[ { "path": ".gitignore", "content": "*.py[cod]\n\n# C extensions\n*.so\n\n# Packages\n*.egg\n*.egg-info\ndist\nbuild\neggs\nparts\nbin\nvar\nsdist\ndevelop-eggs\n.installed.cfg\nlib\nlib64\n\n# Installer logs\npip-log.txt\n\n# Unit test / coverage reports\n.coverage\n.tox\nnosetests.xml\n\n# Translations\n*.mo\n\n# Mr Developer\n.mr.developer.cfg\n.project\n.cproject\ncmake_install.cmake\n.pydevproject\n*.swp\nCATKIN_IGNORE\ncatkin\ncatkin_generated\ndevel\n\ncpp\ndocs\nmsg_gen\nsrv_gen\n*.smoketest\n*.cfgc\n*_msgs/src/\n*/src/**/cfg\n*/*/src/**/*\n\n*.pyc\n" }, { "path": ".travis.yml", "content": "# Generic .travis.yml file for running continuous integration on Travis-CI for\n# any ROS package.\n#\n# Available here:\n# - http://felixduvallet.github.io/ros-travis-integration\n# - https://github.com/felixduvallet/ros-travis-integration\n#\n# This installs ROS on a clean Travis-CI virtual machine, creates a ROS\n# workspace, resolves all listed dependencies, and sets environment variables\n# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are\n# no compilation errors), and runs all the tests. If any of the compilation/test\n# phases fail, the build is marked as a failure.\n#\n# We handle two types of package dependencies specified in the package manifest:\n# - system dependencies that can be installed using `rosdep`, including other\n# ROS packages and system libraries. These dependencies must be known to\n# `rosdistro` and get installed using apt-get.\n# - package dependencies that must be checked out from source. These are handled by\n# `wstool`, and should be listed in a file named dependencies.rosinstall.\n#\n# There are two variables you may want to change:\n# - ROS_DISTRO (default is indigo). Note that packages must be available for\n# ubuntu 14.04 trusty.\n# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo\n# root). This should list all necessary repositories in wstool format (see\n# the ros wiki). If the file does not exists then nothing happens.\n#\n# See the README.md for more information.\n#\n# Author: Felix Duvallet \n\n# NOTE: The build lifecycle on Travis.ci is something like this:\n# before_install\n# install\n# before_script\n# script\n# after_success or after_failure\n# after_script\n# OPTIONAL before_deploy\n# OPTIONAL deploy\n# OPTIONAL after_deploy\n\n################################################################################\n\n# Use ubuntu trusty (14.04) with sudo privileges.\ndist: trusty\nsudo: required\nlanguage:\n - generic\ncache:\n - apt\n\n# Configuration variables. All variables are global now, but this can be used to\n# trigger a build matrix for different ROS distributions if desired.\nenv:\n global:\n - ROS_DISTRO=indigo\n - ROS_CI_DESKTOP=\"`lsb_release -cs`\" # e.g. [precise|trusty|...]\n - CI_SOURCE_PATH=$(pwd)\n - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall\n - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options\n - ROS_PARALLEL_JOBS='-j8 -l6'\n # Set the python path manually to include /usr/-/python2.7/dist-packages\n # as this is where apt-get installs python packages.\n - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages\n\n################################################################################\n\n# Install system dependencies, namely a very barebones ROS setup.\nbefore_install:\n - sudo sh -c \"echo \\\"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\\\" > /etc/apt/sources.list.d/ros-latest.list\"\n - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116\n - sudo apt-get update -qq\n - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin\n - source /opt/ros/$ROS_DISTRO/setup.bash\n # Prepare rosdep to install dependencies.\n - sudo rosdep init\n - rosdep update\n\n# Create a catkin workspace with the package under integration.\ninstall:\n - mkdir -p ~/catkin_ws/src\n - cd ~/catkin_ws/src\n - catkin_init_workspace\n # Create the devel/setup.bash (run catkin_make with an empty workspace) and\n # source it to set the path variables.\n - cd ~/catkin_ws\n - catkin_make\n - source devel/setup.bash\n # Add the package under integration to the workspace using a symlink.\n - cd ~/catkin_ws/src\n - ln -s $CI_SOURCE_PATH .\n\n# Install all dependencies, using wstool first and rosdep second.\n# wstool looks for a ROSINSTALL_FILE defined in the environment variables.\nbefore_script:\n # source dependencies: install using wstool.\n - cd ~/catkin_ws/src\n - wstool init\n - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi\n - wstool up\n # package depdencies: install using rosdep.\n - cd ~/catkin_ws\n - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO\n\n# Compile and test (mark the build as failed if any step fails). If the\n# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example\n# to blacklist certain packages.\n#\n# NOTE on testing: `catkin_make run_tests` will show the output of the tests\n# (gtest, nosetest, etc..) but always returns 0 (success) even if a test\n# fails. Running `catkin_test_results` aggregates all the results and returns\n# non-zero when a test fails (which notifies Travis the build failed).\nscript:\n - source /opt/ros/$ROS_DISTRO/setup.bash\n - cd ~/catkin_ws\n - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )\n # Run the tests, ensuring the path is set correctly.\n - source devel/setup.bash\n - catkin_make run_tests && catkin_test_results\n" }, { "path": ".vscode/settings.json", "content": "{\n \"python.linting.pylintEnabled\": true,\n \"python.linting.enabled\": true\n}" }, { "path": "BUILD-DOCKER-IMAGE.sh", "content": "#!/bin/bash\n# Generates a docker image with the relevant settings for the DOCKER_PROJECT.\n# Context-sensitive behaviour: If the parameter \"gitlab-ci\" is used, \n# the script builds the image without trying to download it.\n#\n# Usage: ./BUILD-DOCKER-IMAGE.bash \n#\n# @param [optional parameter] for docker container naming during spin-up and to set different behavior.\n# Default value: $USER - the image is pulled from repo, or built as fallback.\n# If is \"gitlab-ci\" the image is directly build from scratch - as if done in gitlab-ci.\n################################################################################\n\n# Set the Docker container name from a project name (first argument).\n# If no argument is given, use the current user name as the project name.\nDOCKER_PROJECT=$1\nif [ -z \"${DOCKER_PROJECT}\" ]; then\n DOCKER_PROJECT=${USER}\nfi\nDOCKER_CONTAINER=\"${DOCKER_PROJECT}_ros_ur_1\"\necho \"$0: DOCKER_PROJECT=${DOCKER_PROJECT}\"\necho \"$0: DOCKER_CONTAINER=${DOCKER_CONTAINER}\"\n\n# Stop and remove the Docker container.\nEXISTING_DOCKER_CONTAINER_ID=`docker ps -aq -f name=${DOCKER_CONTAINER}`\nif [ ! -z \"${EXISTING_DOCKER_CONTAINER_ID}\" ]; then\n echo \"Stop the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}.\"\n docker stop ${EXISTING_DOCKER_CONTAINER_ID}\n echo \"Remove the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}.\"\n docker rm ${EXISTING_DOCKER_CONTAINER_ID}\nfi\n\ndocker-compose -p ${DOCKER_PROJECT} -f ./docker/docker-compose.yml build\n" }, { "path": "LICENSE", "content": "The MIT License (MIT)\n\nCopyright (c) 2018-2023 Cristian Beltran\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n" }, { "path": "README.md", "content": "Universal Robot UR/URe\n===\n\"UR3e\"UR3\n\n\nCustom ROS packages for the UR3 Robot with a gripper Robotiq 85 and the UR3e robot with a gripper Robotiq Hand-e. \nTested on ROS Noetic Ubuntu 20.04 with Python 3.8.\n\nFor ROS Melodic see the `melodic-devel` branch.\n\n## Installation \n\n### [With docker](https://github.com/cambel/ur3/wiki/Install-with-Docker)\n\n### [Compile from source](https://github.com/cambel/ur3/wiki/Compile-from-source)\n\n## Examples\n\n### Visualization of Universal Robot in RViz\n\nTo visualize the model of the robot with a gripper, launch the following:\n ```\n roslaunch ur_gripper_description display_with_gripper_hande.launch ur_robot:=ur5e\n ```\nYou can then use the sliders to change the joint values and the gripper values. \nChange the value of ur_robot to any other valid robot (ur3e, ur5e, ...)\n\n### Simulation in Gazebo 9\n\n\nTo simulate the robot launch the following:\n ```\n roslaunch ur_gripper_gazebo ur_gripper_85_cubes.launch ur_robot:=ur3 grasp_plugin:=1\n ```\nor using ur3e:\n ```\n roslaunch ur_gripper_gazebo ur_gripper_hande_cubes.launch ur_robot:=ur3e grasp_plugin:=1\n ```\n\nYou can then send commands to the joints or to the gripper.\n\nAn example of sending joints values to the robot can be executed as follows:\n ```\n rosrun ur_control sim_controller_examples.py -m\n ```\nTo change the values of the joints, the file `sim_controller_examples.py` must be modified.\n\nSimilarly, the script include examples to control the robot's end-effector position, gripper and an example of performing grasping.\nExecute the following command to see the available examples.\n ```\n rosrun ur_control sim_controller_examples.py --help\n ```\n\nFor testing the grasping examples you need to explicitly specify that the gripper is going to be loaded, e.g.,\n ```\n rosrun ur_control sim_controller_examples.py --gripper --grasp_naive\n ```\n\nThe grasp_plugin example uses this [plugin](https://github.com/pal-robotics/gazebo_ros_link_attacher), and requires gazebo to be launched with the grasp_plugin parameter as `True`.\n\nAn easy way to control the robot using the keyboard can be found in the script:\n ```\n rosrun ur_control joint_position_keyboard.py\n ```\nPress SPACE to get a list of all valid commands to control either each independent joint or the end effector position x,y,z and rotations.\nTo have access to the gripper controller include the option `--gripper`\n\nAnother option of easy control is using `rqt`\n\n## MoveIt\nTo test the MoveIt configuration with any UR/URe robot, start one of the gazebo environments, such as:\n```\nroslaunch ur_gripper_gazebo ur_gripper_hande_cubes.launch ur_robot:=ur3e grasp_plugin:=1\n```\n\nThen load the MoveIt configuration\n```\nroslaunch ur_hande_moveit_config start_moveit.launch\n```\n\nThen execute the tutorial\n```\nrosrun ur_control moveit_tutorial.py --tutorial\n```\n" }, { "path": "RUN-DOCKER.sh", "content": "#!/bin/bash\n\n################################################################################\nexport DOCKER_RUNTIME=nvidia\n\n# Set the Docker container name from a project name (first argument).\n# If no argument is given, use the current user name as the project name.\nPROJECT=$1\nif [ -z \"${PROJECT}\" ]; then\n PROJECT=${USER}\nfi\nCONTAINER=\"${PROJECT}_ros_ur_1\"\necho \"$0: PROJECT=${PROJECT}\"\necho \"$0: CONTAINER=${CONTAINER}\"\n\n# Run the Docker container in the background.\n# Any changes made to './docker/docker-compose.yml' will recreate and overwrite the container.\ndocker-compose -p ${PROJECT} -f ./docker/docker-compose.yml up -d\n\n################################################################################\n\n# Display GUI through X Server by granting full access to any external client.\nxhost +\n\n################################################################################\n\n# Enter the Docker container with a Bash shell (with or without a custom).\ndocker exec -it ${CONTAINER} bash\n" }, { "path": "dependencies.rosinstall", "content": "- git:\n local-name: robotiq\n uri: https://github.com/cambel/robotiq.git\n version: noetic-devel\n- git: \n local-name: gazebo_ros_link_attacher\n uri: https://github.com/pal-robotics/gazebo_ros_link_attacher.git\n version: melodic-devel\n- git: \n local-name: robotiq_urcap_control\n uri: https://github.com/cambel/ros_robotiq_urcap_control.git\n version: master\n- git: \n local-name: Universal_Robots_ROS_Driver\n uri: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git\n version: master\n- git: \n local-name: trac_ik\n uri: https://bitbucket.org/traclabs/trac_ik.git\n version: master\n- git: \n local-name: universal_robot\n uri: https://github.com/fmauch/universal_robot.git\n version: calibration_devel\n- git:\n local-name: ur_msgs\n uri: https://github.com/ros-industrial/ur_msgs.git\n version: melodic-devel" }, { "path": "docker/Dockerfile", "content": "# Docker for ur3 repo\n# ros-noetic-base, gazebo11, python3 libraries \n# Python3 3 version\n\nFROM osrf/ros:noetic-desktop-full\nLABEL maintainer Cristian Beltran \"beltran@hlab.sys.es.osaka-u.ac.jp\"\n\nENV ROS_DISTRO noetic\n\n# install universal robot ros packages\nRUN apt-get update && apt-get install -y \\\n # ROS utils \n ros-$ROS_DISTRO-gazebo-ros-pkgs \\\n ros-$ROS_DISTRO-spacenav-node \\\n ros-$ROS_DISTRO-rqt-common-plugins \\\n ros-$ROS_DISTRO-rqt-joint-trajectory-controller \\\n ros-$ROS_DISTRO-rqt-tf-tree \\\n ros-$ROS_DISTRO-rqt-multiplot \\\n ros-$ROS_DISTRO-moveit \\\n # install catkin\n ros-$ROS_DISTRO-catkin \\\n python3-catkin-tools \\\n # utils\n git \\\n locate \\\n aptitude \\\n vim htop \\\n curl wget \\\n spacenavd \\\n python-is-python3 \\\n python3-pip \\\n && rm -rf /var/lib/apt/lists/*\n\n### Ros Workspace ###\n# Set up the workspace\nRUN /bin/bash -c \"source /opt/ros/$ROS_DISTRO/setup.bash \\\n && mkdir -p ~/ros_ws/src \\\n && cd ~/ros_ws/src \\\n && git clone https://github.com/cambel/ur3.git ros-ur -b noetic-devel\"\n\n# Updating ROSDEP and installing dependencies\nRUN cd ~/ros_ws \\\n && rosinstall ~/ros_ws/src /opt/ros/$ROS_DISTRO src/ros-ur/dependencies.rosinstall \\\n && apt-get update \\\n && rosdep fix-permissions \\\n && rosdep update \\\n && rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y \\\n && rm -rf /var/lib/apt/lists/*\n\nENV PYTHONIOENCODING UTF-8\n\n## Python3 libraries ##\nRUN python3 -m pip install pip --upgrade && \\\n pip install matplotlib==2.2.3 spicy protobuf pyyaml pyquaternion rospkg \\\n lxml tqdm catkin-pkg empy PyVirtualDisplay defusedxml gym psutil pyprind\n\n# # Compiling ros workspace\nRUN /bin/bash -c \"source /opt/ros/$ROS_DISTRO/setup.bash \\\n && cd ~/ros_ws/ \\\n && rm -rf build \\\n && catkin build\"\n\n################################################\n# Custom python3 libs\n################################################\n# ur_ikfast\n# RUN /bin/bash -c \"cd ~/ \\\n# && mkdir pylibs && cd pylibs \\\n# && git clone https://github.com/cambel/ur_ikfast.git \\\n# && cd ur_ikfast && pip install -e .\"\n\n# Download gazebo models only once\nRUN mkdir -p ~/.gazebo\nRUN git clone https://github.com/osrf/gazebo_models ~/.gazebo/models\n\nENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}\nENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics\n\n# setup environment\nEXPOSE 11345\n\nRUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> ~/.bashrc\nRUN echo 'source ~/ros_ws/devel/setup.bash' >> ~/.bashrc\n\nRUN echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc\nRUN echo 'export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/ros_ws/src/ros-universal-robots/ur_gripper_gazebo/models/' >> ~/.bashrc\n" }, { "path": "docker/bashrc", "content": "" }, { "path": "docker/build_container.sh", "content": "#!/bin/bash\n# Generates a docker image with the relevant settings for the DOCKER_PROJECT.\n# Context-sensitive behaviour: If the parameter \"gitlab-ci\" is used, \n# the script builds the image without trying to download it.\n#\n# Usage: ./BUILD-DOCKER-IMAGE.bash \n#\n# @param [optional parameter] for docker container naming during spin-up and to set different behavior.\n# Default value: $USER - the image is pulled from repo, or built as fallback.\n# If is \"gitlab-ci\" the image is directly build from scratch - as if done in gitlab-ci.\n################################################################################\n\n# Set the Docker container name from a project name (first argument).\n# If no argument is given, use the current user name as the project name.\nDOCKER_PROJECT=$1\nif [ -z \"${DOCKER_PROJECT}\" ]; then\n DOCKER_PROJECT=${USER}\nfi\nDOCKER_CONTAINER=\"${PROJECT}-ros_ur3-1\"\necho \"$0: DOCKER_PROJECT=${DOCKER_PROJECT}\"\necho \"$0: DOCKER_CONTAINER=${DOCKER_CONTAINER}\"\n\n# Stop and remove the Docker container.\nEXISTING_DOCKER_CONTAINER_ID=`docker ps -aq -f name=${DOCKER_CONTAINER}`\nif [ ! -z \"${EXISTING_DOCKER_CONTAINER_ID}\" ]; then\n echo \"Stop the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}.\"\n docker stop ${EXISTING_DOCKER_CONTAINER_ID}\n echo \"Remove the container ${DOCKER_CONTAINER} with ID: ${EXISTING_DOCKER_CONTAINER_ID}.\"\n docker rm ${EXISTING_DOCKER_CONTAINER_ID}\nfi\n\ndocker compose -p ${DOCKER_PROJECT} -f ./docker-compose.yml build\n" }, { "path": "docker/docker-compose.yml", "content": "version: \"2.4\"\n\n################################################################################\n\nservices:\n ros_ur:\n hostname: localhost\n runtime: ${DOCKER_RUNTIME}\n privileged: true\n working_dir: /root/\n environment:\n # Pass host user information.\n - HOST_USER=${USER}\n - HOST_UID=1000\n - HOST_GID=1000\n # Display X Server GUI.\n - DISPLAY\n - QT_X11_NO_MITSHM=1\n # Configure Nvidia Docker interface.\n - NVIDIA_VISIBLE_DEVICES=all\n - NVIDIA_DRIVER_CAPABILITIES=all\n - NVIDIA_REQUIRE_CUDA=cuda>=9.0\n - DOCKER_RUNTIME=${DOCKER_RUNTIME}\n # Needs to be explicitly define\n - ROS_HOSTNAME=localhost\n image: ros-ur:noetic\n tty: true\n build:\n context: ../\n dockerfile: ./docker/Dockerfile\n args:\n - DOCKERFILE_COMMIT_SHORT_SHA\n volumes:\n # Map ROS workspace folders.\n - ../:/root/ros_ws/src/ros-ur\n # Grant display access to X Server.\n - /tmp/.X11-unix:/tmp/.X11-unix\n # Grant bus access to FlexBE App.\n - /var/run/dbus/system_bus_socket:/var/run/dbus/system_bus_socket\n # Grant access to serial usb ports for u2d2\n - /dev/:/dev/\n network_mode: host\n command: tail -f /dev/null\n\n" }, { "path": "docker/launch_container.sh", "content": "#!/bin/bash\n\n################################################################################\n\n# Set the Docker container name from a project name (first argument).\n# If no argument is given, use the current user name as the project name.\nPROJECT=$1\nif [ -z \"${PROJECT}\" ]; then\n PROJECT=${USER}\nfi\nCONTAINER=\"${PROJECT}-ros_ur3-1\"\necho \"$0: PROJECT=${PROJECT}\"\necho \"$0: CONTAINER=${CONTAINER}\"\n\n# Run the Docker container in the background.\n# Any changes made to './docker/docker-compose.yml' will recreate and overwrite the container.\ndocker compose -p ${PROJECT} -f ./docker-compose.yml up -d\n\n################################################################################\n\n# Display GUI through X Server by granting full access to any external client.\nxhost +\n\n################################################################################\n\n# Enter the Docker container with a Bash shell (with or without a custom).\ndocker exec -it ${CONTAINER} bash" }, { "path": "ur.code-workspace", "content": "{\n\t\"folders\": [\n\t\t{\n\t\t\t\"path\": \".\"\n\t\t},\n\t],\n\t\"settings\": {\n\t\t\"files.insertFinalNewline\": true,\n\t\t\"files.exclude\": {\n\t\t\t\"**/**.pyc\": true,\n\t\t\t\"**/build\": true,\n\t\t\t\"**/devel\": true,\n\t\t\t\"**/logs\": true,\n\t\t\t\"**/.catkin_tools\": true,\n\t\t},\n\t\t\"cSpell.words\": [\n\t\t\t\"interp\",\n\t\t\t\"mtype\",\n\t\t\t\"openai\",\n\t\t\t\"pyquaternion\",\n\t\t\t\"rospy\",\n\t\t\t\"spalg\"\n\t\t],\n\t\t\"python.analysis.extraPaths\": [\n\t\t\t\"./ur_control/src\",\n\t\t\t\"./ur_gripper_gazebo/src\",\n\t\t\t\"./ur3e_openai/src\",\n\t\t\t\"./ur3e_rl/src\",\n\t\t],\n\t\t\"python.analysis.autoImportCompletions\": true,\n\t\t\"python.autoComplete.extraPaths\": [\n\t\t\t\"/root/ros_ws/devel/lib/python3/dist-packages\",\n\t\t\t\"/opt/ros/noetic/lib/python3/dist-packages\",\n\t\t],\n\t\t\"[python]\": {\n\t\t\t\"editor.defaultFormatter\": \"ms-python.autopep8\"\n\t\t},\n\t\t\"autopep8.args\": [\n\t\t\t\"--max-line-length\",\n\t\t\t\"200\",\n\t\t\t\"--experimental\"\n\t\t],\n\t}\n}\n" }, { "path": "ur_control/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.1.3)\nproject(ur_control)\n\nfind_package(catkin REQUIRED COMPONENTS\n control_msgs\n controller_manager\n effort_controllers\n gripper_action_controller\n joint_state_controller\n joint_trajectory_controller\n std_srvs\n geometry_msgs\n robot_state_publisher\n sensor_msgs\n trajectory_msgs\n trac_ik_python\n)\n\ncatkin_python_setup()\n\ncatkin_package()\n\ninclude_directories(${catkin_INCLUDE_DIRS})\n" }, { "path": "ur_control/config/gripper_controller.yaml", "content": "# Gripper controller\ngripper_controller:\n type: position_controllers/GripperActionController\n gripper_type: '85'\n joint: finger_joint\n action_monitor_rate: 20\n goal_tolerance: 0.002\n max_effort: 100\n stall_velocity_threshold: 0.001\n stall_timeout: 1.0" }, { "path": "ur_control/config/ur_controllers.yaml", "content": "# Joint state controller\njoint_state_controller:\n publish_rate: 125\n type: joint_state_controller/JointStateController\n\nscaled_pos_joint_traj_controller:\n type: position_controllers/JointTrajectoryController\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n constraints:\n # Default is 0\n goal_time: 0.1\n # Default is 0.01\n stopped_velocity_tolerance: 0.01\n shoulder_pan_joint:\n trajectory: 0\n goal: 0.01\n shoulder_lift_joint:\n trajectory: 0\n goal: 0.01\n elbow_joint:\n trajectory: 0\n goal: 0.01\n wrist_1_joint:\n trajectory: 0\n goal: 0.01\n wrist_2_joint:\n trajectory: 0\n goal: 0.01\n wrist_3_joint:\n trajectory: 0\n goal: 0.01\n\n#Position controller\nshoulder_pan_joint:\n type: position_controllers/JointPositionController\n joint: shoulder_pan_joint\nshoulder_lift_joint:\n type: position_controllers/JointPositionController\n joint: shoulder_lift_joint\nelbow_joint:\n type: position_controllers/JointPositionController\n joint: elbow_joint\nwrist_1_joint:\n type: position_controllers/JointPositionController\n joint: wrist_1_joint\nwrist_2_joint:\n type: position_controllers/JointPositionController\n joint: wrist_2_joint\nwrist_3_joint:\n type: position_controllers/JointPositionController\n joint: wrist_3_joint" }, { "path": "ur_control/config/ur_e_controllers.yaml", "content": "# Joint state controller\njoint_state_controller:\n publish_rate: 500\n type: joint_state_controller/JointStateController\n\nscaled_pos_joint_traj_controller:\n type: position_controllers/JointTrajectoryController\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n constraints:\n # Default is 0\n goal_time: 0.1\n # Default is 0.01\n stopped_velocity_tolerance: 0.01\n shoulder_pan_joint:\n trajectory: 0\n goal: 0.01\n shoulder_lift_joint:\n trajectory: 0\n goal: 0.01\n elbow_joint:\n trajectory: 0\n goal: 0.01\n wrist_1_joint:\n trajectory: 0\n goal: 0.01\n wrist_2_joint:\n trajectory: 0\n goal: 0.01\n wrist_3_joint:\n trajectory: 0\n goal: 0.01\n\n#Position controller\nshoulder_pan_joint:\n type: position_controllers/JointPositionController\n joint: shoulder_pan_joint\nshoulder_lift_joint:\n type: position_controllers/JointPositionController\n joint: shoulder_lift_joint\nelbow_joint:\n type: position_controllers/JointPositionController\n joint: elbow_joint\nwrist_1_joint:\n type: position_controllers/JointPositionController\n joint: wrist_1_joint\nwrist_2_joint:\n type: position_controllers/JointPositionController\n joint: wrist_2_joint\nwrist_3_joint:\n type: position_controllers/JointPositionController\n joint: wrist_3_joint" }, { "path": "ur_control/launch/ur_controllers.launch", "content": "\n\n \n \n\n \n \n\n \n \n \n \n\n \n \n\n \n \n \n \n \n \n\n \n \n\n \n \n \n \n\n" }, { "path": "ur_control/launch/ur_e_controllers.launch", "content": "\n\n \n \n \n \n \n \n\n \n \n\n \n \n\n \n \n \n \n \n \n \n\n \n \n\n \n \n \n \n\n" }, { "path": "ur_control/package.xml", "content": "\n\n ur_control\n 0.1.0\n The ur_control package\n Cristian Beltran\n Cristian Beltran\n MIT\n\n catkin\n control_msgs\n controller_manager\n effort_controllers\n gripper_action_controller\n joint_state_controller\n joint_trajectory_controller\n robot_state_publisher\n std_srvs\n sensor_msgs\n trajectory_msgs\n geometry_msgs\n trac_ik_python\n \n control_msgs\n controller_manager\n effort_controllers\n gripper_action_controller\n joint_state_controller\n joint_trajectory_controller\n robot_state_publisher\n std_srvs\n sensor_msgs\n trajectory_msgs\n geometry_msgs\n trac_ik_python\n\n\n" }, { "path": "ur_control/scripts/cartesian_compliance_controller_examples.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2023 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport sys\nimport signal\nfrom ur_control import spalg, utils, traj_utils, constants\nfrom ur_control.fzi_cartesian_compliance_controller import CompliantController\nimport argparse\nimport rospy\nimport numpy as np\n\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\n\n\ndef signal_handler(sig, frame):\n print('You pressed Ctrl+C!')\n sys.exit(0)\n\n\nsignal.signal(signal.SIGINT, signal_handler)\n\n\ndef move_joints():\n q = [1.3506, -1.6493, 1.9597, -1.8814, -1.5652, 1.3323]\n q = [1.4414, -1.7303, 2.145, -1.9863, -1.5656, 1.4397]\n q = [1.0497, -1.5863, 2.0175, -2.005, -1.5681, 1.0542]\n q = [1.4817, -2.0874, 1.7722, -1.2554, -1.5669, 0.0189]\n arm.set_joint_positions(positions=q, target_time=3, wait=True)\n\n\ndef move_cartesian():\n q = [1.3524, -1.5555, 1.7697, -1.7785, -1.5644, 1.3493]\n arm.set_joint_positions(positions=q, target_time=3, wait=True)\n\n # arm.set_position_control_mode(False)\n # arm.set_control_mode(mode=\"spring-mass-damper\")\n arm.set_position_control_mode(True)\n arm.set_control_mode(mode=\"parallel\")\n arm.set_solver_parameters(error_scale=0.5, iterations=1)\n arm.update_stiffness([1500, 1500, 1500, 100, 100, 100])\n\n # selection_matrix = [0.5, 0.5, 1, 0.5, 0.5, 0.5]\n selection_matrix = np.ones(6)\n arm.update_selection_matrix(selection_matrix)\n\n p_gains = [0.05, 0.05, 0.05, 1.5, 1.5, 1.5]\n d_gains = [0.005, 0.005, 0.005, 0, 0, 0]\n arm.update_pd_gains(p_gains, d_gains=d_gains)\n\n ee = arm.end_effector()\n\n p1 = ee.copy()\n p1[2] -= 0.03\n\n p2 = p1.copy()\n p2[2] += 0.005\n\n trajectory = p1\n # trajectory = np.stack((p1, p2))\n target_force = np.zeros(6)\n\n def f(x): return rospy.loginfo_throttle(0.25, f\"error: {np.round(trajectory[:3] - x[:3], 4)}\")\n arm.zero_ft_sensor()\n res = arm.execute_compliance_control(trajectory, target_wrench=target_force, max_force_torque=[50., 50., 50., 5., 5., 5.],\n duration=5, func=f, scale_up_error=True, max_scale_error=3.0, auto_stop=False)\n print(\"EE total displacement\", np.round(ee - arm.end_effector(), 4))\n print(\"Pose error\", np.round(trajectory[:3] - arm.end_effector()[:3], 4))\n\n\ndef move_force():\n \"\"\" Linear push. Move until the target force is felt and stop. \"\"\"\n arm.zero_ft_sensor()\n\n arm.set_control_mode(\"parallel\")\n selection_matrix = [1, 1, 0, 1, 1, 1]\n arm.update_selection_matrix(selection_matrix)\n\n # arm.set_control_mode(\"spring-mass-damper\")\n\n arm.set_solver_parameters(error_scale=0.5, iterations=1)\n arm.update_stiffness([1500, 1500, 1500, 100, 100, 100])\n\n p_gains = [0.05, 0.05, 0.1, 1.5, 1.5, 1.5]\n d_gains = [0.005, 0.005, 0.005, 0, 0, 0]\n arm.update_pd_gains(p_gains, d_gains)\n\n ee = arm.end_effector()\n\n target_force = [0, 0, -5, 0, 0, 0] # express in the end_effector_link\n # account for the direction of the force?\n stop_at_wrench = np.copy(target_force)\n stop_at_wrench *= -1\n # transform = arm.end_effector(tip_link=\"b_bot_tool0\")\n # tf = spalg.convert_wrench(target_force, transform)\n # print(transform)\n # print(\"TF\", tf[:3])\n\n res = arm.execute_compliance_control(ee, target_wrench=target_force,\n max_force_torque=[30., 30., 30., 4., 4., 4.], duration=15,\n stop_at_wrench=stop_at_wrench,\n stop_on_target_force=True)\n print(res)\n print(\"EE change\", ee - arm.end_effector())\n\n\ndef slicing():\n \"\"\" Push down while oscillating in X-axis or Y-axis \"\"\"\n arm.zero_ft_sensor()\n\n selection_matrix = [1, 1, 0, 1, 1, 1]\n arm.update_selection_matrix(selection_matrix)\n\n pd_gains = [0.03, 0.03, 0.03, 1.0, 1.0, 1.0]\n arm.update_pd_gains(pd_gains)\n\n ee = arm.end_effector()\n\n trajectory = traj_utils.compute_sinusoidal_trajectory(ee, dimension=1, period=3, amplitude=0.02, num_of_points=100)\n target_force = [0, 0, -3, 0, 0, 0] # express in the end_effector_link\n\n res = arm.execute_compliance_control(trajectory, target_wrench=target_force,\n max_force_torque=[50., 50., 50., 5., 5., 5.], duration=20)\n print(res)\n print(\"EE change\", ee - arm.end_effector())\n\n\ndef admittance_control():\n \"\"\" Spring-mass-damper force control \"\"\"\n rospy.loginfo(\"START ADMITTANCE\")\n\n arm.set_control_mode(mode=\"spring-mass-damper\")\n\n ee = arm.end_effector()\n target_force = np.zeros(6)\n arm.execute_compliance_control(ee, target_wrench=target_force,\n max_force_torque=[50., 50., 50., 5., 5., 5.], duration=10,\n stop_on_target_force=False)\n\n rospy.loginfo(\"STOP ADMITTANCE\")\n\n\ndef free_drive():\n rospy.loginfo(\"START FREE DRIVE\")\n rospy.sleep(0.5)\n arm.zero_ft_sensor()\n # arm.set_control_mode(\"parallel\")\n arm.set_control_mode(\"spring-mass-damper\")\n # arm.set_hand_frame_control(False)\n # arm.set_end_effector_link(\"b_bot_tool0\")\n # selection_matrix = [0., 0., 0., 1., 1., 1.]\n # selection_matrix = [1., 1., 1., 0., 0., 0.]\n # arm.update_selection_matrix(selection_matrix)\n # 0.8 is vibrating\n arm.set_solver_parameters(error_scale=1.0, iterations=1.0)\n # pd_gains = [0.03, 0.03, 0.03, 1.0, 1.0, 1.0]\n # pd_gains = [0.06, 0.06, 0.06, 1.5, 1.5, 1.5] # stiff\n pd_gains = [0.1, 0.1, 0.1, 2.0, 2.0, 3.0] # flex\n d_gains = [0.0, 0.0, 0.0, 0, 0, 0]\n # d_gains = [0.01, 0.01, 0.01, 0.01, 0.01, 0.01]\n # d_gains = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001] # good with p0.1 e_s0.8 ite1.0\n # d_gains = [0.0001, 0.0001, 0.0001, 0, 0, 0]\n # pd_gains = [0.08, 0.08, 0.08, 1.5, 1.5, 1.5]\n arm.update_pd_gains(pd_gains, d_gains)\n # arm.update_stiffness([10, 10, 10, 10, 10, 10])\n # arm.update_stiffness([1000, 1000, 1000, 50, 50, 20])\n # arm.update_stiffness([250, 250, 250, 5, 5, 5]) # 10 for pos can make it drift\n arm.update_stiffness([100, 100, 100, 5, 5, 5]) # 10 for pos can make it drift\n\n\n# mapping parameter space vs vibration\n# how to reduce vibration...\n# TODO: rotation is wrong!\n# add wrench feedback\n#\n\n ee = arm.end_effector()\n\n target_force = np.zeros(6)\n target_force[1] += 0\n\n res = arm.execute_compliance_control(ee, target_wrench=target_force,\n max_force_torque=[50., 50., 50., 5., 5., 5.], duration=60,\n stop_on_target_force=False)\n print(res)\n print(\"EE change\", ee - arm.end_effector())\n rospy.loginfo(\"STOP FREE DRIVE\")\n\n\ndef test():\n # start here\n move_joints()\n\n for _ in range(3):\n # Move down (cut)\n arm.move_relative(transformation=[0, 0, -0.03, 0, 0, 0], relative_to_tcp=False, duration=0.5, wait=True)\n\n # Move back up and to the next initial pose\n arm.move_relative(transformation=[0, 0, 0.03, 0, 0, 0], relative_to_tcp=False, duration=0.25, wait=True)\n arm.move_relative(transformation=[0, 0.01, 0, 0, 0, 0], relative_to_tcp=False, duration=0.25, wait=True)\n\n\ndef enable_compliance_control():\n q = [1.3524, -1.5555, 1.7697, -1.7785, -1.5644, 1.3493]\n arm.set_joint_positions(q, t=1, wait=True)\n\n arm.zero_ft_sensor()\n\n # arm.set_control_mode(mode=\"parallel\")\n arm.set_control_mode(mode=\"spring-mass-damper\")\n # arm.set_position_control_mode(True)\n # arm.update_selection_matrix(np.array([0.1]*6))\n\n arm.activate_cartesian_controller()\n arm.set_cartesian_target_pose(arm.end_effector(tip_link=\"b_bot_gripper_tip_link\"))\n\n for _ in range(30):\n print(\"current target pose\", arm.current_target_pose[:3])\n print(\"error\", arm.current_target_pose[:3] - arm.end_effector(tip_link=\"b_bot_gripper_tip_link\")[:3])\n rospy.sleep(1)\n\n arm.activate_joint_trajectory_controller()\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Test force control')\n parser.add_argument('-m', '--move_joints', action='store_true',\n help='move to joint configuration')\n parser.add_argument('-mc', '--move_cartesian', action='store_true',\n help='move to cartesian configuration')\n parser.add_argument('-mf', '--move_force', action='store_true',\n help='move towards target force')\n parser.add_argument('-fd', '--free_drive', action='store_true',\n help='move the robot freely')\n parser.add_argument('-a', '--admittance', action='store_true',\n help='Spring-mass-damper force control demo')\n parser.add_argument('-s', '--slicing', action='store_true',\n help='Push down while oscillating on X-axis')\n parser.add_argument('-t', '--test', action='store_true',\n help='Test')\n parser.add_argument('-teleop', '--teleoperation', action='store_true',\n help='Enable cartesian controllers for teleoperation')\n parser.add_argument('--namespace', type=str,\n help='Namespace of arm', default=None)\n args = parser.parse_args()\n\n rospy.init_node('ur3e_compliance_control')\n\n ns = \"None\"\n joints_prefix = None\n tcp_link = 'gripper_tip_link'\n # tcp_link = 'wrist_3_link'\n # tcp_link = 'tool0'\n\n if args.namespace:\n ns = args.namespace\n joints_prefix = args.namespace + '_'\n\n global arm\n arm = CompliantController(namespace=ns,\n joint_names_prefix=joints_prefix,\n ee_link=tcp_link,\n ft_topic='wrench',\n gripper_type=None)\n \n arm.dashboard_services.activate_ros_control_on_ur()\n\n if args.move_joints:\n move_joints()\n\n if args.move_cartesian:\n move_cartesian()\n if args.move_force:\n move_force()\n if args.admittance:\n admittance_control()\n if args.free_drive:\n free_drive()\n if args.slicing:\n slicing()\n if args.test:\n test()\n if args.teleoperation:\n enable_compliance_control()\n # if args.hand_frame_control:\n # move_hand_frame_control()\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_control/scripts/compliance_controller_examples.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport sys\nimport signal\nfrom ur_control import utils, traj_utils\nfrom ur_control.hybrid_controller import ForcePositionController\nfrom ur_control.compliance_controller import CompliantController\nimport argparse\nimport rospy\nimport numpy as np\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\n\n\ndef signal_handler(sig, frame):\n print('You pressed Ctrl+C!')\n sys.exit(0)\n\n\nsignal.signal(signal.SIGINT, signal_handler)\n\n\ndef move_joints(wait=True):\n # desired joint configuration 'q'\n q = [1.57, -1.57, 1.26, -1.57, -1.57, 0]\n\n # go to desired joint configuration\n # in t time (seconds)\n # wait is for waiting to finish the motion before executing\n # anything else or ignore and continue with whatever is next\n arm.set_joint_positions(positions=q, wait=wait, target_time=2.0)\n\n\ndef spiral_trajectory():\n \"\"\"\n Force/Position control. Follow a spiral trajectory on the world's YZ plan while controlling force on Z \n \"\"\"\n initial_q = [1.57, -1.57, 1.26, -1.57, -1.57, 0]\n\n arm.set_joint_positions(positions=initial_q, wait=True, target_time=2)\n\n plane = \"YZ\"\n radius = 0.02\n radius_direction = \"+Z\"\n revolutions = 3\n\n steps = 100 # Number of waypoints of the spiral trajectory\n duration = 30.0 # Duration of the trajectory, affects speed\n\n arm.zero_ft_sensor()\n\n initial_pose = arm.end_effector()\n trajectory = traj_utils.compute_trajectory(initial_pose, plane, radius, radius_direction,\n steps, revolutions, trajectory_type=\"spiral\", from_center=True,\n wiggle_direction=\"X\", wiggle_angle=np.deg2rad(0.0), wiggle_revolutions=1.0)\n execute_trajectory(trajectory, duration=duration, use_force_control=True)\n\n\ndef circular_trajectory():\n \"\"\"\n Force/Position control. Follow a circular trajectory on the world's YZ plan while controlling force on Z \n \"\"\"\n initial_q = [1.57, -1.57, 1.26, -1.57, -1.57, 0]\n \n arm.set_joint_positions(positions=initial_q, wait=True, target_time=1)\n\n plane = \"YZ\"\n radius = 0.02\n radius_direction = \"+Z\"\n revolutions = 1\n\n steps = 100 # Number of waypoints of the circular trajectory\n duration = 30.0 # Duration of the trajectory, affects speed\n\n arm.zero_ft_sensor()\n\n initial_pose = arm.end_effector()\n trajectory = traj_utils.compute_trajectory(initial_pose, plane, radius, radius_direction,\n steps, revolutions, trajectory_type=\"circular\", from_center=False,\n wiggle_direction=\"X\", wiggle_angle=np.deg2rad(0.0), wiggle_revolutions=10.0)\n execute_trajectory(trajectory, duration=duration, use_force_control=True)\n\n\ndef execute_trajectory(trajectory, duration, use_force_control=False, termination_criteria=None):\n if use_force_control:\n pf_model = init_force_control([1., 1., 1., 1., 1., 1.])\n target_force = np.array([0., 0., 0., 0., 0., 0.])\n max_force_torque = np.array([50.0, 50., 50., 5., 5., 5.])\n\n def termination_criteria(current_pose, standby): return False # Dummy function\n\n full_force_control(target_force, trajectory, pf_model, timeout=duration,\n relative_to_ee=False, max_force_torque=max_force_torque, termination_criteria=termination_criteria)\n\n else:\n joint_trajectory = []\n for point in trajectory:\n joint_trajectory.append(arm._solve_ik(point))\n arm.set_joint_trajectory(trajectory=joint_trajectory, target_time=duration)\n\n\ndef init_force_control(selection_matrix, dt=0.02):\n Kp = np.array([2., 2., 2., 1., 1., 1.])\n Kp_pos = Kp\n Kd_pos = Kp * 0.01\n Ki_pos = Kp * 0.0\n position_pd = utils.PID(Kp=Kp_pos, Ki=Ki_pos, Kd=Kd_pos, dynamic_pid=True)\n\n # Force PID gains\n Kp = np.array([0.05, 0.05, 0.05, 0.05, 0.05, 0.05])\n Kp_force = Kp\n Kd_force = Kp * 0.0\n Ki_force = Kp * 0.01\n force_pd = utils.PID(Kp=Kp_force, Kd=Kd_force, Ki=Ki_force)\n pf_model = ForcePositionController(\n position_pd=position_pd, force_pd=force_pd, alpha=np.diag(selection_matrix), dt=dt)\n\n return pf_model\n\n\ndef full_force_control(\n target_force=None, target_positions=None, model=None,\n selection_matrix=[1., 1., 1., 1., 1., 1.],\n relative_to_ee=False, timeout=10.0, max_force_torque=[200., 200., 200., 5., 5., 5.],\n termination_criteria=None):\n \"\"\" \n Use with caution!! \n target_force: list[6], target force for each direction x,y,z,ax,ay,az\n target_position: list[7], target position for each direction x,y,z + quaternion\n selection_matrix: list[6], define which direction is controlled by position(1.0) or force(0.0)\n relative_to_ee: bool, whether to use the base_link of the robot as frame or the ee_link (+ ee_transform)\n timeout: float, duration in seconds of the force control\n termination_criteria: func, optional condition that would stop the compliance controller\n \"\"\"\n arm.zero_ft_sensor() # offset the force sensor\n arm.relative_to_ee = relative_to_ee\n\n if model is None:\n pf_model = init_force_control(selection_matrix)\n else:\n pf_model = model\n pf_model.selection_matrix = np.diag(selection_matrix)\n\n max_force_torque = np.array(max_force_torque)\n\n target_force = np.array([0., 0., 0., 0., 0., 0.]\n ) if target_force is None else target_force\n\n target_positions = arm.end_effector(\n ) if target_positions is None else np.array(target_positions)\n\n pf_model.set_goals(force=target_force)\n\n return arm.set_hybrid_control_trajectory(target_positions, pf_model, max_force_torque=max_force_torque,\n timeout=timeout, stop_on_target_force=False,\n termination_criteria=termination_criteria)\n\ndef force_control():\n \"\"\" \n Simple example of compliance control\n selection_matrix: list[6]. define which direction is controlled by position(1.0) or force(0.0) goal. \n Values in between make the controller attempt to achieve both position and force goals.\n \"\"\"\n arm.zero_ft_sensor()\n\n timeout = 10.0 # Duration of the active control, does not affect speed.\n\n selection_matrix = [1., 1., 0., 1., 1., 1.]\n target_force = np.array([0., 0., 5., 0., 0., 0.])\n\n full_force_control(\n target_force, selection_matrix=selection_matrix, timeout=timeout)\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Test force control')\n parser.add_argument('-m', '--move', action='store_true',\n help='move to joint configuration')\n parser.add_argument('-f', '--force', action='store_true',\n help='Force control demo')\n parser.add_argument('--circle', action='store_true',\n help='Circular rotation around a target pose')\n parser.add_argument('--spiral', action='store_true',\n help='Spiral rotation around a target pose')\n parser.add_argument('--namespace', type=str, \n help='Namespace of arm', default=None)\n args = parser.parse_args()\n\n rospy.init_node('ur3e_compliance_control')\n\n ns = ''\n joints_prefix = None\n tcp_link = None\n\n if args.namespace:\n ns = args.namespace\n joints_prefix = args.namespace + '_'\n\n global arm\n arm = CompliantController(namespace=ns,\n joint_names_prefix=joints_prefix)\n\n if args.move:\n move_joints()\n if args.circle:\n circular_trajectory()\n if args.spiral:\n spiral_trajectory()\n if args.force:\n force_control()\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_control/scripts/controller_examples.py", "content": "#! /usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport numpy as np\nimport tf\nfrom ur_control import transformations, traj_utils, conversions\nfrom ur_control.arm import Arm\nfrom ur_control.constants import GripperType\nimport argparse\nimport random\nimport rospy\nimport timeit\n\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\n\n\ndef move_joints(wait=True):\n # desired joint configuration 'q'\n q = [1.8391, -1.5659, 1.4889, -1.6421, -1.6115, 0.2656]\n\n # go to desired joint configuration\n # in t time (seconds)\n # wait is for waiting to finish the motion before executing\n # anything else or ignore and continue with whatever is next\n arm.set_joint_positions(positions=q, wait=wait, target_time=0.5)\n\n\ndef follow_trajectory():\n traj = [\n [2.4463, -1.8762, -1.6757, 0.3268, 2.2378, 3.1960],\n [2.5501, -1.9786, -1.5293, 0.2887, 2.1344, 3.2062],\n [2.5501, -1.9262, -1.3617, 0.0687, 2.1344, 3.2062],\n [2.4463, -1.8162, -1.5093, 0.1004, 2.2378, 3.1960],\n [2.3168, -1.7349, -1.6096, 0.1090, 2.3669, 3.1805],\n [2.3168, -1.7997, -1.7772, 0.3415, 2.3669, 3.1805],\n [2.3168, -1.9113, -1.8998, 0.5756, 2.3669, 3.1805],\n [2.4463, -1.9799, -1.7954, 0.5502, 2.2378, 3.1960],\n [2.5501, -2.0719, -1.6474, 0.5000, 2.1344, 3.2062],\n ]\n for t in traj:\n arm.set_joint_positions(positions=t, wait=True, target_time=1.0)\n\n\ndef move_endeffector():\n # get current position of the end effector\n cpose = arm.end_effector()\n # define the desired translation/rotation\n deltax = np.array([0., 0., 0.04, 0., 0., 0.])\n # add translation/rotation to current position\n cpose = transformations.transform_pose(cpose, deltax, rotated_frame=True)\n # execute desired new pose\n # may fail if IK solution is not found\n arm.set_target_pose(pose=cpose, wait=True, target_time=1.0)\n\n\ndef move_gripper():\n print(\"closing\")\n arm.gripper.close()\n rospy.sleep(1.0)\n print(\"opening\")\n arm.gripper.open()\n rospy.sleep(1.0)\n print(\"moving\")\n arm.gripper.command(0.5, percentage=True) # in percentage (80%)\n # 0.0 is full close, 1.0 is full open\n rospy.sleep(1.0)\n print(\"moving\")\n arm.gripper.command(0.01) # in meters\n # 0.05 is full open, 0.0 is full close\n # max gap for the Robotiq Hand-e is 0.05 meters\n\n print(\"current gripper position\", round(arm.gripper.get_position(), 4), \"meters\")\n\n\ndef grasp_naive():\n # probably won't work\n arm.gripper.open()\n q1 = [1.82224, -1.59475, 1.68247, -1.80611, -1.60922, 0.24936]\n arm.set_joint_positions(positions=q1, wait=True, target_time=1.0)\n\n q2 = [1.82225, -1.55525, 1.86741, -2.03039, -1.60938, 0.24935]\n arm.set_joint_positions(positions=q2, wait=True, target_time=1.0)\n\n arm.gripper.command(0.036)\n rospy.sleep(0.5)\n\n q1 = [1.82224, -1.59475, 1.68247, -1.80611, -1.60922, 0.24936]\n arm.set_joint_positions(positions=q1, wait=True, target_time=1.0)\n\n\ndef grasp_plugin():\n arm.gripper.open()\n q1 = [1.82224, -1.59475, 1.68247, -1.80611, -1.60922, 0.24936]\n arm.set_joint_positions(positions=q1, wait=True, target_time=1.0)\n\n q2 = [1.82225, -1.55525, 1.86741, -2.03039, -1.60938, 0.24935]\n arm.set_joint_positions(positions=q2, wait=True, target_time=1.0)\n\n arm.gripper.command(0.039)\n # attach the object \"link\" to the robot \"model_name\"::\"link_name\"\n arm.gripper.grab(link_name=\"cube3::link\")\n\n q1 = [1.82224, -1.59475, 1.68247, -1.80611, -1.60922, 0.24936]\n arm.set_joint_positions(positions=q1, wait=True, target_time=1.0)\n rospy.sleep(2.0) # release after 2 secs\n\n # dettach the object \"link\" to the robot \"model_name\"::\"link_name\"\n arm.gripper.open()\n arm.gripper.release(link_name=\"cube3::link\")\n\n\ndef get_random_valid_direction(plane):\n if plane == \"XZ\":\n return random.choice([\"+X\", \"-X\", \"+Z\", \"-Z\"])\n elif plane == \"YZ\":\n return random.choice([\"+Y\", \"-Y\", \"+Z\", \"-Z\"])\n elif plane == \"XY\":\n return random.choice([\"+X\", \"-X\", \"+Y\", \"-Y\"])\n else:\n raise ValueError(\"Invalid value for plane: %s\" % plane)\n\n\ndef circular_trajectory():\n \"\"\" Simple circular trajectory from initial pose. 5cm of radius\"\"\"\n initial_q = [1.8391, -1.5659, 1.4889, -1.6421, -1.6115, 0.2656]\n arm.set_joint_positions(positions=initial_q, wait=True, target_time=2)\n\n duration = 5.0\n steps = 100\n plane = \"XY\"\n direction = get_random_valid_direction(plane)\n dummy_trajectory = traj_utils.compute_trajectory(initial_pose=[0, 0, 0., 0, 0, 0, 1.],\n plane=plane, radius=0.05,\n radius_direction=direction, steps=steps, revolutions=1,\n from_center=False, trajectory_type=\"circular\")\n\n listener = tf.TransformListener()\n # convert dummy_trajectory (initial pose frame id) to robot's base frame\n try:\n listener.waitForTransform(\"base_link\", \"wrist_3_link\", rospy.Time(0), rospy.Duration(1))\n transform2target = listener.fromTranslationRotation(*listener.lookupTransform(\"base_link\", \"wrist_3_link\", rospy.Time(0)))\n except Exception as e:\n print(e)\n return False\n\n actual_trajectory = []\n for p in dummy_trajectory:\n ps = conversions.to_pose_stamped(\"base_link\", p)\n next_pose = conversions.from_pose_to_list(conversions.transform_pose(\"base_link\", transform2target, ps).pose)\n print(\"next_pose\", np.round(next_pose[:3].tolist(), 4))\n actual_trajectory.append(next_pose)\n\n arm.set_target_pose(pose=next_pose, target_time=duration/steps, wait=False)\n rospy.sleep(duration/steps)\n\n arm.set_pose_trajectory(trajectory=actual_trajectory, target_time=duration)\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Test force control')\n parser.add_argument('-m', '--move', action='store_true',\n help='move to joint configuration')\n parser.add_argument('-t', '--move_traj', action='store_true',\n help='move following a trajectory of joint configurations')\n parser.add_argument('-e', '--move_ee', action='store_true',\n help='move to a desired end-effector position')\n parser.add_argument('-g', '--gripper', action='store_true',\n help='Move gripper')\n parser.add_argument('--grasp_naive', action='store_true',\n help='Test simple grasping (cube_tasks world)')\n parser.add_argument('--grasp_plugin', action='store_true',\n help='Test grasping plugin (cube_tasks world)')\n parser.add_argument('--circle', action='store_true',\n help='Circular rotation around a target pose')\n\n args = parser.parse_args()\n\n rospy.init_node('ur3e_script_control')\n\n global arm\n arm = Arm(gripper_type=GripperType.GENERIC)\n\n real_start_time = timeit.default_timer()\n ros_start_time = rospy.get_time()\n\n if args.move:\n move_joints()\n if args.move_traj:\n follow_trajectory()\n if args.move_ee:\n move_endeffector()\n if args.gripper:\n move_gripper()\n if args.grasp_naive:\n grasp_naive()\n if args.grasp_plugin:\n grasp_plugin()\n if args.circle:\n circular_trajectory()\n\n print(\"real time\", round(timeit.default_timer() - real_start_time, 3))\n print(\"ros time\", round(rospy.get_time() - ros_start_time, 3))\n\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_control/scripts/ft_filter.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2023 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport argparse\nimport collections\nimport numpy as np\n\nimport rospy\nfrom std_srvs.srv import Empty, EmptyResponse, SetBool, SetBoolResponse\nfrom geometry_msgs.msg import WrenchStamped\n\nfrom ur_control import spalg, utils, filters, conversions\n\n\nclass FTsensor(object):\n\n def __init__(self, in_topic, namespace=\"\", out_topic=None,\n sampling_frequency=500, cutoff=10,\n order=2, data_window=10,\n republish=False):\n\n self.ns = namespace\n self.enable_publish = republish\n self.enable_filtering = True\n\n self.in_topic = utils.solve_namespace(namespace + \"/\" + in_topic)\n if out_topic:\n self.out_topic = utils.solve_namespace(namespace + \"/\" + out_topic)\n self.out_tcp_topic = utils.solve_namespace(namespace + \"/\" + out_topic) + \"tcp\"\n else:\n self.out_topic = utils.solve_namespace(self.in_topic + 'filtered')\n self.out_tcp_topic = self.in_topic + \"tcp\"\n\n rospy.loginfo(\"Publishing filtered FT to %s\" % self.out_topic)\n\n # Load previous offset to zero filtered signal\n self.wrench_offset = rospy.get_param('%sft_offset' % self.out_topic, None)\n self.wrench_offset = np.zeros(6) if self.wrench_offset is None else self.wrench_offset\n\n # Publisher to outward topic\n self.pub = rospy.Publisher(self.out_topic, WrenchStamped, queue_size=1)\n # Publish a wrench transformed/converted to a TCP point\n self.pub_tcp = rospy.Publisher(self.out_tcp_topic, WrenchStamped, queue_size=1)\n\n # Service for zeroing the filtered signal\n rospy.Service(self.out_topic + \"zero_ftsensor\", Empty, self._srv_zeroing)\n rospy.Service(self.out_topic + \"enable_publish\", SetBool, self._srv_publish)\n rospy.Service(self.out_topic + \"enable_filtering\", SetBool, self._srv_filtering)\n\n # Low pass filter\n self.filter = filters.ButterLowPass(cutoff, sampling_frequency, order)\n\n self.data_window = data_window\n assert (self.data_window >= 5)\n self.data_queue = collections.deque(maxlen=self.data_window)\n\n # Subscribe to incoming topic\n rospy.Subscriber(self.in_topic, WrenchStamped, self.raw_wrench_cb, queue_size=1)\n\n rospy.loginfo('FT filter successfully initialized')\n rospy.sleep(1) # wait some time to fill the filter\n\n def add_wrench_observation(self, wrench):\n self.data_queue.append(np.array(wrench))\n\n def raw_wrench_cb(self, msg):\n if rospy.is_shutdown():\n return\n self._active = True\n current_wrench = conversions.from_wrench(msg.wrench)\n self.add_wrench_observation(current_wrench)\n if self.enable_publish:\n if self.enable_filtering:\n current_wrench = self.get_filtered_wrench()\n\n if current_wrench is not None:\n data = current_wrench - self.wrench_offset\n msg = WrenchStamped()\n msg.wrench = conversions.to_wrench(data)\n self.pub.publish(msg)\n\n if rospy.has_param(self.out_tcp_topic+\"/pose_sensor_to_tcp\"):\n # Convert torques to force at a TCP point\n pose_sensor_to_tcp = rospy.get_param(self.out_tcp_topic+\"/pose_sensor_to_tcp\")\n tcp_wrench = data.copy()\n tcp_wrench[:3] += spalg.sensor_torque_to_tcp_force(tcp_position=pose_sensor_to_tcp, sensor_torques=current_wrench[3:])\n tcp_wrench[3:] = np.zeros(3)\n msg = WrenchStamped()\n msg.wrench = conversions.to_wrench(tcp_wrench)\n self.pub_tcp.publish(msg)\n\n # function to filter out high frequency signal\n def get_filtered_wrench(self):\n if len(self.data_queue) < self.data_window:\n return None\n wrench_filtered = self.filter(np.array(self.data_queue))\n return wrench_filtered[-1, :]\n\n def update_wrench_offset(self):\n current_wrench = self.get_filtered_wrench()\n if current_wrench is not None:\n self.wrench_offset = current_wrench\n if self.wrench_offset is not None:\n rospy.set_param('%sft_offset' % self.out_topic, self.wrench_offset.tolist())\n\n def set_enable_publish(self, enable):\n self.enable_publish = enable\n\n def set_enable_filtering(self, enable):\n self.enable_filtering = enable\n\n def _srv_zeroing(self, req):\n self.update_wrench_offset()\n return EmptyResponse()\n\n def _srv_publish(self, req):\n self.set_enable_publish(req.data)\n return SetBoolResponse(success=True)\n\n def _srv_filtering(self, req):\n self.set_enable_filtering(req.data)\n return SetBoolResponse(success=True)\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Filter FT signal')\n parser.add_argument('-ns', '--namespace', type=str, help='Namespace', required=False, default=\"\")\n parser.add_argument('-t', '--ft_topic', type=str, help='FT sensor data topic', required=True)\n parser.add_argument('-ot', '--out_topic', type=str, help='Topic where filtered data will be published')\n parser.add_argument('-z', '--zero', action='store_true', help='Zero FT signal')\n\n args, _ = parser.parse_known_args()\n\n rospy.init_node('ft_filter')\n\n out_topic = None if not args.out_topic else args.out_topic\n\n ft_sensor = FTsensor(namespace=args.namespace, in_topic=args.ft_topic, out_topic=out_topic, republish=True)\n if args.zero:\n ft_sensor.update_wrench_offset()\n\n rospy.spin()\n\n\nmain()\n" }, { "path": "ur_control/scripts/getch.py", "content": "import sys\nimport termios\nimport tty\nfrom select import select\n\n\ndef getch(timeout=0.01):\n \"\"\"\n Retrieves a character from stdin.\n\n Returns None if no character is available within the timeout.\n Blocks if timeout < 0.\n \"\"\"\n # If this is being piped to, ignore non-blocking functionality\n if not sys.stdin.isatty():\n return sys.stdin.read(1)\n fileno = sys.stdin.fileno()\n old_settings = termios.tcgetattr(fileno)\n ch = None\n try:\n tty.setraw(fileno)\n rlist = [fileno]\n if timeout >= 0:\n [rlist, _, _] = select(rlist, [], [], timeout)\n if fileno in rlist:\n ch = sys.stdin.read(1)\n except Exception as ex:\n print((\"getch\", ex))\n raise OSError\n finally:\n termios.tcsetattr(fileno, termios.TCSADRAIN, old_settings)\n return ch" }, { "path": "ur_control/scripts/imu.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport argparse\nimport rospy\n\nimport numpy as np\nfrom ur_control import conversions, utils\n\nfrom sensor_msgs.msg import Imu\n\n\nclass ImuFake(object):\n\n def __init__(self, topic, namespace=\"\", frequency=500):\n\n self.ns = namespace\n\n self.topic = utils.solve_namespace(namespace + \"/\" + topic)\n\n # Publisher to outward topic\n self.pub = rospy.Publisher(self.topic, Imu, queue_size=10)\n\n prefix = \"\" if not namespace else namespace + \"_\"\n base_link = \"base_link\"\n\n gravity_on_base_link = np.array([0, 0, 9.81])\n\n rate = rospy.Rate(frequency)\n\n while not rospy.is_shutdown():\n msg = Imu()\n msg.header.frame_id = prefix + base_link\n msg.header.stamp = rospy.Time.now()\n msg.linear_acceleration = conversions.to_vector3(gravity_on_base_link)\n self.pub.publish(msg)\n try:\n rate.sleep()\n except rospy.ROSInterruptException:\n pass\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Filter FT signal')\n parser.add_argument('-ns', '--namespace', type=str, help='Namespace', required=False, default=\"\")\n \n args, unknown = parser.parse_known_args()\n\n rospy.init_node('imu_fake')\n\n ft_sensor = ImuFake(topic=\"imu\", namespace=args.namespace)\n \n rospy.spin()\n\n\nmain()\n" }, { "path": "ur_control/scripts/joint_position_keyboard.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\n\"\"\"\nUR Joint Position Example: keyboard\n\"\"\"\nimport argparse\n\nimport rospy\n\nfrom ur_control.arm import Arm\nfrom ur_control import transformations\n\nimport getch\n\nimport numpy as np\n\nfrom ur_control.constants import GripperType\nnp.set_printoptions(linewidth=np.inf)\nnp.set_printoptions(suppress=True)\n\n\ndef map_keyboard():\n def print_robot_state():\n print(\"Joint angles:\", np.round(arm.joint_angles(), 4).tolist())\n print(\"EE Pose:\", np.round(arm.end_effector(), 5).tolist())\n print(\"EE Pose (euler):\", np.round(arm.end_effector(rot_type=\"euler\"), 5).tolist())\n if arm.gripper:\n print(\"Gripper angle:\", np.round(arm.gripper.get_position(), 4))\n print(\"Gripper position:\", np.round(arm.gripper.opening_width, 4))\n print(\"Gripper percentage:\", np.round(arm.gripper.get_opening_percentage(), 4))\n\n def set_j(joint_name, sign):\n global delta_q\n current_position = arm.joint_angles()\n current_position[joint_name] += delta_q * sign\n arm.set_joint_positions(positions=current_position, target_time=0.25)\n\n def update_d(delta, increment):\n if delta == 'q':\n global delta_q\n delta_q += np.deg2rad(increment)\n print((\"delta_q\", np.rad2deg(delta_q)))\n if delta == 'x':\n global delta_x\n delta_x += increment\n print((\"delta_x\", delta_x))\n\n def set_pose_ik(dim, sign):\n global delta_x\n global delta_q\n\n x = arm.end_effector()\n delta = np.zeros(6)\n\n if dim <= 2: # position\n delta[dim] += delta_x * sign\n else: # rotation\n delta[dim] += delta_q * sign\n\n xc = transformations.transform_pose(x, delta, rotated_frame=relative_to_tcp)\n arm.set_target_pose(pose=xc, target_time=0.25)\n\n def open_gripper():\n arm.gripper.open()\n\n def close_gripper():\n arm.gripper.close()\n\n def move_gripper(delta):\n cpose = arm.gripper.get_position()\n cpose += delta\n arm.gripper.command(cpose)\n\n global delta_q\n global delta_x\n delta_q = np.deg2rad(1.0)\n delta_x = 0.005\n\n bindings = {\n # key: (function, args, description)\n 'z': (set_j, [0, 1], \"shoulder_pan_joint increase\"),\n 'v': (set_j, [0, -1], \"shoulder_pan_joint decrease\"),\n 'x': (set_j, [1, 1], \"shoulder_lift_joint increase\"),\n 'c': (set_j, [1, -1], \"shoulder_lift_joint decrease\"),\n 'a': (set_j, [2, 1], \"elbow_joint increase\"),\n 'f': (set_j, [2, -1], \"elbow_joint decrease\"),\n 's': (set_j, [3, 1], \"wrist_1_joint increase\"),\n 'd': (set_j, [3, -1], \"wrist_1_joint decrease\"),\n 'q': (set_j, [4, 1], \"wrist_2_joint increase\"),\n 'r': (set_j, [4, -1], \"wrist_2_joint decrease\"),\n 'w': (set_j, [5, 1], \"wrist_3_joint increase\"),\n 'e': (set_j, [5, -1], \"wrist_3_joint decrease\"),\n 'p': (print_robot_state, [], \"right: printing\"),\n # Task Space\n 'h': (set_pose_ik, [0, 1], \"x increase\"),\n 'k': (set_pose_ik, [0, -1], \"x decrease\"),\n 'y': (set_pose_ik, [1, 1], \"y increase\"),\n 'i': (set_pose_ik, [1, -1], \"y decrease\"),\n 'u': (set_pose_ik, [2, 1], \"z increase\"),\n 'j': (set_pose_ik, [2, -1], \"z decrease\"),\n 'n': (set_pose_ik, [3, 1], \"ax increase\"),\n 'm': (set_pose_ik, [3, -1], \"ax decrease\"),\n ',': (set_pose_ik, [4, 1], \"ay increase\"),\n '.': (set_pose_ik, [4, -1], \"ay decrease\"),\n 'o': (set_pose_ik, [5, 1], \"az increase\"),\n 'l': (set_pose_ik, [5, -1], \"az decrease\"),\n\n # Increase or decrease delta\n '1': (update_d, ['q', 0.25], \"delta_q increase\"),\n '2': (update_d, ['q', -0.25], \"delta_q decrease\"),\n '6': (update_d, ['x', 0.0001], \"delta_x increase\"),\n '7': (update_d, ['x', -0.0001], \"delta_x decrease\"),\n\n # Gripper\n '5': (move_gripper, [0.005], \"open gripper a bit\"),\n 't': (open_gripper, [], \"open gripper\"),\n 'g': (close_gripper, [], \"close gripper\"),\n 'b': (move_gripper, [-0.005], \"close gripper a bit\"),\n }\n done = False\n print(\"Controlling joints. Press ? for help, Esc to quit.\")\n while not done and not rospy.is_shutdown():\n c = getch.getch()\n if c:\n # catch Esc or ctrl-c\n if c in ['\\x1b', '\\x03']:\n done = True\n rospy.signal_shutdown(\"Example finished.\")\n elif c in bindings:\n cmd = bindings[c]\n # expand binding to something like \"set_j(right, 's0', 0.1)\"\n cmd[0](*cmd[1])\n print((\"command: %s\" % (cmd[2], )))\n else:\n print(\"key bindings: \")\n print(\" Esc: Quit\")\n print(\" ?: Help\")\n for key, val in sorted(\n list(bindings.items()), key=lambda x: x[1][2]):\n print((\" %s: %s\" % (key, val[2])))\n\n\ndef main():\n \"\"\"Joint Position Example: Keyboard Control\n\n Use your dev machine's keyboard to control joint positions.\n\n Each key corresponds to increasing or decreasing the angle\n of a joint on one of Baxter's arms. Each arm is represented\n by one side of the keyboard and inner/outer key pairings\n on each row for each joint.\n \"\"\"\n epilog = \"\"\"\nSee help inside the example with the '?' key for key bindings.\n \"\"\"\n arg_fmt = argparse.RawDescriptionHelpFormatter\n parser = argparse.ArgumentParser(\n formatter_class=arg_fmt, description=main.__doc__, epilog=epilog)\n parser.add_argument(\n '--relative', action='store_true', help='Motion Relative to ee')\n parser.add_argument(\n '--namespace', type=str, help='Namespace of arm (useful when having multiple arms)', default=None)\n parser.add_argument(\n '--gripper', type=str, help='Load gripper controller, indicate the gripper type (ROBOTIQ or GENERIC)', default=\"\")\n parser.add_argument(\n '--tcp', type=str, help='Tool Center Point or End-Effector frame for IK without joint prefix', default='tool0')\n\n args = parser.parse_args(rospy.myargv()[1:])\n\n rospy.init_node(\"joint_position_keyboard\", log_level=rospy.INFO)\n\n global relative_to_tcp\n relative_to_tcp = args.relative\n\n tcp_link = args.tcp\n joints_prefix = args.namespace + '_' if args.namespace else None\n\n if args.gripper:\n if str(args.gripper).lower() == \"robotiq\":\n gripper = GripperType.ROBOTIQ\n elif str(args.gripper).lower() == \"generic\":\n gripper = GripperType.GENERIC\n else:\n raise ValueError(f\"Invalid gripper type `{args.gripper}`. Supported types: ROBOTIQ or GENERIC\")\n else:\n gripper = None\n\n global arm\n arm = Arm(namespace=args.namespace,\n gripper_type=gripper,\n joint_names_prefix=joints_prefix,\n ee_link=tcp_link)\n\n map_keyboard()\n print(\"Done.\")\n\n\nif __name__ == '__main__':\n main()\n" }, { "path": "ur_control/scripts/joint_position_mouse6d.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\n\"\"\"\nUR Joint Position Example: 3Dconnexion mouse\n\nrequires ros-$ROS-VERSION-spacenav-node\nand to launch roslaunch spacenav_node classic.launch\n#TODO launch automatically\n\"\"\"\nimport argparse\n\nimport rospy\n\nfrom ur_control.arm import Arm\nfrom ur_control.mouse_6d import Mouse6D\nfrom ur_control import transformations\n\nfrom ur_ikfast import ur_kinematics\n\nimport numpy as np\n\nnp.set_printoptions(suppress=True)\nur3e_arm = ur_kinematics.URKinematics('ur3e')\nmouse6d = Mouse6D()\n\naxes = 'rxyz'\n\n\ndef e2q(e):\n return transformations.quaternion_from_euler(e[0], e[1], e[2], axes=axes)\n\n\ndef print_robot_state():\n print((\"Joint angles:\", np.round(arm.joint_angles(), 3)))\n print((\"End Effector:\", np.round(arm.end_effector(rot_type='euler'), 3)))\n\n\ndef start_control(motion_type=\"linear\"):\n print(\"Start moving. type\", motion_type)\n rate = rospy.Rate(125)\n delta_x = 0.01\n delta_q = np.deg2rad(1)\n while not rospy.is_shutdown():\n x = arm.end_effector()\n xd = np.array(mouse6d.twist)\n\n xd[:3] = [delta_x*np.sign(xd[i]) if abs(xd[i]) > 0.15 else 0.0 for i in range(3)]\n xd[3:] = [delta_q*np.sign(xd[3+i]) if abs(xd[3+i]) > 0.15 else 0.0 for i in range(3)]\n if motion_type == \"rotated\":\n xd[2] *= -1\n elif motion_type == \"linear\":\n pass\n else:\n print(\"motion_type not supported\", motion_type)\n break\n\n x = transformations.pose_from_angular_velocity(x, xd, dt=0.25)\n if mouse6d.joy_buttons[0] == 1:\n print_robot_state()\n\n arm.set_target_pose_flex(pose=x, t=0.25)\n rate.sleep()\n\n\ndef main():\n \"\"\" 3D mouse Control \"\"\"\n arg_fmt = argparse.RawDescriptionHelpFormatter\n parser = argparse.ArgumentParser(\n formatter_class=arg_fmt, description=main.__doc__)\n parser.add_argument('-r', action='store_true', help='move using relative rotation of end-effector')\n parser.add_argument(\n '--robot', action='store_true', help='for the real robot')\n parser.add_argument(\n '--beta', action='store_true', help='for the real robot. beta driver')\n args = parser.parse_args(rospy.myargv()[1:])\n\n rospy.init_node(\"joint_position_keyboard\")\n\n global arm\n arm = Arm(ft_sensor=False)\n\n start_control()\n print(\"Done.