class ArmInterface(object):
"""
Interface Class for an arm of Franka Panda robot.
Constructor.
:type synchronous_pub: bool
:param synchronous_pub: designates the JointCommand Publisher
as Synchronous if True and Asynchronous if False.
Synchronous Publishing means that all joint_commands publishing to
the robot's joints will block until the message has been serialized
into a buffer and that buffer has been written to the transport
of every current Subscriber. This yields predicable and consistent
timing of messages being delivered from this Publisher. However,
when using this mode, it is possible for a blocking Subscriber to
prevent the joint_command functions from exiting. Unless you need exact
JointCommand timing, default to Asynchronous Publishing (False).
"""
# Containers
@enum.unique
class RobotMode(enum.IntEnum):
"""
Enum class for specifying and retrieving the current robot mode.
"""
# ----- access using parameters name or value
# ----- eg. RobotMode(0).name & RobotMode(0).value
# ----- or RobotMode['ROBOT_MODE_OTHER'].name & RobotMode['ROBOT_MODE_OTHER'].value
ROBOT_MODE_OTHER = 0
ROBOT_MODE_IDLE = 1
ROBOT_MODE_MOVE = 2
ROBOT_MODE_GUIDING = 3
ROBOT_MODE_REFLEX = 4
ROBOT_MODE_USER_STOPPED = 5
ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY = 6
def __init__(self, synchronous_pub=False):
self._params = RobotParams()
self._ns = self._params.get_base_namespace()
self._joint_limits = self._params.get_joint_limits()
joint_names = self._joint_limits.joint_names
if not joint_names:
rospy.logerr("{}: Cannot detect joint names for arm on this "
"robot. Exiting Arm.init().".format(
self.__class__.__name__))
return
self._joint_names = joint_names
self.name = self._params.get_robot_name()
self._joint_angle = dict()
self._joint_velocity = dict()
self._joint_effort = dict()
self._cartesian_pose = dict()
self._cartesian_velocity = dict()
self._cartesian_effort = dict()
self._stiffness_frame_effort = dict()
self._errors = dict()
self._collision_state = False
self._tip_states = None
self._jacobian = None
self._cartesian_contact = None
self._robot_mode = False
self._command_msg = JointCommand()
# neutral pose joint positions
self._neutral_pose_joints = self._params.get_neutral_pose()
self._frames_interface = FrankaFramesInterface()
try:
self._collision_behaviour_interface = CollisionBehaviourInterface()
except rospy.ROSException:
rospy.loginfo(
"{}: Collision Service Not found. It will not be possible to change collision behaviour of robot!"
.format(self.__class__.__name__))
self._collision_behaviour_interface = None
self._ctrl_manager = FrankaControllerManagerInterface(
ns=self._ns, sim=self._params._in_sim)
self._speed_ratio = 0.15
self._F_T_NE = np.eye(1).flatten().tolist()
self._NE_T_EE = np.eye(1).flatten().tolist()
queue_size = None if synchronous_pub else 1
with warnings.catch_warnings():
warnings.simplefilter("ignore")
self._joint_command_publisher = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_commands',
JointCommand,
tcp_nodelay=True,
queue_size=queue_size)
self._pub_joint_cmd_timeout = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_command_timeout',
Float64,
latch=True,
queue_size=10)
self._robot_state_subscriber = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/robot_state',
RobotState,
self._on_robot_state,
queue_size=1,
tcp_nodelay=True)
joint_state_topic = self._ns + '/custom_franka_state_controller/joint_states'
self._joint_state_sub = rospy.Subscriber(joint_state_topic,
JointState,
self._on_joint_states,
queue_size=1,
tcp_nodelay=True)
self._cartesian_state_sub = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/tip_state',
EndPointState,
self._on_endpoint_state,
queue_size=1,
tcp_nodelay=True)
rospy.on_shutdown(self._clean_shutdown)
err_msg = ("%s arm init failed to get current joint_states "
"from %s") % (self.name.capitalize(), joint_state_topic)
franka_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current tip_state "
"from %s") % (self.name.capitalize(),
self._ns + 'tip_state')
franka_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current robot_state "
"from %s") % (self.name.capitalize(),
self._ns + 'robot_state')
franka_dataflow.wait_for(lambda: self._jacobian is not None,
timeout_msg=err_msg,
timeout=5.0)
# start moveit server with panda_link8 (flange) as the end-effector, unless it is in simulation. However, using move_to_cartesian_pose() method compensates for this and moves the robot's defined end-effector frame (EE frame; see set_EE_frame() and set_EE_at_frame()) to the target pose.
try:
self._movegroup_interface = PandaMoveGroupInterface(
use_panda_hand_link=True if self._params._in_sim else False)
except:
rospy.loginfo(
"{}: MoveGroup was not found! This is okay if moveit service is not required!"
.format(self.__class__.__name__))
self._movegroup_interface = None
self.set_joint_position_speed(self._speed_ratio)
def _clean_shutdown(self):
self._joint_state_sub.unregister()
self._cartesian_state_sub.unregister()
self._pub_joint_cmd_timeout.unregister()
self._robot_state_subscriber.unregister()
self._joint_command_publisher.unregister()
def get_movegroup_interface(self):
"""
:return: the movegroup interface instance associated with the robot.
:rtype: franka_moveit.PandaMoveGroupInterface
"""
return self._movegroup_interface
def get_robot_params(self):
"""
:return: Useful parameters from the ROS parameter server.
:rtype: franka_interface.RobotParams
"""
return self._params
def get_joint_limits(self):
"""
Return the joint limits (defined in the parameter server)
:rtype: franka_core_msgs.msg.JointLimits
:return: JointLimits
"""
return self._joint_limits
def joint_names(self):
"""
Return the names of the joints for the specified limb.
:rtype: [str]
:return: ordered list of joint names from proximal to distal (i.e. shoulder to wrist).
"""
return self._joint_names
def _on_joint_states(self, msg):
for idx, name in enumerate(msg.name):
if name in self._joint_names:
self._joint_angle[name] = msg.position[idx]
self._joint_velocity[name] = msg.velocity[idx]
self._joint_effort[name] = msg.effort[idx]
def _on_robot_state(self, msg):
self._robot_mode = self.RobotMode(msg.robot_mode)
self._robot_mode_ok = (self._robot_mode.value !=
self.RobotMode.ROBOT_MODE_REFLEX) and (
self._robot_mode.value !=
self.RobotMode.ROBOT_MODE_USER_STOPPED)
self._jacobian = np.asarray(msg.O_Jac_EE).reshape(6, 7, order='F')
self._cartesian_velocity = {
'linear':
np.asarray([msg.O_dP_EE[0], msg.O_dP_EE[1], msg.O_dP_EE[2]]),
'angular':
np.asarray([msg.O_dP_EE[3], msg.O_dP_EE[4], msg.O_dP_EE[5]])
}
self._cartesian_contact = msg.cartesian_contact
self._cartesian_collision = msg.cartesian_collision
self._joint_contact = msg.joint_contact
self._joint_collision = msg.joint_collision
if not self._params._in_sim:
self._F_T_NE = msg.F_T_NE # should be constant normally
self._NE_T_EE = msg.NE_T_EE
self._F_T_EE = msg.F_T_EE
if self._frames_interface:
self._frames_interface._update_frame_data(
self._NE_T_EE, msg.EE_T_K)
self._joint_inertia = np.asarray(msg.mass_matrix).reshape(7,
7,
order='F')
self.q_d = msg.q_d
self.dq_d = msg.dq_d
self._gravity = np.asarray(msg.gravity)
self._coriolis = np.asarray(msg.coriolis)
self._errors = message_converter.convert_ros_message_to_dictionary(
msg.current_errors)
def coriolis_comp(self):
"""
Return coriolis compensation torques. Useful for compensating coriolis when
performing direct torque control of the robot.
:rtype: np.ndarray
:return: 7D joint torques compensating for coriolis.
"""
return self._coriolis
def gravity_comp(self):
"""
Return gravity compensation torques.
:rtype: np.ndarray
:return: 7D joint torques compensating for gravity.
"""
return self._gravity
def get_robot_status(self):
"""
Return dict with all robot status information.
:rtype: dict
:return: ['robot_mode' (RobotMode object), 'robot_status' (bool), 'errors' (dict() of errors and their truth value), 'error_in_curr_status' (bool)]
"""
return {
'robot_mode': self._robot_mode,
'robot_status': self._robot_mode_ok,
'errors': self._errors,
'error_in_current_state': self.error_in_current_state()
}
def in_safe_state(self):
"""
Return True if the specified limb is in safe state (no collision, reflex, errors etc.).
:rtype: bool
:return: True if the arm is in safe state, False otherwise.
"""
return self._robot_mode_ok and not self.error_in_current_state()
def error_in_current_state(self):
"""
Return True if the specified limb has experienced an error.
