From 9909932c02355a0634a4b0765ce1b00718d7eac3 Mon Sep 17 00:00:00 2001 From: hello-binit <64861565+hello-binit@users.noreply.github.com> Date: Fri, 26 Jun 2020 18:06:40 -0400 Subject: [PATCH] Joint traj server invalidates out-of-range goals --- hello_helpers/src/hello_helpers/hello_misc.py | 2 +- stretch_core/nodes/command_groups.py | 91 ++++++++++++++----- stretch_core/nodes/joint_trajectory_server.py | 36 ++++++-- 3 files changed, 94 insertions(+), 35 deletions(-) diff --git a/hello_helpers/src/hello_helpers/hello_misc.py b/hello_helpers/src/hello_helpers/hello_misc.py index e1e418f..962cf10 100644 --- a/hello_helpers/src/hello_helpers/hello_misc.py +++ b/hello_helpers/src/hello_helpers/hello_misc.py @@ -214,7 +214,7 @@ def get_p1_to_p2_matrix(p1_frame_id, p2_frame_id, tf2_buffer, lookup_time=None, print(' exception =', e) return None, None -def bound_ros_command(self, bounds, ros_pos, clip_ros_tolerance=1e-3): +def bound_ros_command(bounds, ros_pos, clip_ros_tolerance=1e-3): """Clip the command with clip_ros_tolerance, instead of invalidating it, if it is close enough to the valid ranges. """ diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py index 56b6fde..437d42c 100644 --- a/stretch_core/nodes/command_groups.py +++ b/stretch_core/nodes/command_groups.py @@ -94,14 +94,21 @@ class SimpleCommandGroup: """ self.goal = {"position": None, "velocity": None, "acceleration": None, "contact_threshold": None} if self.active: - self.goal['position'] = point.positions[self.index] if len(point.positions) > self.index else None + goal_pos = point.positions[self.index] if len(point.positions) > self.index else None + if goal_pos is None: + err_str = ("Received goal point with positions array length={0}. " + "This joint ({1})'s index is {2}. Length of array must cover all joints listed " + "in commanded_joint_names.").format(len(point.positions), self.name, self.index) + invalid_goal_callback(err_str) + return False + + self.goal['position'] = hm.bound_ros_command(self.range, goal_pos) self.goal['velocity'] = point.velocities[self.index] if len(point.velocities) > self.index else None self.goal['acceleration'] = point.accelerations[self.index] if len(point.accelerations) > self.index else None self.goal['contact_threshold'] = point.effort[self.index] if len(point.effort) > self.index else None if self.goal['position'] is None: - err_str = ("Received goal point with positions array length={0}. " - "This joint ({1})'s index is {2}. Length of array must cover all joints listed " - "in commanded_joint_names.").format(len(point.positions), self.name, self.index) + err_str = ("Received {0} goal point that is out of bounds. " + "Range = {1}, but goal point = {2}.").format(self.name, self.range, goal_pos) invalid_goal_callback(err_str) return False @@ -157,8 +164,8 @@ class SimpleCommandGroup: class HeadPanCommandGroup(SimpleCommandGroup): - def __init__(self, head_pan_calibrated_offset, head_pan_calibrated_looked_left_offset): - SimpleCommandGroup.__init__(self, 'joint_head_pan', (0, 0), acceptable_joint_error=0.15) + def __init__(self, range_rad, head_pan_calibrated_offset, head_pan_calibrated_looked_left_offset): + SimpleCommandGroup.__init__(self, 'joint_head_pan', range_rad, acceptable_joint_error=0.15) self.head_pan_calibrated_offset = head_pan_calibrated_offset self.head_pan_calibrated_looked_left_offset = head_pan_calibrated_looked_left_offset @@ -188,10 +195,10 @@ class HeadPanCommandGroup(SimpleCommandGroup): class HeadTiltCommandGroup(SimpleCommandGroup): - def __init__(self, head_tilt_calibrated_offset, + def __init__(self, range_rad, head_tilt_calibrated_offset, head_tilt_calibrated_looking_up_offset, head_tilt_backlash_transition_angle): - SimpleCommandGroup.