Float64List Canvas::getTotalMatrix() { // Maybe we should throw an exception instead of returning an empty matrix? SkMatrix sk_matrix; if (m_canvas) sk_matrix = m_canvas->getTotalMatrix(); return toMatrix4(sk_matrix); }
// Do stuff with learned models // Phase - Reach, Roll or Back? // Dynamics type - to select the type of master/slave dynamics (linear/model etc.) // reachingThreshold - you know // model_dt - you know bool learned_model_execution(DoughTaskPhase phase, CDSController::DynamicsType masterType, CDSController::DynamicsType slaveType, double reachingThreshold, double model_dt, tf::Transform trans_obj, tf::Transform trans_att, std::string model_base_path, std::string force_gmm_id) { ROS_INFO_STREAM(" Model Path "<<model_base_path); ROS_INFO_STREAM(" Learned model execution with phase "<<phase); ROS_INFO_STREAM(" Reaching threshold "<<reachingThreshold); ROS_INFO_STREAM(" Model DT "<<model_dt); if (force_gmm_id!="") ROS_INFO_STREAM(" Force GMM ID: "<< force_gmm_id); ros::Rate wait(1); tf::Transform trans_final_target, ee_pos_att; // To Visualize EE Frames static tf::TransformBroadcaster br; br.sendTransform(tf::StampedTransform(trans_final_target, ros::Time::now(), world_frame, "/attractor")); br.sendTransform(tf::StampedTransform(trans_obj, ros::Time::now(), world_frame, "/object_frame")); // convert attractor information to world frame trans_final_target.mult(trans_obj, trans_att); ROS_INFO_STREAM("Final target origin "<<trans_final_target.getOrigin().getX()<<","<<trans_final_target.getOrigin().getY()<<","<<trans_final_target.getOrigin().getZ()); ROS_INFO_STREAM("Final target orient "<<trans_final_target.getRotation().getX()<<","<<trans_final_target.getRotation().getY()<<","<<trans_final_target.getRotation().getZ()<<","<<trans_final_target.getRotation().getW()); // Publish attractors if running in simulation or with fixed values if ((action_mode == ACTION_LASA_FIXED) || (action_mode == ACTION_BOXY_FIXED)) { br.sendTransform(tf::StampedTransform(trans_final_target, ros::Time::now(), world_frame, "/attractor")); } // Initialize CDS CDSExecution *cdsRun = new CDSExecution; cdsRun->initSimple(model_base_path, phase, force_gmm_id); cdsRun->setObjectFrame(toMatrix4(trans_obj)); cdsRun->setAttractorFrame(toMatrix4(trans_att)); cdsRun->setCurrentEEPose(toMatrix4(ee_pose)); cdsRun->setDT(model_dt); if (phase==PHASEBACK || phase==PHASEROLL) masterType = CDSController::LINEAR_DYNAMICS; // Roll slow but move fast for reaching and back phases. // If models have proper speed, this whole block can go! if(phase == PHASEROLL) { //cdsRun->setMotionParameters(1,1,0.5,reachingThreshold, masterType, slaveType); cdsRun->setMotionParameters(1,1,2,reachingThreshold, masterType, slaveType); // large threshold to avoid blocking forever // TODO: should rely on preempt in action client. // reachingThreshold = 0.02; reachingThreshold = 0.025; } else { cdsRun->setMotionParameters(1,1,2,reachingThreshold, masterType, slaveType); } cdsRun->postInit(); // If phase is rolling, need force model as well GMR* gmr_perr_force = NULL; if(phase == PHASEROLL) { gmr_perr_force = getNewGMRMappingModel(model_base_path, force_gmm_id); if(!gmr_perr_force) { ROS_ERROR("Cannot initialize GMR model"); return false; } } ros::Duration loop_rate(model_dt); tf::Pose mNextRobotEEPose = ee_pose; std::vector<double> gmr_in, gmr_out; gmr_in.resize(1);gmr_out.resize(1); double prog_curr, full_err, pos_err, ori_err, new_err, gmr_err; tf::Vector3 att_t, curr_t; ROS_INFO("Execution started"); tf::Pose p; bool bfirst = true; std_msgs::String string_msg, action_name_msg, model_fname_msg; std::stringstream ss, ss_model; if(phase == PHASEREACH) { ss << "reach "; } else if (phase == PHASEROLL){ ss << "roll"; } else if (phase == PHASEBACK){ ss << "back"; } if (!homing){ string_msg.data = ss.str(); pub_action_state_.publish(string_msg); // ss_model << path_matlab_plot << "/Phase" << phase << "/masterGMM.fig"; if (force_gmm_id=="") ss_model << path_matlab_plot << "/Phase" << phase << "/masterGMM.fig"; else ss_model << path_matlab_plot << "/Phase" << phase << "/ForceProfile_" << force_gmm_id << ".fig"; //ss_model << "/Phase" << phase << "/masterGMM.fig"; model_fname_msg.data = ss_model.str(); pub_model_fname_.publish(model_fname_msg); action_name_msg.data = ss.str(); pub_action_name_.publish(action_name_msg); plot_dyn = 1; plot_dyn_msg.data = plot_dyn; pub_plot_dyn_.publish(plot_dyn_msg); } while(ros::ok()) { if (!homing) plot_dyn = 1; else plot_dyn = 0; plot_dyn_msg.data = plot_dyn; pub_plot_dyn_.publish(plot_dyn_msg); // Nadia's stuff // Current progress variable (position/orientation error). // TODO: send this back to action client as current progress pos_err = (trans_final_target.getOrigin() - ee_pose.getOrigin()).length(); //Real Orientation Error qdiff = acos(dot(q1_norm,q2_norm))*180/pi ori_err = acos(abs(trans_final_target.getRotation().dot(ee_pose.getRotation()))); ROS_INFO_STREAM_THROTTLE(0.5,"Position Threshold : " << reachingThreshold << " ... Current Error: "<<pos_err); ROS_INFO_STREAM_THROTTLE(0.5,"Orientation Threshold : " << 0.01 << " ... Current Error: "<<ori_err); /*double att_pos_err = (trans_final_target.getOrigin() - p.getOrigin()).length(); double att_ori_err = acos(abs(trans_final_target.getRotation().dot(p.getRotation()))); ROS_INFO_STREAM_THROTTLE(0.5,"Des-Att Position Error: " << att_pos_err); ROS_INFO_STREAM_THROTTLE(0.5,"Des-Att Orientation Error: " << att_ori_err);*/ switch (phase) { // Home, reach and back are the same control-wise case PHASEREACH: case PHASEBACK: // Current progress variable (position/orientation error). // TODO: send this back to action client as current progress prog_curr = 0.5*((trans_final_target.getOrigin() - ee_pose.getOrigin()).length() + (trans_final_target.getRotation()-ee_pose.getRotation()).length()); // Compute Next Desired EE Pose cdsRun->setCurrentEEPose(toMatrix4(mNextRobotEEPose)); toPose(cdsRun->getNextEEPose(), mNextRobotEEPose); p = mNextRobotEEPose; // Aswhini's Hack! Dont rely on model's orientation interpolation. Set it equal to target orientation to avoid // going the wrong way around p.setRotation(trans_final_target.getRotation()); //Publish desired force gmr_msg.data = 0.0; pub_gmr_out_.publish(gmr_msg); break; case PHASEROLL: // Current progress in rolling phase is simply the position error prog_curr = (trans_final_target.getOrigin() - ee_pose.getOrigin()).length(); // New position error being fed to GMR Force Model att_t = tf::Vector3(trans_final_target.getOrigin().getX(),trans_final_target.getOrigin().getY(),0.0); curr_t = tf::Vector3(ee_pose.getOrigin().getX(),ee_pose.getOrigin().getY(),0.0); new_err = (att_t - curr_t).length(); gmr_err = new_err; //Hack! Truncate errors to corresponding models if ((strncmp(force_gmm_id.c_str(),"first",5)==0) && (new_err > 0.03)){ gmr_err = 0.03; } if ((strncmp(force_gmm_id.c_str(),"mid",3)==0) && (new_err > 0.07)){ gmr_err = 0.07; } if ((strncmp(force_gmm_id.c_str(),"last",4)==0) && (new_err > 0.13)){ gmr_err = 0.13; } //pos_err = prog_curr; ori_err = 0; gmr_err = gmr_err; gmr_in[0] = gmr_err; // distance between EE and attractor // Query the model for desired force getGMRResult(gmr_perr_force, gmr_in, gmr_out); /* double fz_plot; getGMRResult(gmr_perr_force, -gmr_in, fz_plot);*/ //-> INSTEAD OF