:rtype: bool
:return: True if the arm has error, False otherwise.
"""
return not all([e == False for e in self._errors.values()])
def what_errors(self):
"""
Return list of error messages if there is error in robot state
:rtype: [str]
:return: list of names of current errors in robot state
"""
return [e for e in self._errors if self._errors[e] == True
] if self.error_in_current_state() else None
def _on_endpoint_state(self, msg):
cart_pose_trans_mat = np.asarray(msg.O_T_EE).reshape(4, 4, order='F')
self._cartesian_pose = {
'position':
cart_pose_trans_mat[:3, 3],
'orientation':
quaternion.from_rotation_matrix(cart_pose_trans_mat[:3, :3]),
'ori_mat':
cart_pose_trans_mat[:3, :3]
}
self._cartesian_effort = {
'force':
np.asarray([
msg.O_F_ext_hat_K.wrench.force.x,
msg.O_F_ext_hat_K.wrench.force.y,
msg.O_F_ext_hat_K.wrench.force.z
]),
'torque':
np.asarray([
msg.O_F_ext_hat_K.wrench.torque.x,
msg.O_F_ext_hat_K.wrench.torque.y,
msg.O_F_ext_hat_K.wrench.torque.z
])
}
self._stiffness_frame_effort = {
'force':
np.asarray([
msg.K_F_ext_hat_K.wrench.force.x,
msg.K_F_ext_hat_K.wrench.force.y,
msg.K_F_ext_hat_K.wrench.force.z
]),
'torque':
np.asarray([
msg.K_F_ext_hat_K.wrench.torque.x,
msg.K_F_ext_hat_K.wrench.torque.y,
msg.K_F_ext_hat_K.wrench.torque.z
])
}
self._tip_states = TipState(msg.header.stamp,
deepcopy(self._cartesian_pose),
deepcopy(self._cartesian_velocity),
deepcopy(self._cartesian_effort),
deepcopy(self._stiffness_frame_effort))
def joint_angle(self, joint):
"""
Return the requested joint angle.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: angle in radians of individual joint
"""
return self._joint_angle[joint]
def joint_angles(self):
"""
Return all joint angles.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to angle (rad) Values
"""
return deepcopy(self._joint_angle)
def joint_ordered_angles(self):
"""
Return all joint angles.
:rtype: [float]
:return: joint angles (rad) orded by joint_names from proximal to distal (i.e. shoulder to wrist).
"""
return [self._joint_angle[name] for name in self._joint_names]
def joint_velocity(self, joint):
"""
Return the requested joint velocity.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: velocity in radians/s of individual joint
"""
return self._joint_velocity[joint]
def joint_velocities(self):
"""
Return all joint velocities.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to velocity (rad/s) Values
"""
return deepcopy(self._joint_velocity)
def joint_effort(self, joint):
"""
Return the requested joint effort.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: effort in Nm of individual joint
"""
return self._joint_effort[joint]
def joint_efforts(self):
"""
Return all joint efforts.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to effort (Nm) Values
"""
return deepcopy(self._joint_effort)
def endpoint_pose(self):
"""
Return Cartesian endpoint pose {position, orientation}.
:rtype: dict({str:np.ndarray (shape:(3,)), str:quaternion.quaternion})
:return: position and orientation as named tuples in a dict
- 'position': np.array of x, y, z
- 'orientation': quaternion x,y,z,w in quaternion format
"""
return deepcopy(self._cartesian_pose)
def endpoint_velocity(self):
"""
Return Cartesian endpoint twist {linear, angular}.
:rtype: dict({str:np.ndarray (shape:(3,)),str:np.ndarray (shape:(3,))})
:return: linear and angular velocities as named tuples in a dict
- 'linear': np.array of x, y, z
- 'angular': np.array of x, y, z (angular velocity along the axes)
"""
return deepcopy(self._cartesian_velocity)
def endpoint_effort(self, in_base_frame=True):
"""
Return Cartesian endpoint wrench {force, torque}.
:param in_base_frame: if True, returns end-effector effort with respect to base frame, else in stiffness frame [default: True]
:type in_base_frame: bool
:rtype: dict({str:np.ndarray (shape:(3,)),str:np.ndarray (shape:(3,))})
:return: force and torque at endpoint as named tuples in a dict in the base frame of the robot or in the stiffness frame (wrist)
- 'force': Cartesian force on x,y,z axes in np.ndarray format
- 'torque': Torque around x,y,z axes in np.ndarray format
"""
return deepcopy(self._cartesian_effort) if in_base_frame else deepcopy(
self._stiffness_frame_effort)
def exit_control_mode(self, timeout=0.2):
"""
Clean exit from advanced control modes (joint torque or velocity).
Resets control to joint position mode with current positions if the
advanced control commands are not send within the specified timeout
interval.
:type timeout: float
:param timeout: control timeout in seconds [default: 0.2]
"""
self.set_command_timeout(timeout)
self.set_joint_positions(self.joint_angles())
def tip_states(self):
"""
Return Cartesian endpoint state for a given tip name
:rtype: TipState object
:return: pose, velocity, effort, effort_in_K_frame
"""
return deepcopy(self._tip_states)
def joint_inertia_matrix(self):
"""
Returns the current joint inertia matrix given by libfranka.
:return: joint inertia matrix (7,7)
:rtype: np.ndarray [7x7]
"""
return deepcopy(self._joint_inertia)
def zero_jacobian(self):
"""
Returns the current jacobian matrix given by libfranka.
:return: end-effector jacobian (6,7)
:rtype: np.ndarray [6x7]
"""
return deepcopy(self._jacobian)
def set_command_timeout(self, timeout):
"""
Set the timeout in seconds for the joint controller
:type timeout: float
:param timeout: timeout in seconds
"""
self._pub_joint_cmd_timeout.publish(Float64(timeout))
def set_joint_position_speed(self, speed=0.3):
"""
Set ratio of max joint speed to use during joint position
moves (only for move_to_joint_positions).
Set the proportion of maximum controllable velocity to use
during joint position control execution. The default ratio
is `0.3`, and can be set anywhere from [0.0-1.0] (clipped).
Once set, a speed ratio will persist until a new execution
speed is set.
:type speed: float
:param speed: ratio of maximum joint speed for execution
default= 0.3; range= [0.0-1.0]
"""
if speed > 0.3:
rospy.logwarn(
"{}: Setting speed above 0.3 could be risky!! Be extremely careful."
.format(self.__class__.__name__))
if self._movegroup_interface:
self._movegroup_interface.set_velocity_scale(speed * 2)
self._speed_ratio = speed
def set_joint_positions(self, positions):
"""
Commands the joints of this limb to the specified positions.
:type positions: dict({str:float}
:param positions: dict of {'joint_name':joint_position,}
"""
self._command_msg.names = self._joint_names
self._command_msg.position = [positions[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.POSITION_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_velocities(self, velocities):
"""
Commands the joints of this limb to the specified velocities.
:type velocities: dict({str:float})
:param velocities: dict of {'joint_name':joint_velocity,}
"""
self._command_msg.names = self._joint_names
self._command_msg.velocity = [velocities[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.VELOCITY_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_torques(self, torques):
"""
Commands the joints of this limb with the specified torques.
:type torques: dict({str:float})
:param torques: dict of {'joint_name':joint_torque,}
"""
self._command_msg.names = self._joint_names
self._command_msg.effort = [torques[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.TORQUE_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_positions_velocities(self, positions, velocities):
"""
Commands the joints of this limb using specified positions and velocities using impedance control.
Command at time t is computed as:
:math:`u_t= coriolis\_factor * coriolis\_t + K\_p * (positions - curr\_positions) + K\_d * (velocities - curr\_velocities)`
:type positions: [float]
:param positions: desired joint positions as an ordered list corresponding to joints given by self.joint_names()
:type velocities: [float]
:param velocities: desired joint velocities as an ordered list corresponding to joints given by self.joint_names()
"""
self._command_msg.names = self._joint_names
self._command_msg.position = positions
self._command_msg.velocity = velocities
self._command_msg.mode = JointCommand.IMPEDANCE_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def has_collided(self):
"""
Returns true if either joint collision or cartesian collision is detected.
Collision thresholds can be set using instance of :py:class:`franka_tools.CollisionBehaviourInterface`.
"""
return any(self._joint_collision) or any(self._cartesian_collision)
def move_to_neutral(self, timeout=15.0, speed=0.15):
"""
Command the Limb joints to a predefined set of "neutral" joint angles.
From rosparam /franka_control/neutral_pose.