\")\n\n\nif __name__ == '__main__':\n main()\n" }, { "path": "ur_control/scripts/moveit_tutorial.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport argparse\nimport sys\nimport copy\nimport rospy\nimport moveit_commander\nimport moveit_msgs.msg\nimport geometry_msgs.msg\nfrom math import pi\nfrom std_msgs.msg import String\nfrom moveit_commander.conversions import pose_to_list\n\nimport signal\n\n\ndef signal_handler(sig, frame):\n print('You pressed Ctrl+C!')\n sys.exit(0)\n\n\nsignal.signal(signal.SIGINT, signal_handler)\n\n\ndef all_close(goal, actual, tolerance):\n \"\"\"\n Convenience method for testing if a list of values are within a tolerance of their counterparts in another list\n @param: goal A list of floats, a Pose or a PoseStamped\n @param: actual A list of floats, a Pose or a PoseStamped\n @param: tolerance A float\n @returns: bool\n \"\"\"\n all_equal = True\n if type(goal) is list:\n for index in range(len(goal)):\n if abs(actual[index] - goal[index]) > tolerance:\n return False\n\n elif type(goal) is geometry_msgs.msg.PoseStamped:\n return all_close(goal.pose, actual.pose, tolerance)\n\n elif type(goal) is geometry_msgs.msg.Pose:\n return all_close(pose_to_list(goal), pose_to_list(actual), tolerance)\n\n return True\n\n\nclass MoveGroupPythonIntefaceTutorial(object):\n \"\"\"MoveGroupPythonIntefaceTutorial\"\"\"\n\n def __init__(self):\n super(MoveGroupPythonIntefaceTutorial, self).__init__()\n\n # BEGIN_SUB_TUTORIAL setup\n ##\n # First initialize `moveit_commander`_ and a `rospy`_ node:\n moveit_commander.roscpp_initialize(sys.argv)\n rospy.init_node('move_group_python_interface_tutorial', anonymous=True)\n\n # Instantiate a `RobotCommander`_ object. Provides information such as the robot's\n # kinematic model and the robot's current joint states\n robot = moveit_commander.RobotCommander()\n\n # Instantiate a `PlanningSceneInterface`_ object. This provides a remote interface\n # for getting, setting, and updating the robot's internal understanding of the\n # surrounding world:\n scene = moveit_commander.PlanningSceneInterface()\n\n # Instantiate a `MoveGroupCommander`_ object. This object is an interface\n # to a planning group (group of joints). In this tutorial the group is the primary\n # arm joints in the ur3e robot, so we set the group's name to \"ur3e_arm\".\n # If you are using a different robot, change this value to the name of your robot\n # arm planning group.\n # This interface can be used to plan and execute motions:\n group_name = \"arm\"\n move_group = moveit_commander.MoveGroupCommander(group_name)\n\n # Create a `DisplayTrajectory`_ ROS publisher which is used to display\n # trajectories in Rviz:\n display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',\n moveit_msgs.msg.DisplayTrajectory,\n queue_size=20)\n\n # END_SUB_TUTORIAL\n\n # Misc variables\n self.box_name = ''\n self.robot = robot\n self.scene = scene\n self.move_group = move_group\n self.display_trajectory_publisher = display_trajectory_publisher\n self.planning_frame = move_group.get_planning_frame()\n self.eef_link = move_group.get_end_effector_link()\n self.group_names = robot.get_group_names()\n\n def display_basic_info(self):\n # BEGIN_SUB_TUTORIAL basic_info\n ##\n # Getting Basic Information\n # ^^^^^^^^^^^^^^^^^^^^^^^^^\n # We can get the name of the reference frame for this robot:\n print(\"============ Planning frame: %s\" % self.planning_frame)\n\n # We can also print the name of the end-effector link for this group:\n print(\"============ End effector link: %s\" % self.eef_link)\n\n # We can get a list of all the groups in the robot:\n print(\"============ Available Planning Groups:\", self.group_names)\n\n # Sometimes for debugging it is useful to print the entire state of the\n # robot:\n print(\"============ Printing robot state\")\n print(self.robot.get_current_state())\n print(\"\")\n # END_SUB_TUTORIAL\n\n def go_to_joint_state(self):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n move_group = self.move_group\n\n # BEGIN_SUB_TUTORIAL plan_to_joint_state\n ##\n # Planning to a Joint Goal\n # ^^^^^^^^^^^^^^^^^^^^^^^^\n # The ur3e's zero configuration is at a `singularity `_ so the first\n # thing we want to do is move it to a slightly better configuration.\n # We can get the joint values from the group and adjust some of the values:\n joint_goal = move_group.get_current_joint_values()\n joint_goal[0] = 1.57\n joint_goal[1] = -1.57\n joint_goal[2] = 1.30\n joint_goal[3] = -1.57\n joint_goal[4] = -1.57\n joint_goal[5] = 0\n\n # The go command can be called with joint values, poses, or without any\n # parameters if you have already set the pose or joint target for the group\n move_group.go(joint_goal, wait=True)\n\n # Calling ``stop()`` ensures that there is no residual movement\n move_group.stop()\n\n # END_SUB_TUTORIAL\n\n # For testing:\n print(\"Current pose\", move_group.get_current_pose().pose)\n current_joints = move_group.get_current_joint_values()\n return all_close(joint_goal, current_joints, 0.01)\n\n def go_to_pose_goal(self):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n move_group = self.move_group\n\n # BEGIN_SUB_TUTORIAL plan_to_pose\n ##\n # Planning to a Pose Goal\n # ^^^^^^^^^^^^^^^^^^^^^^^\n # We can plan a motion for this group to a desired pose for the\n # end-effector:\n pose_goal = move_group.get_current_pose().pose\n pose_goal.position.y += -0.1\n\n move_group.set_pose_target(pose_goal)\n\n # Now, we call the planner to compute the plan and execute it.\n plan = move_group.go(wait=True)\n # Calling `stop()` ensures that there is no residual movement\n move_group.stop()\n # It is always good to clear your targets after planning with poses.\n # Note: there is no equivalent function for clear_joint_value_targets()\n move_group.clear_pose_targets()\n\n # END_SUB_TUTORIAL\n\n # For testing:\n # Note that since this section of code will not be included in the tutorials\n # we use the class variable rather than the copied state variable\n current_pose = self.move_group.get_current_pose().pose\n return all_close(pose_goal, current_pose, 0.01)\n\n def plan_cartesian_path(self, scale=1):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n move_group = self.move_group\n\n # BEGIN_SUB_TUTORIAL plan_cartesian_path\n ##\n # Cartesian Paths\n # ^^^^^^^^^^^^^^^\n # You can plan a Cartesian path directly by specifying a list of waypoints\n # for the end-effector to go through. If executing interactively in a\n # Python shell, set scale = 1.0.\n ##\n waypoints = []\n\n wpose = move_group.get_current_pose().pose\n wpose.position.z -= scale * 0.1 # First move up (z)\n wpose.position.y += scale * 0.2 # and sideways (y)\n waypoints.append(copy.deepcopy(wpose))\n\n wpose.position.x += scale * 0.1 # Second move forward/backwards in (x)\n waypoints.append(copy.deepcopy(wpose))\n\n wpose.position.y -= scale * 0.1 # Third move sideways (y)\n waypoints.append(copy.deepcopy(wpose))\n\n # We want the Cartesian path to be interpolated at a resolution of 1 cm\n # which is why we will specify 0.01 as the eef_step in Cartesian\n # translation. We will disable the jump threshold by setting it to 0.0,\n # ignoring the check for infeasible jumps in joint space, which is sufficient\n # for this tutorial.\n (plan, fraction) = move_group.compute_cartesian_path(\n waypoints, # waypoints to follow\n 0.01, # eef_step\n 0.0) # jump_threshold\n\n # Note: We are just planning, not asking move_group to actually move the robot yet:\n return plan, fraction\n\n # END_SUB_TUTORIAL\n\n def display_trajectory(self, plan):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n robot = self.robot\n display_trajectory_publisher = self.display_trajectory_publisher\n\n # BEGIN_SUB_TUTORIAL display_trajectory\n ##\n # Displaying a Trajectory\n # ^^^^^^^^^^^^^^^^^^^^^^^\n # You can ask RViz to visualize a plan (aka trajectory) for you. But the\n # group.plan() method does this automatically so this is not that useful\n # here (it just displays the same trajectory again):\n ##\n # A `DisplayTrajectory`_ msg has two primary fields, trajectory_start and trajectory.\n # We populate the trajectory_start with our current robot state to copy over\n # any AttachedCollisionObjects and add our plan to the trajectory.\n display_trajectory = moveit_msgs.msg.DisplayTrajectory()\n display_trajectory.trajectory_start = robot.get_current_state()\n display_trajectory.trajectory.append(plan)\n # Publish\n display_trajectory_publisher.publish(display_trajectory)\n\n # END_SUB_TUTORIAL\n\n def execute_plan(self, plan):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n move_group = self.move_group\n\n # BEGIN_SUB_TUTORIAL execute_plan\n ##\n # Executing a Plan\n # ^^^^^^^^^^^^^^^^\n # Use execute if you would like the robot to follow\n # the plan that has already been computed:\n move_group.execute(plan, wait=True)\n\n # **Note:** The robot's current joint state must be within some tolerance of the\n # first waypoint in the `RobotTrajectory`_ or ``execute()`` will fail\n # END_SUB_TUTORIAL\n\n def wait_for_state_update(self, box_is_known=False, box_is_attached=False, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name\n scene = self.scene\n\n # BEGIN_SUB_TUTORIAL wait_for_scene_update\n ##\n # Ensuring Collision Updates Are Receieved\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # If the Python node dies before publishing a collision object update message, the message\n # could get lost and the box will not appear. To ensure that the updates are\n # made, we wait until we see the changes reflected in the\n # ``get_attached_objects()`` and ``get_known_object_names()`` lists.\n # For the purpose of this tutorial, we call this function after adding,\n # removing, attaching or detaching an object in the planning scene. We then wait\n # until the updates have been made or ``timeout`` seconds have passed\n start = rospy.get_time()\n seconds = rospy.get_time()\n while (seconds - start < timeout) and not rospy.is_shutdown():\n # Test if the box is in attached objects\n attached_objects = scene.get_attached_objects([box_name])\n is_attached = len(attached_objects.keys()) > 0\n\n # Test if the box is in the scene.\n # Note that attaching the box will remove it from known_objects\n is_known = box_name in scene.get_known_object_names()\n\n # Test if we are in the expected state\n if (box_is_attached == is_attached) and (box_is_known == is_known):\n return True\n\n # Sleep so that we give other threads time on the processor\n rospy.sleep(0.1)\n seconds = rospy.get_time()\n\n # If we exited the while loop without returning then we timed out\n return False\n # END_SUB_TUTORIAL\n\n def add_box(self, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name\n scene = self.scene\n\n # BEGIN_SUB_TUTORIAL add_box\n ##\n # Adding Objects to the Planning Scene\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # First, we will create a box in the planning scene at the location of the left finger:\n box_pose = geometry_msgs.msg.PoseStamped()\n box_pose.header.frame_id = \"gripper_tip_link\"\n box_pose.pose.orientation.w = 1.0\n box_pose.pose.position.z = 0.0 # slightly above the end effector\n box_name = \"box_name\"\n scene.add_box(box_name, box_pose, size=(0.04, 0.04, 0.04))\n\n # END_SUB_TUTORIAL\n # Copy local variables back to class variables. In practice, you should use the class\n # variables directly unless you have a good reason not to.\n self.box_name = box_name\n return self.wait_for_state_update(box_is_known=True, timeout=timeout)\n\n def add_box2(self, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name\n scene = self.scene\n\n # BEGIN_SUB_TUTORIAL add_box\n ##\n # Adding Objects to the Planning Scene\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # First, we will create a box in the planning scene at the location of the left finger:\n box_pose = geometry_msgs.msg.PoseStamped()\n box_pose.header.frame_id = \"base_link\"\n box_pose.pose.orientation.w = 1.0\n box_pose.pose.position.x = 0.93 # slightly above the end effector\n box_pose.pose.position.y = 0.25 # slightly above the end effector\n box_pose.pose.position.z = 1.02 # slightly above the end effector\n box_name = \"box_name\"\n scene.add_box(box_name, box_pose, size=(0.03, 0.03, 0.03))\n\n # END_SUB_TUTORIAL\n # Copy local variables back to class variables. In practice, you should use the class\n # variables directly unless you have a good reason not to.\n self.box_name = box_name\n return self.wait_for_state_update(box_is_known=True, timeout=timeout)\n\n def attach_box(self, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name\n robot = self.robot\n scene = self.scene\n eef_link = self.eef_link\n group_names = self.group_names\n\n # BEGIN_SUB_TUTORIAL attach_object\n ##\n # Attaching Objects to the Robot\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # Next, we will attach the box to the ur3e wrist. Manipulating objects requires the\n # robot be able to touch them without the planning scene reporting the contact as a\n # collision. By adding link names to the ``touch_links`` array, we are telling the\n # planning scene to ignore collisions between those links and the box. For the ur3e\n # robot, we set ``grasping_group = 'hand'``. If you are using a different robot,\n # you should change this value to the name of your end effector group name.\n grasping_group = 'gripper'\n touch_links = robot.get_link_names(group=grasping_group)\n scene.attach_box(eef_link, box_name, touch_links=touch_links)\n # END_SUB_TUTORIAL\n\n # We wait for the planning scene to update.\n return self.wait_for_state_update(box_is_attached=True, box_is_known=False, timeout=timeout)\n\n def detach_box(self, name=None, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name if name is None else name\n scene = self.scene\n eef_link = self.eef_link\n\n # BEGIN_SUB_TUTORIAL detach_object\n ##\n # Detaching Objects from the Robot\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # We can also detach and remove the object from the planning scene:\n scene.remove_attached_object(eef_link, name=box_name)\n # END_SUB_TUTORIAL\n\n # We wait for the planning scene to update.\n return self.wait_for_state_update(box_is_known=True, box_is_attached=False, timeout=timeout)\n\n def remove_box(self, name=None, timeout=4):\n # Copy class variables to local variables to make the web tutorials more clear.\n # In practice, you should use the class variables directly unless you have a good\n # reason not to.\n box_name = self.box_name if name is None else name\n scene = self.scene\n\n # BEGIN_SUB_TUTORIAL remove_object\n ##\n # Removing Objects from the Planning Scene\n # ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n # We can remove the box from the world.\n scene.remove_world_object(box_name)\n\n # **Note:** The object must be detached before we can remove it from the world\n # END_SUB_TUTORIAL\n\n # We wait for the planning scene to update.\n return self.wait_for_state_update(box_is_attached=False, box_is_known=False, timeout=timeout)\n\n\ndef main():\n \"\"\"Moveit Control Example\n\n Test several functionalities of MoveIt with the Python interface.\n \"\"\"\n arg_fmt = argparse.RawDescriptionHelpFormatter\n parser = argparse.ArgumentParser(\n formatter_class=arg_fmt, description=main.__doc__)\n parser.add_argument(\n '-j', '--move-joints', action='store_true', help='Movement using joint state goal')\n parser.add_argument(\n '-p', '--move-pose', action='store_true', help='Movement using a pose goal')\n parser.add_argument(\n '-a', '--add-box', action='store_true', help='Add & Attach a box to the gripper')\n parser.add_argument(\n '-r', '--remove-box', action='store_true', help='Detach & Remove box')\n parser.add_argument(\n '-d', '--detach-box', action='store_true', help='Detach box')\n parser.add_argument(\n '--tutorial', action='store_true', help='Execute original tutorial sequence')\n args = parser.parse_args(rospy.myargv()[1:])\n\n tutorial = MoveGroupPythonIntefaceTutorial()\n rospy.sleep(1)\n if args.move_joints:\n tutorial.display_basic_info()\n tutorial.go_to_joint_state()\n elif args.move_pose:\n tutorial.display_basic_info()\n tutorial.go_to_pose_goal()\n elif args.add_box:\n tutorial.add_box2()\n elif args.remove_box:\n tutorial.remove_box()\n elif args.detach_box:\n tutorial.detach_box()\n elif args.tutorial:\n try:\n print(\"\")\n print(\"----------------------------------------------------------\")\n print(\"Welcome to the MoveIt MoveGroup Python Interface Tutorial\")\n print(\"----------------------------------------------------------\")\n print(\"Press Ctrl-D to exit at any time\")\n print(\"\")\n print(\"============ Press `Enter` to begin the tutorial by setting up the moveit_commander ...\")\n input()\n tutorial.display_basic_info()\n print(\"============ Press `Enter` to execute a movement using a joint state goal ...\")\n input()\n tutorial.go_to_joint_state()\n\n print(\"============ Press `Enter` to execute a movement using a pose goal ...\")\n input()\n tutorial.go_to_pose_goal()\n\n print(\"============ Press `Enter` to plan and display a Cartesian path ...\")\n input()\n cartesian_plan, fraction = tutorial.plan_cartesian_path()\n\n print(\"============ Press `Enter` to display a saved trajectory (this will replay the Cartesian path) ...\")\n input()\n tutorial.display_trajectory(cartesian_plan)\n\n print(\"============ Press `Enter` to execute a saved path ...\")\n input()\n tutorial.execute_plan(cartesian_plan)\n\n print(\"============ Press `Enter` to add a box to the planning scene ...\")\n input()\n tutorial.add_box()\n\n print(\"============ Press `Enter` to attach a Box to the ur3e robot ...\")\n input()\n tutorial.attach_box()\n\n print(\"============ Press `Enter` to plan and execute a path with an attached collision object ...\")\n input()\n cartesian_plan, fraction = tutorial.plan_cartesian_path(scale=-1)\n tutorial.execute_plan(cartesian_plan)\n\n print(\"============ Press `Enter` to detach the box from the ur3e robot ...\")\n input()\n tutorial.detach_box()\n\n print(\"============ Press `Enter` to remove the box from the planning scene ...\")\n input()\n tutorial.remove_box()\n\n print(\"============ Python tutorial demo complete!\")\n except rospy.ROSInterruptException:\n return\n except KeyboardInterrupt:\n return\n\n\nif __name__ == '__main__':\n main()\n\n# BEGIN_TUTORIAL\n# .. _moveit_commander:\n# http://docs.ros.org/melodic/api/moveit_commander/html/namespacemoveit__commander.html\n##\n# .. _MoveGroupCommander:\n# http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html\n##\n# .. _RobotCommander:\n# http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1robot_1_1RobotCommander.html\n##\n# .. _PlanningSceneInterface:\n# http://docs.ros.org/melodic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html\n##\n# .. _DisplayTrajectory:\n# http://docs.ros.org/melodic/api/moveit_msgs/html/msg/DisplayTrajectory.html\n##\n# .. _RobotTrajectory:\n# http://docs.ros.org/melodic/api/moveit_msgs/html/msg/RobotTrajectory.html\n##\n# .. _rospy:\n# http://docs.ros.org/melodic/api/rospy/html/\n# CALL_SUB_TUTORIAL imports\n# CALL_SUB_TUTORIAL setup\n# CALL_SUB_TUTORIAL basic_info\n# CALL_SUB_TUTORIAL plan_to_joint_state\n# CALL_SUB_TUTORIAL plan_to_pose\n# CALL_SUB_TUTORIAL plan_cartesian_path\n# CALL_SUB_TUTORIAL display_trajectory\n# CALL_SUB_TUTORIAL execute_plan\n# CALL_SUB_TUTORIAL add_box\n# CALL_SUB_TUTORIAL wait_for_scene_update\n# CALL_SUB_TUTORIAL attach_object\n# CALL_SUB_TUTORIAL detach_object\n# CALL_SUB_TUTORIAL remove_object\n# END_TUTORIAL\n" }, { "path": "ur_control/scripts/wrench_republish.py", "content": "#!/usr/bin/env python\n\n# The MIT License (MIT)\n#\n# Copyright (c) 2018-2021 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport argparse\nimport rospy\n\nimport numpy as np\nfrom ur_control import utils, arm, conversions\n\nfrom geometry_msgs.msg import WrenchStamped\n\n\nclass FTsensor(object):\n\n def __init__(self):\n robot_name = \"b_bot\"\n tcp_link = \"knife_center\"\n self.arm = arm.Arm(ft_topic=\"wrench\", namespace=robot_name,\n joint_names_prefix=robot_name+'_', robot_urdf=robot_name,\n robot_urdf_package='trufus_scene_description',\n ee_link=tcp_link)\n\n self.in_topic = '/wrench'\n self.out_topic = '/test/wrench'\n\n rospy.loginfo(\"Publishing filtered FT to %s\" % self.out_topic)\n\n # Publisher to outward topic\n self.pub = rospy.Publisher(self.out_topic, WrenchStamped, queue_size=10)\n\n # Subscribe to incoming topic\n rospy.Subscriber(self.in_topic, WrenchStamped, self.cb_raw)\n\n rospy.loginfo('Pub successfully initialized')\n\n def cb_raw(self, msg):\n if rospy.is_shutdown():\n return\n msg_out = WrenchStamped()\n msg_out.wrench = conversions.to_wrench(self.arm.get_ee_wrench(base_frame_control=True))\n self.pub.publish(msg_out)\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n\n rospy.init_node('ft_filter')\n\n FTsensor()\n\n rospy.spin()\n\n\nmain()\n" }, { "path": "ur_control/setup.py", "content": "#!/usr/bin/env python\n\nfrom distutils.core import setup\nfrom catkin_pkg.python_setup import generate_distutils_setup\n\nd = generate_distutils_setup(\n packages=['ur_control'],\n package_dir={'': 'src'}\n)\n\nsetup(**d)\n" }, { "path": "ur_control/src/ur_control/__init__.py", "content": "\n" }, { "path": "ur_control/src/ur_control/arm.py", "content": "# The MIT License (MIT)\n#\n# Copyright (c) 2018-2023 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport collections\nimport numpy as np\n\nimport rospy\nfrom geometry_msgs.msg import WrenchStamped\nfrom std_srvs.srv import Empty, SetBool, Trigger\n\nfrom ur_control import utils, spalg, conversions, transformations\nfrom ur_control.exceptions import InverseKinematicsException\nfrom ur_control.controllers_connection import ControllersConnection\nfrom ur_control.controllers import JointTrajectoryController\nfrom ur_control.grippers import GripperController, RobotiqGripper\nfrom ur_control.constants import BASE_LINK, EE_LINK, JOINT_TRAJECTORY_CONTROLLER, FT_SUBSCRIBER, \\\n ExecutionResult, IKSolverType, GripperType, \\\n get_arm_joint_names\nfrom ur_control.ur_services import URServices\n\ntry:\n from ur_ikfast import ur_kinematics as ur_ikfast\nexcept ImportError:\n print(\"Import ur_ikfast not available, IKFAST would not be supported without it\")\nfrom ur_pykdl import ur_kinematics\nfrom trac_ik_python.trac_ik import IK as TRACK_IK_SOLVER\n\ncprint = utils.TextColors()\n\n\nclass Arm(object):\n \"\"\" Universal Robots arm controller \"\"\"\n\n def __init__(self,\n namespace: str = None,\n ik_solver: IKSolverType = IKSolverType.TRAC_IK,\n gripper_type: GripperType = GripperType.GENERIC,\n ft_topic: str = None,\n base_link: str = None,\n ee_link: str = None,\n joint_names_prefix: str = None):\n \"\"\" \n\n Parameters\n ----------\n namespace : optional\n ROS namespace of the robot e.g., '/ns/robot_description'\n ik_solver : optional\n inverse kinematic solver to be used\n gripper_type : optional\n gripper control approach. Generic or specific for real Robotiq gripper\n ft_topic: optional\n topic from which to read the wrench\n base_link: optional\n robot base frame. Excluding the prefix used in 'joint_names_prefix'\n ee_link: optional\n end-effector frame. Excluding the prefix used in 'joint_names_prefix'\n joint_names_prefix: optional\n optionally specify a prefix when multiple robots are defined. For example,\n if 'a_bot' is defined, all joints will be consider like 'a_bot_link_name'\n\n Raises\n ------\n ValueError\n If a non-supported gripper type or ik solver is defined\n\n \"\"\"\n\n self.ns = utils.solve_namespace(namespace)\n\n base_link = utils.resolve_parameter(value=base_link, default_value=BASE_LINK)\n ee_link = utils.resolve_parameter(value=ee_link, default_value=EE_LINK)\n\n # Support for joint prefixes\n self.joint_names_prefix = utils.resolve_parameter(joint_names_prefix, '')\n self.base_link = base_link if joint_names_prefix is None else joint_names_prefix + base_link\n self.ee_link = ee_link if joint_names_prefix is None else joint_names_prefix + ee_link\n\n self.ik_solver = ik_solver\n\n self.ft_topic = utils.resolve_parameter(value=ft_topic, default_value=FT_SUBSCRIBER)\n self.current_ft_value = np.zeros(6)\n self.wrench_queue = collections.deque(maxlen=25) # store history of FT data\n\n # self.max_joint_speed = np.deg2rad([100, 100, 100, 200, 200, 200]) # deg/s -> rad/s\n self.max_joint_speed = np.deg2rad([191, 191, 191, 371, 371, 371])\n\n cprint.ok(\"Initializing ur robot with parameters\")\n cprint.ok(\"gripper: {}, ft_sensor_topic: {}, \\nbase_link: {}, ee_link: {}\"\n .format(gripper_type, self.ft_topic, self.base_link, self.ee_link))\n\n self.__init_controllers__(gripper_type, joint_names_prefix)\n self.__init_ik_solver__(self.base_link, self.ee_link)\n\n self.__init_ft_sensor__()\n\n self.controller_manager = ControllersConnection(self.ns)\n self.dashboard_services = URServices(self.ns)\n\n### private methods ###\n\n def __init_controllers__(self, gripper_type, joint_names_prefix=None):\n self.joint_names = None if joint_names_prefix is None else get_arm_joint_names(joint_names_prefix)\n\n self.joint_traj_controller = JointTrajectoryController(publisher_name=JOINT_TRAJECTORY_CONTROLLER,\n namespace=self.ns,\n joint_names=self.joint_names,\n timeout=1.0)\n\n self.gripper = None\n\n if not gripper_type:\n rospy.logwarn(\"Loading without gripper\")\n return\n\n if gripper_type == GripperType.GENERIC:\n self.gripper = GripperController(namespace=self.ns, prefix=self.joint_names_prefix, timeout=2.0)\n elif gripper_type == GripperType.ROBOTIQ:\n self.gripper = RobotiqGripper(namespace=self.ns, prefix=self.joint_names_prefix, timeout=2.0)\n else:\n raise ValueError(\"Invalid gripper type %s\" % gripper_type)\n\n def __init_ik_solver__(self, base_link, ee_link):\n # Instantiate KDL kinematics solver to compute forward kinematics\n if rospy.has_param(\"robot_description\"):\n self.kdl = ur_kinematics(base_link=base_link, ee_link=ee_link)\n else:\n raise ValueError(\"robot_description not found in the parameter server\")\n\n # Instantiate Inverse kinematics solver\n if self.ik_solver == IKSolverType.IKFAST:\n # IKfast libraries\n try:\n # TODO use the parameter robot_description\n self.arm_ikfast = ur_ikfast.URKinematics(self._robot_urdf)\n except Exception:\n raise ValueError(\"IK solver set to IKFAST but no ikfast found for: %s. \" % self._robot_urdf)\n elif self.ik_solver == IKSolverType.TRAC_IK:\n try:\n self.trac_ik = TRACK_IK_SOLVER(base_link=base_link, tip_link=ee_link, solve_type=\"Distance\")\n except Exception as e:\n rospy.logerr(\"Could not instantiate TRAC_IK\" + str(e))\n elif self.ik_solver == IKSolverType.KDL:\n pass\n else:\n raise Exception(\"unsupported ik_solver\", self.ik_solver)\n\n def __init_ft_sensor__(self):\n # Publisher of wrench\n ft_namespace = self.ns + self.ft_topic + '/filtered'\n if not utils.topic_exist(ft_namespace):\n rospy.logwarn(\"Filtered FT topic not found. Using raw sensor directly.\")\n # Try the raw FT topic\n ft_namespace = self.ns + self.ft_topic\n rospy.Subscriber(ft_namespace, WrenchStamped, self.__ft_callback__)\n self._zero_ft_filtered = lambda: None\n self._ft_filtered = lambda: None\n else:\n rospy.Subscriber(ft_namespace, WrenchStamped, self.__ft_callback__)\n\n self._zero_ft_filtered = rospy.ServiceProxy('%s/%s/filtered/zero_ftsensor' % (self.ns, self.ft_topic), Empty)\n self._zero_ft_filtered.wait_for_service(rospy.Duration(2.0))\n\n if not rospy.has_param(\"use_gazebo_sim\"):\n self._zero_ft = rospy.ServiceProxy('%s/ur_hardware_interface/zero_ftsensor' % self.ns, Trigger)\n self._zero_ft.wait_for_service(rospy.Duration(2.0))\n\n self._ft_filtered = rospy.ServiceProxy('%s/%s/filtered/enable_filtering' % (self.ns, self.ft_topic), SetBool)\n self._ft_filtered.wait_for_service(rospy.Duration(1.0))\n\n # Check that the FT topic is publishing\n if not utils.wait_for(lambda: self.current_ft_value is not None, timeout=2.0):\n rospy.logerr('Timed out waiting for {0} topic'.format(ft_namespace))\n\n def __ft_callback__(self, msg):\n self.current_ft_value = conversions.from_wrench(msg.wrench)\n self.wrench_queue.append(self.current_ft_value)\n\n### Data access methods ###\n\n def inverse_kinematics(self,\n pose: np.ndarray,\n seed: np.ndarray = None,\n attempts: int = 0,\n verbose: bool = True) -> np.ndarray:\n \"\"\"\n return a joint configuration for a given Cartesian pose of the end-effector\n (ee_link) if any.\n\n Parameters\n ----------\n pose : \n Cartesian pose of the end-effector defined as ee_link\n seed : optional\n if given, attempt to return a joint configuration closer to the seed\n attempts : int, optional\n number of attempts to find a IK solution. It may be useful for sample\n based solvers such as TRAC-IK. It would not change the result of an\n analytical solvers such as IKFast.\n verbose : bool, optional\n print a warning message when IK solutions are not found\n\n Returns\n -------\n res : ndarray\n Joint configuration if any or None\n\n Raises\n ------\n ValueError\n If the rot_type is different from 'quaternion' or 'euler'\n \"\"\"\n q_guess_ = seed if seed is not None else self.joint_angles()\n\n if self.ik_solver == IKSolverType.IKFAST:\n # TODO: transform pose to the default tip used by IKFast (tool0)\n ik = self.arm_ikfast.inverse(pose, q_guess=q_guess_)\n elif self.ik_solver == IKSolverType.TRAC_IK:\n ik = self.trac_ik.get_ik(q_guess_, *pose)\n elif self.ik_solver == IKSolverType.KDL:\n ik = self.kdl.inverse_kinematics(pose[:3], pose[3:], seed=q_guess_)\n\n if ik is None:\n if attempts > 0:\n return self.inverse_kinematics(pose, seed, attempts-1)\n if verbose:\n rospy.logwarn(f\"{self.ik_solver}: solution not found!\")\n raise InverseKinematicsException(f\"{self.ik_solver}: solution not found!\")\n return ik\n\n def end_effector(self,\n joint_angles=None,\n rot_type='quaternion',\n tip_link=None) -> np.ndarray:\n \"\"\" \n Return the Cartesian pose of the end-effector in the robot base frame (base_link).\n\n Parameters\n ----------\n joint_angles : ndarray, optional\n If not given, the current joint configuration will be used.\n If provided, the joint configuration is expected in the order given by constants.JOINT_ORDER\n rot_type : str, optional\n Rotation representation to be returned.\n Valid types \"quaternion\" or \"euler\"\n tip_link : str, optional\n Return the Cartesian pose of the tip_link if provided.\n Otherwise, use the default ee_link\n\n Returns\n -------\n res : ndarray\n The Cartesian pose in the form of \n quaternion: [x, y, z, aw, ax, ay, az] or\n euler: [x, y, z, roll, pitch, yaw]\n in radians.\n\n Raises\n ------\n ValueError\n If the rot_type is different from 'quaternion' or 'euler'\n \"\"\"\n\n joint_angles = self.joint_angles() if joint_angles is None else joint_angles\n\n if rot_type == 'quaternion':\n # forward kinematics\n return self.kdl.forward(joint_angles, tip_link)\n\n elif rot_type == 'euler':\n x = self.end_effector(joint_angles, tip_link=tip_link)\n euler = np.array(transformations.euler_from_quaternion(x[3:], axes='sxyz'))\n return np.concatenate((x[:3], euler))\n elif rot_type == 'ortho6':\n x = self.end_effector(joint_angles, tip_link=tip_link)\n ortho6 = np.array(transformations.ortho6_from_quaternion(x[3:]))\n return np.concatenate((x[:3], ortho6))\n else:\n raise ValueError(\"Rotation Type not supported\", rot_type)\n\n def joint_angle(self, joint: str) -> float:\n \"\"\"\n Return the requested joint angle in radians.\n \"\"\"\n joint_idx = self.joint_traj_controller.valid_joint_names.index(joint)\n return self.joint_traj_controller.get_joint_positions()[joint_idx]\n\n def joint_angles(self) -> np.ndarray:\n \"\"\"\n Returns the current joint positions in radians and \n in the order given by constants.JOINT_ORDER.\n \"\"\"\n return self.joint_traj_controller.get_joint_positions()\n\n def joint_velocity(self, joint: str) -> float:\n \"\"\"\n Return the requested joint velocity in radians/secs.\n \"\"\"\n joint_idx = self.joint_traj_controller.valid_joint_names.index(joint)\n return self.joint_traj_controller.get_joint_velocities()[joint_idx]\n\n def joint_velocities(self) -> np.ndarray:\n \"\"\"\n Returns the current joint velocities.\n \"\"\"\n return self.joint_traj_controller.get_joint_velocities()\n\n def joint_effort(self, joint: str) -> float:\n \"\"\"\n Return the requested joint effort.\n \"\"\"\n joint_idx = self.joint_traj_controller.valid_joint_names.index(joint)\n return self.joint_traj_controller.get_joint_efforts()[joint_idx]\n\n def joint_efforts(self) -> np.ndarray:\n \"\"\"\n Returns the current joint efforts.\n \"\"\"\n return self.joint_traj_controller.get_joint_efforts()\n\n def get_wrench_history(self, hist_size=24, hand_frame_control=False):\n if self.current_ft_value is None:\n raise Exception(\"FT Sensor not initialized\")\n\n ft_hist = np.array(self.wrench_queue)[:hist_size]\n\n if hand_frame_control:\n q_hist = self.joint_traj_controller.get_joint_positions_hist()[:hist_size]\n poses_hist = [self.end_effector(q, tip_link=self.ee_link) for q in q_hist]\n wrench_hist = [spalg.convert_wrench(wft, p).tolist() for p, wft in zip(poses_hist, ft_hist)]\n else:\n wrench_hist = ft_hist\n\n return np.array(wrench_hist)\n\n def get_wrench(self,\n base_frame_control=False,\n hand_frame_control=False) -> np.ndarray:\n \"\"\" \n Returns the wrench (force/torque) in task-space.\n By default, return the wrench as read from the sensor topic.\n\n Parameters\n ----------\n base_frame_control : bool, optional\n If True, returns the wrench with respect to the robot base frame\n hand_frame_control : bool, optional\n If True, returns the wrench with respect to the end-effector frame\n If both base_frame_control and hand_frame_control are set to True.\n the former is considered.\n Returns\n -------\n res : np.ndarray\n Returns the wrench in the requested frame\n \"\"\"\n if self.current_ft_value is None:\n # No values have been received from sensor's topic\n return np.zeros(6)\n\n wrench_force = self.current_ft_value\n if not hand_frame_control and not base_frame_control:\n return wrench_force\n\n if base_frame_control:\n # Transform force/torque from sensor to robot base frame\n transform = self.end_effector(tip_link=self.joint_names_prefix + \"wrist_3_link\")\n ee_wrench_force = spalg.convert_wrench(wrench_force, transform)\n\n return ee_wrench_force\n else:\n # Transform force/torque from sensor to end effector frame\n transform = self.end_effector(tip_link=self.ee_link)\n ee_wrench_force = spalg.convert_wrench(wrench_force, transform)\n\n return ee_wrench_force\n\n### Control Methods ###\n\n def set_joint_positions(self,\n target_time: float,\n positions: np.ndarray,\n velocities: np.ndarray = None,\n accelerations: np.ndarray = None,\n wait: bool = False) -> ExecutionResult:\n \"\"\"\n Run the joint trajectory controller towards a single waypoint starting now.\n\n Parameters\n ----------\n target_time : float\n time at which target joint should be reach. It can be understood as the \n duration of the trajectory.\n positions : numpy.ndarray\n target joint configuration in the order given by constants.JOINT_ORDER\n velocities : numpy.ndarray, optional\n target joint velocities\n accelerations : numpy.ndarray, optional\n target joint accelerations\n wait : bool, optional\n whether to block code execution until the trajectory is completed or not.\n\n Returns\n -------\n res : bool\n True if the trajectory is succesful when waiting for the execution to be \n completed. Otherwise returns true if the trajectory was started.\n \"\"\"\n self.joint_traj_controller.add_point(positions=positions,\n velocities=velocities,\n accelerations=accelerations,\n target_time=target_time)\n if wait:\n self.joint_traj_controller.start(delay=0, wait=True)\n else:\n self.joint_traj_controller.start_no_action_server()\n\n # Always clear the trajectory goal\n self.joint_traj_controller.clear_points()\n\n if wait:\n res = self.joint_traj_controller.get_result()\n return ExecutionResult.DONE if res.error_code == 0 else ExecutionResult.CONTROLLER_FAILED\n return ExecutionResult.DONE\n\n def set_joint_trajectory(self,\n target_time: float,\n trajectory: np.ndarray,\n velocities: np.ndarray = None,\n accelerations: np.ndarray = None) -> ExecutionResult:\n \"\"\"\n Start the joint trajectory controller with a multi-waypoint trajectory.\n\n Parameters\n ----------\n target_time : float\n time at which target joint should be reach. It can be understood as the \n duration of the trajectory.\n positions : 2-D numpy.ndarray\n list of target joint configuration for each waypoint in the order given by constants.JOINT_ORDER\n velocities : 2-D numpy.ndarray, optional\n list of target joint velocities for each waypoint\n accelerations : 2-D numpy.ndarray, optional\n list of target joint accelerations for each waypoint\n wait : bool, optional\n whether to block code execution until the trajectory is completed or not.\n\n Returns\n -------\n res : bool\n True if the trajectory is succesfully executed.\n \"\"\"\n dt = target_time/len(trajectory)\n\n for i, q in enumerate(trajectory):\n self.joint_traj_controller.add_point(positions=q,\n target_time=(i+1) * dt,\n velocities=velocities,\n accelerations=accelerations)\n self.joint_traj_controller.start(delay=0, wait=True)\n self.joint_traj_controller.clear_points()\n\n res = self.joint_traj_controller.get_result()\n return ExecutionResult.DONE if res.error_code == 0 else ExecutionResult.CONTROLLER_FAILED\n\n def set_target_pose(self,\n target_time: float,\n pose: np.ndarray,\n wait: bool = False) -> ExecutionResult:\n \"\"\"\n Reach a given target cartesian pose with the end-effector (ee_link)\n\n Parameters\n ----------\n target_time : float\n time at which target joint should be reach. It can be understood as the \n duration of the trajectory.\n pose : numpy.ndarray\n Cartesian target pose. Only the quaternion representation is supported\n in the form: [x, y, z, aw, ax, ay, az]\n wait : bool, optional\n whether to block code execution until the trajectory is completed or not.\n\n Returns\n -------\n res : bool\n True if the trajectory is succesfully executed.\n \"\"\"\n q = self.inverse_kinematics(pose)\n if q is None:\n rospy.logdebug(\"IK not found\")\n raise InverseKinematicsException(\"IK solver failed to find a solution\")\n else:\n return self.set_joint_positions(positions=q, target_time=target_time, wait=wait)\n\n def set_pose_trajectory(self,\n target_time: float,\n trajectory: np.ndarray) -> ExecutionResult:\n \"\"\"\n Reach a given target cartesian pose with the end-effector (ee_link)\n\n Parameters\n ----------\n target_time : float\n time at which target joint should be reach. It can be understood as the \n duration of the trajectory.\n pose : numpy.ndarray\n Cartesian target pose. Only the quaternion representation is supported\n in the form: [x, y, z, aw, ax, ay, az]\n wait : bool, optional\n whether to block code execution until the trajectory is completed or not.\n\n Returns\n -------\n res : bool or str\n True if the trajectory is succesfully executed.\n If the IK solver fails, return \"ik_not_found\"\n \"\"\"\n joint_trajectory = []\n previous_q = self.joint_angles()\n for i, pose in enumerate(trajectory):\n q = self.inverse_kinematics(pose, seed=previous_q)\n if q is None:\n raise InverseKinematicsException(\"IK solver failed to find a solution\")\n\n previous_q = q\n joint_trajectory.append(q)\n return self.set_joint_trajectory(trajectory=joint_trajectory, target_time=target_time)\n\n def move_relative(self,\n target_time: float,\n transformation: np.array,\n relative_to_tcp: bool = True,\n wait: bool = True) -> ExecutionResult:\n \"\"\" \n Move end-effector (ee_link) relative to its current position\n\n Parameters\n ----------\n target_time : float\n time at which target joint should be reach. It can be understood as the \n duration of the trajectory.\n pose : numpy.ndarray\n Cartesian target pose. Only the quaternion representation is supported\n in the form: [x, y, z, aw, ax, ay, az]\n relative_to_tcp : bool, optional\n if True, consider the current position relative to the end-effector frame.\n if False, consider the current position relative to the robot base frame.\n wait : bool, optional\n whether to block code execution until the trajectory is completed or not.\n\n Returns\n -------\n res : bool or str\n True if the trajectory is succesfully executed.\n If the IK solver fails, return \"ik_not_found\"\n \"\"\"\n new_pose = transformations.transform_pose(self.end_effector(), transformation, rotated_frame=relative_to_tcp)\n return self.set_target_pose(pose=new_pose, target_time=target_time, wait=wait)\n\n### FT sensor control ###\n\n def zero_ft_sensor(self):\n \"\"\" \n Reset force-torque sensor readings to zeros.\n \"\"\"\n if not rospy.has_param(\"use_gazebo_sim\"):\n # First try to zero FT from ur_driver\n self._zero_ft()\n rospy.sleep(0.5)\n # Then update filtered one\n self._zero_ft_filtered()\n\n def set_ft_filtering(self, active=True):\n \"\"\" \n Enable/disable a low-pass filter.\n If active, the readings returned from self.get_wrench will have been filtered.\n otherwise, the raw data from the sensor's topic will be returned.\n\n The filtering is done in an external topic. See scripts/ft_filter.py\n \"\"\"\n self._ft_filtered(active)\n" }, { "path": "ur_control/src/ur_control/compliance_controller.py", "content": "# Copyright (c) 2018-2021, Cristian Beltran. All rights reserved.\n#\n# Cristian Beltran and its licensors retain all intellectual property\n# and proprietary rights in and to this software, related documentation\n# and any modifications thereto. Any use, reproduction, disclosure or\n# distribution of this software and related documentation without an express\n# license agreement from Cristian Beltran is strictly prohibited.\n\nimport rospy\nimport numpy as np\nimport types\n\nfrom ur_control.arm import Arm\nfrom ur_control import transformations, spalg, utils\nfrom ur_control.constants import ExecutionResult\n\n\n# Returns the new average\n# after including x\ndef getAvg(prev_avg, x, n):\n return ((prev_avg *\n n + x) /\n (n + 1))\n\n\nclass CompliantController(Arm):\n def __init__(self,\n model,\n **kwargs):\n \"\"\" Compliant controllertrajectory_time_compensation\n \"\"\"\n Arm.__init__(self, **kwargs)\n\n self.model = model\n\n # read publish rate if it does exist, otherwise set publish rate\n js_rate = utils.read_parameter(self.ns + 'joint_state_controller/publish_rate', 500.0)\n self.rate = rospy.Rate(js_rate)\n\n def set_hybrid_control_trajectory(self, trajectory, max_force_torque, timeout=5.0,\n stop_on_target_force=False, termination_criteria=None,\n displacement_epsilon=0.002, check_displacement_time=2.0,\n verbose=True, debug=False, time_compensation=True):\n \"\"\" Move the robot according to a hybrid controller model\n trajectory: array[array[7]] or array[7], can define a single target pose or a trajectory of multiple poses.\n model: force control model, see hybrid_controller.py \n max_force_torque: array[6], max force/torque allowed before stopping controller\n timeout: float, maximum duration of controller's operation\n stop_on_target_force: bool: stop once the model's target force has been achieved, stopping controller when all non-zero target forces/torques are reached\n termination_criteria: lambda/function, special termination criteria based on current pose of the robot w.r.t the robot's base\n displacement_epsilon: float, minimum displacement necessary to consider the robot in standby \n check_displacement_time: float, time interval to check whether the displacement has been larger than displacement_epsilon\n \"\"\"\n\n reduced_speed = np.deg2rad([100, 100, 100, 250, 250, 250])\n\n xb = self.end_effector()\n failure_counter = 0\n\n ptp_index = 0\n q_last = self.joint_angles()\n\n trajectory_time_compensation = self.model.dt * 10. if time_compensation else 0.0 # Hyperparameter\n\n if trajectory.ndim == 1: # just one point\n ptp_timeout = timeout\n self.model.set_goals(position=trajectory)\n else: # trajectory\n ptp_timeout = timeout / float(len(trajectory)) - trajectory_time_compensation\n self.model.set_goals(position=trajectory[ptp_index])\n\n log = {ExecutionResult.SPEED_LIMIT_EXCEEDED: 0, ExecutionResult.IK_NOT_FOUND: 0}\n\n result = ExecutionResult.DONE\n\n standby_timer = rospy.get_time()\n standby_last_pose = self.end_effector()\n standby = False\n\n if debug:\n avg_step_time = 0.0\n step_num = 0\n\n # Timeout for motion\n initime = rospy.get_time()\n sub_inittime = rospy.get_time()\n while not rospy.is_shutdown() \\\n and (rospy.get_time() - initime) < timeout:\n if debug:\n start_time = rospy.get_time()\n\n # Transform wrench to the base_link frame\n Wb = self.get_wrench(base_frame_control=True)\n # Current position in task-space\n xb = self.end_effector()\n\n if termination_criteria is not None:\n assert isinstance(termination_criteria, types.LambdaType), \"Invalid termination criteria, expecting lambda/function with one argument[current pose array[7]]\"\n if termination_criteria(xb, standby):\n rospy.loginfo(\"Termination criteria returned True, stopping force control\")\n result = ExecutionResult.TERMINATION_CRITERIA\n break\n\n if (rospy.get_time() - sub_inittime) > ptp_timeout:\n sub_inittime = rospy.get_time()\n ptp_index += 1\n if ptp_index >= len(trajectory):\n self.model.set_goals(position=trajectory[-1])\n elif not trajectory.ndim == 1: # For some reason the timeout validation is not robust enough\n self.model.set_goals(position=trajectory[ptp_index])\n\n Fb = -1 * Wb # Move in the opposite direction of the force\n if stop_on_target_force and np.all(np.abs(Fb)[self.model.target_force != 0] > np.abs(self.model.target_force)[self.model.target_force != 0]):\n rospy.loginfo('Target F/T reached {}'.format(np.round(Wb, 3)) + ' Stopping!')\n self.set_target_pose(pose=xb, target_time=self.model.dt)\n result = ExecutionResult.STOP_ON_TARGET_FORCE\n break\n\n # Safety limits: max force\n if np.any(np.abs(Wb) > max_force_torque):\n rospy.logerr('Maximum force/torque exceeded {}'.format(np.round(Wb, 3)))\n self.set_target_pose(pose=xb, target_time=self.model.dt)\n result = ExecutionResult.FORCE_TORQUE_EXCEEDED\n break\n\n # Current Force in task-space\n dxf = self.model.control_position_orientation(Fb, xb) # angular velocity\n\n xc = transformations.pose_from_angular_velocity(xb, dxf, dt=self.model.dt)\n\n # Avoid extra acceleration when a point failed due to IK or other violation\n # So, this corrects the allowed time for the next point\n dt = self.model.dt * (failure_counter+1)\n\n result = self._actuate(xc, dt, q_last, reduced_speed)\n\n\n if result != ExecutionResult.DONE:\n failure_counter += 1\n if result == ExecutionResult.IK_NOT_FOUND:\n log[ExecutionResult.IK_NOT_FOUND] += 1\n if result == ExecutionResult.SPEED_LIMIT_EXCEEDED:\n log[ExecutionResult.SPEED_LIMIT_EXCEEDED] += 1\n continue # Don't wait since there is not motion\n else:\n failure_counter = 0\n q_last = self.joint_angles()\n\n # Compensate the time allocated to the next command when there are failures\n # Especially important for following a motion trajectory\n for _ in range(failure_counter+1):\n self.rate.sleep()\n\n standby_time = (rospy.get_time() - standby_timer)\n if standby_time > check_displacement_time:\n displacement_dt = np.linalg.norm(standby_last_pose[:3] - self.end_effector()[:3])\n standby = displacement_dt < displacement_epsilon\n if standby:\n rospy.logwarn(\"No more than %s displacement in the last %s seconds\" % (round(displacement_dt, 6), check_displacement_time))\n last_pose = self.end_effector()\n standby_timer = rospy.get_time()\n standby_last_pose = self.end_effector()\n\n if debug:\n step_time = rospy.get_time() - start_time\n avg_step_time = step_time if avg_step_time == 0 else getAvg(avg_step_time, step_time, step_num)\n step_num += 1\n\n if verbose:\n rospy.logwarn(\"Total # of commands ignored: %s\" % log)\n return result\n\n def _actuate(self, pose, dt, q_last, reduced_speed, attempts=5):\n \"\"\"\n Evaluate IK solution several times if it fails.\n Similarly, evaluate that the IK solution is viable\n \"\"\"\n result = None\n q = self.inverse_kinematics(pose, attempts=0, verbose=False)\n if q is None:\n if attempts > 0:\n return self._actuate(pose, dt, q_last, reduced_speed, attempts-1)\n rospy.logwarn(\"IK not found\")\n result = ExecutionResult.IK_NOT_FOUND\n else:\n q_speed = (q_last - q)/dt\n if np.any(np.abs(q_speed) > reduced_speed):\n if attempts > 0:\n return self._actuate(pose, dt, q_last, reduced_speed, attempts-1)\n rospy.logwarn_once(\"Exceeded reduced max speed %s deg/s, Ignoring command\" % np.round(np.rad2deg(q_speed), 0))\n result = ExecutionResult.SPEED_LIMIT_EXCEEDED\n else:\n result = self.set_joint_positions(positions=q, target_time=dt)\n self.rate.sleep()\n return result\n\n # TODO(cambel): organize this code to avoid this repetition of code\n def set_hybrid_control(self, model, max_force_torque, timeout=5.0, stop_on_target_force=False):\n \"\"\" Move the robot according to a hybrid controller model\"\"\"\n\n reduced_speed = np.deg2rad([100, 100, 100, 150, 150, 150])\n q_last = self.joint_angles()\n\n # Timeout for motion\n initime = rospy.get_time()\n xb = self.end_effector()\n failure_counter = 0\n\n while not rospy.is_shutdown() \\\n and (rospy.get_time() - initime) < timeout:\n\n # Transform wrench to the base_link frame\n Wb = self.get_wrench()\n\n # Current Force in task-space\n Fb = -1 * Wb\n # Safety limits: max force\n if np.any(np.abs(Fb) > max_force_torque):\n rospy.logerr('Maximum force/torque exceeded {}'.format(np.round(Wb, 3)))\n self.set_target_pose(pose=xb, target_time=model.dt)\n return ExecutionResult.FORCE_TORQUE_EXCEEDED\n\n if stop_on_target_force and np.any(np.abs(Fb)[model.target_force != 0] > model.target_force[model.target_force != 0]):\n rospy.loginfo('Target F/T reached {}'.format(np.round(Wb, 3)) + ' Stopping!')\n self.set_target_pose(pose=xb, target_time=model.dt)\n return ExecutionResult.STOP_ON_TARGET_FORCE\n\n # Current position in task-space\n xb = self.end_effector()\n\n dxf = model.control_position_orientation(Fb, xb) # angular velocity\n\n # Limit linear/angular velocity\n dxf[:3] = np.clip(dxf[:3], -0.5, 0.5)\n dxf[3:] = np.clip(dxf[3:], -5., 5.)\n\n xc = transformations.pose_from_angular_velocity(xb, dxf, dt=model.dt)\n\n # Avoid extra acceleration when a point failed due to IK or other violation\n # So, this corrects the allowed time for the next point\n dt = model.dt * (failure_counter+1)\n\n q = self.inverse_kinematics(xc)\n if q is None:\n rospy.logwarn(\"IK not found\")\n result = ExecutionResult.IK_NOT_FOUND\n else:\n q_speed = (q_last - q)/dt\n if np.any(np.abs(q_speed) > reduced_speed):\n rospy.logwarn(\"Exceeded reduced max speed %s deg/s, Ignoring command\" % np.round(np.rad2deg(q_speed), 0))\n result = ExecutionResult.SPEED_LIMIT_EXCEEDED\n else:\n result = self.set_joint_positions(positions=q, target_time=dt)\n\n if result != ExecutionResult.DONE:\n failure_counter += 1\n continue # Don't wait since there is not motion\n else:\n failure_counter = 0\n\n # Compensate the time allocated to the next command when there are failures\n for _ in range(failure_counter+1):\n self.rate.sleep()\n\n q_last = self.joint_angles()\n return ExecutionResult.DONE\n" }, { "path": "ur_control/src/ur_control/constants.py", "content": "from enum import Enum\n\n\nclass IKSolverType(Enum):\n KDL = 'kdl'\n TRAC_IK = 'Trac-IK'\n IKFAST = 'IKFast'\n\n\nclass GripperType(Enum):\n GENERIC = 'generic'\n ROBOTIQ = 'robotiq'\n\n\nclass ExecutionResult(Enum):\n DONE = 'success'\n CONTROLLER_FAILED = 'controller_failed'\n FORCE_TORQUE_EXCEEDED = 'force_exceeded'\n STOP_ON_TARGET_FORCE = 'stop_on_target_force'\n IK_NOT_FOUND = 'ik_not_found'\n SPEED_LIMIT_EXCEEDED = 'speed_limit_exceeded'\n TERMINATION_CRITERIA = 'termination_criteria_achieved'\n\n\nCARTESIAN_COMPLIANCE_CONTROLLER = 'cartesian_compliance_controller'\nJOINT_TRAJECTORY_CONTROLLER = 'scaled_pos_joint_traj_controller'\nJOINT_SUBSCRIBER = '/arm_controller/state'\nJOINT_STATE_SUBSCRIBER = 'joint_states'\nFT_SUBSCRIBER = 'wrench'\n\n\n# Set constants for joints\nSHOULDER_PAN_JOINT = 'shoulder_pan_joint'\nSHOULDER_LIFT_JOINT = 'shoulder_lift_joint'\nELBOW_JOINT = 'elbow_joint'\nWRIST_1_JOINT = 'wrist_1_joint'\nWRIST_2_JOINT = 'wrist_2_joint'\nWRIST_3_JOINT = 'wrist_3_joint'\n\nBASE_LINK = 'base_link'\nEE_LINK = 'tool0'\nFT_LINK = 'tool0'\n\nJOINT_ORDER = [\n SHOULDER_PAN_JOINT, SHOULDER_LIFT_JOINT, ELBOW_JOINT, WRIST_1_JOINT,\n WRIST_2_JOINT, WRIST_3_JOINT\n]\n\n\ndef get_arm_joint_names(prefix):\n return [prefix + joint for joint in JOINT_ORDER]\n" }, { "path": "ur_control/src/ur_control/controllers.py", "content": "#!/usr/bin/env python\nimport actionlib\nimport copy\nimport collections\nimport rospy\nfrom ur_control import utils, constants\nimport numpy as np\nfrom std_msgs.msg import Float64\nfrom controller_manager_msgs.srv import ListControllers\n# Joint trajectory action\nfrom sensor_msgs.msg import JointState\nfrom trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint\nfrom control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal, FollowJointTrajectoryResult\n\n\nclass JointControllerBase(object):\n \"\"\"\n Base class for the Joint Position Controllers. It subscribes to the C{joint_states} topic by default.\n \"\"\"\n\n def __init__(self, namespace, timeout, joint_names=None):\n \"\"\"\n JointControllerBase constructor. It subscribes to the C{joint_states} topic and informs after \n successfully reading a message from the topic.\n @type namespace: string\n @param namespace: Override ROS namespace manually. Useful when controlling several robots \n @type timeout: float\n @param timeout: Time in seconds that will wait for the controller\n from the same node.\n \"\"\"\n self.valid_joint_names = constants.JOINT_ORDER if joint_names is None else joint_names\n\n self.ns = utils.solve_namespace(namespace)\n self._jnt_positions_hist = collections.deque(maxlen=24)\n # Set-up publishers/subscribers\n self._js_sub = rospy.Subscriber('joint_states', JointState, self.joint_states_cb, queue_size=1)\n retry = False\n rospy.logdebug('Waiting for [%sjoint_states] topic' % self.ns)\n start_time = rospy.get_time()\n while not hasattr(self, '_joint_names'):\n if (rospy.get_time() - start_time) > timeout and not retry:\n # Re-try with namespace\n self._js_sub = rospy.Subscriber('%sjoint_states' % self.ns, JointState, self.joint_states_cb, queue_size=1)\n start_time = rospy.get_time()\n retry = True\n continue\n elif (rospy.get_time() - start_time) > timeout and retry:\n rospy.logerr('Timed out waiting for joint_states topic')\n return\n rospy.sleep(0.01)\n if rospy.is_shutdown():\n return\n\n if rospy.has_param(f\"{self.ns}joint_state_controller/publish_rate\"):\n self.rate = utils.read_parameter(f\"{self.ns}joint_state_controller/publish_rate\", 500)\n elif rospy.has_param(f\"/joint_state_controller/publish_rate\"):\n self.rate = utils.read_parameter(f\"/joint_state_controller/publish_rate\", 500)\n\n self._num_joints = len(self._joint_names)\n rospy.logdebug('Topic [%sjoint_states] found' % self.ns)\n\n def disconnect(self):\n \"\"\"\n Disconnects from the joint_states topic. Useful to ligthen the use of system resources.\n \"\"\"\n self._js_sub.unregister()\n\n def get_joint_efforts(self):\n \"\"\"\n Returns the current joint efforts of the UR robot.\n @rtype: numpy.ndarray\n @return: Current joint efforts of the UR robot.\n \"\"\"\n return np.array(self._current_jnt_efforts)\n\n def get_joint_positions(self):\n \"\"\"\n Returns the current joint positions of the UR robot.\n @rtype: numpy.ndarray\n @return: Current joint positions of the UR robot.\n \"\"\"\n return np.array(self._current_jnt_positions)\n\n def get_joint_positions_hist(self):\n \"\"\"\n Returns the current joint positions of the UR robot.\n @rtype: numpy.ndarray\n @return: Current joint positions of the UR robot.\n \"\"\"\n return list(self._jnt_positions_hist)\n\n def get_joint_velocities(self):\n \"\"\"\n Returns the current joint velocities of the UR robot.\n @rtype: numpy.ndarray\n @return: Current joint velocities of the UR robot.\n \"\"\"\n return np.array(self._current_jnt_velocities)\n\n def joint_states_cb(self, msg):\n \"\"\"\n Callback executed every time a message is publish in the C{joint_states} topic.\n @type msg: sensor_msgs/JointState\n @param msg: The JointState message published by the RT hardware interface.\n \"\"\"\n position = []\n velocity = []\n effort = []\n name = []\n for joint_name in self.valid_joint_names:\n if joint_name in msg.name:\n idx = msg.name.index(joint_name)\n name.append(msg.name[idx])\n if msg.effort:\n effort.append(msg.effort[idx])\n if msg.velocity:\n velocity.append(msg.velocity[idx])\n position.append(msg.position[idx])\n if set(name) == set(self.valid_joint_names):\n self._current_jnt_positions = np.array(position)\n self._jnt_positions_hist.append(self._current_jnt_positions)\n self._current_jnt_velocities = np.array(velocity)\n self._current_jnt_efforts = np.array(effort)\n self._joint_names = list(name)\n\n\nclass JointPositionController(JointControllerBase):\n \"\"\"\n Interface class to control the UR robot using a Joint Position Control approach. \n If you C{set_joint_positions} to a value very far away from the current robot position, \n it will move at its maximum speed/acceleration and will even move the base of the robot, so, B{use with caution}.\n \"\"\"\n\n def __init__(self, namespace='', timeout=5.0, joint_names=None):\n \"\"\"\n C{JointPositionController} constructor. It creates the required publishers for controlling \n the UR robot. Given that it inherits from C{JointControllerBase} it subscribes \n to C{joint_states} by default.\n @type namespace: string\n @param namespace: Override ROS namespace manually. Useful when controlling several robots \n from the same node.\n @type timeout: float\n @param timeout: Time in seconds that will wait for the controller\n \"\"\"\n super(JointPositionController, self).__init__(namespace, timeout=timeout, joint_names=joint_names)\n if not hasattr(self, '_joint_names'):\n raise rospy.ROSException('JointPositionController timed out waiting joint_states topic: {0}'.format(namespace))\n self._cmd_pub = dict()\n for joint in self._joint_names:\n print(('%s%scommand' % (self.ns, joint)))\n self._cmd_pub[joint] = rospy.Publisher('%s%scommand' % (self.ns, joint), Float64, queue_size=3)\n # Wait for the joint position controllers\n controller_list_srv = self.ns + 'controller_manager/list_controllers'\n rospy.logdebug('Waiting for the joint position controllers...')\n rospy.wait_for_service(controller_list_srv, timeout=timeout)\n list_controllers = rospy.ServiceProxy(controller_list_srv, ListControllers)\n expected_controllers = (joint_names if joint_names is not None else constants.JOINT_ORDER)\n start_time = rospy.get_time()\n while not rospy.is_shutdown():\n if (rospy.get_time() - start_time) > timeout:\n raise rospy.ROSException('JointPositionController timed out waiting for the controller_manager: {0}'.format(namespace))\n rospy.sleep(0.01)\n found = 0\n try:\n res = list_controllers()\n for state in res.controller:\n if state.name in expected_controllers:\n found += 1\n except:\n pass\n if found == len(expected_controllers):\n break\n rospy.loginfo('JointPositionController initialized. ns: {0}'.format(namespace))\n\n def set_joint_positions(self, jnt_positions):\n \"\"\"\n Sets the joint positions of the robot. The values are send directly to the robot. If the goal \n is too far away from the current robot position, it will move at its maximum speed/acceleration \n and will even move the base of the robot, so, B{use with caution}.\n @type jnt_positions: list\n @param jnt_positions: Joint positions command.\n \"\"\"\n if not self.valid_jnt_command(jnt_positions):\n rospy.logwarn('A valid joint positions command should have %d elements' % (self._num_joints))\n return\n # Publish the point for each joint\n for name, q in zip(self._joint_names, jnt_positions):\n try:\n self._cmd_pub[name].publish(q)\n except:\n print(\"some error\")\n pass\n\n def valid_jnt_command(self, command):\n \"\"\"\n It validates that the length of a joint command is equal to the number of joints\n @type command: list\n @param command: Joint command to be validated\n @rtype: bool\n @return: True if the joint command is valid\n \"\"\"\n return (len(command) == self._num_joints)\n\n\nclass JointTrajectoryController(JointControllerBase):\n \"\"\"\n This class creates a C{SimpleActionClient} that connects to the \n C{trajectory_controller/follow_joint_trajectory} action server. Using this \n interface you can control the robot by adding points to the trajectory. Each point \n requires the goal position and the goal time. The velocity and acceleration are optional.\n\n The controller is templated to work with multiple trajectory representations. By default, \n a B{linear} interpolator is provided, but it's possible to support other representations. \n The interpolator uses the following interpolation strategies depending on the waypoint \n specification:\n\n - B{Linear}: Only position is specified. Guarantees continuity at the position level. \n B{Discouraged} because it yields trajectories with discontinuous velocities at the waypoints.\n - B{Cubic}: Position and velocity are specified. Guarantees continuity at the velocity level.\n - B{Quintic}: Position, velocity and acceleration are specified: Guarantees continuity at \n the acceleration level.\n \"\"\"\n\n def __init__(self, publisher_name='arm_controller', namespace='', timeout=5.0, joint_names=None):\n \"\"\"\n JointTrajectoryController constructor. It creates the C{SimpleActionClient}.\n @type namespace: string\n @param namespace: Override ROS namespace manually. Useful when controlling several \n robots from the same node.\n @type timeout: float\n @param timeout: Time in seconds that will wait for the controller\n \"\"\"\n super(JointTrajectoryController, self).__init__(namespace, timeout=timeout, joint_names=joint_names)\n\n trajectory_publisher_topic = self.ns + publisher_name + '/command'\n self.trajectory_pub = rospy.Publisher(trajectory_publisher_topic, JointTrajectory, queue_size=10)\n\n action_server = self.ns + publisher_name + '/follow_joint_trajectory'\n self._client = actionlib.SimpleActionClient(action_server, FollowJointTrajectoryAction)\n self._goal = FollowJointTrajectoryGoal()\n rospy.logdebug('Waiting for [%s] action server' % action_server)\n topics = [item for sublist in rospy.get_published_topics() for item in sublist]\n if action_server+\"/goal\" not in topics:\n raise rospy.ROSException(\"Action server not found\")\n server_up = self._client.wait_for_server(timeout=rospy.Duration(timeout))\n if not server_up:\n rospy.logerr('Timed out waiting for Joint Trajectory'\n ' Action Server to connect. Start the action server'\n ' before running this node.')