__init__(self, 'joint_head_tilt', (0, 0), acceptable_joint_error=0.52) + SimpleCommandGroup.__init__(self, 'joint_head_tilt', range_rad, acceptable_joint_error=0.52) self.head_tilt_calibrated_offset = head_tilt_calibrated_offset self.head_tilt_calibrated_looking_up_offset = head_tilt_calibrated_looking_up_offset self.head_tilt_backlash_transition_angle = head_tilt_backlash_transition_angle @@ -222,8 +229,8 @@ class HeadTiltCommandGroup(SimpleCommandGroup): class WristYawCommandGroup(SimpleCommandGroup): - def __init__(self): - SimpleCommandGroup.__init__(self, 'joint_wrist_yaw', (0, 0)) + def __init__(self, range_rad): + SimpleCommandGroup.__init__(self, 'joint_wrist_yaw', range_rad) def init_execution(self, robot, robot_status, **kwargs): if self.active: @@ -242,11 +249,14 @@ class WristYawCommandGroup(SimpleCommandGroup): class GripperCommandGroup(SimpleCommandGroup): - def __init__(self): - SimpleCommandGroup.__init__(self, None, (0, 0)) + def __init__(self, range_robotis): + SimpleCommandGroup.__init__(self, None, None, acceptable_joint_error=1.0) self.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture'] self.gripper_conversion = GripperConversion() - self.gripper_joint_goal_valid = False + self.range_aperture_m = (self.gripper_conversion.robotis_to_aperture(range_robotis[0]), + self.gripper_conversion.robotis_to_aperture(range_robotis[1])) + self.range_finger_rad = (self.gripper_conversion.robotis_to_finger(range_robotis[0]), + self.gripper_conversion.robotis_to_finger(range_robotis[1])) def update(self, commanded_joint_names, invalid_joints_callback, **kwargs): self.active = False @@ -267,6 +277,30 @@ class GripperCommandGroup(SimpleCommandGroup): return True + def set_goal(self, point, invalid_goal_callback, **kwargs): + self.goal = {"position": None, "velocity": None, "acceleration": None, "contact_threshold": None} + if self.active: + goal_pos = point.positions[self.index] if len(point.positions) > self.index else None + if goal_pos is None: + err_str = ("Received goal point with positions array length={0}. " + "This joint ({1})'s index is {2}. Length of array must cover all joints listed " + "in commanded_joint_names.").format(len(point.positions), self.name, self.index) + invalid_goal_callback(err_str) + return False + + joint_range = self.range_aperture_m if (self.name == 'gripper_aperture') else self.range_finger_rad + self.goal['position'] = hm.bound_ros_command(joint_range, goal_pos) + self.goal['velocity'] = point.velocities[self.index] if len(point.velocities) > self.index else None + self.goal['acceleration'] = point.accelerations[self.index] if len(point.accelerations) > self.index else None + self.goal['contact_threshold'] = point.effort[self.index] if len(point.effort) > self.index else None + if self.goal['position'] is None: + err_str = ("Received {0} goal point that is out of bounds. " + "Range = {1}, but goal point = {2}.").format(self.name, joint_range, goal_pos) + invalid_goal_callback(err_str) + return False + + return True + def init_execution(self, robot, robot_status, **kwargs): if self.active: _, gripper_error = self.update_execution(robot_status) @@ -295,8 +329,8 @@ class GripperCommandGroup(SimpleCommandGroup): class TelescopingCommandGroup(SimpleCommandGroup): - def __init__(self, wrist_extension_calibrated_retracted_offset): - SimpleCommandGroup.