def set_jep(self, arm, q, duration=None):
if arm == 'right_arm':
pub = self.r_jep_cmd_pub
elif arm == 'left_arm':
pub = self.l_jep_cmd_pub
else:
raise RuntimeError('Undefined arm: %s'%(arm))
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
pub.publish(FloatArray(h, q))
def set_impedance_scale(self, arm, s):
if arm == 'right_arm':
pub = self.r_alph_cmd_pub
elif arm == 'left_arm':
pub = self.l_alph_cmd_pub
else:
raise RuntimeError('Undefined arm: %s'%(arm))
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
pub.publish(FloatArray(h, s))
def set_jep(self, arm, q, duration=None):
if arm == 'right_arm':
pub = self.r_jep_cmd_pub
elif arm == 'left_arm':
pub = self.l_jep_cmd_pub
else:
raise RuntimeError('Undefined arm: %s' % (arm))
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
pub.publish(FloatArray(h, q))
def set_impedance_scale(self, arm, s):
if arm == 'right_arm':
pub = self.r_alph_cmd_pub
elif arm == 'left_arm':
pub = self.l_alph_cmd_pub
else:
raise RuntimeError('Undefined arm: %s' % (arm))
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
pub.publish(FloatArray(h, s))
def step_ros(self):
r_arm = 'right_arm'
l_arm = 'left_arm'
self.cb_lock.acquire()
r_jep = copy.copy(self.r_jep)
l_jep = copy.copy(self.l_jep)
r_alpha = copy.copy(self.arm_settings['right_arm'].stiffness_list)
l_alpha = copy.copy(self.arm_settings['left_arm'].stiffness_list)
self.cb_lock.release()
self.set_jep(r_arm, r_jep)
self.set_jep(l_arm, l_jep)
self.set_alpha(r_arm, r_alpha)
self.set_alpha(l_arm, l_alpha)
self.step()
motor_pwr_state = self.is_motor_power_on()
if not motor_pwr_state:
self.maintain_configuration()
q_r = self.get_joint_angles(r_arm)
q_l = self.get_joint_angles(l_arm)
if self.floating_arms:
if self.qr_prev == None or self.floating_arms_counter < 100:
self.qr_prev = q_r
self.ql_prev = q_l
self.floating_arms_counter += 1
else:
tol = np.radians([5., 2., 10., 2., 10., 0.03, 0.6])
r_arr = np.array(q_r)
l_arr = np.array(q_l)
prev_r_arr = np.array(self.qr_prev)
prev_l_arr = np.array(self.ql_prev)
dqr = np.array(q_r) - np.array(prev_r_arr)
dql = np.array(q_l) - np.array(prev_l_arr)
dqr = dqr * (np.abs(dqr) > tol)
dql = dql * (np.abs(dql) > tol)
r_jep = (np.array(r_jep) + dqr).tolist()
l_jep = (np.array(l_jep) + dql).tolist()
self.cb_lock.acquire()
self.r_jep = copy.copy(r_jep)
self.l_jep = copy.copy(l_jep)
self.cb_lock.release()
change_idxs = np.where(dqr != 0)
prev_r_arr[change_idxs] = r_arr[change_idxs]
change_idxs = np.where(dql != 0)
prev_l_arr[change_idxs] = l_arr[change_idxs]
self.qr_prev = prev_r_arr.tolist()
self.ql_prev = prev_l_arr.tolist()
f_raw_r = self.get_wrist_force(r_arm).A1.tolist()
f_raw_l = self.get_wrist_force(l_arm).A1.tolist()
f_r = self.xhat_force[r_arm]
f_l = self.xhat_force[l_arm]
# publish stuff over ROS.
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
self.q_r_pub.publish(FloatArray(h, q_r))
self.q_l_pub.publish(FloatArray(h, q_l))
self.jep_r_pub.publish(FloatArray(h, r_jep))
self.jep_l_pub.publish(FloatArray(h, l_jep))
self.alph_r_pub.publish(FloatArray(h, r_alpha))
self.alph_l_pub.publish(FloatArray(h, l_alpha))
h.frame_id = '/torso_lift_link'
nms = self.joint_names_list['right_arm'] + self.joint_names_list[
'left_arm']
pos = q_r + q_l
self.joint_state_pub.publish(
JointState(h, nms, pos, [0.] * len(pos), [0.] * len(pos)))
h.frame_id = ar.link_tf_name(r_arm, 7)
self.force_raw_r_pub.publish(FloatArray(h, f_raw_r))
self.force_r_pub.publish(FloatArray(h, f_r))
h.frame_id = ar.link_tf_name(l_arm, 7)
self.force_raw_l_pub.publish(FloatArray(h, f_raw_l))
self.force_l_pub.publish(FloatArray(h, f_l))
self.pwr_state_pub.publish(Bool(motor_pwr_state))
rospy.logout('Sleeping ...')