\n raise rospy.ROSException('JointTrajectoryController timed out: {0}'.format(action_server))\n rospy.logdebug('Successfully connected to [%s]' % action_server)\n # Get a copy of joint_names\n if not hasattr(self, '_joint_names'):\n raise rospy.ROSException('JointTrajectoryController timed out waiting joint_states topic: {0}'.format(self.ns))\n self._goal.trajectory.joint_names = copy.deepcopy(self._joint_names)\n rospy.loginfo('JointTrajectoryController initialized. ns: {0}'.format(self.ns))\n\n def add_point(self, target_time, positions, velocities=None, accelerations=None):\n \"\"\"\n Adds a point to the trajectory. Each point must be specified by the goal position and \n the goal time. The velocity and acceleration are optional.\n @type positions: list\n @param positions: The goal position in the joint space\n @type target_time: float\n @param target_time: The time B{from start} when the robot should arrive at the goal position.\n @type velocities: list\n @param velocities: The velocity of arrival at the goal position. If not given zero \n velocity is assumed.\n @type accelerations: list\n @param accelerations: The acceleration of arrival at the goal position. If not given \n zero acceleration is assumed.\n \"\"\"\n point = JointTrajectoryPoint()\n point.positions = copy.deepcopy(positions)\n if type(velocities) == type(None):\n point.velocities = [0] * self._num_joints\n else:\n point.velocities = copy.deepcopy(velocities)\n if type(accelerations) == type(None):\n point.accelerations = [0] * self._num_joints\n else:\n point.accelerations = copy.deepcopy(accelerations)\n point.time_from_start = rospy.Duration(target_time)\n self._goal.trajectory.points.append(point)\n\n def clear_points(self):\n \"\"\"\n Clear all points in the trajectory.\n \"\"\"\n self._goal.trajectory.points = []\n\n def get_num_points(self):\n \"\"\"\n Returns the number of points currently added to the trajectory\n @rtype: int\n @return: Number of points currently added to the trajectory\n \"\"\"\n return len(self._goal.trajectory.points)\n\n def get_result(self) -> FollowJointTrajectoryResult:\n \"\"\"\n Returns the result B{after} the execution of the trajectory. Possible values:\n - FollowJointTrajectoryResult.SUCCESSFUL = 0\n - FollowJointTrajectoryResult.INVALID_GOAL = -1\n - FollowJointTrajectoryResult.INVALID_JOINTS = -2\n - FollowJointTrajectoryResult.OLD_HEADER_TIMESTAMP = -3\n - FollowJointTrajectoryResult.PATH_TOLERANCE_VIOLATED = -4\n - FollowJointTrajectoryResult.GOAL_TOLERANCE_VIOLATED = -5\n @rtype: int\n @return: result B{after} the execution of the trajectory\n \"\"\"\n return self._client.get_result()\n\n def get_state(self):\n \"\"\"\n Returns the status B{during} the execution of the trajectory. Possible values:\n - GoalStatus.PENDING=0\n - GoalStatus.ACTIVE=1\n - GoalStatus.PREEMPTED=2\n - GoalStatus.SUCCEEDED=3\n - GoalStatus.ABORTED=4\n - GoalStatus.REJECTED=5\n - GoalStatus.PREEMPTING=6\n - GoalStatus.RECALLING=7\n - GoalStatus.RECALLED=8\n - GoalStatus.LOST=9\n @rtype: int\n @return: result B{after} the execution of the trajectory\n \"\"\"\n return self._client.get_state()\n\n def set_trajectory(self, trajectory):\n \"\"\"\n Sets the goal trajectory directly. B{It only copies} the C{trajectory.points} field. \n @type trajectory: trajectory_msgs/JointTrajectory\n @param trajectory: The goal trajectory\n \"\"\"\n self._goal.trajectory.points = copy.deepcopy(trajectory.points)\n\n def start(self, delay=0.1, wait=False):\n \"\"\"\n Starts the trajectory. It sends the C{FollowJointTrajectoryGoal} to the action server.\n @type delay: float\n @param delay: Delay (in seconds) before executing the trajectory\n \"\"\"\n num_points = len(self._goal.trajectory.points)\n rospy.logdebug('Executing Joint Trajectory with {0} points'.format(num_points))\n start_time = rospy.Time() if delay == 0 else rospy.Time.now() + rospy.Duration(delay)\n self._goal.trajectory.header.stamp = start_time\n if wait:\n self._client.send_goal_and_wait(self._goal)\n else:\n self._client.send_goal(self._goal)\n\n def stop(self):\n \"\"\"\n Stops an active trajectory. If there is not active trajectory an error will be shown in the console.\n \"\"\"\n self._client.cancel_goal()\n\n def wait(self, timeout=15.0):\n \"\"\"\n Waits synchronously (with a timeout) until the trajectory action server gives a result.\n @type timeout: float\n @param timeout: The amount of time we will wait\n @rtype: bool\n @return: True if the server connected in the allocated time. False on timeout\n \"\"\"\n return self._client.wait_for_result(timeout=rospy.Duration(timeout))\n\n def start_no_action_server(self):\n \"\"\"\n Start the trajectory without expecting any feedback from the action server.\n \"\"\"\n self.trajectory_pub.publish(self._goal.trajectory)\n" }, { "path": "ur_control/src/ur_control/controllers_connection.py", "content": "#!/usr/bin/env python\n\nimport rospy\nfrom controller_manager_msgs.srv import SwitchController, SwitchControllerRequest, \\\n LoadController, UnloadController, ListControllers\nfrom ur_control.utils import solve_namespace\n\n\nclass ControllersConnection():\n def __init__(self, namespace=None):\n self.controllers_list = []\n\n self.ns = solve_namespace(namespace)[1:]\n\n if namespace:\n prefix = namespace + 'controller_manager/'\n else:\n prefix = '/controller_manager/'\n\n # Only for osx sim\n if rospy.has_param(\"use_gazebo_sim\"):\n prefix = '/controller_manager/'\n\n self.switch_service = rospy.ServiceProxy(prefix + 'switch_controller', SwitchController)\n self.load_service = rospy.ServiceProxy(prefix + 'load_controller', LoadController)\n self.unload_service = rospy.ServiceProxy(prefix + 'unload_controller', UnloadController)\n self.list_controllers_service = rospy.ServiceProxy(prefix + 'list_controllers', ListControllers)\n self.list_controllers_service.wait_for_service(1.0)\n\n def get_loaded_controllers(self):\n self.controllers_list = []\n try:\n result = self.list_controllers_service()\n for controller in result.controller:\n self.controllers_list.append(controller.name)\n except:\n pass\n\n def get_controller_state(self, controller_name):\n try:\n result = self.list_controllers_service()\n for controller in result.controller:\n if controller.name == controller_name:\n return controller.state\n except:\n pass\n rospy.logerr(\"Controller %s not found\" % controller_name)\n return None\n\n def load_controllers(self, controllers_list):\n self.get_loaded_controllers()\n self.load_service.wait_for_service(0.1)\n for controller in controllers_list:\n if controller not in self.controllers_list:\n result = self.load_service(controller)\n rospy.loginfo('Loading controller %s. Result=%s' % (controller, result))\n if result:\n self.controllers_list.append(controller)\n\n def unload_controllers(self, controllers_list):\n try:\n self.unload_service.wait_for_service(0.1)\n for controller in controllers_list:\n result = self.unload_service(controller)\n rospy.loginfo('Unloading controller %s. Result=%s' % (controller, result))\n if result:\n self.controllers_list.remove(controller)\n except Exception as e:\n rospy.logerr(\"Unload controllers service call failed: %s\" % e)\n\n def check_controllers_state(self, on_controllers, off_controllers):\n for c in on_controllers:\n if self.get_controller_state(c) != \"running\":\n return False\n\n for c in off_controllers:\n if self.get_controller_state(c) != \"stopped\":\n return False\n return True\n\n def switch_controllers(self, controllers_on, controllers_off,\n strictness=1):\n \"\"\"\n Give the controllers you want to switch on or off.\n :param controllers_on: [\"name_controller_1\", \"name_controller2\",...,\"name_controller_n\"]\n :param controllers_off: [\"name_controller_1\", \"name_controller2\",...,\"name_controller_n\"]\n :return:\n \"\"\"\n\n if rospy.has_param(\"use_gazebo_sim\"):\n controllers_on = [self.ns + controller for controller in controllers_on]\n controllers_off = [self.ns + controller for controller in controllers_off]\n\n try:\n self.switch_service.wait_for_service(0.1)\n switch_request_object = SwitchControllerRequest()\n switch_request_object.start_controllers = controllers_on\n switch_request_object.stop_controllers = controllers_off\n switch_request_object.strictness = strictness\n\n if self.check_controllers_state(controllers_on, controllers_off):\n return True\n\n switch_result = self.switch_service(switch_request_object)\n \"\"\"\n [controller_manager_msgs/SwitchController]\n int32 BEST_EFFORT=1\n int32 STRICT=2\n string[] start_controllers\n string[] stop_controllers\n int32 strictness\n ---\n bool ok\n \"\"\"\n rospy.logdebug(\"Switch Result==>\" + str(switch_result.ok))\n\n if not switch_result.ok: # Return if service failed\n return False\n\n # Check that the controllers are running before returning\n start_time = rospy.get_time()\n while (rospy.get_time() - start_time) < 5.0 and not rospy.is_shutdown():\n all_running = True\n for controller in controllers_on:\n if self.get_controller_state(controller) != \"running\":\n all_running = False\n break\n if all_running:\n break\n\n return switch_result.ok\n\n except Exception as e:\n rospy.logerr(\"Switch controllers service call failed: %s\" % e)\n\n return None\n\n def reset_controllers(self):\n \"\"\"\n We turn on and off the given controllers\n :param controllers_reset: [\"name_controller_1\", \"name_controller2\",...,\"name_controller_n\"]\n :return:\n \"\"\"\n\n reset_result = False\n\n result_off_ok = self.switch_controllers(controllers_on=[], controllers_off=self.controllers_list)\n\n rospy.logdebug(\"Deactivated Controllers\")\n\n if result_off_ok:\n rospy.logdebug(\"Activating Controllers\")\n result_on_ok = self.switch_controllers(\n controllers_on=self.controllers_list, controllers_off=[])\n if result_on_ok:\n rospy.logdebug(\"Controllers Reset==>\" +\n str(self.controllers_list))\n reset_result = True\n else:\n rospy.logdebug(\"result_on_ok==>\" + str(result_on_ok))\n else:\n rospy.logdebug(\"result_off_ok==>\" + str(result_off_ok))\n\n return reset_result\n\n def update_controllers_list(self, new_controllers_list):\n\n self.controllers_list = new_controllers_list\n" }, { "path": "ur_control/src/ur_control/conversions.py", "content": "#! /usr/bin/env python\n\nimport numpy as np\n\nfrom ur_control import transformations as tr\n\n# Messages\nfrom geometry_msgs.msg import (Point, Quaternion, Pose, PoseStamped, Vector3, Transform,\n Wrench)\nfrom sensor_msgs.msg import RegionOfInterest\n\nimport pyquaternion\n\n# OpenRAVE types <--> Numpy types\n\n\ndef from_dict(transform_dict):\n \"\"\"\n Converts a dictionary with the fields C{rotation} and C{translation}\n into a homogeneous transformation of type C{np.array}.\n @type transform_dict: dict\n @param transform_dict: The dictionary to be converted.\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n T = tr.rotation_matrix_from_quaternion(np.array(transform_dict['rotation']))\n T[:3, 3] = np.array(transform_dict['translation'])\n return T\n\n\n# PyKDL types <--> Numpy types\ndef from_kdl_vector(vector):\n \"\"\"\n Converts a C{PyKDL.Vector} with fields into a numpy array.\n @type vector: PyKDL.Vector\n @param vector: The C{PyKDL.Vector} to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n return np.array([vector.x(), vector.y(), vector.z()])\n\n\ndef from_kdl_twist(twist):\n \"\"\"\n Converts a C{PyKDL.Twist} with fields into a numpy array.\n @type twist: PyKDL.Twist\n @param twist: The C{PyKDL.Twist} to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n array = np.zeros(6)\n array[:3] = from_kdl_vector(twist.vel)\n array[3:] = from_kdl_vector(twist.rot)\n return array\n\n\n# ROS types <--> Numpy types\ndef from_point(msg):\n \"\"\"\n Converts a C{geometry_msgs/Point} ROS message into a numpy array.\n @type msg: geometry_msgs/Point\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n return from_vector3(msg)\n\n\ndef from_pose(msg):\n \"\"\"\n Converts a C{geometry_msgs/Pose} ROS message into a numpy array (Homogeneous transformation 4x4).\n @type msg: geometry_msgs/Pose\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n T = tr.rotation_matrix_from_quaternion(from_quaternion(msg.orientation))\n T[:3, 3] = from_point(msg.position)\n return T\n\n\ndef from_pose_to_list(msg):\n \"\"\"\n Converts a C{geometry_msgs/Pose} ROS message into a numpy array (7 elements, xyz+xyzw).\n @type msg: geometry_msgs/Pose\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n return np.concatenate([from_point(msg.position), from_quaternion(msg.orientation)])\n\n\ndef from_quaternion(msg):\n \"\"\"\n Converts a C{geometry_msgs/Quaternion} ROS message into a numpy array.\n @type msg: geometry_msgs/Quaternion\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n return np.array([msg.x, msg.y, msg.z, msg.w], dtype=float)\n\n\ndef from_roi(msg):\n top_left = np.array([msg.x_offset, msg.y_offset])\n bottom_right = top_left + np.array([msg.width, msg.height])\n return [top_left, bottom_right]\n\n\ndef from_transform(msg):\n \"\"\"\n Converts a C{geometry_msgs/Transform} ROS message into a numpy array.\n @type msg: geometry_msgs/Transform\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n T = tr.rotation_matrix_from_quaternion(from_quaternion(msg.rotation))\n T[:3, 3] = from_vector3(msg.translation)\n return T\n\n\ndef from_vector3(msg):\n \"\"\"\n Converts a C{geometry_msgs/Vector3} ROS message into a numpy array.\n @type msg: geometry_msgs/Vector3\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n return np.array([msg.x, msg.y, msg.z], dtype=float)\n\n\ndef from_wrench(msg):\n \"\"\"\n Converts a C{geometry_msgs/Wrench} ROS message into a numpy array.\n @type msg: geometry_msgs/Wrench\n @param msg: The ROS message to be converted\n @rtype: np.array\n @return: The resulting numpy array\n \"\"\"\n array = np.zeros(6)\n array[:3] = from_vector3(msg.force)\n array[3:] = from_vector3(msg.torque)\n return array\n\n\ndef to_quaternion(array):\n \"\"\"\n Converts a numpy array into a C{geometry_msgs/Quaternion} ROS message.\n @type array: np.array\n @param array: The position as numpy array\n @rtype: geometry_msgs/Quaternion\n @return: The resulting ROS message\n \"\"\"\n return Quaternion(*array)\n\n\ndef to_point(array):\n \"\"\"\n Converts a numpy array into a C{geometry_msgs/Point} ROS message.\n @type array: np.array\n @param array: The position as numpy array\n @rtype: geometry_msgs/Point\n @return: The resulting ROS message\n \"\"\"\n return Point(*array)\n\n\ndef to_pose(T):\n \"\"\"\n Converts a homogeneous transformation (4x4) into a C{geometry_msgs/Pose} ROS message.\n @type T: np.array\n @param T: The homogeneous transformation\n @rtype: geometry_msgs/Pose\n @return: The resulting ROS message\n \"\"\"\n T = np.array(T, dtype=float)\n if len(T) == 6:\n pos = Point(*T[:3])\n quat = Quaternion(*tr.quaternion_from_euler(*T[3:]))\n elif len(T) == 7:\n pos = Point(*T[:3])\n quat = to_quaternion(T[3:])\n else:\n pos = Point(*T[:3, 3])\n quat = Quaternion(*tr.rotation_matrix_from_quaternion(T))\n return Pose(pos, quat)\n\n\ndef to_roi(top_left, bottom_right):\n msg = RegionOfInterest()\n msg.x_offset = round(top_left[0])\n msg.y_offset = round(top_left[1])\n msg.width = round(abs(bottom_right[0] - top_left[0]))\n msg.height = round(abs(bottom_right[1] - top_left[1]))\n return msg\n\n\ndef to_transform(T):\n \"\"\"\n Converts a homogeneous transformation (4x4) into a C{geometry_msgs/Transform}\n ROS message.\n @type T: np.array\n @param T: The homogeneous transformation\n @rtype: geometry_msgs/Transform\n @return: The resulting ROS message\n \"\"\"\n if len(T) == 7:\n translation = Vector3(*T[:3])\n rotation = to_quaternion(T[3:])\n else:\n translation = Vector3(*T[:3, 3])\n rotation = Quaternion(*tr.rotation_matrix_from_quaternion(T))\n return Transform(translation, rotation)\n\n\ndef to_vector3(array):\n \"\"\"\n Converts a numpy array into a C{geometry_msgs/Vector3} ROS message.\n @type array: np.array\n @param array: The vector as numpy array\n @rtype: geometry_msgs/Vector3\n @return: The resulting ROS message\n \"\"\"\n return Vector3(*array)\n\n\ndef to_wrench(array):\n \"\"\"\n Converts a numpy array into a C{geometry_msgs/Wrench} ROS message.\n @type array: np.array\n @param array: The wrench as numpy array\n @rtype: geometry_msgs/Wrench\n @return: The resulting ROS message\n \"\"\"\n msg = Wrench()\n msg.force = to_vector3(array[:3])\n msg.torque = to_vector3(array[3:])\n return msg\n\n\n# RViz types <--> Numpy types\ndef from_rviz_vector(value, dtype=float):\n \"\"\"\n Converts a RViz property vector in the form C{X;Y;Z} into a numpy array.\n @type value: str\n @param value: The RViz property vector\n @type dtype: type\n @param dtype: The type of mapping to be done. Typically C{float} or C{int}.\n @rtype: array\n @return: The resulting numpy array\n \"\"\"\n strlst = value.split(';')\n return np.array(list(map(dtype, strlst)))\n\n\ndef angleAxis_from_euler(euler):\n roll, pitch, yaw = euler\n yaw_matrix = np.matrix([[np.cos(yaw), -np.sin(yaw), 0],\n [np.sin(yaw), np.cos(yaw), 0], [0, 0, 1]])\n\n pitch_matrix = np.matrix([[np.cos(pitch), 0,\n np.sin(pitch)], [0, 1, 0],\n [-np.sin(pitch), 0,\n np.cos(pitch)]])\n\n roll_matrix = np.matrix([[1, 0, 0], [0, np.cos(roll), -np.sin(roll)],\n [0, np.sin(roll), np.cos(roll)]])\n\n R = yaw_matrix * pitch_matrix * roll_matrix\n\n theta = np.arccos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1) / 2)\n if theta == 0:\n return [0., 0., 0.]\n\n multi = 1 / (2 * np.sin(theta))\n\n rx = multi * (R[2, 1] - R[1, 2]) * theta\n ry = multi * (R[0, 2] - R[2, 0]) * theta\n rz = multi * (R[1, 0] - R[0, 1]) * theta\n return [rx, ry, rz]\n\n\ndef euler_transformation_matrix(euler):\n \"\"\" Euler's transformation matrix \"\"\"\n r, p, y = euler\n T = np.array([[1, 0, np.sin(p)], [0, np.cos(r), -np.sin(r) * np.cos(p)],\n [0, np.sin(r), np.cos(r) * np.cos(p)]])\n return T\n\n\ndef transform_end_effector(pose, extra_pose, rot_type='quaternion', inverse=False):\n \"\"\"\n Transform end effector pose\n pose: current pose [x, y, z, ax, ay, az, w]\n extra_pose: additional transformation [x, y, z, ax, ay, az, w]\n matrix: if true: return (translation, rotation matrix)\n else: return translation + quaternion list\n \"\"\"\n extra_translation = np.array(extra_pose[:3]).reshape(3, 1)\n extra_rot = tr.vector_to_pyquaternion(extra_pose[3:]).rotation_matrix\n\n c_trans = np.array(pose[:3]).reshape(3, 1)\n c_rot = tr.vector_to_pyquaternion(pose[3:]).rotation_matrix\n # BE CAREFUL!! Pose from KDL is ax ay az aw\n # Pose from IKfast is aw ax ay az\n\n n_rot = np.matmul(c_rot, extra_rot)\n\n if inverse:\n n_trans = np.matmul(n_rot, extra_translation) + c_trans\n else:\n n_trans = np.matmul(c_rot, extra_translation) + c_trans\n\n if rot_type == 'matrix':\n return n_trans.flatten(), n_rot\n\n quat_rot = np.roll(pyquaternion.Quaternion(matrix=n_rot).normalised.elements, -1)\n if rot_type == 'euler':\n euler = np.array(tr.euler_from_quaternion(quat_rot, axes='rxyz'))\n return np.concatenate((n_trans.flatten(), euler))\n elif rot_type == 'quaternion':\n return np.concatenate((n_trans.flatten(), quat_rot))\n\n\ndef inverse_transformation(pose, transform):\n inv_ee_transform = np.copy(transform)\n inv_ee_transform[:3] *= -1\n inv_ee_transform[3:] = tr.quaternion_inverse(transform[3:])\n\n return np.array(transform_end_effector(pose, inv_ee_transform, inverse=True))\n\n\ndef to_float(val):\n if isinstance(val, float):\n return val\n elif isinstance(val, str):\n return (float(eval(val)))\n elif isinstance(val, list):\n return [to_float(o) for o in val]\n else:\n return (float(val))\n\n\ndef to_pose_stamped(frame_id, pose):\n ps = PoseStamped()\n ps.header.frame_id = frame_id\n ps.pose = to_pose(pose)\n return ps\n\n\ndef transform_pose(target_frame, transform_matrix, ps):\n # def transformPose(self, target_frame, ps):\n \"\"\"\n :param target_frame: the tf target frame, a string\n :param ps: the geometry_msgs.msg.PoseStamped message\n :return: new geometry_msgs.msg.PoseStamped message, in frame target_frame\n :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise\n\n Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.\n \"\"\"\n # mat44 is frame-to-frame transform as a 4x4\n mat44 = transform_matrix\n\n # pose44 is the given pose as a 4x4\n pose44 = np.dot(xyz_to_mat44(ps.pose.position), xyzw_to_mat44(ps.pose.orientation))\n\n # txpose is the new pose in target_frame as a 4x4\n txpose = np.dot(mat44, pose44)\n\n # xyz and quat are txpose's position and orientation\n xyz = tuple(tr.translation_from_matrix(txpose))[:3]\n quat = tuple(tr.rotation_matrix_from_quaternion(txpose))\n\n # assemble return value PoseStamped\n r = PoseStamped()\n r.header.stamp = ps.header.stamp\n r.header.frame_id = target_frame\n r.pose = Pose(Point(*xyz), Quaternion(*quat))\n return r\n\n\ndef xyz_to_mat44(pos):\n return tr.translation_matrix((pos.x, pos.y, pos.z))\n\n\ndef xyzw_to_mat44(ori):\n return tr.rotation_matrix_from_quaternion((ori.x, ori.y, ori.z, ori.w))\n" }, { "path": "ur_control/src/ur_control/exceptions.py", "content": "class InverseKinematicsException(Exception):\n \"IK solver failed to find a solution\"\n pass\n" }, { "path": "ur_control/src/ur_control/filters.py", "content": "# ROS utilities used by the CRI group\n#! /usr/bin/env python\nimport math\nimport numpy as np\nimport scipy.signal\n\n\ndef best_fit_foaw(y, fs, m, d):\n \"\"\"\n First-Order Adaptive Windowing (FOAW)\n\n Yet another differentiation filter.\n\n @type y: list\n @param y: the values of the time history of the signal.\n @type fs: float\n @param fs: The sampling frequency (Hz) of the signal to be filtered\n \"\"\"\n T = 1.0/fs\n result = np.zeros(len(y))\n for k in range(len(y)):\n slope = 0\n for n in range(1, min(m,k)):\n # Calculate slope over interval (best-fit-FOAW)\n b = ( ( n*sum([y[k-i] for i in range(n+1)])\n - 2*sum([y[k-i]*i for i in range(n+1)]) )\n / (T*n*(n+1)*(n+2)/6) )\n # Check the linear estimate of each middle point\n outside = False\n for j in range(1,n):\n ykj = y[k]-(b*j*T)\n # Compare to the measured value within the noise margin\n # If it's outside noise margin, return last estimate\n #~ if abs(y[k-j] - ykj) > 2*d:\n if ykj < (y[k-j]-d) or ykj > (y[k-j]+d):\n outside = True\n break\n if outside: break\n slope = b\n result[k] = slope\n return result\n\ndef butter_lowpass(cutoff, fs, order=5):\n \"\"\"\n Butterworth lowpass digital filter design.\n\n Check C{scipy.signal.butter} for further details.\n\n @type cutoff: float\n @param cutoff: Cut-off frequency in Hz\n @type fs: float\n @param fs: The sampling frequency (Hz) of the signal to be filtered\n @type order: int\n @param order: The order of the filter.\n @rtype: b, a\n @return: Numerator (b) and denominator (a) polynomials of the IIR\n filter.\n \"\"\"\n nyq = 0.5 * fs\n normal_cutoff = cutoff / nyq\n b, a = scipy.signal.butter(order, normal_cutoff, btype='low', analog=False)\n return b, a\n\ndef lowpass_fo(cutoff, fs):\n \"\"\"\n First-order Lowpass digital filter design.\n\n @type cutoff: float\n @param cutoff: Cut-off frequency in Hz\n @type fs: float\n @param fs: The sampling frequency (Hz) of the signal to be filtered\n @rtype: b, a\n @return: Numerator (b) and denominator (a) polynomials of the IIR\n filter.\n \"\"\"\n import control.matlab\n F = control.matlab.tf(1,np.array([1/(2*np.pi*cutoff),1]))\n Fz = control.matlab.c2d(F, 1/fs, 'zoh')\n b = Fz.num[0][0][-1]\n a = Fz.den[0][0]\n return b, a\n\ndef savitzky_golay(y, window_size, order, deriv=0, rate=1):\n \"\"\"\n Smooth (and optionally differentiate) data with a Savitzky-Golay filter.\n\n The Savitzky-Golay filter removes high frequency noise from data.\n It has the advantage of preserving the original shape and\n features of the signal better than other types of filtering\n approaches, such as moving averages techniques.\n\n Notes\n =====\n The Savitzky-Golay is a type of low-pass filter, particularly suited\n for smoothing noisy data. The main idea behind this approach is to\n make for each point a least-square fit with a polynomial of high order\n over a odd-sized window centered at the point.\n\n Example\n =======\n\n >>> import criros\n >>> import numpy as np\n >>> import matplotlib.pyplot as plt\n\n >>> t = np.linspace(-4, 4, 500)\n >>> y = np.exp( -t**2 ) + np.random.normal(0, 0.05, t.shape)\n >>> ysg = criros.filters.savitzky_golay(y, window_size=31, order=4)\n >>> plt.plot(t, y, label='Noisy signal')\n >>> plt.plot(t, np.exp(-t**2), 'k', lw=1.5, label='Original signal')\n >>> plt.plot(t, ysg, 'r', label='Filtered signal')\n >>> plt.legend()\n >>> plt.grid(True)\n >>> plt.show()\n\n @type y: array_like, shape (N,)\n @param y: the values of the time history of the signal.\n @type window_size: int\n @param window_size: the length of the window. Must be an odd integer number.\n @type order: int\n @param order: the order of the polynomial used in the filtering. Must be less than C{window_size} - 1.\n @type deriv: int\n @param deriv: the order of the derivative to compute (default = 0 means only smoothing)\n @rtype: ndarray, shape (N)\n @return: the smoothed signal (or it's n-th derivative).\n \"\"\"\n import numpy as np\n from math import factorial\n\n try:\n window_size = np.abs(np.int(window_size))\n order = np.abs(np.int(order))\n except ValueError as msg:\n raise ValueError(\"window_size and order have to be of type int\")\n if window_size % 2 != 1 or window_size < 1:\n raise TypeError(\"window_size size must be a positive odd number\")\n if window_size < order + 2:\n raise TypeError(\"window_size is too small for the polynomials order\")\n order_range = list(range(order+1))\n half_window = (window_size -1) // 2\n # precompute coefficients\n b = np.mat([[k**i for i in order_range] for k in range(-half_window, half_window+1)])\n m = np.linalg.pinv(b).A[deriv] * rate**deriv * factorial(deriv)\n # pad the signal at the extremes with\n # values taken from the signal itself\n firstvals = y[0] - np.abs( y[1:half_window+1][::-1] - y[0] )\n lastvals = y[-1] + np.abs(y[-half_window-1:-1][::-1] - y[-1])\n y = np.concatenate((firstvals, y, lastvals))\n return np.convolve( m[::-1], y, mode='valid')\n\ndef smooth_diff(n):\n \"\"\"\n A smoothed differentiation filter (digital differentiator).\n\n Such a filter has the following advantages:\n\n First, the filter involves both the smoothing operation and\n differentiation operation. It can be regarded as a low-pass\n differentiation filter (digital differentiator).\n It is well known that the common differentiation operation amplifies\n the high-frequency noises. Therefore, the smoothed differentiation\n filter would be valuable in experimental (noisy) data processing.\n\n Secondly, the filter coefficients are all convenient integers (simple\n units) except for an integer scaling factor, as may be especially\n significant in some applications such as those in some single-chip\n microcomputers or digital signal processors.\n\n Example\n =======\n\n >>> import math\n >>> import criros\n >>> import scipy.signal\n >>> import numpy as np\n >>> import matplotlib.pyplot as plt\n\n >>> fs = 1. # Hz\n >>> samples = 250*fs\n >>> t = np.linspace(0, 3. / fs, num=samples)\n >>> noise = np.random.normal(0, 0.05, t.shape)\n >>> pos = np.sin(2*np.pi*fs*t)\n >>> vel = np.diff(pos+noise) * fs\n >>> smooth_window = 21\n >>> b = -criros.filters.smooth_diff(smooth_window)\n >>> vel_smooth = scipy.signal.lfilter(b, 1., pos+noise) * fs\n >>> plt.figure(), plt.subplot(211), plt.grid(True)\n >>> plt.plot(t, pos, 'k', lw=2.0, label='Original signal')\n >>> plt.plot(t, pos+noise, 'r', label='Noisy signal')\n >>> plt.legend(loc='best')\n >>> plt.ylabel(r'Position')\n >>> plt.subplot(212), plt.grid(True)\n >>> plt.plot(t[1:], vel, label='np.diff')\n >>> left_off = int(math.ceil(smooth_window / 2.0))\n >>> right_off = int(smooth_window - left_off)\n >>> plt.plot(t[left_off:-right_off], vel_smooth[smooth_window:], lw=2.0, label='smooth_diff')\n >>> plt.legend(loc='best')\n >>> plt.ylabel(r'Velocity')\n >>> plt.show()\n\n References\n ==========\n 1. Usui, S.; Amidror, I., I{Digital Low-Pass Differentiation for\n Biological Signal-Processing}. IEEE Transactions on Biomedical\n Engineering 1982, 29, (10), 686-693.\n 2. Luo, J. W.; Bai, J.; He, P.; Ying, K., I{Axial strain calculation\n using a low-pass digital differentiator in ultrasound\n elastography}. IEEE Transactions on Ultrasonics Ferroelectrics\n and Frequency Control 2004, 51, (9), 1119-1127.\n @type n: int\n @param n: filter length (positive integer larger no less than 2)\n @rtype: ndarray, shape (n)\n @return: filter coefficients (anti-symmetry)\n \"\"\"\n if n >= 2 and math.floor(n) == math.ceil(n):\n if n % 2 == 1: # is odd\n m = math.trunc((n-1) / 2.0);\n h = np.concatenate( (-np.ones(m), [0], np.ones(m)) ) / (m * (m+1))\n else: # is even\n m = math.trunc(n / 2.0);\n h = np.concatenate( (-np.ones(m), np.ones(m)) ) /m**2\n else:\n raise TypeError(\"The input parameter (n) should be a positive integer larger no less than 2.\")\n return h\n\nclass ButterLowPass:\n \"\"\"\n Butterworth lowpass digital filter design.\n\n Check C{scipy.signal.butter} for further details.\n \"\"\"\n def __init__( self, cutoff, fs, order=5 ):\n \"\"\"\n C{ButterLowPass} constructor\n\n @type cutoff: float\n @param cutoff: Cut-off frequency in Hz\n @type fs: float\n @param fs: The sampling frequency (Hz) of the signal to be filtered\n @type order: int\n @param order: The order of the filter.\n \"\"\"\n nyq = 0.5 * fs\n normal_cutoff = cutoff / nyq\n self.b, self.a = scipy.signal.butter(order, normal_cutoff, btype='low', analog=False)\n\n def __call__( self, x ):\n \"\"\"\n Filters the input array across its C{axis=0} (each column is\n considered as an independent signal). Uses initial conditions (C{zi})\n for the filter delays.\n\n @type x: array\n @param x: An N-dimensional input array.\n @rtype: array\n @return: The output of the digital filter.\n \"\"\"\n if not hasattr(self, 'zi'):\n cols = x.shape[1]\n zi = scipy.signal.lfiltic( self.b, self.a, [] ).tolist() * cols\n self.zi = np.array(scipy.signal.lfiltic( self.b, self.a, [] ).tolist() * cols)\n self.zi.shape = (-1, cols)\n (filtered, self.zi) = scipy.signal.lfilter(self.b, self.a, x, zi=self.zi, axis=0 )\n return filtered\n\n\nclass LowPassFO:\n \"\"\"\n Causal implementation of a 1st-order Lowpass digital filter.\n \"\"\"\n def __init__( self, cutoff, fs):\n \"\"\"\n C{LowPassFO} constructor\n\n @type cutoff: float\n @param cutoff: Cut-off frequency in Hz\n @type fs: float\n @param fs: The sampling frequency (Hz) of the signal to be filtered\n @type order: int\n @param order: The order of the filter.\n \"\"\"\n self.b, self.a = lowpass_fo(cutoff, fs)\n\n def __call__( self, x ):\n \"\"\"\n Filters the input array across its C{axis=0} (each column is\n considered as an independent signal). Uses initial conditions (C{zi})\n for the filter delays.\n\n @type x: array\n @param x: An N-dimensional input array.\n @rtype: array\n @return: The output of the digital filter.\n \"\"\"\n if not hasattr(self, 'zi'):\n cols = x.shape[1]\n zi = scipy.signal.lfiltic( self.b, self.a, [] ).tolist() * cols\n self.zi = np.array(scipy.signal.lfiltic( self.b, self.a, [] ).tolist() * cols)\n self.zi.shape = (-1, cols)\n (filtered, self.zi) = scipy.signal.lfilter(self.b, self.a, x, zi=self.zi, axis=0 )\n return filtered\n" }, { "path": "ur_control/src/ur_control/fzi_cartesian_compliance_controller.py", "content": "# The MIT License (MIT)\n#\n# Copyright (c) 2023 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport collections\nimport threading\nimport types\nimport rospy\nimport numpy as np\n\nfrom ur_control.arm import Arm\nfrom ur_control import conversions\nfrom ur_control.constants import JOINT_TRAJECTORY_CONTROLLER, CARTESIAN_COMPLIANCE_CONTROLLER, ExecutionResult\n\nfrom geometry_msgs.msg import WrenchStamped, PoseStamped\n\nimport dynamic_reconfigure.client\n\n\ndef is_more_extreme(value, target):\n if (np.all(value > 0) and np.all(target > 0)):\n return np.all(value > target)\n elif (np.all(value < 0) and np.all(target < 0)):\n return np.all(value < target)\n return False\n\n\ndef convert_selection_matrix_to_parameters(selection_matrix):\n return {\n \"stiffness\":\n {\n \"sel_x\": selection_matrix[0],\n \"sel_y\": selection_matrix[1],\n \"sel_z\": selection_matrix[2],\n \"sel_ax\": selection_matrix[3],\n \"sel_ay\": selection_matrix[4],\n \"sel_az\": selection_matrix[5],\n }\n }\n\n\ndef convert_stiffness_to_parameters(stiffness):\n return {\n \"stiffness\":\n {\n \"trans_x\": stiffness[0],\n \"trans_y\": stiffness[1],\n \"trans_z\": stiffness[2],\n \"rot_x\": stiffness[3],\n \"rot_y\": stiffness[4],\n \"rot_z\": stiffness[5],\n }\n }\n\n\ndef convert_pd_gains_to_parameters(p_gains, d_gains=[0, 0, 0, 0, 0, 0]):\n return {\n \"trans_x\": {\"p\": p_gains[0], \"d\": d_gains[0]},\n \"trans_y\": {\"p\": p_gains[1], \"d\": d_gains[1]},\n \"trans_z\": {\"p\": p_gains[2], \"d\": d_gains[2]},\n \"rot_x\": {\"p\": p_gains[3], \"d\": d_gains[3]},\n \"rot_y\": {\"p\": p_gains[4], \"d\": d_gains[4]},\n \"rot_z\": {\"p\": p_gains[5], \"d\": d_gains[5]}\n }\n\n\ndef switch_cartesian_controllers(func):\n '''Decorator that switches from cartesian to joint trajectory controllers and back'''\n\n def wrap(*args, **kwargs):\n if not args[0].auto_switch_controllers:\n return func(*args, **kwargs)\n\n args[0].activate_cartesian_controller()\n\n try:\n res = func(*args, **kwargs)\n except Exception as e:\n rospy.logerr(\"Exception: %s\" % e)\n res = ExecutionResult.DONE\n\n args[0].activate_joint_trajectory_controller()\n\n return res\n return wrap\n\n\nclass CompliantController(Arm):\n def __init__(self,\n **kwargs):\n \"\"\" Compliant controller using FZI Cartesian Compliance controllers \"\"\"\n Arm.__init__(self, **kwargs)\n\n self.is_gazebo_sim = False\n if rospy.has_param(\"use_gazebo_sim\"):\n self.is_gazebo_sim = True\n\n self.rate = rospy.Rate(self.joint_traj_controller.rate)\n self.min_dt = 1. / self.joint_traj_controller.rate\n\n self.auto_switch_controllers = True # Safety switching back to safe controllers\n\n self.current_target_pose = np.zeros(7)\n self.current_wrench_pose = np.zeros(6)\n\n # Monitor external goals\n rospy.Subscriber('%s%s/target_frame' % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), PoseStamped, self.target_pose_cb)\n rospy.Subscriber('%s%s/target_wrench' % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), WrenchStamped, self.target_wrench_cb)\n\n self.cartesian_target_pose_pub = rospy.Publisher('%s%s/target_frame' % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), PoseStamped, queue_size=10.0)\n self.cartesian_target_wrench_pub = rospy.Publisher('%s%s/target_wrench' % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), WrenchStamped, queue_size=10.0)\n\n self.dyn_config_clients = {\n \"trans_x\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/trans_x\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n \"trans_y\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/trans_y\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n \"trans_z\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/trans_z\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n \"rot_x\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/rot_x\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n \"rot_y\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/rot_y\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n \"rot_z\": dynamic_reconfigure.client.Client(\"%s%s/pd_gains/rot_z\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n\n \"stiffness\": dynamic_reconfigure.client.Client(\"%s%s/stiffness\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n\n \"hand_frame_control\": dynamic_reconfigure.client.Client(\"%s%s/force\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n\n \"solver\": dynamic_reconfigure.client.Client(\"%s%s/solver\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n\n \"end_effector_link\": dynamic_reconfigure.client.Client(\"%s%s\" % (self.ns, CARTESIAN_COMPLIANCE_CONTROLLER), timeout=10),\n }\n self.param_update_queue = collections.deque(maxlen=15)\n self.update_thread = None\n self.update_lock = threading.Lock()\n self.update_condition = threading.Condition()\n self.update_thread_stopped = False\n self.async_mode = False\n\n self.set_hand_frame_control(False)\n self.set_end_effector_link(self.ee_link)\n self.min_scale_error = 1.5\n\n rospy.on_shutdown(self.activate_joint_trajectory_controller)\n\n def __del__(self):\n # wake up thread and stop it\n if hasattr(self, 'update_condition'):\n with self.update_condition:\n self.update_thread_stopped = True\n self.update_condition.notify_all()\n\n def target_pose_cb(self, data):\n self.current_target_pose = conversions.from_pose_to_list(data.pose)\n\n def target_wrench_cb(self, data):\n self.current_target_wrench = conversions.from_wrench(data.wrench)\n\n def activate_cartesian_controller(self):\n return self.controller_manager.switch_controllers(controllers_on=[CARTESIAN_COMPLIANCE_CONTROLLER],\n controllers_off=[JOINT_TRAJECTORY_CONTROLLER])\n\n def activate_joint_trajectory_controller(self):\n return self.controller_manager.switch_controllers(controllers_on=[JOINT_TRAJECTORY_CONTROLLER],\n controllers_off=[CARTESIAN_COMPLIANCE_CONTROLLER])\n\n def set_cartesian_target_wrench(self, wrench: list):\n # Publish the target wrench\n try:\n target_wrench = WrenchStamped()\n target_wrench.header.frame_id = self.base_link\n target_wrench.wrench = conversions.to_wrench(wrench)\n self.cartesian_target_wrench_pub.publish(target_wrench)\n except Exception as e:\n rospy.logerr(\"Fail to set_target_wrench(): %s\" % e)\n\n def set_cartesian_target_pose(self, pose: list):\n # Publish the target pose\n try:\n target_pose = conversions.to_pose_stamped(self.base_link, pose)\n self.cartesian_target_pose_pub.publish(target_pose)\n except Exception as e:\n rospy.logerr(\"Fail to set_target_pose(): %s\" % e)\n\n def publish_parameter_update(self, parameters):\n try:\n for param in parameters.keys():\n self.dyn_config_clients[param].update_configuration(parameters[param])\n except Exception as e:\n rospy.logerr_throttle(1, f\"failed publish_parameter_update {e}\")\n pass\n\n def __update_controller_parameter_loop__(self):\n while not rospy.is_shutdown():\n if self.update_thread_stopped:\n return\n\n # Sleep until new request is available\n if not self.param_update_queue:\n with self.update_condition:\n self.update_condition.wait(timeout=0.5)\n return\n else:\n # Lock queue update\n with self.update_lock:\n parameters = self.param_update_queue.pop()\n if parameters:\n self.publish_parameter_update(parameters)\n parameters = None\n\n def update_controller_parameters(self, parameters: dict):\n if self.async_mode:\n with self.update_lock:\n self.param_update_queue.append(parameters)\n if self.update_thread is None or not self.update_thread.is_alive():\n del self.update_thread\n self.update_thread = threading.Thread(target=self.__update_controller_parameter_loop__)\n self.update_thread.start()\n with self.update_condition:\n self.update_condition.notify()\n else:\n self.publish_parameter_update(parameters)\n\n def update_selection_matrix(self, selection_matrix):\n parameters = convert_selection_matrix_to_parameters(selection_matrix)\n self.update_controller_parameters(parameters)\n\n def update_pd_gains(self, p_gains, d_gains=[0, 0, 0, 0, 0, 0]):\n parameters = convert_pd_gains_to_parameters(p_gains, d_gains)\n self.update_controller_parameters(parameters)\n\n def update_stiffness(self, stiffness):\n parameters = convert_stiffness_to_parameters(stiffness)\n self.update_controller_parameters(parameters)\n\n def set_control_mode(self, mode=\"parallel\"):\n parameters = {\"stiffness\": {}}\n if mode == \"parallel\":\n parameters[\"stiffness\"].update({\"use_parallel_force_position_control\": True})\n elif mode == \"spring-mass-damper\":\n parameters[\"stiffness\"].update({\"use_parallel_force_position_control\": False})\n else:\n raise ValueError(\"Unknown control mode %s\" % mode)\n self.update_controller_parameters(parameters)\n\n def set_position_control_mode(self, enable=True):\n parameters = convert_selection_matrix_to_parameters(np.ones(6))\n parameters[\"stiffness\"].update({\"use_parallel_force_position_control\": enable})\n self.update_controller_parameters(parameters)\n\n def set_hand_frame_control(self, enable):\n parameters = {\"hand_frame_control\": {\"hand_frame_control\": enable}}\n self.update_controller_parameters(parameters)\n\n def set_end_effector_link(self, end_effector_link):\n \"\"\" Change the end_effector_link used in the Cartesian Compliance Controllers\"\"\"\n parameters = {\"end_effector_link\": {\"end_effector_link\": end_effector_link}}\n self.update_controller_parameters(parameters)\n\n def set_solver_parameters(self, error_scale=None, iterations=None, publish_state_feedback=None):\n parameters = {\"solver\": {}}\n if error_scale:\n error_scale = error_scale if not self.is_gazebo_sim else error_scale * 0.01\n parameters[\"solver\"].update({\"error_scale\": round(error_scale, 4)})\n if iterations:\n parameters[\"solver\"].update({\"iterations\": iterations})\n if publish_state_feedback:\n parameters[\"solver\"].update({\"publish_state_feedback\": publish_state_feedback})\n self.update_controller_parameters(parameters)\n\n def wait_for_robot_to_stop(self, wait_time=5):\n remaining_time = wait_time\n start_time = rospy.get_time()\n\n prev_state = self.joint_angles()\n\n no_motion_count = 0\n\n rate = rospy.Rate(500)\n\n while remaining_time > 0 and no_motion_count < 3:\n rate.sleep()\n remaining_time = wait_time - (rospy.get_time() - start_time)\n curr_state = self.joint_angles()\n if np.allclose(prev_state, curr_state, atol=0.0001):\n no_motion_count += 1\n else:\n no_motion_count = 0\n\n @switch_cartesian_controllers\n def execute_compliance_control(self, trajectory: np.array, target_wrench: np.array, max_force_torque: list,\n duration: float, stop_on_target_force=False, termination_criteria=None,\n auto_stop=True, func=None, scale_up_error=False, max_scale_error=None,\n relative_to_ee=False, stop_at_wrench=None):\n\n # Space out the trajectory points\n trajectory = trajectory.reshape((-1, 7)) # Assuming this format [x,y,z,qx,qy,qz,qw]\n step_duration = max(self.min_dt, duration / float(trajectory.shape[0]))\n trajectory_index = 0\n\n # loop throw target trajectory\n initial_time = rospy.get_time()\n step_initial_time = rospy.get_time()\n\n result = ExecutionResult.DONE\n if stop_on_target_force and stop_at_wrench is None:\n raise ValueError(\"'stop_at_wrench' not specify when requesting 'stop_on_target_force'\")\n\n if stop_on_target_force:\n stop_at_wrench = np.array(stop_at_wrench)\n stop_target_wrench_mask = np.flatnonzero(stop_at_wrench)\n rospy.loginfo_throttle(1, 'TARGET F/T {}'.format(np.round(stop_at_wrench[stop_target_wrench_mask], 2)))\n\n # Publish target wrench only once\n self.set_cartesian_target_wrench(target_wrench)\n\n # Publish first trajectory point\n self.set_cartesian_target_pose(trajectory[trajectory_index])\n\n if scale_up_error and max_scale_error:\n self.sliding_error(trajectory[trajectory_index], max_scale_error)\n\n while not rospy.is_shutdown() and (rospy.get_time() - initial_time) < duration:\n\n current_wrench = self.get_wrench(base_frame_control=True)\n\n if termination_criteria is not None:\n assert isinstance(termination_criteria, types.LambdaType), \"Invalid termination criteria, expecting lambda/function with one argument[current pose array[7]]\"\n if termination_criteria(self.end_effector()):\n rospy.loginfo(\"Termination criteria returned True, stopping force control\")\n result = ExecutionResult.TERMINATION_CRITERIA\n break\n\n rospy.loginfo_throttle(1, 'F/T {}'.format(np.round(current_wrench[:3], 2)))\n if stop_on_target_force and is_more_extreme(current_wrench[stop_target_wrench_mask], stop_at_wrench[stop_target_wrench_mask]):\n rospy.loginfo('Target F/T reached {}'.format(np.round(current_wrench, 2)) + ' Stopping!')\n result = ExecutionResult.STOP_ON_TARGET_FORCE\n break\n\n # Safety limits: max force\n if np.any(np.abs(current_wrench) > max_force_torque):\n rospy.logerr('Maximum force/torque exceeded {}'.format(np.round(current_wrench, 3)))\n result = ExecutionResult.FORCE_TORQUE_EXCEEDED\n break\n\n if (rospy.get_time() - step_initial_time) > step_duration:\n step_initial_time = rospy.get_time()\n trajectory_index += 1\n if trajectory_index >= trajectory.shape[0]:\n break\n # push next point to the controller\n self.set_cartesian_target_pose(trajectory[trajectory_index])\n\n if scale_up_error and max_scale_error:\n self.sliding_error(trajectory[trajectory_index], max_scale_error)\n\n if func:\n func(self.end_effector())\n\n self.rate.sleep()\n\n if auto_stop:\n # Stop moving\n # set position control only, then fix the pose to the current one\n self.set_cartesian_target_pose(self.end_effector())\n self.set_position_control_mode()\n self.wait_for_robot_to_stop(wait_time=5)\n\n return result\n\n def sliding_error(self, target_pose, max_scale_error):\n # Scale error_scale as position error decreases until a max scale error\n position_error = np.linalg.norm(target_pose[:3] - self.end_effector()[:3])\n # from position_error < 0.01m increase scale error\n factor = 1 - np.tanh(100 * position_error)\n # scale_error = np.interp(factor, [0, 1], [0.01, max_scale_error])\n scale_error = np.interp(factor, [0, 1], [self.min_scale_error, max_scale_error])\n self.set_solver_parameters(error_scale=np.round(scale_error, 3))\n" }, { "path": "ur_control/src/ur_control/grippers.py", "content": "# Gripper action\nimport actionlib\nimport numpy as np\nimport rospy\nfrom sensor_msgs.msg import JointState\nfrom control_msgs.msg import GripperCommandAction, GripperCommandGoal\n\nfrom ur_control import utils\n# Link attacher\ntry:\n from gazebo_ros_link_attacher.srv import Attach, AttachRequest\nexcept ImportError:\n print(\"Grasping pluging can't be loaded\")\n\ntry:\n import robotiq_msgs.msg\nexcept ImportError:\n print(\"Robotiq gripper can't be load. robotiq_msgs required.\")\n\n\nclass GripperControllerBase():\n def __init__(self, namespace='', node_name='', prefix=None, timeout=5.0) -> None:\n self.ns = utils.solve_namespace(namespace)\n self.prefix = prefix if prefix is not None else ''\n self.valid_joint_names = []\n if rospy.has_param(self.ns + node_name + \"/joint\"):\n self.valid_joint_names = [rospy.get_param(self.ns + node_name + \"/joint\")]\n elif rospy.has_param(self.ns + node_name + \"/joints\"):\n self.valid_joint_names = rospy.get_param(self.ns + node_name + \"/joints\")\n elif rospy.has_param(self.ns + node_name + \"/joint_name\"):\n self.valid_joint_names = rospy.get_param(self.ns + node_name + \"/joint_name\")\n if isinstance(self.valid_joint_names, str):\n self.valid_joint_names = [prefix + self.valid_joint_names]\n else:\n rospy.logerr(\"Couldn't find valid joints params in %s\" % (self.ns + node_name))\n return\n\n self._js_sub = rospy.Subscriber('/joint_states', JointState, self.joint_states_cb, queue_size=1)\n\n retry = False\n rospy.logdebug('Waiting for [%sjoint_states] topic' % self.ns)\n start_time = rospy.get_time()\n while not hasattr(self, '_joint_names'):\n if (rospy.get_time() - start_time) > timeout and not retry:\n # Re-try with namespace\n self._js_sub = rospy.Subscriber('%sjoint_states' % self.ns, JointState, self.joint_states_cb, queue_size=1)\n start_time = rospy.get_time()\n retry = True\n continue\n elif (rospy.get_time() - start_time) > timeout and retry:\n rospy.logerr('Timed out waiting for gripper joint_states topic')\n return\n rospy.sleep(0.01)\n if rospy.is_shutdown():\n return\n\n def open(self):\n raise NotImplementedError()\n\n def close(self):\n raise NotImplementedError()\n\n def get_position(self):\n return self._current_jnt_positions[0]\n\n def get_velocity(self):\n return self._current_jnt_velocities[0]\n\n def get_opening_percentage(self):\n raise NotImplementedError()\n\n def joint_states_cb(self, msg):\n \"\"\"\n Callback executed every time a message is publish in the C{joint_states} topic.\n @type msg: sensor_msgs/JointState\n @param msg: The JointState message published by the RT hardware interface.\n \"\"\"\n\n position = []\n velocity = []\n effort = []\n name = []\n\n for joint_name in self.valid_joint_names:\n if joint_name in msg.name:\n idx = msg.name.index(joint_name)\n name.append(msg.name[idx])\n effort.append(msg.effort[idx])\n velocity.append(msg.velocity[idx])\n position.append(msg.position[idx])\n\n if set(name) == set(self.valid_joint_names):\n self._current_jnt_positions = np.array(position)\n self._current_jnt_velocities = np.array(velocity)\n self._current_jnt_efforts = np.array(effort)\n self._joint_names = list(name)\n\n\nclass GripperController(GripperControllerBase):\n def __init__(self, namespace='', prefix=None, timeout=5.0, attach_link='robot::wrist_3_link'):\n node_name = \"gripper_controller\"\n super().__init__(namespace, node_name, prefix, timeout)\n self.gripper_type = str(rospy.get_param(self.ns + node_name + \"/gripper_type\"))\n\n if self.gripper_type == \"hand-e\":\n self._max_gap = 0.025 * 2.0\n self._to_open = 0.0\n self._to_close = self._max_gap\n elif self.gripper_type == \"85\":\n self._max_gap = 0.085\n self._to_open = self._max_gap\n self._to_close = 0.001\n self._max_angle = 0.8028\n elif self.gripper_type == \"140\":\n self._max_gap = 0.140\n self._to_open = self._max_gap\n self._to_close = 0.001\n self._max_angle = 0.69\n\n attach_plugin = rospy.get_param(\"grasp_plugin\", default=False)\n if attach_plugin:\n try:\n # gazebo_ros link attacher\n self.attach_link = attach_link\n self.attach_srv = rospy.ServiceProxy('/link_attacher_node/attach', Attach)\n self.detach_srv = rospy.ServiceProxy('/link_attacher_node/detach', Attach)\n rospy.logdebug('Waiting for service: {0}'.format(self.attach_srv.resolved_name))\n rospy.logdebug('Waiting for service: {0}'.format(self.detach_srv.resolved_name))\n self.attach_srv.wait_for_service()\n self.detach_srv.wait_for_service()\n except Exception:\n rospy.logerr(\"Fail to load grasp plugin services. Make sure to launch the right Gazebo world!\")\n # Gripper action server\n action_server = self.ns + node_name + '/gripper_cmd'\n self._client = actionlib.SimpleActionClient(action_server, GripperCommandAction)\n self._goal = GripperCommandGoal()\n rospy.logdebug('Waiting for [%s] action server' % action_server)\n server_up = self._client.wait_for_server(timeout=rospy.Duration(timeout))\n if not server_up:\n rospy.logerr('Timed out waiting for Gripper Command'\n ' Action Server to connect. Start the action server'\n ' before running this node.')\n raise rospy.ROSException('GripperCommandAction timed out: {0}'.format(action_server))\n rospy.logdebug('Successfully connected to [%s]' % action_server)\n rospy.loginfo('GripperCommandAction initialized. ns: {0}'.format(self.ns))\n\n def close(self, wait=True):\n return self.command(0.0, percentage=True, wait=wait)\n\n def percentage_command(self, value, wait=True):\n return self.command(value, percentage=True, wait=wait)\n\n def command(self, value, percentage=False, wait=True):\n \"\"\" assume command given in percentage otherwise meters \n percentage bool: If True value value assumed to be from 0.0 to 1.0\n where 1.0 is open and 0.0 is close\n If False value value assume to be from 0.0 to max_gap\n \"\"\"\n if value == \"close\":\n return self.close()\n elif value == \"open\":\n return self.open()\n\n if self.gripper_type == \"85\" or self.gripper_type == \"140\":\n if percentage:\n value = np.clip(value, 0.0, 1.0)\n cmd = (value) * self._max_gap\n else:\n cmd = np.clip(value, 0.0, self._max_gap)\n cmd = (value)\n angle = self._distance_to_angle(cmd)\n self._goal.command.position = angle\n if self.gripper_type == \"hand-e\":\n cmd = 0.0\n if percentage:\n value = np.clip(value, 0.0, 1.0)\n cmd = (1.0 - value) * self._max_gap / 2.0\n else:\n cmd = np.clip(value, 0.0, self._max_gap)\n cmd = (self._max_gap - value) / 2.0\n self._goal.command.position = cmd\n if wait:\n self._client.send_goal_and_wait(self._goal, execute_timeout=rospy.Duration(2))\n rospy.sleep(0.05)\n else:\n self._client.send_goal(self._goal)\n return True\n\n def _distance_to_angle(self, distance):\n distance = np.clip(distance, 0, self._max_gap)\n angle = (self._max_gap - distance) * self._max_angle / self._max_gap\n return angle\n\n def _angle_to_distance(self, angle):\n angle = np.clip(angle, 0, self._max_angle)\n distance = (self._max_angle - angle) * self._max_gap / self._max_angle\n return distance\n\n def get_result(self):\n return self._client.get_result()\n\n def get_state(self):\n return self._client.get_state()\n\n def grab(self, link_name):\n parent = self.attach_link.split('::')\n child = link_name.split('::')\n req = AttachRequest()\n req.model_name_1 = parent[0]\n req.link_name_1 = parent[1]\n req.model_name_2 = child[0]\n req.link_name_2 = child[1]\n res = self.attach_srv.call(req)\n return res.ok\n\n def open(self, wait=True):\n return self.command(1.0, percentage=True, wait=wait)\n\n def release(self, link_name):\n parent = self.attach_link.rsplit('::')\n child = link_name.rsplit('::')\n req = AttachRequest()\n req.model_name_1 = parent[0]\n req.link_name_1 = parent[1]\n req.model_name_2 = child[0]\n req.link_name_2 = child[1]\n res = self.detach_srv.call(req)\n return res.ok\n\n def stop(self):\n self._client.cancel_goal()\n\n def wait(self, timeout=15.0):\n return self._client.wait_for_result(timeout=rospy.Duration(timeout))\n\n def get_position(self):\n \"\"\"\n Returns the current joint positions of the gripper.\n @rtype: numpy.ndarray\n @return: Current joint positions of the gripper.\n \"\"\"\n if self.gripper_type == \"hand-e\":\n return self._max_gap - (self._current_jnt_positions[0] * 2.0)\n else:\n return self._angle_to_distance(self._current_jnt_positions[0])\n\n def get_opening_percentage(self):\n return self.get_position() / self._max_gap\n\n\nclass RobotiqGripper(GripperControllerBase):\n def __init__(self, namespace=\"\", prefix=\"\", timeout=2):\n node_name = \"gripper_action_controller\"\n super().__init__(namespace, node_name, prefix, timeout)\n self.ns = namespace\n\n self.opening_width = 0.0\n\n self.gripper = actionlib.SimpleActionClient(self.ns + \"gripper_action_controller\", robotiq_msgs.msg.CModelCommandAction)\n self.sub_gripper_status_ = rospy.Subscriber(\"/%s/gripper_status\" % self.ns, robotiq_msgs.msg.CModelCommandFeedback, self._gripper_status_callback)\n\n if rospy.has_param(self.ns + \"gripper_action_controller/joint_name\"):\n self.gripper_type = rospy.get_param(self.ns + \"gripper_action_controller/joint_name\")\n self._max_gap = float(rospy.get_param(self.ns + \"gripper_action_controller/max_gap\"))\n self._max_angle = float(rospy.get_param(self.ns + \"gripper_action_controller/counts_to_meters\"))\n else:\n rospy.logwarn(\"Robotiq gripper parameters not found. Assuming Robotiq Gripper 85\")\n self.gripper_type = \"finger_joint\"\n self._max_gap = 0.085\n self._max_angle = 0.8\n\n if self.gripper_type == \"robotiq_hande_joint_finger\":\n self._max_gap = self._max_gap\n self._to_open = 0.0\n self._to_close = self._max_gap\n elif self.gripper_type == \"finger_joint\":\n self._to_open = self._max_gap\n self._to_close = 0.001\n\n success = self.gripper.wait_for_server(rospy.Duration(timeout))\n if success:\n rospy.loginfo(\"=== Connected to ROBOTIQ gripper ===\")\n else:\n rospy.logerr(\"Unable to connect to ROBOTIQ gripper\")\n\n def _gripper_status_callback(self, msg):\n self.opening_width = msg.position # [m]\n\n def get_opening_percentage(self):\n return self.opening_width / self._max_gap\n\n def close(self, force=40.0, velocity=1.0, wait=True):\n return self.command(\"close\", force=force, velocity=velocity, wait=wait)\n\n def open(self, velocity=1.0, wait=True, opening_width=None):\n command = opening_width if opening_width else \"open\"\n return self.command(command, wait=wait, velocity=velocity)\n\n def convert_percentage_to_width(self, width):\n if self.gripper_type == \"finger_joint\":\n width = np.clip(width, 0.0, self._max_gap)\n percentage = width / self._max_gap\n if self.gripper_type == \"hand-e\":\n raise ValueError(\"Unimplemented\")\n return percentage\n\n def convert_width_to_percentage(self, percentage):\n if self.gripper_type == \"finger_joint\":\n percentage = np.clip(percentage, 0.0, 1.0)\n width = (percentage) * self._max_gap\n if self.gripper_type == \"hand-e\":\n percentage = np.clip(percentage, 0.0, 1.0)\n width = (1.0 - percentage) * self._max_gap / 2.0\n return width\n\n def percentage_command(self, value, wait=True):\n \"\"\"\n 0.0 = Fully Close\n 1.0 = Fully Open\n \"\"\"\n value = np.clip(value, 0.0, 1.0)\n cmd = (value) * self._max_gap\n return self.command(cmd, wait=wait)\n\n def command(self, command, force=40.0, velocity=1.0, wait=True):\n \"\"\"\n command: \"open\", \"close\" or opening width\n force: Gripper force in N. From 40 to 100\n velocity: Gripper speed. From 0.013 to 0.1\n attached_last_object: bool, Attach/detach last attached object if set to True\n\n Use a slow closing speed when using a low gripper force, or the force might be unexpectedly high.\n \"\"\"\n goal = robotiq_msgs.msg.CModelCommandGoal()\n goal.velocity = velocity\n goal.force = force\n if command == \"close\":\n goal.position = 0.0\n elif command == \"open\":\n goal.position = 0.140\n else:\n goal.position = command # This sets the opening width directly\n\n self.gripper.send_goal(goal)\n rospy.logdebug(\"Sending command \" + str(command) + \" to gripper: \" + self.ns)\n if wait:\n self.gripper.wait_for_result(rospy.Duration(5.0)) # Default wait time: 5 s\n result = self.gripper.get_result()\n return True if result else False\n else:\n return True\n" }, { "path": "ur_control/src/ur_control/hybrid_controller.py", "content": "# Copyright (c) 2018-2021, Cristian Beltran. All rights reserved.\n#\n# Cristian Beltran and its licensors retain all intellectual property\n# and proprietary rights in and to this software, related documentation\n# and any modifications thereto. Any use, reproduction, disclosure or\n# distribution of this software and related documentation without an express\n# license agreement from Cristian Beltran is strictly prohibited.\n\nimport rospy\nfrom ur_control import utils, conversions, spalg\nimport numpy as np\n\n\nclass ForcePositionController(object):\n def __init__(self,\n position_pd,\n force_pd,\n alpha=None,\n dt=0.002):\n \"\"\" Force-Position controller\n alpha: [list] tradeoff between position and force signal for each direction\n \"\"\"\n self.position_pd = position_pd\n self.force_pd = force_pd\n\n self.alpha = np.array(alpha)\n self.dt = dt\n\n self.error_data = list() # data for graph\n self.update_data = list() # data for graph\n\n self.safety_mode = False\n\n self.reset()\n\n def set_goals(self, position=None, force=None):\n \"\"\"\n Define a goal for the position and force directions\n position: array(3)\n force: array(3)\n \"\"\"\n # The position goal is the distance from\n # the current position\n if position is not None:\n assert not np.isscalar(position), \"Invalid target position\"\n self.target_position = position\n # TODO: The force will be constant for now\n if force is not None:\n self.target_force = force\n\n def reset(self):\n \"\"\" reset targets and PID params \"\"\"\n self.qc = None\n self.target_position = None\n self.safety_mode = False\n self.position_pd.reset()\n self.force_pd.reset()\n self.error_data = list()\n self.update_data = list()\n\n def control_position(self, fc, xv):\n \"\"\" Obtains the next action from the hybrid controller\n fc: list, current wrench\n xv: list, virtual trajectory tranlsation + euler\n :return: list, angular velocity\n \"\"\"\n # Force PD compensator\n Fe = -1.*self.target_force - fc # error\n dxf_force = self.force_pd.update(error=Fe, dt=self.dt)\n\n # Position PD compensator\n xe = self.target_position - xv\n dxf_pos = self.position_pd.update(error=xe, dt=self.dt)\n\n # Sum step from force and step from position PDs\n dxf_pos = np.dot(self.alpha, dxf_pos)\n dxf_force = np.dot((np.identity(3) - self.alpha), dxf_force)\n return dxf_pos + dxf_force, dxf_pos, dxf_force\n\n def control_position_orientation(self, fc, xv):\n \"\"\" Obtains the next action from the hybrid controller\n fc: list, current wrench\n xv: list, virtual trajectory translation + quaternion\n :return: list, angular velocity \n \"\"\"\n # Force PD compensator\n # print(\"fc\", fc, \" === self.target_force\", self.target_force)\n Fe = -1*self.target_force - fc # error\n dxf_force = self.force_pd.update(error=Fe, dt=self.dt)\n\n # Position PD compensator\n error = spalg.translation_rotation_error(self.target_position, xv)\n dxf_pos = self.position_pd.update(error=error, dt=self.dt)\n\n # self.error_data.append([error, Fe])\n # self.update_data.append([dxf_pos, dxf_force])\n\n # Sum step from force and step from position PDs\n dxf_pos = np.dot(self.alpha, dxf_pos)\n dxf_force = np.dot((np.identity(6) - self.alpha), dxf_force)\n return dxf_pos + dxf_force\n\n def control_velocity(self, fc, xv):\n \"\"\" Obtains the next action from hybrid controller \n fc: list, current wrench\n xv: list, virtual trajectory\n :return: list, velocity (linear + angular)\n \"\"\"\n # Force PD compensator\n Fe = (-1.*(self.target_force) - fc) # error\n dxf_force = self.force_pd.update(error=Fe, dt=self.dt)\n\n # Position PD compensator\n xe = self.target_position - xv\n dxf_pos = self.position_pd.update(error=xe, dt=self.dt)\n\n # convert euler angle error to angular velocity\n T = conversions.euler_transformation_matrix(xv[3:])\n dxf_force[3:] = np.dot(T, dxf_force[3:])\n dxf_pos[3:] = np.dot(T, dxf_pos[3:])\n\n # Sum step from force and step from position PDs\n dxf_pos = np.dot(self.alpha, dxf_pos)\n dxf_force = np.dot((np.identity(6) - self.alpha), dxf_force)\n return dxf_pos + dxf_force, dxf_pos, dxf_force\n" }, { "path": "ur_control/src/ur_control/impedance_control.py", "content": "# Copyright (c) 2018-2021, Cristian Beltran. All rights reserved.\n#\n# Cristian Beltran and its licensors retain all intellectual property\n# and proprietary rights in and to this software, related documentation\n# and any modifications thereto. Any use, reproduction, disclosure or\n# distribution of this software and related documentation without an express\n# license agreement from Cristian Beltran is strictly prohibited.