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Draft: Implement ROS wrench publishing #26

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Draft: Implement ROS wrench publishing #26

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12fe3b7
feat(sensors): Implement ROS wrench publishing
balandbal Sep 19, 2023
5f14adc
Merge branch 'ubi-agni:noetic-devel' into feat/wrench_sensor
balandbal Jan 15, 2024
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38 changes: 38 additions & 0 deletions mujoco_ros_sensors/include/mujoco_ros_sensors/mujoco_sensor_handler_plugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,41 @@ struct SensorConfig

using SensorConfigPtr = std::unique_ptr<SensorConfig>;

struct WrenchSensorConfig
{
public:
WrenchSensorConfig() : force_config(), torque_config(){};
WrenchSensorConfig(const int force_sensor_id, const SensorConfigPtr force_config, const int torque_sensor_id,
const SensorConfigPtr torque_config)
: force_sensor_id(force_sensor_id)
, force_config(force_config)
, torque_sensor_id(torque_sensor_id)
, torque_config(torque_config){};

void setFrameId(const std::string frame_id)
{
this->force_config->setFrameId(frame_id);
this->torque_config->setFrameId(frame_id);
};

void registerPub(ros::Publisher pub) { value_pub = pub; };

void registerGTPub(ros::Publisher pub) { gt_pub = pub; };

ros::Publisher gt_pub;
ros::Publisher value_pub;

SensorConfigPtr force_config;
SensorConfigPtr torque_config;

int force_sensor_id;
int torque_sensor_id;

uint8_t is_set = 0; // 0 for unset, otherwise binary code for combination of dims
};

typedef std::shared_ptr<WrenchSensorConfig> WrenchSensorConfigPtr;

class MujocoRosSensorsPlugin : public mujoco_ros::MujocoPlugin
{
public:
Expand All @@ -96,6 +131,9 @@ class MujocoRosSensorsPlugin : public mujoco_ros::MujocoPlugin

std::map<std::string, SensorConfigPtr> sensor_map_;

std::vector<std::string> wrench_sensor_names_;
std::map<std::string, WrenchSensorConfigPtr> wrench_sensor_map_;

ros::ServiceServer register_noise_model_server_;

bool registerNoiseModelsCB(mujoco_ros_msgs::RegisterSensorNoiseModels::Request &req,
Expand Down
242 changes: 242 additions & 0 deletions mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -432,6 +432,106 @@ void MujocoRosSensorsPlugin::lastStageCallback(const mjModel *model, mjData *dat
break;
}
}

for (std::string wrench_sensor_name : wrench_sensor_names_) {
auto wrench_sensor_config = wrench_sensor_map_[wrench_sensor_name];
auto force_sensor_config = wrench_sensor_config->force_config;
auto torque_sensor_config = wrench_sensor_config->torque_config;

geometry_msgs::WrenchStamped msg;
msg.header.frame_id = force_sensor_config->frame_id;
msg.header.stamp = ros::Time::now();

int id = wrench_sensor_config->force_sensor_id;
adr = model->sensor_adr[id];
type = model->sensor_type[id];
cutoff = (model->sensor_cutoff[id] > 0 ? model->sensor_cutoff[id] : 1);
noise_idx = 0;

// No noise configured
if (force_sensor_config->is_set == 0) {
msg.wrench.force.x = (float)(data->sensordata[adr] / cutoff);
msg.wrench.force.y = (float)(data->sensordata[adr + 1] / cutoff);
msg.wrench.force.z = (float)(data->sensordata[adr + 2] / cutoff);
} else { // Noise at least in one dim
if (force_sensor_config->is_set & 0x01) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * force_sensor_config->sigma[noise_idx] +
force_sensor_config->mean[noise_idx];
noise_idx += 1;
} else {
noise = 0;
}
msg.wrench.force.x = (float)(data->sensordata[adr] + noise / cutoff);

if (force_sensor_config->is_set & 0x02) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * force_sensor_config->sigma[noise_idx] +
force_sensor_config->mean[noise_idx];
noise_idx += 1;
} else {
noise = 0;
}
msg.wrench.force.y = (float)(data->sensordata[adr + 1] + noise / cutoff);

if (force_sensor_config->is_set & 0x04) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * force_sensor_config->sigma[noise_idx] +
force_sensor_config->mean[noise_idx];
} else {
noise = 0;
}
msg.wrench.force.z = (float)(data->sensordata[adr + 2] + noise / cutoff);
}

id = wrench_sensor_config->torque_sensor_id;
adr = model->sensor_adr[id];
type = model->sensor_type[id];
cutoff = (model->sensor_cutoff[id] > 0 ? model->sensor_cutoff[id] : 1);
noise_idx = 0;

