def __init__(self):
super().__init__()
self.victor = Victor()
self.gripper_points_service = rospy.Service(
"get_dual_gripper_points", GetDualGripperPoints,
self.get_dual_gripper_points_cb)
self.tf_wrapper = TF2Wrapper()
def main():
rospy.init_node("manual_motion")
use_left_arm = rospy.get_param("~use_left_arm", True)
use_right_arm = rospy.get_param("~use_right_arm", True)
victor = Victor()
if use_left_arm:
rospy.loginfo("initializing left arm ...")
victor.set_left_arm_control_mode(ControlMode.JOINT_IMPEDANCE)
rospy.loginfo("done")
else:
rospy.loginfo("not using left arm")
if use_right_arm:
rospy.loginfo("initializing right arm ...", )
victor.set_right_arm_control_mode(ControlMode.JOINT_IMPEDANCE)
rospy.loginfo("done")
else:
rospy.loginfo("not using right arm")
left = None
right = None
if use_left_arm:
left = ManualMotion("left_arm")
if use_right_arm:
right = ManualMotion("right_arm")
rospy.on_shutdown(lambda: print_joints(left, right))
rospy.loginfo("Running")
rospy.spin()
def main():
ros_init.rospy_and_cpp_init("test_jacobain_follower")
v = Victor()
v.plan_to_pose("left_arm",
"left_tool_placeholder",
target_pose=[0.7, 0.3, 0.8, np.pi, 0, 0])
current_pose = v.get_link_pose("left_arm", "left_tool_placeholder")
for pos in xy_spiral(current_pose.position, radius=0.5, n_steps=200):
v.follow_jacobian_to_position("left_arm", ['left_tool_placeholder'],
[[pos]],
vel_scaling=0.05)
ros_init.shutdown()
def get_moveit_robot(robot_namespace: Optional[str] = None):
default = 'victor'
if robot_namespace is None:
if rospy.has_param("robot_namespace"):
robot_namespace = rospy.get_param("robot_namespace")
elif rospy.get_namespace() != "/":
robot_namespace = rospy.get_namespace().strip("/")
else:
rospy.logwarn(f"using default robot_namespace {default}")
robot_namespace = default
if robot_namespace == 'victor':
return Victor(robot_namespace)
elif robot_namespace in ['val', 'hdt_michigan']:
return Val(robot_namespace)
else:
raise NotImplementedError(
f"robot with namespace {robot_namespace} not implemented")
def main():
np.set_printoptions(suppress=True, precision=0, linewidth=200)
colorama.init(autoreset=True)
rospy_and_cpp_init("victor_ipython")
victor = Victor()
victor.connect()
victor.close_left_gripper()
victor.open_left_gripper()
victor.close_right_gripper()
victor.open_right_gripper()
ipdb.set_trace()
roscpp_initializer.shutdown()
def main():
np.set_printoptions(suppress=True, precision=0, linewidth=200)
colorama.init(autoreset=True)
rospy_and_cpp_init("basic_motion")
victor = Victor()
victor.connect()
victor.open_left_gripper()
rospy.sleep(2)
victor.close_left_gripper()
rospy.sleep(2)
victor.open_right_gripper()
rospy.sleep(2)
victor.close_right_gripper()
rospy.sleep(2)
print("press enter if prompted")
# # Plan to joint config
myinput("Plan to joint config?")
victor.plan_to_joint_config(victor.right_arm_group, [0.35, 1, 0.2, -1, 0.2, -1, 0])
#
# # Plan to pose
myinput("Plan to pose 1?")
victor.plan_to_pose(victor.right_arm_group, victor.right_tool_name, [0.6, -0.2, 1.0, 4, 1, 0])
# Or you can use a geometry msgs Pose
myinput("Plan to pose 2?")
pose = Pose()
pose.position.x = 0.7
pose.position.y = -0.2
pose.position.z = 1.0
q = quaternion_from_euler(np.pi, 0, 0)
pose.orientation.x = q[0]
pose.orientation.y = q[1]
pose.orientation.z = q[2]
pose.orientation.w = q[3]
victor.plan_to_pose(victor.right_arm_group, victor.right_tool_name, pose)
# # Or with cartesian planning
myinput("Cartersian motion back to pose 3?")