\n#\n# Author: Cristian Beltran\n\nimport numpy as np\nimport rospy\n\n\nclass AdmittanceModel():\n \"\"\"\n Admittance controller\n 3 different implementation are available\n \"\"\"\n def __repr__(self):\n return \"AdmittanceModel()\"\n def __str__(self):\n return \"Method: %s m: %s k: %s b: %s dt: %s\" % (self.method, self.m, self.k, self.b, self.dt)\n\n def __init__(self, inertia, stiffness, damper, dt, method=\"discretization\"):\n \"\"\"init controller\"\"\"\n\n self.method = method\n self.set_constants(inertia, stiffness, damper, dt, reset=True)\n\n def reset(self):\n if self.method == \"traditional\":\n # [dx(t-1), dx(t-2)]\n self.dx_hist = [0, 0]\n\n elif self.method == \"discretization\":\n # [x(t-1), x(t-2)]\n self.dx_hist = [0.0, 0.0]\n # [f(t-1), f(t-2)]\n self.fc_hist = [0.0, 0.0]\n\n elif self.method == \"integration\":\n # position [(t-1)]\n self.position = 0.0\n # velocity [(t-1)]\n self.velocity = 0.0\n # acceleration [(t-1)]\n self.accelaration = 0.0\n # force [(t-1)]\n self.force = 0.0\n else:\n raise AttributeError(\"Method not supported\")\n\n def set_constants(self, inertia, stiffness, damper, dt, reset=False):\n \"\"\" set impedance parameters \"\"\"\n self.m = inertia\n self.k = stiffness\n self.b = damper\n self.T = self.dt = dt\n\n # compute once only\n if self.method == \"traditional\":\n self.T_2 = self.T**2\n self.b_t = self.b*self.T\n self.denominator = self.m + self.b_t + self.k*self.T_2\n if self.method == \"discretization\":\n self.T_2 = self.T**2\n self.km_term = (2*self.k*self.T_2 - 8*self.m)\n self.mbk_term1 = (4*self.m - 2*self.b*self.T + self.k*self.T_2)\n self.mbk_term2 = (4*self.m + 2*self.b*self.T + self.k*self.T_2)\n elif self.method == \"integration\":\n self.m_inv = np.reciprocal(self.m)\n\n if reset:\n self.reset()\n\n def control(self, fc):\n \"\"\" compute impedance step \"\"\"\n if self.method == \"traditional\":\n return self.traditional_control(fc)\n elif self.method == \"discretization\":\n return self.discretization_control(fc)\n elif self.method == \"integration\":\n return self.integration_control(fc)\n\n def traditional_control(self, fc):\n \"\"\"\n Implementation based on:\n A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation\n\n dx = (f*T^2 + B*T*dx(k-1) + M(2dx(k-1) - dx(k-2))) / (M+B*T+K*T^2)\n \"\"\"\n deltax = (fc*self.T_2 + self.b_t*self.dx_hist[0] + self.m*(2*self.dx_hist[0]-self.dx_hist[1])) / self.denominator\n self.dx_hist = [deltax, self.dx_hist[0]]\n return deltax\n\n def discretization_control(self, fc):\n \"\"\"\n Discretization method using Tustin's approximation\n Sharon, N. Hogan, and D. E. Hardt, The macro/micro manipulator:\n An improved architecture for robot control, Robot. Comput. Integr.\n Manuf., vol. 10, no. 3, pp. 209222, Jun. 1993\n x(k) = [Ts^2*f(k)+2Ts^2*f(k−1)+Ts^2f(k−2)−(2KTs^2 −\n 8M)x(k−1)−(4M−2BTs+KTs^2)x(k−2))]/(4M+2BTs+KTs^2)\n \"\"\"\n x = self.dx_hist\n f = self.fc_hist\n\n deltax = (self.T_2*fc + 2*self.T_2*f[0] + self.T_2*f[1] -\n self.km_term*x[0] - (self.mbk_term1)*x[1]) / self.mbk_term2\n self.dx_hist = [deltax, x[0]]\n self.fc_hist = [fc, f[0]]\n return deltax\n\n def integration_control(self, fc):\n \"\"\"\n F. Caccavale, C. Natale, B. Siciliano, and L. Villani, Integration for\n the next generation, IEEE Robot. Autom. Mag., vol. 12, no. 3, pp.\n 5364, Sep. 2005.\n \"\"\"\n delta_acc = self.m_inv*(fc - self.k*self.position - self.b*self.velocity)\n delta_vel = (self.T/2)*(delta_acc + self.accelaration) + self.velocity\n delta_pos = (self.T/2)*(delta_vel + self.velocity) + self.position\n self.position = delta_pos\n self.accelaration = delta_vel\n self.accelaration = delta_acc\n return delta_pos" }, { "path": "ur_control/src/ur_control/math_utils.py", "content": "import numpy as np\nimport quaternion\n\n\ndef orientation_error_as_rotation_vector(quat_target, quat_source):\n \"\"\"\n Compute the orientation error between two quaternions as a rotation vector.\n\n Args:\n quat_target (np.ndarray): The target quaternion.\n quat_source (np.ndarray): The source quaternion.\n\n Returns:\n np.ndarray: The rotation vector representing the orientation error.\n \"\"\"\n qt = to_np_quaternion(quat_target)\n qs = to_np_quaternion(quat_source)\n return quaternion.as_rotation_vector(qt*qs.conjugate())\n\n\ndef quaternions_orientation_error(quat_target, quat_source):\n \"\"\"\n Compute the orientation error between two quaternions.\n\n Args:\n quat_target (np.ndarray): The target quaternion.\n quat_source (np.ndarray): The source quaternion.\n\n Returns:\n np.ndarray: The quaternion representing the orientation error.\n \"\"\"\n qt = to_np_quaternion(quat_target)\n qs = to_np_quaternion(quat_source)\n return to_np_array(qt*qs.conjugate())\n\n# Quaternion Math\n\n\ndef quaternion_normalize(q):\n \"\"\"\n Normalize a quaternion.\n\n Args:\n q (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The normalized quaternion.\n \"\"\"\n np_q = to_np_quaternion(q)\n return to_np_array(np_q.normalized())\n\n\ndef quaternion_conjugate(quaternion):\n \"\"\"\n Return the conjugate of a quaternion.\n\n Args:\n quaternion (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The conjugate of the input quaternion.\n \"\"\"\n return np.array((-quaternion[0], -quaternion[1], -quaternion[2], quaternion[3]), dtype=np.float64)\n\n\ndef quaternion_inverse(quaternion):\n \"\"\"\n Return the inverse of a quaternion.\n\n Args:\n quaternion (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The inverse of the input quaternion.\n \"\"\"\n return to_np_array(to_np_quaternion(quaternion).inverse())\n\n\ndef quaternion_multiply(quaternion1, quaternion0):\n \"\"\"\n Multiply two quaternions.\n\n Args:\n quaternion1 (np.ndarray): The first quaternion.\n quaternion0 (np.ndarray): The second quaternion.\n\n Returns:\n np.ndarray: The result of multiplying the two quaternions.\n \"\"\"\n q1 = to_np_quaternion(quaternion1)\n q0 = to_np_quaternion(quaternion0)\n return to_np_array(q1*q0)\n\n\ndef quaternion_slerp(quat0, quat1, fraction): # TODO\n \"\"\"\n Perform spherical linear interpolation (SLERP) between two quaternions.\n\n Args:\n quat0 (np.ndarray): The first quaternion.\n quat1 (np.ndarray): The second quaternion.\n fraction (float): The interpolation fraction (between 0 and 1).\n\n Returns:\n np.ndarray: The interpolated quaternion.\n \"\"\"\n q0 = to_np_quaternion(quat0)\n q1 = to_np_quaternion(quat1)\n return to_np_array(quaternion.slerp(q0, q1, 0.0, 1.0, fraction))\n\n\ndef quaternion_rotate_vector(quat, vector):\n \"\"\"\n Rotate a vector using a given unit quaternion.\n\n Args:\n quat (np.ndarray): The input quaternion.\n vector (np.ndarray): The vector to be rotated.\n\n Returns:\n np.ndarray: The rotated vector.\n \"\"\"\n q = to_np_quaternion(quat)\n return quaternion.rotate_vectors(q, vector)\n\n\ndef diff_quaternion(quat1, quat2):\n \"\"\"\n Compute the difference between two quaternions.\n\n Args:\n quat1 (np.ndarray): The first quaternion.\n quat2 (np.ndarray): The second quaternion.\n\n Returns:\n np.ndarray: The quaternion representing the difference between the two input quaternions.\n \"\"\"\n q1 = to_np_quaternion(quat1)\n q2 = to_np_quaternion(quat2)\n return to_np_array(q2*q1.inverse())\n\n\ndef random_quaternion(rand=None):\n \"\"\"\n Generate a random quaternion.\n\n Args:\n rand (np.ndarray, optional): An array of 3 random numbers between 0 and 1. If not provided, random numbers will be generated.\n\n Returns:\n np.ndarray: A random quaternion.\n \"\"\"\n if rand is None:\n rand = np.random.rand(3)\n else:\n assert len(rand) == 3\n r1 = np.sqrt(1.0 - rand[0])\n r2 = np.sqrt(rand[0])\n pi2 = np.pi * 2.0\n t1 = pi2 * rand[1]\n t2 = pi2 * rand[2]\n return np.array((np.sin(t1)*r1, np.cos(t1)*r1, np.sin(t2)*r2, np.cos(t2)*r2), dtype=np.float64)\n\n\ndef random_rotation_matrix(rand=None):\n \"\"\"\n Generate a random rotation matrix.\n\n Args:\n rand (np.ndarray, optional): An array of 3 random numbers between 0 and 1. If not provided, random numbers will be generated.\n\n Returns:\n np.ndarray: A random rotation matrix.\n \"\"\"\n return rotation_matrix_from_quaternion(random_quaternion(rand))\n\n# Conversion\n\n\ndef rotation_matrix_from_quaternion(q):\n \"\"\"\n Convert a quaternion to a 4x4 rotation matrix.\n\n Args:\n q (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The 4x4 rotation matrix.\n \"\"\"\n R = np.eye(4)\n R[:3, :3] = quaternion.as_rotation_matrix(to_np_quaternion(q))\n return R\n\n\ndef quaternion_from_matrix(matrix):\n \"\"\"\n Converts a 3x3 rotation matrix to a 4-element quaternion representation.\n\n Args:\n matrix (numpy.ndarray): A 3x3 rotation matrix.\n\n Returns:\n numpy.ndarray: A 4-element numpy array representing the quaternion.\n \"\"\"\n q = quaternion.from_rotation_matrix(matrix[:3, :3])\n return to_np_array(q)\n\n\ndef quaternion_from_axis_angle(axis_angle):\n \"\"\"\n Convert an axis-angle representation to a quaternion.\n\n Args:\n axis_angle (np.ndarray): The axis-angle representation.\n\n Returns:\n np.ndarray: The corresponding quaternion.\n \"\"\"\n np_q = quaternion.from_rotation_vector(axis_angle)\n return to_np_array(np_q)\n\n\ndef quaternion_from_ortho6(ortho6):\n \"\"\"\n Convert an orthographic 6D representation to a quaternion.\n\n Args:\n ortho6 (np.ndarray): The orthographic 6D representation.\n\n Returns:\n np.ndarray: The corresponding quaternion.\n \"\"\"\n R = rotation_matrix_from_ortho6(ortho6)\n return quaternion_from_matrix(R)\n\n\ndef axis_angle_from_quaternion(quat):\n \"\"\"\n Convert a quaternion to an axis-angle representation.\n\n Args:\n quat (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The corresponding axis-angle representation.\n \"\"\"\n return quaternion.as_rotation_vector(to_np_quaternion(quat))\n\n\ndef ortho6_from_axis_angle(axis_angle):\n \"\"\"\n Convert an axis-angle representation to an orthographic 6D representation.\n\n Args:\n axis_angle (np.ndarray): The axis-angle representation.\n\n Returns:\n np.ndarray: The corresponding orthographic 6D representation.\n \"\"\"\n return ortho6_from_quaternion(quaternion_from_axis_angle(axis_angle))\n\n\ndef ortho6_from_quaternion(q):\n \"\"\"\n Convert a quaternion to an orthographic 6D representation.\n\n Args:\n q (np.ndarray): The input quaternion.\n\n Returns:\n np.ndarray: The corresponding orthographic 6D representation.\n \"\"\"\n R = rotation_matrix_from_quaternion(q)\n return R[:3, :2].T.flatten()\n\n\ndef rotation_matrix_from_ortho6(ortho6):\n \"\"\"\n Convert an orthographic 6D representation to a rotation matrix.\n\n Args:\n ortho6 (np.ndarray): The orthographic 6D representation.\n\n Returns:\n np.ndarray: The corresponding rotation matrix.\n \"\"\"\n x_raw, y_raw = ortho6[0:3], ortho6[3:6]\n x = x_raw / np.linalg.norm(x_raw)\n z = np.cross(x, y_raw)\n z = z / np.linalg.norm(z)\n y = np.cross(z, x)\n R = np.eye(4)\n R[:3, :3] = np.column_stack((x, y, z))\n return R\n\n\ndef to_np_quaternion(q: np.ndarray) -> np.quaternion:\n \"\"\"\n Convert a numpy array to a numpy quaternion.\n\n Args:\n q (np.ndarray): The input numpy array.\n\n Returns:\n np.quaternion: The corresponding numpy quaternion.\n \"\"\"\n return np.quaternion(q[3], q[0], q[1], q[2])\n\n\ndef to_np_array(np_q: np.quaternion) -> np.ndarray:\n \"\"\"\n Convert a numpy quaternion to a numpy array.\n\n Args:\n np_q (np.quaternion): The input numpy quaternion.\n\n Returns:\n np.ndarray: The corresponding numpy array.\n \"\"\"\n return np.array([np_q.x, np_q.y, np_q.z, np_q.w])\n" }, { "path": "ur_control/src/ur_control/mouse_6d.py", "content": "import rospy\nfrom geometry_msgs.msg import Twist\nfrom sensor_msgs.msg import Joy\n\nclass Mouse6D():\n \"\"\" Subscribe to the 3DConnextion mouse convert messages \"\"\"\n def __init__(self):\n \n twist_sub = rospy.Subscriber('spacenav/twist', Twist, callback=self.twist_cb, queue_size=1)\n joy_sub = rospy.Subscriber('spacenav/joy', Joy, callback=self.joy_cb, queue_size=1)\n\n self.twist = None\n self.joy_axes = None\n self.joy_buttons = None\n \n # Wait for publisher\n rospy.sleep(0.01)\n\n def twist_cb(self, msg):\n \"\"\"\n Callback executed every time a message is publish in the C{spacenav/twist} topic.\n @type msg: geometry_msgs/JointState\n @param msg: The Twist message published by the 3DConnextion hardware interface.\n \"\"\" \n self.twist = []\n self.twist.append(msg.linear.x)\n self.twist.append(msg.linear.y)\n self.twist.append(msg.linear.z)\n self.twist.append(msg.angular.x)\n self.twist.append(msg.angular.y)\n self.twist.append(msg.angular.z)\n\n def joy_cb(self, msg):\n \"\"\"\n Callback executed every time a message is publish in the C{spacenav/joy} topic.\n @type msg: sensor_msgs/Joy\n @param msg: The Joy message published by the 3DConnextion hardware interface.\n \"\"\"\n self.joy_axes = msg.axes\n self.joy_buttons = msg.buttons\n\ndef main():\n rospy.init_node(\"Mouse6D\")\n Mouse6D()\n rospy.sleep(1)\n\nif __name__ == '__main__':\n main()\n" }, { "path": "ur_control/src/ur_control/spalg.py", "content": "#! /usr/bin/env python\nimport rospy\nimport numpy as np\nimport scipy.optimize\nimport ur_control.transformations as tr\nfrom pyquaternion import Quaternion\n\nX_AXIS = np.array([1., 0., 0.])\nY_AXIS = np.array([0., 1., 0.])\nZ_AXIS = np.array([0., 0., 1.])\n\n\nclass Plane(object):\n \"\"\"Represents a plane defined by a normal vector through the given point.\"\"\"\n\n def __init__(self, normal=None, point=None, equation=None):\n if equation is None:\n self.point = np.array(point)\n self.normal = tr.unit_vector(normal)\n self.offset = -np.dot(self.normal, self.point)\n else:\n norm = tr.vector_norm(equation[:3])\n self.normal = tr.unit_vector(equation[:3])\n self.offset = equation[3] / norm\n self.point = -self.offset*self.normal\n # Plane origin\n self.origin = np.array(self.point)\n\n def __repr__(self):\n printoptions = np.get_printoptions()\n np.set_printoptions(precision=4, suppress=True)\n text = ''.format(self.coefficients, self.origin)\n np.set_printoptions(**printoptions)\n return text\n\n def __str__(self):\n return self.__repr__()\n\n @property\n def coefficients(self):\n return np.hstack((self.normal, self.offset))\n\n def distance(self, point):\n \"\"\"\n Calculates distance from a point to the plane.\n @type point: np.array\n @param point: The input point\n @rtype: float\n @return: The distance from the point to the plane\n \"\"\"\n dist = np.dot(self.normal, point) + self.offset\n return dist\n\n def generate_grid(self, cells=10, side_length=1.0):\n \"\"\"\n Generates a 3D grid with the required number of C{cells}.\n The grid is a square with the given C{side_length}\n @type cells: int\n @param cells: Number of cells for the grid\n @type size: float\n @param size: The grid size in meters\n @rtype: np.array\n @return: The grid representation of the plane with shape (cells, 3)\n \"\"\"\n # First create the grid in the XY plane\n linspace = np.linspace(-0.5, 0.5, num=cells) * side_length\n xx, yy = np.meshgrid(linspace, linspace)\n grid = []\n for i in range(cells):\n # Vertical lines\n grid.append(np.array([xx[0, i], yy[0, i], 0]))\n grid.append(np.array([xx[-1, i], yy[-1, i], 0]))\n # Horizontal lines\n grid.append(np.array([xx[i, 0], yy[i, 0], 0]))\n grid.append(np.array([xx[i, -1], yy[i, -1], 0]))\n grid = np.array(grid)\n # Second, project the grid onto the plane\n # The equation of the XY plane is z = 0\n T = transformation_between_planes(self.coefficients, [0, 0, 1, 0])\n R = T[:3, :3]\n t = T[:3, 3]\n aligned_grid = np.dot(R, grid.T).T + t\n return aligned_grid\n\n def generate_mesh(self, side_length=1.0, thickness=0.001):\n \"\"\"\n Generates a mesh representation of the plane. It is obtained by\n extruding a square with the given C{side_length} to reach the\n specified C{thickness}\n The grid is a square with the given C{side_length}\n @type side_length: float\n @param side_length: The square side length (meters)\n @type thickness: float\n @param thickness: The cuboid thickness\n @rtype: np.array, np.array\n @return: vertices,faces of the mesh\n \"\"\"\n grid = self.generate_grid(cells=2, side_length=side_length)\n lower_point = self.origin - self.normal*thickness\n lower_plane = Plane(normal=self.normal, point=lower_point)\n lower_grid = lower_plane.generate_grid(cells=2, side_length=side_length)\n vertices = np.vstack((grid, lower_grid))\n hull = scipy.spatial.ConvexHull(vertices)\n counterclockwise_hull(hull)\n faces = hull.simplices\n offset_origin = np.mean(vertices, axis=0) - self.origin\n R = self.get_transform()[:3, :3]\n offset_thickness = np.dot(R.T, [0, 0, thickness])\n vertices -= offset_origin + offset_thickness\n return vertices, faces\n\n def get_ray_intersection(self, ray_origin, ray_dir, epsilon=1e-6):\n \"\"\"\n Returns the point where the given ray intersects with this plane\n @type ray_origin: Ray origin\n @param ray_dir: Ray direction. Must be unit vector\n @param epsilon: Epsilon to avoid 0 division\n @rtype: np.array\n @return: The intersection point\n \"\"\"\n dot = np.dot(self.normal, ray_dir)\n if abs(dot) > epsilon:\n w = ray_origin - self.origin\n fac = -np.dot(self.normal, w) / dot\n return ray_origin + (ray_dir * fac)\n else:\n return None\n\n def get_transform(self):\n \"\"\"\n Returns the plane transform\n @rtype: np.array\n @return: The plane transform\n \"\"\"\n T = rotation_matrix_from_axes(self.normal, oldaxis=Z_AXIS)\n T[:3, 3] = self.origin\n return T\n\n def project(self, point):\n \"\"\"\n Projects a point onto the plane.\n @type point: np.array\n @param point: The input point\n @rtype: np.array\n @return: The projected 3D point\n \"\"\"\n distance = self.distance(point)\n return (point - distance*self.normal)\n\n\ndef counterclockwise_hull(hull):\n \"\"\"\n Make the edges counterclockwise order\n @type hull: scipy.spatial.ConvexHull\n @param hull: Convex hull to be re-ordered.\n \"\"\"\n midpoint = np.sum(hull.points, axis=0) / hull.points.shape[0]\n for i, simplex in enumerate(hull.simplices):\n x, y, z = hull.points[simplex]\n voutward = (x + y + z) / 3 - midpoint\n vccw = np.cross((y - x), (z - y))\n if np.inner(vccw, voutward) < 0:\n hull.simplices[i] = [simplex[0], simplex[2], simplex[1]]\n\n\ndef fit_plane_lstsq(XYZ):\n \"\"\"\n Fits a plane to a point cloud.\n Where z=a.x+b.y+c; Rearranging: a.x+b.y-z+c=0\n @type XYZ: list\n @param XYZ: list of points\n @rtype: np.array\n @return: normalized normal vector of the plane in the form C{(a,b,-1)}\n \"\"\"\n [rows, cols] = XYZ.shape\n G = np.ones((rows, 3))\n G[:, 0] = XYZ[:, 0] # X\n G[:, 1] = XYZ[:, 1] # Y\n Z = XYZ[:, 2]\n (a, b, c), resid, rank, s = np.linalg.lstsq(G, Z)\n normal = (a, b, -1)\n nn = np.linalg.norm(normal)\n normal = normal / nn\n return normal\n\n\ndef fit_plane_optimize(points, seed=None):\n \"\"\"\n Fits a plane to a point cloud using C{scipy.optimize.leastsq}\n @type points: list\n @param points: list of points\n @rtype: np.array\n @return: normalized normal vector of the plane\n \"\"\"\n if seed is None:\n seed = np.zeros(4)\n seed[:3] = tr.unit_vector(tr.random_vector(3))\n # Optimization functions\n\n def f_min(X, p):\n normal = p[0:3]\n d = p[3]\n result = ((normal*X.T).sum(axis=1) + d) / np.linalg.norm(normal)\n return result\n\n def residuals(params, signal, X):\n return f_min(X, params)\n # Optimize\n XYZ = np.array(points).T\n p0 = np.array(seed)\n sol = scipy.optimize.leastsq(residuals, p0, args=(None, XYZ))[0]\n nn = np.linalg.norm(sol[:3])\n sol /= nn\n seed_error = (f_min(XYZ, p0)**2).sum()\n fit_error = (f_min(XYZ, sol)**2).sum()\n return sol, seed_error, fit_error\n\n\ndef fit_plane_solve(XYZ):\n \"\"\"\n Fits a plane to a point cloud using C{np.linalg.solve}\n @type XYZ: list\n @param XYZ: list of points\n @rtype: np.array\n @return: normalized normal vector of the plane\n \"\"\"\n X = XYZ[:, 0]\n Y = XYZ[:, 1]\n Z = XYZ[:, 2]\n npts = len(X)\n A = np.array([[sum(X*X), sum(X*Y), sum(X)],\n [sum(X*Y), sum(Y*Y), sum(Y)],\n [sum(X), sum(Y), npts]])\n B = np.array([[sum(X*Z), sum(Y*Z), sum(Z)]])\n normal = np.linalg.solve(A, B.T)\n nn = np.linalg.norm(normal)\n normal = normal / nn\n return normal.ravel()\n\n\ndef fit_plane_svd(XYZ):\n \"\"\"\n Fits a plane to a point cloud using C{np.linalg.svd}\n @type XYZ: list\n @param XYZ: list of points\n @rtype: np.array\n @return: normalized normal vector of the plane\n \"\"\"\n [rows, cols] = XYZ.shape\n # Set up constraint equations of the form AB = 0,\n # where B is a column vector of the plane coefficients\n # in the form b(1)*X + b(2)*Y +b(3)*Z + b(4) = 0.\n p = (np.ones((rows, 1)))\n AB = np.hstack([XYZ, p])\n [u, d, v] = np.linalg.svd(AB, 0)\n B = v[3, :] # Solution is last column of v.\n nn = np.linalg.norm(B[0:3])\n B = B / nn\n return B[0:3]\n\n\ndef force_frame_transform(bTa):\n \"\"\"\n Calculates the coordinate transformation for force vectors.\n The force vectors obey special transformation rules.\n B{Reference:} Handbook of robotics page 39, equation 2.9\n @type bTa: array, shape (4,4)\n @param bTa: Homogeneous transformation that represents the position\n and orientation of frame M{A} relative to frame M{B}\n @rtype: array, shape (6,6)\n @return: The coordinate transformation from M{A} to M{B} for force\n vectors\n \"\"\"\n aTb = tr.inverse_matrix(bTa) # is this necessary?\n return motion_frame_transform(aTb).T # do we need to transpose here?\n\n\ndef inertia_matrix_from_vector(i):\n \"\"\"\n Returns the inertia matrix from its vectorized form.\n @type i: array, shape (6,1)\n @param i: The inertia parameters in its vectorized form.\n @rtype: array, shape (3,3)\n @return: The resulting inertia matrix.\n \"\"\"\n I11 = i[0]\n I12 = i[1]\n I13 = i[2]\n I22 = i[3]\n I23 = i[4]\n I33 = i[5]\n return np.array([[I11, I12, I13],\n [I11, I22, I23],\n [I13, I23, I33]])\n\n\ndef L_matrix(w):\n \"\"\"\n Returns the 3x6 matrix of angular velocity elements.\n @type w: array\n @param w: The angular velocity array\n @rtype: array, shape (3,6)\n @return: The resulting numpy array\n \"\"\"\n res = np.zeros((3, 6))\n res[0, :3] = w.flatten()\n res[1, 1:5] = np.insert(w.flatten(), 1, 0)\n res[2, 2:] = np.insert(w.flatten(), 1, 0)\n return res\n\n\ndef motion_frame_transform(bTa):\n \"\"\"\n Calculates the coordinate transformation for motion vectors.\n The motion vectors obey special transformation rules.\n B{Reference:} Handbook of robotics page 39, equation 2.9\n @type bTa: array, shape (4,4)\n @param bTa: Homogeneous transformation that represents the position\n and orientation of frame M{A} relative to frame M{B}\n @rtype: array, shape (6,6)\n @return: The coordinate transformation from M{A} to M{B} for motion\n vectors\n \"\"\"\n bRa = bTa[:3, :3]\n bPa = bTa[:3, 3]\n bXa = np.zeros((6, 6))\n bXa[:3, :3] = bRa\n bXa[3:, :3] = np.dot(skew(bPa), bRa)\n bXa[3:, 3:] = bRa\n return bXa\n\n\ndef perpendicular_vector(v):\n \"\"\"\n Finds an arbitrary perpendicular vector to B{v}\n @type v: np.array\n @param v: The input vector\n @rtype: np.array\n @return: The perpendicular vector.\n \"\"\"\n v = tr.unit_vector(v)\n if np.allclose(v[:2], np.zeros(2)):\n if np.isclose(v[2], 0.):\n # v is (0, 0, 0)\n raise ValueError('zero vector')\n # v is (0, 0, Z)\n return Y_AXIS\n return np.array([-v[1], v[0], 0])\n\n\ndef polygon_area(points, plane=None):\n if plane is None:\n plane_eq = fit_plane_optimize(points)\n plane = Plane(equation=plane_eq)\n total = np.zeros(3)\n for i in range(len(points)):\n vi1 = points[i]\n if i is len(points)-1:\n vi2 = points[0]\n else:\n vi2 = points[i+1]\n prod = np.cross(vi1, vi2)\n total += prod\n result = np.dot(total, plane.normal)\n return abs(result/2.)\n\n\ndef rotation_matrix_from_axes(newaxis, oldaxis=Z_AXIS, point=None):\n \"\"\"\n Returns the rotation matrix that aligns two vectors.\n @type newaxis: np.array\n @param newaxis: The goal axis\n @type oldaxis: np.array\n @param oldaxis: The initial axis\n @rtype: array, shape (4,4)\n @return: The resulting rotation matrix that aligns the old to the new axis.\n \"\"\"\n oldaxis = tr.unit_vector(oldaxis)\n newaxis = tr.unit_vector(newaxis)\n c = np.dot(oldaxis, newaxis)\n angle = np.arccos(c)\n if np.isclose(c, -1.0) or np.allclose(newaxis, oldaxis):\n v = perpendicular_vector(newaxis)\n else:\n v = tr.unit_vector(np.cross(oldaxis, newaxis))\n return tr.rotation_matrix(angle, v, point)\n\n\ndef skew(v):\n \"\"\"\n Returns the 3x3 skew matrix.\n The skew matrix is a square matrix M{A} whose transpose is also its\n negative; that is, it satisfies the condition M{-A = A^T}.\n @type v: array\n @param v: The input array\n @rtype: array, shape (3,3)\n @return: The resulting skew matrix\n \"\"\"\n skv = np.roll(np.roll(np.diag(np.asarray(v).flatten()), 1, 1), -1, 0)\n return (skv - skv.T)\n\n\ndef transformation_estimation_svd(A, B):\n \"\"\"\n This method implements SVD-based estimation of the transformation\n aligning the given correspondences.\n Estimate a rigid transformation between a source and a target matrices\n using SVD.\n For further information please check:\n - U{http://dx.doi.org/10.1109/TPAMI.1987.4767965}\n - U{http://nghiaho.com/?page_id=671}\n @type A: numpy.array\n @param A: Points expressed in the reference frame A\n @type B: numpy.array\n @param B: Points expressed in the reference frame B\n @rtype: R (3x3), t (3x1)\n @return: (R) rotation matrix and (t) translation vector of the rigid\n transformation.\n \"\"\"\n assert A.shape == B.shape\n assert A.shape[1] == 3\n N = A.shape[0] # total points\n centroid_A = np.mean(A, axis=0)\n centroid_B = np.mean(B, axis=0)\n # centre the points\n AA = A - np.tile(centroid_A, (N, 1))\n BB = B - np.tile(centroid_B, (N, 1))\n # dot is matrix multiplication for array\n H = np.dot(np.transpose(AA), BB)\n U, S, Vt = np.linalg.svd(H)\n R = np.dot(Vt.T, U.T)\n # special reflection case\n if np.linalg.det(R) < 0:\n Vt[2, :] *= -1\n R = np.dot(Vt.T, U.T)\n t = -np.dot(R, centroid_A.T) + centroid_B.T\n return R, t\n\n\ndef transformation_between_planes(newplane, oldplane):\n \"\"\"\n Returns the transformation matrix that aligns two planes.\n @type newplane: np.array\n @param newplane: The goal plane in the form [a,b,c,d] where a.x+b.y+c.z+d=0\n @type oldplane: np.array\n @param oldplane: The initial plane in the form [a,b,c,d] where a.x+b.y+c.z+d=0\n @rtype: np.array, shape (4,4)\n @return: The resulting homogeneous transformation that converts C{oldplane} to C{newplane}.\n \"\"\"\n newaxis = np.array(newplane[:3])\n Rnew = rotation_matrix_from_axes(newaxis, Z_AXIS)[:3, :3]\n newpoint = np.dot(Rnew, np.array([0, 0, newplane[3]]))\n oldaxis = np.array(oldplane[:3])\n Rold = rotation_matrix_from_axes(oldaxis, Z_AXIS)[:3, :3]\n oldpoint = np.dot(Rold, np.array([0, 0, oldplane[3]]))\n T = rotation_matrix_from_axes(newaxis, oldaxis)\n T[:3, 3] = -newpoint + np.dot(T[:3, :3], oldpoint)\n return T\n\n\ndef transform_inv(T):\n \"\"\"\n Calculates the inverse of the input homogeneous transformation.\n\n This method is more efficient than using C{numpy.linalg.inv}, given\n the special properties of the homogeneous transformations.\n @type T: array, shape (4,4)\n @param T: The input homogeneous transformation\n @rtype: array, shape (4,4)\n @return: The inverse of the input homogeneous transformation\n \"\"\"\n R = T[:3, :3].T\n p = T[:3, 3]\n T_inv = np.identity(4)\n T_inv[:3, :3] = R\n T_inv[:3, 3] = np.dot(-R, p)\n return T_inv\n\n\ndef quaternions_orientation_error(Qd, Qc):\n \"\"\"\n Calculates the orientation error between two quaternions\n Qd is the desired orientation\n Qc is the current orientation\n both with respect to the same fixed frame\n\n return vector part\n \"\"\"\n if isinstance(Qd, Quaternion) and isinstance(Qd, Quaternion):\n ne = Qc.scalar*Qd.scalar + np.dot(np.array(Qc.vector).T, Qd.vector)\n ee = Qc.scalar*np.array(Qd.vector) - Qd.scalar*np.array(Qc.vector) + np.dot(skew(Qc.vector), Qd.vector)\n ee *= np.sign(ne) # disambiguate the sign of the quaternion\n return ee\n else:\n assert isinstance(Qd, (list, np.ndarray)), \"type: \" + str(type(Qd))\n assert isinstance(Qc, (list, np.ndarray)), \"type: \" + str(type(Qd))\n q1 = Quaternion(np.roll(Qd, -1))\n q2 = Quaternion(np.roll(Qc, -1))\n return quaternions_orientation_error(q1, q2)\n\n\ndef translation_rotation_error(to_pose, from_pose):\n position_error = to_pose[:3] - from_pose[:3]\n orientation_error = quaternions_orientation_error(to_pose[3:], from_pose[3:])\n return np.concatenate((position_error, orientation_error))\n\n\ndef convert_wrench(wrench_force, pose):\n ee_transform = tr.pose_to_transform(pose)\n\n # # # Wrench force transformation\n wFtS = force_frame_transform(ee_transform)\n wrench = np.dot(wFtS, wrench_force)\n\n return wrench\n\n\ndef face_towards(target_position, current_pose, up_vector=[0, 0, 1]):\n \"\"\"\n Compute orientation to \"face towards\" a point in space \n given the current position and the initial vector representing \"up\"\n default is z as is the outward direction from the end-effector\n \"\"\"\n cposition = current_pose[:3]\n direction = tr.unit_vector(target_position-cposition)\n\n cmd_rot = look_rotation(direction, up=up_vector)\n target_quat = tr.vector_from_pyquaternion(cmd_rot)\n\n return np.concatenate([cposition, target_quat])\n\n\ndef look_rotation(forward, up=[0, 0, 1]):\n forward = tr.unit_vector(forward)\n right = tr.unit_vector(np.cross(up, forward))\n up = np.cross(forward, right)\n m00 = right[0]\n m01 = right[1]\n m02 = right[2]\n m10 = up[0]\n m11 = up[1]\n m12 = up[2]\n m20 = forward[0]\n m21 = forward[1]\n m22 = forward[2]\n\n num8 = (m00 + m11) + m22\n quaternion = Quaternion()\n if (num8 > 0.0):\n\n num = np.sqrt(num8 + 1)\n quaternion[0] = num * 0.5\n num = 0.5 / num\n quaternion[1] = (m12 - m21) * num\n quaternion[2] = (m20 - m02) * num\n quaternion[3] = (m01 - m10) * num\n return quaternion\n\n if ((m00 >= m11) and (m00 >= m22)):\n\n num7 = np.sqrt(((1 + m00) - m11) - m22)\n num4 = 0.5 / num7\n quaternion[1] = 0.5 * num7\n quaternion[2] = (m01 + m10) * num4\n quaternion[3] = (m02 + m20) * num4\n quaternion[0] = (m12 - m21) * num4\n return quaternion\n\n if (m11 > m22):\n\n num6 = np.sqrt(((1 + m11) - m00) - m22)\n num3 = 0.5 / num6\n quaternion[1] = (m10 + m01) * num3\n quaternion[2] = 0.5 * num6\n quaternion[3] = (m21 + m12) * num3\n quaternion[0] = (m20 - m02) * num3\n return quaternion\n\n num5 = np.sqrt(((1 + m22) - m00) - m11)\n num2 = 0.5 / num5\n quaternion[1] = (m20 + m02) * num2\n quaternion[2] = (m21 + m12) * num2\n quaternion[3] = 0.5 * num5\n quaternion[0] = (m01 - m10) * num2\n return quaternion\n\n\ndef jump_threshold(trajectory, dt, threshold):\n traj = np.copy(trajectory)\n speed = np.abs((traj - np.roll(traj, -1)) / dt)\n speed[-1] = 0.0 # ignore last point\n\n mean = np.mean(speed[:-1], 0)\n std = np.std(speed[:-1], 0)\n\n # print(\"mean:\", np.round(mean, 2))\n # print(\"std:\", np.round(std, 2))\n for i, s in enumerate(speed[:-1]):\n if np.any(s > mean + threshold*std):\n # print(\"### spike:\", i, np.round(s-mean,2))\n # TODO(cambel): fix for cases where spikes are consecutive\n traj[i] = (traj[i-1] + traj[i+1]) / 2.0\n # else:\n # print(\"usual:\", i, np.round(s-mean,2))\n\n return traj\n\n\ndef sensor_torque_to_tcp_force(tcp_position, sensor_torques):\n \"\"\"\n Compute the force as perceive by a point of the TCP\n Thus, torques registered by the sensor are converted to forces\n\n tcp_position: list[3]. Define the position of point P relative to the sensor \n sensor_torques: list[3]. Define the torque registered by the sensor\n \"\"\"\n # Define the torque applied to frame A\n T_A = np.array(sensor_torques) # in N.m\n\n # Define the position vector from the axis of rotation to the point of application of the force on frame A\n r_AP = np.array(tcp_position) # in m\n\n # Define the position vector from the point of application on frame A to the corresponding point on frame B\n r_BP = - r_AP\n\n # Compute the moment arm and the corresponding force on frame B\n force_B = np.cross(T_A, r_AP) / np.linalg.norm(r_BP)**2\n return force_B\n" }, { "path": "ur_control/src/ur_control/traj_utils.py", "content": "# The MIT License (MIT)\n#\n# Copyright (c) 2018, 2019 Cristian Beltran\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n#\n# Author: Cristian Beltran\n\nimport rospy\nimport numpy as np\nfrom ur_control import transformations\n\n\ndef spiral(radius, theta_offset, revolutions, steps):\n theta = np.linspace(0, 2*np.pi*revolutions, steps) + theta_offset\n x = radius*np.cos(theta)\n y = radius*np.sin(theta)\n return x, y\n\n\ndef get_conical_helix_trajectory(p1, p2, steps, revolutions=5.0):\n \"\"\" Compute Cartesian conical helix between 2 points\"\"\"\n euclidean_dist = np.linalg.norm(np.array(p2[:2])-np.array(p1[:2]))\n radius = np.linspace(euclidean_dist, 0, steps)\n theta_offset = np.arctan2((p1[1] - p2[1]), (p1[0]-p2[0]))\n\n x, y = spiral(radius, theta_offset, revolutions, steps)\n x += p2[0]\n y += p2[1]\n z = np.linspace(p1[2]-(p1[2]-p2[2])/2, p2[2], steps)\n return concat_vec(x, y, z, steps)\n\n\ndef get_spiral_trajectory(p1, p2, steps, revolutions=5.0, from_center=False, inverse=False):\n \"\"\" Compute Cartesian conical helix between 2 points\"\"\"\n euclidean_dist = np.linalg.norm(np.array(p2[:2])-np.array(p1[:2]))\n if from_center: # start the spiral as if p1 is the center and p2 is the farthest point\n radius = np.linspace(0, euclidean_dist, steps)\n theta_offset = 0.0\n else:\n # Compute the distance from p1 to p2 and start the spiral as if p2 is the center\n radius = np.linspace(euclidean_dist, 0, steps)\n # Hack for some reason this offset does not work for changes w.r.t Z\n if inverse:\n theta_offset = np.arctan2((p2[1] - p1[1]), (p2[0]-p1[0]))\n else:\n theta_offset = np.arctan2((p1[1] - p2[1]), (p1[0]-p2[0]))\n x, y = spiral(radius, theta_offset, revolutions, steps)\n sign = 1. if not inverse else -1. # super hack, there is something fundamentally wrong with Z\n x += p2[0] * sign\n y += p2[1] * sign\n z = np.linspace(p1[2]-(p1[2]-p2[2])/2, p2[2], steps)\n return concat_vec(x, y, z, steps)\n\n\ndef get_circular_trajectory(p1, p2, steps, revolutions=1.0, from_center=False, inverse=False):\n euclidean_dist = np.linalg.norm(np.array(p2[:2])-np.array(p1[:2]))\n if from_center: # start the spiral as if p1 is the center and p2 is the farthest point\n theta_offset = 0.0\n else:\n # Compute the distance from p1 to p2 and start the spiral as if p2 is the center\n # Hack for some reason this offset does not work for changes w.r.t Z\n if inverse:\n theta_offset = np.arctan2((p2[1] - p1[1]), (p2[0]-p1[0]))\n else:\n theta_offset = np.arctan2((p1[1] - p2[1]), (p1[0]-p2[0]))\n x, y = spiral(euclidean_dist, theta_offset, revolutions, steps)\n x += p2[0]\n y += p2[1]\n z = np.zeros(steps)+p1[2]\n return concat_vec(x, y, z, steps)\n\n\ndef concat_vec(x, y, z, steps):\n x = x.reshape(-1, steps)\n y = y.reshape(-1, steps)\n z = z.reshape(-1, steps)\n return np.concatenate((x, y, z), axis=0).T\n\n\ndef get_plane_direction(plane, radius):\n VALID_DIRECTIONS = ('+X', '+Y', '+Z', '-X', '-Y', '-Z')\n DIRECTION_INDEX = {'X': 0, 'Y': 1, 'Z': 2}\n\n assert plane in VALID_DIRECTIONS, \"Invalid direction: %s\" % plane\n\n direction_array = [0., 0., 0., 0., 0., 0.]\n sign = 1. if '+' in plane else -1.\n direction_array[DIRECTION_INDEX.get(plane[1])] = radius * sign\n\n return np.array(direction_array, dtype=np.float64)\n\n\ndef compute_rotation_wiggle(initial_orientation, direction, angle, steps, revolutions):\n \"\"\"\n Compute a sinusoidal trajectory for the orientation of the end-effector in one given direction.\n To keep it simple, only supports one direction.\n initial_orientation: array[4], orientation in quaternion form\n direction: string, 'X','Y', or 'Z' w.r.t the robot's base\n angle: float, magnitude of rotation in radians\n steps: int, number of steps for the resulting trajectory\n revolutions: int, number of revolutions \n \"\"\"\n assert direction in ('X', 'Y', 'Z'), \"Invalid direction: %s\" % direction\n DIRECTION_INDEX = {'X': 0, 'Y': 1, 'Z': 2}\n\n euler = np.array(transformations.euler_from_quaternion(initial_orientation, axes='rxyz'))\n theta = np.linspace(0, 2*np.pi*revolutions, steps)\n deltas = angle * np.sin(theta)\n\n direction_array = np.zeros(3)\n direction_array[DIRECTION_INDEX.get(direction)] = 1.0\n deltas = deltas.reshape(-1, 1) * direction_array.reshape(1, 3)\n\n new_eulers = deltas + euler\n\n cmd_orientations = [transformations.quaternion_from_euler(*new_euler, axes='rxyz') for new_euler in new_eulers]\n\n return cmd_orientations\n\n\ndef compute_trajectory(initial_pose, plane, radius, radius_direction, steps=100, revolutions=5, from_center=True, trajectory_type=\"circular\",\n wiggle_direction=None, wiggle_angle=0.0, wiggle_revolutions=0.0):\n \"\"\"\n Compute a trajectory \"circular\" or \"spiral\":\n plane: string, only 3 valid options \"XY\", \"XZ\", \"YZ\", is the plane w.r.t to the robot base where the trajectory will be drawn\n radius: float, size of the trajectory\n radius_direction: string, '+X', '+Y', '+Z', '-X', '-Y', '-Z' direction to compute the radius, valid directions depend on the plane selected\n steps: int, number of steps for the trajectory\n revolutions: int, number of times that the circle is drawn or the spiral's revolutions before reaching its end.\n from_center: bool, whether to start the trajectory assuming the current position as center (True) or the radius+radius_direction as center (False)\n [True] is better for spiral trajectory while [False] is better for the circular trajectory, though other options are okay.\n trajectory_type: string, \"circular\" or \"spiral\"\n wiggle_direction: string, 'X','Y', or 'Z' w.r.t the robot's base\n wiggle_angle: float, magnitude of wiggle-rotation in radians\n wiggle_revolutions: int, number of wiggle-revolutions \n \"\"\"\n\n direction = get_plane_direction(radius_direction, radius)\n\n if plane == \"XZ\":\n assert \"Y\" not in radius_direction, \"Invalid radius direction %s for plane %s\" % (radius_direction, plane)\n to_plane = [np.pi/2, 0, 0]\n elif plane == \"YZ\":\n assert \"X\" not in radius_direction, \"Invalid radius direction %s for plane %s\" % (radius_direction, plane)\n to_plane = [0, np.pi/2, 0]\n elif plane == \"XY\":\n assert \"Z\" not in radius_direction, \"Invalid radius direction %s for plane %s\" % (radius_direction, plane)\n to_plane = [0, 0, 0]\n else:\n raise ValueError(\"Invalid value for plane: %s\" % plane)\n\n target_pose = transformations.transform_pose(initial_pose, direction, rotated_frame=False)\n\n # print(\"Initial\", np.round(spalg.translation_rotation_error(target_pose, arm.end_effector()), 4))\n target_orientation = transformations.vector_to_pyquaternion(transformations.quaternion_from_euler(*to_plane))\n\n initial_pose = initial_pose[:3]\n final_pose = target_pose[:3]\n\n if from_center:\n p1 = np.zeros(3)\n p2 = target_orientation.rotate(initial_pose - final_pose)\n else:\n p1 = target_orientation.rotate(initial_pose - final_pose)\n p2 = np.zeros(3)\n\n if trajectory_type == \"circular\":\n # Hack for some reason this offset does not work for changes w.r.t Z\n traj = get_circular_trajectory(p1, p2, steps, revolutions, from_center=from_center, inverse=(\"Z\" in radius_direction))\n elif trajectory_type == \"spiral\":\n # Hack for some reason this offset does not work for changes w.r.t Z\n traj = get_spiral_trajectory(p1, p2, steps, revolutions, from_center=from_center, inverse=(\"Z\" in radius_direction))\n else:\n rospy.logerr(\"Unsupported trajectory type: %s\" % trajectory_type)\n\n traj = np.apply_along_axis(target_orientation.rotate, 1, traj)\n trajectory = traj + final_pose\n\n if wiggle_direction is None:\n trajectory = [np.concatenate([t, target_pose[3:]]) for t in trajectory]\n else:\n target_orientation = compute_rotation_wiggle(target_pose[3:], wiggle_direction, wiggle_angle, steps, wiggle_revolutions)\n trajectory = [np.concatenate([tp, to]) for tp, to in zip(trajectory, target_orientation)]\n\n return np.array(trajectory)\n\n\ndef compute_1d_sinusoidal_trajectory(num_of_points, amplitude=0.01, period=1):\n points = np.linspace(-np.pi, np.pi, num_of_points)\n trajectory = np.sin(points * period) * amplitude\n return trajectory\n\n\ndef compute_sinusoidal_trajectory(current_pose, dimension: int, num_of_points=30, amplitude=0.01, period=1):\n trajectory_1d = compute_1d_sinusoidal_trajectory(num_of_points, amplitude, period)\n trajectory = np.array([current_pose for _ in range(num_of_points)]).reshape((-1, 7))\n trajectory[:, dimension] = trajectory_1d + current_pose[dimension]\n return trajectory\n" }, { "path": "ur_control/src/ur_control/transformations.py", "content": "# -*- coding: utf-8 -*-\n# transformations.py\n\n# Copyright (c) 2006, Christoph Gohlke\n# Copyright (c) 2006-2009, The Regents of the University of California\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# * Neither the name of the copyright holders nor the names of any\n# contributors may be used to endorse or promote products derived\n# from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\n\"\"\"Homogeneous Transformation Matrices and Quaternions.\n\nA library for calculating 4x4 matrices for translating, rotating, reflecting,\nscaling, shearing, projecting, orthogonalizing, and superimposing arrays of\n3D homogeneous coordinates as well as for converting between rotation matrices,\nEuler angles, and quaternions. Also includes an Arcball control object and\nfunctions to decompose transformation matrices.\n\n:Authors:\n `Christoph Gohlke `__,\n Laboratory for Fluorescence Dynamics, University of California, Irvine\n\n:Version: 20090418\n\nRequirements\n------------\n\n* `Python 2.6 `__\n* `Numpy 1.3 `__\n* `transformations.c 20090418 `__\n (optional implementation of some functions in C)\n\nNotes\n-----\n\nMatrices (M) can be inverted using numpy.linalg.inv(M), concatenated using\nnumpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using\nnumpy.dot(M, v) for shape (4, \\*) \"point of arrays\", respectively\nnumpy.dot(v, M.T) for shape (\\*, 4) \"array of points\".\n\nCalculations are carried out with numpy.float64 precision.\n\nThis Python implementation is not optimized for speed.\n\nVector, point, quaternion, and matrix function arguments are expected to be\n\"array like\", i.e. tuple, list, or numpy arrays.\n\nReturn types are numpy arrays unless specified otherwise.\n\nAngles are in radians unless specified otherwise.\n\nQuaternions ix+jy+kz+w are represented as [x, y, z, w].\n\nUse the transpose of transformation matrices for OpenGL glMultMatrixd().\n\nA triple of Euler angles can be applied/interpreted in 24 ways, which can\nbe specified using a 4 character string or encoded 4-tuple:\n\n *Axes 4-string*: e.g. 'sxyz' or 'ryxy'\n\n - first character : rotations are applied to 's'tatic or 'r'otating frame\n - remaining characters : successive rotation axis 'x', 'y', or 'z'\n\n *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1)\n\n - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix.\n - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed\n by 'z', or 'z' is followed by 'x'. Otherwise odd (1).\n - repetition : first and last axis are same (1) or different (0).\n - frame : rotations are applied to static (0) or rotating (1) frame.\n\nReferences\n----------\n\n(1) Matrices and transformations. Ronald Goldman.\n In \"Graphics Gems I\", pp 472-475. Morgan Kaufmann, 1990.\n(2) More matrices and transformations: shear and pseudo-perspective.\n Ronald Goldman. In \"Graphics Gems II\", pp 320-323. Morgan Kaufmann, 1991.\n(3) Decomposing a matrix into simple transformations. Spencer Thomas.\n In \"Graphics Gems II\", pp 320-323. Morgan Kaufmann, 1991.\n(4) Recovering the data from the transformation matrix. Ronald Goldman.\n In \"Graphics Gems II\", pp 324-331. Morgan Kaufmann, 1991.\n(5) Euler angle conversion. Ken Shoemake.\n In \"Graphics Gems IV\", pp 222-229. Morgan Kaufmann, 1994.\n(6) Arcball rotation control. Ken Shoemake.\n In \"Graphics Gems IV\", pp 175-192. Morgan Kaufmann, 1994.\n(7) Representing attitude: Euler angles, unit quaternions, and rotation\n vectors. James Diebel. 2006.\n(8) A discussion of the solution for the best rotation to relate two sets\n of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828.\n(9) Closed-form solution of absolute orientation using unit quaternions.\n BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642.\n(10) Quaternions. Ken Shoemake.\n http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf\n(11) From quaternion to matrix and back. JMP van Waveren. 2005.\n http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm\n(12) Uniform random rotations. Ken Shoemake.\n In \"Graphics Gems III\", pp 124-132. Morgan Kaufmann, 1992.\n\n\nExamples\n--------\n\n>>> alpha, beta, gamma = 0.123, -1.234, 2.345\n>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)\n>>> I = identity_matrix()\n>>> Rx = rotation_matrix(alpha, xaxis)\n>>> Ry = rotation_matrix(beta, yaxis)\n>>> Rz = rotation_matrix(gamma, zaxis)\n>>> R = concatenate_matrices(Rx, Ry, Rz)\n>>> euler = euler_from_matrix(R, 'rxyz')\n>>> numpy.allclose([alpha, beta, gamma], euler)\nTrue\n>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')\n>>> is_same_transform(R, Re)\nTrue\n>>> al, be, ga = euler_from_matrix(Re, 'rxyz')\n>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))\nTrue\n>>> qx = quaternion_about_axis(alpha, xaxis)\n>>> qy = quaternion_about_axis(beta, yaxis)\n>>> qz = quaternion_about_axis(gamma, zaxis)\n>>> q = quaternion_multiply(qx, qy)\n>>> q = quaternion_multiply(q, qz)\n>>> Rq = quaternion_from_matrix(q)\n>>> is_same_transform(R, Rq)\nTrue\n>>> S = scale_matrix(1.23, origin)\n>>> T = translation_matrix((1, 2, 3))\n>>> Z = shear_matrix(beta, xaxis, origin, zaxis)\n>>> R = random_rotation_matrix(numpy.random.rand(3))\n>>> M = concatenate_matrices(T, R, Z, S)\n>>> scale, shear, angles, trans, persp = decompose_matrix(M)\n>>> numpy.allclose(scale, 1.23)\nTrue\n>>> numpy.allclose(trans, (1, 2, 3))\nTrue\n>>> numpy.allclose(shear, (0, math.tan(beta), 0))\nTrue\n>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))\nTrue\n>>> M1 = compose_matrix(scale, shear, angles, trans, persp)\n>>> is_same_transform(M, M1)\nTrue\n\n\"\"\"\n\n\nimport math\n\nimport numpy\n\nfrom ur_control.math_utils import *\n\n# Documentation in HTML format can be generated with Epydoc\n__docformat__ = \"restructuredtext en\"\n\n\ndef identity_matrix():\n \"\"\"Return 4x4 identity/unit matrix.\n\n >>> I = identity_matrix()\n >>> numpy.allclose(I, numpy.dot(I, I))\n True\n >>> numpy.sum(I), numpy.trace(I)\n (4.0, 4.0)\n >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64))\n True\n\n \"\"\"\n return numpy.identity(4, dtype=numpy.float64)\n\n\ndef translation_matrix(direction):\n \"\"\"Return matrix to translate by direction vector.\n\n >>> v = numpy.random.random(3) - 0.5\n >>> numpy.allclose(v, translation_matrix(v)[:3, 3])\n True\n\n \"\"\"\n M = numpy.identity(4)\n M[:3, 3] = direction[:3]\n return M\n\n\ndef translation_from_matrix(matrix):\n \"\"\"Return translation vector from translation matrix.\n\n >>> v0 = numpy.random.random(3) - 0.5\n >>> v1 = translation_from_matrix(translation_matrix(v0))\n >>> numpy.allclose(v0, v1)\n True\n\n \"\"\"\n return numpy.array(matrix, copy=False)[:3, 3].copy()\n\n\ndef reflection_matrix(point, normal):\n \"\"\"Return matrix to mirror at plane defined by point and normal vector.\n\n >>> v0 = numpy.random.random(4) - 0.5\n >>> v0[3] = 1.0\n >>> v1 = numpy.random.random(3) - 0.5\n >>> R = reflection_matrix(v0, v1)\n >>> numpy.allclose(2., numpy.trace(R))\n True\n >>> numpy.allclose(v0, numpy.dot(R, v0))\n True\n >>> v2 = v0.copy()\n >>> v2[:3] += v1\n >>> v3 = v0.copy()\n >>> v2[:3] -= v1\n >>> numpy.allclose(v2, numpy.dot(R, v3))\n True\n\n \"\"\"\n normal = unit_vector(normal[:3])\n M = numpy.identity(4)\n M[:3, :3] -= 2.0 * numpy.outer(normal, normal)\n M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal\n return M\n\n\ndef reflection_from_matrix(matrix):\n \"\"\"Return mirror plane point and normal vector from reflection matrix.\n\n >>> v0 = numpy.random.random(3) - 0.5\n >>> v1 = numpy.random.random(3) - 0.5\n >>> M0 = reflection_matrix(v0, v1)\n >>> point, normal = reflection_from_matrix(M0)\n >>> M1 = reflection_matrix(point, normal)\n >>> is_same_transform(M0, M1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n # normal: unit eigenvector corresponding to eigenvalue -1\n l, V = numpy.linalg.eig(M[:3, :3])\n i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue -1\")\n normal = numpy.real(V[:, i[0]]).squeeze()\n # point: any unit eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n return point, normal\n\n\ndef rotation_matrix(angle, direction, point=None):\n \"\"\"Return matrix to rotate about axis defined by point and direction.\n\n >>> angle = (random.random() - 0.5) * (2*math.pi)\n >>> direc = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)\n >>> is_same_transform(R0, R1)\n True\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> R1 = rotation_matrix(-angle, -direc, point)\n >>> is_same_transform(R0, R1)\n True\n >>> I = numpy.identity(4, numpy.float64)\n >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))\n True\n >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,\n ... direc, point)))\n True\n\n \"\"\"\n sina = math.sin(angle)\n cosa = math.cos(angle)\n direction = unit_vector(direction[:3])\n # rotation matrix around unit vector\n R = numpy.array(((cosa, 0.0, 0.0),\n (0.0, cosa, 0.0),\n (0.0, 0.0, cosa)), dtype=numpy.float64)\n R += numpy.outer(direction, direction) * (1.0 - cosa)\n direction *= sina\n R += numpy.array(((0.0, -direction[2], direction[1]),\n (direction[2], 0.0, -direction[0]),\n (-direction[1], direction[0], 0.0)),\n dtype=numpy.float64)\n M = numpy.identity(4)\n M[:3, :3] = R\n if point is not None:\n # rotation not around origin\n point = numpy.array(point[:3], dtype=numpy.float64, copy=False)\n M[:3, 3] = point - numpy.dot(R, point)\n return M\n\n\ndef rotation_from_matrix(matrix):\n \"\"\"Return rotation angle and axis from rotation matrix.\n\n >>> angle = (random.random() - 0.5) * (2*math.pi)\n >>> direc = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> angle, direc, point = rotation_from_matrix(R0)\n >>> R1 = rotation_matrix(angle, direc, point)\n >>> is_same_transform(R0, R1)\n True\n\n \"\"\"\n R = numpy.array(matrix, dtype=numpy.float64, copy=False)\n R33 = R[:3, :3]\n # direction: unit eigenvector of R33 corresponding to eigenvalue of 1\n l, W = numpy.linalg.eig(R33.T)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n direction = numpy.real(W[:, i[-1]]).squeeze()\n # point: unit eigenvector of R33 corresponding to eigenvalue of 1\n l, Q = numpy.linalg.eig(R)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(Q[:, i[-1]]).squeeze()\n point /= point[3]\n # rotation angle depending on direction\n cosa = (numpy.trace(R33) - 1.0) / 2.0\n if abs(direction[2]) > 1e-8:\n sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2]\n elif abs(direction[1]) > 1e-8:\n sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1]\n else:\n sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0]\n angle = math.atan2(sina, cosa)\n return angle, direction, point\n\n\ndef scale_matrix(factor, origin=None, direction=None):\n \"\"\"Return matrix to scale by factor around origin in direction.\n\n Use factor -1 for point symmetry.\n\n >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0\n >>> v[3] = 1.0\n >>> S = scale_matrix(-1.234)\n >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3])\n True\n >>> factor = random.random() * 10 - 5\n >>> origin = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> S = scale_matrix(factor, origin)\n >>> S = scale_matrix(factor, origin, direct)\n\n \"\"\"\n if direction is None:\n # uniform scaling\n M = numpy.array(((factor, 0.0, 0.0, 0.0),\n (0.0, factor, 0.0, 0.0),\n (0.0, 0.0, factor, 0.0),\n (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64)\n if origin is not None:\n M[:3, 3] = origin[:3]\n M[:3, 3] *= 1.0 - factor\n else:\n # nonuniform scaling\n direction = unit_vector(direction[:3])\n factor = 1.0 - factor\n M = numpy.identity(4)\n M[:3, :3] -= factor * numpy.outer(direction, direction)\n if origin is not None:\n M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction\n return M\n\n\ndef scale_from_matrix(matrix):\n \"\"\"Return scaling factor, origin and direction from scaling matrix.\n\n >>> factor = random.random() * 10 - 5\n >>> origin = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> S0 = scale_matrix(factor, origin)\n >>> factor, origin, direction = scale_from_matrix(S0)\n >>> S1 = scale_matrix(factor, origin, direction)\n >>> is_same_transform(S0, S1)\n True\n >>> S0 = scale_matrix(factor, origin, direct)\n >>> factor, origin, direction = scale_from_matrix(S0)\n >>> S1 = scale_matrix(factor, origin, direction)\n >>> is_same_transform(S0, S1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n factor = numpy.trace(M33) - 2.0\n try:\n # direction: unit eigenvector corresponding to eigenvalue factor\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0]\n direction = numpy.real(V[:, i]).squeeze()\n direction /= vector_norm(direction)\n except IndexError:\n # uniform scaling\n factor = (factor + 2.0) / 3.0\n direction = None\n # origin: any eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 1\")\n origin = numpy.real(V[:, i[-1]]).squeeze()\n origin /= origin[3]\n return factor, origin, direction\n\n\ndef projection_matrix(point, normal, direction=None,\n perspective=None, pseudo=False):\n \"\"\"Return matrix to project onto plane defined by point and normal.\n\n Using either perspective point, projection direction, or none of both.\n\n If pseudo is True, perspective projections will preserve relative depth\n such that Perspective = dot(Orthogonal, PseudoPerspective).\n\n >>> P = projection_matrix((0, 0, 0), (1, 0, 0))\n >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:])\n True\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(3) - 0.5\n >>> P0 = projection_matrix(point, normal)\n >>> P1 = projection_matrix(point, normal, direction=direct)\n >>> P2 = projection_matrix(point, normal, perspective=persp)\n >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True)\n >>> is_same_transform(P2, numpy.dot(P0, P3))\n True\n >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0))\n >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0\n >>> v0[3] = 1.0\n >>> v1 = numpy.dot(P, v0)\n >>> numpy.allclose(v1[1], v0[1])\n True\n >>> numpy.allclose(v1[0], 3.0-v1[1])\n True\n\n \"\"\"\n M = numpy.identity(4)\n point = numpy.array(point[:3], dtype=numpy.float64, copy=False)\n normal = unit_vector(normal[:3])\n if perspective is not None:\n # perspective projection\n perspective = numpy.array(perspective[:3], dtype=numpy.float64,\n copy=False)\n M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal)\n M[:3, :3] -= numpy.outer(perspective, normal)\n if pseudo:\n # preserve relative depth\n M[:3, :3] -= numpy.outer(normal, normal)\n M[:3, 3] = numpy.dot(point, normal) * (perspective+normal)\n else:\n M[:3, 3] = numpy.dot(point, normal) * perspective\n M[3, :3] = -normal\n M[3, 3] = numpy.dot(perspective, normal)\n elif direction is not None:\n # parallel projection\n direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False)\n scale = numpy.dot(direction, normal)\n M[:3, :3] -= numpy.outer(direction, normal) / scale\n M[:3, 3] = direction * (numpy.dot(point, normal) / scale)\n else:\n # orthogonal projection\n M[:3, :3] -= numpy.outer(normal, normal)\n M[:3, 3] = numpy.dot(point, normal) * normal\n return M\n\n\ndef projection_from_matrix(matrix, pseudo=False):\n \"\"\"Return projection plane and perspective point from projection matrix.\n\n Return values are same as arguments for projection_matrix function:\n point, normal, direction, perspective, and pseudo.\n\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(3) - 0.5\n >>> P0 = projection_matrix(point, normal)\n >>> result = projection_from_matrix(P0)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, direct)\n >>> result = projection_from_matrix(P0)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False)\n >>> result = projection_from_matrix(P0, pseudo=False)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True)\n >>> result = projection_from_matrix(P0, pseudo=True)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not pseudo and len(i):\n # point: any eigenvector corresponding to eigenvalue 1\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n # direction: unit eigenvector corresponding to eigenvalue 0\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 0\")\n direction = numpy.real(V[:, i[0]]).squeeze()\n direction /= vector_norm(direction)\n # normal: unit eigenvector of M33.T corresponding to eigenvalue 0\n l, V = numpy.linalg.eig(M33.T)\n i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]\n if len(i):\n # parallel projection\n normal = numpy.real(V[:, i[0]]).squeeze()\n normal /= vector_norm(normal)\n return point, normal, direction, None, False\n else:\n # orthogonal projection, where normal equals direction vector\n return point, direction, None, None, False\n else:\n # perspective projection\n i = numpy.where(abs(numpy.real(l)) > 1e-8)[0]\n if not len(i):\n raise ValueError(\n \"no eigenvector not corresponding to eigenvalue 0\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n normal = - M[3, :3]\n perspective = M[:3, 3] / numpy.dot(point[:3], normal)\n if pseudo:\n perspective -= normal\n return point, normal, None, perspective, pseudo\n\n\ndef clip_matrix(left, right, bottom, top, near, far, perspective=False):\n \"\"\"Return matrix to obtain normalized device coordinates from frustrum.\n\n The frustrum bounds are axis-aligned along x (left, right),\n y (bottom, top) and z (near, far).\n\n Normalized device coordinates are in range [-1, 1] if coordinates are\n inside the frustrum.\n\n If perspective is True the frustrum is a truncated pyramid with the\n perspective point at origin and direction along z axis, otherwise an\n orthographic canonical view volume (a box).\n\n Homogeneous coordinates transformed by the perspective clip matrix\n need to be dehomogenized (devided by w coordinate).\n\n >>> frustrum = numpy.random.rand(6)\n >>> frustrum[1] += frustrum[0]\n >>> frustrum[3] += frustrum[2]\n >>> frustrum[5] += frustrum[4]\n >>> M = clip_matrix(*frustrum, perspective=False)\n >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])\n array([-1., -1., -1., 1.])\n >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0])\n array([ 1., 1., 1., 1.])\n >>> M = clip_matrix(*frustrum, perspective=True)\n >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])\n >>> v / v[3]\n array([-1., -1., -1., 1.])\n >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0])\n >>> v / v[3]\n array([ 1., 1., -1., 1.])\n\n \"\"\"\n if left >= right or bottom >= top or near >= far:\n raise ValueError(\"invalid frustrum\")\n if perspective:\n if near <= _EPS:\n raise ValueError(\"invalid frustrum: near <= 0\")\n t = 2.0 * near\n M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0),\n (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0),\n (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)),\n (0.0, 0.0, -1.0, 0.0))\n else:\n M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)),\n (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)),\n (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)),\n (0.0, 0.0, 0.0, 1.0))\n return numpy.array(M, dtype=numpy.float64)\n\n\ndef shear_matrix(angle, direction, point, normal):\n \"\"\"Return matrix to shear by angle along direction vector on shear plane.\n\n The shear plane is defined by a point and normal vector. The direction\n vector must be orthogonal to the plane's normal vector.\n\n A point P is transformed by the shear matrix into P\" such that\n the vector P-P\" is parallel to the direction vector and its extent is\n given by the angle of P-P'-P\", where P' is the orthogonal projection\n of P onto the shear plane.\n\n >>> angle = (random.random() - 0.5) * 4*math.pi\n >>> direct = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.cross(direct, numpy.random.random(3))\n >>> S = shear_matrix(angle, direct, point, normal)\n >>> numpy.allclose(1.0, numpy.linalg.det(S))\n True\n\n \"\"\"\n normal = unit_vector(normal[:3])\n direction = unit_vector(direction[:3])\n if abs(numpy.dot(normal, direction)) > 1e-6:\n raise ValueError(\"direction and normal vectors are not orthogonal\")\n angle = math.tan(angle)\n M = numpy.identity(4)\n M[:3, :3] += angle * numpy.outer(direction, normal)\n M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction\n return M\n\n\ndef shear_from_matrix(matrix):\n \"\"\"Return shear angle, direction and plane from shear matrix.\n\n >>> angle = (random.random() - 0.5) * 4*math.pi\n >>> direct = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.cross(direct, numpy.random.random(3))\n >>> S0 = shear_matrix(angle, direct, point, normal)\n >>> angle, direct, point, normal = shear_from_matrix(S0)\n >>> S1 = shear_matrix(angle, direct, point, normal)\n >>> is_same_transform(S0, S1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n # normal: cross independent eigenvectors corresponding to the eigenvalue 1\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0]\n if len(i) < 2:\n raise ValueError(\"No two linear independent eigenvectors found %s\" % l)\n V = numpy.real(V[:, i]).squeeze().T\n lenorm = -1.0\n for i0, i1 in ((0, 1), (0, 2), (1, 2)):\n n = numpy.cross(V[i0], V[i1])\n l = vector_norm(n)\n if l > lenorm:\n lenorm = l\n normal = n\n normal /= lenorm\n # direction and angle\n direction = numpy.dot(M33 - numpy.identity(3), normal)\n angle = vector_norm(direction)\n direction /= angle\n angle = math.atan(angle)\n # point: eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n return angle, direction, point, normal\n\n\ndef decompose_matrix(matrix):\n \"\"\"Return sequence of transformations from transformation matrix.\n\n matrix : array_like\n Non-degenerative homogeneous transformation matrix\n\n Return tuple of:\n scale : vector of 3 scaling factors\n shear : list of shear factors for x-y, x-z, y-z axes\n angles : list of Euler angles about static x, y, z axes\n translate : translation vector along x, y, z axes\n perspective : perspective partition of matrix\n\n Raise ValueError if matrix is of wrong type or degenerative.\n\n >>> T0 = translation_matrix((1, 2, 3))\n >>> scale, shear, angles, trans, persp = decompose_matrix(T0)\n >>> T1 = translation_matrix(trans)\n >>> numpy.allclose(T0, T1)\n True\n >>> S = scale_matrix(0.123)\n >>> scale, shear, angles, trans, persp = decompose_matrix(S)\n >>> scale[0]\n 0.123\n >>> R0 = euler_matrix(1, 2, 3)\n >>> scale, shear, angles, trans, persp = decompose_matrix(R0)\n >>> R1 = euler_matrix(*angles)\n >>> numpy.allclose(R0, R1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=True).T\n if abs(M[3, 3]) < _EPS:\n raise ValueError(\"M[3, 3] is zero\")\n M /= M[3, 3]\n P = M.copy()\n P[:, 3] = 0, 0, 0, 1\n if not numpy.linalg.det(P):\n raise ValueError(\"Matrix is singular\")\n\n scale = numpy.zeros((3, ), dtype=numpy.float64)\n shear = [0, 0, 0]\n angles = [0, 0, 0]\n\n if any(abs(M[:3, 3]) > _EPS):\n perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T))\n M[:, 3] = 0, 0, 0, 1\n else:\n perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64)\n\n translate = M[3, :3].copy()\n M[3, :3] = 0\n\n row = M[:3, :3].copy()\n scale[0] = vector_norm(row[0])\n row[0] /= scale[0]\n shear[0] = numpy.dot(row[0], row[1])\n row[1] -= row[0] * shear[0]\n scale[1] = vector_norm(row[1])\n row[1] /= scale[1]\n shear[0] /= scale[1]\n shear[1] = numpy.dot(row[0], row[2])\n row[2] -= row[0] * shear[1]\n shear[2] = numpy.dot(row[1], row[2])\n row[2] -= row[1] * shear[2]\n scale[2] = vector_norm(row[2])\n row[2] /= scale[2]\n shear[1:] /= scale[2]\n\n if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0:\n scale *= -1\n row *= -1\n\n angles[1] = math.asin(-row[0, 2])\n if math.cos(angles[1]):\n angles[0] = math.atan2(row[1, 2], row[2, 2])\n angles[2] = math.atan2(row[0, 1], row[0, 0])\n else:\n # angles[0] = math.atan2(row[1, 0], row[1, 1])\n angles[0] = math.atan2(-row[2, 1], row[1, 1])\n angles[2] = 0.0\n\n return scale, shear, angles, translate, perspective\n\n\ndef compose_matrix(scale=None, shear=None, angles=None, translate=None,\n perspective=None):\n \"\"\"Return transformation matrix from sequence of transformations.\n\n This is the inverse of the decompose_matrix function.