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Add speedup of robot motions #170

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Add speedup of robot motions #170

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0e9aa3a
Add speedup of robot motions
jk-ethz Aug 28, 2023
8990b11
FIx delay when switching to PathVisitorState
jk-ethz Aug 28, 2023
0b6087d
Decrease grasping speed
jk-ethz Nov 29, 2023
59dde68
Add object keypoints speedup
jk-ethz Nov 29, 2023
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8 changes: 5 additions & 3 deletions moma_mission/config/state_machine/piloting.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -236,13 +236,15 @@ GRASP_VALVE:
section: "first"
timeout: 15.0
delay: 1.0
linear_speed: 0.01
linear_speed: 0.02

MANIPULATE_VALVE:
default_outcome: None
mode: pose
linear_speed: 0.1
angular_speed: 1.0
linear_speed: 0.4
angular_speed: 1.5
linear_tolerance: 0.05
angular_tolerance: 0.18
control_frame: panda_link0
pose_topic: "/panda/cartesian_impedance_controller/equilibrium_pose"
manager_namespace: panda
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3 changes: 2 additions & 1 deletion moma_mission/demo/piloting.py
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Expand Up @@ -314,7 +314,8 @@
valve_sequence.add(
"STORE_FINAL_POSE",
TransformRecorderState,
transitions={"Completed": "APPROACH_FINAL_POSE", "Failure": "Failure"},
# transitions={"Completed": "APPROACH_FINAL_POSE", "Failure": "Failure"},
transitions={"Completed": "OPEN_GRIPPER", "Failure": "Failure"},
)

rospy.loginfo("Approach final pose")
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2 changes: 1 addition & 1 deletion moma_mission/src/moma_mission/states/gripper.py
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Expand Up @@ -167,7 +167,7 @@ def _set_goal(self):
self.gripper_goal.epsilon.outer = (
1.0 # how much fingers can open more than specified
)
self.gripper_goal.speed = 0.01
self.gripper_goal.speed = 0.1
self.gripper_goal.width = self.position
self.gripper_goal.force = self.max_effort

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12 changes: 8 additions & 4 deletions moma_mission/src/moma_mission/states/path_visitor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ def __init__(self, ns):
self.timeout = self.get_scoped_param("timeout", 0)
self.timeout_factor = self.get_scoped_param("timeout_factor", 2)
self.delay = self.get_scoped_param("delay", 2.0)
self.linear_speed = self.get_scoped_param("linear_speed", 0.1) # m/s
self.angular_speed = self.get_scoped_param("angular_speed", 0.5) # rad/s
self.linear_speed = self.get_scoped_param("linear_speed", 0.3) # m/s
self.angular_speed = self.get_scoped_param("angular_speed", 0.8) # rad/s
self.linear_tolerance = self.get_scoped_param("linear_tolerance", 0.02)
self.angular_tolerance = self.get_scoped_param("angular_tolerance", 0.1)
self.section = self.get_scoped_param("section", "all") # "first", "last"
Expand Down Expand Up @@ -71,8 +71,12 @@ def _poses_msg(self, msg: PoseArray):
self.poses = msg

def run(self):
# Wait for poses callback to be triggered in case of latching
rospy.sleep(2.0)
for i in range(200):
if self.poses is not None:
break
# Wait for poses callback to be triggered in case of latching
rospy.sleep(0.01)

if self.poses is None:
rospy.logerr(f"No poses received yet, can't publish path")
return "Failure"
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2 changes: 1 addition & 1 deletion moma_piloting.repos
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ repositories:
object_keypoints_ros:
type: git
url: [email protected]:ethz-asl/object_keypoints_ros.git
version: 4862b6fae5df4f18cec0973f1844f79f1c10572f
version: ccf068fa88066ba7dad11ee27ec885e9c291daed

cartographer:
type: git
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8 changes: 4 additions & 4 deletions moma_robot/config/controllers.yaml
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Expand Up @@ -35,8 +35,8 @@ joint_space_controller:
- panda_joint7
lower_limit: [-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973]
upper_limit: [2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973]
max_velocity: 0.3
max_acceleration: 0.1
max_velocity: 0.6
max_acceleration: 0.15
gain: 1.0
tolerance: 0.017 # 1 deg
pid_gains:
Expand Down Expand Up @@ -69,8 +69,8 @@ joint_velocity_controller:
lower_limit: [-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973]
upper_limit: [2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973]
safety_margin: 0.1
max_velocity: 0.3
max_acceleration: 0.1
max_velocity: 0.6
max_acceleration: 0.15
max_deceleration: 0.3
gain: 1.0

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8 changes: 4 additions & 4 deletions panda_control/config/controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@ joint_space_controller:
- panda_joint7
lower_limit: [-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973]
upper_limit: [2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973]
max_velocity: 0.3
max_acceleration: 0.1
max_velocity: 0.6
max_acceleration: 0.15
gain: 1.0
tolerance: 0.017 # 1 deg
pid_gains:
Expand Down Expand Up @@ -59,8 +59,8 @@ joint_velocity_controller:
lower_limit: [-2.8973, -1.7628, -2.8973, -3.0718, -2.8973, -0.0175, -2.8973]
upper_limit: [2.8973, 1.7628, 2.8973, -0.0698, 2.8973, 3.7525, 2.8973]
safety_margin: 0.1
max_velocity: 0.3
max_acceleration: 0.1
max_velocity: 0.6
max_acceleration: 0.15
max_deceleration: 0.3
gain: 1.0

Expand Down
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