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support impedance control on simulator #336

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support impedance control on simulator #336

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26 changes: 26 additions & 0 deletions nextage_description/models/main.dae
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Expand Up @@ -6444,6 +6444,24 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
</frame_origin>
</technique>
</extra>
<extra name="lhsensor" type="attach_sensor">
<technique profile="OpenRAVE">
<instance_sensor url="#sensor5"/>
<frame_origin link="kmodel1/link15">
<translate>0 0 0</translate>
<rotate>0.57737 0.57735 0.57735 2.0944</rotate>
</frame_origin>
</technique>
</extra>
<extra name="rhsensor" type="attach_sensor">
<technique profile="OpenRAVE">
<instance_sensor url="#sensor6"/>
<frame_origin link="kmodel1/link9">
<translate>0 0 0</translate>
<rotate>0.57737 0.57735 0.57735 2.0944</rotate>
</frame_origin>
</technique>
</extra>
<extra name="WAIST" type="attach_actuator">
<technique profile="OpenRAVE">
<instance_actuator url="#actuator1"/>
Expand Down Expand Up @@ -8725,6 +8743,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<image_dimensions>640 480 3</image_dimensions>
<measurement_time>0.033333</measurement_time>
</sensor>
<sensor id="sensor5" sid="0" type="base_force6d">
<load_range_force>-1.000000 -1.000000 -1.000000</load_range_force>
<load_range_torque>-1.000000 -1.000000 -1.000000</load_range_torque>
</sensor>
<sensor id="sensor6" sid="1" type="base_force6d">
<load_range_force>-1.000000 -1.000000 -1.000000</load_range_force>
<load_range_torque>-1.000000 -1.000000 -1.000000</load_range_torque>
</sensor>
</technique>
</extra>
<extra id="actuators" type="library_actuators">
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13 changes: 13 additions & 0 deletions nextage_description/models/main.wrl
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Expand Up @@ -577,6 +577,13 @@ DEF HiroNX Humanoid{
mass 1.05156
momentsOfInertia [ 0.00194072 -1.1E-7 -4.2482E-4 -1.1E-7 0.00209392 -1.2E-7 -4.2482E-4 -1.2E-7 3.5788E-4 ]
children [
DEF rhsensor ForceSensor {
# translation 0 0 0
translation -0.035 0 0
# rotation 0.57737 0.57735 0.57735 2.0944
rotation 0 1 0 -1.570796327
sensorId 0
}
Transform {
translation -0.0061 0.0 -0.002
children Shape {
Expand Down Expand Up @@ -765,6 +772,12 @@ DEF HiroNX Humanoid{
mass 1.05156
momentsOfInertia [ 0.00194072 1.1E-7 -4.2482E-4 1.1E-7 0.00209392 1.2E-7 -4.2482E-4 1.2E-7 3.5788E-4 ]
children[
DEF lhsensor ForceSensor {
translation -0.035 0 0
# rotation 0.57737 0.57735 0.57735 2.0944
rotation 0 1 0 -1.570796327
sensorId 1
}
Transform {
#translation -0.0225 0.010 -0.0301
translation -0.0061 0.0 -0.002
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2 changes: 2 additions & 0 deletions nextage_ros_bridge/conf/nextage.xml.in
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Expand Up @@ -25,6 +25,8 @@
<property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
<property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
<property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
<property name="outport" value="lhsensor:lhsensor:FORCE_SENSOR"/>
<property name="outport" value="rhsensor:rhsensor:FORCE_SENSOR"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 0"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
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2 changes: 2 additions & 0 deletions nextage_ros_bridge/conf/nextage_nosim.xml.in
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Expand Up @@ -25,6 +25,8 @@
<property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
<property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
<property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
<property name="outport" value="lhsensor:lhsensor:FORCE_SENSOR"/>
<property name="outport" value="rhsensor:rhsensor:FORCE_SENSOR"/>
<property name="WAIST.NumOfAABB" value="1"/>
<property name="WAIST.translation" value="0 0 0"/>
<property name="WAIST.rotation" value="1 0 0 0"/>
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1 change: 1 addition & 0 deletions nextage_ros_bridge/launch/nextage_ros_bridge_simulation.launch
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Expand Up @@ -19,6 +19,7 @@
<arg name="nameserver" value="$(arg NAMESERVER)" />
<arg name="MODEL_FILE" value="$(arg MODEL_FILE)" />
<arg name="SIMULATOR_NAME" value="HiroNX(Robot)0" />
<arg name="USE_IMPEDANCECONTROLLER" default="true"/>
<arg name="CONF_FILE_COLLISIONDETECT" value="$(arg CONF_FILE_COLLISIONDETECT)" />
</include>

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39 changes: 39 additions & 0 deletions nextage_ros_bridge/test/test_hironx_derivedmethods_rostest.py
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Expand Up @@ -134,6 +134,45 @@ def test_getJointAngles(self):
self.assertEqual(self._robot.InitialPose[3][5],
joint_angles[_JOINT_TESTED[0]])

def test_impedance_controller(self):
'''
Copied from hironx_ros_bridge/test/test_hironx_controller.py
'''
KINGROUP = 'rarm'
if not self._robot.ic or self._robot.ic.ref.get_component_profile().version < '315.3.0':
self.assertTrue(True)
return True
self._robot.goInitial(tm=1)
# this returns ret, this is a bug
ret = self._robot.startImpedance(KINGROUP)
#self.assertTrue(ret)
ret = self._robot.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0], 2.0)
#self.assertTrue(ret)
self._robot.seq_svc.waitInterpolation()
ret = self._robot.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0], 2.0)
#self.assertTrue(ret)
self._robot.seq_svc.waitInterpolation()
ret = self._robot.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
0, 10, 0, 0, 0, 0], 2.0)
#self.assertTrue(ret)
self._robot.seq_svc.waitInterpolation()
ret = self._robot.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0], 2.0)
#self.assertTrue(ret)
self._robot.seq_svc.waitInterpolation()
ret = self._robot.seq_svc.setWrenches([0, 0, 0, 0, 0, 0,
0, 0, 10, 0, 0, 0], 2.0)
#self.assertTrue(ret)
self._robot.seq_svc.waitInterpolation()
#self.assertTrue(ret)
ret = self._robot.stopImpedance(KINGROUP)
#self.assertTrue(ret)
# this is dummy, current simulate hiro does not have force sensor
# so it retunrs None
self.assertTrue(True)

if __name__ == '__main__':
import rostest
rostest.rosrun(_PKG, 'test_hironx_derivedmethods',
Expand Down