\n\n Sequence of transformations:\n scale : vector of 3 scaling factors\n shear : list of shear factors for x-y, x-z, y-z axes\n angles : list of Euler angles about static x, y, z axes\n translate : translation vector along x, y, z axes\n perspective : perspective partition of matrix\n\n >>> scale = numpy.random.random(3) - 0.5\n >>> shear = numpy.random.random(3) - 0.5\n >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi)\n >>> trans = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(4) - 0.5\n >>> M0 = compose_matrix(scale, shear, angles, trans, persp)\n >>> result = decompose_matrix(M0)\n >>> M1 = compose_matrix(*result)\n >>> is_same_transform(M0, M1)\n True\n\n \"\"\"\n M = numpy.identity(4)\n if perspective is not None:\n P = numpy.identity(4)\n P[3, :] = perspective[:4]\n M = numpy.dot(M, P)\n if translate is not None:\n T = numpy.identity(4)\n T[:3, 3] = translate[:3]\n M = numpy.dot(M, T)\n if angles is not None:\n R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz')\n M = numpy.dot(M, R)\n if shear is not None:\n Z = numpy.identity(4)\n Z[1, 2] = shear[2]\n Z[0, 2] = shear[1]\n Z[0, 1] = shear[0]\n M = numpy.dot(M, Z)\n if scale is not None:\n S = numpy.identity(4)\n S[0, 0] = scale[0]\n S[1, 1] = scale[1]\n S[2, 2] = scale[2]\n M = numpy.dot(M, S)\n M /= M[3, 3]\n return M\n\n\ndef orthogonalization_matrix(lengths, angles):\n \"\"\"Return orthogonalization matrix for crystallographic cell coordinates.\n\n Angles are expected in degrees.\n\n The de-orthogonalization matrix is the inverse.\n\n >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.))\n >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10)\n True\n >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7])\n >>> numpy.allclose(numpy.sum(O), 43.063229)\n True\n\n \"\"\"\n a, b, c = lengths\n angles = numpy.radians(angles)\n sina, sinb, _ = numpy.sin(angles)\n cosa, cosb, cosg = numpy.cos(angles)\n co = (cosa * cosb - cosg) / (sina * sinb)\n return numpy.array((\n (a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0),\n (-a*sinb*co, b*sina, 0.0, 0.0),\n (a*cosb, b*cosa, c, 0.0),\n (0.0, 0.0, 0.0, 1.0)),\n dtype=numpy.float64)\n\n\ndef superimposition_matrix(v0, v1, scaling=False, usesvd=True):\n \"\"\"Return matrix to transform given vector set into second vector set.\n\n v0 and v1 are shape (3, \\*) or (4, \\*) arrays of at least 3 vectors.\n\n If usesvd is True, the weighted sum of squared deviations (RMSD) is\n minimized according to the algorithm by W. Kabsch [8]. Otherwise the\n quaternion based algorithm by B. Horn [9] is used (slower when using\n this Python implementation).\n\n The returned matrix performs rotation, translation and uniform scaling\n (if specified).\n\n >>> v0 = numpy.random.rand(3, 10)\n >>> M = superimposition_matrix(v0, v0)\n >>> numpy.allclose(M, numpy.identity(4))\n True\n >>> R = random_rotation_matrix(numpy.random.random(3))\n >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1))\n >>> v1 = numpy.dot(R, v0)\n >>> M = superimposition_matrix(v0, v1)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0\n >>> v0[3] = 1.0\n >>> v1 = numpy.dot(R, v0)\n >>> M = superimposition_matrix(v0, v1)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> S = scale_matrix(random.random())\n >>> T = translation_matrix(numpy.random.random(3)-0.5)\n >>> M = concatenate_matrices(T, R, S)\n >>> v1 = numpy.dot(M, v0)\n >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1)\n >>> M = superimposition_matrix(v0, v1, scaling=True)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64)\n >>> v[:, :, 0] = v0\n >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)\n >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0]))\n True\n\n \"\"\"\n v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]\n v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]\n\n if v0.shape != v1.shape or v0.shape[1] < 3:\n raise ValueError(\"Vector sets are of wrong shape or type.\")\n\n # move centroids to origin\n t0 = numpy.mean(v0, axis=1)\n t1 = numpy.mean(v1, axis=1)\n v0 = v0 - t0.reshape(3, 1)\n v1 = v1 - t1.reshape(3, 1)\n\n if usesvd:\n # Singular Value Decomposition of covariance matrix\n u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))\n # rotation matrix from SVD orthonormal bases\n R = numpy.dot(u, vh)\n if numpy.linalg.det(R) < 0.0:\n # R does not constitute right handed system\n R -= numpy.outer(u[:, 2], vh[2, :]*2.0)\n s[-1] *= -1.0\n # homogeneous transformation matrix\n M = numpy.identity(4)\n M[:3, :3] = R\n else:\n # compute symmetric matrix N\n xx, yy, zz = numpy.sum(v0 * v1, axis=1)\n xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1)\n xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1)\n N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx),\n (yz-zy, xx-yy-zz, xy+yx, zx+xz),\n (zx-xz, xy+yx, -xx+yy-zz, yz+zy),\n (xy-yx, zx+xz, yz+zy, -xx-yy+zz))\n # quaternion: eigenvector corresponding to most positive eigenvalue\n l, V = numpy.linalg.eig(N)\n q = V[:, numpy.argmax(l)]\n q /= vector_norm(q) # unit quaternion\n q = numpy.roll(q, -1) # move w component to end\n # homogeneous transformation matrix\n M = rotation_matrix_from_quaternion(q)\n\n # scale: ratio of rms deviations from centroid\n if scaling:\n v0 *= v0\n v1 *= v1\n M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0))\n\n # translation\n M[:3, 3] = t1\n T = numpy.identity(4)\n T[:3, 3] = -t0\n M = numpy.dot(M, T)\n return M\n\n\ndef euler_matrix(ai, aj, ak, axes='sxyz'):\n \"\"\"Return homogeneous rotation matrix from Euler angles and axis sequence.\n\n ai, aj, ak : Euler's roll, pitch and yaw angles\n axes : One of 24 axis sequences as string or encoded tuple\n\n >>> R = euler_matrix(1, 2, 3, 'syxz')\n >>> numpy.allclose(numpy.sum(R[0]), -1.34786452)\n True\n >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))\n >>> numpy.allclose(numpy.sum(R[0]), -0.383436184)\n True\n >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5)\n >>> for axes in _AXES2TUPLE.keys():\n ... R = euler_matrix(ai, aj, ak, axes)\n >>> for axes in _TUPLE2AXES.keys():\n ... R = euler_matrix(ai, aj, ak, axes)\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n if frame:\n ai, ak = ak, ai\n if parity:\n ai, aj, ak = -ai, -aj, -ak\n\n si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak)\n ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak)\n cc, cs = ci*ck, ci*sk\n sc, ss = si*ck, si*sk\n\n M = numpy.identity(4)\n if repetition:\n M[i, i] = cj\n M[i, j] = sj*si\n M[i, k] = sj*ci\n M[j, i] = sj*sk\n M[j, j] = -cj*ss+cc\n M[j, k] = -cj*cs-sc\n M[k, i] = -sj*ck\n M[k, j] = cj*sc+cs\n M[k, k] = cj*cc-ss\n else:\n M[i, i] = cj*ck\n M[i, j] = sj*sc-cs\n M[i, k] = sj*cc+ss\n M[j, i] = cj*sk\n M[j, j] = sj*ss+cc\n M[j, k] = sj*cs-sc\n M[k, i] = -sj\n M[k, j] = cj*si\n M[k, k] = cj*ci\n return M\n\n\ndef euler_from_matrix(matrix, axes='sxyz'):\n \"\"\"Return Euler angles from rotation matrix for specified axis sequence.\n\n axes : One of 24 axis sequences as string or encoded tuple\n\n Note that many Euler angle triplets can describe one matrix.\n\n >>> R0 = euler_matrix(1, 2, 3, 'syxz')\n >>> al, be, ga = euler_from_matrix(R0, 'syxz')\n >>> R1 = euler_matrix(al, be, ga, 'syxz')\n >>> numpy.allclose(R0, R1)\n True\n >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5)\n >>> for axes in _AXES2TUPLE.keys():\n ... R0 = euler_matrix(axes=axes, *angles)\n ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes))\n ... if not numpy.allclose(R0, R1): print axes, \"failed\"\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3]\n if repetition:\n sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k])\n if sy > _EPS:\n ax = math.atan2(M[i, j], M[i, k])\n ay = math.atan2(sy, M[i, i])\n az = math.atan2(M[j, i], -M[k, i])\n else:\n ax = math.atan2(-M[j, k], M[j, j])\n ay = math.atan2(sy, M[i, i])\n az = 0.0\n else:\n cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i])\n if cy > _EPS:\n ax = math.atan2(M[k, j], M[k, k])\n ay = math.atan2(-M[k, i], cy)\n az = math.atan2(M[j, i], M[i, i])\n else:\n ax = math.atan2(-M[j, k], M[j, j])\n ay = math.atan2(-M[k, i], cy)\n az = 0.0\n\n if parity:\n ax, ay, az = -ax, -ay, -az\n if frame:\n ax, az = az, ax\n return ax, ay, az\n\n\ndef euler_from_quaternion(quaternion, axes='sxyz'):\n \"\"\"Return Euler angles from quaternion for specified axis sequence.\n\n >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947])\n >>> numpy.allclose(angles, [0.123, 0, 0])\n True\n\n \"\"\"\n return euler_from_matrix(rotation_matrix_from_quaternion(quaternion), axes)\n\n\ndef quaternion_from_euler(ai, aj, ak, axes='sxyz'):\n \"\"\"Return quaternion from Euler angles and axis sequence.\n\n ai, aj, ak : Euler's roll, pitch and yaw angles\n axes : One of 24 axis sequences as string or encoded tuple\n\n >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')\n >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953])\n True\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n if frame:\n ai, ak = ak, ai\n if parity:\n aj = -aj\n\n ai /= 2.0\n aj /= 2.0\n ak /= 2.0\n ci = math.cos(ai)\n si = math.sin(ai)\n cj = math.cos(aj)\n sj = math.sin(aj)\n ck = math.cos(ak)\n sk = math.sin(ak)\n cc = ci*ck\n cs = ci*sk\n sc = si*ck\n ss = si*sk\n\n quaternion = numpy.empty((4, ), dtype=numpy.float64)\n if repetition:\n quaternion[i] = cj*(cs + sc)\n quaternion[j] = sj*(cc + ss)\n quaternion[k] = sj*(cs - sc)\n quaternion[3] = cj*(cc - ss)\n else:\n quaternion[i] = cj*sc - sj*cs\n quaternion[j] = cj*ss + sj*cc\n quaternion[k] = cj*cs - sj*sc\n quaternion[3] = cj*cc + sj*ss\n if parity:\n quaternion[j] *= -1\n\n return quaternion\n\n\ndef pose_from_matrix(matrix):\n \"\"\"Return translation + quaternion(x,y,z,w)\n \"\"\"\n if matrix.shape == (3, 4):\n matrix = numpy.concatenate((matrix, [[0, 0, 0, 1]]), axis=0)\n\n pose = translation_from_matrix(matrix)\n quat = rotation_matrix_from_quaternion(matrix)\n return numpy.concatenate((pose, quat), axis=0)\n\n\nclass Arcball(object):\n \"\"\"Virtual Trackball Control.\n\n >>> ball = Arcball()\n >>> ball = Arcball(initial=numpy.identity(4))\n >>> ball.place([320, 320], 320)\n >>> ball.down([500, 250])\n >>> ball.drag([475, 275])\n >>> R = ball.matrix()\n >>> numpy.allclose(numpy.sum(R), 3.90583455)\n True\n >>> ball = Arcball(initial=[0, 0, 0, 1])\n >>> ball.place([320, 320], 320)\n >>> ball.setaxes([1,1,0], [-1, 1, 0])\n >>> ball.setconstrain(True)\n >>> ball.down([400, 200])\n >>> ball.drag([200, 400])\n >>> R = ball.matrix()\n >>> numpy.allclose(numpy.sum(R), 0.2055924)\n True\n >>> ball.next()\n\n \"\"\"\n\n def __init__(self, initial=None):\n \"\"\"Initialize virtual trackball control.\n\n initial : quaternion or rotation matrix\n\n \"\"\"\n self._axis = None\n self._axes = None\n self._radius = 1.0\n self._center = [0.0, 0.0]\n self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64)\n self._constrain = False\n\n if initial is None:\n self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64)\n else:\n initial = numpy.array(initial, dtype=numpy.float64)\n if initial.shape == (4, 4):\n self._qdown = rotation_matrix_from_quaternion(initial)\n elif initial.shape == (4, ):\n initial /= vector_norm(initial)\n self._qdown = initial\n else:\n raise ValueError(\"initial not a quaternion or matrix.\")\n\n self._qnow = self._qpre = self._qdown\n\n def place(self, center, radius):\n \"\"\"Place Arcball, e.g. when window size changes.\n\n center : sequence[2]\n Window coordinates of trackball center.\n radius : float\n Radius of trackball in window coordinates.\n\n \"\"\"\n self._radius = float(radius)\n self._center[0] = center[0]\n self._center[1] = center[1]\n\n def setaxes(self, *axes):\n \"\"\"Set axes to constrain rotations.\"\"\"\n if axes is None:\n self._axes = None\n else:\n self._axes = [unit_vector(axis) for axis in axes]\n\n def setconstrain(self, constrain):\n \"\"\"Set state of constrain to axis mode.\"\"\"\n self._constrain = constrain == True\n\n def getconstrain(self):\n \"\"\"Return state of constrain to axis mode.\"\"\"\n return self._constrain\n\n def down(self, point):\n \"\"\"Set initial cursor window coordinates and pick constrain-axis.\"\"\"\n self._vdown = arcball_map_to_sphere(point, self._center, self._radius)\n self._qdown = self._qpre = self._qnow\n\n if self._constrain and self._axes is not None:\n self._axis = arcball_nearest_axis(self._vdown, self._axes)\n self._vdown = arcball_constrain_to_axis(self._vdown, self._axis)\n else:\n self._axis = None\n\n def drag(self, point):\n \"\"\"Update current cursor window coordinates.\"\"\"\n vnow = arcball_map_to_sphere(point, self._center, self._radius)\n\n if self._axis is not None:\n vnow = arcball_constrain_to_axis(vnow, self._axis)\n\n self._qpre = self._qnow\n\n t = numpy.cross(self._vdown, vnow)\n if numpy.dot(t, t) < _EPS:\n self._qnow = self._qdown\n else:\n q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)]\n self._qnow = quaternion_multiply(q, self._qdown)\n\n def next(self, acceleration=0.0):\n \"\"\"Continue rotation in direction of last drag.\"\"\"\n q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False)\n self._qpre, self._qnow = self._qnow, q\n\n def matrix(self):\n \"\"\"Return homogeneous rotation matrix.\"\"\"\n return rotation_matrix_from_quaternion(self._qnow)\n\n\ndef arcball_map_to_sphere(point, center, radius):\n \"\"\"Return unit sphere coordinates from window coordinates.\"\"\"\n v = numpy.array(((point[0] - center[0]) / radius,\n (center[1] - point[1]) / radius,\n 0.0), dtype=numpy.float64)\n n = v[0]*v[0] + v[1]*v[1]\n if n > 1.0:\n v /= math.sqrt(n) # position outside of sphere\n else:\n v[2] = math.sqrt(1.0 - n)\n return v\n\n\ndef arcball_constrain_to_axis(point, axis):\n \"\"\"Return sphere point perpendicular to axis.\"\"\"\n v = numpy.array(point, dtype=numpy.float64, copy=True)\n a = numpy.array(axis, dtype=numpy.float64, copy=True)\n v -= a * numpy.dot(a, v) # on plane\n n = vector_norm(v)\n if n > _EPS:\n if v[2] < 0.0:\n v *= -1.0\n v /= n\n return v\n if a[2] == 1.0:\n return numpy.array([1, 0, 0], dtype=numpy.float64)\n return unit_vector([-a[1], a[0], 0])\n\n\ndef arcball_nearest_axis(point, axes):\n \"\"\"Return axis, which arc is nearest to point.\"\"\"\n point = numpy.array(point, dtype=numpy.float64, copy=False)\n nearest = None\n mx = -1.0\n for axis in axes:\n t = numpy.dot(arcball_constrain_to_axis(point, axis), point)\n if t > mx:\n nearest = axis\n mx = t\n return nearest\n\n\n# epsilon for testing whether a number is close to zero\n_EPS = numpy.finfo(float).eps * 4.0\n\n# axis sequences for Euler angles\n_NEXT_AXIS = [1, 2, 0, 1]\n\n# map axes strings to/from tuples of inner axis, parity, repetition, frame\n_AXES2TUPLE = {\n 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),\n 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),\n 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),\n 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),\n 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),\n 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),\n 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),\n 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}\n\n_TUPLE2AXES = dict((v, k) for k, v in list(_AXES2TUPLE.items()))\n\n# helper functions\n\n\ndef vector_norm(data, axis=None, out=None):\n \"\"\"Return length, i.e. eucledian norm, of ndarray along axis.\n\n >>> v = numpy.random.random(3)\n >>> n = vector_norm(v)\n >>> numpy.allclose(n, numpy.linalg.norm(v))\n True\n >>> v = numpy.random.rand(6, 5, 3)\n >>> n = vector_norm(v, axis=-1)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2)))\n True\n >>> n = vector_norm(v, axis=1)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))\n True\n >>> v = numpy.random.rand(5, 4, 3)\n >>> n = numpy.empty((5, 3), dtype=numpy.float64)\n >>> vector_norm(v, axis=1, out=n)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))\n True\n >>> vector_norm([])\n 0.0\n >>> vector_norm([1.0])\n 1.0\n\n \"\"\"\n data = numpy.array(data, dtype=numpy.float64, copy=True)\n if out is None:\n if data.ndim == 1:\n return math.sqrt(numpy.dot(data, data))\n data *= data\n out = numpy.atleast_1d(numpy.sum(data, axis=axis))\n numpy.sqrt(out, out)\n return out\n else:\n data *= data\n numpy.sum(data, axis=axis, out=out)\n numpy.sqrt(out, out)\n\n\ndef unit_vector(data, axis=None, out=None):\n \"\"\"Return ndarray normalized by length, i.e. eucledian norm, along axis.\n\n >>> v0 = numpy.random.random(3)\n >>> v1 = unit_vector(v0)\n >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0))\n True\n >>> v0 = numpy.random.rand(5, 4, 3)\n >>> v1 = unit_vector(v0, axis=-1)\n >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)\n >>> numpy.allclose(v1, v2)\n True\n >>> v1 = unit_vector(v0, axis=1)\n >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)\n >>> numpy.allclose(v1, v2)\n True\n >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64)\n >>> unit_vector(v0, axis=1, out=v1)\n >>> numpy.allclose(v1, v2)\n True\n >>> list(unit_vector([]))\n []\n >>> list(unit_vector([1.0]))\n [1.0]\n\n \"\"\"\n if out is None:\n data = numpy.array(data, dtype=numpy.float64, copy=True)\n if data.ndim == 1:\n data /= math.sqrt(numpy.dot(data, data))\n return data\n else:\n if out is not data:\n out[:] = numpy.array(data, copy=False)\n data = out\n length = numpy.atleast_1d(numpy.sum(data*data, axis))\n numpy.sqrt(length, length)\n if axis is not None:\n length = numpy.expand_dims(length, axis)\n data /= length\n if out is None:\n return data\n\n\ndef random_vector(size):\n \"\"\"Return array of random doubles in the half-open interval [0.0, 1.0).\n\n >>> v = random_vector(10000)\n >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0)\n True\n >>> v0 = random_vector(10)\n >>> v1 = random_vector(10)\n >>> numpy.any(v0 == v1)\n False\n\n \"\"\"\n return numpy.random.random(size)\n\n\ndef inverse_matrix(matrix):\n \"\"\"Return inverse of square transformation matrix.\n\n >>> M0 = random_rotation_matrix()\n >>> M1 = inverse_matrix(M0.T)\n >>> numpy.allclose(M1, numpy.linalg.inv(M0.T))\n True\n >>> for size in range(1, 7):\n ... M0 = numpy.random.rand(size, size)\n ... M1 = inverse_matrix(M0)\n ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size\n\n \"\"\"\n return numpy.linalg.inv(matrix)\n\n\ndef concatenate_matrices(*matrices):\n \"\"\"Return concatenation of series of transformation matrices.\n\n >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5\n >>> numpy.allclose(M, concatenate_matrices(M))\n True\n >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T))\n True\n\n \"\"\"\n M = numpy.identity(4)\n for i in matrices:\n M = numpy.dot(M, i)\n return M\n\n\ndef is_same_transform(matrix0, matrix1):\n \"\"\"Return True if two matrices perform same transformation.\n\n >>> is_same_transform(numpy.identity(4), numpy.identity(4))\n True\n >>> is_same_transform(numpy.identity(4), random_rotation_matrix())\n False\n\n \"\"\"\n matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True)\n matrix0 /= matrix0[3, 3]\n matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True)\n matrix1 /= matrix1[3, 3]\n return numpy.allclose(matrix0, matrix1)\n\n\ndef rotate_quaternion_by_rpy(roll, pitch, yaw, q_in, rotated_frame=False):\n \"\"\"\n if rotated_frame == True, Apply RPY rotation in the reference frame of the quaternion.\n\n Otherwise, Apply RPY rotation in the rotated frame (the one to which the quaternion has rotated the reference frame).\n \"\"\"\n q_rot = quaternion_from_euler(roll, pitch, yaw)\n\n if rotated_frame:\n q_rotated = quaternion_multiply(q_in, q_rot)\n else:\n q_rotated = quaternion_multiply(q_rot, q_in)\n\n return q_rotated\n\n\ndef translate_pose(pose, delta, rotated_frame=False):\n \"\"\"\n Translate pose by a delta distance.\n rotated_frame: \n False, to translate directly to the frame of reference.\n True, rotate delta and then apply translation. I.e., translate about its relative pose\n \"\"\"\n position = numpy.copy(pose[:3])\n orienation = pose[3:]\n\n if rotated_frame:\n position += quaternion_rotate_vector(orienation, delta)\n else:\n position += delta\n\n return numpy.concatenate([position, orienation])\n\n\ndef transform_pose(pose, transformation, rotated_frame=False):\n \"\"\"\n Apply a transformation, translation and rotation to a pose.\n Optionally, apply the transformation relative to itself. In other words, \n\n pose: list, initial pose in the form [x, y, z, rx, ry, rz, w]\n transformation: list, in the form [x, y, z, r, p, y]\n rotated_frame: boolean, apply transformation directly (in reference frame) \n or rotate about current orientation before applying transformation.\n In other words, transform relative to reference frame or relative to pose frame\n axes: string type of axes for euler angles transformation\n \"\"\"\n # Apply translation\n new_pose = translate_pose(pose, transformation[:3], rotated_frame=rotated_frame)\n\n # Apply rotation\n new_pose[3:] = rotate_quaternion_by_rpy(*transformation[3:], pose[3:], rotated_frame=rotated_frame)\n\n return new_pose\n\n\ndef pose_from_angular_velocity_euler(pose, velocity, dt=1.0):\n \"\"\"\n Transform an action translation + euler [x, y, z, rx, ry, rz] into\n translation(optional rotated) + quaternion [x, y, z, rx, ry, rz, w]\n pose: list initial pose translation + quaternion\n velocity: list aditional desired motion translation + euler\n ee_rotation: boolean whether to return the rotated translation w.r.t\n the end effector\n \"\"\"\n _pose = numpy.copy(pose)\n translation = _pose[:3]\n vel = numpy.copy(velocity)\n lin_vel = vel[:3]\n ang_vel = vel[3:]\n\n pose_cmd = numpy.zeros_like(pose)\n # Translation\n pose_cmd[:3] = translation + lin_vel*dt\n\n # Rotation\n new_orientation = _pose[3:] + ang_vel*dt\n\n pose_cmd[3:] = new_orientation\n\n return pose_cmd\n\n\ndef pose_from_angular_velocity(pose, velocity, dt=1.0, rotated_frame=False):\n \"\"\"\n Transform an action translation + euler [x, y, z, rx, ry, rz] into\n translation(optional rotated) + quaternion [x, y, z, rx, ry, rz, w]\n pose: list initial pose translation + quaternion\n velocity: list aditional desired motion translation + euler\n rotated_frame: boolean whether to return the rotated translation w.r.t\n the end effector\n \"\"\"\n _pose = numpy.copy(pose)\n translation = _pose[:3]\n orientation = to_np_quaternion(_pose[3:])\n vel = numpy.copy(velocity)\n lin_vel = vel[:3]\n ang_vel = vel[3:]\n\n pose_cmd = numpy.zeros_like(pose)\n # Translation\n if rotated_frame:\n lin_vel[2] *= -1\n lin_vel = quaternion.rotate_vectors(orientation, lin_vel)\n pose_cmd[:3] = translation + lin_vel*dt\n else:\n pose_cmd[:3] = translation + lin_vel*dt\n\n # Rotation\n new_orientation = integrateUnitQuaternionEuler(orientation, ang_vel, dt)\n\n pose_cmd[3:] = to_np_array(new_orientation)\n\n return pose_cmd\n\n\ndef integrateUnitQuaternionDMM(q, w, dt):\n \"\"\" Integrate a unit quaterniong using the Direct Multiplicaiton Method\"\"\"\n w_norm = numpy.linalg.norm(w)\n if w_norm == 0:\n return q\n q_tmp = numpy.concatenate([numpy.sin(w_norm*dt/2)*w/w_norm, [numpy.cos(w_norm*dt/2.)]])\n return quaternion_multiply(q_tmp, q)\n\n\ndef integrateUnitQuaternionEuler(q, w, dt):\n \"\"\" Integrate a unit quaterniong using Euler Method\"\"\"\n q = to_np_quaternion(q)\n qw = quaternion.from_vector_part(w)\n return (q + 0.5*qw*dt*q).normalised\n\n\ndef pose_to_transform(pose):\n translation = numpy.array([pose[:3]])\n if len(pose[3:]) == 3:\n transform = euler_matrix(*pose[3:])\n else:\n transform = rotation_matrix_from_quaternion(pose[3:])\n transform[:3, 3] = translation\n return transform\n\n\ndef angular_velocity_from_quaternions(q0, q1, dt):\n return (2.0 / dt) * quaternion_multiply(q1 - q0, quaternion_inverse(q0))[:3]\n\n\ndef pose_quaternion_to_euler(pose):\n return numpy.concatenate([pose[:3], list(euler_from_quaternion(pose[3:], axes='rxyz'))])\n\n\ndef pose_euler_to_quat(pose):\n return numpy.concatenate([pose[:3], list(quaternion_from_euler(*pose[3:], axes='rxyz'))])\n\n\ndef transform_between_poses(p1, p2):\n p1_T = pose_to_transform(p1)\n p2_T = pose_to_transform(p2)\n\n p1_T_inv = inverse_matrix(p1_T)\n return concatenate_matrices(p1_T_inv, p2_T)\n" }, { "path": "ur_control/src/ur_control/ur_services.py", "content": "\nimport rospy\nimport time\n\nimport controller_manager_msgs.msg\nimport std_srvs.srv\nfrom ur_control import conversions\nfrom ur_control.utils import solve_namespace\nimport ur_dashboard_msgs.srv\nimport ur_msgs.srv\n\nfrom std_msgs.msg import Bool\n\n\ndef check_for_real_robot(func):\n '''Decorator that validates the real robot is used or no'''\n\n def wrap(*args, **kwargs):\n if args[0].use_real_robot:\n return func(*args, **kwargs)\n rospy.logdebug(\"Ignoring function %s since no real robot is being used\" % func.__name__)\n return True\n return wrap\n\n\nclass URServices():\n \"\"\" \n Universal Robots driver specific services\n \"\"\"\n\n def __init__(self, namespace):\n\n self.use_real_robot = rospy.get_param(\"use_real_robot\", False)\n\n self.ns = solve_namespace(namespace)\n\n self.ur_ros_control_running_on_robot = False\n self.robot_safety_mode = None\n self.robot_status = dict()\n\n self.ur_dashboard_clients = {\n \"get_loaded_program\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/get_loaded_program', ur_dashboard_msgs.srv.GetLoadedProgram),\n \"program_running\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/program_running', ur_dashboard_msgs.srv.IsProgramRunning),\n \"load_program\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/load_program', ur_dashboard_msgs.srv.Load),\n \"play\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/play', std_srvs.srv.Trigger),\n \"stop\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/stop', std_srvs.srv.Trigger),\n \"quit\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/quit', std_srvs.srv.Trigger),\n \"connect\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/connect', std_srvs.srv.Trigger),\n \"close_popup\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/close_popup', std_srvs.srv.Trigger),\n \"unlock_protective_stop\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/unlock_protective_stop', std_srvs.srv.Trigger),\n \"is_in_remote_control\": rospy.ServiceProxy(self.ns + 'ur_hardware_interface/dashboard/is_in_remote_control', ur_dashboard_msgs.srv.IsInRemoteControl),\n }\n\n self.set_payload_srv = rospy.ServiceProxy(self.ns + 'ur_hardware_interface/set_payload', ur_msgs.srv.SetPayload)\n self.speed_slider = rospy.ServiceProxy(self.ns + 'ur_hardware_interface/set_speed_slider', ur_msgs.srv.SetSpeedSliderFraction)\n\n self.set_io = rospy.ServiceProxy(self.ns + 'ur_hardware_interface/set_io', ur_msgs.srv.SetIO)\n\n self.sub_status_ = rospy.Subscriber(self.ns + 'ur_hardware_interface/robot_program_running', Bool, self.ros_control_status_callback)\n self.service_proxy_list = rospy.ServiceProxy(self.ns + 'controller_manager/list_controllers', controller_manager_msgs.srv.ListControllers)\n self.service_proxy_switch = rospy.ServiceProxy(self.ns + 'controller_manager/switch_controller', controller_manager_msgs.srv.SwitchController)\n\n self.sub_robot_safety_mode = rospy.Subscriber(self.ns + 'ur_hardware_interface/safety_mode', ur_dashboard_msgs.msg.SafetyMode, self.safety_mode_callback)\n\n @check_for_real_robot\n def safety_mode_callback(self, msg):\n self.robot_safety_mode = msg.mode\n\n @check_for_real_robot\n def ros_control_status_callback(self, msg):\n self.ur_ros_control_running_on_robot = msg.data\n\n @check_for_real_robot\n def is_running_normally(self):\n \"\"\"\n Returns true if the robot is running (no protective stop, not turned off etc).\n \"\"\"\n return self.robot_safety_mode == 1 or self.robot_safety_mode == 2 # Normal / Reduced\n\n @check_for_real_robot\n def is_protective_stopped(self):\n \"\"\"\n Returns true if the robot is in protective stop.\n \"\"\"\n return self.robot_safety_mode == 3\n\n @check_for_real_robot\n def unlock_protective_stop(self):\n if not self.use_real_robot:\n return True\n\n service_client = self.ur_dashboard_clients[\"unlock_protective_stop\"]\n request = std_srvs.srv.TriggerRequest()\n start_time = time.time()\n rospy.loginfo(\"Attempting to unlock protective stop of \" + self.ns)\n while not rospy.is_shutdown():\n response = service_client.call(request)\n if time.time() - start_time > 20.0:\n rospy.logerr(\"Timeout of 20s exceeded in unlock protective stop\")\n break\n if response.success:\n break\n rospy.sleep(0.2)\n self.ur_dashboard_clients[\"stop\"].call(std_srvs.srv.TriggerRequest())\n if not response.success:\n rospy.logwarn(\"Could not unlock protective stop of \" + self.ns + \"!\")\n return response.success\n\n @check_for_real_robot\n def set_speed_scale(self, scale):\n try:\n self.speed_slider(ur_msgs.srv.SetSpeedSliderFractionRequest(speed_slider_fraction=scale))\n except:\n rospy.logerr(\"Failed to communicate with Dashboard when setting speed slider\")\n return False\n\n @check_for_real_robot\n def set_payload(self, mass, center_of_gravity):\n \"\"\" \n mass float\n center_of_gravity list[3] \n \"\"\"\n self.activate_ros_control_on_ur()\n try:\n payload = ur_msgs.srv.SetPayloadRequest()\n payload.payload = mass\n payload.center_of_gravity = conversions.to_vector3(center_of_gravity)\n self.set_payload_srv(payload)\n return True\n except Exception as e:\n rospy.logerr(\"Exception trying to set payload: %s\" % e)\n return False\n\n @check_for_real_robot\n def wait_for_control_status_to_turn_on(self, waittime):\n start = rospy.Time.now()\n elapsed = rospy.Time.now() - start\n while not self.ur_ros_control_running_on_robot and elapsed < rospy.Duration(waittime) and not rospy.is_shutdown():\n rospy.sleep(.1)\n elapsed = rospy.Time.now() - start\n if self.ur_ros_control_running_on_robot:\n return True\n return False\n\n @check_for_real_robot\n def activate_ros_control_on_ur(self, recursion_depth=0):\n if not self.use_real_robot:\n return True\n\n # Check if URCap is already running on UR\n if self.ur_ros_control_running_on_robot:\n self.set_speed_scale(scale=1.0) # Set speed to max always\n return True\n else:\n rospy.loginfo(\"Robot program not running for \" + self.ns)\n\n try:\n response = self.ur_dashboard_clients[\"is_in_remote_control\"].call()\n if not response.in_remote_control:\n rospy.logerr(\"Unable to automatically activate robot. Manually activate the robot by pressing 'play' in the polyscope or turn ON the remote control mode.\")\n return False\n except:\n pass\n\n rospy.logwarn(f\"Attempt to reconnect # {recursion_depth+1}\")\n\n if recursion_depth > 10:\n rospy.logerr(\"Tried too often. Breaking out.\")\n rospy.logerr(\"Could not start UR ROS control.\")\n raise Exception(\"Could not activate ROS control on robot \" + self.ns + \". Breaking out. Is the UR in Remote Control mode and program installed with correct name?\")\n\n if rospy.is_shutdown():\n return False\n\n program_loaded = self.check_loaded_program()\n\n if not program_loaded:\n rospy.logwarn(\"Could not load.\")\n else:\n # Run the program\n rospy.loginfo(\"Running the program (play)\")\n try:\n response = self.ur_dashboard_clients[\"play\"].call(std_srvs.srv.TriggerRequest())\n except:\n pass\n if self.wait_for_control_status_to_turn_on(2.0):\n return True\n else:\n rospy.logwarn(\"Failed to start program\")\n\n rospy.logwarn(\"Trying to reconnect dashboard client and then activating again.\")\n # Try to connect to dashboard if first try failed\n try:\n rospy.logdebug(\"Try to quit before connecting.\")\n response = self.ur_dashboard_clients[\"quit\"].call()\n rospy.sleep(1)\n rospy.logdebug(\"Try to connect to dashboard service.\")\n response = self.ur_dashboard_clients[\"connect\"].call()\n rospy.sleep(1)\n if response.success:\n rospy.logdebug(\"Try to stop program.\")\n response = self.ur_dashboard_clients[\"stop\"].call()\n rospy.sleep(1)\n if response.success:\n rospy.logdebug(\"Try to play program.\")\n response = self.ur_dashboard_clients[\"play\"].call()\n rospy.sleep(1)\n except:\n rospy.logwarn(\"Dashboard service did not respond! (2)\")\n pass\n\n if self.wait_for_control_status_to_turn_on(2.0):\n if self.check_for_dead_controller_and_force_start():\n rospy.loginfo(\"Successfully activated ROS control on robot \" + self.ns)\n self.set_speed_scale(scale=1.0) # Set speed to max always\n return True\n else:\n return self.activate_ros_control_on_ur(recursion_depth=recursion_depth+1)\n\n @check_for_real_robot\n def check_loaded_program(self):\n try:\n # Load program if it not loaded already\n response = self.ur_dashboard_clients[\"get_loaded_program\"].call(ur_dashboard_msgs.srv.GetLoadedProgramRequest())\n if response.program_name == '/programs/ROS_external_control.urp':\n return True\n else:\n rospy.loginfo(\"Currently loaded program was: \" + response.program_name)\n rospy.loginfo(\"Loading ROS control on robot \" + self.ns)\n request = ur_dashboard_msgs.srv.LoadRequest()\n request.filename = \"ROS_external_control.urp\"\n response = self.ur_dashboard_clients[\"load_program\"].call(request)\n if response.success: # Try reconnecting to dashboard\n return True\n else:\n rospy.logerr(\"Could not load the ROS_external_control.urp URCap. Is the UR in Remote Control mode and program installed with correct name?\")\n for i in range(10):\n rospy.sleep(0.2)\n # rospy.loginfo(\"After-load check nr. \" + str(i))\n response = self.ur_dashboard_clients[\"get_loaded_program\"].call(ur_dashboard_msgs.srv.GetLoadedProgramRequest())\n # rospy.loginfo(\"Received response: \" + response.program_name)\n if response.program_name == '/programs/ROS_external_control.urp':\n break\n except:\n rospy.logwarn(\"Dashboard service did not respond!\")\n return False\n\n @check_for_real_robot\n def check_for_dead_controller_and_force_start(self):\n list_req = controller_manager_msgs.srv.ListControllersRequest()\n switch_req = controller_manager_msgs.srv.SwitchControllerRequest()\n rospy.loginfo(\"Checking for dead controllers for robot \" + self.ns)\n list_res = self.service_proxy_list.call(list_req)\n for c in list_res.controller:\n if c.name == \"scaled_pos_joint_traj_controller\":\n if c.state == \"stopped\":\n # Force restart\n rospy.logwarn(\"Force restart of controller\")\n switch_req.start_controllers = ['scaled_pos_joint_traj_controller']\n switch_req.strictness = 1\n switch_res = self.service_proxy_switch.call(switch_req)\n rospy.sleep(1)\n return switch_res.ok\n else:\n rospy.loginfo(\"Controller state is \" + c.state + \", returning True.\")\n return True\n\n @check_for_real_robot\n def load_and_execute_program(self, program_name=\"\", recursion_depth=0, skip_ros_activation=False):\n if not skip_ros_activation:\n self.activate_ros_control_on_ur()\n if not self.load_program(program_name, recursion_depth):\n return False\n return self.execute_loaded_program()\n\n @check_for_real_robot\n def load_program(self, program_name=\"\", recursion_depth=0):\n if not self.use_real_robot:\n return True\n\n if recursion_depth > 10:\n rospy.logerr(\"Tried too often. Breaking out.\")\n rospy.logerr(\"Could not load \" + program_name + \". Is the UR in Remote Control mode and program installed with correct name?\")\n return False\n\n load_success = False\n try:\n # Try to stop running program\n self.ur_dashboard_clients[\"stop\"].call(std_srvs.srv.TriggerRequest())\n rospy.sleep(.5)\n\n # Load program if it not loaded already\n response = self.ur_dashboard_clients[\"get_loaded_program\"].call(ur_dashboard_msgs.srv.GetLoadedProgramRequest())\n # print(\"response:\")\n # print(response)\n if response.program_name == '/programs/' + program_name:\n return True\n else:\n rospy.loginfo(\"Loaded program is different %s. Attempting to load new program %s\" % (response.program_name, program_name))\n request = ur_dashboard_msgs.srv.LoadRequest()\n request.filename = program_name\n response = self.ur_dashboard_clients[\"load_program\"].call(request)\n if response.success: # Try reconnecting to dashboard\n load_success = True\n return True\n else:\n rospy.logerr(\"Could not load \" + program_name + \". Is the UR in Remote Control mode and program installed with correct name?\")\n except:\n rospy.logwarn(\"Dashboard service did not respond to load_program!\")\n if not load_success:\n rospy.logwarn(\"Waiting and trying again\")\n rospy.sleep(3)\n try:\n if recursion_depth > 0: # If connect alone failed, try quit and then connect\n response = self.ur_dashboard_clients[\"quit\"].call()\n rospy.logerr(\"Program could not be loaded on UR: \" + program_name)\n rospy.sleep(.5)\n except:\n rospy.logwarn(\"Dashboard service did not respond to quit! \")\n pass\n response = self.ur_dashboard_clients[\"connect\"].call()\n rospy.sleep(.5)\n return self.load_program(program_name=program_name, recursion_depth=recursion_depth+1)\n\n @check_for_real_robot\n def execute_loaded_program(self):\n # Run the program\n try:\n response = self.ur_dashboard_clients[\"play\"].call(std_srvs.srv.TriggerRequest())\n if not response.success:\n rospy.logerr(\"Could not start program. Is the UR in Remote Control mode and program installed with correct name?\")\n return False\n else:\n rospy.loginfo(\"Successfully started program on robot \" + self.ns)\n return True\n except Exception as e:\n rospy.logerr(str(e))\n return False\n\n @check_for_real_robot\n def close_ur_popup(self):\n # Close a popup on the teach pendant to continue program execution\n response = self.ur_dashboard_clients[\"close_popup\"].call(std_srvs.srv.TriggerRequest())\n if not response.success:\n rospy.logerr(\"Could not close popup.\")\n return False\n else:\n rospy.loginfo(\"Successfully closed popup on teach pendant of robot \" + self.ns)\n return True\n" }, { "path": "ur_control/src/ur_control/utils.py", "content": "# ROS utilities used by the CRI group\n#! /usr/bin/env python\nimport os\nimport sys\nimport copy\nimport time\nimport numpy as np\nimport rospy\nimport rospkg\nimport sys\nimport inspect\nfrom ur_control import transformations, spalg\nfrom sensor_msgs.msg import JointState\nfrom pyquaternion import Quaternion\n\ndef load_urdf_string(package, filename):\n rospack = rospkg.RosPack()\n package_dir = rospack.get_path(package)\n urdf_file = package_dir + '/urdf/' + filename + '.urdf'\n urdf = None\n with open(urdf_file) as f:\n urdf = f.read()\n return urdf\n\nclass PDRotation:\n def __init__(self, kp, kd=None):\n self.kp = np.array(kp)\n self.kd = np.array(kd)\n self.reset()\n\n def reset(self):\n self.last_time = rospy.get_rostime()\n self.last_error = Quaternion()\n\n def set_gains(self, kp=None, kd=None):\n if kp is not None:\n self.kp = np.array(kp)\n if kd is not None:\n self.kd = np.array(kd)\n\n def update(self, quaternion_error, dt=None):\n now = rospy.get_rostime()\n if dt is None:\n dt = now - self.last_time\n\n k_prime = 2 * quaternion_error.scalar*np.identity(3)-spalg.skew(quaternion_error.vector)\n p_term = np.dot(self.kp, k_prime)\n\n # delta_error = quaternion_error - self.last_error\n w = transformations.angular_velocity_from_quaternions(quaternion_error, self.last_error, dt)\n d_term = self.kd * w\n\n output = p_term + d_term\n # Save last values\n self.last_error = quaternion_error\n self.last_time = now\n return output\n\nclass PID:\n def __init__(self, Kp, Ki=None, Kd=None, dynamic_pid=False, max_gain_multiplier=10.0):\n # Proportional gain\n self.Kp = np.array(Kp)\n self.Ki = np.zeros_like(Kp)\n self.Kd = np.zeros_like(Kp)\n # Integral gain\n if Ki is not None:\n self.Ki = np.array(Ki)\n # Derivative gain\n if Kd is not None:\n self.Kd = np.array(Kd)\n self.set_windup(np.ones_like(self.Kp))\n # Reset\n self.reset()\n self.scale_gains = dynamic_pid\n self.max_gain_multiplier = max_gain_multiplier\n\n def reset(self):\n self.last_time = rospy.get_rostime()\n self.last_error = np.zeros_like(self.Kp)\n self.integral = np.zeros_like(self.Kp)\n\n def set_gains(self, Kp=None, Ki=None, Kd=None):\n if Kp is not None:\n self.Kp = np.array(Kp)\n if Ki is not None:\n self.Ki = np.array(Ki)\n if Kd is not None:\n self.Kd = np.array(Kd)\n\n def set_windup(self, windup):\n self.i_min = -np.array(windup)\n self.i_max = np.array(windup)\n\n def update(self, error, dt=None):\n # CAUTION: naive scaling of the Kp parameter based on the error\n # The main idea, the smaller the error the higher the gain\n if self.scale_gains:\n kp = np.zeros_like(self.Kp)\n kd = np.zeros_like(self.Kd)\n\n for i in range(len(error)):\n # from position_error < 0.01m increase scale error\n factor = 1 - np.tanh(100 * error[i])\n kp[i] = np.interp(factor, [0.0, 1.0], [self.Kp[i], self.Kp[i] * self.max_gain_multiplier])\n kd[i] = np.interp(factor, [0.0, 1.0], [self.Kd[i], self.Kd[i] * self.max_gain_multiplier])\n\n kd = self.Kd\n ki = self.Ki\n else:\n kp = self.Kp\n kd = self.Kd\n ki = self.Ki\n\n now = rospy.get_rostime()\n if dt is None:\n dt = now - self.last_time\n delta_error = error - self.last_error\n # Compute terms\n self.integral += error * dt\n p_term = kp * error\n i_term = ki * self.integral\n i_term = np.maximum(self.i_min, np.minimum(i_term, self.i_max))\n \n # First delta error is huge since it was initialized at zero first, avoid considering\n if not np.allclose(self.last_error, np.zeros_like(self.last_error)):\n d_term = kd * delta_error / dt\n else:\n d_term = kd * np.zeros_like(delta_error) / dt\n\n output = p_term + i_term + d_term\n # Save last values\n self.last_error = np.array(error)\n self.last_time = now\n return output\n\n\nclass TextColors:\n \"\"\"\n The C{TextColors} class is used as alternative to the C{rospy} logger. It's useful to\n print messages when C{roscore} is not running.\n \"\"\"\n HEADER = '\\033[95m'\n OKBLUE = '\\033[94m'\n OKGREEN = '\\033[92m'\n WARNING = '\\033[93m'\n FAIL = '\\033[91m'\n ENDC = '\\033[0m'\n log_level = rospy.INFO\n\n def disable(self):\n \"\"\"\n Resets the coloring.\n \"\"\"\n self.HEADER = ''\n self.OKBLUE = ''\n self.OKGREEN = ''\n self.WARNING = ''\n self.FAIL = ''\n self.ENDC = ''\n\n def blue(self, msg):\n \"\"\"\n Prints a B{blue} color message\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n print((self.OKBLUE + msg + self.ENDC))\n\n def debug(self, msg):\n \"\"\"\n Prints a B{green} color message\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n print((self.OKGREEN + msg + self.ENDC))\n\n def error(self, msg):\n \"\"\"\n Prints a B{red} color message\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n print((self.FAIL + msg + self.ENDC))\n\n def ok(self, msg):\n \"\"\"\n Prints a B{green} color message\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n print((self.OKGREEN + msg + self.ENDC))\n\n def warning(self, msg):\n \"\"\"\n Prints a B{yellow} color message\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n print((self.WARNING + msg + self.ENDC))\n\n def logdebug(self, msg):\n \"\"\"\n Prints message with the word 'Debug' in green at the begging.\n Alternative to C{rospy.logdebug}.\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n if self.log_level <= rospy.DEBUG:\n print((self.OKGREEN + 'Debug ' + self.ENDC + str(msg)))\n\n def loginfo(self, msg):\n \"\"\"\n Prints message with the word 'INFO' begging.\n Alternative to C{rospy.loginfo}.\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n if self.log_level <= rospy.INFO:\n print(('INFO ' + str(msg)))\n\n def logwarn(self, msg):\n \"\"\"\n Prints message with the word 'Warning' in yellow at the begging.\n Alternative to C{rospy.logwarn}.\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n if self.log_level <= rospy.WARN:\n print((self.WARNING + 'Warning ' + self.ENDC + str(msg)))\n\n def logerr(self, msg):\n \"\"\"\n Prints message with the word 'Error' in red at the begging.\n Alternative to C{rospy.logerr}.\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n if self.log_level <= rospy.ERROR:\n print((self.FAIL + 'Error ' + self.ENDC + str(msg)))\n\n def logfatal(self, msg):\n \"\"\"\n Prints message with the word 'Fatal' in red at the begging.\n Alternative to C{rospy.logfatal}.\n @type msg: string\n @param msg: the message to be printed.\n \"\"\"\n if self.log_level <= rospy.FATAL:\n print((self.FAIL + 'Fatal ' + self.ENDC + str(msg)))\n\n def set_log_level(self, level):\n \"\"\"\n Sets the log level. Possible values are:\n - DEBUG: 1\n - INFO: 2\n - WARN: 4\n - ERROR: 8\n - FATAL: 16\n @type level: int\n @param level: the new log level\n \"\"\"\n self.log_level = level\n\n\n## Helper Functions ##\ndef assert_shape(variable, name, shape):\n \"\"\"\n Asserts the shape of an np.array\n @type variable: Object\n @param variable: variable to be asserted\n @type name: string\n @param name: variable name\n @type shape: tuple\n @param ttype: expected shape of the np.array\n \"\"\"\n assert variable.shape == shape, '%s must have a shape %r: %r' % (name, shape, variable.shape)\n\n\ndef assert_type(variable, name, ttype):\n \"\"\"\n Asserts the type of a variable with a given name\n @type variable: Object\n @param variable: variable to be asserted\n @type name: string\n @param name: variable name\n @type ttype: Type\n @param ttype: expected variable type\n \"\"\"\n assert type(variable) is ttype, '%s must be of type %r: %r' % (name, ttype, type(variable))\n\n\ndef db_error_msg(name, logger=TextColors()):\n \"\"\"\n Prints out an error message appending the given database name.\n @type name: string\n @param name: database name\n @type logger: Object\n @param logger: Logger instance. When used in ROS, the recommended C{logger=rospy}.\n \"\"\"\n msg = 'Database %s not found. Please generate it. [rosrun denso_openrave generate_databases.py]' % name\n logger.logerr(msg)\n\n\ndef clean_cos(value):\n \"\"\"\n Limits the a value between the range C{[-1, 1]}\n @type value: float\n @param value: The input value\n @rtype: float\n @return: The limited value in the range C{[-1, 1]}\n \"\"\"\n return min(1, max(value, -1))\n\n\ndef has_keys(data, keys):\n \"\"\"\n Checks whether a dictionary has all the given keys.\n @type data: dict\n @param data: Parameter name\n @type keys: list\n @param keys: list containing the expected keys to be found in the dict.\n @rtype: bool\n @return: True if all the keys are found in the dict, false otherwise.\n \"\"\"\n if not isinstance(data, dict):\n return False\n has_all = True\n for key in keys:\n if key not in data:\n has_all = False\n break\n return has_all\n\n\ndef raise_not_implemented():\n \"\"\"\n Raises a NotImplementedError exception\n \"\"\"\n raise NotImplementedError()\n\n\ndef topic_exist(topic):\n published_topics = rospy.get_published_topics()\n for pt in published_topics:\n if topic == pt[0] :\n return True\n return False\n\ndef read_key(echo=False):\n \"\"\"\n Reads a key from the keyboard\n @type echo: bool, optional\n @param echo: if set, will show the input key in the console.\n @rtype: str\n @return: The limited value in the range C{[-1, 1]}\n \"\"\"\n if not echo:\n os.system(\"stty -echo\")\n key = sys.stdin.read(1)\n if not echo:\n os.system(\"stty echo\")\n return key.lower()\n\ndef resolve_parameter(value, default_value):\n if value:\n return value\n else:\n return default_value\n\ndef read_parameter(name, default):\n \"\"\"\n Get a parameter from the ROS parameter server. If it's not found, a\n warn is printed.\n @type name: string\n @param name: Parameter name\n @type default: Object\n @param default: Default value for the parameter. The type should be\n the same as the one expected for the parameter.\n @rtype: any\n @return: The resulting parameter\n \"\"\"\n if rospy.is_shutdown():\n logger = TextColors()\n logger.logwarn('roscore not found, parameter [%s] using default: %s' % (name, default))\n else:\n if not rospy.has_param(name):\n rospy.logwarn('Parameter [%s] not found, using default: %s' % (name, default))\n return rospy.get_param(name, default)\n return default\n\n\ndef read_parameter_err(name):\n \"\"\"\n Get a parameter from the ROS parameter server. If it's not found, a\n error is printed.\n @type name: string\n @param name: Parameter name\n @rtype: has_param, param\n @return: (has_param) True if succeeded, false otherwise. The\n parameter is None if C{has_param=False}.\n \"\"\"\n if rospy.is_shutdown():\n logger = TextColors()\n logger.logerr('roscore not found')\n has_param = False\n else:\n has_param = True\n if not rospy.has_param(name):\n rospy.logerr(\"Parameter [%s] not found\" % (name))\n has_param = False\n return has_param, rospy.get_param(name, None)\n\n\ndef read_parameter_fatal(name):\n \"\"\"\n Get a parameter from the ROS parameter server. If it's not found, an\n exception will be raised.\n @type name: string\n @param name: Parameter name\n @rtype: any\n @return: The resulting parameter\n \"\"\"\n if rospy.is_shutdown():\n logger = TextColors()\n logger.logfatal('roscore not found')\n raise Exception('Required parameter {0} not found'.format(name))\n else:\n if not rospy.has_param(name):\n rospy.logfatal(\"Parameter [%s] not found\" % (name))\n raise Exception('Required parameter {0} not found'.format(name))\n return rospy.get_param(name, None)\n\n\ndef solve_namespace(namespace=None):\n \"\"\"\n Appends neccessary slashes required for a proper ROS namespace.\n @type namespace: string\n @param namespace: namespace to be fixed.\n @rtype: string\n @return: Proper ROS namespace.\n \"\"\"\n if namespace is None or len(namespace) == 0:\n namespace = rospy.get_namespace()\n elif len(namespace) == 1:\n if namespace != '/':\n namespace = '/' + namespace + '/'\n else:\n if namespace[0] != '/':\n namespace = '/' + namespace\n if namespace[-1] != '/':\n namespace += '/'\n return namespace\n\n\ndef sorted_joint_state_msg(msg, joint_names):\n \"\"\"\n Returns a sorted C{sensor_msgs/JointState} for the given joint names\n @type msg: sensor_msgs/JointState\n @param msg: The input message\n @type joint_names: list\n @param joint_names: The sorted joint names\n @rtype: sensor_msgs/JointState\n @return: The C{JointState} message with the fields in the order given by joint names\n \"\"\"\n valid_names = set(joint_names).intersection(set(msg.name))\n valid_position = len(msg.name) == len(msg.position)\n valid_velocity = len(msg.name) == len(msg.velocity)\n valid_effort = len(msg.name) == len(msg.effort)\n num_joints = len(valid_names)\n retmsg = JointState()\n retmsg.header = copy.deepcopy(msg.header)\n for name in joint_names:\n if name not in valid_names:\n continue\n idx = msg.name.index(name)\n retmsg.name.append(name)\n if valid_position:\n retmsg.position.append(msg.position[idx])\n if valid_velocity:\n retmsg.velocity.append(msg.velocity[idx])\n if valid_effort:\n retmsg.effort.append(msg.effort[idx])\n return retmsg\n\n\ndef unique(data):\n \"\"\"\n Finds the unique elements of an array. B{row-wise} and\n returns the sorted unique elements of an array.\n @type data: np.array\n @param data: Input array.\n @rtype: np.array\n @return: The sorted unique array.\n \"\"\"\n order = np.lexsort(data.T)\n data = data[order]\n diff = np.diff(data, axis=0)\n ui = np.ones(len(data), 'bool')\n ui[1:] = (diff != 0).any(axis=1)\n return data[ui]\n\n\ndef wait_for(predicate, timeout=5.0):\n start_time = time.time()\n while not predicate():\n now = time.time()\n if (now - start_time) > timeout:\n return False\n time.sleep(0.001)\n return True\n" }, { "path": "ur_control/test/test_quaternion_functions.py", "content": "import numpy as np\nimport unittest\n\nimport transformations_bk as tr\nfrom ur_control.math_utils import (\n orientation_error_as_rotation_vector,\n quaternions_orientation_error,\n quaternion_normalize,\n quaternion_conjugate,\n quaternion_inverse,\n quaternion_multiply,\n quaternion_slerp,\n quaternion_rotate_vector,\n diff_quaternion,\n random_quaternion,\n random_rotation_matrix,\n rotation_matrix_from_quaternion,\n quaternion_from_axis_angle,\n quaternion_from_ortho6,\n axis_angle_from_quaternion,\n ortho6_from_axis_angle,\n ortho6_from_quaternion,\n rotation_matrix_from_ortho6,\n)\n\n\nclass TestQuaternionFunctions(unittest.TestCase):\n def setUp(self):\n self.quat_target = random_quaternion()\n self.quat_source = random_quaternion()\n self.axis_angle = axis_angle_from_quaternion(self.quat_source)\n self.ortho6 = ortho6_from_axis_angle(self.axis_angle)\n\n def test_orientation_error_as_rotation_vector(self):\n result = orientation_error_as_rotation_vector(self.quat_target, self.quat_source)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (3,))\n\n def test_quaternions_orientation_error(self):\n result = quaternions_orientation_error(self.quat_target, self.quat_source)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n\n def test_quaternion_normalize(self):\n q = np.array([1.0, 2.0, 3.0, 4.0])\n result = quaternion_normalize(q)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n self.assertAlmostEqual(np.linalg.norm(result), 1.0)\n\n def test_quaternion_conjugate(self):\n result = quaternion_conjugate(self.quat_target)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n self.assertTrue(np.allclose(tr.quaternion_conjugate(self.quat_target), result))\n\n def test_quaternion_inverse(self):\n result = quaternion_inverse(self.quat_target)\n self.assertIsInstance(result, np.ndarray)\n tr_result = tr.quaternion_inverse(self.quat_target)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_quaternion_multiply(self):\n result = quaternion_multiply(self.quat_target, self.quat_source)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n tr_result = tr.quaternion_multiply(self.quat_target, self.quat_source)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_quaternion_slerp(self):\n result = quaternion_slerp(self.quat_target, self.quat_source, 0.5)\n self.assertIsInstance(result, np.ndarray)\n tr_result = tr.quaternion_slerp(self.quat_target, self.quat_source, fraction=0.5)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_quaternion_rotate_vector(self):\n vector = self.axis_angle\n result = quaternion_rotate_vector(self.quat_target, vector)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (3,))\n tr_result = tr.quaternion_rotate_vector(self.quat_target, vector)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_diff_quaternion(self):\n result = diff_quaternion(self.quat_target, self.quat_source)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n tr_result = tr.diff_quaternion(self.quat_target, self.quat_source)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_random_quaternion(self):\n result = random_quaternion()\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n\n def test_random_rotation_matrix(self):\n result = random_rotation_matrix()\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4, 4))\n\n def test_rotation_matrix_from_quaternion(self):\n q = random_quaternion()\n result = rotation_matrix_from_quaternion(q)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4, 4))\n tr_result = tr.quaternion_matrix(q)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_quaternion_from_axis_angle(self):\n result = quaternion_from_axis_angle(self.axis_angle)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n tr_result = tr.quaternion_from_axis_angle(self.axis_angle)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_quaternion_from_ortho6(self):\n result = quaternion_from_ortho6(self.ortho6)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4,))\n tr_result = tr.quaternion_from_ortho6(self.ortho6)\n # ABS because the quaternion may be flipped\n self.assertTrue(np.allclose(np.abs(tr_result), np.abs(result)), msg=f\"expected {tr_result} result {result}\")\n\n def test_axis_angle_from_quaternion(self):\n result = axis_angle_from_quaternion(self.quat_target)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (3,))\n tr_result = tr.axis_angle_from_quaternion(self.quat_target)\n self.assertTrue(np.allclose(tr_result, result, atol=1e-4), msg=f\"expected {tr_result} result {result}\")\n\n def test_ortho6_from_axis_angle(self):\n result = ortho6_from_axis_angle(self.axis_angle)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (6,))\n tr_result = tr.ortho6_from_axis_angle(self.axis_angle)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_ortho6_from_quaternion(self):\n result = ortho6_from_quaternion(self.quat_target)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (6,))\n tr_result = tr.ortho6_from_quaternion(self.quat_target)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n def test_rotation_matrix_from_ortho6(self):\n result = rotation_matrix_from_ortho6(self.ortho6)\n self.assertIsInstance(result, np.ndarray)\n self.assertEqual(result.shape, (4, 4))\n tr_result = tr.rotation_matrix_from_ortho6(self.ortho6)\n self.assertTrue(np.allclose(tr_result, result), msg=f\"expected {tr_result} result {result}\")\n\n\nif __name__ == '__main__':\n unittest.main()\n" }, { "path": "ur_control/test/transformations_bk.py", "content": "# -*- coding: utf-8 -*-\n# transformations.py\n\n# Copyright (c) 2006, Christoph Gohlke\n# Copyright (c) 2006-2009, The Regents of the University of California\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# * Neither the name of the copyright holders nor the names of any\n# contributors may be used to endorse or promote products derived\n# from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\n\"\"\"Homogeneous Transformation Matrices and Quaternions.\n\nA library for calculating 4x4 matrices for translating, rotating, reflecting,\nscaling, shearing, projecting, orthogonalizing, and superimposing arrays of\n3D homogeneous coordinates as well as for converting between rotation matrices,\nEuler angles, and quaternions. Also includes an Arcball control object and\nfunctions to decompose transformation matrices.\n\n:Authors:\n `Christoph Gohlke `__,\n Laboratory for Fluorescence Dynamics, University of California, Irvine\n\n:Version: 20090418\n\nRequirements\n------------\n\n* `Python 2.6 `__\n* `Numpy 1.3 `__\n* `transformations.c 20090418 `__\n (optional implementation of some functions in C)\n\nNotes\n-----\n\nMatrices (M) can be inverted using numpy.linalg.inv(M), concatenated using\nnumpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using\nnumpy.dot(M, v) for shape (4, \\*) \"point of arrays\", respectively\nnumpy.dot(v, M.T) for shape (\\*, 4) \"array of points\".\n\nCalculations are carried out with numpy.float64 precision.\n\nThis Python implementation is not optimized for speed.\n\nVector, point, quaternion, and matrix function arguments are expected to be\n\"array like\", i.e. tuple, list, or numpy arrays.\n\nReturn types are numpy arrays unless specified otherwise.\n\nAngles are in radians unless specified otherwise.\n\nQuaternions ix+jy+kz+w are represented as [x, y, z, w].\n\nUse the transpose of transformation matrices for OpenGL glMultMatrixd().\n\nA triple of Euler angles can be applied/interpreted in 24 ways, which can\nbe specified using a 4 character string or encoded 4-tuple:\n\n *Axes 4-string*: e.g. 'sxyz' or 'ryxy'\n\n - first character : rotations are applied to 's'tatic or 'r'otating frame\n - remaining characters : successive rotation axis 'x', 'y', or 'z'\n\n *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1)\n\n - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix.\n - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed\n by 'z', or 'z' is followed by 'x'. Otherwise odd (1).\n - repetition : first and last axis are same (1) or different (0).\n - frame : rotations are applied to static (0) or rotating (1) frame.\n\nReferences\n----------\n\n(1) Matrices and transformations. Ronald Goldman.\n In \"Graphics Gems I\", pp 472-475. Morgan Kaufmann, 1990.\n(2) More matrices and transformations: shear and pseudo-perspective.\n Ronald Goldman. In \"Graphics Gems II\", pp 320-323. Morgan Kaufmann, 1991.\n(3) Decomposing a matrix into simple transformations. Spencer Thomas.\n In \"Graphics Gems II\", pp 320-323. Morgan Kaufmann, 1991.\n(4) Recovering the data from the transformation matrix. Ronald Goldman.\n In \"Graphics Gems II\", pp 324-331. Morgan Kaufmann, 1991.\n(5) Euler angle conversion. Ken Shoemake.\n In \"Graphics Gems IV\", pp 222-229. Morgan Kaufmann, 1994.\n(6) Arcball rotation control. Ken Shoemake.\n In \"Graphics Gems IV\", pp 175-192. Morgan Kaufmann, 1994.\n(7) Representing attitude: Euler angles, unit quaternions, and rotation\n vectors. James Diebel. 2006.\n(8) A discussion of the solution for the best rotation to relate two sets\n of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828.\n(9) Closed-form solution of absolute orientation using unit quaternions.\n BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642.\n(10) Quaternions. Ken Shoemake.\n http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf\n(11) From quaternion to matrix and back. JMP van Waveren. 2005.\n http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm\n(12) Uniform random rotations. Ken Shoemake.\n In \"Graphics Gems III\", pp 124-132. Morgan Kaufmann, 1992.\n\n\nExamples\n--------\n\n>>> alpha, beta, gamma = 0.123, -1.234, 2.345\n>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)\n>>> I = identity_matrix()\n>>> Rx = rotation_matrix(alpha, xaxis)\n>>> Ry = rotation_matrix(beta, yaxis)\n>>> Rz = rotation_matrix(gamma, zaxis)\n>>> R = concatenate_matrices(Rx, Ry, Rz)\n>>> euler = euler_from_matrix(R, 'rxyz')\n>>> numpy.allclose([alpha, beta, gamma], euler)\nTrue\n>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz')\n>>> is_same_transform(R, Re)\nTrue\n>>> al, be, ga = euler_from_matrix(Re, 'rxyz')\n>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz'))\nTrue\n>>> qx = quaternion_about_axis(alpha, xaxis)\n>>> qy = quaternion_about_axis(beta, yaxis)\n>>> qz = quaternion_about_axis(gamma, zaxis)\n>>> q = quaternion_multiply(qx, qy)\n>>> q = quaternion_multiply(q, qz)\n>>> Rq = quaternion_matrix(q)\n>>> is_same_transform(R, Rq)\nTrue\n>>> S = scale_matrix(1.23, origin)\n>>> T = translation_matrix((1, 2, 3))\n>>> Z = shear_matrix(beta, xaxis, origin, zaxis)\n>>> R = random_rotation_matrix(numpy.random.rand(3))\n>>> M = concatenate_matrices(T, R, Z, S)\n>>> scale, shear, angles, trans, persp = decompose_matrix(M)\n>>> numpy.allclose(scale, 1.23)\nTrue\n>>> numpy.allclose(trans, (1, 2, 3))\nTrue\n>>> numpy.allclose(shear, (0, math.tan(beta), 0))\nTrue\n>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles))\nTrue\n>>> M1 = compose_matrix(scale, shear, angles, trans, persp)\n>>> is_same_transform(M, M1)\nTrue\n\n\"\"\"\n\n\nimport warnings\nimport math\n\nimport numpy\nfrom pyquaternion import Quaternion\n# Documentation in HTML format can be generated with Epydoc\n__docformat__ = \"restructuredtext en\"\n\n\ndef identity_matrix():\n \"\"\"Return 4x4 identity/unit matrix.\n\n >>> I = identity_matrix()\n >>> numpy.allclose(I, numpy.dot(I, I))\n True\n >>> numpy.sum(I), numpy.trace(I)\n (4.0, 4.0)\n >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64))\n True\n\n \"\"\"\n return numpy.identity(4, dtype=numpy.float64)\n\n\ndef translation_matrix(direction):\n \"\"\"Return matrix to translate by direction vector.\n\n >>> v = numpy.random.random(3) - 0.5\n >>> numpy.allclose(v, translation_matrix(v)[:3, 3])\n True\n\n \"\"\"\n M = numpy.identity(4)\n M[:3, 3] = direction[:3]\n return M\n\n\ndef translation_from_matrix(matrix):\n \"\"\"Return translation vector from translation matrix.\n\n >>> v0 = numpy.random.random(3) - 0.5\n >>> v1 = translation_from_matrix(translation_matrix(v0))\n >>> numpy.allclose(v0, v1)\n True\n\n \"\"\"\n return numpy.array(matrix, copy=False)[:3, 3].copy()\n\n\ndef reflection_matrix(point, normal):\n \"\"\"Return matrix to mirror at plane defined by point and normal vector.\n\n >>> v0 = numpy.random.random(4) - 0.5\n >>> v0[3] = 1.0\n >>> v1 = numpy.random.random(3) - 0.5\n >>> R = reflection_matrix(v0, v1)\n >>> numpy.allclose(2., numpy.trace(R))\n True\n >>> numpy.allclose(v0, numpy.dot(R, v0))\n True\n >>> v2 = v0.copy()\n >>> v2[:3] += v1\n >>> v3 = v0.copy()\n >>> v2[:3] -= v1\n >>> numpy.allclose(v2, numpy.dot(R, v3))\n True\n\n \"\"\"\n normal = unit_vector(normal[:3])\n M = numpy.identity(4)\n M[:3, :3] -= 2.0 * numpy.outer(normal, normal)\n M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal\n return M\n\n\ndef reflection_from_matrix(matrix):\n \"\"\"Return mirror plane point and normal vector from reflection matrix.