diff --git a/stretch_camera_testrig/.idea/.gitignore b/.idea/.gitignore similarity index 100% rename from stretch_camera_testrig/.idea/.gitignore rename to .idea/.gitignore diff --git a/stretch_camera_testrig/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml similarity index 100% rename from stretch_camera_testrig/.idea/inspectionProfiles/profiles_settings.xml rename to .idea/inspectionProfiles/profiles_settings.xml diff --git a/stretch_camera_testrig/.idea/misc.xml b/.idea/misc.xml similarity index 100% rename from stretch_camera_testrig/.idea/misc.xml rename to .idea/misc.xml diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..9ac34a0 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/stretch_camera_testrig/.idea/stretch_camera_testrig.iml b/.idea/stretch_ros.iml similarity index 62% rename from stretch_camera_testrig/.idea/stretch_camera_testrig.iml rename to .idea/stretch_ros.iml index d0876a7..8b8c395 100644 --- a/stretch_camera_testrig/.idea/stretch_camera_testrig.iml +++ b/.idea/stretch_ros.iml @@ -5,4 +5,8 @@ + + \ No newline at end of file diff --git a/stretch_camera_testrig/.idea/vcs.xml b/.idea/vcs.xml similarity index 64% rename from stretch_camera_testrig/.idea/vcs.xml rename to .idea/vcs.xml index 6c0b863..94a25f7 100644 --- a/stretch_camera_testrig/.idea/vcs.xml +++ b/.idea/vcs.xml @@ -1,6 +1,6 @@ - + \ No newline at end of file diff --git a/stretch_camera_testrig/.idea/modules.xml b/stretch_camera_testrig/.idea/modules.xml deleted file mode 100644 index 79c3502..0000000 --- a/stretch_camera_testrig/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/stretch_camera_testrig/data/testrig_collected_data_202206101538.yaml b/stretch_camera_testrig/data/testrig_collected_data_202206101538.yaml new file mode 100644 index 0000000..7719663 --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202206101538.yaml @@ -0,0 +1,33904 @@ +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: null + d435i_acceleration: null + shoulder_marker_pose: + - - 0.9995467037188005 + - 0.0028950688948743844 + - -0.02996674258197697 + - 0.0844195045379542 + - - 0.0003734695827150925 + - -0.996481487663211 + - 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-0.10790982408326198 + - - -0.02379721503927179 + - -0.1530236365698531 + - -0.9879359590617768 + - 0.9739178937135089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998823601053911 + - -0.014828213450573627 + - -0.0039230136294847884 + - 0.038097267758747715 + - - -0.01505096853124234 + - -0.9977930596157193 + - -0.0646720846190555 + - -0.10805331163875034 + - - -0.0029553842972528787 + - 0.06472352175652181 + - -0.9978988583193638 + - 0.9733225390811628 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: null + d435i_acceleration: null + shoulder_marker_pose: + - - 0.9988897507133436 + - -0.004313055388853413 + - 0.0469112297115199 + - 0.0842012060145901 + - - -0.00011303251361791805 + - -0.9960166179900524 + - -0.08916772909135737 + - -0.10510977942030855 + - - 0.047108949717491785 + - 0.08906342818952973 + - -0.994911278765923 + - 0.9758173141536122 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: null + wrist_top_marker_pose: + - - 0.998688288075065 + - -0.008076247554122598 + - -0.050561620693372306 + - 0.038078029927396215 + - - -0.01091286004512912 + - -0.9983666446543833 + - -0.05607987452896091 + - -0.1081178988935884 + - - -0.05002612065042972 + - 0.0565580857790741 + - -0.9971452101803807 + - 0.9729409640780359 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: null + d435i_acceleration: null + shoulder_marker_pose: + - - 0.999136903218661 + - -0.0041615704068114715 + - 0.041329528891255865 + - 0.08417771178877122 + - - -0.0007671339972732218 + - -0.9966476904997771 + - -0.08180948922277466 + - -0.10507895646781634 + - - 0.041531435468259825 + - 0.08170717442923973 + - -0.995790679568119 + - 0.9755394635427694 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.999352634750266 + - 0.033170824894612816 + - -0.013928668045164573 + - -0.0035135680033793167 + - - 0.03510235882782853 + - -0.9838551313346036 + - 0.1754904696879355 + - -0.10784698994179445 + - - -0.007882627888199623 + - -0.1758657923599151 + - -0.9843825919098709 + - 0.9733748674845851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998057857656489 + - -0.012410362500704595 + - -0.015309266871225082 + - 0.038356011798637624 + - - -0.013458820447255713 + - -0.997428088619484 + - -0.07039934790217235 + - -0.10820765428480797 + - - -0.014396211366252446 + - 0.07059172002071966 + - -0.9974014027275148 + - 0.9731452041572667 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: null + d435i_acceleration: null + shoulder_marker_pose: + - - 0.9986839377276991 + - -0.004232369729474003 + - 0.051112420908914345 + - 0.08425961020004012 + - - -0.0007092508382461659 + - -0.9976335894721079 + - -0.06875113177429285 + - -0.10512903831199083 + - - 0.05128244814695803 + - 0.06862439947621227 + - -0.9963236433552021 + - 0.9763406357121514 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9994356745484734 + - 0.0308814315808959 + - -0.013216263592724556 + - -0.0035569033337004667 + - - 0.03217196174936096 + - -0.9931578038161109 + - 0.11226104220234738 + - -0.1079263641120439 + - - -0.009659053630433286 + - -0.1126228835657923 + - -0.9935908558256212 + - 0.9736001832497929 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999976540619844 + - -0.006730086621806419 + - 0.0012744190961302645 + - 0.038221392220635406 + - - -0.0066935488778038866 + - -0.9996189180152578 + - -0.026780872827913537 + - -0.10815185720774845 + - - 0.0014541710319111584 + - 0.0267717141787262 + - -0.9996405157388039 + - 0.9732422436076754 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null diff --git a/stretch_camera_testrig/nodes/collect_head_calibration_data.py b/stretch_camera_testrig/nodes/collect_head_calibration_data.py index d5d4380..78973f3 100755 --- a/stretch_camera_testrig/nodes/collect_head_calibration_data.py +++ b/stretch_camera_testrig/nodes/collect_head_calibration_data.py @@ -94,7 +94,8 @@ class CollectHeadCalibrationDataNode: if marker.id == self.shoulder_marker_id: self.shoulder_marker_pose = marker.pose - def calibration_data_callback_testrig(self, marker_array, accel): + # def calibration_data_callback_testrig(self, marker_array, accel): + def calibration_data_callback_testrig(self, marker_array): with self.data_lock: self.wrist_inside_marker_pose = None @@ -102,7 +103,7 @@ class CollectHeadCalibrationDataNode: self.base_left_marker_pose = None self.base_right_marker_pose = None self.shoulder_marker_pose = None - self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z] + # self.acceleration = [accel.linear_acceleration.x, accel.linear_acceleration.y, accel.linear_acceleration.z] self.marker_time = None for marker in marker_array.markers: @@ -829,10 +830,13 @@ class CollectHeadCalibrationDataNode: else: # Setup time synchronization for collecting testrig data. - accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) + # accel_subscriber = message_filters.Subscriber('/camera/accel/sample_corrected', Imu) aruco_subscriber = message_filters.Subscriber('/aruco/marker_array', MarkerArray) slop_time = 0.1 - self.synchronizer = message_filters.ApproximateTimeSynchronizer([aruco_subscriber, accel_subscriber], 10, + # self.synchronizer = message_filters.ApproximateTimeSynchronizer([aruco_subscriber, accel_subscriber], 10, + # slop_time, + # allow_headerless=True) + self.synchronizer = message_filters.ApproximateTimeSynchronizer([aruco_subscriber], 10, slop_time, allow_headerless=True) self.synchronizer.registerCallback(self.calibration_data_callback_testrig) diff --git a/stretch_gazebo/config/dex_wrist.yaml b/stretch_gazebo/config/dex_wrist.yaml new file mode 100644 index 0000000..ca5239c --- /dev/null +++ b/stretch_gazebo/config/dex_wrist.yaml @@ -0,0 +1,15 @@ +stretch_dex_wrist_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - joint_wrist_pitch + - joint_wrist_roll + allow_partial_joints_goal: true + + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + joint_gripper_finger_right: {trajectory: 0.1, goal: 0.1} + joint_gripper_finger_left: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 \ No newline at end of file