__init__(self, 'wrist_extension', (0, 0), acceptable_joint_error=0.005) + def __init__(self, range_m, wrist_extension_calibrated_retracted_offset): + SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.005) self.wrist_extension_calibrated_retracted_offset = wrist_extension_calibrated_retracted_offset self.telescoping_joints = ['joint_arm_l3', 'joint_arm_l2', 'joint_arm_l1', 'joint_arm_l0'] self.is_telescoping = False @@ -343,8 +377,8 @@ class TelescopingCommandGroup(SimpleCommandGroup): self.goal = {"position": None, "velocity": None, "acceleration": None, "contact_threshold": None} if self.active: if self.is_telescoping: - self.goal['position'] = sum([point.positions[i] for i in self.index]) \ - if len(point.positions) > max(self.index) else None + goal_pos = sum([point.positions[i] for i in self.index]) \ + if len(point.positions) > max(self.index) else None self.goal['velocity'] = point.velocities[self.index[0]] \ if len(point.velocities) > self.index[0] else None self.goal['acceleration'] = point.accelerations[self.index[0]] \ @@ -352,8 +386,8 @@ class TelescopingCommandGroup(SimpleCommandGroup): self.goal['contact_threshold'] = point.effort[self.index[0]] \ if len(point.effort) > self.index[0] else None else: - self.goal['position'] = point.positions[self.index] \ - if len(point.positions) > self.index else None + goal_pos = point.positions[self.index] \ + if len(point.positions) > self.index else None self.goal['velocity'] = point.velocities[self.index] \ if len(point.velocities) > self.index else None self.goal['acceleration'] = point.accelerations[self.index] \ @@ -361,13 +395,20 @@ class TelescopingCommandGroup(SimpleCommandGroup): self.goal['contact_threshold'] = point.effort[self.index] \ if len(point.effort) > self.index else None - if self.goal['position'] is None: + if goal_pos is None: err_str = ("Received goal point with positions array length={0}. " "This joint ({1})'s index is {2}. Length of array must cover all joints listed " "in commanded_joint_names.").format(len(point.positions), self.name, self.index) invalid_goal_callback(err_str) return False + self.goal['position'] = hm.bound_ros_command(self.range, goal_pos) + if self.goal['position'] is None: + err_str = ("Received {0} goal point that is out of bounds. " + "Range = {1}, but goal point = {2}.").format(self.name, self.range, goal_pos) + invalid_goal_callback(err_str) + return False + return True def init_execution(self, robot, robot_status, **kwargs): @@ -400,8 +441,8 @@ class TelescopingCommandGroup(SimpleCommandGroup): class LiftCommandGroup(SimpleCommandGroup): - def __init__(self, max_arm_height): - SimpleCommandGroup.__init__(self, 'joint_lift', (0.0, max_arm_height)) + def __init__(self, range_m): + SimpleCommandGroup.__init__(self, 'joint_lift', range_m) def init_execution(self, robot, robot_status, **kwargs): if self.active: @@ -422,8 +463,8 @@ class LiftCommandGroup(SimpleCommandGroup): class MobileBaseCommandGroup(SimpleCommandGroup): - def __init__(self): - SimpleCommandGroup.__init__(self, 'joint_mobile_base_translation', (-0.5, 0.5), + def __init__(self, virtual_range_m=(-0.5, 0.5)): + SimpleCommandGroup.