\n\n >>> v0 = numpy.random.random(3) - 0.5\n >>> v1 = numpy.random.random(3) - 0.5\n >>> M0 = reflection_matrix(v0, v1)\n >>> point, normal = reflection_from_matrix(M0)\n >>> M1 = reflection_matrix(point, normal)\n >>> is_same_transform(M0, M1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n # normal: unit eigenvector corresponding to eigenvalue -1\n l, V = numpy.linalg.eig(M[:3, :3])\n i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue -1\")\n normal = numpy.real(V[:, i[0]]).squeeze()\n # point: any unit eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n return point, normal\n\n\ndef rotation_matrix(angle, direction, point=None):\n \"\"\"Return matrix to rotate about axis defined by point and direction.\n\n >>> angle = (random.random() - 0.5) * (2*math.pi)\n >>> direc = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> R1 = rotation_matrix(angle-2*math.pi, direc, point)\n >>> is_same_transform(R0, R1)\n True\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> R1 = rotation_matrix(-angle, -direc, point)\n >>> is_same_transform(R0, R1)\n True\n >>> I = numpy.identity(4, numpy.float64)\n >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc))\n True\n >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2,\n ... direc, point)))\n True\n\n \"\"\"\n sina = math.sin(angle)\n cosa = math.cos(angle)\n direction = unit_vector(direction[:3])\n # rotation matrix around unit vector\n R = numpy.array(((cosa, 0.0, 0.0),\n (0.0, cosa, 0.0),\n (0.0, 0.0, cosa)), dtype=numpy.float64)\n R += numpy.outer(direction, direction) * (1.0 - cosa)\n direction *= sina\n R += numpy.array(((0.0, -direction[2], direction[1]),\n (direction[2], 0.0, -direction[0]),\n (-direction[1], direction[0], 0.0)),\n dtype=numpy.float64)\n M = numpy.identity(4)\n M[:3, :3] = R\n if point is not None:\n # rotation not around origin\n point = numpy.array(point[:3], dtype=numpy.float64, copy=False)\n M[:3, 3] = point - numpy.dot(R, point)\n return M\n\n\ndef rotation_from_matrix(matrix):\n \"\"\"Return rotation angle and axis from rotation matrix.\n\n >>> angle = (random.random() - 0.5) * (2*math.pi)\n >>> direc = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> R0 = rotation_matrix(angle, direc, point)\n >>> angle, direc, point = rotation_from_matrix(R0)\n >>> R1 = rotation_matrix(angle, direc, point)\n >>> is_same_transform(R0, R1)\n True\n\n \"\"\"\n R = numpy.array(matrix, dtype=numpy.float64, copy=False)\n R33 = R[:3, :3]\n # direction: unit eigenvector of R33 corresponding to eigenvalue of 1\n l, W = numpy.linalg.eig(R33.T)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n direction = numpy.real(W[:, i[-1]]).squeeze()\n # point: unit eigenvector of R33 corresponding to eigenvalue of 1\n l, Q = numpy.linalg.eig(R)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no unit eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(Q[:, i[-1]]).squeeze()\n point /= point[3]\n # rotation angle depending on direction\n cosa = (numpy.trace(R33) - 1.0) / 2.0\n if abs(direction[2]) > 1e-8:\n sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2]\n elif abs(direction[1]) > 1e-8:\n sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1]\n else:\n sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0]\n angle = math.atan2(sina, cosa)\n return angle, direction, point\n\n\ndef scale_matrix(factor, origin=None, direction=None):\n \"\"\"Return matrix to scale by factor around origin in direction.\n\n Use factor -1 for point symmetry.\n\n >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0\n >>> v[3] = 1.0\n >>> S = scale_matrix(-1.234)\n >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3])\n True\n >>> factor = random.random() * 10 - 5\n >>> origin = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> S = scale_matrix(factor, origin)\n >>> S = scale_matrix(factor, origin, direct)\n\n \"\"\"\n if direction is None:\n # uniform scaling\n M = numpy.array(((factor, 0.0, 0.0, 0.0),\n (0.0, factor, 0.0, 0.0),\n (0.0, 0.0, factor, 0.0),\n (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64)\n if origin is not None:\n M[:3, 3] = origin[:3]\n M[:3, 3] *= 1.0 - factor\n else:\n # nonuniform scaling\n direction = unit_vector(direction[:3])\n factor = 1.0 - factor\n M = numpy.identity(4)\n M[:3, :3] -= factor * numpy.outer(direction, direction)\n if origin is not None:\n M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction\n return M\n\n\ndef scale_from_matrix(matrix):\n \"\"\"Return scaling factor, origin and direction from scaling matrix.\n\n >>> factor = random.random() * 10 - 5\n >>> origin = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> S0 = scale_matrix(factor, origin)\n >>> factor, origin, direction = scale_from_matrix(S0)\n >>> S1 = scale_matrix(factor, origin, direction)\n >>> is_same_transform(S0, S1)\n True\n >>> S0 = scale_matrix(factor, origin, direct)\n >>> factor, origin, direction = scale_from_matrix(S0)\n >>> S1 = scale_matrix(factor, origin, direction)\n >>> is_same_transform(S0, S1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n factor = numpy.trace(M33) - 2.0\n try:\n # direction: unit eigenvector corresponding to eigenvalue factor\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0]\n direction = numpy.real(V[:, i]).squeeze()\n direction /= vector_norm(direction)\n except IndexError:\n # uniform scaling\n factor = (factor + 2.0) / 3.0\n direction = None\n # origin: any eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 1\")\n origin = numpy.real(V[:, i[-1]]).squeeze()\n origin /= origin[3]\n return factor, origin, direction\n\n\ndef projection_matrix(point, normal, direction=None,\n perspective=None, pseudo=False):\n \"\"\"Return matrix to project onto plane defined by point and normal.\n\n Using either perspective point, projection direction, or none of both.\n\n If pseudo is True, perspective projections will preserve relative depth\n such that Perspective = dot(Orthogonal, PseudoPerspective).\n\n >>> P = projection_matrix((0, 0, 0), (1, 0, 0))\n >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:])\n True\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(3) - 0.5\n >>> P0 = projection_matrix(point, normal)\n >>> P1 = projection_matrix(point, normal, direction=direct)\n >>> P2 = projection_matrix(point, normal, perspective=persp)\n >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True)\n >>> is_same_transform(P2, numpy.dot(P0, P3))\n True\n >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0))\n >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0\n >>> v0[3] = 1.0\n >>> v1 = numpy.dot(P, v0)\n >>> numpy.allclose(v1[1], v0[1])\n True\n >>> numpy.allclose(v1[0], 3.0-v1[1])\n True\n\n \"\"\"\n M = numpy.identity(4)\n point = numpy.array(point[:3], dtype=numpy.float64, copy=False)\n normal = unit_vector(normal[:3])\n if perspective is not None:\n # perspective projection\n perspective = numpy.array(perspective[:3], dtype=numpy.float64,\n copy=False)\n M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal)\n M[:3, :3] -= numpy.outer(perspective, normal)\n if pseudo:\n # preserve relative depth\n M[:3, :3] -= numpy.outer(normal, normal)\n M[:3, 3] = numpy.dot(point, normal) * (perspective+normal)\n else:\n M[:3, 3] = numpy.dot(point, normal) * perspective\n M[3, :3] = -normal\n M[3, 3] = numpy.dot(perspective, normal)\n elif direction is not None:\n # parallel projection\n direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False)\n scale = numpy.dot(direction, normal)\n M[:3, :3] -= numpy.outer(direction, normal) / scale\n M[:3, 3] = direction * (numpy.dot(point, normal) / scale)\n else:\n # orthogonal projection\n M[:3, :3] -= numpy.outer(normal, normal)\n M[:3, 3] = numpy.dot(point, normal) * normal\n return M\n\n\ndef projection_from_matrix(matrix, pseudo=False):\n \"\"\"Return projection plane and perspective point from projection matrix.\n\n Return values are same as arguments for projection_matrix function:\n point, normal, direction, perspective, and pseudo.\n\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.random.random(3) - 0.5\n >>> direct = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(3) - 0.5\n >>> P0 = projection_matrix(point, normal)\n >>> result = projection_from_matrix(P0)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, direct)\n >>> result = projection_from_matrix(P0)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False)\n >>> result = projection_from_matrix(P0, pseudo=False)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True)\n >>> result = projection_from_matrix(P0, pseudo=True)\n >>> P1 = projection_matrix(*result)\n >>> is_same_transform(P0, P1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not pseudo and len(i):\n # point: any eigenvector corresponding to eigenvalue 1\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n # direction: unit eigenvector corresponding to eigenvalue 0\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 0\")\n direction = numpy.real(V[:, i[0]]).squeeze()\n direction /= vector_norm(direction)\n # normal: unit eigenvector of M33.T corresponding to eigenvalue 0\n l, V = numpy.linalg.eig(M33.T)\n i = numpy.where(abs(numpy.real(l)) < 1e-8)[0]\n if len(i):\n # parallel projection\n normal = numpy.real(V[:, i[0]]).squeeze()\n normal /= vector_norm(normal)\n return point, normal, direction, None, False\n else:\n # orthogonal projection, where normal equals direction vector\n return point, direction, None, None, False\n else:\n # perspective projection\n i = numpy.where(abs(numpy.real(l)) > 1e-8)[0]\n if not len(i):\n raise ValueError(\n \"no eigenvector not corresponding to eigenvalue 0\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n normal = - M[3, :3]\n perspective = M[:3, 3] / numpy.dot(point[:3], normal)\n if pseudo:\n perspective -= normal\n return point, normal, None, perspective, pseudo\n\n\ndef clip_matrix(left, right, bottom, top, near, far, perspective=False):\n \"\"\"Return matrix to obtain normalized device coordinates from frustrum.\n\n The frustrum bounds are axis-aligned along x (left, right),\n y (bottom, top) and z (near, far).\n\n Normalized device coordinates are in range [-1, 1] if coordinates are\n inside the frustrum.\n\n If perspective is True the frustrum is a truncated pyramid with the\n perspective point at origin and direction along z axis, otherwise an\n orthographic canonical view volume (a box).\n\n Homogeneous coordinates transformed by the perspective clip matrix\n need to be dehomogenized (devided by w coordinate).\n\n >>> frustrum = numpy.random.rand(6)\n >>> frustrum[1] += frustrum[0]\n >>> frustrum[3] += frustrum[2]\n >>> frustrum[5] += frustrum[4]\n >>> M = clip_matrix(*frustrum, perspective=False)\n >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])\n array([-1., -1., -1., 1.])\n >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0])\n array([ 1., 1., 1., 1.])\n >>> M = clip_matrix(*frustrum, perspective=True)\n >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0])\n >>> v / v[3]\n array([-1., -1., -1., 1.])\n >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0])\n >>> v / v[3]\n array([ 1., 1., -1., 1.])\n\n \"\"\"\n if left >= right or bottom >= top or near >= far:\n raise ValueError(\"invalid frustrum\")\n if perspective:\n if near <= _EPS:\n raise ValueError(\"invalid frustrum: near <= 0\")\n t = 2.0 * near\n M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0),\n (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0),\n (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)),\n (0.0, 0.0, -1.0, 0.0))\n else:\n M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)),\n (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)),\n (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)),\n (0.0, 0.0, 0.0, 1.0))\n return numpy.array(M, dtype=numpy.float64)\n\n\ndef shear_matrix(angle, direction, point, normal):\n \"\"\"Return matrix to shear by angle along direction vector on shear plane.\n\n The shear plane is defined by a point and normal vector. The direction\n vector must be orthogonal to the plane's normal vector.\n\n A point P is transformed by the shear matrix into P\" such that\n the vector P-P\" is parallel to the direction vector and its extent is\n given by the angle of P-P'-P\", where P' is the orthogonal projection\n of P onto the shear plane.\n\n >>> angle = (random.random() - 0.5) * 4*math.pi\n >>> direct = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.cross(direct, numpy.random.random(3))\n >>> S = shear_matrix(angle, direct, point, normal)\n >>> numpy.allclose(1.0, numpy.linalg.det(S))\n True\n\n \"\"\"\n normal = unit_vector(normal[:3])\n direction = unit_vector(direction[:3])\n if abs(numpy.dot(normal, direction)) > 1e-6:\n raise ValueError(\"direction and normal vectors are not orthogonal\")\n angle = math.tan(angle)\n M = numpy.identity(4)\n M[:3, :3] += angle * numpy.outer(direction, normal)\n M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction\n return M\n\n\ndef shear_from_matrix(matrix):\n \"\"\"Return shear angle, direction and plane from shear matrix.\n\n >>> angle = (random.random() - 0.5) * 4*math.pi\n >>> direct = numpy.random.random(3) - 0.5\n >>> point = numpy.random.random(3) - 0.5\n >>> normal = numpy.cross(direct, numpy.random.random(3))\n >>> S0 = shear_matrix(angle, direct, point, normal)\n >>> angle, direct, point, normal = shear_from_matrix(S0)\n >>> S1 = shear_matrix(angle, direct, point, normal)\n >>> is_same_transform(S0, S1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)\n M33 = M[:3, :3]\n # normal: cross independent eigenvectors corresponding to the eigenvalue 1\n l, V = numpy.linalg.eig(M33)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0]\n if len(i) < 2:\n raise ValueError(\"No two linear independent eigenvectors found %s\" % l)\n V = numpy.real(V[:, i]).squeeze().T\n lenorm = -1.0\n for i0, i1 in ((0, 1), (0, 2), (1, 2)):\n n = numpy.cross(V[i0], V[i1])\n l = vector_norm(n)\n if l > lenorm:\n lenorm = l\n normal = n\n normal /= lenorm\n # direction and angle\n direction = numpy.dot(M33 - numpy.identity(3), normal)\n angle = vector_norm(direction)\n direction /= angle\n angle = math.atan(angle)\n # point: eigenvector corresponding to eigenvalue 1\n l, V = numpy.linalg.eig(M)\n i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0]\n if not len(i):\n raise ValueError(\"no eigenvector corresponding to eigenvalue 1\")\n point = numpy.real(V[:, i[-1]]).squeeze()\n point /= point[3]\n return angle, direction, point, normal\n\n\ndef decompose_matrix(matrix):\n \"\"\"Return sequence of transformations from transformation matrix.\n\n matrix : array_like\n Non-degenerative homogeneous transformation matrix\n\n Return tuple of:\n scale : vector of 3 scaling factors\n shear : list of shear factors for x-y, x-z, y-z axes\n angles : list of Euler angles about static x, y, z axes\n translate : translation vector along x, y, z axes\n perspective : perspective partition of matrix\n\n Raise ValueError if matrix is of wrong type or degenerative.\n\n >>> T0 = translation_matrix((1, 2, 3))\n >>> scale, shear, angles, trans, persp = decompose_matrix(T0)\n >>> T1 = translation_matrix(trans)\n >>> numpy.allclose(T0, T1)\n True\n >>> S = scale_matrix(0.123)\n >>> scale, shear, angles, trans, persp = decompose_matrix(S)\n >>> scale[0]\n 0.123\n >>> R0 = euler_matrix(1, 2, 3)\n >>> scale, shear, angles, trans, persp = decompose_matrix(R0)\n >>> R1 = euler_matrix(*angles)\n >>> numpy.allclose(R0, R1)\n True\n\n \"\"\"\n M = numpy.array(matrix, dtype=numpy.float64, copy=True).T\n if abs(M[3, 3]) < _EPS:\n raise ValueError(\"M[3, 3] is zero\")\n M /= M[3, 3]\n P = M.copy()\n P[:, 3] = 0, 0, 0, 1\n if not numpy.linalg.det(P):\n raise ValueError(\"Matrix is singular\")\n\n scale = numpy.zeros((3, ), dtype=numpy.float64)\n shear = [0, 0, 0]\n angles = [0, 0, 0]\n\n if any(abs(M[:3, 3]) > _EPS):\n perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T))\n M[:, 3] = 0, 0, 0, 1\n else:\n perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64)\n\n translate = M[3, :3].copy()\n M[3, :3] = 0\n\n row = M[:3, :3].copy()\n scale[0] = vector_norm(row[0])\n row[0] /= scale[0]\n shear[0] = numpy.dot(row[0], row[1])\n row[1] -= row[0] * shear[0]\n scale[1] = vector_norm(row[1])\n row[1] /= scale[1]\n shear[0] /= scale[1]\n shear[1] = numpy.dot(row[0], row[2])\n row[2] -= row[0] * shear[1]\n shear[2] = numpy.dot(row[1], row[2])\n row[2] -= row[1] * shear[2]\n scale[2] = vector_norm(row[2])\n row[2] /= scale[2]\n shear[1:] /= scale[2]\n\n if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0:\n scale *= -1\n row *= -1\n\n angles[1] = math.asin(-row[0, 2])\n if math.cos(angles[1]):\n angles[0] = math.atan2(row[1, 2], row[2, 2])\n angles[2] = math.atan2(row[0, 1], row[0, 0])\n else:\n # angles[0] = math.atan2(row[1, 0], row[1, 1])\n angles[0] = math.atan2(-row[2, 1], row[1, 1])\n angles[2] = 0.0\n\n return scale, shear, angles, translate, perspective\n\n\ndef compose_matrix(scale=None, shear=None, angles=None, translate=None,\n perspective=None):\n \"\"\"Return transformation matrix from sequence of transformations.\n\n This is the inverse of the decompose_matrix function.\n\n Sequence of transformations:\n scale : vector of 3 scaling factors\n shear : list of shear factors for x-y, x-z, y-z axes\n angles : list of Euler angles about static x, y, z axes\n translate : translation vector along x, y, z axes\n perspective : perspective partition of matrix\n\n >>> scale = numpy.random.random(3) - 0.5\n >>> shear = numpy.random.random(3) - 0.5\n >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi)\n >>> trans = numpy.random.random(3) - 0.5\n >>> persp = numpy.random.random(4) - 0.5\n >>> M0 = compose_matrix(scale, shear, angles, trans, persp)\n >>> result = decompose_matrix(M0)\n >>> M1 = compose_matrix(*result)\n >>> is_same_transform(M0, M1)\n True\n\n \"\"\"\n M = numpy.identity(4)\n if perspective is not None:\n P = numpy.identity(4)\n P[3, :] = perspective[:4]\n M = numpy.dot(M, P)\n if translate is not None:\n T = numpy.identity(4)\n T[:3, 3] = translate[:3]\n M = numpy.dot(M, T)\n if angles is not None:\n R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz')\n M = numpy.dot(M, R)\n if shear is not None:\n Z = numpy.identity(4)\n Z[1, 2] = shear[2]\n Z[0, 2] = shear[1]\n Z[0, 1] = shear[0]\n M = numpy.dot(M, Z)\n if scale is not None:\n S = numpy.identity(4)\n S[0, 0] = scale[0]\n S[1, 1] = scale[1]\n S[2, 2] = scale[2]\n M = numpy.dot(M, S)\n M /= M[3, 3]\n return M\n\n\ndef orthogonalization_matrix(lengths, angles):\n \"\"\"Return orthogonalization matrix for crystallographic cell coordinates.\n\n Angles are expected in degrees.\n\n The de-orthogonalization matrix is the inverse.\n\n >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.))\n >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10)\n True\n >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7])\n >>> numpy.allclose(numpy.sum(O), 43.063229)\n True\n\n \"\"\"\n a, b, c = lengths\n angles = numpy.radians(angles)\n sina, sinb, _ = numpy.sin(angles)\n cosa, cosb, cosg = numpy.cos(angles)\n co = (cosa * cosb - cosg) / (sina * sinb)\n return numpy.array((\n (a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0),\n (-a*sinb*co, b*sina, 0.0, 0.0),\n (a*cosb, b*cosa, c, 0.0),\n (0.0, 0.0, 0.0, 1.0)),\n dtype=numpy.float64)\n\n\ndef superimposition_matrix(v0, v1, scaling=False, usesvd=True):\n \"\"\"Return matrix to transform given vector set into second vector set.\n\n v0 and v1 are shape (3, \\*) or (4, \\*) arrays of at least 3 vectors.\n\n If usesvd is True, the weighted sum of squared deviations (RMSD) is\n minimized according to the algorithm by W. Kabsch [8]. Otherwise the\n quaternion based algorithm by B. Horn [9] is used (slower when using\n this Python implementation).\n\n The returned matrix performs rotation, translation and uniform scaling\n (if specified).\n\n >>> v0 = numpy.random.rand(3, 10)\n >>> M = superimposition_matrix(v0, v0)\n >>> numpy.allclose(M, numpy.identity(4))\n True\n >>> R = random_rotation_matrix(numpy.random.random(3))\n >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1))\n >>> v1 = numpy.dot(R, v0)\n >>> M = superimposition_matrix(v0, v1)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0\n >>> v0[3] = 1.0\n >>> v1 = numpy.dot(R, v0)\n >>> M = superimposition_matrix(v0, v1)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> S = scale_matrix(random.random())\n >>> T = translation_matrix(numpy.random.random(3)-0.5)\n >>> M = concatenate_matrices(T, R, S)\n >>> v1 = numpy.dot(M, v0)\n >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1)\n >>> M = superimposition_matrix(v0, v1, scaling=True)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)\n >>> numpy.allclose(v1, numpy.dot(M, v0))\n True\n >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64)\n >>> v[:, :, 0] = v0\n >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False)\n >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0]))\n True\n\n \"\"\"\n v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]\n v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]\n\n if v0.shape != v1.shape or v0.shape[1] < 3:\n raise ValueError(\"Vector sets are of wrong shape or type.\")\n\n # move centroids to origin\n t0 = numpy.mean(v0, axis=1)\n t1 = numpy.mean(v1, axis=1)\n v0 = v0 - t0.reshape(3, 1)\n v1 = v1 - t1.reshape(3, 1)\n\n if usesvd:\n # Singular Value Decomposition of covariance matrix\n u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))\n # rotation matrix from SVD orthonormal bases\n R = numpy.dot(u, vh)\n if numpy.linalg.det(R) < 0.0:\n # R does not constitute right handed system\n R -= numpy.outer(u[:, 2], vh[2, :]*2.0)\n s[-1] *= -1.0\n # homogeneous transformation matrix\n M = numpy.identity(4)\n M[:3, :3] = R\n else:\n # compute symmetric matrix N\n xx, yy, zz = numpy.sum(v0 * v1, axis=1)\n xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1)\n xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1)\n N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx),\n (yz-zy, xx-yy-zz, xy+yx, zx+xz),\n (zx-xz, xy+yx, -xx+yy-zz, yz+zy),\n (xy-yx, zx+xz, yz+zy, -xx-yy+zz))\n # quaternion: eigenvector corresponding to most positive eigenvalue\n l, V = numpy.linalg.eig(N)\n q = V[:, numpy.argmax(l)]\n q /= vector_norm(q) # unit quaternion\n q = numpy.roll(q, -1) # move w component to end\n # homogeneous transformation matrix\n M = quaternion_matrix(q)\n\n # scale: ratio of rms deviations from centroid\n if scaling:\n v0 *= v0\n v1 *= v1\n M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0))\n\n # translation\n M[:3, 3] = t1\n T = numpy.identity(4)\n T[:3, 3] = -t0\n M = numpy.dot(M, T)\n return M\n\n\ndef euler_matrix(ai, aj, ak, axes='sxyz'):\n \"\"\"Return homogeneous rotation matrix from Euler angles and axis sequence.\n\n ai, aj, ak : Euler's roll, pitch and yaw angles\n axes : One of 24 axis sequences as string or encoded tuple\n\n >>> R = euler_matrix(1, 2, 3, 'syxz')\n >>> numpy.allclose(numpy.sum(R[0]), -1.34786452)\n True\n >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))\n >>> numpy.allclose(numpy.sum(R[0]), -0.383436184)\n True\n >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5)\n >>> for axes in _AXES2TUPLE.keys():\n ... R = euler_matrix(ai, aj, ak, axes)\n >>> for axes in _TUPLE2AXES.keys():\n ... R = euler_matrix(ai, aj, ak, axes)\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n if frame:\n ai, ak = ak, ai\n if parity:\n ai, aj, ak = -ai, -aj, -ak\n\n si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak)\n ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak)\n cc, cs = ci*ck, ci*sk\n sc, ss = si*ck, si*sk\n\n M = numpy.identity(4)\n if repetition:\n M[i, i] = cj\n M[i, j] = sj*si\n M[i, k] = sj*ci\n M[j, i] = sj*sk\n M[j, j] = -cj*ss+cc\n M[j, k] = -cj*cs-sc\n M[k, i] = -sj*ck\n M[k, j] = cj*sc+cs\n M[k, k] = cj*cc-ss\n else:\n M[i, i] = cj*ck\n M[i, j] = sj*sc-cs\n M[i, k] = sj*cc+ss\n M[j, i] = cj*sk\n M[j, j] = sj*ss+cc\n M[j, k] = sj*cs-sc\n M[k, i] = -sj\n M[k, j] = cj*si\n M[k, k] = cj*ci\n return M\n\n\ndef euler_from_matrix(matrix, axes='sxyz'):\n \"\"\"Return Euler angles from rotation matrix for specified axis sequence.\n\n axes : One of 24 axis sequences as string or encoded tuple\n\n Note that many Euler angle triplets can describe one matrix.\n\n >>> R0 = euler_matrix(1, 2, 3, 'syxz')\n >>> al, be, ga = euler_from_matrix(R0, 'syxz')\n >>> R1 = euler_matrix(al, be, ga, 'syxz')\n >>> numpy.allclose(R0, R1)\n True\n >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5)\n >>> for axes in _AXES2TUPLE.keys():\n ... R0 = euler_matrix(axes=axes, *angles)\n ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes))\n ... if not numpy.allclose(R0, R1): print axes, \"failed\"\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3]\n if repetition:\n sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k])\n if sy > _EPS:\n ax = math.atan2(M[i, j], M[i, k])\n ay = math.atan2(sy, M[i, i])\n az = math.atan2(M[j, i], -M[k, i])\n else:\n ax = math.atan2(-M[j, k], M[j, j])\n ay = math.atan2(sy, M[i, i])\n az = 0.0\n else:\n cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i])\n if cy > _EPS:\n ax = math.atan2(M[k, j], M[k, k])\n ay = math.atan2(-M[k, i], cy)\n az = math.atan2(M[j, i], M[i, i])\n else:\n ax = math.atan2(-M[j, k], M[j, j])\n ay = math.atan2(-M[k, i], cy)\n az = 0.0\n\n if parity:\n ax, ay, az = -ax, -ay, -az\n if frame:\n ax, az = az, ax\n return ax, ay, az\n\n\ndef euler_from_quaternion(quaternion, axes='sxyz'):\n \"\"\"Return Euler angles from quaternion for specified axis sequence.\n\n >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947])\n >>> numpy.allclose(angles, [0.123, 0, 0])\n True\n\n \"\"\"\n return euler_from_matrix(quaternion_matrix(quaternion), axes)\n\n\ndef quaternion_normalize(v, tolerance=0.00001):\n mag2 = sum(n * n for n in v)\n if mag2 > tolerance:\n mag = math.sqrt(mag2)\n v = tuple(n / mag for n in v)\n return numpy.array(v)\n\n\ndef quaternion_from_euler(ai, aj, ak, axes='sxyz'):\n \"\"\"Return quaternion from Euler angles and axis sequence.\n\n ai, aj, ak : Euler's roll, pitch and yaw angles\n axes : One of 24 axis sequences as string or encoded tuple\n\n >>> q = quaternion_from_euler(1, 2, 3, 'ryxz')\n >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953])\n True\n\n \"\"\"\n try:\n firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()]\n except (AttributeError, KeyError):\n _ = _TUPLE2AXES[axes]\n firstaxis, parity, repetition, frame = axes\n\n i = firstaxis\n j = _NEXT_AXIS[i+parity]\n k = _NEXT_AXIS[i-parity+1]\n\n if frame:\n ai, ak = ak, ai\n if parity:\n aj = -aj\n\n ai /= 2.0\n aj /= 2.0\n ak /= 2.0\n ci = math.cos(ai)\n si = math.sin(ai)\n cj = math.cos(aj)\n sj = math.sin(aj)\n ck = math.cos(ak)\n sk = math.sin(ak)\n cc = ci*ck\n cs = ci*sk\n sc = si*ck\n ss = si*sk\n\n quaternion = numpy.empty((4, ), dtype=numpy.float64)\n if repetition:\n quaternion[i] = cj*(cs + sc)\n quaternion[j] = sj*(cc + ss)\n quaternion[k] = sj*(cs - sc)\n quaternion[3] = cj*(cc - ss)\n else:\n quaternion[i] = cj*sc - sj*cs\n quaternion[j] = cj*ss + sj*cc\n quaternion[k] = cj*cs - sj*sc\n quaternion[3] = cj*cc + sj*ss\n if parity:\n quaternion[j] *= -1\n\n return quaternion\n\n\ndef quaternion_about_axis(angle, axis):\n \"\"\"Return quaternion for rotation about axis.\n\n >>> q = quaternion_about_axis(0.123, (1, 0, 0))\n >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947])\n True\n\n \"\"\"\n quaternion = numpy.zeros((4, ), dtype=numpy.float64)\n quaternion[:3] = axis[:3]\n qlen = vector_norm(quaternion)\n if qlen > _EPS:\n quaternion *= math.sin(angle/2.0) / qlen\n quaternion[3] = math.cos(angle/2.0)\n return quaternion\n\n\ndef quaternion_matrix(quaternion):\n \"\"\"Return homogeneous rotation matrix from quaternion.\n\n >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947])\n >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0)))\n True\n\n \"\"\"\n q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True)\n nq = numpy.dot(q, q)\n if nq < _EPS:\n return numpy.identity(4)\n q *= math.sqrt(2.0 / nq)\n q = numpy.outer(q, q)\n return numpy.array((\n (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0),\n (q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0),\n (q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0),\n (0.0, 0.0, 0.0, 1.0)\n ), dtype=numpy.float64)\n\n\ndef quaternion_from_matrix(matrix):\n \"\"\"Return quaternion from rotation matrix.\n\n >>> R = rotation_matrix(0.123, (1, 2, 3))\n >>> q = quaternion_from_matrix(R)\n >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095])\n True\n\n \"\"\"\n q = numpy.empty((4, ), dtype=numpy.float64)\n M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4]\n t = numpy.trace(M)\n if t > M[3, 3]:\n q[3] = t\n q[2] = M[1, 0] - M[0, 1]\n q[1] = M[0, 2] - M[2, 0]\n q[0] = M[2, 1] - M[1, 2]\n else:\n i, j, k = 0, 1, 2\n if M[1, 1] > M[0, 0]:\n i, j, k = 1, 2, 0\n if M[2, 2] > M[i, i]:\n i, j, k = 2, 0, 1\n t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3]\n q[i] = t\n q[j] = M[i, j] + M[j, i]\n q[k] = M[k, i] + M[i, k]\n q[3] = M[k, j] - M[j, k]\n q *= 0.5 / math.sqrt(t * M[3, 3])\n return q\n\n\ndef pose_quaternion_from_matrix(matrix):\n \"\"\"Return translation + quaternion(x,y,z,w)\n \"\"\"\n if matrix.shape == (3, 4):\n matrix = numpy.concatenate((matrix, [[0, 0, 0, 1]]), axis=0)\n\n pose = translation_from_matrix(matrix)\n quat = quaternion_from_matrix(matrix)\n return numpy.concatenate((pose, quat), axis=0)\n\n\ndef quaternion_multiply(quaternion1, quaternion0):\n \"\"\"Return multiplication of two quaternions.\n\n >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8])\n >>> numpy.allclose(q, [-44, -14, 48, 28])\n True\n\n \"\"\"\n x0, y0, z0, w0 = quaternion0\n x1, y1, z1, w1 = quaternion1\n return numpy.array((\n x1*w0 + y1*z0 - z1*y0 + w1*x0,\n -x1*z0 + y1*w0 + z1*x0 + w1*y0,\n x1*y0 - y1*x0 + z1*w0 + w1*z0,\n -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64)\n\n\ndef quaternion_conjugate(quaternion):\n \"\"\"Return conjugate of quaternion.\n\n >>> q0 = random_quaternion()\n >>> q1 = quaternion_conjugate(q0)\n >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3])\n True\n\n \"\"\"\n return numpy.array((-quaternion[0], -quaternion[1],\n -quaternion[2], quaternion[3]), dtype=numpy.float64)\n\n\ndef quaternion_inverse(quaternion):\n \"\"\"Return inverse of quaternion.\n\n >>> q0 = random_quaternion()\n >>> q1 = quaternion_inverse(q0)\n >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1])\n True\n\n \"\"\"\n return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion)\n\n\ndef quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):\n \"\"\"Return spherical linear interpolation between two quaternions.\n\n >>> q0 = random_quaternion()\n >>> q1 = random_quaternion()\n >>> q = quaternion_slerp(q0, q1, 0.0)\n >>> numpy.allclose(q, q0)\n True\n >>> q = quaternion_slerp(q0, q1, 1.0, 1)\n >>> numpy.allclose(q, q1)\n True\n >>> q = quaternion_slerp(q0, q1, 0.5)\n >>> angle = math.acos(numpy.dot(q0, q))\n >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \\\n numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle)\n True\n\n \"\"\"\n q0 = unit_vector(quat0[:4])\n q1 = unit_vector(quat1[:4])\n if fraction == 0.0:\n return q0\n elif fraction == 1.0:\n return q1\n d = numpy.dot(q0, q1)\n if abs(abs(d) - 1.0) < _EPS:\n return q0\n if shortestpath and d < 0.0:\n # invert rotation\n d = -d\n q1 *= -1.0\n angle = math.acos(d) + spin * math.pi\n if abs(angle) < _EPS:\n return q0\n isin = 1.0 / math.sin(angle)\n q0 *= math.sin((1.0 - fraction) * angle) * isin\n q1 *= math.sin(fraction * angle) * isin\n q0 += q1\n return q0\n\n\ndef quaternion_rotate_vector(quaternion, vector):\n \"\"\"\n Return vector rotated by a given unit quaternion\n \"\"\"\n q_vector = numpy.append(vector, 0)\n return quaternion_multiply(quaternion_multiply(quaternion, q_vector), quaternion_conjugate(quaternion))[:3]\n\n\ndef random_quaternion(rand=None):\n \"\"\"Return uniform random unit quaternion.\n\n rand: array like or None\n Three independent random variables that are uniformly distributed\n between 0 and 1.\n\n >>> q = random_quaternion()\n >>> numpy.allclose(1.0, vector_norm(q))\n True\n >>> q = random_quaternion(numpy.random.random(3))\n >>> q.shape\n (4,)\n\n \"\"\"\n if rand is None:\n rand = numpy.random.rand(3)\n else:\n assert len(rand) == 3\n r1 = numpy.sqrt(1.0 - rand[0])\n r2 = numpy.sqrt(rand[0])\n pi2 = math.pi * 2.0\n t1 = pi2 * rand[1]\n t2 = pi2 * rand[2]\n return numpy.array((numpy.sin(t1)*r1,\n numpy.cos(t1)*r1,\n numpy.sin(t2)*r2,\n numpy.cos(t2)*r2), dtype=numpy.float64)\n\n\ndef random_rotation_matrix(rand=None):\n \"\"\"Return uniform random rotation matrix.\n\n rnd: array like\n Three independent random variables that are uniformly distributed\n between 0 and 1 for each returned quaternion.\n\n >>> R = random_rotation_matrix()\n >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))\n True\n\n \"\"\"\n return quaternion_matrix(random_quaternion(rand))\n\n\nclass Arcball(object):\n \"\"\"Virtual Trackball Control.\n\n >>> ball = Arcball()\n >>> ball = Arcball(initial=numpy.identity(4))\n >>> ball.place([320, 320], 320)\n >>> ball.down([500, 250])\n >>> ball.drag([475, 275])\n >>> R = ball.matrix()\n >>> numpy.allclose(numpy.sum(R), 3.90583455)\n True\n >>> ball = Arcball(initial=[0, 0, 0, 1])\n >>> ball.place([320, 320], 320)\n >>> ball.setaxes([1,1,0], [-1, 1, 0])\n >>> ball.setconstrain(True)\n >>> ball.down([400, 200])\n >>> ball.drag([200, 400])\n >>> R = ball.matrix()\n >>> numpy.allclose(numpy.sum(R), 0.2055924)\n True\n >>> ball.next()\n\n \"\"\"\n\n def __init__(self, initial=None):\n \"\"\"Initialize virtual trackball control.\n\n initial : quaternion or rotation matrix\n\n \"\"\"\n self._axis = None\n self._axes = None\n self._radius = 1.0\n self._center = [0.0, 0.0]\n self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64)\n self._constrain = False\n\n if initial is None:\n self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64)\n else:\n initial = numpy.array(initial, dtype=numpy.float64)\n if initial.shape == (4, 4):\n self._qdown = quaternion_from_matrix(initial)\n elif initial.shape == (4, ):\n initial /= vector_norm(initial)\n self._qdown = initial\n else:\n raise ValueError(\"initial not a quaternion or matrix.\")\n\n self._qnow = self._qpre = self._qdown\n\n def place(self, center, radius):\n \"\"\"Place Arcball, e.g. when window size changes.\n\n center : sequence[2]\n Window coordinates of trackball center.\n radius : float\n Radius of trackball in window coordinates.\n\n \"\"\"\n self._radius = float(radius)\n self._center[0] = center[0]\n self._center[1] = center[1]\n\n def setaxes(self, *axes):\n \"\"\"Set axes to constrain rotations.\"\"\"\n if axes is None:\n self._axes = None\n else:\n self._axes = [unit_vector(axis) for axis in axes]\n\n def setconstrain(self, constrain):\n \"\"\"Set state of constrain to axis mode.\"\"\"\n self._constrain = constrain == True\n\n def getconstrain(self):\n \"\"\"Return state of constrain to axis mode.\"\"\"\n return self._constrain\n\n def down(self, point):\n \"\"\"Set initial cursor window coordinates and pick constrain-axis.\"\"\"\n self._vdown = arcball_map_to_sphere(point, self._center, self._radius)\n self._qdown = self._qpre = self._qnow\n\n if self._constrain and self._axes is not None:\n self._axis = arcball_nearest_axis(self._vdown, self._axes)\n self._vdown = arcball_constrain_to_axis(self._vdown, self._axis)\n else:\n self._axis = None\n\n def drag(self, point):\n \"\"\"Update current cursor window coordinates.\"\"\"\n vnow = arcball_map_to_sphere(point, self._center, self._radius)\n\n if self._axis is not None:\n vnow = arcball_constrain_to_axis(vnow, self._axis)\n\n self._qpre = self._qnow\n\n t = numpy.cross(self._vdown, vnow)\n if numpy.dot(t, t) < _EPS:\n self._qnow = self._qdown\n else:\n q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)]\n self._qnow = quaternion_multiply(q, self._qdown)\n\n def next(self, acceleration=0.0):\n \"\"\"Continue rotation in direction of last drag.\"\"\"\n q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False)\n self._qpre, self._qnow = self._qnow, q\n\n def matrix(self):\n \"\"\"Return homogeneous rotation matrix.\"\"\"\n return quaternion_matrix(self._qnow)\n\n\ndef arcball_map_to_sphere(point, center, radius):\n \"\"\"Return unit sphere coordinates from window coordinates.\"\"\"\n v = numpy.array(((point[0] - center[0]) / radius,\n (center[1] - point[1]) / radius,\n 0.0), dtype=numpy.float64)\n n = v[0]*v[0] + v[1]*v[1]\n if n > 1.0:\n v /= math.sqrt(n) # position outside of sphere\n else:\n v[2] = math.sqrt(1.0 - n)\n return v\n\n\ndef arcball_constrain_to_axis(point, axis):\n \"\"\"Return sphere point perpendicular to axis.\"\"\"\n v = numpy.array(point, dtype=numpy.float64, copy=True)\n a = numpy.array(axis, dtype=numpy.float64, copy=True)\n v -= a * numpy.dot(a, v) # on plane\n n = vector_norm(v)\n if n > _EPS:\n if v[2] < 0.0:\n v *= -1.0\n v /= n\n return v\n if a[2] == 1.0:\n return numpy.array([1, 0, 0], dtype=numpy.float64)\n return unit_vector([-a[1], a[0], 0])\n\n\ndef arcball_nearest_axis(point, axes):\n \"\"\"Return axis, which arc is nearest to point.\"\"\"\n point = numpy.array(point, dtype=numpy.float64, copy=False)\n nearest = None\n mx = -1.0\n for axis in axes:\n t = numpy.dot(arcball_constrain_to_axis(point, axis), point)\n if t > mx:\n nearest = axis\n mx = t\n return nearest\n\n\n# epsilon for testing whether a number is close to zero\n_EPS = numpy.finfo(float).eps * 4.0\n\n# axis sequences for Euler angles\n_NEXT_AXIS = [1, 2, 0, 1]\n\n# map axes strings to/from tuples of inner axis, parity, repetition, frame\n_AXES2TUPLE = {\n 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),\n 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),\n 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),\n 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),\n 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),\n 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),\n 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),\n 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}\n\n_TUPLE2AXES = dict((v, k) for k, v in list(_AXES2TUPLE.items()))\n\n# helper functions\n\n\ndef vector_norm(data, axis=None, out=None):\n \"\"\"Return length, i.e. eucledian norm, of ndarray along axis.\n\n >>> v = numpy.random.random(3)\n >>> n = vector_norm(v)\n >>> numpy.allclose(n, numpy.linalg.norm(v))\n True\n >>> v = numpy.random.rand(6, 5, 3)\n >>> n = vector_norm(v, axis=-1)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2)))\n True\n >>> n = vector_norm(v, axis=1)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))\n True\n >>> v = numpy.random.rand(5, 4, 3)\n >>> n = numpy.empty((5, 3), dtype=numpy.float64)\n >>> vector_norm(v, axis=1, out=n)\n >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1)))\n True\n >>> vector_norm([])\n 0.0\n >>> vector_norm([1.0])\n 1.0\n\n \"\"\"\n data = numpy.array(data, dtype=numpy.float64, copy=True)\n if out is None:\n if data.ndim == 1:\n return math.sqrt(numpy.dot(data, data))\n data *= data\n out = numpy.atleast_1d(numpy.sum(data, axis=axis))\n numpy.sqrt(out, out)\n return out\n else:\n data *= data\n numpy.sum(data, axis=axis, out=out)\n numpy.sqrt(out, out)\n\n\ndef unit_vector(data, axis=None, out=None):\n \"\"\"Return ndarray normalized by length, i.e. eucledian norm, along axis.\n\n >>> v0 = numpy.random.random(3)\n >>> v1 = unit_vector(v0)\n >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0))\n True\n >>> v0 = numpy.random.rand(5, 4, 3)\n >>> v1 = unit_vector(v0, axis=-1)\n >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2)\n >>> numpy.allclose(v1, v2)\n True\n >>> v1 = unit_vector(v0, axis=1)\n >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1)\n >>> numpy.allclose(v1, v2)\n True\n >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64)\n >>> unit_vector(v0, axis=1, out=v1)\n >>> numpy.allclose(v1, v2)\n True\n >>> list(unit_vector([]))\n []\n >>> list(unit_vector([1.0]))\n [1.0]\n\n \"\"\"\n if out is None:\n data = numpy.array(data, dtype=numpy.float64, copy=True)\n if data.ndim == 1:\n data /= math.sqrt(numpy.dot(data, data))\n return data\n else:\n if out is not data:\n out[:] = numpy.array(data, copy=False)\n data = out\n length = numpy.atleast_1d(numpy.sum(data*data, axis))\n numpy.sqrt(length, length)\n if axis is not None:\n length = numpy.expand_dims(length, axis)\n data /= length\n if out is None:\n return data\n\n\ndef random_vector(size):\n \"\"\"Return array of random doubles in the half-open interval [0.0, 1.0).\n\n >>> v = random_vector(10000)\n >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0)\n True\n >>> v0 = random_vector(10)\n >>> v1 = random_vector(10)\n >>> numpy.any(v0 == v1)\n False\n\n \"\"\"\n return numpy.random.random(size)\n\n\ndef inverse_matrix(matrix):\n \"\"\"Return inverse of square transformation matrix.\n\n >>> M0 = random_rotation_matrix()\n >>> M1 = inverse_matrix(M0.T)\n >>> numpy.allclose(M1, numpy.linalg.inv(M0.T))\n True\n >>> for size in range(1, 7):\n ... M0 = numpy.random.rand(size, size)\n ... M1 = inverse_matrix(M0)\n ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size\n\n \"\"\"\n return numpy.linalg.inv(matrix)\n\n\ndef concatenate_matrices(*matrices):\n \"\"\"Return concatenation of series of transformation matrices.\n\n >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5\n >>> numpy.allclose(M, concatenate_matrices(M))\n True\n >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T))\n True\n\n \"\"\"\n M = numpy.identity(4)\n for i in matrices:\n M = numpy.dot(M, i)\n return M\n\n\ndef is_same_transform(matrix0, matrix1):\n \"\"\"Return True if two matrices perform same transformation.\n\n >>> is_same_transform(numpy.identity(4), numpy.identity(4))\n True\n >>> is_same_transform(numpy.identity(4), random_rotation_matrix())\n False\n\n \"\"\"\n matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True)\n matrix0 /= matrix0[3, 3]\n matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True)\n matrix1 /= matrix1[3, 3]\n return numpy.allclose(matrix0, matrix1)\n\n\ndef _import_module(module_name, warn=True, prefix='_py_', ignore='_'):\n \"\"\"Try import all public attributes from module into global namespace.\n\n Existing attributes with name clashes are renamed with prefix.\n Attributes starting with underscore are ignored by default.\n\n Return True on successful import.\n\n \"\"\"\n try:\n module = __import__(module_name)\n except ImportError:\n if warn:\n warnings.warn(\"Failed to import module \" + module_name)\n else:\n for attr in dir(module):\n if ignore and attr.startswith(ignore):\n continue\n if prefix:\n if attr in globals():\n globals()[prefix + attr] = globals()[attr]\n elif warn:\n warnings.warn(\"No Python implementation of \" + attr)\n globals()[attr] = getattr(module, attr)\n return True\n\n\ndef rotate_quaternion_by_rpy(roll, pitch, yaw, q_in, rotated_frame=False):\n \"\"\"\n if rotated_frame == True, Apply RPY rotation in the reference frame of the quaternion.\n\n Otherwise, Apply RPY rotation in the rotated frame (the one to which the quaternion has rotated the reference frame).\n \"\"\"\n q_rot = quaternion_from_euler(roll, pitch, yaw)\n\n if rotated_frame:\n q_rotated = quaternion_multiply(q_in, q_rot)\n else:\n q_rotated = quaternion_multiply(q_rot, q_in)\n\n return q_rotated\n\n\ndef translate_pose(pose, delta, rotated_frame=False):\n \"\"\"\n Translate pose by a delta distance.\n rotated_frame: \n False, to translate directly to the frame of reference.\n True, rotate delta and then apply translation. I.e., translate about its relative pose\n \"\"\"\n position = numpy.copy(pose[:3])\n orienation = pose[3:]\n\n if rotated_frame:\n position += quaternion_rotate_vector(orienation, delta)\n else:\n position += delta\n\n return numpy.concatenate([position, orienation])\n\n\ndef transform_pose(pose, transformation, rotated_frame=False):\n \"\"\"\n Apply a transformation, translation and rotation to a pose.\n Optionally, apply the transformation relative to itself. In other words, \n\n pose: list, initial pose in the form [x, y, z, rx, ry, rz, w]\n transformation: list, in the form [x, y, z, r, p, y]\n rotated_frame: boolean, apply transformation directly (in reference frame) \n or rotate about current orientation before applying transformation.\n In other words, transform relative to reference frame or relative to pose frame\n axes: string type of axes for euler angles transformation\n \"\"\"\n # Apply translation\n new_pose = translate_pose(pose, transformation[:3], rotated_frame=rotated_frame)\n\n # Apply rotation\n new_pose[3:] = rotate_quaternion_by_rpy(*transformation[3:], pose[3:], rotated_frame=rotated_frame)\n\n return new_pose\n\n\ndef pose_from_angular_velocity_euler(pose, velocity, dt=1.0):\n \"\"\"\n Transform an action translation + euler [x, y, z, rx, ry, rz] into\n translation(optional rotated) + quaternion [x, y, z, rx, ry, rz, w]\n pose: list initial pose translation + quaternion\n velocity: list aditional desired motion translation + euler\n ee_rotation: boolean whether to return the rotated translation w.r.t\n the end effector\n \"\"\"\n _pose = numpy.copy(pose)\n translation = _pose[:3]\n vel = numpy.copy(velocity)\n lin_vel = vel[:3]\n ang_vel = vel[3:]\n\n pose_cmd = numpy.zeros_like(pose)\n # Translation\n pose_cmd[:3] = translation + lin_vel*dt\n\n # Rotation\n new_orientation = _pose[3:] + ang_vel*dt\n\n pose_cmd[3:] = new_orientation\n\n return pose_cmd\n\n\ndef pose_from_angular_velocity(pose, velocity, dt=1.0, rotated_frame=False):\n \"\"\"\n Transform an action translation + euler [x, y, z, rx, ry, rz] into\n translation(optional rotated) + quaternion [x, y, z, rx, ry, rz, w]\n pose: list initial pose translation + quaternion\n velocity: list aditional desired motion translation + euler\n rotated_frame: boolean whether to return the rotated translation w.r.t\n the end effector\n \"\"\"\n _pose = numpy.copy(pose)\n translation = _pose[:3]\n orientation = Quaternion(numpy.roll(_pose[3:], 1))\n vel = numpy.copy(velocity)\n lin_vel = vel[:3]\n ang_vel = vel[3:]\n\n pose_cmd = numpy.zeros_like(pose)\n # Translation\n if rotated_frame:\n lin_vel[2] *= -1\n lin_vel = orientation.rotate(lin_vel)\n pose_cmd[:3] = translation + lin_vel*dt\n else:\n pose_cmd[:3] = translation + lin_vel*dt\n\n # Rotation\n new_orientation = integrateUnitQuaternionEuler(orientation, ang_vel, dt)\n\n pose_cmd[3:] = numpy.roll(new_orientation.normalised.elements, -1)\n\n return pose_cmd\n\n\ndef integrateUnitQuaternionDMM(q, w, dt):\n \"\"\" Integrate a unit quaterniong using the Direct Multiplicaiton Method\"\"\"\n w_norm = numpy.linalg.norm(w)\n if w_norm == 0:\n return q\n q_tmp = numpy.concatenate([numpy.sin(w_norm*dt/2)*w/w_norm, [numpy.cos(w_norm*dt/2.)]])\n return quaternion_multiply(q_tmp, q)\n\n\ndef integrateUnitQuaternionDMM2(q, w, dt):\n \"\"\" Integrate a unit quaterniong using the Direct Multiplicaiton Method\"\"\"\n q_ = vector_to_pyquaternion(q)\n w_norm = numpy.linalg.norm(w)\n if w_norm == 0:\n return q_\n q_tmp = Quaternion(scalar=(numpy.cos(w_norm*dt/2.)), vector=numpy.sin(w_norm*dt/2)*w/w_norm)\n return vector_from_pyquaternion(q_tmp * q_)\n\n\ndef integrateUnitQuaternionEuler(q, w, dt):\n \"\"\" Integrate a unit quaterniong using Euler Method\"\"\"\n q = Quaternion(q)\n qw = Quaternion(scalar=0, vector=w)\n return (q + 0.5*qw*dt*q).normalised\n\n\ndef pose_to_transform2(pose):\n \"\"\"\n pose: translation + quaternion[x, y, z, w]\n\n Note: the rest of this package use convention [x, y, z, w] but pyquaternion uses [w, x, y, z]\n so we roll the quaternion before transform\n\n \"\"\"\n translation = numpy.array([pose[:3]]).reshape(3, 1)\n rotation = numpy.array(Quaternion(numpy.roll(pose[3:], 1)).rotation_matrix).reshape(3, 3)\n\n transform = numpy.concatenate((rotation, translation), axis=1)\n transform = numpy.concatenate((transform, [[0, 0, 0, 1]]))\n return transform\n\n\ndef pose_to_transform(pose):\n translation = numpy.array([pose[:3]])\n if len(pose[3:]) == 3:\n transform = euler_matrix(*pose[3:])\n else:\n transform = quaternion_matrix(pose[3:])\n transform[:3, 3] = translation\n return transform\n\n\ndef angular_velocity_from_quaternions(q0, q1, dt):\n return (2.0 / dt) * quaternion_multiply(q1 - q0, quaternion_inverse(q0))[:3]\n\n\n# def angular_velocity_from_quaternions(from_Q, to_Q, dt):\n# \"\"\"\n# Calculates the angular velocity between two quaternions for a delta time dt\n# \"\"\"\n# if isinstance(from_Q, Quaternion) and isinstance(to_Q, Quaternion):\n# return (2.0 * (to_Q-from_Q)*from_Q.inverse / dt).vector\n# else:\n# assert isinstance(from_Q, (list, numpy.ndarray))\n# assert isinstance(to_Q, (list, numpy.ndarray))\n# _from_Q = Quaternion(numpy.roll(from_Q, 1))\n# _to_Q = Quaternion(numpy.roll(to_Q, 1))\n# return angular_velocity_from_quaternions(_from_Q, _to_Q, dt)\n\n\ndef vector_to_pyquaternion(vector):\n return Quaternion(numpy.roll(vector, 1))\n\n\ndef vector_from_pyquaternion(quat):\n return numpy.roll(quat.elements, -1)\n\n\ndef pose_quaternion_to_euler(pose):\n return numpy.concatenate([pose[:3], list(euler_from_quaternion(pose[3:], axes='rxyz'))])\n\n\ndef pose_euler_to_quat(pose):\n return numpy.concatenate([pose[:3], list(quaternion_from_euler(*pose[3:], axes='rxyz'))])\n\n\ndef diff_quaternion(q1, q2):\n return quaternion_multiply(q2, quaternion_inverse(q1))\n\n\ndef transform_between_poses(p1, p2):\n p1_T = pose_to_transform(p1)\n p2_T = pose_to_transform(p2)\n\n p1_T_inv = inverse_matrix(p1_T)\n return concatenate_matrices(p1_T_inv, p2_T)\n\n\ndef quaternion_from_axis_angle(axis_angle):\n angle = numpy.linalg.norm(axis_angle)\n\n if math.isclose(angle, 0.0):\n return numpy.array([0, 0, 0, 1.0])\n\n axis = axis_angle / angle\n\n quat = numpy.zeros(4)\n quat[3] = numpy.cos(angle / 2.0)\n quat[:3] = axis * numpy.sin(angle / 2.0)\n return quat\n\n\ndef axis_angle_from_quaternion(quat):\n \"\"\"\n Converts quaternion to axis-angle format.\n Returns a unit vector direction scaled by its angle in radians.\n\n Args:\n quat (np.array): (x,y,z,w) vec4 float angles\n\n Returns:\n np.array: (ax,ay,az) axis-angle exponential coordinates\n \"\"\"\n # clip quaternion\n if quat[3] > 1.0:\n quat[3] = 1.0\n elif quat[3] < -1.0:\n quat[3] = -1.0\n\n den = numpy.sqrt(1.0 - quat[3] * quat[3])\n if math.isclose(den, 0.0):\n # This is (close to) a zero degree rotation, immediately return\n return numpy.zeros(3)\n\n return (quat[:3] * 2.0 * math.acos(quat[3])) / den\n\n\ndef quaternion_from_ortho6(ortho6):\n R = rotation_matrix_from_ortho6(ortho6)\n return quaternion_from_matrix(R)\n\n\ndef ortho6_from_axis_angle(axis_angle):\n return ortho6_from_quaternion(quaternion_from_axis_angle(axis_angle))\n\n\ndef ortho6_from_quaternion(q):\n R = quaternion_matrix(q)\n return R[:3, :2].T.flatten()\n\n\ndef rotation_matrix_from_ortho6(ortho6):\n x_raw, y_raw = ortho6[0:3], ortho6[3:6]\n x = x_raw / numpy.linalg.norm(x_raw)\n z = numpy.cross(x, y_raw)\n z = z / numpy.linalg.norm(z)\n y = numpy.cross(z, x)\n\n R = numpy.eye(4)\n R[:3, :3] = numpy.column_stack((x, y, z))\n return R\n" }, { "path": "ur_gripper_85_moveit_config/.setup_assistant", "content": "moveit_setup_assistant_config:\n URDF:\n package: ur_gripper_gazebo\n relative_path: urdf/ur_gripper_85.xacro\n xacro_args: joint_limit_params:='$(find ur_description)/config/ur3/joint_limits.yaml' kinematics_params:='$(find ur_description)/config/ur3/default_kinematics.yaml' physical_params:='$(find ur_description)/config/ur3/physical_parameters.yaml' visual_params:='$(find ur_description)/config/ur3/visual_parameters.yaml' transmission_hw_interface:=hardware_interface/PositionJointInterface safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20 dual_arm:=true grasp_plugin:=false\n SRDF:\n relative_path: config/ur_robot_gazebo.srdf\n CONFIG:\n author_name: Cristian Beltran\n author_email: cristianbehe@gmail.com\n generated_timestamp: 1637314212\n" }, { "path": "ur_gripper_85_moveit_config/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.1.3)\nproject(ur_gripper_85_moveit_config)\n\nfind_package(catkin REQUIRED)\n\ncatkin_package()\n\ninstall(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n PATTERN \"setup_assistant.launch\" EXCLUDE)\ninstall(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})\n" }, { "path": "ur_gripper_85_moveit_config/config/cartesian_limits.yaml", "content": "cartesian_limits:\n max_trans_vel: 1\n max_trans_acc: 2.25\n max_trans_dec: -5\n max_rot_vel: 1.57\n" }, { "path": "ur_gripper_85_moveit_config/config/chomp_planning.yaml", "content": "planning_time_limit: 10.0\nmax_iterations: 200\nmax_iterations_after_collision_free: 5\nsmoothness_cost_weight: 0.1\nobstacle_cost_weight: 1.0\nlearning_rate: 0.01\nsmoothness_cost_velocity: 0.0\nsmoothness_cost_acceleration: 1.0\nsmoothness_cost_jerk: 0.0\nridge_factor: 0.01\nuse_pseudo_inverse: false\npseudo_inverse_ridge_factor: 1e-4\njoint_update_limit: 0.1\ncollision_clearence: 0.2\ncollision_threshold: 0.07\nuse_stochastic_descent: true\nenable_failure_recovery: true\nmax_recovery_attempts: 5" }, { "path": "ur_gripper_85_moveit_config/config/fake_controllers.yaml", "content": "controller_list:\n - name: fake_arm_controller\n type: $(arg execution_type)\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - name: fake_gripper_controller\n type: $(arg execution_type)\n joints:\n - finger_joint\ninitial: # Define initial robot poses.\n# - group: arm\n# pose: home\n\n []" }, { "path": "ur_gripper_85_moveit_config/config/joint_limits.yaml", "content": "# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed\n# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]\n# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]\njoint_limits:\n elbow_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n robotiq_85_left_finger_tip_joint:\n has_velocity_limits: true\n max_velocity: 100\n has_acceleration_limits: false\n max_acceleration: 0\n robotiq_85_left_inner_knuckle_joint:\n has_velocity_limits: true\n max_velocity: 100\n has_acceleration_limits: false\n max_acceleration: 0\n finger_joint:\n has_velocity_limits: true\n max_velocity: 0.5\n has_acceleration_limits: false\n max_acceleration: 0\n robotiq_85_right_finger_tip_joint:\n has_velocity_limits: true\n max_velocity: 100\n has_acceleration_limits: false\n max_acceleration: 0\n robotiq_85_right_inner_knuckle_joint:\n has_velocity_limits: true\n max_velocity: 100\n has_acceleration_limits: false\n max_acceleration: 0\n robotiq_85_right_knuckle_joint:\n has_velocity_limits: true\n max_velocity: 100\n has_acceleration_limits: false\n max_acceleration: 0\n shoulder_lift_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n shoulder_pan_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_1_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_2_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_3_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0" }, { "path": "ur_gripper_85_moveit_config/config/kinematics.yaml", "content": "arm:\n kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin\n kinematics_solver_search_resolution: 0.005\n kinematics_solver_timeout: 0.005" }, { "path": "ur_gripper_85_moveit_config/config/ompl_planning.yaml", "content": "planner_configs:\n SBL:\n type: geometric::SBL\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n EST:\n type: geometric::EST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n LBKPIECE:\n type: geometric::LBKPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n BKPIECE:\n type: geometric::BKPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9\n failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n KPIECE:\n type: geometric::KPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]\n failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n RRT:\n type: geometric::RRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n RRTConnect:\n type: geometric::RRTConnect\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n RRTstar:\n type: geometric::RRTstar\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1\n TRRT:\n type: geometric::TRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n max_states_failed: 10 # when to start increasing temp. default: 10\n temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0\n min_temperature: 10e-10 # lower limit of temp change. default: 10e-10\n init_temperature: 10e-6 # initial temperature. default: 10e-6\n frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()\n frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1\n k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()\n PRM:\n type: geometric::PRM\n max_nearest_neighbors: 10 # use k nearest neighbors. default: 10\n PRMstar:\n type: geometric::PRMstar\n FMT:\n type: geometric::FMT\n num_samples: 1000 # number of states that the planner should sample. default: 1000\n radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1\n nearest_k: 1 # use Knearest strategy. default: 1\n cache_cc: 1 # use collision checking cache. default: 1\n heuristics: 0 # activate cost to go heuristics. default: 0\n extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1\n BFMT:\n type: geometric::BFMT\n num_samples: 1000 # number of states that the planner should sample. default: 1000\n radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0\n nearest_k: 1 # use the Knearest strategy. default: 1\n balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1\n optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1\n heuristics: 1 # activates cost to go heuristics. default: 1\n cache_cc: 1 # use the collision checking cache. default: 1\n extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1\n PDST:\n type: geometric::PDST\n STRIDE:\n type: geometric::STRIDE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0\n degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16\n max_degree: 18 # max degree of a node in the GNAT. default: 12\n min_degree: 12 # min degree of a node in the GNAT. default: 12\n max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6\n estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0\n min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2\n BiTRRT:\n type: geometric::BiTRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1\n init_temperature: 100 # initial temperature. default: 100\n frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()\n frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1\n cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf\n LBTRRT:\n type: geometric::LBTRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n epsilon: 0.4 # optimality approximation factor. default: 0.4\n BiEST:\n type: geometric::BiEST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n ProjEST:\n type: geometric::ProjEST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n LazyPRM:\n type: geometric::LazyPRM\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n LazyPRMstar:\n type: geometric::LazyPRMstar\n SPARS:\n type: geometric::SPARS\n stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0\n sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25\n dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001\n max_failures: 1000 # maximum consecutive failure limit. default: 1000\n SPARStwo:\n type: geometric::SPARStwo\n stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0\n sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25\n dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001\n max_failures: 5000 # maximum consecutive failure limit. default: 5000\narm:\n default_planner_config: RRT\n planner_configs:\n - SBL\n - EST\n - LBKPIECE\n - BKPIECE\n - KPIECE\n - RRT\n - RRTConnect\n - RRTstar\n - TRRT\n - PRM\n - PRMstar\n - FMT\n - BFMT\n - PDST\n - STRIDE\n - BiTRRT\n - LBTRRT\n - BiEST\n - ProjEST\n - LazyPRM\n - LazyPRMstar\n - SPARS\n - SPARStwo\ngripper:\n planner_configs:\n - SBL\n - EST\n - LBKPIECE\n - BKPIECE\n - KPIECE\n - RRT\n - RRTConnect\n - RRTstar\n - TRRT\n - PRM\n - PRMstar\n - FMT\n - BFMT\n - PDST\n - STRIDE\n - BiTRRT\n - LBTRRT\n - BiEST\n - ProjEST\n - LazyPRM\n - LazyPRMstar\n - SPARS\n - SPARStwo\n" }, { "path": "ur_gripper_85_moveit_config/config/ros_controllers.yaml", "content": "# Simulation settings for using moveit_sim_controllers\nmoveit_sim_hw_interface:\n joint_model_group: todo_group_name\n joint_model_group_pose: todo_state_name\n# Settings for ros_control_boilerplate control loop\ngeneric_hw_control_loop:\n loop_hz: 300\n cycle_time_error_threshold: 0.01\n# Settings for ros_control hardware interface\nhardware_interface:\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - finger_joint\n sim_control_mode: 1 # 0: position, 1: velocity\n# Publish all joint states\n# Creates the /joint_states topic necessary in ROS\njoint_state_controller:\n type: joint_state_controller/JointStateController\n publish_rate: 50\ncontroller_list:\n - name: scaled_pos_joint_traj_controller\n action_ns: follow_joint_trajectory\n default: True\n type: FollowJointTrajectory\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - name: gripper_controller\n action_ns: gripper_cmd\n default: True\n type: GripperCommand\n joints:\n - finger_joint" }, { "path": "ur_gripper_85_moveit_config/config/sensors_3d.yaml", "content": "# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it\nsensors:\n - {}" }, { "path": "ur_gripper_85_moveit_config/config/ur_robot_gazebo.srdf", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_85_moveit_config/launch/chomp_planning_pipeline.launch.xml", "content": "\n \n \n\n \n \n\n \n \n\n \n \n \n\n \n \n \n \n \n\n \n\n" }, { "path": "ur_gripper_85_moveit_config/launch/default_warehouse_db.launch", "content": "\n\n \n \n \n\n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/demo.launch", "content": "\n\n \n \n\n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n\n \n\n\n \n \n [move_group/fake_controller_joint_states]\n \n \n [move_group/fake_controller_joint_states]\n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/demo_gazebo.launch", "content": "\n\n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n \n \n \n \n\n \n \n\n \n \n [move_group/fake_controller_joint_states]\n [/joint_states]\n \n \n [move_group/fake_controller_joint_states]\n [/joint_states]\n \n\n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/fake_moveit_controller_manager.