.animate_traj(full_traj, Globals.robot, restore=False,pause=True)
#return True
if args.execution:
pr2_trajectories.follow_body_traj(Globals.pr2, bodypart2traj, speed_factor=speed_factor)
return True
def follow_body_traj(pr2, bodypart2traj, wait=True, base_frame="/base_footprint", speed_factor=1):
rospy.loginfo("following trajectory with bodyparts %s", " ".join(bodypart2traj.keys()))
name2part = {"lgrip": pr2.lgrip, "rgrip": pr2.rgrip, "larm": pr2.larm, "rarm": pr2.rarm, "base": pr2.base}
for partname in bodypart2traj:
if partname not in name2part:
raise Exception("invalid part name %s" % partname)
#### Go to initial positions #######
for (name, part) in name2part.items():
if name in bodypart2traj:
part_traj = bodypart2traj[name]
if name == "lgrip" or name == "rgrip":
part.set_angle(np.squeeze(part_traj)[0])
elif name == "larm" or name == "rarm":
part.goto_joint_positions(part_traj[0])
elif name == "base":
part.goto_pose(part_traj[0], base_frame)
pr2.join_all()
#### Construct total trajectory so we can retime it #######
n_dof = 0
trajectories = []
vel_limits = []
acc_limits = []
bodypart2inds = {}
for (name, part) in name2part.items():
if name in bodypart2traj:
traj = bodypart2traj[name]
if traj.ndim == 1:
traj = traj.reshape(-1, 1)
trajectories.append(traj)
vel_limits.extend(part.vel_limits)
acc_limits.extend(part.acc_limits)
bodypart2inds[name] = range(n_dof, n_dof + part.n_joints)
n_dof += part.n_joints
trajectories = np.concatenate(trajectories, 1)
vel_limits = np.array(vel_limits) * speed_factor
times = retiming.retime_with_vel_limits(trajectories, vel_limits)
times_up = np.linspace(0, times[-1], int(np.ceil(times[-1] / 0.1)))
traj_up = mu.interp2d(times_up, times, trajectories)
#### Send all part trajectories ###########
for (name, part) in name2part.items():
if name in bodypart2traj:
part_traj = traj_up[:, bodypart2inds[name]]
if name == "lgrip" or name == "rgrip":
part.follow_timed_trajectory(times_up, part_traj.flatten())
elif name == "larm" or name == "rarm":
vels = ku.get_velocities(part_traj, times_up, 0.001)
part.follow_timed_joint_trajectory(part_traj, vels, times_up)
elif name == "base":
part.follow_timed_trajectory(times_up, part_traj, base_frame)
if wait:
pr2.join_all()
return True
def follow_body_traj(pr2,
bodypart2traj,
wait=True,
base_frame="/base_footprint",
speed_factor=1):
rospy.loginfo("following trajectory with bodyparts %s",
" ".join(bodypart2traj.keys()))
name2part = {
"lgrip": pr2.lgrip,
"rgrip": pr2.rgrip,
"larm": pr2.larm,
"rarm": pr2.rarm,
"base": pr2.base
}
for partname in bodypart2traj:
if partname not in name2part:
raise Exception("invalid part name %s" % partname)
#### Go to initial positions #######
for (name, part) in name2part.items():
if name in bodypart2traj:
part_traj = bodypart2traj[name]
if name == "lgrip" or name == "rgrip":
part.set_angle(np.squeeze(part_traj)[0])
elif name == "larm" or name == "rarm":
part.goto_joint_positions(part_traj[0])
elif name == "base":
part.goto_pose(part_traj[0], base_frame)
pr2.join_all()
#### Construct total trajectory so we can retime it #######
n_dof = 0
trajectories = []
vel_limits = []
acc_limits = []
bodypart2inds = {}
for (name, part) in name2part.items():
if name in bodypart2traj:
traj = bodypart2traj[name]
if traj.ndim == 1: traj = traj.reshape(-1, 1)
trajectories.append(traj)
vel_limits.extend(part.vel_limits)
acc_limits.extend(part.acc_limits)
bodypart2inds[name] = range(n_dof, n_dof + part.n_joints)
n_dof += part.n_joints
trajectories = np.concatenate(trajectories, 1)
vel_limits = np.array(vel_limits) * speed_factor
times = retiming.retime_with_vel_limits(trajectories, vel_limits)
times_up = np.linspace(0, times[-1], int(np.ceil(times[-1] / .1)))
traj_up = mu.interp2d(times_up, times, trajectories)
#### Send all part trajectories ###########
for (name, part) in name2part.items():
if name in bodypart2traj:
part_traj = traj_up[:, bodypart2inds[name]]
if name == "lgrip" or name == "rgrip":
part.follow_timed_trajectory(times_up, part_traj.flatten())
elif name == "larm" or name == "rarm":
vels = ku.get_velocities(part_traj, times_up, .001)
part.follow_timed_joint_trajectory(part_traj, vels, times_up)
elif name == "base":
part.follow_timed_trajectory(times_up, part_traj, base_frame)
if wait: pr2.join_all()
return True
