This package implements the LPV-DS motion generator from [1] together with the passive-DS controller for the KUKA LWR 4+ robot in both simulation (gazebo) and with the real robot for the following tasks learned from demonstration:
- Task 1: Inspection Line
- Task 2: Branding Line
- Task 3: Shelf-Arranging (top only)
Videos of the execution of these tasks on the real robot can be found here: robot-experiments
- Task 4: Letter Writing (from LASA-Dataset)
To run this package you must install the following dependencies:
- kuka-lwr-ros
checkout 'nadia' branch| Control Interface for Kuka LWR 4+ - ds-motion-generator
checkout 'nadia' branch| DS motion generation nodes - lpvDS-lib | lpv-DS class used by ds-motion-generator
- grasp-interface | To control the Robotiq S gripper from code
- Bring up the kuka-lwr-ros controller and simulator:
$ roslaunch kuka_lpvds_tasks sim.launch force-interface:=true
- Run the planning-interface to send joint commands:
$ roslaunch kuka_lpvds_tasks planning_client.launch
$ roslaunch kuka_lpvds_tasks planning_console.launch
Default commands (go_home, go_left, go_right, go_candle)
These commands are use to send the robot to a "good" initial joint configuration, generally you should go_home or go_right to test a learned ds-motion generator.
- Load DS motion generators and Task Planning Node
- For Inspection Line Task
$ roslaunch kuka_lpvds_tasks run_inspection_task.launch sim:=true - For Branding Line Task
$ roslaunch kuka_lpvds_tasks run_branding_task.launch sim:=true - For Shelf Arranging Task
$ roslaunch kuka_lpvds_tasks run_shelf_task.launch sim:=true
To apply external forces during the execution (to test the reactivity of the DS and impedance controller) you can define the force in the following topic:
/lwr/joint_controllers/passive_ds_external_force
the force will be applied by manipulating the boolean command:
/lwr/joint_controllers/passive_ds_apply_force
To run the tasks on the real robot you should follow the same instructions above, except for
- Bring up the kuka-lwr-ros controller and console in different terminals:
$ roslaunch lwr_simple_example real.launch
$ roslaunch lwr_fri lwr_fri_console.launch
and for the 3. Load DS motion generators and Task Planning Node you should either set sim:=false or not set at all, as it is the default.
Additionally you should bring up the gripper grasp-interface:
$ roslaunch grasp_interface rs_gripper.launch
To modify the gripper state during execution you can launch the gripper voice controller from the demo-voice-control package:
roslaunch demo_voice_control gripper_voice_control.launch
References
[1] Figueroa, N. and Billard, A. (2018) "A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning". Conference on Robot Learning (CoRL) - 2018 Edition. To Appear.
Contact: Nadia Figueroa (nadia.figueroafernandez AT epfl dot ch)
Acknowledgments This work was supported by the EU project Cogimon H2020-ICT-23-2014.