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robust_experiment.py
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robust_experiment.py
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from ..profile_loading import Database
from ..solidobject import SolidObject
from ..contact import Contact
from ..toppra_constraints import create_object_transporation_constraint
try:
import raveutils
import rospy
from denso_control.controllers import (JointPositionController,
JointControllerBase,
JointTrajectoryController)
from object_transport.srv import (ExecTrajectorybCap, ExecTrajectorybCapRequest,
ExecTrajectorybCapResponse)
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
except ImportError as e:
print e
pass
import openravepy as orpy
import numpy as np
import toppra
import os
import time
import hashlib
import matplotlib.pyplot as plt
import cvxpy as cvx
_tmp_dir = "/home/hung/.temp.toppra/"
import logging
logger = logging.getLogger(__name__)
def move_to_joint_position(q, joint_controller, robot, planner='birrt',
max_planner_iterations=20, max_postprocessing_iterations=40,
dt=1.0 / 150, require_confirm=True,
velocity_factor=0.3,
acceleration_factor=0.3):
"""Move the robot to a desired joint position.
The routine first plans a collision-free path in the internal
environment of `robot`. Then if a collision-free path is found, it
executes and waits for trajectory execution to finish before
terminating.
Args:
q (array): Shape (6,). Goal joint position.
joint_controller (JointPositionController): A connected joint controller.
robot (OpenRAVE Robot): The Denso model.
planner (str, optional): OpenRAVE planner to use.
max_planner_iterations (int, optional): Number of planning iterations.
max_postprocessing_iterations (int, optional): Number of post-processing iterations.
dt (float, optional): Time step.
velocity_factor (float, optional): Reduction factor.
acceleration_factor (float, optional): Reduction factor.
Returns:
out (bool): True if successfully moves the robot to `q`. Else False.
"""
q_current = joint_controller.get_joint_positions()
env = robot.GetEnv()
vlim_original = robot.GetDOFVelocityLimits()
alim_original = robot.GetDOFAccelerationLimits()
robot.SetDOFVelocityLimits(vlim_original * velocity_factor)
robot.SetDOFAccelerationLimits(alim_original * acceleration_factor)
with env:
robot.SetDOFValues(q_current, dofindices=robot.GetActiveManipulator().GetArmIndices())
rave_planner = orpy.RaveCreatePlanner(env, planner)
params = orpy.Planner.PlannerParameters()
robot.SetActiveDOFs(robot.GetActiveManipulator().GetArmIndices())
params.SetRobotActiveJoints(robot)
params.SetGoalConfig(q)
params.SetMaxIterations(max_planner_iterations)
params.SetPostProcessing(
'ParabolicSmoother',
'<_nmaxiterations>{0}</_nmaxiterations>'.format(max_postprocessing_iterations))
success = rave_planner.InitPlan(robot, params)
if not success:
return False
# Plan a trajectory
traj = orpy.RaveCreateTrajectory(env, '')
status = rave_planner.PlanPath(traj)
if status != orpy.PlannerStatus.HasSolution:
return False
if require_confirm:
raw_input("Trajectory planned with {}! Press [Enter] to move to\n q:= {}".format(planner, q))
robot.SetDOFVelocityLimits(vlim_original)
robot.SetDOFAccelerationLimits(alim_original)
if isinstance(joint_controller, JointPositionController):
# Execute the trajectory
spec = traj.GetConfigurationSpecification()
time = 0.