// No noise configured
if (torque_sensor_config->is_set == 0) {
msg.wrench.torque.x = (float)(data->sensordata[adr] / cutoff);
msg.wrench.torque.y = (float)(data->sensordata[adr + 1] / cutoff);
msg.wrench.torque.z = (float)(data->sensordata[adr + 2] / cutoff);
} else { // Noise at least in one dim
if (torque_sensor_config->is_set & 0x01) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * torque_sensor_config->sigma[noise_idx] +
torque_sensor_config->mean[noise_idx];
noise_idx += 1;
} else {
noise = 0;
}
msg.wrench.torque.x = (float)(data->sensordata[adr] + noise / cutoff);

if (torque_sensor_config->is_set & 0x02) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * torque_sensor_config->sigma[noise_idx] +
torque_sensor_config->mean[noise_idx];
noise_idx += 1;
} else {
noise = 0;
}
msg.wrench.torque.y = (float)(data->sensordata[adr + 1] + noise / cutoff);

if (torque_sensor_config->is_set & 0x04) {
// shift and scale standard normal to desired distribution
noise = noise_dist(rand_generator) * torque_sensor_config->sigma[noise_idx] +
torque_sensor_config->mean[noise_idx];
} else {
noise = 0;
}
msg.wrench.torque.z = (float)(data->sensordata[adr + 2] + noise / cutoff);
}

wrench_sensor_config->value_pub.publish(msg);

if (!env_ptr_->settings_.eval_mode) {
wrench_sensor_config->gt_pub.publish(msg);
}
}
}

void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
Expand Down Expand Up @@ -593,6 +693,148 @@ void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
break;
}
}

for (int n = 0; n < model->ntuple; ++n) {
std::string tuple_name;
if (model->names[model->name_tupleadr[n]])
tuple_name = mj_id2name(model.get(), mjOBJ_TUPLE, n);
else {
ROS_WARN_STREAM_NAMED("sensors", "Tuple name resolution error. Skipping");
continue;
}

if (tuple_name != "wrench")
continue;

int adr = model->tuple_adr[n];
int size = model->tuple_size[n];
WrenchSensorConfigPtr config;

for (int i = 0; i < size; ++i) {
std::string wrench_sensor_name =
mj_id2name(model.get(), model->tuple_objtype[adr + i], model->tuple_objid[adr + i]);

if (mjOBJ_TUPLE != model->tuple_objtype[adr + i]) {
ROS_WARN_STREAM_NAMED("sensors", "Wrench sensor '" << wrench_sensor_name << "' is not a tuple. Skipping");
continue;
}

int id = mj_name2id(model.get(), mjOBJ_TUPLE, wrench_sensor_name.c_str());
int size = model->tuple_size[id];

if (size != 2) {
ROS_WARN_STREAM_NAMED("sensors", "Wrench sensor '" << wrench_sensor_name << "' is not a 2-tuple. Skipping");
continue;
}

int adr = model->tuple_adr[id];

if (model->tuple_objtype[adr] != mjOBJ_SENSOR) {
ROS_WARN_STREAM_NAMED("sensors", "The first element of wrench sensor '" << wrench_sensor_name
<< "' is not a sensor. Skipping");
continue;
}
if (model->tuple_objtype[adr + 1] != mjOBJ_SENSOR) {
ROS_WARN_STREAM_NAMED("sensors", "The second element of wrench sensor '" << wrench_sensor_name
<< "' is not a sensor. Skipping");
continue;
}

int force_sensor_id = model->tuple_objid[adr];
int torque_sensor_id = model->tuple_objid[adr + 1];

if (model->sensor_type[force_sensor_id] != mjSENS_FORCE) {
ROS_WARN_STREAM_NAMED("sensors", "The first element of wrench sensor '"
<< wrench_sensor_name << "' is not a force sensor. Skipping");
continue;
}
if (model->sensor_type[torque_sensor_id] != mjSENS_TORQUE) {
ROS_WARN_STREAM_NAMED("sensors", "The second element of wrench sensor '"
<< wrench_sensor_name << "' is not a force sensor. Skipping");
continue;
}

std::string force_sensor_name = mj_id2name(model.get(), mjOBJ_SENSOR, force_sensor_id);
std::string torque_sensor_name = mj_id2name(model.get(), mjOBJ_SENSOR, torque_sensor_id);