:type timeout: float
:param timeout: seconds to wait for move to finish [15]
:type speed: float
:param speed: ratio of maximum joint speed for execution
default= 0.15; range= [0.0-1.0]
"""
self.set_joint_position_speed(speed)
self.move_to_joint_positions(self._neutral_pose_joints, timeout)
def move_to_joint_positions(self,
positions,
timeout=10.0,
threshold=0.00085,
test=None,
use_moveit=True):
"""
(Blocking) Commands the limb to the provided positions.
Waits until the reported joint state matches that specified.
This function uses a low-pass filter using JointTrajectoryService
to smooth the movement or optionally uses MoveIt! to plan and
execute a trajectory.
:type positions: dict({str:float})
:param positions: joint_name:angle command
:type timeout: float
:param timeout: seconds to wait for move to finish [15]
:type threshold: float
:param threshold: position threshold in radians across each joint when
move is considered successful [0.00085]
:param test: optional function returning True if motion must be aborted
:type use_moveit: bool
:param use_moveit: if set to True, and movegroup interface is available,
move to the joint positions using moveit planner.
"""
curr_controller = self._ctrl_manager.set_motion_controller(
self._ctrl_manager.joint_trajectory_controller)
if use_moveit and self._movegroup_interface:
self._movegroup_interface.go_to_joint_positions(
[positions[n] for n in self._joint_names], tolerance=threshold)
else:
if use_moveit:
rospy.logwarn(
"{}: MoveGroupInterface was not found! Using JointTrajectoryActionClient instead."
.format(self.__class__.__name__))
min_traj_dur = 0.5
traj_client = JointTrajectoryActionClient(
joint_names=self.joint_names())
traj_client.clear()
dur = []
for j in range(len(self._joint_names)):
dur.append(
max(
abs(positions[self._joint_names[j]] -
self._joint_angle[self._joint_names[j]]) /
self._joint_limits.velocity[j], min_traj_dur))
traj_client.add_point(
positions=[self._joint_angle[n] for n in self._joint_names],
time=0.0001)
traj_client.add_point(
positions=[positions[n] for n in self._joint_names],
time=max(dur) / self._speed_ratio)
def genf(joint, angle):
def joint_diff():
return abs(angle - self._joint_angle[joint])
return joint_diff
diffs = [
genf(j, a) for j, a in positions.items()
if j in self._joint_angle
]
fail_msg = "{}: {} limb failed to reach commanded joint positions.".format(
self.__class__.__name__, self.name.capitalize())
def test_collision():
if self.has_collided():
rospy.logerr(' '.join(["Collision detected.", fail_msg]))
return True
return False
traj_client.start() # send the trajectory action request
# traj_client.wait(timeout = timeout)
franka_dataflow.wait_for(
test=lambda: test_collision() or traj_client.result(
) is not None or (callable(test) and test() == True) or
(all(diff() < threshold for diff in diffs)),
timeout=timeout,
timeout_msg=fail_msg,
rate=100,
raise_on_error=False)
res = traj_client.result()
if res is not None and res.error_code:
rospy.loginfo("Trajectory Server Message: {}".format(res))
rospy.sleep(0.5)
self._ctrl_manager.set_motion_controller(curr_controller)
rospy.loginfo("{}: Trajectory controlling complete".format(
self.__class__.__name__))
def get_flange_pose(self, pos=None, ori=None):
"""
Get the pose of flange (panda_link8) given the pose of the end-effector frame.
.. note:: In sim, this method does nothing.
:param pos: position of the end-effector frame in the robot's base frame, defaults to current end-effector position
:type pos: np.ndarray, optional
:param ori: orientation of the end-effector frame, defaults to current end-effector orientation
:type ori: quaternion.quaternion, optional
:return: corresponding flange frame pose in the robot's base frame
:rtype: np.ndarray, quaternion.quaternion
"""
if pos is None:
pos = self._cartesian_pose['position']
if ori is None:
ori = self._cartesian_pose['orientation']
if self._params._in_sim:
return pos, ori
# get corresponding flange frame pose using transformation matrix
F_T_EE = np.asarray(self._F_T_EE).reshape(4, 4, order="F")
mat = quaternion.as_rotation_matrix(ori)
new_ori = mat.dot(F_T_EE[:3, :3].T)
new_pos = pos - new_ori.dot(F_T_EE[:3, 3])
return new_pos, quaternion.from_rotation_matrix(new_ori)
def move_to_cartesian_pose(self, pos, ori=None, use_moveit=True):
"""
Move robot end-effector to specified cartesian pose using MoveIt! (also avoids obstacles if they are defined using :py:class:`franka_moveit.ExtendedPlanningSceneInterface`)
:param pos: target end-effector position
:type pos: [float] or np.ndarray
:param ori: target orientation quaternion for end-effector, defaults to current ori
:type ori: quaternion.quaternion or [float] (quaternion in w,x,y,z order), optional
:param use_moveit: Flag for using MoveIt (redundant for now; only works if set to True), defaults to True
:type use_moveit: bool, optional
"""
if not use_moveit or self._movegroup_interface is None:
rospy.logerr(
"{}: MoveGroupInterface was not found! Aborting cartesian planning."
.format(self.__class__.__name__))
return
if ori is None:
ori = self._cartesian_pose['orientation']
self.get_flange_pose(pos, ori)
curr_controller = self._ctrl_manager.set_motion_controller(
self._ctrl_manager.joint_trajectory_controller)
## == Plan avoids defined scene obstacles ==
self._movegroup_interface.go_to_cartesian_pose(
create_pose_msg(*self.get_flange_pose(pos, ori)))
## =========================================
## == does not avoid scene obstacles ==
# plan, _ = self._movegroup_interface.plan_cartesian_path(
# [create_pose_msg(pos, ori)])
# self._movegroup_interface.execute_plan(plan)
## ====================================
rospy.sleep(0.5)
self._ctrl_manager.set_motion_controller(curr_controller)
rospy.loginfo("{}: Trajectory controlling complete".format(
self.__class__.__name__))
def pause_controllers_and_do(self, func, *args, **kwargs):
"""
Temporarily stops all active controllers and calls the provided function
before restarting the previously active controllers.
:param func: the function to be called
:type func: callable
"""
assert callable(
func
), "{}: Invalid argument provided to ArmInterface->pause_controllers_and_do. Argument 1 should be callable.".format(
self.__class__.__name__)
active_controllers = self._ctrl_manager.list_active_controllers(
only_motion_controllers=True)
rospy.loginfo("{}: Stopping motion controllers temporarily...".format(
self.__class__.__name__))
for ctrlr in active_controllers:
self._ctrl_manager.stop_controller(ctrlr.name)
rospy.sleep(1.)
retval = func(*args, **kwargs)
rospy.sleep(1.)
rospy.loginfo(
"{}: Restarting previously active motion controllers.".format(
self.__class__.__name__))
for ctrlr in active_controllers:
self._ctrl_manager.start_controller(ctrlr.name)
rospy.sleep(1.)
rospy.loginfo("{}: Controllers restarted.".format(
self.__class__.__name__))
return retval
def reset_EE_frame(self):
"""
Reset EE frame to default. (defined by
FrankaFramesInterface.DEFAULT_TRANSFORMATIONS.EE_FRAME
global variable defined in :py:class:`franka_tools.FrankaFramesInterface`
source code). By default, this resets to align with the nominal-end effector
frame (F_T_NE) in the flange frame.
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
if self._frames_interface.EE_frame_is_reset():
rospy.loginfo("{}: EE Frame already reset".format(
self.__class__.__name__))
return True
return self.pause_controllers_and_do(
self._frames_interface.reset_EE_frame)
else:
rospy.logwarn(
"{}: Frames changing not available in simulated environment".
format(self.__class__.__name__))
return False
def set_EE_frame(self, frame):
"""
Set new EE frame based on the transformation given by 'frame', which is the
transformation matrix defining the new desired EE frame with respect to the
nominal end-effector frame (NE_T_EE).
Motion controllers are stopped and restarted for switching.
:type frame: [float (16,)] / np.ndarray (4x4)
:param frame: transformation matrix of new EE frame wrt nominal end-effector frame (column major)
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
if self._frames_interface.frames_are_same(
self._frames_interface.get_EE_frame(as_mat=True), frame):
rospy.loginfo(
"{}: EE Frame already at the target frame.".format(
self.__class__.__name__))
return True
return self.pause_controllers_and_do(
self._frames_interface.set_EE_frame, frame)
else:
rospy.logwarn(
"{}: Frames changing not available in simulated environment".
format(self.__class__.__name__))
return False
def set_EE_at_frame(self, frame_name, timeout=5.0):
"""
Set new EE frame to the same frame as the link frame given by 'frame_name'.