rate = rospy.Rate(int(1/dt))
while time < traj.GetDuration():
trajdata = traj.Sample(time)
values = spec.ExtractJointValues(trajdata, robot,
robot.GetActiveManipulator().GetArmIndices(), 0)
# Send joint signal
joint_controller.set_joint_positions(values)
robot.SetDOFValues(values, dofindices=robot.GetActiveManipulator().GetArmIndices())
time += dt
rate.sleep()
return True
else:
raise ValueError('controller [{}] not supported!'.format(joint_controller))
def ros_traj_from_rave(robot, traj):
ros_traj = JointTrajectory()
ros_traj.joint_names = ["j1", "j2", "j3", "j4", "j5", "j6"]
spec = traj.GetConfigurationSpecification()
time = 0
while time < traj.GetDuration():
trajdata = traj.Sample(time)
values = spec.ExtractJointValues(trajdata, robot,
robot.GetActiveManipulator().GetArmIndices(), 0)
pt = JointTrajectoryPoint()
pt.positions = values
pt.time_from_start = rospy.Duration(time)
ros_traj.points.append(pt)
time += 8e-3
return ros_traj
def get_shaper(cmd):
T = 6.67e-3
K = 0.861
Td = 0.054 * 2
if cmd == "nil":
input_shaper = np.ones(1)
elif cmd == "ZV":
Nd = int(Td / T)
input_shaper = np.zeros(Nd / 2)
input_shaper[0] = 1 / (1 + K)
input_shaper[-1] = K / (1 + K)
elif cmd == "ZVD":
Nd = int(Td / T)
input_shaper = np.zeros(Nd)
input_shaper[0] = 1.0 / (1 + 2 * K + K ** 2)
input_shaper[Nd / 2] = 2 * K / (1 + 2 * K + K ** 2)
input_shaper[Nd - 1] = K ** 2 / (1 + 2 * K + K ** 2)
else:
raise NotImplementedError
return input_shaper
def shape_trajectory(qs_unshaped, shaper):
""" Shape input trajectory with the initialized shaper.
"""
if shaper is None:
return qs_unshaped
else:
qs_shaped = []
for i in range(6):
qi = convole_signal(qs_unshaped[:, i], shaper, qs_unshaped[0, i])
qs_shaped.append(qi)
qs_shaped = np.array(qs_shaped).T
return qs_shaped
def preview(data_dict):
q_shaped_arr = data_dict['shaped_trajectory']
transform, strategy, object_id, trajectory_id, slowdown, contact_id = data_dict["problem_data"]
data, gridpoints = data_dict["profile_data"]
t_arr, q_arr, qd_arr, qdd_arr = data_dict["unshaped_trajectory"]
vlim_, alim_ = data_dict["kin_limits"]
# Plot profile
transform_hash = hashlib.md5(str(np.array(transform * 10000, dtype=int))).hexdigest()[:5]
fig_name = "obj_{1}_{2}-traj_{3}-slow_{4}-strat_{0}-contact{5}".format(
strategy, object_id, transform_hash, trajectory_id, slowdown, contact_id)
if data is not None:
sdd_grid, sd_grid, v_grid, K = data
fig = plt.figure()
if sd_grid is not None:
plt.plot(gridpoints, sd_grid ** 2)
plt.plot(gridpoints, K[:, 0])
plt.plot(gridpoints, K[:, 1])
plt.xlim(gridpoints[0] - 0.01, gridpoints[-1] + 0.01)
fig.savefig(os.path.join(_tmp_dir, "{:}_profile.pdf".format(fig_name)))
plt.show()
# log_trajectory_plot
fig, axs = plt.subplots(2, 2, figsize=[5, 6], sharex=True)
axs[0, 0].plot(t_arr, q_arr)
axs[0, 0].set_title("(unshaped) Joint position")
axs[1, 0].plot(8e-3 * np.arange(q_shaped_arr.shape[0]), q_shaped_arr)
axs[1, 0].set_title("(shaped) Joint position")
axs[0, 1].plot(t_arr, qd_arr)
axs[0, 1].set_title("Joint velocity")
axs[1, 1].plot(t_arr, qdd_arr)
axs[1, 1].set_title("Joint acceleration")
for i in range(6):
axs[1, 1].plot((t_arr[0], t_arr[-1]), [alim_[i], alim_[i]], '--', color="C" + str(i))
axs[1, 1].plot((t_arr[0], t_arr[-1]), [-alim_[i], -alim_[i]], '--', color="C" + str(i))
axs[0, 1].plot((t_arr[0], t_arr[-1]), [vlim_[i], vlim_[i]], '--', color="C" + str(i))
axs[0, 1].plot((t_arr[0], t_arr[-1]), [-vlim_[i], -vlim_[i]], '--', color="C" + str(i))
fig.savefig(os.path.join(_tmp_dir, "{:}_trajectory.pdf".format(fig_name)))
plt.show()
def convole_signal(x_arr, shaper, x_init):
"""Convole `x_arr` with `shaper`.
