Merge pull request #1529 from k-okada/fix_1470

test-ik.l: add test check #1470

jsk_2016_01_baxter_apc/CMakeLists.txt

@@ -245,6 +245,7 @@ if(CATKIN_ENABLE_TESTING)
   endif()
   add_rostest(test/test_move_arm_to_bin.test)
   add_rostest(test/test_ik_in_bin.test)
+  add_rostest(test/test_ik.test)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(launch/include/vacuum_gripper.launch)
   find_package(jsk_tools REQUIRED)

jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter.l

@@ -40,12 +40,13 @@
   (:inverse-kinematics
     (target-coords
       &rest args
-      &key (additional-weight-list
-             (mapcar #'(lambda (jn) (list (send self jn :child-link) 0))
-                     '(:right_gripper_vacuum_pad_joint)))
+      &key link-list
       &allow-other-keys)
-    (send-super* :inverse-kinematics target-coords
-                 :additional-weight-list additional-weight-list args)
+    ;; if the last lik of link-list is a gripper, remove them
+    (when (member (send (car (last link-list)) :name) (list "right_gripper_vacuum_pad_base" "left_gripper_vacuum_pad_base"))
+      (setq link-list (butlast link-list)))
+    (send-super* :inverse-kinematics target-coords :link-list link-list
+                 args)
     )
   (:rotate-wrist
     (arm angle)

jsk_2016_01_baxter_apc/test/test-ik.l

@@ -0,0 +1,103 @@
+#!/usr/bin/env roseus
+(require :unittest "lib/llib/unittest.l")
+(require "package://jsk_2016_01_baxter_apc/euslisp/jsk_2016_01_baxter_apc/baxter.l")
+(load "package://jsk_2015_05_baxter_apc/euslisp/test/data/bin-cubes.l")
+
+(init-unit-test)
+
+(defun setup ()
+  (unless (boundp '*baxter*)
+    (setq *baxter* (instance jsk_2016_01_baxter_apc::baxter-robot :init)))
+  (objects (list *baxter*))
+  (send *baxter* :angle-vector #f(0.0 97.4707 -2.39502 -94.5483 134.67 91.4062 8.70117 0.0 -5.40301 55.9257 117.063 72.4793 -62.7243 -7.73117 -87.322 90.0))
+  )
+
+(defun check-result (av1 av2)
+  (let ()
+    (when (and av1 av2)
+      (format t "av1 = ~A~%" av1)
+      (format t "av2 = ~A~%" av2)
+      (format t "diff = ~A (~A)~%" (v- av2 av1) (norm (v- av2 av1)))
+      (do ((i 0 (incf i 0.1)))
+          ((>= i 1))
+          (send *baxter* :angle-vector (midpoint i av1 av2))
+          (send *irtviewer* :draw-objects)
+          (print i))
+      )))
+
+(deftest issue-1474 () ;; https://github.com/start-jsk/jsk_apc/issues/1470#issuecomment-220518802
+  (let (av1 av2)
+    (setup)
+    (setq av1 (send *baxter* :angle-vector))
+    (send *baxter* :rarm :move-end-pos #f(0 0 -50) :local)
+    (setq av2 (send *baxter* :angle-vector)) ;; #f(0.0 97.4707 -2.39502 -94.5483 134.67 91.4062 8.70117 0.0 -8.22871 40.7953 92.2281 64.6958 -80.3615 -21.3969 -46.1696 90.0)
+    (check-result av1 av2)
+    (assert (and av1 av2))
+    (assert (< (norm (v- av1 av2)) 10))
+    ))
+
+;; https://github.com/euslisp/jskeus/pull/380
+;; https://github.com/euslisp/jskeus/commit/9766a65d8346a939c9af89461691ccea334b2b7b#commitcomment-17593228
+(load "irteus/irtrobot.l")
+(defmethod robot-model
+ (:calc-inverse-jacobian
+   (jacobi &rest args
+    &key
+    ((:manipulability-limit ml) 0.1)
+    ((:manipulability-gain mg) 0.001)
+    weight debug-view
+    ret wmat tmat umat umat2 mat-tmp
+    mat-tmp-rc tmp-mrr tmp-mrr2
+    &allow-other-keys)
+   (let (jacobi# m m2 (k 0))
+     ;; m : manipulability
+     (setq m (manipulability (if weight (m* jacobi (diagonal weight)) jacobi) tmp-mrr tmat)) ;; CHANGED
+     (if (< m ml) (setq k (* mg (expt (- 1.0 (/ m  ml)) 2))))
+     (when (and debug-view (not (memq :no-message debug-view)))
+       (warn "k     :~7,3f (manipulability:~7,3f, gain:~7,3f, limit:~7,3f, len:~d)~%" k m mg ml (cadr (array-dimensions jacobi))))
+
+     ;; calc weighted SR-inverse
+     (setq jacobi# (sr-inverse jacobi k weight 
+                               ret wmat tmat umat umat2 mat-tmp
+                               mat-tmp-rc tmp-mrr tmp-mrr2
+                               ))
+     jacobi#))
+)
+;; check why normal ik failed
+(deftest check-normal-ik-1 () ;; this uses exactry the same parameter with baxter-robot :inverse-kinematics in baxtereus/baxter-util.l
+  (let (av1 av2)
+    (setup)
+    (setq av1 (send *baxter* :angle-vector))
+    (send *irtviewer* :draw-objects)
+    (setq av2 (send-message *baxter* robot-model :inverse-kinematics
+                            (send (send *baxter* :rarm :end-coords :copy-worldcoords) :translate #f(0 0 -50) :local)
+                            :additional-weight-list (mapcar #'(lambda (jn) (list (send *baxter* jn :child-link) 0))
+                                                            '(:right_gripper_vacuum_pad_joint))
+                            :move-target (send *baxter* :rarm :end-coords)
+                            :link-list (send *baxter* :link-list (send *baxter* :rarm :end-coords :parent) (send *baxter* :rarm :root-link))
+                            :avoid-collision-distance 5
+                            :debug-view nil ;; set true for debugging
+                            ))
+    (check-result av1 av2)
+    (assert (and av1 av2)) ;; this is expected to fail without new irteus
+    ))
+
+(deftest check-normal-ik-2 () ;; this may fix the problem
+  (let (av1 av2)
+    (setup)
+    (setq av1 (send *baxter* :angle-vector))
+    (send *irtviewer* :draw-objects)
+    (setq av2 (send-message *baxter* robot-model :inverse-kinematics
+                            (send (send *baxter* :rarm :end-coords :copy-worldcoords) :translate #f(0 0 -50) :local)
+                            :move-target (send *baxter* :rarm :end-coords)
+                            ;;:link-list (send *baxter* :link-list (send *baxter* :rarm :end-coords :parent) (send *baxter* :rarm :root-link))
+                            :link-list (send *baxter* :link-list (send *baxter* :right_gripper_vacuum_pad_joint :parent-link) (send *baxter* :rarm :root-link))
+                            :avoid-collision-distance 5
+                            :debug-view nil ;; set true for debugging
+                            ))
+    (check-result av1 av2)
+    (assert (and av1 av2))
+    ))
+
+(run-all-tests)
+(exit)

jsk_2016_01_baxter_apc/test/test_ik.test

@@ -0,0 +1,9 @@
+<launch>
+
+  <env name="DISPLAY" value="" />
+
+  <test test-name="test_ik"
+        name="test_ik"
+        pkg="jsk_2016_01_baxter_apc" type="test-ik.l"/>
+
+</launch>