__init__(self, 'joint_mobile_base_translation', virtual_range_m, acceptable_joint_error=0.005) self.incrementing_joint_names = ['translate_mobile_base', 'rotate_mobile_base'] self.active_translate_mobile_base = False @@ -539,7 +580,7 @@ class MobileBaseCommandGroup(SimpleCommandGroup): self.goal['contact_threshold'] = point.effort[self.index] if len(point.effort) > self.index else None if self.goal['position'] is None: err_str = ("Received {0} goal point that is out of bounds. " - "Range = {1}, but goal point = {2}.").format(self.name, self.range, self.goal['position']) + "Range = {1}, but goal point = {2}.").format(self.name, self.range, goal_pos) invalid_goal_callback(err_str) return False diff --git a/stretch_core/nodes/joint_trajectory_server.py b/stretch_core/nodes/joint_trajectory_server.py index 6878ca3..b347bbe 100644 --- a/stretch_core/nodes/joint_trajectory_server.py +++ b/stretch_core/nodes/joint_trajectory_server.py @@ -25,18 +25,36 @@ class JointTrajectoryAction: self.feedback = FollowJointTrajectoryFeedback() self.result = FollowJointTrajectoryResult() - self.telescoping_cg = TelescopingCommandGroup(self.node.wrist_extension_calibrated_retracted_offset_m) - if self.node.use_lift: - self.lift_cg = LiftCommandGroup(self.node.max_arm_height) - self.mobile_base_cg = MobileBaseCommandGroup() - self.head_pan_cg = HeadPanCommandGroup(self.node.head_pan_calibrated_offset_rad, + r = self.node.robot + head_pan_range_ticks = r.head.motors['head_pan'].params['range_t'] + head_pan_range_rad = (r.head.motors['head_pan'].ticks_to_world_rad(head_pan_range_ticks[1]), + r.head.motors['head_pan'].ticks_to_world_rad(head_pan_range_ticks[0])) + head_tilt_range_ticks = r.head.motors['head_tilt'].params['range_t'] + head_tilt_range_rad = (r.head.motors['head_tilt'].ticks_to_world_rad(head_tilt_range_ticks[1]), + r.head.motors['head_tilt'].ticks_to_world_rad(head_tilt_range_ticks[0])) + wrist_yaw_range_ticks = r.end_of_arm.motors['wrist_yaw'].params['range_t'] + wrist_yaw_range_rad = (r.end_of_arm.motors['wrist_yaw'].ticks_to_world_rad(wrist_yaw_range_ticks[1]), + r.end_of_arm.motors['wrist_yaw'].ticks_to_world_rad(wrist_yaw_range_ticks[0])) + gripper_range_ticks = r.end_of_arm.motors['stretch_gripper'].params['range_t'] + gripper_range_rad = (r.end_of_arm.motors['stretch_gripper'].ticks_to_world_rad(gripper_range_ticks[0]), + r.end_of_arm.motors['stretch_gripper'].ticks_to_world_rad(gripper_range_ticks[1])) + gripper_range_robotis = (r.end_of_arm.motors['stretch_gripper'].world_rad_to_pct(gripper_range_rad[0]), + r.end_of_arm.motors['stretch_gripper'].world_rad_to_pct(gripper_range_rad[1])) + + self.head_pan_cg = HeadPanCommandGroup(head_pan_range_rad, + self.node.head_pan_calibrated_offset_rad, self.node.head_pan_calibrated_looked_left_offset_rad) - self.head_tilt_cg = HeadTiltCommandGroup(self.node.head_tilt_calibrated_offset_rad, + self.head_tilt_cg = HeadTiltCommandGroup(head_tilt_range_rad, + self.node.head_tilt_calibrated_offset_rad, self.node.head_tilt_calibrated_looking_up_offset_rad, self.node.head_tilt_backlash_transition_angle_rad) - self.wrist_yaw_cg = WristYawCommandGroup() - self.gripper_cg = GripperCommandGroup() - self.gripper_cg.acceptable_joint_error = 1.0 + self.wrist_yaw_cg = WristYawCommandGroup(wrist_yaw_range_rad) + self.gripper_cg = GripperCommandGroup(gripper_range_robotis) + self.telescoping_cg = TelescopingCommandGroup(tuple(r.arm.params['range_m']), + self.node.wrist_extension_calibrated_retracted_offset_m) + if self.node.use_lift: + self.lift_cg = LiftCommandGroup(tuple(r.lift.params['range_m'])) + self.mobile_base_cg = MobileBaseCommandGroup(virtual_range_m=(-0.5, 0.5)) def execute_cb(self, goal): with self.node.robot_stop_lock: