chonk_pushing

Wholebody Inverse kinematics, use 5-order spline to generate the trajectory in joint space

1. roslaunch chonk_pushing gazebo_wholebody.launch
2. roslaunch chonk_pushing action_servers_wholebody.launch
3. rosrun chonk_pushing action_client_cmd_pose_wholebody.py

Without admittance control, MPC tracking joint-space trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC.launch
2. roslaunch chonk_pushing action_servers_MPC_BC.launch
3. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_pick.py

Without admittance control, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational.launch
3. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick.py

With admittance control in global frame, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD.py

With admittance control in global frame and obstacle avoidance, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.py

With motion planning of two end-effectors' positions, MPC tracking operational trajectory with admittance control in global frame

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.py

With motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory with admittance control in global frame

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.py

########### Below relates to admittance control in local frame ###########################

With admittance control in local frame, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_turn.py

With admittance control in local frame and obstacle avoidance, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon_turn.py

With motion planning of two end-effectors' positions, MPC tracking operational trajectory with admittance control in local frame

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn.launch roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn_experimentgazebo.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.launch roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn_experimentgazebo.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn.py rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn_experimentgazebo.py

With motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory with admittance control in local frame

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.launch or roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.py

########### Below relates to 6-DOF admittance control in local frame ###########################

With 6-DOF admittance control, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_turn.py

With 6-DOF admittance control and obstacle avoidance, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon_turn.py

With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.launch or roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.launch or
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.launch or roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.launch or
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.py or rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.py or

########### Add obstacle avoidance in motion tracking ###########################

With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory

1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.py

########### Parallel Programming ###########################

- To launch EVA robot to pick and place a box while avoiding an obstacle using admittance control:

Description:

• With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory using parallel programming

  1. Spawn EVA Gazebo model:
  • roslaunch chonk_pushing gazebo_planner_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
  2. Start motion_planning server:
  • roslaunch chonk_pushing action_servers_planner_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
  3. Start motion_tracking server with admittance control:
  • roslaunch chonk_pushing action_servers_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
  4. Start EVA_dynamics node for force signal processing:
  • roslaunch chonk_dynamics chonk_dynamics.launch
  5. Config joints to the beginning state:
  • rosrun robot_control action_client_cmd_config_wholetrajectory.py
  6. Begin to grasp and place a box with admittance control:
  • rosrun chonk_pushing action_client_planner_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.py