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Bugfix/dropped commands #103

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Bugfix/dropped commands #103

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052ed00
wip
hello-jackson Jun 27, 2023
c1a928c
changed some varible names
hello-jackson Jun 27, 2023
635b427
reduced acceptable_joint_error for head tilt
hello-jackson Jun 27, 2023
0259b6a
fixed wrist_yaw_error name
hello-jackson Jun 27, 2023
0b44d6d
Dynamixel servos do not require a robot.push_command(), changed push_…
hello-jackson Jun 27, 2023
c5053b3
moved move_by() call out of conditional
hello-jackson Jun 27, 2023
9655eca
Revert "reduced acceptable_joint_error for head tilt" because it is u…
hello-jackson Jun 27, 2023
e45904c
extended bug fix to MobileBaseCommandGroup
hello-jackson Jun 27, 2023
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36 changes: 33 additions & 3 deletions stretch_core/nodes/command_groups.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ def __init__(self, range_rad=None, calibrated_offset_rad=None, calibrated_looked
calibrated_looked_left_offset_rad = node.controller_parameters['pan_looked_left_offset']
self.looked_left_offset_rad = calibrated_looked_left_offset_rad
self.looked_left = False


def update_joint_range(self, joint_range, node=None):
if joint_range is not None:
Expand All @@ -32,8 +33,11 @@ def update_joint_range(self, joint_range, node=None):
def init_execution(self, robot, robot_status, **kwargs):
if self.active:
_, pan_error = self.update_execution(robot_status)

robot.head.move_by('head_pan', pan_error, v_r=self.goal['velocity'], a_r=self.goal['acceleration'])
self.looked_left = pan_error > 0.0
return False
return True

def update_execution(self, robot_status, **kwargs):
self.error = None
Expand Down Expand Up @@ -65,6 +69,7 @@ def __init__(self, range_rad=None, calibrated_offset_rad=None, calibrated_lookin
backlash_transition_angle_rad = node.controller_parameters['tilt_angle_backlash_transition']
self.backlash_transition_angle_rad = backlash_transition_angle_rad
self.looking_up = False


def update_joint_range(self, joint_range, node=None):
if joint_range is not None:
Expand All @@ -81,8 +86,11 @@ def update_joint_range(self, joint_range, node=None):
def init_execution(self, robot, robot_status, **kwargs):
if self.active:
_, tilt_error = self.update_execution(robot_status)

robot.head.move_by('head_tilt', tilt_error, v_r=self.goal['velocity'], a_r=self.goal['acceleration'])
self.looking_up = self.goal['position'] > (self.backlash_transition_angle_rad + self.calibrated_offset_rad)
return False
return True

def update_execution(self, robot_status, **kwargs):
self.error = None
Expand All @@ -104,6 +112,7 @@ def joint_state(self, robot_status, **kwargs):
class WristYawCommandGroup(SimpleCommandGroup):
def __init__(self, range_rad=None, node=None):
SimpleCommandGroup.__init__(self, 'joint_wrist_yaw', range_rad, node=node)


def update_joint_range(self, joint_range, node=None):
if joint_range is not None:
Expand All @@ -119,10 +128,14 @@ def update_joint_range(self, joint_range, node=None):

def init_execution(self, robot, robot_status, **kwargs):
if self.active:
_, wrist_yaw_error = self.update_execution(robot_status)

robot.end_of_arm.move_by('wrist_yaw',
self.update_execution(robot_status)[1],
wrist_yaw_error,
v_r=self.goal['velocity'],
a_r=self.goal['acceleration'])
return False
return True

def update_execution(self, robot_status, **kwargs):
self.error = None
Expand All @@ -143,6 +156,7 @@ def __init__(self, range_robotis=None, node=None):
SimpleCommandGroup.__init__(self, 'joint_gripper_finger_left', range_robotis, acceptable_joint_error=1.0, node=node)
self.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture']
self.update_joint_range(range_robotis)


def update_joint_range(self, joint_range, node=None):
if joint_range is not None:
Expand Down Expand Up @@ -216,10 +230,13 @@ def init_execution(self, robot, robot_status, **kwargs):
gripper_robotis_error = self.gripper_conversion.aperture_to_robotis(gripper_error)
elif (self.name == 'joint_gripper_finger_left') or (self.name == 'joint_gripper_finger_right'):
gripper_robotis_error = self.gripper_conversion.finger_to_robotis(gripper_error)

robot.end_of_arm.move_by('stretch_gripper',
gripper_robotis_error,
v_r=self.goal['velocity'],
a_r=self.goal['acceleration'])
return False
return True

def update_execution(self, robot_status, **kwargs):
self.error = None
Expand Down Expand Up @@ -356,13 +373,19 @@ def set_goal(self, point, invalid_goal_callback, fail_out_of_range_goal, **kwarg
def init_execution(self, robot, robot_status, **kwargs):
if self.active:
_, extension_error_m = self.update_execution(robot_status, force_single=True)
self.retracted = extension_error_m < 0.0


robot.arm.move_by(extension_error_m,
v_m=self.goal['velocity'],
a_m=self.goal['acceleration'],
contact_thresh_pos=self.goal['contact_threshold'],
contact_thresh_neg=-self.goal['contact_threshold'] \
if self.goal['contact_threshold'] is not None else None)
self.retracted = extension_error_m < 0.0

if self.goal_reached():
return False
return True

def update_execution(self, robot_status, **kwargs):
success_callback = kwargs['success_callback'] if 'success_callback' in kwargs.keys() else None
Expand Down Expand Up @@ -408,12 +431,16 @@ def update_joint_range(self, joint_range, node=None):

def init_execution(self, robot, robot_status, **kwargs):
if self.active:
robot.lift.move_by(self.update_execution(robot_status)[1],
_, lift_error_m = self.update_execution(robot_status)
robot.lift.move_by(lift_error_m,
v_m=self.goal['velocity'],
a_m=self.goal['acceleration'],
contact_thresh_pos=self.goal['contact_threshold'],
contact_thresh_neg=-self.goal['contact_threshold'] \
if self.goal['contact_threshold'] is not None else None)
if self.goal_reached():
return False
return True

def update_execution(self, robot_status, **kwargs):
success_callback = kwargs['success_callback'] if 'success_callback' in kwargs.keys() else None
Expand Down Expand Up @@ -586,6 +613,9 @@ def init_execution(self, robot, robot_status, **kwargs):
v_m=self.goal['velocity'],
a_m=self.goal['acceleration'],
contact_thresh=self.goal['contact_threshold'])
if self.goal_reached():
return False
return True

def update_execution(self, robot_status, **kwargs):
success_callback = kwargs['success_callback'] if 'success_callback' in kwargs.keys() else None
Expand Down
11 changes: 8 additions & 3 deletions stretch_core/nodes/joint_trajectory_server.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -106,13 +106,18 @@ def execute_cb(self, goal):
return

robot_status = self.node.robot.get_status() # uses lock held by robot
for c in self.command_groups:
c.init_execution(self.node.robot, robot_status)
self.node.robot.push_command()

movements_requiring_push = [c.init_execution(self.node.robot, robot_status) for c in self.command_groups]
movements_not_requiring_push_count = len(movements_requiring_push) - sum(movements_requiring_push)


if movements_not_requiring_push_count != len(commanded_joint_names):
self.node.robot.push_command()

goals_reached = [c.goal_reached() for c in self.command_groups]
update_rate = rospy.Rate(15.0)
goal_start_time = rospy.Time.now()


while not all(goals_reached):
if (rospy.Time.now() - goal_start_time) > self.node.default_goal_timeout_duration:
Expand Down