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/gazebo.launch", "content": "\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n\n \n \n\n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/gazebo_static_tf.launch", "content": "\n \n \n" }, { "path": "ur_gripper_85_moveit_config/launch/joystick_control.launch", "content": "\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/move_group.launch", "content": "\n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n\n\n \n \n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/moveit.rviz", "content": "Panels:\n - Class: rviz/Displays\n Help Height: 84\n Name: Displays\n Property Tree Widget:\n Expanded: ~\n Splitter Ratio: 0.7425600290298462\n Tree Height: 409\n - Class: rviz/Help\n Name: Help\n - Class: rviz/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\nPreferences:\n PromptSaveOnExit: true\nToolbars:\n toolButtonStyle: 2\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Acceleration_Scaling_Factor: 0.1\n Class: moveit_rviz_plugin/MotionPlanning\n Enabled: true\n Move Group Namespace: \"\"\n MoveIt_Allow_Approximate_IK: false\n MoveIt_Allow_External_Program: false\n MoveIt_Allow_Replanning: false\n MoveIt_Allow_Sensor_Positioning: false\n MoveIt_Planning_Attempts: 10\n MoveIt_Planning_Time: 5\n MoveIt_Use_Cartesian_Path: false\n MoveIt_Use_Constraint_Aware_IK: true\n MoveIt_Workspace:\n Center:\n X: 0\n Y: 0\n Z: 0\n Size:\n X: 2\n Y: 2\n Z: 2\n Name: MotionPlanning\n Planned Path:\n Color Enabled: false\n Interrupt Display: false\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link_inertia:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n flange:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n gripper_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n robotiq_85_base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_inner_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_inner_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_coupler:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n shoulder_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n tool0:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n world:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n wrist_1_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_2_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_3_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Loop Animation: false\n Robot Alpha: 0.5\n Robot Color: 150; 50; 150\n Show Robot Collision: false\n Show Robot Visual: true\n Show Trail: false\n State Display Time: 0.05 s\n Trail Step Size: 1\n Trajectory Topic: move_group/display_planned_path\n Use Sim Time: false\n Planning Metrics:\n Payload: 1\n Show Joint Torques: false\n Show Manipulability: false\n Show Manipulability Index: false\n Show Weight Limit: false\n TextHeight: 0.07999999821186066\n Planning Request:\n Colliding Link Color: 255; 0; 0\n Goal State Alpha: 1\n Goal State Color: 250; 128; 0\n Interactive Marker Size: 0\n Joint Violation Color: 255; 0; 255\n Planning Group: arm\n Query Goal State: true\n Query Start State: false\n Show Workspace: false\n Start State Alpha: 1\n Start State Color: 0; 255; 0\n Planning Scene Topic: move_group/monitored_planning_scene\n Robot Description: robot_description\n Scene Geometry:\n Scene Alpha: 1\n Scene Color: 50; 230; 50\n Scene Display Time: 0.20000000298023224\n Show Scene Geometry: true\n Voxel Coloring: Z-Axis\n Voxel Rendering: Occupied Voxels\n Scene Robot:\n Attached Body Color: 150; 50; 150\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link_inertia:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n flange:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n gripper_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n robotiq_85_base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_inner_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_left_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_inner_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_85_right_knuckle_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_coupler:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n shoulder_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n tool0:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n world:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n wrist_1_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_2_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_3_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Robot Alpha: 0.5\n Show Robot Collision: false\n Show Robot Visual: true\n Value: true\n Velocity_Scaling_Factor: 0.1\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Default Light: true\n Fixed Frame: world\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz/Interact\n Hide Inactive Objects: true\n - Class: rviz/MoveCamera\n - Class: rviz/Select\n Value: true\n Views:\n Current:\n Class: rviz/XYOrbit\n Distance: 2.996500015258789\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Field of View: 0.7853981852531433\n Focal Point:\n X: 0.11356700211763382\n Y: 0.10592000186443329\n Z: 2.2351800055275817e-07\n Focal Shape Fixed Size: true\n Focal Shape Size: 0.05000000074505806\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Pitch: 0.5097969770431519\n Target Frame: world\n Yaw: 5.659949779510498\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 1016\n Help:\n collapsed: false\n Hide Left Dock: false\n Hide Right Dock: false\n MotionPlanning:\n collapsed: false\n MotionPlanning - Trajectory Slider:\n collapsed: false\n QMainWindow State: 000000ff00000000fd0000000100000000000002a2000003a2fc0200000007fb000000100044006900730070006c006100790073010000003b00000228000000c700fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000269000001740000016900ffffff00000492000003a200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Views:\n collapsed: false\n Width: 1850\n X: 70\n Y: 27\n" }, { "path": "ur_gripper_85_moveit_config/launch/moveit_rviz.launch", "content": "\n\n \n \n \n\n \n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/ompl_planning_pipeline.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n \n \n\n \n\n \n \n \n \n \n\n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n \n \n\n \n\n \n \n \n\n \n \n \n\n" }, { "path": "ur_gripper_85_moveit_config/launch/planning_context.launch", "content": "\n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n \n\n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/planning_pipeline.launch.xml", "content": "\n\n \n\n \n\n \n \n\n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/ros_controllers.launch", "content": "\n\n\n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/run_benchmark_ompl.launch", "content": "\n\n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/sensor_manager.launch.xml", "content": "\n\n \n\n \n \n\n \n \n \n \n\n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/setup_assistant.launch", "content": "\n\n\n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/start_moveit.launch", "content": "\n \n \n\n \n \n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n \n\n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/trajectory_execution.launch.xml", "content": "\n\n \n\n \n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/ur_robot_gazebo_moveit_controller_manager.launch.xml", "content": "\n \n\n \n \n \n\n \n \n\n" }, { "path": "ur_gripper_85_moveit_config/launch/ur_robot_gazebo_moveit_sensor_manager.launch.xml", "content": "\n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/warehouse.launch", "content": "\n\n \n \n\n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/launch/warehouse_settings.launch.xml", "content": "\n \n\n \n \n\n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_gripper_85_moveit_config/package.xml", "content": "\n\n ur_gripper_85_moveit_config\n 0.3.0\n \n An automatically generated package with all the configuration and launch files for using the ur_robot_gazebo with the MoveIt! Motion Planning Framework\n \n Cristian Beltran\n Cristian Beltran\n\n BSD\n\n http://moveit.ros.org/\n https://github.com/ros-planning/moveit/issues\n https://github.com/ros-planning/moveit\n\n catkin\n\n moveit_ros_move_group\n moveit_fake_controller_manager\n moveit_kinematics\n moveit_planners_ompl\n moveit_ros_visualization\n moveit_setup_assistant\n moveit_simple_controller_manager\n joint_state_publisher\n joint_state_publisher_gui\n robot_state_publisher\n rviz\n tf2_ros\n xacro\n \n \n ur_gripper_gazebo\n\n\n\n" }, { "path": "ur_gripper_description/CMakeLists.txt", "content": "CMAKE_MINIMUM_REQUIRED(VERSION 3.1.3)\nPROJECT(ur_gripper_description)\n\nFIND_PACKAGE(catkin REQUIRED)\nCATKIN_PACKAGE()\n\nINCLUDE_DIRECTORIES()\n\n#############\n## Install ##\n#############\n\nINSTALL(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})\nINSTALL(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})\nINSTALL(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})\n" }, { "path": "ur_gripper_description/config/config.rviz", "content": "Panels:\n - Class: rviz/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Global Options1\n - /Status1\n Splitter Ratio: 0.5\n Tree Height: 425\n - Class: rviz/Selection\n Name: Selection\n - Class: rviz/Tool Properties\n Expanded:\n - /2D Pose Estimate1\n - /2D Nav Goal1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.5886790156364441\n - Class: rviz/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\n - Class: rviz/Time\n Experimental: false\n Name: Time\n SyncMode: 0\n SyncSource: \"\"\nPreferences:\n PromptSaveOnExit: true\nToolbars:\n toolButtonStyle: 2\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.029999999329447746\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz/RobotModel\n Collision Enabled: false\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n base:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n ee_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n hand_e_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n hande_left_finger:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n hande_right_finger:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n robotiq_coupler:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n shoulder_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n tool0:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n ur3_robotiq_hande_gripper:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n world:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n wrist_1_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_2_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n wrist_3_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Name: RobotModel\n Robot Description: robot_description\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Default Light: true\n Fixed Frame: base_link\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz/Interact\n Hide Inactive Objects: true\n - Class: rviz/MoveCamera\n - Class: rviz/Select\n - Class: rviz/FocusCamera\n - Class: rviz/Measure\n - Class: rviz/SetInitialPose\n Theta std deviation: 0.2617993950843811\n Topic: /initialpose\n X std deviation: 0.5\n Y std deviation: 0.5\n - Class: rviz/SetGoal\n Topic: /move_base_simple/goal\n - Class: rviz/PublishPoint\n Single click: true\n Topic: /clicked_point\n Value: true\n Views:\n Current:\n Class: rviz/Orbit\n Distance: 1.4697394371032715\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.05999999865889549\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Focal Point:\n X: -0.03250257670879364\n Y: -0.014312098734080791\n Z: 0.15210093557834625\n Focal Shape Fixed Size: true\n Focal Shape Size: 0.05000000074505806\n Invert Z Axis: false\n Name: Current View\n Near Clip Distance: 0.009999999776482582\n Pitch: 0.2603979706764221\n Target Frame: \n Value: Orbit (rviz)\n Yaw: 1.4803974628448486\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 716\n Hide Left Dock: false\n Hide Right Dock: true\n QMainWindow State: 000000ff00000000fd00000004000000000000016a00000232fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000232000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003400000023200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Time:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: true\n Width: 1200\n X: 145\n Y: 27\n" }, { "path": "ur_gripper_description/launch/bringup_with_gripper_85.launch", "content": "\n\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_description/launch/display_with_gripper_85.launch", "content": "\r\n\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n\r\n" }, { "path": "ur_gripper_description/launch/display_with_gripper_hande.launch", "content": "\r\n\r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n\r\n" }, { "path": "ur_gripper_description/launch/load_ur_gripper_85.launch.xml", "content": "\n\n\n \n \n \n \n \n \n \n \n \n\n \n\n" }, { "path": "ur_gripper_description/launch/load_ur_gripper_hande.launch.xml", "content": "\n\n\n \n \n\n \n \n \n \n \n\n \n\n" }, { "path": "ur_gripper_description/package.xml", "content": "\n\n\n ur_gripper_description\n 0.1.0\n \n URDF description for Universal UR3 robot with a robotiq gripper.\n The model for the UR3 robot (without gripper) was taken from:\n https://github.com/ros-industrial/universal_robot.git\n inspired also on http://osrobotics.org/osr/ implementation of denso\n robot with robotiq gripper.\n \n\n Cristian Beltran\n Cristian Beltran\n BSD\n\n catkin\n robotiq_description\n \n \n \n\n\n" }, { "path": "ur_gripper_description/urdf/ur_gripper_85.xacro", "content": "\n\n\n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n\n \n\n \n\n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n" }, { "path": "ur_gripper_description/urdf/ur_gripper_hande.xacro", "content": "\n\n\n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n\n \n\n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n" }, { "path": "ur_gripper_gazebo/CMakeLists.txt", "content": "CMAKE_MINIMUM_REQUIRED(VERSION 3.1.3)\nPROJECT(ur_gripper_gazebo)\n\nFIND_PACKAGE(catkin REQUIRED)\n\ncatkin_python_setup()\n\ncatkin_package()\ninclude_directories()\n\n" }, { "path": "ur_gripper_gazebo/launch/gazebo_to_tf.launch", "content": "\n \n" }, { "path": "ur_gripper_gazebo/launch/inc/load_ur_gripper_85.launch.xml", "content": "\n\n\n \n \n \n \n \n\n \n \n \n \n \n\n \n\n" }, { "path": "ur_gripper_gazebo/launch/inc/load_ur_gripper_hande.launch.xml", "content": "\n\n\n \n \n \n \n \n\n \n \n \n \n \n\n \n\n" }, { "path": "ur_gripper_gazebo/launch/ur3_cubes_example.launch", "content": "\n\n \n \n \n\n" }, { "path": "ur_gripper_gazebo/launch/ur3e_cubes_example.launch", "content": "\n\n \n \n \n\n" }, { "path": "ur_gripper_gazebo/launch/ur3e_with_gripper.launch", "content": "\n\n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n\n \n \n \n \n \n\n \n\n\n" }, { "path": "ur_gripper_gazebo/launch/ur5_cubes_example.launch", "content": "\n\n \n \n \n\n" }, { "path": "ur_gripper_gazebo/launch/ur_gripper_85_cubes.launch", "content": "\n\n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n \n \n \n \n \n \n \n\n\n\n" }, { "path": "ur_gripper_gazebo/launch/ur_gripper_hande_cubes.launch", "content": "\n\n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n \n \n \n \n \n \n \n\n\n\n" }, { "path": "ur_gripper_gazebo/models/floor/materials/scripts/checkboard.material", "content": "material CheckerTexture\n{\n technique\n {\n pass\n {\n texture_unit\n {\n // Relative to the location of the material script\n texture ../textures/checkerboard.jpg\n // Repeat the texture over the surface (4 per face)\n scale .1 .1\n }\n }\n }\n}" }, { "path": "ur_gripper_gazebo/models/floor/model.config", "content": "\n\n\n Floor\n 1.0\n model.sdf\n\n \n Cristian Beltran\n cristianbehe@gmail.com\n \n\n \n A simple ground plane.\n \n\n" }, { "path": "ur_gripper_gazebo/models/floor/model.sdf", "content": "\n\n \n true\n \n \n \n \n 0 0 1\n 10 10\n \n \n \n \n 0xffff\n \n \n \n 100\n 50\n \n \n \n \n \n false\n \n \n 0 0 1\n 100 100\n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/green_table/materials/scripts/repeated.material", "content": "material RepeatedTexture\n{\n technique\n {\n pass\n {\n texture_unit\n {\n // Relative to the location of the material script\n texture ../textures/green_texture.jpg\n // Repeat the texture over the surface (4 per face)\n scale 0.5 0.5\n }\n }\n }\n}" }, { "path": "ur_gripper_gazebo/models/green_table/model.config", "content": "\n\n\n green_table\n 1.0\n model.sdf\n\n \n Cristian beltran\n cristianbehe@gmail.com\n \n\n \n Green table\n \n\n" }, { "path": "ur_gripper_gazebo/models/green_table/model.sdf", "content": "\n\n\n \n true\n\n \n 0 0 0.75 0 0 0\n \n \n \n 0.8 1.2 0.02\n \n \n \n \n 0x01\n \n \n \n \n \n \n 0.8 1.2 0.02\n \n \n \n \n \n \n \n \n 0.3 0.5 0.375 0 0 0\n \n \n \n 0.04 0.04 0.75\n \n \n \n \n \n \n \n \n -0.3 0.5 0.375 0 0 0\n \n \n \n \n 0.04 0.04 0.75\n \n \n \n \n \n \n \n \n 0.3 -0.5 0.375 0 0 0\n \n \n \n \n 0.04 0.04 0.75\n \n \n \n \n \n \n \n \n -0.3 -0.5 0.375 0 0 0\n \n \n \n \n 0.04 0.04 0.75\n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/multi_peg_board/meshes/board.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n 金 6月 21 05:12:29 2019\n 金 6月 21 05:12:29 2019\n \n \n \n \n \n \n \n \n 0.00383413 -0.086768 -0.0199807 0.00356036 -0.0707106 -0.02 0.00395075 -0.0709398 -0.0199807 0.00374858 -0.0779446 -0.0199927 0.00422807 -0.0779482 -0.0199345 0.00469705 -0.0779516 -0.0198189 0.00514868 -0.077955 -0.0196476 0.00577313 -0.07201 -0.0193259 0.00597388 -0.077961 -0.0191487 0.00633542 -0.0779637 -0.0188284 0.00637668 -0.0723644 -0.0188284 0.00663917 -0.0725185 -0.0185376 0.006872 -0.0726552 -0.0182223 0.00707295 -0.0727732 -0.0178856 0.00724006 -0.0728714 -0.0175307 0.00744145 -0.0779719 -0.016721 0.00754324 -0.0730494 -0.016 0.00749967 -0.0779723 -0.0162415 0.00728434 -0.0848097 -0.0171611 0.00732585 -0.077971 -0.01719 0.00715154 -0.0848851 -0.0175307 0.00715457 -0.0779697 -0.0176417 0.00693011 -0.0779681 -0.0180694 0.00665572 -0.0779661 -0.0184669 0.00628078 -0.0853793 -0.0188284 0.0059887 -0.0855451 -0.019092 0.00557637 -0.0779581 -0.0194231 0.00497761 -0.086119 -0.0196955 0.00422406 -0.0865466 -0.0199231 0.0100766 -0.0672899 -0.0199927 0.0169418 -0.0644841 -0.0198189 0.0167103 -0.0640762 -0.0199345 0.00508454 -0.0716056 -0.0196955 0.00471653 -0.0713895 -0.0198278 0.0173758 -0.0652488 -0.0194231 0.0177039 -0.0648513 -0.0195277 0.0109788 -0.0688795 -0.0194231 0.0107677 -0.0685076 -0.0196476 0.0175721 -0.0655945 -0.0191487 0.00543788 -0.0718131 -0.0195277 0.0176937 -0.0662443 -0.0185376 0.0115116 -0.0698183 -0.0184669 0.011647 -0.0700569 -0.0180694 0.0176917 -0.0665143 -0.0182223 0.0117579 -0.0702521 -0.0176417 0.0176899 -0.0667474 -0.0178856 0.0176885 -0.0669412 -0.0175307 0.0118424 -0.0704011 -0.01719 0.0176874 -0.0670939 -0.0171611 0.0176866 -0.067204 -0.0167804 0.0176861 -0.0672705 -0.0163921 0.0176859 -0.0672927 -0.016 0.0119282 -0.0705523 -0.0162415 0.00752406 -0.0730381 -0.0163921 0.00746671 -0.0730045 -0.0167804 0.0118995 -0.0705016 -0.016721 0.00737174 -0.0729487 -0.0171611 0.0113535 -0.0695397 -0.0188284 0.011175 -0.0692253 -0.0191487 0.00608707 -0.0721943 -0.019092 0.0105448 -0.0681148 -0.0198189 0.00433738 -0.0711669 -0.0199231 0.0103133 -0.0677069 -0.0199345 0.0164736 -0.0636592 -0.0199927 0.0171647 -0.0648768 -0.0196476 0.0177166 -0.0631268 -0.0199807 0.0246175 -0.0670045 -0.0199927 0.0243747 -0.067418 -0.0199345 0.029866 -0.0719931 -0.0195277 0.0239085 -0.0682118 -0.0196476 0.0289192 -0.0725305 -0.0188284 0.0231454 -0.0695114 -0.0184669 0.0284197 -0.072814 -0.0182223 0.0230064 -0.069748 -0.0180694 0.0228928 -0.0699416 -0.0176417 0.0280485 -0.0730247 -0.0175307 0.0227475 -0.070189 -0.016721 0.027762 -0.0731873 -0.0163921 0.022718 -0.0702392 -0.0162415 0.022806 -0.0700893 -0.01719 0.0233076 -0.0692352 -0.0188284 0.0176959 -0.06594 -0.0188284 0.0234906 -0.0689234 -0.0191487 0.0176984 -0.0656041 -0.019092 0.0177011 -0.0652401 -0.0193259 0.0236919 -0.0685807 -0.0194231 0.0177069 -0.0644415 -0.0196955 0.0241372 -0.0678224 -0.0198189 0.0177101 -0.0640148 -0.0198278 0.0177133 -0.0635751 -0.0199231 0.0314581 -0.079057 -0.0199927 0.0309786 -0.0790535 -0.0199345 0.0308626 -0.0867429 -0.0199231 0.0305096 -0.07905 -0.0198189 0.030058 -0.0790467 -0.0196476 0.0301155 -0.0863042 -0.0196955 0.0292328 -0.0790406 -0.0191487 0.0288233 -0.0855454 -0.0188284 0.0281271 -0.0851366 -0.0178856 0.0277333 -0.0849053 -0.0167804 0.0277427 -0.0731982 -0.016 0.027707 -0.0790294 -0.0162415 0.0277652 -0.0790298 -0.016721 0.0278199 -0.0731544 -0.0167804 0.0279157 -0.0731001 -0.0171611 0.0278808 -0.0790306 -0.01719 0.0280521 -0.0790319 -0.0176417 0.0282766 -0.0790336 -0.0180694 0.028217 -0.072929 -0.0178856 0.028551 -0.0790356 -0.0184669 0.0288713 -0.0790379 -0.0188284 0.0286545 -0.0726807 -0.0185376 0.0292113 -0.0723647 -0.019092 0.0295279 -0.072185 -0.0193259 0.0296303 -0.0790435 -0.0194231 0.0302224 -0.0717908 -0.0196955 0.0305936 -0.0715802 -0.0198278 0.0309759 -0.0713631 -0.0199231 0.0313659 -0.0711418 -0.0199807 0.0175139 -0.0906393 -0.0163921 0.0243084 -0.0867692 -0.0162415 0.0276568 -0.0848604 -0.016 0.0243372 -0.0868198 -0.016721 0.0276759 -0.0848717 -0.0163921 0.0243942 -0.0869204 -0.01719 0.0278283 -0.0849611 -0.0171611 0.0279599 -0.0850384 -0.0175307 0.028328 -0.0852545 -0.0182223 0.0285608 -0.0853913 -0.0185376 0.0291129 -0.0857155 -0.019092 0.0250616 -0.0880962 -0.0191487 0.0294269 -0.0858998 -0.0193259 0.0297621 -0.0860967 -0.0195277 0.0304835 -0.0865203 -0.0198278 0.0312492 -0.08697 -0.0199807 0.0259234 -0.0896145 -0.0199345 0.01748 -0.0952357 -0.02 0.02616 -0.0900315 -0.0199927 0.0174867 -0.0943347 -0.0199231 0.0256919 -0.0892066 -0.0198189 0.0174899 -0.093895 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7832 3827 7832 3728 7832 3728 7833 3827 7833 3904 7833 3904 7834 3827 7834 3905 7834 3905 7835 3827 7835 3906 7835 3906 7836 3827 7836 3724 7836 3724 7837 3827 7837 3723 7837 3723 7838 3827 7838 3907 7838 3907 7839 3827 7839 3721 7839 3721 7840 3827 7840 3908 7840 3908 7841 3827 7841 3809 7841 3850 7842 3909 7842 3910 7842 3910 7843 3909 7843 3911 7843 3910 7844 3911 7844 3912 7844 3912 7845 3911 7845 2135 7845 3912 7846 2135 7846 3913 7846 3913 7847 2135 7847 3874 7847 3913 7848 3874 7848 3761 7848 3846 7849 3914 7849 3854 7849 3854 7850 3914 7850 3833 7850 3833 7851 3914 7851 3821 7851 3821 7852 3914 7852 3820 7852 3820 7853 3914 7853 3916 7853 3820 7854 3916 7854 3915 7854 3915 7855 3916 7855 3818 7855 3863 7856 635 7856 3868 7856 3830 7857 3917 7857 3816 7857

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/multi_peg_board/model.config", "content": "\n\n\n Peg board\n 1.0\n model.sdf\n\n \n Cristian beltran\n nanaki07@gmail.com\n \n\n \n Board for peg of 9cm\n \n\n" }, { "path": "ur_gripper_gazebo/models/multi_peg_board/model.sdf", "content": "\n\n \n true\n \n 0 0 0.01 0 3.14159 1.5707\n 0\n 0\n 1\n \n 1\n 0 0 0 0 0 0\n \n 0.999223\n 0.039421\n 0.000141\n 0.999222\n -0.001474\n 0.999999\n \n \n \n 0.1 \n 0 0 0 0 0 0\n \n \n model://multi_peg_board/meshes/board.dae\n 1.02 1.02 .8\n \n \n \n \n \n 0\n 1\n \n \n 0 0 0 0 0 0\n 0\n 10\n \n \n model://multi_peg_board/meshes/board.dae\n 1.02 1.02 0.8\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0.01\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.1\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/peg_board/model.config", "content": "\n\n\n Peg board\n 1.0\n model.sdf\n\n \n Cristian beltran\n nanaki07@gmail.com\n \n\n \n Board for peg of 9cm\n \n\n" }, { "path": "ur_gripper_gazebo/models/peg_board/model.sdf", "content": "\n\n \n true\n \n 0 0 0 0 0 0\n 0\n 0\n 1\n \n 1\n -0.050000 0.05 0.015 0 0 0\n \n 0.895563\n -0.444935\n 0.0\n 0.895563\n 0\n 1\n \n \n \n 0.050000 -0.05 0 0 -0 0\n \n \n model://peg_board/meshes/board.stl\n 1.1 1.1 .8\n \n \n \n \n \n 0\n 1\n \n \n 0.050000 -0.05 0 0 0 0\n 0\n 10\n \n \n model://peg_board/meshes/board.stl\n 1.1 1.1 0.8\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.1\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.1\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/simple_peg_board/meshes/simple_board.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n 水 1月 8 04:41:54 2020\n 水 1月 8 04:41:54 2020\n \n \n \n \n \n \n \n \n 0.00516667 0.020984 -0.0150997 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332 67 332 175 332 175 333 67 333 165 333 67 334 125 334 165 334 165 335 125 335 174 335 166 336 168 336 167 336 167 337 168 337 169 337 170 338 166 338 171 338 171 339 166 339 167 339 173 340 170 340 161 340 161 341 170 341 171 341 168 342 173 342 169 342 169 343 173 343 161 343 170 344 173 344 172 344 172 345 173 345 168 345 172 346 168 346 174 346 174 347 168 347 166 347 174 348 166 348 165 348 165 349 166 349 170 349 165 350 170 350 175 350 175 351 170 351 172 351

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/simple_peg_board/model.config", "content": "\n\n\n Simple Peg board\n 1.0\n model.sdf\n\n \n Cristian beltran\n nanaki07@gmail.com\n \n\n \n Board for square peg of 2cm\n \n\n" }, { "path": "ur_gripper_gazebo/models/simple_peg_board/model.sdf", "content": "\n\n \n true\n \n 0.0 0.0 -0.01 1.5707 0 0\n 0\n 0\n 1\n \n 1\n 0 0 0 0 0 0\n \n 0.999223\n 0.039421\n 0.000141\n 0.999222\n -0.001474\n 0.999999\n \n \n \n 0.2 \n 0 0 0 0 0 0\n \n \n model://simple_peg_board/meshes/simple_board.dae\n 1.0 1.0 1.0\n \n \n \n \n \n 0\n 1\n \n \n 0 0 0 0 0 0\n 0\n 10\n \n \n model://simple_peg_board/meshes/simple_board.dae\n 1.0 1.0 1.0\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 2.5e+6\n 1\n 0.01\n 0\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3_base/meshes/dualbase.dae", "content": "\n\n \n \n VCGLab\n 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2 0 0 0 1 0 1 1 0 1 15 1 4 2 0 2 2 2 5 3 13 3 4 3 1 4 3 4 5 4 5 5 3 5 13 5 4 6 13 6 0 6 0 7 13 7 15 7 15 8 13 8 3 8 15 9 3 9 1 9 1 10 5 10 8 10 8 11 5 11 6 11 2 12 1 12 9 12 9 13 1 13 8 13 4 14 2 14 12 14 12 15 2 15 9 15 5 16 4 16 6 16 6 17 4 17 12 17 6 18 7 18 8 18 12 19 11 19 6 19 6 20 11 20 10 20 9 21 11 21 12 21 8 22 14 22 9 22 8 23 7 23 14 23 6 24 10 24 7 24 7 25 10 25 14 25 14 26 10 26 11 26 14 27 11 27 9 27 21 28 16 28 20 28 20 29 16 29 30 29 19 30 16 30 21 30 17 31 18 31 19 31 20 32 28 32 17 32 17 33 28 33 18 33 19 34 18 34 16 34 16 35 18 35 30 35 30 36 18 36 28 36 30 37 28 37 20 37 20 38 17 38 23 38 23 39 17 39 22 39 21 40 20 40 24 40 24 41 20 41 23 41 19 42 21 42 25 42 25 43 21 43 24 43 17 44 19 44 22 44 22 45 19 45 25 45 22 46 31 46 23 46 25 47 26 47 22 47 22 48 26 48 27 48 24 49 26 49 25 49 23 50 29 50 24 50 23 51 31 51 29 51 22 52 27 52 31 52 31 53 27 53 29 53 29 54 27 54 26 54 29 55 26 55 24 55 48 56 56 56 32 56 46 57 56 57 48 57 33 58 34 58 46 58 32 59 34 59 33 59 34 60 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"ur_gripper_gazebo/models/ur3_base/model.config", "content": "\n\n ur3_base\n 1.0\n model.sdf\n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3_base/model.sdf", "content": "\n\n \n \n 0 0 0 0 -0 3.14\n 0\n 0\n 1\n \n 1\n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n \n \n model://ur3_base/meshes/ur3_base.stl\n 1 1 1\n \n \n \n \n \n __default__\n \n 0.175 0.175 0.175 1\n 0.175 0.175 0.175 1\n 0.175 0.175 0.175 1\n 0 0 0 1\n \n 0 0 0 0 -0 0\n 0\n 1\n \n \n 0\n 5\n 0 0 1.62 0 -0 0\n \n \n 0.101665 0.433 0.099897\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 0\n 5\n 0 0 0.845 0 -0 0\n \n \n 0.101665 0.100287 1.45\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3_table/model.config", "content": "\n\n ur3_table\n 1.0\n model.sdf\n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3_table/model.sdf", "content": "\n\n \n \n 0.06 0 0 0 -0 0\n 0\n 0\n 1\n \n 1\n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n \n \n model://ur3_table/meshes/ur3_table.stl\n 1 1 1\n \n \n \n \n \n __default__\n \n 0.5 0.5 0.5 1\n 0.5 0.5 0.5 1\n 0 0 0 1\n 0 0 0 1\n \n 0 0 0 0 -0 0\n 0\n 1\n \n \n 0\n 10\n 0.425 0 0.93 0 -0 0\n \n \n 0.857346 1.05768 0.2\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_base/materials/scripts/repeated.material", "content": "material RepeatedTexture\n{\n technique\n {\n pass\n {\n texture_unit\n {\n // Relative to the location of the material script\n texture ../textures/green_texture.jpg\n // Repeat the texture over the surface (4 per face)\n scale 0.5 0.5\n }\n }\n }\n}" }, { "path": "ur_gripper_gazebo/models/ur3e_base/meshes/ur3e_base.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n 月 11月 18 09:01:17 2019\n 月 11月 18 09:01:17 2019\n \n \n \n \n \n \n \n \n -1.14742 -0.22052 1.66495 -1.24918 -0.220519 1.64973 -1.12918 -0.220519 1.64973 -1.23107 -0.220521 1.75421 -1.12918 -0.220519 1.76973 -1.24918 -0.220519 1.76973 -1.24918 -0.215519 1.76973 -1.23088 -0.215516 1.66506 -1.24918 -0.215519 1.64973 -1.12918 -0.215519 1.64973 -1.23049 -0.215518 1.75443 -1.14748 -0.215519 1.7541 -1.12918 -0.215519 1.76973 -1.14746 -0.220519 1.7542 -1.14757 -0.215522 1.66557 -1.23123 -0.220518 1.66533 -1.14702 -0.22051 0.975133 -1.24918 -0.220519 1.07973 -1.14742 -0.220523 1.06407 -1.12918 -0.220519 1.07973 -1.24918 -0.220519 0.959733 -1.12918 -0.220519 0.959733 -1.24918 -0.215519 1.07973 -1.24918 -0.215519 0.959733 -1.12918 -0.215519 0.959733 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7.21614e-06 4.91661e-05 0.999998 0 0.00208764 1 -7.7096e-06 0 0.999998 -0.00183795 -0.000697233 1 0 -1.26711e-05 1 1.6939e-05 0 0.999993 0.00374547 -0.000646475 0.707107 -0.707107 0 0.707107 -0.707107 0 0 -0.999999 0.00102432 -0.000455735 -1 0 -0.00172906 -0.999999 -0.000226302 0 -1 -0.000328448 0.000211322 -1 0 0.000796195 -1 -0.00022417 0.707109 -0.707104 0 0.707109 -0.707104 0 1 0 0 1 0 0 0 1 6.29814e-05 3.18058e-05 1 0 0 1 1.04955e-05 -8.89965e-06 1 0 4.90794e-06 1 -2.42384e-05 -1.75581e-05 1 -2.42472e-05 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0.707109 -0.707104 0 0.707109 -0.707104 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n

2 0 0 0 1 0 1 1 0 1 15 1 4 2 0 2 2 2 5 3 13 3 4 3 1 4 3 4 5 4 5 5 3 5 13 5 4 6 13 6 0 6 0 7 13 7 15 7 15 8 13 8 3 8 15 9 3 9 1 9 1 10 5 10 8 10 8 11 5 11 6 11 2 12 1 12 9 12 9 13 1 13 8 13 4 14 2 14 12 14 12 15 2 15 9 15 5 16 4 16 6 16 6 17 4 17 12 17 6 18 7 18 8 18 12 19 11 19 6 19 6 20 11 20 10 20 9 21 11 21 12 21 8 22 14 22 9 22 8 23 7 23 14 23 6 24 10 24 7 24 7 25 10 25 14 25 14 26 10 26 11 26 14 27 11 27 9 27 21 28 16 28 20 28 20 29 16 29 30 29 19 30 16 30 21 30 17 31 18 31 19 31 20 32 28 32 17 32 17 33 28 33 18 33 19 34 18 34 16 34 16 35 18 35 30 35 30 36 18 36 28 36 30 37 28 37 20 37 20 38 17 38 23 38 23 39 17 39 22 39 21 40 20 40 24 40 24 41 20 41 23 41 19 42 21 42 25 42 25 43 21 43 24 43 17 44 19 44 22 44 22 45 19 45 25 45 22 46 31 46 23 46 25 47 26 47 22 47 22 48 26 48 27 48 24 49 26 49 25 49 23 50 29 50 24 50 23 51 31 51 29 51 22 52 27 52 31 52 31 53 27 53 29 53 29 54 27 54 26 54 29 55 26 55 24 55 48 56 56 56 32 56 46 57 56 57 48 57 33 58 34 58 46 58 32 59 34 59 33 59 34 60 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\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_base/model.config", "content": "\n\n ur3e_base\n 1.0\n model.sdf\n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_base/model.sdf", "content": "\n\n \n \n 0 0 0 0 0 3.1415\n 0\n 0\n 1\n \n 50\n 0 0 0 0 0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n 0.1 \n \n \n model://ur3e_base/meshes/ur3e_base.stl\n 1 1 1\n \n \n \n \n \n \n \n 10\n \n \n model://ur3e_base/meshes/ur3e_base.stl\n 1 1 1\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.1\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.1\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_base/model_base.sdf", "content": "\n\n \n \n -0.15 -1.35 0.14 0 1.57070 1.57070\n 0\n 0\n 1\n \n 1\n 0 0 0 0 0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n 0.2 \n \n \n model://ur3e_base/meshes/ur3e_base.dae\n 1 1 1\n \n \n \n \n \n __default__\n \n 0.175 0.175 0.175 1\n 0.175 0.175 0.175 1\n 0.175 0.175 0.175 1\n 0 0 0 1\n \n 0 0 0 0 -0 0\n 0\n 1\n \n \n 0\n 5\n 0 0 1.62 0 -0 0\n \n \n 0.101665 0.433 0.099897\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 0\n 5\n 0 0 0.845 0 -0 0\n \n \n 0.101665 0.100287 1.45\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_table/model.config", "content": "\n\n ur3e_table\n 1.0\n model.sdf\n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/ur3e_table/model.sdf", "content": "\n\n \n \n 0 0 0 0 0 3.1415\n 1\n \n 50\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n \n \n model://ur3e_table/meshes/ur3e_table.stl\n 1 1 1\n \n \n \n \n \n 0 0 0 0 -0 0\n 0\n 1\n \n \n 0\n 10\n 0 0 0 0 0 0\n \n \n model://ur3e_table/meshes/ur3e_table.stl\n 1 1 1\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0.1\n 0.1\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur_base/model.config", "content": "\n\n\n ur_base\n 1.0\n model.sdf\n\n \n TODO\n todo@todo.todo\n \n\n \n Base of the UR robot\n \n\n" }, { "path": "ur_gripper_gazebo/models/ur_base/model.sdf", "content": "\n\n\n \n true\n\n \n 0 0 0.67501 0 0 0\n \n \n \n 0.5 0.5 0.02\n \n \n \n \n 0x01\n \n \n \n \n \n \n 0.5 0.5 0.02\n \n \n \n \n \n \n \n \n 0.22 0.22 0.35 0 0 0\n \n \n \n \n 0.04 0.04 0.655\n \n \n \n \n \n \n \n \n -0.22 0.22 0.35 0 0 0\n \n \n \n \n 0.04 0.04 0.655\n \n \n \n \n \n \n \n \n 0.22 -0.22 0.35 0 0 0\n \n \n \n \n 0.04 0.04 0.655\n \n \n \n \n \n \n \n \n -0.22 -0.22 0.35 0 0 0\n \n \n \n \n 0.04 0.04 0.655\n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_gripper_gazebo/models/visual_marker/model.config", "content": "\n\n\n Visual marker\n 1.0\n model.sdf\n\n \n Cristian beltran\n nanaki07@gmail.com\n \n\n \n Simple visual marker\n \n\n" }, { "path": "ur_gripper_gazebo/models/visual_marker/model.sdf", "content": "\n\n \n true\n \n 0.0 0.0 0.0 0 0 0\n 0\n 0\n 0\n \n 0 0 0.005 0 0 0\n \n \n 0.01\n 0.001\n \n \n \n \n \n 0.5\n \n \n 0 0.005 0 1.5707 0 0\n \n \n 0.01\n 0.001\n \n \n \n \n \n 0.5\n \n \n 0.005 0 0 0 1.5707 0\n \n \n 0.01\n 0.001\n \n \n \n \n \n 0.5\n \n \n 1\n \n\n" }, { "path": "ur_gripper_gazebo/models/wood_cube/model.config", "content": "\n\n\n Wood cube 10cm\n 1.0\n model.sdf\n\n \n Nate Koenig\n nate@osrfoundation.org\n \n\n \n A 10x10x10 cm wooden cube.\n \n\n" }, { "path": "ur_gripper_gazebo/models/wood_cube/model.rsdf", "content": "\n<%\n # Wood block with dimensions 10 x 10 x 10 cm\n # SI units (length in meters)\n\n # Geometry\n dx = 0.10\n dy = 0.10\n dz = 0.10\n\n # Inertia\n mass = 0.5167\n ixx = mass/12.0 * (dy**2 + dz**2)\n iyy = mass/12.0 * (dz**2 + dx**2)\n izz = mass/12.0 * (dx**2 + dy**2)\n%>\n\n \n \n 0 0 <%= dz/2 %> 0 0 0\n \n <%= mass %>\n \n <%= ixx %>\n 0\n 0\n <%= iyy %>\n 0\n <%= izz %>\n \n \n\n \n \n \n <%= dx %> <%= dy %> <%= dz %>\n \n \n \n \n \n 0.1\n 0.001\n \n \n \n \n\n \n \n \n <%= dx %> <%= dy %> <%= dz %>\n \n \n \n \n \n \n\n \n \n\n" }, { "path": "ur_gripper_gazebo/models/wood_cube/model.sdf", "content": "\n\n \n \n 0 0 0.05 0 0 0\n \n .6\n \n 0.0008611666666666669\n 0\n 0\n 0.0008611666666666669\n 0\n 0.0008611666666666669\n \n \n\n \n \n \n 0.1 0.1 0.1\n \n \n \n \n \n 0.347\n 8.8e+09\n \n 100000\n 100\n 100.0\n 0.001\n \n \n \n \n 1.0\n 0\n 0.01\n \n \n \n \n\n \n \n \n 0.1 0.1 0.1\n \n \n \n \n \n \n\n \n \n\n" }, { "path": "ur_gripper_gazebo/models/wooden_peg/model.config", "content": "\n\n\n Wooden Peg\n 1.0\n model.sdf\n\n \n Jackie Kay\n jackie@osrfoundation.org\n \n\n \n An 8cm high wooden peg.\n \n\n\n" }, { "path": "ur_gripper_gazebo/models/wooden_peg/model.rsdf", "content": "\n<%\n # SI units (length in meters)\n\n # Geometry\n # Height\n h = 0.08\n # diameter\n d = 0.0195\n r = d/2.0\n\n # Inertia\n mass = 0.0175\n ixx = mass/12.0 * (3*r**2 + h**2 )\n iyy = mass/12.0 * (3*r**2 + h**2 )\n izz = mass/2.0 * r**2\n%>\n\n \n \n 0 0 <%= h/2 %> 0 0 0\n \n <%= mass %>\n \n <%= ixx %>\n 0\n 0\n <%= iyy %>\n 0\n <%= izz %>\n \n \n\n \n \n \n <%= r %> \n <%= h %> \n \n \n \n\n \n \n \n <%= r %> \n <%= h %> \n \n \n \n \n \n \n\n \n \n\n" }, { "path": "ur_gripper_gazebo/models/wooden_peg/model.sdf", "content": "\n\n \n \n 0 0 0.04 0 0 0\n \n 0.0175\n \n 9.749231770833334e-06\n 0\n 0\n 9.749231770833334e-06\n 0\n 8.317968750000001e-07\n \n \n\n \n \n \n 0.00975 \n 0.08 \n \n \n \n \n \n 0.347\n 8.8e+09\n \n 100000\n 100\n 100.0\n 0.001\n \n \n \n \n 1.0\n 0\n 0.01\n \n \n \n \n\n \n \n \n 0.00975 \n 0.08 \n \n \n \n \n \n \n\n \n \n\n" }, { "path": "ur_gripper_gazebo/package.xml", "content": "\n\n ur_gripper_gazebo\n 0.1.2\n \n Gazebo simulation for the UR5 robot with a robotiq gripper\n \n\n Cristian Beltran\n Cristian Beltran\n BSD\n\n catkin\n ur_gripper_description\n robotiq_gazebo\n gazebo\n\n \n \n \n\n\n" }, { "path": "ur_gripper_gazebo/scripts/gazebo_to_tf.py", "content": "#!/usr/bin/python\nimport rospy\n\nfrom gazebo_msgs.msg import ModelStates\n\nimport tf\nimport rospy\n\nfrom ur_control import conversions\n\n\nclass GazeboToTf:\n \"\"\" Class to handle ROS-Gazebo model respawn \"\"\"\n\n def __init__(self):\n rospy.Subscriber(\"/gazebo/model_states\", ModelStates, self.callback)\n self.tf_publisher = tf.TransformBroadcaster()\n self.time_now = rospy.Time.now()\n\n def callback(self, data):\n if rospy.Time.now() is not self.time_now:\n for i in range(len(data.name)):\n # get model state of all objects\n self.tf_publisher.sendTransform(conversions.from_point(data.pose[i].position),\n conversions.from_quaternion(data.pose[i].orientation),\n rospy.Time.now(),\n data.name[i],\n \"world\")\n self.time_now = rospy.Time.now()\n\n\nif __name__ == '__main__':\n rospy.init_node('gazebo_to_tf')\n g2tf = GazeboToTf()\n rospy.spin()\n" }, { "path": "ur_gripper_gazebo/scripts/spawner.py", "content": "#!/usr/bin/python3\n# Example of adding/removing models to gazebo simulator\nimport argparse\nimport rospy\nimport numpy as np\nimport copy\n\nfrom ur_gazebo.gazebo_spawner import GazeboModels\nfrom ur_gazebo.model import Model\nfrom ur_gazebo.basic_models import SPHERE, PEG_BOARD, BOX, SPHERE_COLLISION\n\nrospy.init_node('gazebo_spawner_ur3e')\nspawner = GazeboModels('ur_gripper_gazebo')\n\n\ndef place_target():\n sphere = SPHERE % (\"target\", \"0.02\", \"GreenTransparent\")\n model_names = [\"target\"]\n objpose = [[0.0131, 0.4019, 0.3026]]\n objpose = [[-0.13101034, 0.37818616, 0.50852045], [0, 0, 0]]\n\n models = [Model(model_names[0], objpose[0], file_type='string', string_model=sphere, reference_frame=\"world\")]\n spawner.load_models(models)\n\n\ndef place_ball():\n sphere = SPHERE_COLLISION.format(\"ball\", \"0.1\", \"Yellow\", \"0.1\", 2e5)\n model_names = [\"ball\"]\n objpose = [[0.608678, 0.0, (0.25939 + 0.685)], [0, 0, 0]]\n # 0.25939 + 0.685\n models = [Model(model_names[0], objpose[0], file_type='string', string_model=sphere, reference_frame=\"world\")]\n spawner.load_models(models)\n\n\ndef place_cube():\n cube_lenght = \"0.2\"\n obj = BOX % (\"box\", cube_lenght, cube_lenght, cube_lenght, \"Yellow\", cube_lenght, cube_lenght, cube_lenght)\n model_names = [\"box\"]\n objpose = [[0.618678, 0.0, 0.955148], [0, 0.0, 0, 0.0]]\n\n models = [Model(model_names[0], objpose[0], file_type='string', string_model=obj, reference_frame=\"world\")]\n spawner.load_models(models)\n\ndef place_models():\n model_names = [\"multi_peg_board\"]\n model_names = [\"simple_peg_board\"]\n objpose = [[-0.45, -0.20, 0.86], [0, 0.1986693, 0, 0.9800666]]\n models = [Model(model_names[0], objpose[0], orientation=objpose[1])]\n spawner.load_models(models)\n\n\ndef place_soft():\n name = \"simple_peg_board\"\n objpose = [[-0.3349516, 0.00327044, 0.45290458], [-0.50128434, -0.49779569, 0.50398595, 0.496]]\n\n stiffness = 1e5\n g = 0\n if stiffness > 1e5:\n g = np.interp(stiffness, [1e5, 1e6], [1, 0])\n else:\n g = np.interp(stiffness, [1e4, 1e5], [0, 1])\n b = np.interp(stiffness, [1e4, 1e5], [1, 0])\n r = np.interp(stiffness, [1e5, 1e6], [0, 1])\n string_model = PEG_BOARD.format(r, g, b, stiffness)\n models = [[Model(name, objpose[0], orientation=objpose[1], file_type='string', string_model=string_model, reference_frame=\"base_link\")]]\n spawner.load_models(models)\n\n\ndef place_door():\n name = \"hinged_door\"\n objpose = [[-0.40, 0.20, 0.76], [0, 0, 0.9238795, 0.3826834]]\n models = [[Model(name, objpose[0], orientation=objpose[1])]]\n spawner.load_models(models)\n\n\ndef place_aruco():\n name = \"Apriltag36_11_00000\"\n # objpose = [[-0.53, 0.25, 0.82], [0,0,0]] # world coordinates\n objpose = [[0.20, -0.30, 1.00], [0, 0, 0]] # world coordinates\n objpose = [[-0.65, 0.0, 0.78], [0, 0, np.pi/8.0]] # world coordinates\n models = [Model(name, objpose[0], orientation=objpose[1], file_type='sdf', reference_frame=\"world\")]\n spawner.load_models(models)\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n parser = argparse.ArgumentParser(description='Test force control')\n parser.add_argument('--place', action='store_true',\n help='Place models')\n parser.add_argument('--target', action='store_true',\n help='Place targets')\n parser.add_argument('--soft', action='store_true',\n help='Place soft peg board')\n parser.add_argument('--door', action='store_true',\n help='Place door')\n parser.add_argument('--aruco', action='store_true',\n help='Place aruco marker')\n parser.add_argument('--ball', action='store_true',\n help='Place ball with collision')\n parser.add_argument('--cube', action='store_true',\n help='Place cube with collision')\n args = parser.parse_args()\n\n if args.place:\n place_models()\n if args.target:\n place_target()\n if args.soft:\n place_soft()\n if args.door:\n place_door()\n if args.aruco:\n place_aruco()\n if args.ball:\n place_ball()\n if args.cube:\n place_cube()\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_gripper_gazebo/scripts/world_publisher.py", "content": "#!/usr/bin/env python3\n# tf2 workaround for Python3\nimport sys\nsys.path[:0] = ['/usr/local/lib/python3.6/dist-packages/'] \n\nimport tf\nimport rospy\nimport numpy as np\nfrom gazebo_msgs.msg import ModelStates, ModelState\nfrom apriltag_ros.msg import AprilTagDetectionArray\nfrom tf2_msgs.msg import TFMessage\nfrom ur_control import conversions, transformations\nfrom pyquaternion import Quaternion\n\nrospy.init_node('gazebo_models_tf')\n\ndef gazebo_callback(msg):\n global robot\n robot = []\n world = np.zeros(7)\n world[6] = 1\n for i, obj_name in enumerate(msg.name):\n if obj_name.endswith(\"robot\"):\n pose = msg.pose[i]\n robot = np.concatenate([conversions.from_point(pose.position), conversions.from_quaternion(pose.orientation)])\n # subtract robot_position to camera_position\n world[:3] -= robot[:3]\n world[:3] = Quaternion(np.roll(robot[3:],1)).inverse.rotate(world[:3])\n world[3:] = np.roll((Quaternion(axis=[1.0, 0.0, 0.0], degrees=-90).inverse * Quaternion(np.roll(world[3:],1))).elements,-1)\n world[3:] = transformations.vector_from_pyquaternion(transformations.vector_to_pyquaternion([0.5,-0.5,-0.5,0.5]).inverse)\n # world[3:] = np.roll((Quaternion(axis=[0.0, 0.0, 0.0], degrees=0).inverse * Quaternion(np.roll(world[3:],1))).elements,-1)\n # print(world)orientation\n br.sendTransform(world[:3],\n world[3:],\n rospy.Time.now(),\n \"sim_world\",\n \"base_link\")\n\nrospy.Subscriber(\"/gazebo/model_states\", ModelStates, gazebo_callback)\n\nbr = tf.TransformBroadcaster()\nrate = rospy.Rate(100.0)\nwhile not rospy.is_shutdown():\n rate.sleep()" }, { "path": "ur_gripper_gazebo/setup.py", "content": "#!/usr/bin/env python\n\nfrom distutils.core import setup\nfrom catkin_pkg.python_setup import generate_distutils_setup\n\nd = generate_distutils_setup(\n packages=['ur_gazebo'],\n package_dir={'': 'src'}\n)\n\nsetup(**d)\n" }, { "path": "ur_gripper_gazebo/src/ur_gazebo/__init__.py", "content": "\n" }, { "path": "ur_gripper_gazebo/src/ur_gazebo/basic_models.py", "content": "SPHERE = ' \\\n \\\n \\\n true \\\n \\\n 0 0 0 0 0 0 \\\n \\\n 0.5 \\\n \\\n \\\n %s \\\n \\\n \\\n \\\n \\\n \\\n \\\n \\\n \\\n'\n\nSPHERE_COLLISION = ' \\\n \\\n \\\n true \\\n \\\n 0 0 0 0 0 0 \\\n \\\n 0.5 \\\n \\\n \\\n {} \\\n \\\n \\\n \\\n \\\n \\\n \\\n \\\n 0 0 0 0 0 0 \\\n 0 \\\n 10 \\\n \\\n \\\n {} \\\n \\\n \\\n \\\n \\\n \\\n 1 \\\n 1 \\\n 0 0 0 \\\n 0.1 \\\n 0.1 \\\n \\\n \\\n 1 \\\n 0 \\\n 0 \\\n 1 \\\n \\\n 0 \\\n \\\n \\\n \\\n \\\n 0 \\\n 1e+06 \\\n \\\n \\\n 0 \\\n 1 \\\n 1 \\\n \\\n {} \\\n 1 \\\n 0.01 \\\n 0 \\\n \\\n \\\n \\\n \\\n \\\n \\\n'\n\nBOX = ' \\\n \\\n \\\n true \\\n \\\n 0 0 0 0 0 0 \\\n \\\n 0.2 \\\n \\\n \\\n %s %s %s \\\n \\\n \\\n \\\n \\\n \\\n \\\n \\\n 0 0 0 0 0 0 \\\n 0 \\\n 10 \\\n \\\n \\\n %s %s %s \\\n \\\n \\\n \\\n \\\n \\\n 1 \\\n 1 \\\n 0 0 0 \\\n 0.1 \\\n 0.1 \\\n \\\n \\\n 1 \\\n 0 \\\n 0 \\\n 1 \\\n \\\n 0 \\\n \\\n \\\n \\\n \\\n 0 \\\n 1e+06 \\\n \\\n \\\n 0 \\\n 1 \\\n 1 \\\n \\\n 1e5 \\\n 1 \\\n 0.01 \\\n 0 \\\n \\\n \\\n \\\n \\\n \\\n 1 \\\n \\\n'\n\nPEG_BOARD = \" \\\n \\\n \\\n true \\\n \\\n 0.0 0.0 -0.01 1.5707 0 0 \\\n 0 \\\n 0 \\\n 0 \\\n \\\n 1 \\\n 0 0 0 0 0 0 \\\n \\\n 0.999223 \\\n 0.039421 \\\n 0.000141 \\\n 0.999222 \\\n -0.001474 \\\n 0.999999 \\\n \\\n \\\n \\\n {} \\\n 0 0 0 0 0 0 \\\n \\\n \\\n model://simple_peg_board/meshes/simple_board.dae \\\n 0.97 0.97 0.97 \\\n \\\n \\\n \\\n 0 0 0 1 \\\n 0 0 0 1 \\\n 0 0 0 0 \\\n {} {} {} 1 \\\n \\\n 0 \\\n 1 \\\n \\\n \\\n 0 0 0 0 0 0 \\\n 0 \\\n 10 \\\n \\\n \\\n model://simple_peg_board/meshes/simple_board.dae \\\n 0.97 0.97 0.97 \\\n \\\n \\\n \\\n \\\n \\\n 1 \\\n 1 \\\n 0 0 0 \\\n 0.1 \\\n 0.1 \\\n \\\n \\\n 1 \\\n 0 \\\n 0 \\\n 1 \\\n \\\n 0 \\\n \\\n \\\n \\\n \\\n 0 \\\n 1e+06 \\\n \\\n \\\n 0 \\\n 1 \\\n 1 \\\n \\\n {} \\\n 1 \\\n 0.01 \\\n 0 \\\n \\\n \\\n \\\n \\\n \\\n 1 \\\n 1 \\\n \\\n\"" }, { "path": "ur_gripper_gazebo/src/ur_gazebo/gazebo_spawner.py", "content": "import copy\nimport rospy\nimport rospkg\n\nfrom gazebo_msgs.msg import ModelStates, ModelState\nfrom gazebo_msgs.srv import (\n SpawnModel,\n DeleteModel,\n)\n\n\ndef delete_gazebo_models(models):\n # This will be called on ROS Exit, deleting Gazebo models\n # Do not wait for the Gazebo Delete Model service, since\n # Gazebo should already be running. If the service is not\n # available since Gazebo has been killed, it is fine to error out\n try:\n delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)\n for m in models:\n delete_model(m)\n\n except rospy.ServiceException as e:\n rospy.loginfo(\"Delete Model service call failed: {0}\".format(e))\n\n\nclass GazeboModels:\n \"\"\" Class to handle ROS-Gazebo model respawn \"\"\"\n\n def __init__(self, model_pkg):\n self.loaded_models = []\n self._pub_model_state = rospy.Publisher('/gazebo/set_model_state',\n ModelState, queue_size=10)\n rospy.Subscriber(\"/gazebo/model_states\", ModelStates, self._gazebo_callback)\n rospy.sleep(0.5)\n delete_gazebo_models(self.loaded_models)\n rospy.sleep(1.0)\n # Get Models' Path\n # get an instance of RosPack with the default search paths\n rospack = rospkg.RosPack()\n # get the file path for rospy_tutorials\n packpath = rospack.get_path(model_pkg)\n self.model_path = packpath + '/models/'\n\n def load_models(self, models):\n for m in models:\n if m.file_type == 'urdf':\n self.load_urdf_model(m)\n elif m.file_type == 'sdf' or m.file_type == 'string':\n self.load_sdf_model(m)\n\n def _gazebo_callback(self, data):\n self.loaded_models = []\n for obj_name in data.name:\n if obj_name.endswith(\"_tmp\"):\n self.loaded_models.append(obj_name)\n\n def reset_models(self, models):\n for m in models:\n self.reset_model(m)\n\n def reset_model(self, model):\n \"\"\" Delete/create model if already exists, create otherwise \"\"\"\n m_id = model.model_id if model.model_id is not None else model.name\n m_id += '_tmp'\n if m_id in self.loaded_models:\n delete_gazebo_models([m_id])\n rospy.sleep(0.5)\n self.load_models([model])\n\n def update_models_state(self, models):\n for m in models:\n self.update_model_state(m)\n\n def update_model_state(self, model):\n m_id = model.model_id if model.model_id is not None else model.name\n m_id += '_tmp'\n if m_id in self.loaded_models:\n model_state = ModelState(model_name=m_id, pose=model.pose, reference_frame=model.reference_frame)\n for _ in range(100):\n self._pub_model_state.publish(model_state)\n else:\n self.load_models([model])\n\n def load_urdf_model(self, model):\n # Spawn Block URDF\n rospy.wait_for_service('/gazebo/spawn_urdf_model')\n try:\n m_id = model.model_id if model.model_id is not None else model.name\n spawn_urdf = rospy.ServiceProxy('/gazebo/spawn_urdf_model', SpawnModel)\n spawn_urdf(m_id+\"_tmp\", self.load_xml(model.name, filetype=\"urdf\"), \"/\",\n model.pose, model.reference_frame)\n except IOError:\n self.load_sdf_model(model)\n except rospy.ServiceException as e:\n rospy.logerr(\"Spawn URDF service call failed: {0}\".format(e))\n\n def load_sdf_model(self, model):\n # Spawn model SDF\n rospy.wait_for_service('/gazebo/spawn_sdf_model')\n try:\n spawn_sdf = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)\n m_id = model.model_id if model.model_id is not None else model.name\n if model.string_model is None:\n spawn_sdf(m_id+\"_tmp\", self.load_xml(model.name), \"/\",\n model.pose, model.reference_frame)\n else:\n spawn_sdf(m_id+\"_tmp\", model.string_model, \"/\",\n model.pose, model.reference_frame)\n except rospy.ServiceException as e:\n rospy.logerr(\"Spawn SDF service call failed: {0}\".format(e))\n\n def load_xml(self, model_name, filetype=\"sdf\"):\n # Load File\n with open(self.model_path + model_name + \"/model.%s\" % filetype, \"r\") as table_file:\n return table_file.read().replace('\\n', '')\n" }, { "path": "ur_gripper_gazebo/src/ur_gazebo/model.py", "content": "import copy\nfrom ur_control import transformations\nfrom geometry_msgs.msg import (\n Pose,\n Point,\n Quaternion\n)\n\nclass Model(object):\n \"\"\" Model object \"\"\"\n def __init__(self, name, position, orientation=[0,0,0,1], file_type='urdf', string_model=None, reference_frame=\"world\", model_id=None):\n \"\"\"\n Model representation for Gazebo spawner\n name string: name of the model as it is called in the sdf/urdf\n position array[3]: x, y, z position\n orienation array[4]: ax, ay, az, w\n file_type string: type of model sdf, urdf, or string\n string_model string: full xml representing a sdf model\n reference_frame string: frame of reference for the position/orientation of the model \n \"\"\"\n self.name = name\n self.posearr = position\n self.set_pose(position, orientation)\n self.file_type = file_type\n self.string_model = string_model\n self.reference_frame = reference_frame\n self.model_id = model_id\n\n def set_pose(self, position, orientation=[0,0,0,1]):\n self.posearr = position\n if len(orientation) == 3:\n self.orietarr = transformations.quaternion_from_euler(orientation[0], orientation[1], orientation[2])\n else:\n self.orietarr = orientation\n self.orientation = Quaternion(x=self.orietarr[0], y=self.orietarr[1], z=self.orietarr[2], w=self.orietarr[3]) if isinstance(orientation, list) else Quaternion()\n self.pose = Pose(position=Point(x=position[0], y=position[1], z=position[2]), orientation=self.orientation)\n\n def get_rotation(self):\n return self.orietarr\n\n def get_pose(self):\n return self.posearr\n" }, { "path": "ur_gripper_gazebo/urdf/ur_gripper_85.xacro", "content": "\n\n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n\n \n \n \n \n \n \n \n\n \n\n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n 0.9\n 0.9\n Gazebo/FlatBlack\n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n true\n \n \n \n \n 125.0\n wrench\n 0.0\n wrist_3_joint\n \n \n \n \n \n \n \n \n robotiq_85\n wrist_3_link\n robotiq_85_left_finger_tip_link\n robotiq_85_right_finger_tip_link\n \n 100\n 100\n 5\n 30\n 0.0015\n false\n __default_topic__\n \n \n \n \n \n \n \n 2 \n 2 \n 3\n \n robotiq_85_left_finger_tip_link\n robotiq_85_right_finger_tip_link\n wrist_3_link\n \n \n \n\n \n" }, { "path": "ur_gripper_gazebo/urdf/ur_gripper_hande.xacro", "content": "\n\n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n\n \n \n \n \n \n \n \n\n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n 0.9\n 0.9\n Gazebo/FlatBlack\n \n\n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n true\n \n \n \n \n 500.0\n wrench\n 0.0\n wrist_3_joint\n \n \n \n \n \n \n \n \n robotiq_hande\n wrist_3_link\n hande_right_finger\n hande_left_finger\n \n 100\n 100\n 5\n 30\n 0.0015\n false\n __default_topic__\n \n \n \n \n \n \n \n 2 \n 2 \n 3\n \n hande_right_finger\n hande_left_finger\n wrist_3_link\n \n \n \n\n \n" }, { "path": "ur_gripper_gazebo/worlds/cubes_task.world", "content": "\n\n\n\n \n \n \n \n 1.28552 1.43709 1.77307 0 0.43 -1.99519\n orbit\n perspective\n \n \n\n 0 0 -9.81\n\n \n 0.001\n 1\n 1000\n \n\n \n \n\n \n 0.4 0.4 0.4 1\n 0.40 0.43 0.67 1\n 1\n \n\n \n \n model://sun\n \n\n \n \n model://floor\n 0 0 0 0 0 0\n \n\n \n \n \n\n \n \n \n model://ur_base\n 0 0 0 0 0 0\n \n \n\n \n \n \n \n \n 0.75 0 0 0 -0 0\n 0\n 0\n 1\n \n 1\n 0 0 0 0 -0 0\n \n 1\n 0\n 0\n 1\n 0\n 1\n \n \n \n \n \n model://cafe_table/meshes/cafe_table.dae\n 1 0.8 1\n \n \n \n \n __default__\n \n \n 0 0 0 0 -0 0\n 1\n 0\n \n \n 0\n 10\n 0 0 0.755 0 -0 0\n \n \n 0.913 0.913 0.04\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 0\n 10\n 0 0 0.37 0 -0 0\n \n \n 0.042 0.042 0.74\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 0\n 10\n 0 0 0.02 0 -0 0\n \n \n 0.56 0.56 0.04\n \n \n \n \n \n 1\n 1\n 0 0 0\n 0\n 0\n \n \n 1\n 0\n 0\n 1\n \n 0\n \n \n \n \n 0\n 1e+06\n \n \n 0\n 1\n 1\n \n 0\n 0.2\n 1e+13\n 1\n 0.01\n 0\n \n \n 1\n -0.01\n 0\n 0.2\n 1e+13\n 1\n \n \n \n \n \n 1\n 1\n 0 0 0 0 -0 0\n \n\n \n \n 0.4 -0.2 0.775 0 0 0\n \n 0 0 0.02 0 0 0\n \n 0.0565\n \n 2.3541666666666672e-05\n 0\n 0\n 2.3541666666666672e-05\n 0\n 2.3541666666666672e-05\n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n 0.347\n 8.8e+09\n \n 100000\n 1\n 1.0\n 0.001\n \n \n \n \n 1.0\n 0\n 0.05\n \n \n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n \n \n \n \n\n \n 0.4 0 0.775 0 0 0\n \n 0 0 0.02 0 0 0\n \n 0.0565\n \n 2.3541666666666672e-05\n 0\n 0\n 2.3541666666666672e-05\n 0\n 2.3541666666666672e-05\n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n 0.347\n 8.8e+09\n \n 100000\n 1\n 1.0\n 0.001\n \n \n \n \n 1.0\n 0\n 0.05\n \n \n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n \n \n \n \n\n \n 0.4 0.2 0.775 0 0 0\n \n 0 0 0.02 0 0 0\n \n 0.0565\n \n 2.3541666666666672e-05\n 0\n 0\n 2.3541666666666672e-05\n 0\n 2.3541666666666672e-05\n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n 0.347\n 8.8e+09\n \n 100000\n 1\n 1.0\n 0.001\n \n \n \n \n 1.0\n 0\n 0.05\n \n \n \n \n \n \n \n 0.04 0.04 0.04\n \n \n \n \n \n \n \n \n\n \n\n\n" }, { "path": "ur_gripper_gazebo/worlds/ur3e.world", "content": "\n\n\n\n \n \n \n \n 0.846027 1.34839 1.39925 0 0.314 -2.35919\n orbit\n perspective\n \n \n\n 0 0 -9.81\n\n \n 0.001\n 1\n 1000\n \n\n \n \n\n \n 0.6 0.6 0.6 1\n 1.0 1.0 1.0 1\n 1\n \n\n \n \n model://sun\n \n\n \n \n model://floor\n 0 0 0 0 0 0\n \n\n \n \n \n\n \n \n \n model://ur3e_base\n 0.0 0.48 0 0 0 0\n \n \n\n \n\n\n" }, { "path": "ur_hande_moveit_config/.setup_assistant", "content": "moveit_setup_assistant_config:\n URDF:\n package: ur_gripper_gazebo\n relative_path: urdf/ur_gripper_hande.xacro\n xacro_args: joint_limit_params:='$(find ur_description)/config/ur3e/joint_limits.yaml' \n kinematics_params:='$(find ur_description)/config/ur3e/default_kinematics.yaml'\n physical_params:='$(find ur_description)/config/ur3e/physical_parameters.yaml'\n visual_params:='$(find ur_description)/config/ur3e/visual_parameters.yaml'\n transmission_hw_interface:=hardware_interface/PositionJointInterface\n safety_limits:=false\n safety_pos_margin:=0.15\n safety_k_position:=20\n dual_arm:=true\n grasp_plugin:=false\n SRDF:\n relative_path: config/ur_robot_gazebo.srdf\n CONFIG:\n author_name: Cristian Beltran\n author_email: cristianbehe@gmail.com\n generated_timestamp: 1634277939\n" }, { "path": "ur_hande_moveit_config/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.1.3)\nproject(ur_hande_moveit_config)\n\nfind_package(catkin REQUIRED)\n\ncatkin_package()\n\ninstall(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n PATTERN \"setup_assistant.launch\" EXCLUDE)\ninstall(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})\n" }, { "path": "ur_hande_moveit_config/config/cartesian_limits.yaml", "content": "cartesian_limits:\n max_trans_vel: 1\n max_trans_acc: 2.25\n max_trans_dec: -5\n max_rot_vel: 1.57\n" }, { "path": "ur_hande_moveit_config/config/chomp_planning.yaml", "content": "planning_time_limit: 10.0\nmax_iterations: 200\nmax_iterations_after_collision_free: 5\nsmoothness_cost_weight: 0.1\nobstacle_cost_weight: 1.0\nlearning_rate: 0.01\nsmoothness_cost_velocity: 0.0\nsmoothness_cost_acceleration: 1.0\nsmoothness_cost_jerk: 0.0\nridge_factor: 0.01\nuse_pseudo_inverse: false\npseudo_inverse_ridge_factor: 1e-4\njoint_update_limit: 0.1\ncollision_clearence: 0.2\ncollision_threshold: 0.07\nuse_stochastic_descent: true\nenable_failure_recovery: true\nmax_recovery_attempts: 5" }, { "path": "ur_hande_moveit_config/config/fake_controllers.yaml", "content": "controller_list:\n - name: fake_arm_controller\n type: $(arg execution_type)\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - name: fake_gripper_controller\n type: $(arg execution_type)\n joints:\n - hande_left_finger_joint\ninitial: # Define initial robot poses.\n# - group: arm\n# pose: home\n\n []" }, { "path": "ur_hande_moveit_config/config/joint_limits.yaml", "content": "# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed\n# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]\n# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]\njoint_limits:\n elbow_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n hande_left_finger_joint:\n has_velocity_limits: true\n max_velocity: 0.15\n has_acceleration_limits: false\n max_acceleration: 0\n hande_right_finger_joint:\n has_velocity_limits: true\n max_velocity: 0.15\n has_acceleration_limits: false\n max_acceleration: 0\n shoulder_lift_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n shoulder_pan_joint:\n has_velocity_limits: true\n max_velocity: 3.14159265359\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_1_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_2_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0\n wrist_3_joint:\n has_velocity_limits: true\n max_velocity: 6.28318530718\n has_acceleration_limits: false\n max_acceleration: 0" }, { "path": "ur_hande_moveit_config/config/kinematics.yaml", "content": "arm:\n kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin\n kinematics_solver_search_resolution: 0.005\n kinematics_solver_timeout: 0.005" }, { "path": "ur_hande_moveit_config/config/ompl_planning.yaml", "content": "planner_configs:\n SBL:\n type: geometric::SBL\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n EST:\n type: geometric::EST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n LBKPIECE:\n type: geometric::LBKPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n BKPIECE:\n type: geometric::BKPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9\n failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n KPIECE:\n type: geometric::KPIECE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]\n failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5\n min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5\n RRT:\n type: geometric::RRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n RRTConnect:\n type: geometric::RRTConnect\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n RRTstar:\n type: geometric::RRTstar\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1\n TRRT:\n type: geometric::TRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05\n max_states_failed: 10 # when to start increasing temp. default: 10\n temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0\n min_temperature: 10e-10 # lower limit of temp change. default: 10e-10\n init_temperature: 10e-6 # initial temperature. default: 10e-6\n frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()\n frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1\n k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()\n PRM:\n type: geometric::PRM\n max_nearest_neighbors: 10 # use k nearest neighbors. default: 10\n PRMstar:\n type: geometric::PRMstar\n FMT:\n type: geometric::FMT\n num_samples: 1000 # number of states that the planner should sample. default: 1000\n radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1\n nearest_k: 1 # use Knearest strategy. default: 1\n cache_cc: 1 # use collision checking cache. default: 1\n heuristics: 0 # activate cost to go heuristics. default: 0\n extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1\n BFMT:\n type: geometric::BFMT\n num_samples: 1000 # number of states that the planner should sample. default: 1000\n radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0\n nearest_k: 1 # use the Knearest strategy. default: 1\n balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1\n optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1\n heuristics: 1 # activates cost to go heuristics. default: 1\n cache_cc: 1 # use the collision checking cache. default: 1\n extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1\n PDST:\n type: geometric::PDST\n STRIDE:\n type: geometric::STRIDE\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0\n degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16\n max_degree: 18 # max degree of a node in the GNAT. default: 12\n min_degree: 12 # min degree of a node in the GNAT. default: 12\n max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6\n estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0\n min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2\n BiTRRT:\n type: geometric::BiTRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1\n init_temperature: 100 # initial temperature. default: 100\n frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()\n frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1\n cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf\n LBTRRT:\n type: geometric::LBTRRT\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n epsilon: 0.4 # optimality approximation factor. default: 0.4\n BiEST:\n type: geometric::BiEST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n ProjEST:\n type: geometric::ProjEST\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05\n LazyPRM:\n type: geometric::LazyPRM\n range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()\n LazyPRMstar:\n type: geometric::LazyPRMstar\n SPARS:\n type: geometric::SPARS\n stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0\n sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25\n dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001\n max_failures: 1000 # maximum consecutive failure limit. default: 1000\n SPARStwo:\n type: geometric::SPARStwo\n stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0\n sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25\n dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001\n max_failures: 5000 # maximum consecutive failure limit. default: 5000\narm:\n default_planner_config: RRT\n planner_configs:\n - SBL\n - EST\n - LBKPIECE\n - BKPIECE\n - KPIECE\n - RRT\n - RRTConnect\n - RRTstar\n - TRRT\n - PRM\n - PRMstar\n - FMT\n - BFMT\n - PDST\n - STRIDE\n - BiTRRT\n - LBTRRT\n - BiEST\n - ProjEST\n - LazyPRM\n - LazyPRMstar\n - SPARS\n - SPARStwo\ngripper:\n planner_configs:\n - SBL\n - EST\n - LBKPIECE\n - BKPIECE\n - KPIECE\n - RRT\n - RRTConnect\n - RRTstar\n - TRRT\n - PRM\n - PRMstar\n - FMT\n - BFMT\n - PDST\n - STRIDE\n - BiTRRT\n - LBTRRT\n - BiEST\n - ProjEST\n - LazyPRM\n - LazyPRMstar\n - SPARS\n - SPARStwo\n" }, { "path": "ur_hande_moveit_config/config/ros_controllers.yaml", "content": "# Simulation settings for using moveit_sim_controllers\nmoveit_sim_hw_interface:\n joint_model_group: todo_group_name\n joint_model_group_pose: todo_state_name\n# Settings for ros_control_boilerplate control loop\ngeneric_hw_control_loop:\n loop_hz: 300\n cycle_time_error_threshold: 0.01\n# Settings for ros_control hardware interface\nhardware_interface:\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - hande_left_finger_joint\n sim_control_mode: 1 # 0: position, 1: velocity\n# Publish all joint states\n# Creates the /joint_states topic necessary in ROS\njoint_state_controller:\n type: joint_state_controller/JointStateController\n publish_rate: 50\ncontroller_list:\n - name: scaled_pos_joint_traj_controller\n action_ns: follow_joint_trajectory\n default: True\n type: FollowJointTrajectory\n joints:\n - shoulder_pan_joint\n - shoulder_lift_joint\n - elbow_joint\n - wrist_1_joint\n - wrist_2_joint\n - wrist_3_joint\n - name: gripper_controller\n action_ns: gripper_cmd\n default: True\n type: GripperCommand\n joints:\n - hande_left_finger_joint" }, { "path": "ur_hande_moveit_config/config/sensors_3d.yaml", "content": "# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it\nsensors:\n - {}" }, { "path": "ur_hande_moveit_config/config/ur3e.urdf", "content": "\n\n\n\n\n\n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n 0.9\n 0.9\n Gazebo/FlatBlack\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n Gazebo/FlatBlack\n \n \n Gazebo/Grey\n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n \n \n hande_left_finger_joint\n hande_right_finger_joint\n 1.0\n 0.0\n \n \n \n \n true\n \n \n \n \n 500.0\n wrench\n 0.0\n wrist_3_joint\n \n \n \n \n \n 2\n 2\n 3\n \n hande_right_finger\n hande_left_finger\n hand_e_link\n \n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n \n /\n \n \n\n\n\n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n true\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 0.9\n 0.9\n Gazebo/FlatBlack\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n Gazebo/FlatBlack\n \n \n Gazebo/Grey\n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n \n \n hande_left_finger_joint\n hande_right_finger_joint\n 1.0\n 0.0\n \n \n \n \n true\n \n \n \n \n 500.0\n wrench\n 0.0\n wrist_3_joint\n \n \n \n \n \n 2\n 2\n 3\n \n hande_right_finger\n hande_left_finger\n hand_e_link\n \n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/EffortJointInterface\n \n \n hardware_interface/EffortJointInterface\n 1\n \n \n \n \n /\n \n \n\n" }, { "path": "ur_hande_moveit_config/config/ur3e_hande.urdf", "content": "\n\n\n\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n true\n 1\n \n \n true\n 1\n \n \n true\n 1\n \n \n true\n 1\n \n \n true\n 1\n \n \n true\n 1\n \n \n true\n 1\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n true\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 0.9\n 0.9\n Gazebo/FlatBlack\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n Gazebo/FlatBlack\n \n \n Gazebo/Grey\n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n 1000000.0\n 1.0\n 1.0\n 1.0\n 0.001\n \n \n \n transmission_interface/SimpleTransmission\n \n hardware_interface/PositionJointInterface\n \n \n 1\n \n \n \n \n \n hande_right_finger_joint\n hande_left_finger_joint\n 1.0\n 0.0\n \n \n \n \n \n \n true\n \n \n \n 400.0\n wrench\n 0.0\n wrist_3_link-tool0_fixed_joint\n \n \n \n \n \n 2\n 2\n 3\n \n hande_right_finger\n hande_left_finger\n hand_e_link\n \n \n \n\n" }, { "path": "ur_hande_moveit_config/config/ur_robot_gazebo.srdf", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_hande_moveit_config/launch/chomp_planning_pipeline.launch.xml", "content": "\n \n \n\n \n \n\n \n \n\n \n \n \n\n \n \n \n \n \n\n \n\n" }, { "path": "ur_hande_moveit_config/launch/default_warehouse_db.launch", "content": "\n\n \n \n \n\n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/demo.launch", "content": "\n\n \n \n\n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n\n \n\n\n \n \n [move_group/fake_controller_joint_states]\n \n \n [move_group/fake_controller_joint_states]\n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/demo_gazebo.launch", "content": "\n\n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n \n \n \n \n\n \n \n\n \n \n [move_group/fake_controller_joint_states]\n [/joint_states]\n \n \n [move_group/fake_controller_joint_states]\n [/joint_states]\n \n\n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/fake_moveit_controller_manager.