From 37d25d82db6488d8c89ae3985b3cdc522c4c7393 Mon Sep 17 00:00:00 2001 From: missxa Date: Mon, 23 Mar 2020 17:22:32 +0100 Subject: [PATCH] upperbody with joint control from cardsflow and a camera --- CMakeLists.txt | 206 ++++++++++++++++++++++++++++++++++++++++++++++ package.xml | 68 +++++++++++++++ src/marker.py | 64 ++++++++++++++ src/upper_body.py | 80 ++++++++++++++++++ 4 files changed, 418 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 package.xml create mode 100644 src/marker.py create mode 100644 src/upper_body.py diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..02f2873 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(bulletroboy) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + sensor_msgs + visualization_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs# visualization_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES bulletroboy +# CATKIN_DEPENDS rospy sensor_msgs visualization_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/bulletroboy.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/bulletroboy_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_bulletroboy.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..a909d4b --- /dev/null +++ b/package.xml @@ -0,0 +1,68 @@ + + + bulletroboy + 0.0.0 + The bulletroboy package + + + + + roboy + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + sensor_msgs + visualization_msgs + rospy + sensor_msgs + visualization_msgs + rospy + sensor_msgs + visualization_msgs + + + + + + + + diff --git a/src/marker.py b/src/marker.py new file mode 100644 index 0000000..723852c --- /dev/null +++ b/src/marker.py @@ -0,0 +1,64 @@ +import pybullet as p +import time +import numpy as np +import pybullet_data + +conid = p.connect(p.SHARED_MEMORY) +if (conid<0): + p.connect(p.GUI) + +p.setInternalSimFlags(0) +p.resetSimulation() + +p.setAdditionalSearchPath(pybullet_data.getDataPath()) + +def createPoseMarker(position=np.array([0,0,0]), + orientation=np.array([0,0,0,1]), + x_color=np.array([1,0,0]), + y_color=np.array([0,1,0]), + z_color=np.array([0,0,1]), + lineLength=0.1, + lineWidth=1, + lifeTime=0, + parentObjectUniqueId=0, + parentLinkIndex=0, + physicsClientId=0): + '''Create a pose marker that identifies a position and orientation in space with 3 colored lines. + ''' + pts = np.array([[0,0,0],[lineLength,0,0],[0,lineLength,0],[0,0,lineLength]]) + rotIdentity = np.array([0,0,0,1]) + po, _ = p.multiplyTransforms(position, orientation, pts[0,:], rotIdentity) + px, _ = p.multiplyTransforms(position, orientation, pts[1,:], rotIdentity) + py, _ = p.multiplyTransforms(position, orientation, pts[2,:], rotIdentity) + pz, _ = p.multiplyTransforms(position, orientation, pts[3,:], rotIdentity) + p.addUserDebugLine(po, px, x_color, lineWidth, lifeTime, parentObjectUniqueId, parentLinkIndex, physicsClientId) + p.addUserDebugLine(po, py, y_color, lineWidth, lifeTime, parentObjectUniqueId, parentLinkIndex, physicsClientId) + p.addUserDebugLine(po, pz, z_color, lineWidth, lifeTime, parentObjectUniqueId, parentLinkIndex, physicsClientId) + +p.loadURDF("plane.urdf",useMaximalCoordinates=True) +p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True) + +gravXid = p.addUserDebugParameter("gravityX",-10,10,0) +gravYid = p.addUserDebugParameter("gravityY",-10,10,0) +gravZid = p.addUserDebugParameter("gravityZ",-10,10,-10) +p.setPhysicsEngineParameter(numSolverIterations=10) +p.setPhysicsEngineParameter(contactBreakingThreshold=0.001) +l = 0 +for i in range (4): + for j in range (4): + for k in range (4): + location = np.array([0.02*i,0.02*j,0.2+0.02*k]) + ob = p.loadURDF("sphere_small.urdf", location, useMaximalCoordinates=True) + orientation = p.getQuaternionFromEuler(location * 200) + if (l % 3 is not 0 ): + ob = 0 + createPoseMarker(location, orientation, parentObjectUniqueId=ob) + l += 1 +p.setGravity(0,0,-10) +p.setRealTimeSimulation(1) +while True: + gravX = p.readUserDebugParameter(gravXid) + gravY = p.readUserDebugParameter(gravYid) + gravZ = p.readUserDebugParameter(gravZid) + p.setGravity(gravX,gravY,gravZ) + time.sleep(0.01) \ No newline at end of file diff --git a/src/upper_body.py b/src/upper_body.py new file mode 100644 index 0000000..7603997 --- /dev/null +++ b/src/upper_body.py @@ -0,0 +1,80 @@ +import pybullet as p +import pybullet_data +import time +import numpy as np + +import rospy +from sensor_msgs.msg import JointState + +def quaternion_multiply(quaternion1, quaternion0): + w0, x0, y0, z0 = quaternion0 + w1, x1, y1, z1 = quaternion1 + return np.array([-x1 * x0 - y1 * y0 - z1 * z0 + w1 * w0, + x1 * w0 + y1 * z0 - z1 * y0 + w1 * x0, + -x1 * z0 + y1 * w0 + z1 * x0 + w1 * y0, + x1 * y0 - y1 * x0 + z1 * w0 + w1 * z0], dtype=np.float64) + +rospy.init_node("bulletroboy") + +p.connect(p.GUI) +p.resetSimulation() +p.setGravity(0,0,-9.81) + +p.setAdditionalSearchPath(pybullet_data.getDataPath()) +plane = p.loadURDF("plane.urdf") +p.loadURDF("samurai.urdf", 0,2,0) +p.loadURDF("teddy_vhacd.urdf", 0,-1,2) +p.loadMJCF("mjcf/humanoid_fixed.xml") +# p.loadURDF("humanoid/humanoid.urdf", 0,-2,0) +roboy = p.loadURDF('/home/roboy/workspace/roboy3/src/robots/upper_body/model.urdf',basePosition=(0,1,0.5), useFixedBase=1) +joints = [] +for i in range(p.getNumJoints(roboy)): + joints.append(p.getJointInfo(roboy, i)[1].decode("utf-8")) + p.setJointMotorControl2(roboy, i, p.POSITION_CONTROL, targetPosition=0, force=500) + +def joint_target_cb(msg): + for i in range(len(msg.name)): + j = msg.name[i] + try: + idx = joints.index(j) + p.setJointMotorControl2(roboy, + idx, + p.POSITION_CONTROL, + targetPosition=msg.position[i], + force=100) + except: + rospy.logwarn("Joint %s was not found in pybullet model"%j) + + + +joint_target_sub = rospy.Subscriber("/cardsflow_joint_states", JointState, joint_target_cb) + + +fov, aspect, nearplane, farplane = 60, 1.0, 0.01, 100 +projection_matrix = p.computeProjectionMatrixFOV(fov, aspect, nearplane, farplane) + +init_up_vector = (0, 0, 1) +def kuka_camera(): + com_p, com_o, _, _, _, _ = p.getLinkState(roboy, 11) + com_t = list(com_p) + com_p = list(com_p) + + com_t[1] = com_p[1] - 5 + + rot_matrix = p.getMatrixFromQuaternion(com_o) + rot_matrix = np.array(rot_matrix).reshape(3, 3) + init_camera_vector = com_t + camera_vector = rot_matrix.dot(init_camera_vector) + up_vector = rot_matrix.dot(init_up_vector) + + view_matrix = p.computeViewMatrix(com_p, com_p + 0.1 * camera_vector, up_vector) + img = p.getCameraImage(50, 50, view_matrix, projection_matrix) + p.addUserDebugLine(lineFromXYZ=com_p, lineToXYZ=camera_vector, lifeTime=0) + return img + +rate = rospy.Rate(100) + +while (not rospy.is_shutdown()): + kuka_camera() + # rate.sleep() + p.stepSimulation() \ No newline at end of file