Merge pull request #77 from hello-robot/feature/contact_models_fix

Fix broken APIs in Command groups after new contact model feature in stretch_body

stretch_core/nodes/command_groups.py

@@ -347,8 +347,8 @@ class ArmCommandGroup(SimpleCommandGroup):
             robot.arm.move_by(extension_error_m,
                               v_m=self.goal['velocity'],
                               a_m=self.goal['acceleration'],
-                              contact_thresh_pos_N=self.goal['contact_threshold'],
-                              contact_thresh_neg_N=-self.goal['contact_threshold'] \
+                              contact_thresh_pos=self.goal['contact_threshold'],
+                              contact_thresh_neg=-self.goal['contact_threshold'] \
                                                    if self.goal['contact_threshold'] is not None else None)
             self.retracted = extension_error_m < 0.0
 
@@ -392,8 +392,8 @@ class LiftCommandGroup(SimpleCommandGroup):
             robot.lift.move_by(self.update_execution(robot_status)[1],
                                v_m=self.goal['velocity'],
                                a_m=self.goal['acceleration'],
-                               contact_thresh_pos_N=self.goal['contact_threshold'],
-                               contact_thresh_neg_N=-self.goal['contact_threshold'] \
+                               contact_thresh_pos=self.goal['contact_threshold'],
+                               contact_thresh_neg=-self.goal['contact_threshold'] \
                                                     if self.goal['contact_threshold'] is not None else None)
 
     def update_execution(self, robot_status, **kwargs):
@@ -556,17 +556,17 @@ class MobileBaseCommandGroup(SimpleCommandGroup):
                     robot.base.translate_by(mobile_base_error_m,
                                             v_m=self.goal_translate_mobile_base['velocity'],
                                             a_m=self.goal_translate_mobile_base['acceleration'],
-                                            contact_thresh_N=self.goal_translate_mobile_base['contact_threshold'])
+                                            contact_thresh=self.goal_translate_mobile_base['contact_threshold'])
                 elif mobile_base_error_rad is not None:
                     robot.base.rotate_by(mobile_base_error_rad,
                                          v_r=self.goal_rotate_mobile_base['velocity'],
                                          a_r=self.goal_rotate_mobile_base['acceleration'],
-                                         contact_thresh_N=self.goal_rotate_mobile_base['contact_threshold'])
+                                         contact_thresh=self.goal_rotate_mobile_base['contact_threshold'])
             else:
                 robot.base.translate_by(self.update_execution(robot_status)[1],
                                         v_m=self.goal['velocity'],
                                         a_m=self.goal['acceleration'],
-                                        contact_thresh_N=self.goal['contact_threshold'])
+                                        contact_thresh=self.goal['contact_threshold'])
 
     def update_execution(self, robot_status, **kwargs):
         success_callback = kwargs['success_callback'] if 'success_callback' in kwargs.keys() else None

stretch_core/nodes/stretch_driver

@@ -6,6 +6,7 @@ import threading
 from rwlock import RWLock
 import stretch_body.robot as rb
 from stretch_body.hello_utils import ThreadServiceExit
+import stretch_body
 
 import tf2_ros
 import tf_conversions
@@ -338,6 +339,10 @@ class StretchBodyNode:
 
         rospy.loginfo("{0} started".format(self.node_name))
 
+        if int(stretch_body.__version__.split('.')[1]) < 4:
+            rospy.logerr("ERROR: Found old stretch_body version. Please upgrade stretch_body to 0.4.0 or above.")
+            rospy.signal_shutdown('Found old stretch_body version.')
+
         self.robot = rb.Robot()
         self.robot.startup()
 

stretch_demos/nodes/clean_surface

@@ -135,8 +135,8 @@ class CleanSurfaceNode(hm.HelloNode):
                     self.lower_tool_until_contact()
                 else: 
                     lift_m = self.lift_position - (above_surface_m - 0.02)
-                    lift_contact_effort = 20.0 #20.0 from funmap
-                    extension_contact_effort = 40.0 #40.0 from funmap
+                    lift_contact_effort = 33.7 #effort_pct #20.0 from funmap
+                    extension_contact_effort = 16.45 #effort_pct #40.0 from funmap
                     pose = {'joint_lift': (lift_m, lift_contact_effort)}
                     self.move_to_pose(pose, custom_contact_thresholds=True)
                     

stretch_demos/nodes/hello_world

@@ -69,7 +69,7 @@ class HelloWorldNode(hm.HelloNode):
             wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(self.joint_states)
         extension_m = wrist_position + max_reach_m
         extension_m = min(extension_m, max_extension_m)
-        extension_contact_effort = 45.0
+        extension_contact_effort = 18.5 #effort_pct
         pose = {'wrist_extension': (extension_m, extension_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)
         
@@ -83,7 +83,7 @@ class HelloWorldNode(hm.HelloNode):
         extension_m = wrist_position - backoff_m
         extension_m = min(extension_m, max_extension_m)
         extension_m = max(min_extension_m, extension_m)
-        extension_contact_effort = 80.0 # to avoid stopping due to contact
+        extension_contact_effort = 32.9 #effort_pct # to avoid stopping due to contact
         pose = {'wrist_extension': (extension_m, extension_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)
         rospy.sleep(1.0) # Give it time to backoff before the next move. Otherwise it may not backoff.

stretch_demos/nodes/open_drawer

@@ -57,7 +57,7 @@ class OpenDrawerNode(hm.HelloNode):
         max_reach_m = 0.4
         extension_m = self.wrist_position + max_reach_m
         extension_m = min(extension_m, max_extension_m)
-        extension_contact_effort = 45.0 #42.0 #40.0 from funmap
+        extension_contact_effort = 18.5 #effort_pct #42.0 #40.0 from funmap
         pose = {'wrist_extension': (extension_m, extension_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)
         
@@ -65,7 +65,7 @@ class OpenDrawerNode(hm.HelloNode):
         rospy.loginfo('lower_hook_until_contact')
         max_drop_m = 0.15
         lift_m = self.lift_position - max_drop_m
-        lift_contact_effort = 16.0 #18.0 #20.0 #20.0 from funmap
+        lift_contact_effort = 32.5 #effort_pct #18.0 #20.0 #20.0 from funmap
         pose = {'joint_lift': (lift_m, lift_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)
 
@@ -82,7 +82,7 @@ class OpenDrawerNode(hm.HelloNode):
         rospy.loginfo('raise_hook_until_contact')
         max_raise_m = 0.15
         lift_m = self.lift_position + max_raise_m
-        lift_contact_effort = 45.0
+        lift_contact_effort = 41.4 #effort_pct
         pose = {'joint_lift': (lift_m, lift_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)
 
@@ -113,7 +113,7 @@ class OpenDrawerNode(hm.HelloNode):
             extension_m = self.wrist_position - 0.2
             extension_m = min(extension_m, max_extension_m)
             extension_m = max(0.01, extension_m)
-            extension_contact_effort = 120 #100.0 #40.0 from funmap
+            extension_contact_effort = 64.4 #effort_pct #100.0 #40.0 from funmap
             pose = {'wrist_extension': (extension_m, extension_contact_effort)}
             self.move_to_pose(pose, custom_contact_thresholds=True)
             return True