Note that convolution is not done directly on `x_arr` but on
another array `x_arr'` that is defined below:
x_arr'[i < 0] = x_init
x_arr'[0:N] = x_arr
x_arr'[N:] = x_arr[N-1]
where N is the length of x_arr.
The reason is that this array is input to a simulator which takes
the last value of its input as a constant, and also has initial
condition x_init.
"""
N = x_arr.shape[0]
M = shaper.shape[0]
x_arr_conv = np.zeros(N + 2 * M - 2)
x_arr_conv[:M - 1] = x_init
x_arr_conv[M - 1: M + N - 1] = x_arr
x_arr_conv[M + N - 1:] = x_arr[-1]
x_arr_conv = np.convolve(x_arr_conv, shaper, mode='full')[M - 1: 2 * M + N - 2]
return x_arr_conv
class TrajectoryRunner(object):
def __init__(self, robot, execute, dt=8e-3):
self._execute = execute
self._robot = robot
self._dt = dt
# 1: position-controller
if execute == 1:
self._joint_controller = JointPositionController("denso")
# 2: trajectory-controller (via bCapServier)
elif execute == 2:
assert False, "This option is depreciated"
# self._trajectory_controller = bCap_JointTrajectoryController("bcap", 2)
# 3: trajectory-controller (via denso_control/trajectory controller)
elif execute == 3:
self._trajectory_controller = JointTrajectoryController("denso")
else:
logger.info("No hardware controller loaded.")
def execute_traj(self, q_arr):
""" The entry point of this controller.
Parameters
----------
q_arr: array
Waypoints to send to the robots.
"""
if self._execute == 1:
return self.execute_traj_position(q_arr)
elif self._execute == 2:
return self.execute_traj_trajectory(q_arr)
elif self._execute == 3:
return self.execute_traj_trajectory(q_arr)
else:
return self.execute_traj_rave(q_arr)
def execute_traj_trajectory(self, q_arr):
""" Execute trajectory using the stored trajectory controller.
"""
q_current = self._trajectory_controller.get_joint_positions()
self._robot.SetActiveDOFValues(q_current)
traj0 = raveutils.planning.plan_to_joint_configuration(self._robot, q_arr[0])
traj0_ros = ros_traj_from_rave(self._robot, traj0)
traj1_ros = JointTrajectory()
for i, q in enumerate(q_arr):
pt = JointTrajectoryPoint()
pt.positions = q
pt.time_from_start = rospy.Duration(8e-3 * i)
traj1_ros.points.append(pt)
# execute trajectory
cmd = raw_input("Move to starting configuration y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
self._trajectory_controller.set_trajectory(traj0_ros)
self._trajectory_controller.start()
self._trajectory_controller.wait()
cmd = raw_input("Execute transport trajectory y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
self._trajectory_controller.set_trajectory(traj1_ros)
self._trajectory_controller.start()
self._trajectory_controller.wait()
def execute_traj_rave(self, q_arr):
self._robot.SetDOFValues(q_arr[0], range(6))
cmd = raw_input("[Enter] to execute path")
rate = rospy.Rate(125)
for q in q_arr:
self._robot.SetDOFValues(q, range(6))
rate.sleep()
def execute_traj_position(self, q_arr):
"""Execute a trajectory using the JointPositioncontroller.
"""
# Move to the starting conf
cmd = raw_input("Move to starting configuration y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
if self._execute:
q_init = q_arr[0]
move_to_joint_position(
q_init, self._joint_controller, self._robot, dt=self._dt, require_confirm=True,
velocity_factor=0.2, acceleration_factor=0.2)
else:
q_init = q_arr[0]
self._robot.SetActiveDOFValues(q_init)
# Execute starting trajectory
cmd = raw_input("Run traj? y/[N]? ")
if cmd != "y":
print("Does not execute anything. Exit.")
exit()
rate = rospy.Rate(125)
if self._execute:
for q in q_arr:
self._joint_controller.set_joint_positions(q)
self._robot.SetDOFValues(q, range(6))
rate.sleep()
else:
for q in q_arr:
self._robot.SetDOFValues(q, range(6))
rate.sleep()
print("Trajectory execution finished! Exit now.")
def get_path_from_trajectory_id(trajectory_id):
""" Read and return the path/trajectory by id.
"""
db = Database()
traj_profile = db.retrieve_profile(trajectory_id, "trajectory")
# retrieve and define geometric path
if "waypoints_npz" in traj_profile:
file_ = np.load(os.path.join(db.get_trajectory_data_dir(), traj_profile['waypoints_npz']))
ts_waypoints = file_['t_waypoints']
waypoints = file_['waypoints']
elif "t_waypoints" in traj_profile:
ts_waypoints = traj_profile['t_waypoints']
waypoints = traj_profile['waypoints']
else:
raise IOError, "Waypoints not found in trajectory {:}".format(traj_profile['id'])
# setup toppra instance
path = toppra.SplineInterpolator(ts_waypoints, waypoints)
return path
def get_list_of_paths_from_string(robot, input_string):
""" Return a lists of paths from a command string.
"""
# input string is a single integer: e.g. "1" or "2"
try:
seed = int(input_string)
return [gen_path(robot, seed)]
except ValueError:
# input string is not a single integer. e.g. "1"
pass
# input string is multiple integers separated by semi-colons: e.g. "1,2,3"
try:
seed_list = map(int, input_string.split(","))
return [gen_path(robot, seed) for seed in seed_list]
except ValueError:
# input string is not sequence of integer separated by colons. e.g. "1,2,3"
pass
try:
seed0, seed1 = map(int, input_string.split("-"))
return [gen_path(robot, seed) for seed in range(seed0, seed1)]
except ValueError:
# input string is two integers separated by dash. e.g. "1-3"
pass
# input string is an trajectory id
return [get_path_from_trajectory_id(input_string)]
pos1 = np.r_[0.5, -0.3, 0.3]
pos2 = np.r_[0.5, 0.3, 0.4]
size = np.r_[0.2, 0.2, 0.6]
q_nominal1 = np.r_[-0.3, 0.9, 0.9, 0, 0, 0]
q_nominal2 = np.r_[ 0.3, 0.9, 0.9, 0, 0, 0]
def gen_path(robot, seed, max_ppiters=60, max_iters=100):
""" Generate a collision-free path from a random integer seed.
"""
np.random.seed(seed)
q_cur = robot.GetActiveDOFValues()
robot.SetActiveDOFValues(np.zeros(6))
all_grabbed = robot.GetGrabbed()
while True:
with robot:
robot.ReleaseAllGrabbed()
manip = robot.GetActiveManipulator()