Motion controllers are stopped and restarted for switching
:type frame_name: str
:param frame_name: desired tf frame name in the tf tree
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
if not self._frames_interface.EE_frame_already_set(
self._frames_interface.get_link_tf(frame_name)):
return self.pause_controllers_and_do(
self._frames_interface.set_EE_at_frame,
frame_name=frame_name,
timeout=timeout)
else:
rospy.logwarn(
"{}: Frames changing not available in simulated environment".
format(self.__class__.__name__))
return False
def set_collision_threshold(self,
cartesian_forces=None,
joint_torques=None):
"""
Set Force Torque thresholds for deciding robot has collided.
:return: True if service call successful, False otherwise
:rtype: bool
:param cartesian_forces: Cartesian force threshold for collision detection [x,y,z,R,P,Y] (robot motion stops if violated)
:type cartesian_forces: [float] size 6
:param joint_torques: Joint torque threshold for collision (robot motion stops if violated)
:type joint_torques: [float] size 7
"""
if self._collision_behaviour_interface:
return self._collision_behaviour_interface.set_collision_threshold(
joint_torques=joint_torques, cartesian_forces=cartesian_forces)
else:
rospy.logwarn("No CollisionBehaviourInterface object found!")
def get_controller_manager(self):
"""
:return: the FrankaControllerManagerInterface instance associated with the robot.
:rtype: franka_tools.FrankaControllerManagerInterface
"""
return self._ctrl_manager
def get_frames_interface(self):
"""
:return: the FrankaFramesInterface instance associated with the robot.
:rtype: franka_tools.FrankaFramesInterface
"""
return self._frames_interface
class ArmInterface(object):
"""
Interface Class for an arm of Franka Panda robot
Constructor.
:type synchronous_pub: bool
:param synchronous_pub: designates the JointCommand Publisher
as Synchronous if True and Asynchronous if False.
Synchronous Publishing means that all joint_commands publishing to
the robot's joints will block until the message has been serialized
into a buffer and that buffer has been written to the transport
of every current Subscriber. This yields predicable and consistent
timing of messages being delivered from this Publisher. However,
when using this mode, it is possible for a blocking Subscriber to
prevent the joint_command functions from exiting. Unless you need exact
JointCommand timing, default to Asynchronous Publishing (False).
"""
# Containers
@enum.unique
class RobotMode(enum.IntEnum):
"""
Enum class for specifying and retrieving the current robot mode.
"""
# ----- access using parameters name or value
# ----- eg. RobotMode(0).name & RobotMode(0).value
# ----- or RobotMode['ROBOT_MODE_OTHER'].name & RobotMode['ROBOT_MODE_OTHER'].value
ROBOT_MODE_OTHER = 0
ROBOT_MODE_IDLE = 1
ROBOT_MODE_MOVE = 2
ROBOT_MODE_GUIDING = 3
ROBOT_MODE_REFLEX = 4
ROBOT_MODE_USER_STOPPED = 5
ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY = 6
def __init__(self, synchronous_pub=False):
"""
"""
self.hand = franka_interface.GripperInterface()
self._params = RobotParams()
self._ns = self._params.get_base_namespace()
self._joint_limits = self._params.get_joint_limits()
joint_names = self._joint_limits.joint_names
if not joint_names:
rospy.logerr("Cannot detect joint names for arm on this "
"robot. Exiting Arm.init().")
return
self._joint_names = joint_names
self.name = self._params.get_robot_name()
self._joint_angle = dict()
self._joint_velocity = dict()
self._joint_effort = dict()
self._cartesian_pose = dict()
self._cartesian_velocity = dict()
self._cartesian_effort = dict()
self._stiffness_frame_effort = dict()
self._errors = dict()
self._collision_state = False
self._tip_states = None
self._jacobian = None
self._cartesian_contact = None
self._robot_mode = False
self._command_msg = JointCommand()
# neutral pose joint positions
self._neutral_pose_joints = self._params.get_neutral_pose()
self._frames_interface = FrankaFramesInterface()
try:
self._collision_behaviour_interface = CollisionBehaviourInterface()
except rospy.ROSException:
rospy.loginfo(
"Collision Service Not found. It will not be possible to change collision behaviour of robot!"
)
self._collision_behaviour_interface = None
self._ctrl_manager = FrankaControllerManagerInterface(
ns=self._ns, sim=self._params._in_sim)
self._speed_ratio = 0.15
queue_size = None if synchronous_pub else 1
with warnings.catch_warnings():
warnings.simplefilter("ignore")
self._joint_command_publisher = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_commands',
JointCommand,
tcp_nodelay=True,
queue_size=queue_size)
self._pub_joint_cmd_timeout = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_command_timeout',
Float64,
latch=True,
queue_size=10)
self._robot_state_subscriber = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/robot_state',
RobotState,
self._on_robot_state,
queue_size=1,
tcp_nodelay=True)
joint_state_topic = self._ns + '/custom_franka_state_controller/joint_states'
self._joint_state_sub = rospy.Subscriber(joint_state_topic,
JointState,
self._on_joint_states,
queue_size=1,
tcp_nodelay=True)
self._cartesian_state_sub = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/tip_state',
EndPointState,
self._on_endpoint_state,
queue_size=1,
tcp_nodelay=True)
# Cartesian Impedance Controller Publishers
self._cartesian_impedance_pose_publisher = rospy.Publisher(
"equilibrium_pose", PoseStamped, queue_size=10)
self._cartesian_stiffness_publisher = rospy.Publisher(
"impedance_stiffness", CartImpedanceStiffness, queue_size=10)
# Force Control Publisher
self._force_controller_publisher = rospy.Publisher("wrench_target",
Wrench,
queue_size=10)
# Torque Control Publisher
self._torque_controller_publisher = rospy.Publisher("torque_target",
TorqueCmd,
queue_size=20)
# Joint Impedance Controller Publishers
self._joint_impedance_publisher = rospy.Publisher(
"joint_impedance_position_velocity", JICmd, queue_size=20)
self._joint_stiffness_publisher = rospy.Publisher(
"joint_impedance_stiffness",
JointImpedanceStiffness,
queue_size=10)
rospy.on_shutdown(self._clean_shutdown)
err_msg = ("%s arm init failed to get current joint_states "
"from %s") % (self.name.capitalize(), joint_state_topic)
franka_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current tip_state "
"from %s") % (self.name.capitalize(),
self._ns + 'tip_state')
franka_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current robot_state "
"from %s") % (self.name.capitalize(),
self._ns + 'robot_state')
franka_dataflow.wait_for(lambda: self._jacobian is not None,
timeout_msg=err_msg,
timeout=5.0)
self.set_joint_position_speed(self._speed_ratio)
def convertToDict(self, q):
q_dict = dict()
for i in xrange(len(q)):
q_dict['panda_joint{}'.format(i + 1)] = q[i]
return q_dict
def convertToList(self, q_dict):
q = []
sorted_keys = sorted(q_dict.keys())
for i in sorted_keys:
q.append(q_dict[i])
return q
def _clean_shutdown(self):
self._joint_state_sub.unregister()
self._cartesian_state_sub.unregister()
self._pub_joint_cmd_timeout.unregister()
self._robot_state_subscriber.unregister()
self._joint_command_publisher.unregister()
self._cartesian_impedance_pose_publisher.unregister()
self._cartesian_stiffness_publisher.unregister()
self._force_controller_publisher.unregister()
self._torque_controller_publisher.unregister()
self._joint_impedance_publisher.unregister()
self._joint_stiffness_publisher.unregister()
def get_robot_params(self):
"""
:return: Useful parameters from the ROS parameter server.
:rtype: franka_interface.RobotParams
"""
return self._params
def get_joint_limits(self):
"""
Return the joint limits (defined in the parameter server)
:rtype: franka_core_msgs.msg.JointLimits
:return: JointLimits
"""
return self._joint_limits
def joint_names(self):
"""
Return the names of the joints for the specified limb.
:rtype: [str]
:return: ordered list of joint names from proximal to distal (i.e. shoulder to wrist).
"""
return self._joint_names
def _on_joint_states(self, msg):
for idx, name in enumerate(msg.name):
if name in self._joint_names:
self._joint_angle[name] = msg.position[idx]
self._joint_velocity[name] = msg.velocity[idx]
self._joint_effort[name] = msg.effort[idx]
def _on_robot_state(self, msg):
self._robot_mode = self.RobotMode(msg.robot_mode)
self._robot_mode_ok = (self._robot_mode.value !=
self.RobotMode.ROBOT_MODE_REFLEX) and (
self._robot_mode.value !=
self.RobotMode.ROBOT_MODE_USER_STOPPED)
self._jacobian = np.asarray(msg.O_Jac_EE).reshape(6, 7, order='F')
self._cartesian_velocity = {
'linear':
np.asarray([msg.O_dP_EE[0], msg.O_dP_EE[1], msg.O_dP_EE[2]]),
'angular':
np.asarray([msg.O_dP_EE[3], msg.O_dP_EE[4], msg.O_dP_EE[5]])
}
self._cartesian_contact = msg.cartesian_contact
self._cartesian_collision = msg.cartesian_collision
self._joint_contact = msg.joint_contact
self._joint_collision = msg.joint_collision
if self._frames_interface:
self._frames_interface._update_frame_data(msg.F_T_EE, msg.EE_T_K)
self._joint_inertia = np.asarray(msg.mass_matrix).reshape(7,
7,
order='F')
self.q_d = msg.q_d
self.dq_d = msg.dq_d
self._gravity = np.asarray(msg.gravity)
self._coriolis = np.asarray(msg.coriolis)
self._errors = message_converter.convert_ros_message_to_dictionary(
msg.current_errors)
def coriolis_comp(self):
"""
Return coriolis compensation torques. Useful for compensating coriolis when
performing direct torque control of the robot.
