The r2 robot, which is an acronym for Robonaut 2, is a dexterous humanoid robot created by NASA, with the goal of it aiding humans in space (Robonaut 2 is just an upgrade from its predecessor, the Robonaut). The robot was created to ressemble as close as a human (with a head, hands, fingers, etc), it will be used to expand our ability for construction and discovery.
See NASA-R2-poster.pdf for details.
Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 1 | Humanoid mime
Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 2 | Humanoid arm gesture
Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 3 | Humanoid playing chess
See r2_sim/video/ for details.
install r2 gazebo model and r2 controler
mkdir -p ~/r2_sim/src
git clone -b indigo https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_r2_simulator.git
git clone -b indigo https://bitbucket.org/nasa_ros_pkg/deprecated_nasa_r2_common.git
cd ~/r2_sim
catkin_make
在simulator中载入r2模型，并启动
cd ~/r2_sim
. devel/setup.bash
roslaunch r2_gazebo r2_gazebo.launch
此时，在终端输入rqt_graph 显示如下：
这里，节点robot_state_publisher的作用是进行前向运动学计算，也就是说，它使用R2的几何描述和它的关节状态向量持续地计算并更新机器人上的所有坐标系。这种操作到标准ros实现是不依赖于机器人的，直接启动它，它就能为R2做正确到事情。
接下来，启动moveit：
cd ~/r2_sim
. devel/setup.bash
roslaunch r2_moveit_config move_group.launch
此时，在终端输入rqt_graph 显示如下：
The following codes are available in my_r2 package.
运行r2_mime.py，利用moveit运动规划系统让R2随机挥动手臂
r2_mime.py
#!/usr/bin/env python
import sys, rospy, tf, moveit_commander, random
from geometry_msgs.msg import Pose, Point, Quaternion
orient = [Quaternion(*tf.transformations.quaternion_from_euler(3.14, -1.5, -1.57)),
Quaternion(*tf.transformations.quaternion_from_euler(3.14, -1.5, -1.57))] # <1>
pose = [Pose(Point( 0.5, -0.5, 1.3), orient[0]),
Pose(Point(-0.5, -0.5, 1.3), orient[1])] # <2>
moveit_commander.roscpp_initialize(sys.argv) # <3>
rospy.init_node('r2_wave_arm',anonymous=True)
group = [moveit_commander.MoveGroupCommander("left_arm"),
moveit_commander.MoveGroupCommander("right_arm")]
# now, wave arms around randomly
while not rospy.is_shutdown():
pose[0].position.x = 0.5 + random.uniform(-0.1, 0.1)
pose[1].position.x = -0.5 + random.uniform(-0.1, 0.1)
for side in [0,1]:
pose[side].position.z = 1.5 + random.uniform(-0.1, 0.1)
group[side].set_pose_target(pose[side])
group[side].go(True)
moveit_commander.roscpp_shutdown()
视频传送门：Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 1 | Humanoid mime
#!/usr/bin/env python
import sys, rospy, tf, moveit_commander, random
from geometry_msgs.msg import Pose, Point, Quaternion
class R2ChessboardWrapper:
def __init__(self):
self.left_arm = moveit_commander.MoveGroupCommander("left_arm")
def setPose(self, x, y, z, phi, theta, psi):
orient = \
Quaternion(*tf.transformations.quaternion_from_euler(phi, theta, psi))
pose = Pose(Point(x, y, z), orient)
self.left_arm.set_pose_target(pose)
self.left_arm.go(True)
def setSquare(self, square, height_above_board):
if len(square) != 2 or not square[1].isdigit():
raise ValueError(
"expected a chess rank and file like 'b3' but found %s instead" %
square)
rank_y = -0.3 - 0.05 * (ord(square[0]) - ord('a'))
file_x = 0.5 - 0.05 * int(square[1])
z = float(height_above_board) + 1.0
self.setPose(file_x, rank_y, z, 3.14, 0.3, -1.57)
if __name__ == '__main__':
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('r2_chessboard_cli')
argv = rospy.myargv(argv=sys.argv) # filter out any arguments used by ROS
if len(argv) != 3:
print "usage: r2_chessboard.py square height"
sys.exit(1)
r2w = R2ChessboardWrapper()
r2w.setSquare(*argv[1:])
moveit_commander.roscpp_shutdown()
运行 r2_chessboard_cli.py，将r2的手臂移动到棋盘b3位置上4厘米处：
$ ./r2_chessboard_cli.py b3 0.04
定义手臂的三个状态：打开，预抓取，抓取：
#!/usr/bin/env python
import sys, rospy, tf, moveit_commander, random
from geometry_msgs.msg import Pose, Point, Quaternion
class R2Hand:
def __init__(self):
self.left_hand = moveit_commander.MoveGroupCommander("left_hand")
def setGrasp(self, state):
if state == "pre-pinch":
vec = [ 0.3, 0, 1.57, 0, # index
-0.1, 0, 1.57, 0, # middle
0, 0, 0, # ring
0, 0, 0, # pinkie
0, 1.1, 0, 0] # thumb
elif state == "pinch":
vec = [ -0.1, 0, 1.57, 0,
0, 0, 1.57, 0,
0, 0, 0,
0, 0, 0,
0, 1.1, 0, 0]
elif state == "open":
vec = [0] * 18
else:
raise ValueError("unknown hand state: %s" % state)
self.left_hand.set_joint_value_target(vec)
self.left_hand.go(True)
if __name__ == '__main__':
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('r2_hand')
argv = rospy.myargv(argv=sys.argv) # filter out any arguments used by ROS
if len(argv) != 2:
print "usage: r2_hand.py STATE"
sys.exit(1)
r2w = R2Hand()
r2w.setGrasp(argv[1])
运行r2_hand.py，进入预抓取状态：
$ ./r2_hand.py pre-pinch
运行r2_hand.py，进入抓取状态：
$ ./r2_hand.py pinch
视频传送门：Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 2 | Humanoid arm gesture
运行spawn_chessboard.py，载入/重置棋盘
$ ./spawn_chessboard
历史上的对局被记录成pgn格式。 安装第三方的pgn 文件解释器。
sudo pip install pgnparser
运行r2_chess_pgn.py，载入对局文件 morgan_defeated_lan.pgn，开始对局：
$ ./r2_chess_pgn.py morgan_defeated_lan.pgn
视频传送门：Youtube | NASA R2 (Robonaut 2) Robot Simulation in gazebo Step 3 | Humanoid playing chess