# randomize pose1 and pose2
xy1 = (np.random.rand(3) - 0.5) * size + pos1
rot1 = (np.random.rand() - 0.5) * np.pi * 0.9
xy2 = (np.random.rand(3) - 0.5) * size + pos2
rot2 = (np.random.rand() - 0.5) * np.pi * 0.9
# nominal transform of the end-effector
T_nominal = np.array([[1.0, 0, 0, 0],
[0, -1.0, 0, 0],
[0, 0, -1.0, 0],
[0, 0, 0, 1.0]])
T_manip_1 = np.dot(T_nominal, orpy.matrixFromAxisAngle([0, 0, rot1]))
T_manip_1[:3, 3] = xy1
T_manip_2 = np.dot(T_nominal, orpy.matrixFromAxisAngle([0, 0, rot2]))
T_manip_2[:3, 3] = xy2
qgoals1 = manip.FindIKSolutions(T_manip_1, orpy.IkFilterOptions.CheckEnvCollisions)
qgoals2 = manip.FindIKSolutions(T_manip_2, orpy.IkFilterOptions.CheckEnvCollisions)
# Kinematic infeasible
if len(qgoals1) == 0 or len(qgoals2) == 0:
continue
# select configurations that are closest to the nominal configurations
qgoal1 = qgoals1[np.argmin(np.linalg.norm(qgoals1 - q_nominal1, 1))]
qgoal2 = qgoals2[np.argmin(np.linalg.norm(qgoals2 - q_nominal2, 1))]
# weird configurations, skip
if qgoal1[1] < 0 or qgoal1[2] < 0 or qgoal2[1] < 0 or qgoal2[2] < 0:
continue
for body in all_grabbed:
robot.Grab(body)
robot.SetActiveDOFValues(qgoal2)
# Plan trajectory
traj0 = raveutils.planning.plan_to_joint_configuration(
robot, qgoal1, max_ppiters=max_ppiters, max_iters=max_iters)
if traj0 is None:
continue
# filter trajectory by angle
with robot:
spec = traj0.GetConfigurationSpecification()
waypoints = []
ss_waypoints = []
skip = False
for i in range(traj0.GetNumWaypoints()):
data = traj0.GetWaypoint(i)
dt = spec.ExtractDeltaTime(data)
if dt > 1e-5 or len(waypoints) == 0: # If delta is too small, skip it.
if len(ss_waypoints) == 0:
ss_waypoints.append(0)
else:
ss_waypoints.append(ss_waypoints[-1] + dt)
q = spec.ExtractJointValues(data, robot, robot.GetActiveDOFIndices())
waypoints.append(q)
robot.SetActiveDOFValues(q)
z_dir = manip.GetTransform()[:3, 2]
angle = np.arccos(np.dot(z_dir, [0, 0, -1]))
if angle > 1.0:
skip = True
if skip:
continue
ss_waypoints = np.array(ss_waypoints) / ss_waypoints[-1]
path = toppra.SplineInterpolator(ss_waypoints, waypoints)
return path
def main(env, scene_path, robot_name, contact_id, object_id, attach, transform, trajectory_id, strategy, slowdown, execute, verbose, solver, alim_scale=1.0, vlim_scale=1.0, safety=1.0):
"""Entry point to robust experiment.
Parameters
----------
env : OpenRAVE Environment or None
scene_path : str
Path to an OpenRAVE scene.
robot_name : str
Name of the robot.
contact_id : str
object_id : str
attach : str
transform : (4,4)array
trajectory_id : str
strategy : str
slowdown : float
execute : bool
verbose : bool
solver : str
vlim_scale: float, optional
Scale the robot velocity limits accordingly.
vlim_ = vlim_ * kin_scale
alim_scale: float, optional
Scale the robot velocity limits accordingly.
alim_ = alim_ * kin_scale
safety : float
Effect not well understood, do not used.