rospy.sleep(1.0)
rospy.logout('... begin')
r_arm = 'right_arm'
l_arm = 'left_arm'
transform_bcast = tfb.TransformBroadcaster()
torso_link_name = ar.link_tf_name(r_arm, 0)
while not rospy.is_shutdown():
rospy.sleep(0.1)
f_r = arm_client.get_wrist_force(r_arm, base_frame=True)
f_l = arm_client.get_wrist_force(l_arm, base_frame=True)
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
force_r_pub.publish(FloatArray(h, f_r))
force_l_pub.publish(FloatArray(h, f_l))
publish_sphere_marker((0.5,0.5,0.5), 0.08, torso_link_name,
time_stamp, 'both_arms', 0)
for arm in [r_arm, l_arm]:
q = arm_client.get_joint_angles(arm)
links = [2, 3, 7]
for i in links:
p, rot = arms.FK_all(arm, q, i)
qaut = tr.matrix_to_quaternion(rot)
frameid = ar.link_tf_name(arm, i)
transform_bcast.sendTransform(p.A1.tolist(), qaut, time_stamp,
frameid, torso_link_name)
def step_ros(self):
r_arm = 'right_arm'
l_arm = 'left_arm'
self.cb_lock.acquire()
r_jep = copy.copy(self.r_jep)
l_jep = copy.copy(self.l_jep)
r_alpha = copy.copy(self.arm_settings['right_arm'].stiffness_list)
l_alpha = copy.copy(self.arm_settings['left_arm'].stiffness_list)
self.cb_lock.release()
self.set_jep(r_arm, r_jep)
self.set_jep(l_arm, l_jep)
self.set_alpha(r_arm, r_alpha)
self.set_alpha(l_arm, l_alpha)
self.step()
motor_pwr_state = self.is_motor_power_on()
if not motor_pwr_state:
self.maintain_configuration()
q_r = self.get_joint_angles(r_arm)
q_l = self.get_joint_angles(l_arm)
if self.floating_arms:
if self.qr_prev == None or self.floating_arms_counter < 100:
self.qr_prev = q_r
self.ql_prev = q_l
self.floating_arms_counter += 1
else:
tol = np.radians([5., 2., 10., 2., 10., 0.03, 0.6])
r_arr = np.array(q_r)
l_arr = np.array(q_l)
prev_r_arr = np.array(self.qr_prev)
prev_l_arr = np.array(self.ql_prev)
dqr = np.array(q_r) - np.array(prev_r_arr)
dql = np.array(q_l) - np.array(prev_l_arr)
dqr = dqr * (np.abs(dqr) > tol)
dql = dql * (np.abs(dql) > tol)
r_jep = (np.array(r_jep) + dqr).tolist()
l_jep = (np.array(l_jep) + dql).tolist()
self.cb_lock.acquire()
self.r_jep = copy.copy(r_jep)
self.l_jep = copy.copy(l_jep)
self.cb_lock.release()
change_idxs = np.where(dqr != 0)
prev_r_arr[change_idxs] = r_arr[change_idxs]
change_idxs = np.where(dql != 0)
prev_l_arr[change_idxs] = l_arr[change_idxs]
self.qr_prev = prev_r_arr.tolist()
self.ql_prev = prev_l_arr.tolist()
f_raw_r = self.get_wrist_force(r_arm).A1.tolist()
f_raw_l = self.get_wrist_force(l_arm).A1.tolist()
f_r = self.xhat_force[r_arm]
f_l = self.xhat_force[l_arm]
# publish stuff over ROS.
time_stamp = rospy.Time.now()
h = Header()
h.stamp = time_stamp
self.q_r_pub.publish(FloatArray(h, q_r))
self.q_l_pub.publish(FloatArray(h, q_l))
self.jep_r_pub.publish(FloatArray(h, r_jep))
self.jep_l_pub.publish(FloatArray(h, l_jep))
self.alph_r_pub.publish(FloatArray(h, r_alpha))
self.alph_l_pub.publish(FloatArray(h, l_alpha))
h.frame_id = '/torso_lift_link'
nms = self.joint_names_list['right_arm'] + self.joint_names_list['left_arm']
pos = q_r + q_l
self.joint_state_pub.publish(JointState(h, nms, pos,
[0.]*len(pos), [0.]*len(pos)))
h.frame_id = ar.link_tf_name(r_arm, 7)
self.force_raw_r_pub.publish(FloatArray(h, f_raw_r))
self.force_r_pub.publish(FloatArray(h, f_r))
h.frame_id = ar.link_tf_name(l_arm, 7)
self.force_raw_l_pub.publish(FloatArray(h, f_raw_l))
self.force_l_pub.publish(FloatArray(h, f_l))
self.pwr_state_pub.publish(Bool(motor_pwr_state))