SENDING GMR OUTPUT / SEND EST_EE_FT(Z) // Send fz and distance to attractor for plotting msg_ft.wrench.force.x = gmr_err; msg_ft.wrench.force.y = gmr_out[0]; //ee_ft[2] msg_ft.wrench.force.z = 0; msg_ft.wrench.torque.x = 0; msg_ft.wrench.torque.y = 0; msg_ft.wrench.torque.z = 0; pub_ee_ft_att_.publish(msg_ft); // Hack! Scale the force to be in reasonable values gmr_out[0] = FORCE_SCALING*fabs(gmr_out[0]); ROS_INFO_STREAM_THROTTLE(0.5,"Distance to Attractor: " << new_err << " GMR output (N): " << gmr_out[0]); gmr_msg.data = gmr_out[0]; pub_gmr_out_.publish(gmr_msg); // Hack! Safety first! if(gmr_out[0] > MAX_ROLLING_FORCE) { gmr_out[0] = MAX_ROLLING_FORCE; } // Give some time for the force to catch up the first time. Then roll with constant force thereafter. if(bfirst) { sendAndWaitForNormalForce(-gmr_out[0]); bfirst = false; } else { sendNormalForce(-gmr_out[0]); } ROS_INFO_STREAM_THROTTLE(0.5, "Force applied: "<<gmr_out[0]); cdsRun->setCurrentEEPose(toMatrix4(mNextRobotEEPose)); toPose(cdsRun->getNextEEPose(), mNextRobotEEPose); p = mNextRobotEEPose; // Hack! Dont rely on model orientation. Use target orientation instead. p.setRotation(trans_final_target.getRotation()); // Hack! Dont rely on the Z component of the model. It might go below the table! p.getOrigin().setZ(trans_final_target.getOrigin().getZ()); homing=false; break; default: ROS_ERROR_STREAM("No such phase defined "<<phase); return false; } // Add rotation of Tool wrt. flange_link for BOXY /*if (use_boxy_tool){ tf::Matrix3x3 R = p.getBasis(); Eigen::Matrix3d R_ee; tf::matrixTFToEigen(R,R_ee); Eigen::Matrix3d R_tool; R_tool << -0.7071, -0.7071, 0.0, 0.7071,-0.7071, 0.0, 0.0, 0.0, 1.0; //multiply tool rot R_ee = R_ee*R_tool; tf::matrixEigenToTF(R_ee,R); p.setBasis(R); }*/ // Send the computed pose from one of the above phases sendPose(p); // convert and send ee pose to attractor frame to plots ee_pos_att.mult(trans_final_target.inverse(), p); geometry_msgs::PoseStamped msg; msg.pose.position.x = ee_pos_att.getOrigin().x(); msg.pose.position.y = ee_pos_att.getOrigin().y(); msg.pose.position.z = ee_pos_att.getOrigin().z(); msg.pose.orientation.x = ee_pos_att.getRotation().x(); msg.pose.orientation.y = ee_pos_att.getRotation().y(); msg.pose.orientation.z = ee_pos_att.getRotation().z(); msg.pose.orientation.w = ee_pos_att.getRotation().w(); pub_ee_pos_att_.publish(msg); //ROS_INFO_STREAM_THROTTLE(0.5,"Error "<<prog_curr); // check that preempt has not been requested by the client if (as_.isPreemptRequested() || !ros::ok()) { sendPose(ee_pose); sendNormalForce(0); ROS_INFO("%s: Preempted", action_name_.c_str()); // set the action state to preempted as_.setPreempted(); return false; } feedback_.progress = prog_curr; as_.publishFeedback(feedback_); /* if(prog_curr < reachingThreshold) { break; }*/ //Orientation error 0.05 if(pos_err < reachingThreshold && (ori_err < 0.05 || isnan(ori_err))) { break; } loop_rate.sleep(); } delete cdsRun; if(phase == PHASEREACH) { // Hack! If phase is "reach", find the table right after reaching if (bWaitForForces && !homing) { bool x = find_table_for_rolling(0.35, 0.05, 5); // bool x = find_table_for_rolling(0.35, 0.1, 5); //-> Send command to dynamics plotter to stop logging return x; } if (!homing){ //-> Send command to dynamics plotter to stop logging } } else if (phase == PHASEROLL){ // Hack! wait for zero force before getting ready to recieve further commands. // This is to avoid dragging the dough. sendAndWaitForNormalForce(0); //-> Send command to dynamics plotter to start plotting return ros::ok(); } else { //->Send command to dynamics plotter to start plotting return ros::ok(); } }