"""
# setup
try:
n = rospy.init_node("robust_experiment")
except rospy.ROSException as e:
print e
if env is None:
env = orpy.Environment()
env.SetViewer('qtosg')
else:
env.Reset()
env.SetViewer('qtosg')
if verbose:
import coloredlogs
coloredlogs.install(level='DEBUG')
np.set_printoptions(3)
else:
import coloredlogs
coloredlogs.install(level='INFO')
env.SetDebugLevel(2)
env.Load(scene_path)
robot = env.GetRobot(robot_name)
manip = robot.SetActiveManipulator(attach)
iktype = orpy.IkParameterization.Type.Transform6D
ikmodel = orpy.databases.inversekinematics.InverseKinematicsModel(robot, iktype=iktype)
if not ikmodel.load():
print 'Generating IKFast {0}. It will take few minutes...'.format(iktype.name)
ikmodel.autogenerate()
print 'IKFast {0} has been successfully generated'.format(iktype.name)
arm_indices = manip.GetArmIndices()
db = Database()
print("... OpenRAVE and Database loaded")
# load object
object_profile = db.retrieve_profile(object_id, "object")
solid_object = SolidObject(robot, attach, transform, object_profile['mass'],
np.array(object_profile['local_inertia'], dtype=float),
dofindices=arm_indices)
env.Load("/home/hung/git/toppra-object-transport/models/" + object_profile['rave_model'])
object_model = env.GetBodies()[-1]
T_object = manip.GetTransform().dot(transform).dot(object_profile['T_object_model'])
object_model.SetTransform(T_object)
robot.Grab(object_model)
# load contact
contact = Contact.init_from_profile_id(robot, contact_id)
contact.g_local = contact.g_local * safety
# load constraints
contact_constraint = create_object_transporation_constraint(contact, solid_object)
contact_constraint.set_discretization_type(1)
print("... contact stability constraint formed")
print contact_constraint
# Set velocity/accel scaling
robot.SetDOFVelocityLimits(robot.GetDOFVelocityLimits() * vlim_scale)
robot.SetDOFAccelerationLimits(robot.GetDOFAccelerationLimits() * alim_scale)
vlim_ = np.r_[robot.GetDOFVelocityLimits()]
alim_ = np.r_[robot.GetDOFAccelerationLimits()]
vlim = np.vstack((-vlim_, vlim_)).T
alim = np.vstack((-alim_, alim_)).T
pc_velocity = toppra.constraint.JointVelocityConstraint(vlim)
pc_accel = toppra.constraint.JointAccelerationConstraint(alim)
pc_accel.set_discretization_type(1)
traj_controller = TrajectoryRunner(robot, execute, dt=8e-3)
# setup toppra instance
print("... {:d} path(s) loaded. start running experiment.")
list_of_paths = get_list_of_paths_from_string(robot, trajectory_id)
for path in list_of_paths:
gridpoints = np.linspace(0, 1, 101)
# solve
dt = 8e-3
data = None
fail = False
# no strategy, only spline interpolation
if strategy == "nil":
print("Run with Strategy==[nil]")
path = toppra.SplineInterpolator(path.ss_waypoints, path.waypoints, bc_type='clamped')
ts = np.arange(0, path.get_duration(), dt * slowdown)
qs = path.eval(ts)
qds = path.evald(ts) * slowdown
qdds = path.evaldd(ts) * slowdown ** 2
ts = ts / slowdown
q_init = path.eval(0)
# parametrize considering kinematics constraint only
elif strategy == "kin_only":
t0 = rospy.get_time()
instance = toppra.algorithm.TOPPRA([pc_velocity, pc_accel], path,
gridpoints=gridpoints, solver_wrapper=solver)
traj_ra, aux_traj, data = instance.compute_trajectory(0, 0, return_profile=True)
ts = np.arange(0, traj_ra.get_duration(), dt * slowdown)
qs = traj_ra.eval(ts)
qds = traj_ra.evald(ts) * slowdown
qdds = traj_ra.evaldd(ts) * slowdown ** 2
q_init = traj_ra.eval(0)
ts = ts / slowdown
t0a = rospy.get_time()
# parameterization considering contact stability and kinematic constraints
elif strategy == "w_contact":
t0 = rospy.get_time()
instance = toppra.algorithm.TOPPRA([pc_velocity, pc_accel, contact_constraint], path,
gridpoints=gridpoints, solver_wrapper=solver)
traj_ra, aux_traj, data = instance.compute_trajectory(0, 0, return_profile=True)
if traj_ra is not None:
ts = np.arange(0, traj_ra.get_duration(), dt * slowdown)
qs = traj_ra.eval(ts)
qds = traj_ra.evald(ts) * slowdown
qdds = traj_ra.evaldd(ts) * slowdown ** 2
q_init = traj_ra.eval(0)
ts = ts / slowdown
else:
print("Parameterization fails!")