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/gazebo.launch", "content": "\n\n \n \n \n\n \n \n \n \n \n \n\n \n \n\n \n \n\n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/gazebo_static_tf.launch", "content": "\n \n \n" }, { "path": "ur_hande_moveit_config/launch/joystick_control.launch", "content": "\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/move_group.launch", "content": "\n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n\n\n \n \n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/moveit.rviz", "content": "Panels:\n - Class: rviz/Displays\n Help Height: 84\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /MotionPlanning1\n Splitter Ratio: 0.74256\n Tree Height: 664\n - Class: rviz/Help\n Name: Help\n - Class: rviz/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.03\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Class: moveit_rviz_plugin/MotionPlanning\n Enabled: true\n MoveIt_Goal_Tolerance: 0\n MoveIt_Planning_Time: 5\n MoveIt_Use_Constraint_Aware_IK: true\n MoveIt_Warehouse_Host: 127.0.0.1\n MoveIt_Warehouse_Port: 33829\n Name: MotionPlanning\n Planned Path:\n Links:\n base_bellow_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n double_stereo_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_kinect_ir_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_kinect_rgb_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_prosilica_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_plate_frame:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_tilt_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_elbow_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_forearm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_l_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_l_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_motor_accelerometer_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_palm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_r_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_r_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_shoulder_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_shoulder_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_upper_arm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_wrist_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_wrist_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n laser_tilt_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_elbow_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_forearm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_l_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_l_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_motor_accelerometer_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_palm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_r_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_r_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_shoulder_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_shoulder_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_upper_arm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_wrist_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_wrist_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n sensor_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n torso_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Loop Animation: true\n Robot Alpha: 0.5\n Show Robot Collision: false\n Show Robot Visual: true\n Show Trail: false\n State Display Time: 0.05 s\n Trajectory Topic: move_group/display_planned_path\n Planning Metrics:\n Payload: 1\n Show Joint Torques: false\n Show Manipulability: false\n Show Manipulability Index: false\n Show Weight Limit: false\n Planning Request:\n Colliding Link Color: 255; 0; 0\n Goal State Alpha: 1\n Goal State Color: 250; 128; 0\n Interactive Marker Size: 0\n Joint Violation Color: 255; 0; 255\n Planning Group: left_arm\n Query Goal State: true\n Query Start State: false\n Show Workspace: false\n Start State Alpha: 1\n Start State Color: 0; 255; 0\n Planning Scene Topic: move_group/monitored_planning_scene\n Robot Description: robot_description\n Scene Geometry:\n Scene Alpha: 1\n Scene Color: 50; 230; 50\n Scene Display Time: 0.2\n Show Scene Geometry: true\n Voxel Coloring: Z-Axis\n Voxel Rendering: Occupied Voxels\n Scene Robot:\n Attached Body Color: 150; 50; 150\n Links:\n base_bellow_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n bl_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n br_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n double_stereo_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fl_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_l_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_r_wheel_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n fr_caster_rotation_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_kinect_ir_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_kinect_rgb_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_mount_prosilica_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_plate_frame:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n head_tilt_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_elbow_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_forearm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_l_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_l_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_motor_accelerometer_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_palm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_r_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_gripper_r_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_shoulder_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_shoulder_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_upper_arm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_wrist_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n l_wrist_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n laser_tilt_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_elbow_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_forearm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_forearm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_l_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_l_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_motor_accelerometer_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_palm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_r_finger_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_gripper_r_finger_tip_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_shoulder_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_shoulder_pan_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_upper_arm_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_upper_arm_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_wrist_flex_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n r_wrist_roll_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n sensor_mount_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n torso_lift_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Robot Alpha: 0.5\n Show Scene Robot: true\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: world\n Name: root\n Tools:\n - Class: rviz/Interact\n Hide Inactive Objects: true\n - Class: rviz/MoveCamera\n - Class: rviz/Select\n Value: true\n Views:\n Current:\n Class: rviz/XYOrbit\n Distance: 2.9965\n Focal Point:\n X: 0.113567\n Y: 0.10592\n Z: 2.23518e-07\n Name: Current View\n Near Clip Distance: 0.01\n Pitch: 0.509797\n Target Frame: /world\n Value: XYOrbit (rviz)\n Yaw: 5.65995\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 1337\n Help:\n collapsed: false\n Hide Left Dock: false\n Hide Right Dock: false\n Motion Planning:\n collapsed: false\n QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Views:\n collapsed: false\n Width: 1828\n X: 459\n Y: -243\n" }, { "path": "ur_hande_moveit_config/launch/moveit_rviz.launch", "content": "\n\n \n \n \n\n \n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/ompl_planning_pipeline.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n \n \n\n \n\n \n \n \n \n \n\n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml", "content": "\n\n \n \n\n \n \n\n \n \n\n \n \n\n \n\n \n \n \n\n \n \n \n\n" }, { "path": "ur_hande_moveit_config/launch/planning_context.launch", "content": "\n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n \n\n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/planning_pipeline.launch.xml", "content": "\n\n \n\n \n\n \n \n\n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/ros_controllers.launch", "content": "\n\n\n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/run_benchmark_ompl.launch", "content": "\n\n \n \n\n \n \n \n \n\n \n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/sensor_manager.launch.xml", "content": "\n\n \n\n \n \n\n \n \n \n \n\n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/setup_assistant.launch", "content": "\n\n\n \n \n \n \n\n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/start_moveit.launch", "content": "\n \n \n\n \n \n \n \n\n \n \n\n \n \n\n \n \n \n \n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n \n\n \n \n \n\n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/trajectory_execution.launch.xml", "content": "\n\n \n\n \n\n \n \n \n\n \n \n \n \n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/ur_robot_gazebo_moveit_controller_manager.launch.xml", "content": "\n \n\n \n \n \n\n \n \n\n" }, { "path": "ur_hande_moveit_config/launch/ur_robot_gazebo_moveit_sensor_manager.launch.xml", "content": "\n\n\n" }, { "path": "ur_hande_moveit_config/launch/warehouse.launch", "content": "\n\n \n \n\n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/launch/warehouse_settings.launch.xml", "content": "\n \n\n \n \n\n \n \n\n \n \n \n \n \n\n\n" }, { "path": "ur_hande_moveit_config/package.xml", "content": "\n\n ur_hande_moveit_config\n 0.3.0\n \n An automatically generated package with all the configuration and launch files for using the ur_robot_gazebo with the MoveIt! Motion Planning Framework\n \n Cristian Beltran\n Cristian Beltran\n\n BSD\n\n http://moveit.ros.org/\n https://github.com/ros-planning/moveit/issues\n https://github.com/ros-planning/moveit\n\n catkin\n\n moveit_ros_move_group\n moveit_fake_controller_manager\n moveit_kinematics\n moveit_planners_ompl\n moveit_ros_visualization\n moveit_setup_assistant\n moveit_simple_controller_manager\n joint_state_publisher\n joint_state_publisher_gui\n robot_state_publisher\n rviz\n tf2_ros\n xacro\n \n \n ur_gripper_gazebo\n\n\n\n" }, { "path": "ur_handeye_calibration/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.1.3)\nproject(ur_handeye_calibration)\n\n## Add support for C++11, supported in ROS Kinetic and newer\n# add_definitions(-std=c++11)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED COMPONENTS\n rospy\n)\n\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES ur3e_rl\n# CATKIN_DEPENDS ur3e_openai rospy\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n)\n\n## Declare a C++ library\n# add_library(${PROJECT_NAME}\n# src/${PROJECT_NAME}/ur3e_rl.cpp\n# )\n\n## Add cmake target dependencies of the library\n## as an example, code may need to be generated before libraries\n## either from message generation or dynamic reconfigure\n# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\n\n## Declare a C++ executable\n## With catkin_make all packages are built within a single CMake context\n## The recommended prefix ensures that target names across packages don't collide\n# add_executable(${PROJECT_NAME}_node src/ur3e_rl_exam.cpp)\n\n## Rename C++ executable without prefix\n## The above recommended prefix causes long target names, the following renames the\n## target back to the shorter version for ease of user use\n## e.g. \"rosrun someones_pkg node\" instead of \"rosrun someones_pkg someones_pkg_node\"\n# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX \"\")\n\n## Add cmake target dependencies of the executable\n## same as for the library above\n# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(${PROJECT_NAME}_node\n# ${catkin_LIBRARIES}\n# )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur3e_rl.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "ur_handeye_calibration/config/settings.yaml", "content": "# AprilTag 3 code parameters\n# Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector\n# apriltag/include/apriltag.h:struct apriltag_family\ntag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12\ntag_threads: 2 # default: 2\ntag_decimate: 1.0 # default: 1.0\ntag_blur: 0.0 # default: 0.0\ntag_refine_edges: 1 # default: 1\ntag_debug: 0 # default: 0\n# Other parameters\npublish_tf: true # default: false" }, { "path": "ur_handeye_calibration/config/tags.yaml", "content": "standalone_tags:\n [\n {id: 0, size: 0.08},\n # {id: 1, size: 0.05},\n ]" }, { "path": "ur_handeye_calibration/launch/apriltag_detect.launch", "content": "\n \n \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n" }, { "path": "ur_handeye_calibration/launch/aruco_detect.launch", "content": "\n \n \n\n \n \t\t \n \t\t\n \n \t\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_handeye_calibration/launch/camera.launch", "content": "\n \n \n \n\n" }, { "path": "ur_handeye_calibration/launch/ur3e_fixed_handeye_calibration.launch", "content": "\n\n \n \n\n \n \n \n \n\n \n\n \n\n \n \n \n \n \n \n\n \n \n \n" }, { "path": "ur_handeye_calibration/package.xml", "content": "\n\n ur_handeye_calibration\n 0.1.0\n The ur_handeye_calibration package\n\n Cristian Beltran\n\n MIT\n\n catkin\n \n\n" }, { "path": "ur_handeye_calibration/scripts/calibrate.py", "content": "# tf2 workaround for Python3\nimport sys\nsys.path[:0] = ['/usr/local/lib/python3.6/dist-packages/'] \n\nimport tf\nimport rospy\nimport rospkg\n\nfrom handeye import HandEyeCalibrator, Setup, solver\nimport numpy as np\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\nimport baldor as br\nfrom pyquaternion import Quaternion\nfrom ur_control import transformations as tr\n\n# get an instance of RosPack with the default search paths\nrospack = rospkg.RosPack()\n# get the file path for rospy_tutorials\npackpath = rospack.get_path(\"ur_handeye_calibration\")\ncalibration_file = rospy.get_param( ns + \"calibration_file\", default=packpath + '/config/calibration_data_apriltag.npy')\n\ndef calibrate_simulation(cto_poses, bte_poses):\n calibrator = HandEyeCalibrator(setup=Setup.Fixed)\n for cto_pose, bte_pose in zip(cto_poses, bte_poses):\n bte = tr.pose_to_transform(bte_pose)\n cto = tr.pose_to_transform(cto_pose)\n calibrator.assess_tcp_pose(bte)\n calibrator.add_sample(bte, cto)\n\n Xest = calibrator.solve(method=solver.Daniilidis1999)\n Xpose = tr.pose_quaternion_from_matrix(Xest)\n print(\"via Daniilidis1999:\", Xpose)\n\n rot_rmse, trans_rmse = calibrator.compute_reprojection_error(Xest)\n assert(rot_rmse > br._FLOAT_EPS)\n assert(trans_rmse > br._FLOAT_EPS)\n\n rospy.init_node('ur3_force_control')\n\n tfbr = tf.TransformBroadcaster()\n rate = rospy.Rate(10.0)\n while not rospy.is_shutdown():\n tfbr.sendTransform(Xpose[:3],\n Xpose[3:],\n rospy.Time.now(),\n \"camera_es_link\",\n \"base_link\")\n rate.sleep()\n\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n \n all_poses = np.load(calibration_file)\n # print(all_poses) \n cto_poses = all_poses[:,0,:] # camera to object\n bte_poses = all_poses[:,1,:] # base to end-effector\n\n calibrate_simulation(cto_poses, bte_poses)\n\n\nif __name__ == \"__main__\":\n main()\n\n" }, { "path": "ur_handeye_calibration/scripts/calibrator.py", "content": "#!/usr/bin/env python3\n# tf2 workaround for Python3\nimport sys\nsys.path[:0] = ['/usr/local/lib/python3.6/dist-packages/'] \n\nimport rospy\nimport rospkg\nimport tf\nimport timeit\nimport numpy as np\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\n\nfrom ur_control import transformations, conversions\nfrom ur_control.constants import ROBOT_GAZEBO, ROBOT_UR_RTDE_DRIVER, ROBOT_GAZEBO_DUAL_RIGHT\nfrom ur_control.compliance_controller import ComplianceController\n\nfrom handeye.srv import CalibrateHandEye, CalibrateHandEyeRequest\n\nimport signal\ndef signal_handler(sig, frame):\n print('You pressed Ctrl+C!')\n sys.exit(0)\nsignal.signal(signal.SIGINT, signal_handler)\n\nrospy.init_node('ur_handeye_calibration_capture')\nglobal listener\nlistener = tf.TransformListener()\n\nns = rospy.get_param(\"ur_calibration_ns\", default=\"/\")\nns += \"\" if ns.endswith(\"/\") else \"/\"\n\ncamera_frame = rospy.get_param( ns + \"tracking_base_frame\", default=\"camera_link\")\nmarker_frame = rospy.get_param( ns + \"tracking_marker_frame\", default=\"marker_link\")\nrobot_frame = rospy.get_param( ns + \"robot_base_frame\", default=\"base_link\")\nendeffector_frame = rospy.get_param( ns + \"robot_effector_frame\", default=\"ee_link\")\n\ncamera_setup = rospy.get_param( ns + \"camera_setup\", default=\"Fixed\")\ncalibration_solver = rospy.get_param( ns + \"solver\", default=\"Daniilidis1999\")\n\n# get an instance of RosPack with the default search paths\nrospack = rospkg.RosPack()\n# get the file path for rospy_tutorials\npackpath = rospack.get_path(\"ur_handeye_calibration\")\nsavefolder = rospy.get_param( ns + \"calibration_file\", default=packpath + '/config/')\nprint(\"wdf\", savefolder)\n\n# driver = ROBOT_GAZEBO_DUAL_RIGHT #ROBOT_GAZEBO\ndriver = ROBOT_GAZEBO #ROBOT_GAZEBO\n\narm = None\ntf_data = []\n\ndef append_tf_data():\n try:\n rospy.sleep(0.1)\n\n trans, rot = listener.lookupTransform(camera_frame, marker_frame, rospy.Time(0))\n objTocamera = trans + rot\n # print(\"btc\", np.round(objTocamera[:3],4))\n \n trans, rot = listener.lookupTransform(robot_frame, endeffector_frame, rospy.Time(0))\n eeTobase = trans + rot\n # print(\"bte\", np.round(eeTobase[:3],4))\n\n tf_data.append([objTocamera, eeTobase])\n except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):\n print(\"Failed =(\")\n\ndef rotate_wrist(q, changes):\n cq = np.copy(q)\n for change in changes:\n for p in change:\n cq[p[0]] = p[1]\n arm.set_joint_positions(cq, wait=True, target_time=0.5)\n append_tf_data()\n # input(\"Enter to continue\")\n\n\ndef move_arm(wait=True):\n q = [2.37191, -1.88688, -1.82035, 0.4766 , 2.31206, 3.18758]\n arm.set_joint_positions(positions=q, wait=wait, target_time=0.5)\n initial_ee = arm.end_effector(q)\n\n deltas = [\n [0.0, 0.03, 0.08, 0.13, 0.18], # x\n [0.0, 0.03, 0.08, 0.13, 0.18], # y\n [0.0, 0.03, 0.08, 0.13, 0.18], # z\n ]\n\n X = 5\n Y = 5\n Z = 3\n\n pose_changes = [\n [[4, 2.05], [5, 3.20]],\n [[4, 2.3], [5, 3.20]],\n [[4, 2.1936], [5, 3.8]],\n [[4, 2.05], [5, 3.8]],\n [[4, 2.3], [5, 3.8]],\n [[4, 2.1936], [5, 2.6]],\n [[4, 2.05], [5, 2.6]],\n [[4, 2.3], [5, 2.6]],\n ]\n\n for i in range(Z):\n x = y = 0\n dx = 0\n dy = -1\n for _ in range(max(X, Y)**2):\n if (-X/2 < x <= X/2) and (-Y/2 < y <= Y/2):\n delta = np.zeros(6)\n delta[0] = deltas[0][x+1]\n delta[2] = deltas[2][y+1]\n delta[1] = deltas[1][i]\n cpose = transformations.pose_euler_to_quaternion(initial_ee, delta, ee_rotation=False)\n arm.set_target_pose(pose=cpose, wait=True, target_time=0.5)\n # input(\"Enter to continue\")\n append_tf_data()\n\n q = arm.joint_angles()\n rotate_wrist(q, pose_changes)\n\n if x == y or (x < 0 and x == -y) or (x > 0 and x == 1-y):\n dx, dy = -dy, dx\n x, y = x+dx, y+dy\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n\n online = rospy.get_param(ns + \"online\", default=False)\n\n if online:\n global arm\n arm = ComplianceController(ft_sensor=False, driver=driver, ee_transform=[-0., -0., 0.05, 0, 0., 0., 1. ])\n move_arm()\n np.save(savefolder + \"calibration_data_apriltag.npy\", tf_data)\n else:\n tf_data = np.load(savefolder + \"calibration_data_apriltag.npy\")\n\n srv = rospy.ServiceProxy('handeye_calibration', CalibrateHandEye)\n srv.wait_for_service(timeout=2.0)\n req = CalibrateHandEyeRequest()\n req.setup = camera_setup\n req.solver = calibration_solver\n # Populate the request\n bte = []\n cto = []\n for data in tf_data:\n cto.append(conversions.to_pose_msg(data[0]))\n bte.append(conversions.to_pose_msg(data[1]))\n \n req.effector_wrt_world.poses = bte\n req.object_wrt_sensor.poses = cto\n\n response = srv.call(req)\n print(\"success\",response.success)\n print(\"rotation_rmse\",response.rotation_rmse)\n print(\"translation_rmse\",response.translation_rmse)\n print(\"sensor_frame\",response.sensor_frame)\n\n\nif __name__ == \"__main__\":\n main()\n\n" }, { "path": "ur_handeye_calibration/scripts/capture_camera_poses.py", "content": "#!/usr/bin/env python3\n# tf2 workaround for Python3\nimport sys\nsys.path[:0] = ['/usr/local/lib/python3.6/dist-packages/'] \n\nimport rospy\nimport rospkg\nimport tf\nimport numpy as np\nnp.set_printoptions(suppress=True)\nnp.set_printoptions(linewidth=np.inf)\n\nfrom ur_control import transformations\nfrom ur_control.constants import ROBOT_GAZEBO, ROBOT_UR_RTDE_DRIVER, ROBOT_GAZEBO_DUAL_RIGHT\nfrom ur_control.compliance_controller import ComplianceController\nimport timeit\n\nimport sys\nimport signal\ndef signal_handler(sig, frame):\n print('You pressed Ctrl+C!')\n sys.exit(0)\nsignal.signal(signal.SIGINT, signal_handler)\n\n\nrospy.init_node('ur_handeye_calibration_capture')\nlistener = tf.TransformListener()\narm = None\ntf_data = []\n\nns = rospy.get_param(\"ur_calibration_ns\", default=\"/\")\nns += \"\" if ns.endswith(\"/\") else \"/\"\n\ncamera_frame = rospy.get_param( ns + \"tracking_base_frame\", default=\"camera_link\")\nmarker_frame = rospy.get_param( ns + \"tracking_marker_frame\", default=\"marker_link\")\nrobot_frame = rospy.get_param( ns + \"robot_base_frame\", default=\"base_link\")\nendeffector_frame = rospy.get_param( ns + \"robot_effector_frame\", default=\"ee_link\")\n# get an instance of RosPack with the default search paths\nrospack = rospkg.RosPack()\n# get the file path for rospy_tutorials\npackpath = rospack.get_path(\"ur_handeye_calibration\")\nsavefolder = rospy.get_param( ns + \"save_to\", default=packpath + '/config/')\n\ndef append_tf_data():\n try:\n rospy.sleep(0.1)\n\n trans, rot = listener.lookupTransform(camera_frame, marker_frame, rospy.Time(0))\n objTocamera = trans + rot\n # print(\"btc\", np.round(objTocamera[:3],4))\n \n trans, rot = listener.lookupTransform(robot_frame, endeffector_frame, rospy.Time(0))\n eeTobase = trans + rot\n # print(\"bte\", np.round(eeTobase[:3],4))\n\n tf_data.append([objTocamera, eeTobase])\n except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):\n print(\"Failed =(\")\n\ndef rotate_wrist(q, changes):\n cq = np.copy(q)\n for change in changes:\n for p in change:\n cq[p[0]] = p[1]\n arm.set_joint_positions(cq, wait=True, target_time=0.5)\n append_tf_data()\n # input(\"Enter to continue\")\n\n\ndef move_arm(wait=True):\n q = [2.37191, -1.88688, -1.82035, 0.4766 , 2.31206, 3.18758]\n arm.set_joint_positions(positions=q, wait=wait, target_time=0.5)\n initial_ee = arm.end_effector(q)\n\n deltas = [\n [0.0, 0.03, 0.08, 0.13, 0.18], # x\n [0.0, 0.03, 0.08, 0.13, 0.18], # y\n [0.0, 0.03, 0.08, 0.13, 0.18], # z\n ]\n\n X = 5\n Y = 5\n Z = 3\n\n pose_changes = [\n [[4, 2.05], [5, 3.20]],\n [[4, 2.3], [5, 3.20]],\n [[4, 2.1936], [5, 3.8]],\n [[4, 2.05], [5, 3.8]],\n [[4, 2.3], [5, 3.8]],\n [[4, 2.1936], [5, 2.6]],\n [[4, 2.05], [5, 2.6]],\n [[4, 2.3], [5, 2.6]],\n ]\n\n for i in range(Z):\n x = y = 0\n dx = 0\n dy = -1\n for _ in range(max(X, Y)**2):\n if (-X/2 < x <= X/2) and (-Y/2 < y <= Y/2):\n delta = np.zeros(6)\n delta[0] = deltas[0][x+1]\n delta[2] = deltas[2][y+1]\n delta[1] = deltas[1][i]\n cpose = transformations.pose_euler_to_quaternion(initial_ee, delta, ee_rotation=False)\n arm.set_target_pose(pose=cpose, wait=True, target_time=0.5)\n # input(\"Enter to continue\")\n append_tf_data()\n\n q = arm.joint_angles()\n rotate_wrist(q, pose_changes)\n\n if x == y or (x < 0 and x == -y) or (x > 0 and x == 1-y):\n dx, dy = -dy, dx\n x, y = x+dx, y+dy\n\n np.save(savefolder + \"calibration_data_apriltag\", tf_data)\n\n\ndef main():\n \"\"\" Main function to be run. \"\"\"\n # driver = ROBOT_GAZEBO_DUAL_RIGHT #ROBOT_GAZEBO\n driver = ROBOT_GAZEBO #ROBOT_GAZEBO\n\n global arm\n arm = ComplianceController(ft_sensor=False, driver=driver, ee_transform=[-0., -0., 0.05, 0, 0., 0., 1. ])\n\n real_start_time = timeit.default_timer()\n ros_start_time = rospy.get_time()\n\n move_arm()\n\n print(\"real time\", round(timeit.default_timer() - real_start_time, 3))\n print(\"ros time\", round(rospy.get_time() - ros_start_time, 3))\n\n\nif __name__ == \"__main__\":\n main()\n\n" }, { "path": "ur_pykdl/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.1.3)\nproject(ur_pykdl)\n\nfind_package(catkin\n REQUIRED\n COMPONENTS\n rospy\n geometry_msgs\n sensor_msgs\n tf\n)\n\ncatkin_python_setup()\n\ncatkin_package(\n CATKIN_DEPENDS\n rospy\n geometry_msgs\n sensor_msgs\n tf\n DEPENDS\n)\n\ninstall(\n DIRECTORY scripts/\n DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n USE_SOURCE_PERMISSIONS\n)\n" }, { "path": "ur_pykdl/LICENSE", "content": "Copyright (c) 2013-2014, Rethink Robotics\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice,\n this list of conditions and the following disclaimer.\n2. Redistributions in binary form must reproduce the above copyright\n notice, this list of conditions and the following disclaimer in the\n documentation and/or other materials provided with the distribution.\n3. Neither the name of the Rethink Robotics nor the names of its\n contributors may be used to endorse or promote products derived from\n this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\nARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\nLIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\nCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\nSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\nINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\nCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\nARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\nPOSSIBILITY OF SUCH DAMAGE.\n" }, { "path": "ur_pykdl/package.xml", "content": "\n\n ur_pykdl\n 0.1.0\n \n Simple implementation of PyKDL, kdl_parser_py\n \n\n Cristian Beltran\n Cristian Beltran\n BSD\n\n catkin\n\n rospy\n geometry_msgs\n sensor_msgs\n tf\n\n rospy\n geometry_msgs\n sensor_msgs\n tf\n\n\n" }, { "path": "ur_pykdl/scripts/display_urdf.py", "content": "#!/usr/bin/python\n\n# Copyright (c) 2013-2014, Rethink Robotics\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# 1. Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# 2. Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# 3. Neither the name of the Rethink Robotics nor the names of its\n# contributors may be used to endorse or promote products derived from\n# this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\nimport sys\nimport argparse\n\nfrom urdf_parser_py.urdf import URDF\n\n\ndef main():\n parser = argparse.ArgumentParser(usage='Load an URDF file')\n parser.add_argument('file', type=argparse.FileType('r'), nargs='?',\n default=None, help='File to load. Use - for stdin')\n parser.add_argument('-o', '--output', type=argparse.FileType('w'),\n default=None, help='Dump file to XML')\n args = parser.parse_args()\n\n if args.file is None:\n print('FROM PARAM SERVER')\n robot = URDF.from_parameter_server()\n else:\n print('FROM STRING')\n robot = URDF.from_xml_string(args.file.read())\n\n print(robot)\n\n if args.output is not None:\n args.output.write(robot.to_xml_string())\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_pykdl/scripts/ur_kinematics.py", "content": "#!/usr/bin/python\n\n# Copyright (c) 2013-2014, Rethink Robotics\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# 1. Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# 2. Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# 3. Neither the name of the Rethink Robotics nor the names of its\n# contributors may be used to endorse or promote products derived from\n# this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\nimport rospy\n\nfrom ur_pykdl import ur_kinematics\n\n\ndef main():\n rospy.init_node('ur_kinematics')\n print('*** ur PyKDL Kinematics ***\\n')\n kin = ur_kinematics('right')\n\n print('\\n*** ur Description ***\\n')\n kin.print_robot_description()\n print('\\n*** ur KDL Chain ***\\n')\n kin.print_kdl_chain()\n # FK Position\n print('\\n*** ur Position FK ***\\n')\n print((kin.forward_position_kinematics()))\n # FK Velocity\n # print '\\n*** ur Velocity FK ***\\n'\n # kin.forward_velocity_kinematics()\n # IK\n print('\\n*** ur Position IK ***\\n')\n pos = [0.582583, -0.180819, 0.216003]\n rot = [0.03085, 0.9945, 0.0561, 0.0829]\n print((kin.inverse_kinematics(pos))) # position, don't care orientation\n print('\\n*** ur Pose IK ***\\n')\n print((kin.inverse_kinematics(pos, rot))) # position & orientation\n # Jacobian\n print('\\n*** ur Jacobian ***\\n')\n print((kin.jacobian()))\n # Jacobian Transpose\n print('\\n*** ur Jacobian Tranpose***\\n')\n print((kin.jacobian_transpose()))\n # Jacobian Pseudo-Inverse (Moore-Penrose)\n print('\\n*** ur Jacobian Pseudo-Inverse (Moore-Penrose)***\\n')\n print((kin.jacobian_pseudo_inverse()))\n # Joint space mass matrix\n print('\\n*** ur Joint Inertia ***\\n')\n print((kin.inertia()))\n # Cartesian space mass matrix\n print('\\n*** ur Cartesian Inertia ***\\n')\n print((kin.cart_inertia()))\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_pykdl/setup.py", "content": "#!/usr/bin/env python\nfrom distutils.core import setup\nfrom catkin_pkg.python_setup import generate_distutils_setup\n\nd = generate_distutils_setup()\nd['packages'] = ['ur_pykdl', 'ur_kdl', 'urdf_parser_py']\nd['package_dir'] = {'': 'src'}\n\nsetup(**d)\n" }, { "path": "ur_pykdl/src/ur_kdl/__init__.py", "content": "from .kdl_parser import (\n euler_to_quat,\n urdf_pose_to_kdl_frame,\n urdf_joint_to_kdl_joint,\n urdf_inertial_to_kdl_rbi,\n kdl_tree_from_urdf_model,\n)\n" }, { "path": "ur_pykdl/src/ur_kdl/kdl_kinematics.py", "content": "#!/usr/bin/env python\n#\n# Provides wrappers for PyKDL kinematics.\n#\n# Copyright (c) 2012, Georgia Tech Research Corporation\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# * Neither the name of the Georgia Tech Research Corporation nor the\n# names of its contributors may be used to endorse or promote products\n# derived from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS IS'' AND\n# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\n# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\n# DISCLAIMED. IN NO EVENT SHALL GEORGIA TECH BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT\n# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,\n# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF\n# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE\n# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF\n# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n#\n# Author: Kelsey Hawkins\n\nimport numpy as np\n\nimport rospy\n\nimport PyKDL as kdl\n\nimport hrl_geom.transformations as trans\nfrom hrl_geom.pose_converter import PoseConv\nfrom .kdl_parser import kdl_tree_from_urdf_model\nfrom urdf_parser_py.urdf import URDF\n\ndef create_kdl_kin(base_link, end_link, urdf_filename=None):\n if urdf_filename is None:\n robot = URDF.load_from_parameter_server(verbose=False)\n else:\n robot = URDF.load_xml_file(urdf_filename, verbose=False)\n return KDLKinematics(robot, base_link, end_link)\n\n##\n# Provides wrappers for performing KDL functions on a designated kinematic\n# chain given a URDF representation of a robot.\n\nclass KDLKinematics(object):\n ##\n # Constructor\n # @param urdf URDF object of robot.\n # @param base_link Name of the root link of the kinematic chain.\n # @param end_link Name of the end link of the kinematic chain.\n # @param kdl_tree Optional KDL.Tree object to use. If None, one will be generated\n # from the URDF.\n def __init__(self, urdf, base_link, end_link, kdl_tree=None):\n if kdl_tree is None:\n kdl_tree = kdl_tree_from_urdf_model(urdf)\n self.tree = kdl_tree\n self.urdf = urdf\n\n base_link = base_link.split(\"/\")[-1] # for dealing with tf convention\n end_link = end_link.split(\"/\")[-1] # for dealing with tf convention\n self.chain = kdl_tree.getChain(base_link, end_link)\n self.base_link = base_link\n self.end_link = end_link\n\n # record joint information in easy-to-use lists\n self.joint_limits_lower = []\n self.joint_limits_upper = []\n self.joint_safety_lower = []\n self.joint_safety_upper = []\n self.joint_types = []\n for jnt_name in self.get_joint_names():\n jnt = urdf.joints[jnt_name]\n if jnt.limits is not None:\n self.joint_limits_lower.append(jnt.limits.lower)\n self.joint_limits_upper.append(jnt.limits.upper)\n else:\n self.joint_limits_lower.append(None)\n self.joint_limits_upper.append(None)\n if jnt.safety is not None:\n self.joint_safety_lower.append(jnt.safety.lower)\n self.joint_safety_upper.append(jnt.safety.upper)\n elif jnt.limits is not None:\n self.joint_safety_lower.append(jnt.limits.lower)\n self.joint_safety_upper.append(jnt.limits.upper)\n else:\n self.joint_safety_lower.append(None)\n self.joint_safety_upper.append(None)\n self.joint_types.append(jnt.joint_type)\n def replace_none(x, v):\n if x is None:\n return v\n return x\n self.joint_limits_lower = np.array([replace_none(jl, -np.inf) \n for jl in self.joint_limits_lower])\n self.joint_limits_upper = np.array([replace_none(jl, np.inf) \n for jl in self.joint_limits_upper])\n self.joint_safety_lower = np.array([replace_none(jl, -np.inf) \n for jl in self.joint_safety_lower])\n self.joint_safety_upper = np.array([replace_none(jl, np.inf) \n for jl in self.joint_safety_upper])\n self.joint_types = np.array(self.joint_types)\n self.num_joints = len(self.get_joint_names())\n\n self._fk_kdl = kdl.ChainFkSolverPos_recursive(self.chain)\n self._ik_v_kdl = kdl.ChainIkSolverVel_pinv(self.chain)\n self._ik_p_kdl = kdl.ChainIkSolverPos_NR(self.chain, self._fk_kdl, self._ik_v_kdl)\n self._jac_kdl = kdl.ChainJntToJacSolver(self.chain)\n self._dyn_kdl = kdl.ChainDynParam(self.chain, kdl.Vector.Zero())\n\n ##\n # @return List of link names in the kinematic chain.\n def get_link_names(self, joints=False, fixed=True):\n return self.urdf.get_chain(self.base_link, self.end_link, joints, fixed)\n\n ##\n # @return List of joint names in the kinematic chain.\n def get_joint_names(self, links=False, fixed=False):\n return self.urdf.get_chain(self.base_link, self.end_link,\n links=links, fixed=fixed)\n\n def get_joint_limits(self):\n return self.joint_limits_lower, self.joint_limits_upper\n\n def FK(self, q, link_number=None):\n if link_number is not None:\n end_link = self.get_link_names(fixed=False)[link_number]\n else:\n end_link = None\n homo_mat = self.forward(q, end_link)\n pos, rot = PoseConv.to_pos_rot(homo_mat)\n return pos, rot\n\n\n ##\n # Forward kinematics on the given joint angles, returning the location of the\n # end_link in the base_link's frame.\n # @param q List of joint angles for the full kinematic chain.\n # @param end_link Name of the link the pose should be obtained for.\n # @param base_link Name of the root link frame the end_link should be found in.\n # @return 4x4 numpy.mat homogeneous transformation\n def forward(self, q, end_link=None, base_link=None):\n link_names = self.get_link_names()\n if end_link is None:\n end_link = self.chain.getNrOfSegments()\n else:\n end_link = end_link.split(\"/\")[-1]\n if end_link in link_names:\n end_link = link_names.index(end_link)\n else:\n print((\"Target segment %s not in KDL chain\" % end_link))\n return None\n if base_link is None:\n base_link = 0\n else:\n base_link = base_link.split(\"/\")[-1]\n if base_link in link_names:\n base_link = link_names.index(base_link)\n else:\n print((\"Base segment %s not in KDL chain\" % base_link))\n return None\n base_trans = self._do_kdl_fk(q, base_link)\n if base_trans is None:\n print(\"FK KDL failure on base transformation.\")\n end_trans = self._do_kdl_fk(q, end_link)\n if end_trans is None:\n print(\"FK KDL failure on end transformation.\")\n return base_trans**-1 * end_trans\n\n def _do_kdl_fk(self, q, link_number):\n endeffec_frame = kdl.Frame()\n kinematics_status = self._fk_kdl.JntToCart(joint_list_to_kdl(q),\n endeffec_frame,\n link_number)\n if kinematics_status >= 0:\n p = endeffec_frame.p\n M = endeffec_frame.M\n return np.mat([[M[0,0], M[0,1], M[0,2], p.x()], \n [M[1,0], M[1,1], M[1,2], p.y()], \n [M[2,0], M[2,1], M[2,2], p.z()],\n [ 0, 0, 0, 1]])\n else:\n return None\n\n ##\n # Inverse kinematics for a given pose, returning the joint angles required\n # to obtain the target pose.\n # @param pose Pose-like object represeting the target pose of the end effector.\n # @param q_guess List of joint angles to seed the IK search.\n # @param min_joints List of joint angles to lower bound the angles on the IK search.\n # If None, the safety limits are used.\n # @param max_joints List of joint angles to upper bound the angles on the IK search.\n # If None, the safety limits are used.\n # @return np.array of joint angles needed to reach the pose or None if no solution was found.\n def inverse(self, pose, q_guess=None, min_joints=None, max_joints=None):\n pos, rot = PoseConv.to_pos_rot(pose)\n pos_kdl = kdl.Vector(pos[0,0], pos[1,0], pos[2,0])\n rot_kdl = kdl.Rotation(rot[0,0], rot[0,1], rot[0,2],\n rot[1,0], rot[1,1], rot[1,2],\n rot[2,0], rot[2,1], rot[2,2])\n frame_kdl = kdl.Frame(rot_kdl, pos_kdl)\n if min_joints is None:\n min_joints = self.joint_safety_lower\n if max_joints is None:\n max_joints = self.joint_safety_upper\n mins_kdl = joint_list_to_kdl(min_joints)\n maxs_kdl = joint_list_to_kdl(max_joints)\n ik_p_kdl = kdl.ChainIkSolverPos_NR_JL(self.chain, mins_kdl, maxs_kdl, \n self._fk_kdl, self._ik_v_kdl)\n\n if q_guess == None:\n # use the midpoint of the joint limits as the guess\n lower_lim = np.where(np.isfinite(min_joints), min_joints, 0.)\n upper_lim = np.where(np.isfinite(max_joints), max_joints, 0.)\n q_guess = (lower_lim + upper_lim) / 2.0\n q_guess = np.where(np.isnan(q_guess), [0.]*len(q_guess), q_guess)\n\n q_kdl = kdl.JntArray(self.num_joints)\n q_guess_kdl = joint_list_to_kdl(q_guess)\n if ik_p_kdl.CartToJnt(q_guess_kdl, frame_kdl, q_kdl) >= 0:\n return np.array(joint_kdl_to_list(q_kdl))\n else:\n return None\n\n ##\n # Repeats IK for different sets of random initial angles until a solution is found\n # or the call times out.\n # @param pose Pose-like object represeting the target pose of the end effector.\n # @param timeout Time in seconds to look for a solution.\n # @return np.array of joint angles needed to reach the pose or None if no solution was found.\n def inverse_search(self, pose, timeout=1.):\n st_time = rospy.get_time()\n while not rospy.is_shutdown() and rospy.get_time() - st_time < timeout:\n q_init = self.random_joint_angles()\n q_ik = self.inverse(pose, q_init)\n if q_ik is not None:\n return q_ik\n return None\n\n ##\n # Returns the Jacobian matrix at the end_link for the given joint angles.\n # @param q List of joint angles.\n # @return 6xN np.mat Jacobian\n # @param pos Point in base frame where the jacobian is acting on.\n # If None, we assume the end_link\n def jacobian(self, q, pos=None):\n j_kdl = kdl.Jacobian(self.num_joints)\n q_kdl = joint_list_to_kdl(q)\n self._jac_kdl.JntToJac(q_kdl, j_kdl)\n if pos is not None:\n ee_pos = self.forward(q)[:3,3]\n pos_kdl = kdl.Vector(pos[0]-ee_pos[0], pos[1]-ee_pos[1], \n pos[2]-ee_pos[2])\n j_kdl.changeRefPoint(pos_kdl)\n return kdl_to_mat(j_kdl)\n\n ##\n # Returns the joint space mass matrix at the end_link for the given joint angles.\n # @param q List of joint angles.\n # @return NxN np.mat Inertia matrix\n def inertia(self, q):\n h_kdl = kdl.JntSpaceInertiaMatrix(self.num_joints)\n self._dyn_kdl.JntToMass(joint_list_to_kdl(q), h_kdl)\n return kdl_to_mat(h_kdl)\n\n ##\n # Returns the cartesian space mass matrix at the end_link for the given joint angles.\n # @param q List of joint angles.\n # @return 6x6 np.mat Cartesian inertia matrix\n def cart_inertia(self, q):\n H = self.inertia(q)\n J = self.jacobian(q)\n return np.linalg.inv(J * np.linalg.inv(H) * J.T)\n\n ##\n # Tests to see if the given joint angles are in the joint limits.\n # @param List of joint angles.\n # @return True if joint angles in joint limits.\n def joints_in_limits(self, q):\n lower_lim = self.joint_limits_lower\n upper_lim = self.joint_limits_upper\n return np.all([q >= lower_lim, q <= upper_lim], 0)\n\n ##\n # Tests to see if the given joint angles are in the joint safety limits.\n # @param List of joint angles.\n # @return True if joint angles in joint safety limits.\n def joints_in_safe_limits(self, q):\n lower_lim = self.joint_safety_lower\n upper_lim = self.joint_safety_upper\n return np.all([q >= lower_lim, q <= upper_lim], 0)\n\n ##\n # Clips joint angles to the safety limits.\n # @param List of joint angles.\n # @return np.array list of clipped joint angles.\n def clip_joints_safe(self, q):\n lower_lim = self.joint_safety_lower\n upper_lim = self.joint_safety_upper\n return np.clip(q, lower_lim, upper_lim)\n\n ##\n # Returns a set of random joint angles distributed uniformly in the safety limits.\n # @return np.array list of random joint angles.\n def random_joint_angles(self):\n lower_lim = self.joint_safety_lower\n upper_lim = self.joint_safety_upper\n lower_lim = np.where(np.isfinite(lower_lim), lower_lim, -np.pi)\n upper_lim = np.where(np.isfinite(upper_lim), upper_lim, np.pi)\n zip_lims = list(zip(lower_lim, upper_lim))\n return np.array([np.random.uniform(min_lim, max_lim) for min_lim, max_lim in zip_lims])\n\n ##\n # Returns a difference between the two sets of joint angles while insuring\n # that the shortest angle is returned for the continuous joints.\n # @param q1 List of joint angles.\n # @param q2 List of joint angles.\n # @return np.array of wrapped joint angles for retval = q1 - q2\n def difference_joints(self, q1, q2):\n diff = np.array(q1) - np.array(q2)\n diff_mod = np.mod(diff, 2 * np.pi)\n diff_alt = diff_mod - 2 * np.pi \n for i, continuous in enumerate(self.joint_types == 'continuous'):\n if continuous:\n if diff_mod[i] < -diff_alt[i]:\n diff[i] = diff_mod[i]\n else:\n diff[i] = diff_alt[i]\n return diff\n\n ##\n # Performs an IK search while trying to balance the demands of reaching the goal,\n # maintaining a posture, and prioritizing rotation or position.\n def inverse_biased(self, pose, q_init, q_bias, q_bias_weights, rot_weight=1., \n bias_vel=0.01, num_iter=100):\n # This code is potentially volitile\n q_out = np.mat(self.inverse_search(pose)).T\n for i in range(num_iter):\n pos_fk, rot_fk = PoseConv.to_pos_rot(self.forward(q_out))\n delta_twist = np.mat(np.zeros((6, 1)))\n pos_delta = pos - pos_fk\n delta_twist[:3,0] = pos_delta\n rot_delta = np.mat(np.eye(4))\n rot_delta[:3,:3] = rot * rot_fk.T\n rot_delta_angles = np.mat(trans.euler_from_matrix(rot_delta)).T\n delta_twist[3:6,0] = rot_delta_angles\n J = self.jacobian(q_out)\n J[3:6,:] *= np.sqrt(rot_weight)\n delta_twist[3:6,0] *= np.sqrt(rot_weight)\n J_tinv = np.linalg.inv(J.T * J + np.diag(q_bias_weights) * np.eye(len(q_init))) * J.T\n q_bias_diff = q_bias - q_out\n q_bias_diff_normed = q_bias_diff * bias_vel / np.linalg.norm(q_bias_diff)\n delta_q = q_bias_diff_normed + J_tinv * (delta_twist - J * q_bias_diff_normed)\n q_out += delta_q \n q_out = np.mat(self.clip_joints_safe(q_out.T.A[0])).T\n return q_out\n\n ##\n # inverse_biased with random restarts.\n def inverse_biased_search(self, pos, rot, q_bias, q_bias_weights, rot_weight=1., \n bias_vel=0.01, num_iter=100, num_search=20):\n # This code is potentially volitile\n q_sol_min = []\n min_val = 1000000.\n for i in range(num_search):\n q_init = self.random_joint_angles()\n q_sol = self.inverse_biased(pos, rot, q_init, q_bias, q_bias_weights, rot_weight=1., \n bias_vel=bias_vel, num_iter=num_iter)\n cur_val = np.linalg.norm(np.diag(q_bias_weights) * (q_sol - q_bias)) \n if cur_val < min_val:\n min_val = cur_val\n q_sol_min = q_sol\n return q_sol_min\n \n\ndef kdl_to_mat(m):\n mat = np.mat(np.zeros((m.rows(), m.columns())))\n for i in range(m.rows()):\n for j in range(m.columns()):\n mat[i,j] = m[i,j]\n return mat\n\ndef joint_kdl_to_list(q):\n if q == None:\n return None\n return [q[i] for i in range(q.rows())]\n\ndef joint_list_to_kdl(q):\n if q is None:\n return None\n if type(q) == np.matrix and q.shape[1] == 0:\n q = q.T.tolist()[0]\n q_kdl = kdl.JntArray(len(q))\n for i, q_i in enumerate(q):\n q_kdl[i] = q_i\n return q_kdl\n\ndef main():\n import sys\n def usage():\n print(\"Tests for kdl_parser:\\n\")\n print(\"kdl_parser \")\n print(\"\\tLoad the URDF from file.\")\n print(\"kdl_parser\")\n print(\"\\tLoad the URDF from the parameter server.\")\n sys.exit(1)\n\n if len(sys.argv) > 2:\n usage()\n if len(sys.argv) == 2 and (sys.argv[1] == \"-h\" or sys.argv[1] == \"--help\"):\n usage()\n if (len(sys.argv) == 1):\n robot = URDF.load_from_parameter_server(verbose=False)\n else:\n robot = URDF.load_xml_file(sys.argv[1], verbose=False)\n\n if True:\n import random\n base_link = robot.get_root()\n end_link = list(robot.links.keys())[random.randint(0, len(robot.links)-1)]\n print((\"Root link: %s; Random end link: %s\" % (base_link, end_link)))\n kdl_kin = KDLKinematics(robot, base_link, end_link)\n q = kdl_kin.random_joint_angles()\n print((\"Random angles:\", q))\n pose = kdl_kin.forward(q)\n print((\"FK:\", pose))\n q_new = kdl_kin.inverse(pose)\n print((\"IK (not necessarily the same):\", q_new))\n if q_new is not None:\n pose_new = kdl_kin.forward(q_new)\n print((\"FK on IK:\", pose_new))\n print((\"Error:\", np.linalg.norm(pose_new * pose**-1 - np.mat(np.eye(4)))))\n else:\n print(\"IK failure\")\n J = kdl_kin.jacobian(q)\n print((\"Jacobian:\", J))\n M = kdl_kin.inertia(q)\n print((\"Inertia matrix:\", M))\n if False:\n M_cart = kdl_kin.cart_inertia(q)\n print((\"Cartesian inertia matrix:\", M_cart))\n\n if True:\n rospy.init_node(\"kdl_kinematics\")\n num_times = 20\n while not rospy.is_shutdown() and num_times > 0:\n base_link = robot.get_root()\n end_link = list(robot.links.keys())[random.randint(0, len(robot.links)-1)]\n print((\"Root link: %s; Random end link: %s\" % (base_link, end_link)))\n kdl_kin = KDLKinematics(robot, base_link, end_link)\n q = kdl_kin.random_joint_angles()\n pose = kdl_kin.forward(q)\n q_guess = kdl_kin.random_joint_angles()\n q_new = kdl_kin.inverse(pose, q_guess)\n if q_new is None:\n print(\"Bad IK, trying search...\")\n q_search = kdl_kin.inverse_search(pose)\n pose_search = kdl_kin.forward(q_search)\n print((\"Result error:\", np.linalg.norm(pose_search * pose**-1 - np.mat(np.eye(4)))))\n num_times -= 1\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_pykdl/src/ur_kdl/kdl_parser.py", "content": "#!/usr/bin/env python\n#\n# A parser for converting Python URDF objects into KDL Trees.\n#\n# Copyright (c) 2012, Georgia Tech Research Corporation\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# * Neither the name of the Georgia Tech Research Corporation nor the\n# names of its contributors may be used to endorse or promote products\n# derived from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS IS'' AND\n# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\n# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\n# DISCLAIMED. IN NO EVENT SHALL GEORGIA TECH BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT\n# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,\n# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF\n# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE\n# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF\n# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n#\n# Author: Kelsey Hawkins\n# Kyle Maroney\n\nimport numpy as np\n\nimport rospy\n\nimport PyKDL as kdl\n\nfrom urdf_parser_py.urdf import URDF\n\ndef euler_to_quat(r, p, y):\n sr, sp, sy = np.sin(r/2.0), np.sin(p/2.0), np.sin(y/2.0)\n cr, cp, cy = np.cos(r/2.0), np.cos(p/2.0), np.cos(y/2.0)\n return [sr*cp*cy - cr*sp*sy,\n cr*sp*cy + sr*cp*sy,\n cr*cp*sy - sr*sp*cy,\n cr*cp*cy + sr*sp*sy]\n\ndef urdf_pose_to_kdl_frame(pose):\n pos = [0., 0., 0.]\n rot = [0., 0., 0.]\n if pose is not None:\n if pose.position is not None:\n pos = pose.position\n if pose.rotation is not None:\n rot = pose.rotation\n return kdl.Frame(kdl.Rotation.Quaternion(*euler_to_quat(*rot)),\n kdl.Vector(*pos))\n\ndef _toKdlPose(pose):\n # URDF might have RPY OR XYZ unspecified. Both default to zeros\n rpy = pose.rpy if pose and pose.rpy and len(pose.rpy) == 3 else [0, 0, 0]\n xyz = pose.xyz if pose and pose.xyz and len(pose.xyz) == 3 else [0, 0, 0]\n\n return kdl.Frame(\n kdl.Rotation.RPY(*rpy),\n kdl.Vector(*xyz))\n\ndef urdf_joint_to_kdl_joint(jnt):\n\n fixed = lambda j,F: kdl.Joint(j.name, getattr(kdl.Joint, 'None'))\n rotational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.RotAxis)\n translational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.TransAxis)\n\n type_map = {\n 'fixed': fixed,\n 'revolute': rotational,\n 'continuous': rotational,\n 'prismatic': translational,\n 'floating': fixed,\n 'planar': fixed,\n 'unknown': fixed,\n }\n\n return type_map[jnt.type](jnt, _toKdlPose(jnt.origin))\n\ndef urdf_inertial_to_kdl_rbi(i):\n origin = urdf_pose_to_kdl_frame(i.origin)\n rbi = kdl.RigidBodyInertia(i.mass, origin.p,\n kdl.RotationalInertia(i.inertia.ixx,\n i.inertia.iyy,\n i.inertia.izz,\n i.inertia.ixy,\n i.inertia.ixz,\n i.inertia.iyz))\n return origin.M * rbi\n\n# Returns a PyKDL.Tree generated from a urdf_parser_py.urdf.URDF object.\ndef kdl_tree_from_urdf_model(urdf):\n root = urdf.get_root()\n tree = kdl.Tree(root)\n def add_children_to_tree(parent):\n if parent in urdf.child_map:\n for joint, child_name in urdf.child_map[parent]:\n for lidx, link in enumerate(urdf.links):\n if child_name == link.name:\n child = urdf.links[lidx]\n if child.inertial is not None:\n kdl_inert = urdf_inertial_to_kdl_rbi(child.inertial)\n else:\n kdl_inert = kdl.RigidBodyInertia()\n for jidx, jnt in enumerate(urdf.joints):\n if jnt.name == joint:\n kdl_jnt = urdf_joint_to_kdl_joint(urdf.joints[jidx])\n kdl_origin = urdf_pose_to_kdl_frame(urdf.joints[jidx].origin)\n kdl_sgm = kdl.Segment(child_name, kdl_jnt,\n kdl_origin, kdl_inert)\n tree.addSegment(kdl_sgm, parent)\n add_children_to_tree(child_name)\n add_children_to_tree(root)\n return tree\n\ndef main():\n import sys\n def usage():\n print(\"Tests for kdl_parser:\\n\")\n print(\"kdl_parser \")\n print(\"\\tLoad the URDF from file.\")\n print(\"kdl_parser\")\n print(\"\\tLoad the URDF from the parameter server.\")\n sys.exit(1)\n\n if len(sys.argv) > 2:\n usage()\n if len(sys.argv) == 2 and (sys.argv[1] == \"-h\" or sys.argv[1] == \"--help\"):\n usage()\n if (len(sys.argv) == 1):\n robot = URDF.load_from_parameter_server(verbose=False)\n else:\n robot = URDF.load_xml_file(sys.argv[1], verbose=False)\n tree = kdl_tree_from_urdf_model(robot)\n num_non_fixed_joints = 0\n for j in robot.joints:\n if robot.joints[j].joint_type != 'fixed':\n num_non_fixed_joints += 1\n print(\"URDF non-fixed joints: %d;\" % num_non_fixed_joints)\n print(\"KDL joints: %d\" % tree.getNrOfJoints())\n print(\"URDF joints: %d; KDL segments: %d\" %(len(robot.joints),\n tree.getNrofSegments()))\n import random\n base_link = robot.get_root()\n end_link = list(robot.links.keys())[random.randint(0, len(robot.links)-1)]\n chain = tree.getChain(base_link, end_link)\n print(\"Root link: %s; Random end link: %s\" % (base_link, end_link))\n for i in range(chain.getNrOfSegments()):\n print(chain.getSegment(i).getName())\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "ur_pykdl/src/ur_pykdl/__init__.py", "content": "\n# Copyright (c) 2013-2014, Rethink Robotics\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# 1. Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# 2. Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# 3. Neither the name of the Rethink Robotics nor the names of its\n# contributors may be used to endorse or promote products derived from\n# this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\nfrom .ur_pykdl import (\n ur_kinematics,\n)\n" }, { "path": "ur_pykdl/src/ur_pykdl/ur_pykdl.py", "content": "#!/usr/bin/python\n\n# Copyright (c) 2013-2014, Rethink Robotics\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# 1. Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# 2. Redistributions in binary form must reproduce the above copyright\n# notice, this list of conditions and the following disclaimer in the\n# documentation and/or other materials provided with the distribution.\n# 3. Neither the name of the Rethink Robotics nor the names of its\n# contributors may be used to endorse or promote products derived from\n# this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n\nimport numpy as np\nimport PyKDL\n\nimport rospy\nimport rospkg\n\nfrom ur_kdl.kdl_parser import kdl_tree_from_urdf_model\nfrom urdf_parser_py.urdf import URDF\nfrom ur_control import transformations\n\n# Set constants for joints\nSHOULDER_PAN_JOINT = 'shoulder_pan_joint'\nSHOULDER_LIFT_JOINT = 'shoulder_lift_joint'\nELBOW_JOINT = 'elbow_joint'\nWRIST_1_JOINT = 'wrist_1_joint'\nWRIST_2_JOINT = 'wrist_2_joint'\nWRIST_3_JOINT = 'wrist_3_joint'\n\n# Set constants for links\nBASE_LINK = 'base_link'\nSHOULDER_LINK = 'shoulder_link'\nUPPER_ARM_LINK = 'upper_arm_link'\nFOREARM_LINK = 'forearm_link'\nWRIST_1_LINK = 'wrist_1_link'\nWRIST_2_LINK = 'wrist_2_link'\nWRIST_3_LINK = 'wrist_3_link'\nEE_LINK = 'ur3_robotiq_85_gripper'\nEE_LINK = 'ee_link'\n\n# Only edit these when editing the robot joints and links.\n# The lengths of these arrays define numerous parameters in GPS.\nJOINT_ORDER = [SHOULDER_PAN_JOINT, SHOULDER_LIFT_JOINT, ELBOW_JOINT,\n WRIST_1_JOINT, WRIST_2_JOINT, WRIST_3_JOINT]\nLINK_NAMES = [BASE_LINK, SHOULDER_LINK, UPPER_ARM_LINK, FOREARM_LINK,\n WRIST_1_LINK, WRIST_2_LINK, WRIST_3_LINK]\n\n\ndef frame_to_list(frame):\n pos = frame.p\n rot = PyKDL.Rotation(frame.M)\n rot = rot.GetQuaternion()\n return np.array([pos[0], pos[1], pos[2],\n rot[0], rot[1], rot[2], rot[3]])\n\n\nclass ur_kinematics(object):\n \"\"\"\n UR Kinematics with PyKDL\n \"\"\"\n\n def __init__(self, base_link=None, ee_link=None, robot=None, prefix=None, rospackage=None):\n if robot:\n rospack = rospkg.RosPack()\n rospackage_ = rospackage if rospackage is not None else 'ur_pykdl'\n pykdl_dir = rospack.get_path(rospackage_)\n TREE_PATH = pykdl_dir + '/urdf/' + robot + '.urdf'\n self._ur = URDF.from_xml_file(TREE_PATH)\n else:\n self._ur = URDF.from_parameter_server()\n\n self._kdl_tree = kdl_tree_from_urdf_model(self._ur)\n self._base_link = BASE_LINK if base_link is None else base_link\n\n self._tip_link = EE_LINK if ee_link is None else ee_link\n self._tip_frame = PyKDL.Frame()\n self._arm_chain = self._kdl_tree.getChain(self._base_link,\n self._tip_link)\n\n # UR Interface Limb Instances\n self._joint_names = JOINT_ORDER if prefix is None else [prefix + joint for joint in JOINT_ORDER]\n self._num_jnts = len(self._joint_names)\n\n # KDL Solvers\n self._fk_p_kdl = PyKDL.ChainFkSolverPos_recursive(self._arm_chain)\n self._fk_v_kdl = PyKDL.ChainFkSolverVel_recursive(self._arm_chain)\n self._ik_v_kdl = PyKDL.ChainIkSolverVel_pinv(self._arm_chain)\n self._ik_p_kdl = PyKDL.ChainIkSolverPos_NR(self._arm_chain,\n self._fk_p_kdl,\n self._ik_v_kdl)\n self._jac_kdl = PyKDL.ChainJntToJacSolver(self._arm_chain)\n self._dyn_kdl = PyKDL.ChainDynParam(self._arm_chain,\n PyKDL.Vector.Zero())\n\n def print_robot_description(self):\n nf_joints = 0\n for j in self._ur.joints:\n if j.type != 'fixed':\n nf_joints += 1\n print((\"URDF non-fixed joints: %d;\" % nf_joints))\n print((\"URDF total joints: %d\" % len(self._ur.joints)))\n print((\"URDF links: %d\" % len(self._ur.links)))\n print((\"KDL joints: %d\" % self._kdl_tree.getNrOfJoints()))\n print((\"KDL segments: %d\" % self._kdl_tree.getNrOfSegments()))\n\n def print_kdl_chain(self):\n for idx in range(self._arm_chain.getNrOfSegments()):\n print(('* ' + self._arm_chain.getSegment(idx).getName()))\n\n def joints_to_kdl(self, type, values):\n kdl_array = PyKDL.JntArray(self._num_jnts)\n\n cur_type_values = values\n\n for idx in range(self._num_jnts):\n kdl_array[idx] = cur_type_values[idx]\n if type == 'velocities':\n kdl_array = PyKDL.JntArrayVel(kdl_array)\n return kdl_array\n\n def kdl_to_mat(self, data):\n mat = np.mat(np.zeros((data.rows(), data.columns())))\n for i in range(data.rows()):\n for j in range(data.columns()):\n mat[i, j] = data[i, j]\n return mat\n\n def end_effector_transform(self, joint_values, tip_link=None):\n pose = self.forward(joint_values, tip_link)\n translation = np.array([pose[:3]])\n transform = transformations.quaternion_matrix(pose[3:])\n transform[:3, 3] = translation\n return transform\n\n def forward(self, joint_values, tip_link=None):\n if not tip_link or tip_link == self._tip_link:\n return self.forward_position_kinematics(joint_values)\n\n arm_chain = self._kdl_tree.getChain(self._base_link,\n tip_link)\n fk_p_kdl = PyKDL.ChainFkSolverPos_recursive(arm_chain)\n end_frame = PyKDL.Frame()\n fk_p_kdl.JntToCart(self.joints_to_kdl('positions', joint_values),\n end_frame)\n return frame_to_list(end_frame)\n\n def forward_position_kinematics(self, joint_values):\n end_frame = PyKDL.Frame()\n self._fk_p_kdl.JntToCart(self.joints_to_kdl('positions', joint_values),\n end_frame)\n return frame_to_list(end_frame)\n\n def forward_velocity_kinematics(self, joint_velocities):\n end_frame = PyKDL.FrameVel()\n self._fk_v_kdl.JntToCart(self.joints_to_kdl('velocities', joint_velocities),\n end_frame)\n return end_frame.GetTwist()\n\n def inverse_kinematics(self, position, orientation=None, seed=None):\n ik = PyKDL.ChainIkSolverVel_pinv(self._arm_chain)\n pos = PyKDL.Vector(position[0], position[1], position[2])\n if isinstance(orientation, (np.ndarray, np.generic, list)):\n rot = PyKDL.Rotation()\n rot = rot.Quaternion(orientation[0], orientation[1],\n orientation[2], orientation[3])\n # Populate seed with current angles if not provided\n seed_array = PyKDL.JntArray(self._num_jnts)\n if isinstance(seed, (np.ndarray, np.generic, list)):\n seed_array.resize(len(seed))\n for idx, jnt in enumerate(seed):\n seed_array[idx] = jnt\n else:\n seed_array = self.joints_to_kdl('positions', None) # TODO: Fixme\n\n # Make IK Call\n if orientation.size != 0:\n goal_pose = PyKDL.Frame(rot, pos)\n else:\n goal_pose = PyKDL.Frame(pos)\n result_angles = PyKDL.JntArray(self._num_jnts)\n\n if self._ik_p_kdl.CartToJnt(seed_array, goal_pose, result_angles) >= 0:\n result = np.array(list(result_angles))\n return result\n else:\n return None\n\n def jacobian(self, joint_values=None):\n jacobian = PyKDL.Jacobian(self._num_jnts)\n self._jac_kdl.JntToJac(self.joints_to_kdl('positions', joint_values), jacobian)\n return self.kdl_to_mat(jacobian)\n\n def jacobian_transpose(self, joint_values=None):\n return self.jacobian(joint_values).T\n\n def jacobian_pseudo_inverse(self, joint_values=None):\n return np.linalg.pinv(self.jacobian(joint_values))\n\n def inertia(self, joint_values=None):\n inertia = PyKDL.JntSpaceInertiaMatrix(self._num_jnts)\n self._dyn_kdl.JntToMass(self.joints_to_kdl('positions', joint_values), inertia)\n return self.kdl_to_mat(inertia)\n\n def cart_inertia(self, joint_values=None):\n js_inertia = self.inertia(joint_values)\n jacobian = self.jacobian(joint_values)\n return np.linalg.inv(jacobian * np.linalg.inv(js_inertia) * jacobian.T)\n" }, { "path": "ur_pykdl/urdf/ur3.urdf", "content": "\n\n\n\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "ur_pykdl/urdf/ur3e.urdf", "content": "\n\n\n\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" } ]