// ROS_INFO_STREAM_NAMED("sensors", "Wrench sensor '" << name << "' from '" << force_sensor_name << "' and
// '"
// << torque_sensor_name << "'");

config.reset(new WrenchSensorConfig(force_sensor_id, sensor_map_[force_sensor_name], torque_sensor_id,
sensor_map_[torque_sensor_name]));

if (config->force_config->frame_id != config->torque_config->frame_id) {
ROS_ERROR_STREAM_NAMED("sensors", "The force sensor " << force_sensor_name << " and the torque sensor "
<< torque_sensor_name
<< " does not measure in the same frame");
continue;
}

config->registerPub(sensors_nh_->advertise<geometry_msgs::WrenchStamped>(wrench_sensor_name, 1, true));
if (!env_ptr_->settings_.eval_mode) {
config->registerGTPub(
sensors_nh_->advertise<geometry_msgs::WrenchStamped>(wrench_sensor_name + "_GT", 1, true));
}

wrench_sensor_names_.push_back(wrench_sensor_name);
wrench_sensor_map_[wrench_sensor_name] = config;
}
}

// for (std::string name : wrench_sensor_names_) {
// WrenchSensorConfigPtr config;

// int id = mj_name2id(model.get(), mjOBJ_TUPLE, name.c_str());
// int size = model->tuple_size[id];

// if (size != 2) {
// ROS_WARN_STREAM_NAMED("sensors", "Wrench sensor '" << name << "' is not a 2-tuple. Skipping");
// continue;
// }

// int adr = model->tuple_adr[id];

// if (model->tuple_objtype[adr] != mjOBJ_SENSOR) {
// ROS_WARN_STREAM_NAMED("sensors",
// "The first element of wrench sensor '" << name << "' is not a sensor. Skipping");
// continue;
// }
// if (model->tuple_objtype[adr + 1] != mjOBJ_SENSOR) {
// ROS_WARN_STREAM_NAMED("sensors",
// "The second element of wrench sensor '" << name << "' is not a sensor. Skipping");
// continue;
// }

// int force_sensor_id = model->tuple_objid[adr];
// int torque_sensor_id = model->tuple_objid[adr + 1];

// if (model->sensor_type[force_sensor_id] != mjSENS_FORCE) {
// ROS_WARN_STREAM_NAMED("sensors",
// "The first element of wrench sensor '" << name << "' is not a force sensor.
// Skipping"); continue;
// }
// if (model->sensor_type[torque_sensor_id] != mjSENS_TORQUE) {
// ROS_WARN_STREAM_NAMED("sensors",
// "The second element of wrench sensor '" << name << "' is not a force sensor.
// Skipping"); continue;
// }

// std::string force_sensor_name = mj_id2name(model.get(), mjOBJ_SENSOR, force_sensor_id);
// std::string torque_sensor_name = mj_id2name(model.get(), mjOBJ_SENSOR, torque_sensor_id);

// // ROS_INFO_STREAM_NAMED("sensors", "Wrench sensor '" << name << "' from '" << force_sensor_name << "' and
// '"
// // << torque_sensor_name << "'");

// config.reset(new WrenchSensorConfig(sensor_map_[force_sensor_name], sensor_map_[torque_sensor_name]));
// config->registerPub(sensors_nh_->advertise<geometry_msgs::WrenchStamped>(name, 1, true));
// if (!env_ptr_->settings_.eval_mode) {
// config->registerGTPub(sensors_nh_->advertise<geometry_msgs::WrenchStamped>(name + "_GT", 1, true));
// }

// wrench_sensor_map_[name] = config;
// }
}

// Nothing to do on reset
Expand Down