fail = True
t0a = rospy.get_time()
# parameterization considering contact stability, kinematic constraints and jerk contraints
elif strategy == "w_contact_jerk":
instance = toppra.algorithm.TOPPRA([pc_velocity, pc_accel, contact_constraint], path,
gridpoints=gridpoints, solver_wrapper='hotqpOASES')
_, sd_vec, _ = instance.compute_parameterization(0, 0)
xs = sd_vec ** 2
ds = gridpoints[1] - gridpoints[0]
t0 = time.time()
N = gridpoints.shape[0] - 1
sddd_bnd = 20
# matrix for computing jerk:
# Jmat = [-2 1 ..... ]
# [ 1 -2 1 ... ]
# [ 0 1 -2 1 ..]
Jmat = np.zeros((N+1, N+1))
for i in range(N+1):
Jmat[i, i] = -2
for i in range(N):
Jmat[i + 1, i] = 1
Jmat[i, i + 1] = 1
Jmat = Jmat / ds ** 2
# matrix for differentiation
Amat = np.zeros((N, N + 1))
for i in range(N):
Amat[i, i] = -1
Amat[i, i + 1] = 1
Amat = Amat / 2 / ds
xs_var = cvx.Variable(N + 1)
x_pprime_var = Jmat * xs_var
s_dddot_var = cvx.mul_elemwise(np.sqrt(xs) + 1e-5, x_pprime_var)
residue = cvx.Variable()
constraints = [xs_var >= 0,
xs_var[0] == 0,
xs_var[-1] == 0,
xs_var <= xs,
0 <= residue,
s_dddot_var - sddd_bnd <= residue,
-sddd_bnd - s_dddot_var <= residue]
obj = cvx.Minimize(1.0 / N * cvx.norm(xs_var - xs, 1)
+ 1.0 / N * cvx.norm(Amat.dot(xs) - Amat * xs_var, 1)
+ 1.0 * residue)
prob = cvx.Problem(obj, constraints)
status = prob.solve()
print "post-processing takes {:f} seconds".format(time.time() - t0)
print "Problem status {:}".format(status)
print "residual value: {:f}".format(residue.value)
xs_new = np.array(xs_var.value).flatten()
xs_new[0] = 0
xs_new[-1] = 0
# Compute trajectory
ss = np.linspace(0, 1, N + 1)
ts = [0]
for i in range(1, N + 1):
sd_ = (np.sqrt(xs_new[i]) + np.sqrt(xs_new[i - 1])) / 2
ts.append(ts[-1] + (ss[i] - ss[i - 1]) / sd_)
q_grid = path.eval(ss)
# joint_traj = toppra.SplineInterpolator(ts, q_grid, bc_type='natural')
traj_ra = toppra.SplineInterpolator(ts, q_grid, bc_type='clamped')
ts = np.arange(0, traj_ra.get_duration(), dt * slowdown)
qs = traj_ra.eval(ts)
qds = traj_ra.evald(ts) * slowdown
qdds = traj_ra.evaldd(ts) * slowdown ** 2
q_init = traj_ra.eval(0)
ts = ts / slowdown
if fail:
print("... Parameterization unsuccessful!")
return False
else:
print("... Parameterization successful! \n"
".... Trajectory duration {:.3f} sec\n"
".... Total Parametrization time {:.3f} sec" .format(ts[-1], t0a - t0))
# Trajectory shaping
shaper = get_shaper("nil")
# note: trajectory shaping can be used to remove the object
# natural vibration. Try uncomment the below line to see if it
# works for your application.
# shaper = get_shaper("ZVD")
q_arr = shape_trajectory(qs, shaper)
# preview stuffs
preview({"unshaped_trajectory": (ts, qs, qds, qdds),
"profile_data": (data, gridpoints),
"shaped_trajectory": q_arr,
"problem_data": (transform, strategy, object_id, trajectory_id, slowdown, contact_id),
"kin_limits": (vlim_, alim_)
})
# execute the trajectory
# set robot velocity and acceleration rate down, so that paths
# planned online are safe.
robot.SetDOFVelocityLimits(vlim_ * 0.3)
robot.SetDOFAccelerationLimits(alim_ * 0.3)
traj_controller.execute_traj(q_arr)
return True