:rtype: np.ndarray
:return: 7D joint torques compensating for coriolis.
"""
return self._coriolis
def gravity_comp(self):
"""
Return gravity compensation torques.
:rtype: np.ndarray
:return: 7D joint torques compensating for gravity.
"""
return self._gravity
def get_robot_status(self):
"""
Return dict with all robot status information.
:rtype: dict
:return: ['robot_mode' (RobotMode object), 'robot_status' (bool), 'errors' (dict() of errors and their truth value), 'error_in_curr_status' (bool)]
"""
return {
'robot_mode': self._robot_mode,
'robot_status': self._robot_mode_ok,
'errors': self._errors,
'error_in_current_state': self.error_in_current_state()
}
def in_safe_state(self):
"""
Return True if the specified limb is in safe state (no collision, reflex, errors etc.).
:rtype: bool
:return: True if the arm is in safe state, False otherwise.
"""
return self._robot_mode_ok and not self.error_in_current_state()
def error_in_current_state(self):
"""
Return True if the specified limb has experienced an error.
:rtype: bool
:return: True if the arm has error, False otherwise.
"""
return not all([e == False for e in self._errors.values()])
def what_errors(self):
"""
Return list of error messages if there is error in robot state
:rtype: [str]
:return: list of names of current errors in robot state
"""
return [e for e in self._errors if self._errors[e] == True
] if self.error_in_current_state() else None
def _on_endpoint_state(self, msg):
cart_pose_trans_mat = np.asarray(msg.O_T_EE).reshape(4, 4, order='F')
self._cartesian_pose = {
'position':
cart_pose_trans_mat[:3, 3],
'orientation':
quaternion.from_rotation_matrix(cart_pose_trans_mat[:3, :3])
}
self._cartesian_effort = {
'force':
np.asarray([
msg.O_F_ext_hat_K.wrench.force.x,
msg.O_F_ext_hat_K.wrench.force.y,
msg.O_F_ext_hat_K.wrench.force.z
]),
'torque':
np.asarray([
msg.O_F_ext_hat_K.wrench.torque.x,
msg.O_F_ext_hat_K.wrench.torque.y,
msg.O_F_ext_hat_K.wrench.torque.z
])
}
self._stiffness_frame_effort = {
'force':
np.asarray([
msg.K_F_ext_hat_K.wrench.force.x,
msg.K_F_ext_hat_K.wrench.force.y,
msg.K_F_ext_hat_K.wrench.force.z
]),
'torque':
np.asarray([
msg.K_F_ext_hat_K.wrench.torque.x,
msg.K_F_ext_hat_K.wrench.torque.y,
msg.K_F_ext_hat_K.wrench.torque.z
])
}
self._tip_states = TipState(msg.header.stamp,
deepcopy(self._cartesian_pose),
deepcopy(self._cartesian_velocity),
deepcopy(self._cartesian_effort),
deepcopy(self._stiffness_frame_effort))
def joint_angle(self, joint):
"""
Return the requested joint angle.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: angle in radians of individual joint
"""
return self._joint_angle[joint]
def joint_angles(self):
"""
Return all joint angles.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to angle (rad) Values
"""
return deepcopy(self._joint_angle)
def joint_ordered_angles(self):
"""
Return all joint angles.
:rtype: [float]
:return: joint angles (rad) orded by joint_names from proximal to distal (i.e. shoulder to wrist).
"""
return [self._joint_angle[name] for name in self._joint_names]
def joint_velocity(self, joint):
"""
Return the requested joint velocity.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: velocity in radians/s of individual joint
"""
return self._joint_velocity[joint]
def joint_velocities(self):
"""
Return all joint velocities.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to velocity (rad/s) Values
"""
return deepcopy(self._joint_velocity)
def joint_effort(self, joint):
"""
Return the requested joint effort.
:type joint: str
:param joint: name of a joint
:rtype: float
:return: effort in Nm of individual joint
"""
return self._joint_effort[joint]
def joint_efforts(self):
"""
Return all joint efforts.
:rtype: dict({str:float})
:return: unordered dict of joint name Keys to effort (Nm) Values
"""
return deepcopy(self._joint_effort)
def endpoint_pose(self):
"""
Return Cartesian endpoint pose {position, orientation}.
:rtype: dict({str:np.ndarray (shape:(3,)), str:quaternion.quaternion})
:return: position and orientation as named tuples in a dict
- 'position': np.array of x, y, z
- 'orientation': quaternion x,y,z,w in quaternion format
"""
return deepcopy(self._cartesian_pose)
def endpoint_velocity(self):
"""
Return Cartesian endpoint twist {linear, angular}.
:rtype: dict({str:np.ndarray (shape:(3,)),str:np.ndarray (shape:(3,))})
:return: linear and angular velocities as named tuples in a dict
- 'linear': np.array of x, y, z
- 'angular': np.array of x, y, z (angular velocity along the axes)
"""
return deepcopy(self._cartesian_velocity)
def endpoint_effort(self):
"""
Return Cartesian endpoint wrench {force, torque}.
:rtype: dict({str:np.ndarray (shape:(3,)),str:np.ndarray (shape:(3,))})
:return: force and torque at endpoint as named tuples in a dict
- 'force': Cartesian force on x,y,z axes in np.ndarray format
- 'torque': Torque around x,y,z axes in np.ndarray format
"""
return deepcopy(self._cartesian_effort)
def exit_control_mode(self, timeout=0.2):
"""
Clean exit from advanced control modes (joint torque or velocity).
Resets control to joint position mode with current positions if the
advanced control commands are not send within the specified timeout
interval.
:type timeout: float
:param timeout: control timeout in seconds [default: 0.2]
"""
self.set_command_timeout(timeout)
self.set_joint_positions(self.joint_angles())
def tip_states(self):
"""
Return Cartesian endpoint state for a given tip name
:rtype: TipState object
:return: pose, velocity, effort, effort_in_K_frame
"""
return deepcopy(self._tip_states)
def joint_inertia_matrix(self):
"""
:return: joint inertia matrix (7,7)
:rtype: np.ndarray [7x7]
"""
return deepcopy(self._joint_inertia)
def zero_jacobian(self):
"""
:return: end-effector jacobian (6,7)
:rtype: np.ndarray [6x7]
"""
return deepcopy(self._jacobian)
def set_command_timeout(self, timeout):
"""
Set the timeout in seconds for the joint controller
:type timeout: float
:param timeout: timeout in seconds
"""
self._pub_joint_cmd_timeout.publish(Float64(timeout))
def set_joint_position_speed(self, speed=0.3):
"""
Set ratio of max joint speed to use during joint position
moves (only for move_to_joint_positions).
Set the proportion of maximum controllable velocity to use
during joint position control execution. The default ratio
is `0.3`, and can be set anywhere from [0.0-1.0] (clipped).
Once set, a speed ratio will persist until a new execution
speed is set.
:type speed: float
:param speed: ratio of maximum joint speed for execution
default= 0.3; range= [0.0-1.0]
"""
if speed > 0.3:
rospy.logwarn(
"ArmInterface: Setting speed above 0.3 could be risky!! Be extremely careful."
)
self._speed_ratio = speed
def set_joint_positions(self, positions):
"""
Commands the joints of this limb to the specified positions.
:type positions: dict({str:float}
:param positions: dict of {'joint_name':joint_position,}
"""
self._command_msg.names = self._joint_names
self._command_msg.position = [positions[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.POSITION_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_velocities(self, velocities):
"""
Commands the joints of this limb to the specified velocities.
:type velocities: dict({str:float})
:param velocities: dict of {'joint_name':joint_velocity,}
"""
self._command_msg.names = self._joint_names
self._command_msg.velocity = [velocities[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.VELOCITY_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_torques(self, torques):
"""
Commands the joints of this limb with the specified torques.