victor.plan_to_position_cartesian(victor.right_arm_group, victor.right_tool_name, [0.9, -0.4, 0.9], step_size=0.01)
victor.plan_to_position_cartesian(victor.right_arm_group, victor.right_tool_name, [0.7, -0.4, 0.9], step_size=0.01)
# Move hand straight works either with jacobian following
myinput("Follow jacobian to pose 2?")
victor.store_current_tool_orientations([victor.right_tool_name])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[0.7, -0.4, 0.6]]])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[0.8, -0.4, 1.0]]])
victor.follow_jacobian_to_position(victor.right_arm_group, [victor.right_tool_name], [[[1.1, -0.4, 0.9]]])
victor.follow_jacobian_to_position(group_name=victor.right_arm_group,
tool_names=[victor.right_tool_name],
preferred_tool_orientations=[quaternion_from_euler(np.pi, 0, 0)],
points=[[[1.1, -0.2, 0.8]]])
roscpp_initializer.shutdown()
def __init__(self):
super().__init__('victor')
# FIXME: lazy construction
self.victor = Victor()
class DualArmRealVictorRopeScenario(BaseDualArmRopeScenario):
COLOR_IMAGE_TOPIC = "/kinect2_victor_head/qhd/image_color_rect"
DEPTH_IMAGE_TOPIC = "/kinect2_victor_head/qhd/image_depth_rect"
def __init__(self):
super().__init__('victor')
# FIXME: lazy construction
self.victor = Victor()
def on_before_data_collection(self, params: Dict):
left_res, right_res = self.victor.base_victor.set_control_mode(
ControlMode.JOINT_IMPEDANCE)
if not left_res.success or not right_res.success:
raise RuntimeError("Failed to switch into impedance mode")
current_joint_positions = np.array(
self.robot.get_joint_positions(self.robot.get_both_arm_joints()))
near_start = np.max(
np.abs(
np.array(params['reset_joint_config']) -
current_joint_positions)) < 0.02
grippers_are_closed = self.victor.base_victor.is_left_gripper_closed(
) and self.victor.base_victor.is_right_gripper_closed()
if not near_start or not grippers_are_closed:
# let go
self.robot.open_left_gripper()
# move to init positions
self.robot.plan_to_joint_config("both_arms",
params['reset_joint_config'])
self.robot.speak("press enter to close grippers")
input("press enter to close grippers")
self.robot.speak("press enter to begin")
input("press enter to begin")
def on_after_data_collection(self, params):
self.victor.speak(
"Phew, I'm done. That was a lot of work! I feel like I've learned so much already."
)
def get_state(self):
# TODO: this should be composed of function calls to get_state for arm_no_rope and get_state for rope?
joint_state = self.robot.joint_state_listener.get()
left_gripper_position, right_gripper_position = self.robot.get_gripper_positions(
)
color_depth_cropped = self.get_rgbd()
# rope_state_vector = self.get_rope_state()
return {
'joint_positions': joint_state.position,
'joint_names': joint_state.name,
'left_gripper': ros_numpy.numpify(left_gripper_position),
'right_gripper': ros_numpy.numpify(right_gripper_position),
'rgbd': color_depth_cropped,
# 'rope': np.array(rope_state_vector, np.float32),
}
def states_description(self) -> Dict:
n_joints = self.robot.get_n_joints()
return {
'left_gripper': 3,
'right_gripper': 3,
# 'rope': FloatingRopeScenario.n_links * 3,
'joint_positions': n_joints,
'rgbd': self.IMAGE_H * self.IMAGE_W * 4,
}
This moves Victor's arms to a configuration where impedance validations tends to work well.
if you want to actually change the control mode, not just move to the position, set "_actually_switch:=true"
"""
import colorama
from colorama import Fore
import rospy
from arm_robots.victor import Victor
if __name__ == "__main__":
colorama.init(autoreset=True)
rospy.init_node("move_to_impedance_switch")
rospy.logwarn("Make sure you set up a conservative set of obstacles in gazebo")
rospy.logwarn("View the planning scene in RViz to see what the planner is aware of")
k = input("Did you set up a conservative set of obstacles in gazebo? [y/N]")
if k == 'Y' or k == 'y':
rospy.loginfo(Fore.CYAN + "you better not be lying...")
victor = Victor(robot_namespace='victor')
victor.connect()
actually_switch = rospy.get_param("~actually_switch", False)
if actually_switch:
rospy.loginfo("switching to impedance mode")
victor.move_to_impedance_switch(actually_switch=actually_switch)
rospy.loginfo("Done")
else:
rospy.loginfo("Answered 'no', aborting")