mirror of
https://github.com/wassname/kair_algorithms_draft.git
synced 2026-09-09 11:25:10 +08:00
Replace the fk solver with kdl kinematics (#53)
* Replace the fk solver with kdl kinematics * Resolve the wrong kdl kinematics due to ill robot tree structure * Apply isort and black and apply some naming changes * Remove white spaces, blanks * Change file permission 755 to 644 * Change file permission 755 to 644 * Change file permission 755 to 644 * Change file permission 755 to 644 * Change file permission 644 to 755
This commit is contained in:
Cheolhui
@@ -1,21 +1,23 @@
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# ! usr/bin/env python
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import time
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from abc import ABCMeta
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from math import cos, sin
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import time
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import gym
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import numpy as np
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import rospkg # noqa
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import rospy # noqa
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import tf # noqa
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import tf.transformations as tr # noqa
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from gazebo_msgs.srv import DeleteModel, GetModelState, SpawnModel
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from gazebo_msgs.srv import DeleteModel, GetModelState, SpawnModel # noqa
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from geometry_msgs.msg import Pose
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from open_manipulator_msgs.msg import KinematicsPose, OpenManipulatorState
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from pykdl_utils.kdl_kinematics import KDLKinematics
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from sensor_msgs.msg import JointState
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from std_msgs.msg import Float64
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from urdf_parser_py.urdf import URDF # noqa
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import rospkg # noqa
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class OpenManipulatorRosBaseInterface(object):
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@@ -37,6 +39,7 @@ class OpenManipulatorRosBaseInterface(object):
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self.termination_count = 0
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self.success_count = 0
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self.init_fk_solver()
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self.init_tf_transformer()
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self.init_publish_node()
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self.init_subscribe_node()
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@@ -116,6 +119,10 @@ class OpenManipulatorRosBaseInterface(object):
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self.pub_joint3_position.publish(np.random.uniform(0.0, 0.0))
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self.pub_joint4_position.publish(np.random.uniform(0.0, 0.0))
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def init_fk_solver(self):
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self.robot = URDF.from_parameter_server()
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self.solve_fk = KDLKinematics(self.robot, "world", "end_effector_link")
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def joint_state_callback(self, msg):
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"""Callback function of joint states subscriber.
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@@ -129,19 +136,20 @@ class OpenManipulatorRosBaseInterface(object):
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self.joint_efforts = joints_states.effort
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# penalize jerky motion in reward for shaped reward setting.
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self.squared_sum_vel = np.linalg.norm(np.array(self.joint_velocities))
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try:
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(
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self._gripper_position,
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self._gripper_orientation,
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) = self.tf_listenser.lookupTransform(
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"/world", "/end_effector_link", rospy.Time(0)
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)
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except (
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tf.LookupException,
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tf.ConnectivityException,
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tf.ExtrapolationException,
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):
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pass
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_fk_mat = np.array(self.solve_fk.forward(self.joint_positions[2:]))
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self._gripper_position = _fk_mat[0:3, 3]
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self._gripper_orientation[3] = (
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1 + _fk_mat[0, 0] + _fk_mat[1, 1] + _fk_mat[2, 2]
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) ** 0.5
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self._gripper_orientation[0] = (_fk_mat[2, 1] - _fk_mat[1, 2]) / (
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4 * self._gripper_orientation[3]
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)
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self._gripper_orientation[1] = (_fk_mat[0, 2] - _fk_mat[2, 0]) / (
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4 * self._gripper_orientation[3]
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)
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self._gripper_orientation[2] = (_fk_mat[1, 0] - _fk_mat[0, 1]) / (
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4 * self._gripper_orientation[3]
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)
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def kinematics_pose_callback(self, msg):
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"""Callback function of gripper kinematic pose subscriber.
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@@ -378,7 +386,7 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
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if block_pose is not None:
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assert self.train_mode is True
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# self.delete_target_block()
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# self.delete_target_block()
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self.init_robot_pose()
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time.sleep(0.5)
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@@ -395,7 +403,7 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
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self.cfg["OVERHEAD_ORIENTATION"],
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)
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# block_pose = Pose()
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# block_pose = Pose()
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block_pose_position_x = polar_rad * cos(polar_theta)
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block_pose_position_y = polar_rad * sin(polar_theta)
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block_pose_position_z = z
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@@ -408,19 +416,19 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
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# TODO: Add block generation condition when testing gazebo simulation.
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# block_reference_frame = "world"
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# model_path = rospkg.RosPack().get_path("kair_algorithms") + "/urdf/"
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#
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# with open(model_path + "block/model.urdf", "r") as block_file:
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# block_xml = block_file.read().replace("\n", "")
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#
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# rospy.wait_for_service("/gazebo/spawn_urdf_model")
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#
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# try:
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# spawn_urdf = rospy.ServiceProxy("/gazebo/spawn_urdf_model", SpawnModel)
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# spawn_urdf("block", block_xml, "/", block_pose, block_reference_frame)
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# except rospy.ServiceException as e:
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# rospy.logerr("Spawn URDF service call failed: {0}".format(e))
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# block_reference_frame = "world"
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# model_path = rospkg.RosPack().get_path("kair_algorithms") + "/urdf/"
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# with open(model_path + "block/model.urdf", "r") as block_file:
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# block_xml = block_file.read().replace("\n", "")
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# rospy.wait_for_service("/gazebo/spawn_urdf_model")
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# try:
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# spawn_urdf = rospy.ServiceProxy("/gazebo/spawn_urdf_model", SpawnModel)
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# spawn_urdf("block", block_xml, "/", block_pose, block_reference_frame)
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# except rospy.ServiceException as e:
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# rospy.logerr("Spawn URDF service call failed: {0}".format(e))
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def delete_target_block(self):
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"""This will be called on ROS Exit, deleting Gazebo models.
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@@ -441,22 +449,22 @@ class OpenManipulatorRosGazeboInterface(OpenManipulatorRosBaseInterface):
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Returns:
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L2 norm of end effector pose and object pose.
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"""
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# rospy.wait_for_service("/gazebo/get_model_state")
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#
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# try:
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# object_state_srv = rospy.ServiceProxy(
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# "/gazebo/get_model_state", GetModelState
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# )
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# object_state = object_state_srv("block", "world")
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# object_pose = [
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# object_state.pose.position.x,
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# object_state.pose.position.y,
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# object_state.pose.position.z,
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# ]
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# self._obj_pose = np.array(object_pose)
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# except rospy.ServiceException as e:
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# rospy.logerr("Spawn URDF service call failed: {0}".format(e))
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#
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# rospy.wait_for_service("/gazebo/get_model_state")
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# try:
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# object_state_srv = rospy.ServiceProxy(
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# "/gazebo/get_model_state", GetModelState
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# )
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# object_state = object_state_srv("block", "world")
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# object_pose = [
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# object_state.pose.position.x,
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# object_state.pose.position.y,
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# object_state.pose.position.z,
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# ]
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# self._obj_pose = np.array(object_pose)
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# except rospy.ServiceException as e:
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# rospy.logerr("Spawn URDF service call failed: {0}".format(e))
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# FK state of robot
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end_effector_pose = np.array(self._gripper_position)
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return np.linalg.norm(end_effector_pose - self.block_pose)
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