:type torques: dict({str:float})
:param torques: dict of {'joint_name':joint_torque,}
"""
self._command_msg.names = self._joint_names
self._command_msg.effort = [torques[j] for j in self._joint_names]
self._command_msg.mode = JointCommand.TORQUE_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def set_joint_positions_velocities(self, positions, velocities):
"""
Commands the joints of this limb using specified positions and velocities using impedance control.
Command at time t is computed as:
:math:`u_t= coriolis\_factor * coriolis\_t + K\_p * (positions - curr\_positions) + K\_d * (velocities - curr\_velocities)`
:type positions: [float]
:param positions: desired joint positions as an ordered list corresponding to joints given by self.joint_names()
:type velocities: [float]
:param velocities: desired joint velocities as an ordered list corresponding to joints given by self.joint_names()
"""
self._command_msg.names = self._joint_names
self._command_msg.position = positions
self._command_msg.velocity = velocities
self._command_msg.mode = JointCommand.IMPEDANCE_MODE
self._command_msg.header.stamp = rospy.Time.now()
self._joint_command_publisher.publish(self._command_msg)
def has_collided(self):
"""
Returns true if either joint collision or cartesian collision is detected.
Collision thresholds can be set using instance of :py:class:`franka_tools.CollisionBehaviourInterface`.
"""
return any(self._joint_collision) or any(self._cartesian_collision)
def switchToController(self, controller_name):
active_controllers = self._ctrl_manager.list_active_controllers(
only_motion_controllers=True)
for ctrlr in active_controllers:
self._ctrl_manager.stop_controller(ctrlr.name)
rospy.loginfo(
"ArmInterface: Stopping %s for trajectory controlling" %
ctrlr.name)
rospy.sleep(0.5)
if not self._ctrl_manager.is_loaded(controller_name):
self._ctrl_manager.load_controller(controller_name)
self._ctrl_manager.start_controller(controller_name)
def move_to_neutral(self, timeout=15.0, speed=0.15):
"""
Command the Limb joints to a predefined set of "neutral" joint angles.
From rosparam /franka_control/neutral_pose.
:type timeout: float
:param timeout: seconds to wait for move to finish [15]
:type speed: float
:param speed: ratio of maximum joint speed for execution
default= 0.15; range= [0.0-1.0]
"""
self.set_joint_position_speed(speed)
self.move_to_joint_positions(self._neutral_pose_joints, timeout)
def genf(self, joint, angle):
def joint_diff():
return abs(angle - self._joint_angle[joint])
return joint_diff
def move_to_joint_positions(self,
positions,
timeout=10.0,
threshold=0.00085,
test=None):
"""
(Blocking) Commands the limb to the provided positions.
Waits until the reported joint state matches that specified.
This function uses a low-pass filter using JointTrajectoryService
to smooth the movement or optionally uses MoveIt! to plan and
execute a trajectory.
:type positions: dict({str:float})
:param positions: joint_name:angle command
:type timeout: float
:param timeout: seconds to wait for move to finish [15]
:type threshold: float
:param threshold: position threshold in radians across each joint when
move is considered successful [0.00085]
:param test: optional function returning True if motion must be aborted
"""
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_trajectory_controller:
self.switchToController(
self._ctrl_manager.joint_trajectory_controller)
min_traj_dur = 0.5
traj_client = JointTrajectoryActionClient(
joint_names=self.joint_names())
traj_client.clear()
dur = []
for j in range(len(self._joint_names)):
dur.append(
max(
abs(positions[self._joint_names[j]] -
self._joint_angle[self._joint_names[j]]) /
self._joint_limits.velocity[j], min_traj_dur))
traj_client.add_point(
positions=[positions[n] for n in self._joint_names],
time=max(dur) / self._speed_ratio)
diffs = [
self.genf(j, a) for j, a in positions.items()
if j in self._joint_angle
]
traj_client.start() # send the trajectory action request
fail_msg = "ArmInterface: {0} limb failed to reach commanded joint positions.".format(
self.name.capitalize())
def test_collision():
if self.has_collided():
rospy.logerr(' '.join(["Collision detected.", fail_msg]))
return True
return False
franka_dataflow.wait_for(
test=lambda: test_collision() or \
(callable(test) and test() == True) or \
(all(diff() < threshold for diff in diffs)),
timeout=timeout,
timeout_msg=fail_msg,
rate=100,
raise_on_error=False
)
res = traj_client.result()
if res is not None and res.error_code:
rospy.loginfo("Trajectory Server Message: {}".format(res))
rospy.sleep(0.5)
rospy.loginfo("ArmInterface: Trajectory controlling complete")
def execute_position_path(self,
position_path,
timeout=15.0,
threshold=0.00085,
test=None):
"""
(Blocking) Commands the limb to the provided positions.
Waits until the reported joint state matches that specified.
This function uses a low-pass filter to smooth the movement.
@type positions: dict({str:float})
@param positions: joint_name:angle command
@type timeout: float
@param timeout: seconds to wait for move to finish [15]
@type threshold: float
@param threshold: position threshold in radians across each joint when
move is considered successful [0.008726646]
@param test: optional function returning True if motion must be aborted
"""
current_q = self.joint_angles()
diff_from_start = sum(
[abs(a - current_q[j]) for j, a in position_path[0].items()])
if diff_from_start > 0.1:
raise IOError("Robot not at start of trajectory")
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_trajectory_controller:
self.switchToController(
self._ctrl_manager.joint_trajectory_controller)
min_traj_dur = 0.5
traj_client = JointTrajectoryActionClient(
joint_names=self.joint_names())
traj_client.clear()
time_so_far = 0
# Start at the second waypoint because robot is already at first waypoint
for i in xrange(1, len(position_path)):
q = position_path[i]
dur = []
for j in range(len(self._joint_names)):
dur.append(
max(
abs(q[self._joint_names[j]] -
self._joint_angle[self._joint_names[j]]) /
self._joint_limits.velocity[j], min_traj_dur))
time_so_far += max(dur) / self._speed_ratio
traj_client.add_point(
positions=[q[n] for n in self._joint_names],
time=time_so_far,
velocities=[0.005 for n in self._joint_names])
diffs = [
self.genf(j, a) for j, a in (position_path[-1]).items()
if j in self._joint_angle
] # Measures diff to last waypoint
fail_msg = "ArmInterface: {0} limb failed to reach commanded joint positions.".format(
self.name.capitalize())
def test_collision():
if self.has_collided():
rospy.logerr(' '.join(["Collision detected.", fail_msg]))
return True
return False
traj_client.start() # send the trajectory action request
franka_dataflow.wait_for(
test=lambda: test_collision() or \
(callable(test) and test() == True) or \
(all(diff() < threshold for diff in diffs)),
#timeout=timeout,
timeout=max(time_so_far, timeout), #XXX
timeout_msg=fail_msg,
rate=100,
raise_on_error=False
)
rospy.sleep(0.5)
rospy.loginfo("ArmInterface: Trajectory controlling complete")
def move_to_touch(self, positions, timeout=10.0, threshold=0.00085):
"""
(Blocking) Commands the limb to the provided positions.
Waits until the reported joint state matches that specified.
This function uses a low-pass filter to smooth the movement.
@type positions: dict({str:float})
@param positions: joint_name:angle command
@type timeout: float
@param timeout: seconds to wait for move to finish [15]
@type threshold: float
@param threshold: position threshold in radians across each joint when
move is considered successful [0.008726646]
@param test: optional function returning True if motion must be aborted
"""
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_trajectory_controller:
self.switchToController(
self._ctrl_manager.joint_trajectory_controller)
min_traj_dur = 0.5
traj_client = JointTrajectoryActionClient(
joint_names=self.joint_names())
traj_client.clear()
speed_ratio = 0.05 # Move slower when approaching contact
dur = []
for j in range(len(self._joint_names)):
dur.append(
max(
abs(positions[self._joint_names[j]] -
self._joint_angle[self._joint_names[j]]) /
self._joint_limits.velocity[j], min_traj_dur))
traj_client.add_point(
positions=[positions[n] for n in self._joint_names],
time=max(dur) / speed_ratio,
velocities=[0.002 for n in self._joint_names])
diffs = [
self.genf(j, a) for j, a in positions.items()
if j in self._joint_angle
]
fail_msg = "ArmInterface: {0} limb failed to reach commanded joint positions.".format(
self.name.capitalize())
traj_client.start() # send the trajectory action request
franka_dataflow.wait_for(
test=lambda: self.has_collided() or \
(all(diff() < threshold for diff in diffs)),
timeout=timeout,
timeout_msg="Move to touch complete.",
rate=100,
raise_on_error=False
)
rospy.sleep(0.5)
if not self.has_collided():
rospy.logerr('Move To Touch did not end in making contact')
else:
rospy.loginfo('Collision detected!')
# The collision, though desirable, triggers a cartesian reflex error. We need to reset that error
if self._robot_mode == 4:
self.resetErrors()
rospy.loginfo("ArmInterface: Trajectory controlling complete")
def resetErrors(self):
rospy.sleep(0.5)
pub = rospy.Publisher(
'/franka_ros_interface/franka_control/error_recovery/goal',
franka_control.msg.ErrorRecoveryActionGoal,
queue_size=10)
rospy.sleep(0.5)
pub.publish(franka_control.msg.ErrorRecoveryActionGoal())
rospy.loginfo("Collision Reflex was reset")
def move_from_touch(self, positions, timeout=10.0, threshold=0.00085):
"""
(Blocking) Commands the limb to the provided positions.
Waits until the reported joint state matches that specified.
This function uses a low-pass filter to smooth the movement.
@type positions: dict({str:float})
@param positions: joint_name:angle command
@type timeout: float
@param timeout: seconds to wait for move to finish [15]
@type threshold: float
@param threshold: position threshold in radians across each joint when
move is considered successful [0.008726646]
@param test: optional function returning True if motion must be aborted
"""
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_trajectory_controller:
self.switchToController(
self._ctrl_manager.joint_trajectory_controller)
min_traj_dur = 0.5
traj_client = JointTrajectoryActionClient(
joint_names=self.joint_names())
traj_client.clear()
dur = []
for j in range(len(self._joint_names)):
dur.append(
max(
abs(positions[self._joint_names[j]] -
self._joint_angle[self._joint_names[j]]) /
self._joint_limits.velocity[j], min_traj_dur))
traj_client.add_point(
positions=[positions[n] for n in self._joint_names],
time=max(dur) / self._speed_ratio)
diffs = [
self.genf(j, a) for j, a in positions.items()
if j in self._joint_angle
]
fail_msg = "ArmInterface: {0} limb failed to reach commanded joint positions.".format(
self.name.capitalize())
traj_client.start() # send the trajectory action request
franka_dataflow.wait_for(test=lambda:
(all(diff() < threshold for diff in diffs)),
timeout=timeout,
timeout_msg="Unable to complete plan!",
rate=100,
raise_on_error=False)
rospy.sleep(0.5)
rospy.loginfo("ArmInterface: Trajectory controlling complete")
def set_cart_impedance_pose(self, pose, stiffness=None):
if self._ctrl_manager.current_controller != self._ctrl_manager.cartesian_impedance_controller:
self.switchToController(
self._ctrl_manager.cartesian_impedance_controller)
if stiffness is not None:
stiffness_gains = CartImpedanceStiffness()
stiffness_gains.x = stiffness[0]
stiffness_gains.y = stiffness[1]
stiffness_gains.z = stiffness[2]
stiffness_gains.xrot = stiffness[3]
stiffness_gains.yrot = stiffness[4]
stiffness_gains.zrot = stiffness[5]
self._cartesian_stiffness_publisher.publish(stiffness_gains)
marker_pose = PoseStamped()
marker_pose.pose.position.x = pose['position'][0]
marker_pose.pose.position.y = pose['position'][1]
marker_pose.pose.position.z = pose['position'][2]
marker_pose.pose.orientation.x = pose['orientation'].x
marker_pose.pose.orientation.y = pose['orientation'].y
marker_pose.pose.orientation.z = pose['orientation'].z
marker_pose.pose.orientation.w = pose['orientation'].w
self._cartesian_impedance_pose_publisher.publish(marker_pose)
# Do not return until motion complete
rospy.sleep(0.1)
while sum(map(abs, self.convertToList(
self.joint_velocities()))) > 1e-2:
rospy.sleep(0.1)
def set_joint_impedance_config(self, q, stiffness=None):
#Need q converted to list
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_impedance_controller:
self.switchToController(
self._ctrl_manager.joint_impedance_controller)
if stiffness is not None:
stiffness_gains = JointImpedanceStiffness()
stiffness_gains = stiffness
self._joint_stiffness_publisher.publish(stiffness_gains)
marker_pose = JICmd()
marker_pose.position = q
marker_pose.velocity = [0.005] * 7
self._joint_impedance_publisher.publish(marker_pose)
# Do not return until motion complete
rospy.sleep(0.1)
while sum(map(abs, self.convertToList(
self.joint_velocities()))) > 1e-2:
rospy.sleep(0.1)
def set_torque(self, tau):
raise NotImplementedError("Still working on the bugs in this!")
switch_ctrl = True if self._ctrl_manager.current_controller != self._ctrl_manager.ntorque_controller else False
if switch_ctrl:
self.switchToController(self._ctrl_manager.ntorque_controller)
torque = TorqueCmd()
torque.torque = tau
self._torque_controller_publisher.publish(torque)
def execute_cart_impedance_traj(self, poses, stiffness=None):
if self._ctrl_manager.current_controller != self._ctrl_manager.cartesian_impedance_controller:
self.switchToController(
self._ctrl_manager.cartesian_impedance_controller)
for i in xrange(len(poses)):
self.set_cart_impedance_pose(poses[i], stiffness)
if i == 0: self.resetErrors()
def execute_joint_impedance_traj(self, qs, stiffness=None):
if self._ctrl_manager.current_controller != self._ctrl_manager.joint_impedance_controller:
self.switchToController(
self._ctrl_manager.joint_impedance_controller)
for i in xrange(len(qs)):
self.set_joint_impedance_config(qs[i], stiffness)
if i == 0: self.resetErrors()
def exert_force(self, target_wrench):
if self._ctrl_manager.current_controller != self._ctrl_manager.force_controller:
self.switchToController(self._ctrl_manager.force_controller)
wrench = Wrench()
wrench.force.x = target_wrench[0]
wrench.force.y = target_wrench[1]
wrench.force.z = target_wrench[2]
wrench.torque.x = target_wrench[3]
wrench.torque.y = target_wrench[4]
wrench.torque.z = target_wrench[5]
self._force_controller_publisher.publish(wrench)
def pause_controllers_and_do(self, func, *args, **kwargs):
"""
Temporarily stops all active controllers and calls the provided function
before restarting the previously active controllers.
:param func: the function to be called
:type func: callable
"""
assert callable(
func
), "ArmInterface: Invalid argument provided to ArmInterface->pause_controllers_and_do. Argument 1 should be callable."
active_controllers = self._ctrl_manager.list_active_controllers(
only_motion_controllers=True)
rospy.loginfo(
"ArmInterface: Stopping motion controllers temporarily...")
for ctrlr in active_controllers:
self._ctrl_manager.stop_controller(ctrlr.name)
rospy.sleep(1.)
retval = func(*args, **kwargs)
rospy.sleep(1.)
rospy.loginfo(
"ArmInterface: Restarting previously active motion controllers.")
for ctrlr in active_controllers:
self._ctrl_manager.start_controller(ctrlr.name)
rospy.sleep(1.)
rospy.loginfo("ArmInterface: Controllers restarted.")
return retval
def reset_EE_frame(self):
"""
Reset EE frame to default. (defined by
FrankaFramesInterface.DEFAULT_TRANSFORMATIONS.EE_FRAME
global variable defined in :py:class:`franka_tools.FrankaFramesInterface`
source code)
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
if self._frames_interface.EE_frame_is_reset():
rospy.loginfo("ArmInterface: EE Frame already reset")
return
return self.pause_controllers_and_do(
self._frames_interface.reset_EE_frame)
else:
rospy.logwarn(
"ArmInterface: Frames changing not available in simulated environment"
)
return False
def set_EE_frame(self, frame):
"""
Set new EE frame based on the transformation given by 'frame', which is the
transformation matrix defining the new desired EE frame with respect to the flange frame.
Motion controllers are stopped for switching
:type frame: [float (16,)] / np.ndarray (4x4)
:param frame: transformation matrix of new EE frame wrt flange frame (column major)
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
if self._frames_interface.frames_are_same(
self._frames_interface.get_EE_frame(as_mat=True), frame):
rospy.loginfo(
"ArmInterface: EE Frame already at the target frame.")
return True
return self.pause_controllers_and_do(
self._frames_interface.set_EE_frame, frame)
else:
rospy.logwarn(
"ArmInterface: Frames changing not available in simulated environment"
)
def set_EE_frame_to_link(self, frame_name, timeout=5.0):
"""
Set new EE frame to the same frame as the link frame given by 'frame_name'
Motion controllers are stopped for switching
:type frame_name: str
:param frame_name: desired tf frame name in the tf tree
:rtype: [bool, str]
:return: [success status of service request, error msg if any]
"""
if self._frames_interface:
retval = True
if not self._frames_interface.EE_frame_already_set(
self._frames_interface.get_link_tf(frame_name)):
return self.pause_controllers_and_do(
self._frames_interface.set_EE_frame_to_link,
frame_name=frame_name,
timeout=timeout)
else:
rospy.logwarn(
"ArmInterface: Frames changing not available in simulated environment"
)
def set_collision_threshold(self,
cartesian_forces=None,
joint_torques=None):
"""
Set Force Torque thresholds for deciding robot has collided.
:return: True if service call successful, False otherwise
:rtype: bool
:param cartesian_forces: Cartesian force threshold for collision detection [x,y,z,R,P,Y] (robot motion stops if violated)
:type cartesian_forces: [float] size 6
:param joint_torques: Joint torque threshold for collision (robot motion stops if violated)
:type joint_torques: [float] size 7
"""
if self._collision_behaviour_interface:
return self._collision_behaviour_interface.set_collision_threshold(
joint_torques=joint_torques, cartesian_forces=cartesian_forces)
else:
rospy.logwarn("No CollisionBehaviourInterface object found!")
def get_controller_manager(self):
"""
:return: the FrankaControllerManagerInterface instance associated with the robot.
:rtype: franka_tools.FrankaControllerManagerInterface
"""
return self._ctrl_manager
def get_frames_interface(self):
"""
:return: the FrankaFramesInterface instance associated with the robot.
:rtype: franka_tools.FrankaFramesInterface
"""
return self._frames_interface
def __init__(self, synchronous_pub=False):
self._params = RobotParams()
self._ns = self._params.get_base_namespace()
self._joint_limits = self._params.get_joint_limits()
joint_names = self._joint_limits.joint_names
if not joint_names:
rospy.logerr("{}: Cannot detect joint names for arm on this "
"robot. Exiting Arm.init().".format(
self.__class__.__name__))
return
self._joint_names = joint_names
self.name = self._params.get_robot_name()
self._joint_angle = dict()
self._joint_velocity = dict()
self._joint_effort = dict()
self._cartesian_pose = dict()
self._cartesian_velocity = dict()
self._cartesian_effort = dict()
self._stiffness_frame_effort = dict()
self._errors = dict()
self._collision_state = False
self._tip_states = None
self._jacobian = None
self._cartesian_contact = None
self._robot_mode = False
self._command_msg = JointCommand()
# neutral pose joint positions
self._neutral_pose_joints = self._params.get_neutral_pose()
self._frames_interface = FrankaFramesInterface()
try:
self._collision_behaviour_interface = CollisionBehaviourInterface()
except rospy.ROSException:
rospy.loginfo(
"{}: Collision Service Not found. It will not be possible to change collision behaviour of robot!"
.format(self.__class__.__name__))
self._collision_behaviour_interface = None
self._ctrl_manager = FrankaControllerManagerInterface(
ns=self._ns, sim=self._params._in_sim)
self._speed_ratio = 0.15
self._F_T_NE = np.eye(1).flatten().tolist()
self._NE_T_EE = np.eye(1).flatten().tolist()
queue_size = None if synchronous_pub else 1
with warnings.catch_warnings():
warnings.simplefilter("ignore")
self._joint_command_publisher = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_commands',
JointCommand,
tcp_nodelay=True,
queue_size=queue_size)
self._pub_joint_cmd_timeout = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_command_timeout',
Float64,
latch=True,
queue_size=10)
self._robot_state_subscriber = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/robot_state',
RobotState,
self._on_robot_state,
queue_size=1,
tcp_nodelay=True)
joint_state_topic = self._ns + '/custom_franka_state_controller/joint_states'
self._joint_state_sub = rospy.Subscriber(joint_state_topic,
JointState,
self._on_joint_states,
queue_size=1,
tcp_nodelay=True)
self._cartesian_state_sub = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/tip_state',
EndPointState,
self._on_endpoint_state,
queue_size=1,
tcp_nodelay=True)
rospy.on_shutdown(self._clean_shutdown)
err_msg = ("%s arm init failed to get current joint_states "
"from %s") % (self.name.capitalize(), joint_state_topic)
franka_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current tip_state "
"from %s") % (self.name.capitalize(),
self._ns + 'tip_state')
franka_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current robot_state "
"from %s") % (self.name.capitalize(),
self._ns + 'robot_state')
franka_dataflow.wait_for(lambda: self._jacobian is not None,
timeout_msg=err_msg,
timeout=5.0)
# start moveit server with panda_link8 (flange) as the end-effector, unless it is in simulation. However, using move_to_cartesian_pose() method compensates for this and moves the robot's defined end-effector frame (EE frame; see set_EE_frame() and set_EE_at_frame()) to the target pose.
try:
self._movegroup_interface = PandaMoveGroupInterface(
use_panda_hand_link=True if self._params._in_sim else False)
except:
rospy.loginfo(
"{}: MoveGroup was not found! This is okay if moveit service is not required!"
.format(self.__class__.__name__))
self._movegroup_interface = None
self.set_joint_position_speed(self._speed_ratio)
def __init__(self, synchronous_pub=False):
"""
"""
self.hand = franka_interface.GripperInterface()
self._params = RobotParams()
self._ns = self._params.get_base_namespace()
self._joint_limits = self._params.get_joint_limits()
joint_names = self._joint_limits.joint_names
if not joint_names:
rospy.logerr("Cannot detect joint names for arm on this "
"robot. Exiting Arm.init().")
return
self._joint_names = joint_names
self.name = self._params.get_robot_name()
self._joint_angle = dict()
self._joint_velocity = dict()
self._joint_effort = dict()
self._cartesian_pose = dict()
self._cartesian_velocity = dict()
self._cartesian_effort = dict()
self._stiffness_frame_effort = dict()
self._errors = dict()
self._collision_state = False
self._tip_states = None
self._jacobian = None
self._cartesian_contact = None
self._robot_mode = False
self._command_msg = JointCommand()
# neutral pose joint positions
self._neutral_pose_joints = self._params.get_neutral_pose()
self._frames_interface = FrankaFramesInterface()
try:
self._collision_behaviour_interface = CollisionBehaviourInterface()
except rospy.ROSException:
rospy.loginfo(
"Collision Service Not found. It will not be possible to change collision behaviour of robot!"
)
self._collision_behaviour_interface = None
self._ctrl_manager = FrankaControllerManagerInterface(
ns=self._ns, sim=self._params._in_sim)
self._speed_ratio = 0.15
queue_size = None if synchronous_pub else 1
with warnings.catch_warnings():
warnings.simplefilter("ignore")
self._joint_command_publisher = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_commands',
JointCommand,
tcp_nodelay=True,
queue_size=queue_size)
self._pub_joint_cmd_timeout = rospy.Publisher(
self._ns + '/motion_controller/arm/joint_command_timeout',
Float64,
latch=True,
queue_size=10)
self._robot_state_subscriber = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/robot_state',
RobotState,
self._on_robot_state,
queue_size=1,
tcp_nodelay=True)
joint_state_topic = self._ns + '/custom_franka_state_controller/joint_states'
self._joint_state_sub = rospy.Subscriber(joint_state_topic,
JointState,
self._on_joint_states,
queue_size=1,
tcp_nodelay=True)
self._cartesian_state_sub = rospy.Subscriber(
self._ns + '/custom_franka_state_controller/tip_state',
EndPointState,
self._on_endpoint_state,
queue_size=1,
tcp_nodelay=True)
# Cartesian Impedance Controller Publishers
self._cartesian_impedance_pose_publisher = rospy.Publisher(
"equilibrium_pose", PoseStamped, queue_size=10)
self._cartesian_stiffness_publisher = rospy.Publisher(
"impedance_stiffness", CartImpedanceStiffness, queue_size=10)
# Force Control Publisher
self._force_controller_publisher = rospy.Publisher("wrench_target",
Wrench,
queue_size=10)
# Torque Control Publisher
self._torque_controller_publisher = rospy.Publisher("torque_target",
TorqueCmd,
queue_size=20)
# Joint Impedance Controller Publishers
self._joint_impedance_publisher = rospy.Publisher(
"joint_impedance_position_velocity", JICmd, queue_size=20)
self._joint_stiffness_publisher = rospy.Publisher(
"joint_impedance_stiffness",
JointImpedanceStiffness,
queue_size=10)
rospy.on_shutdown(self._clean_shutdown)
err_msg = ("%s arm init failed to get current joint_states "
"from %s") % (self.name.capitalize(), joint_state_topic)
franka_dataflow.wait_for(lambda: len(self._joint_angle.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current tip_state "
"from %s") % (self.name.capitalize(),
self._ns + 'tip_state')
franka_dataflow.wait_for(lambda: len(self._cartesian_pose.keys()) > 0,
timeout_msg=err_msg,
timeout=5.0)
err_msg = ("%s arm, init failed to get current robot_state "
"from %s") % (self.name.capitalize(),
self._ns + 'robot_state')
franka_dataflow.wait_for(lambda: self._jacobian is not None,
timeout_msg=err_msg,
timeout=5.0)
self.set_joint_position_speed(self._speed_ratio)