dmp_gestures

Gesture learning and execution via DMPs

Based on the previous work on https://github.com/awesomebytes/dmp_reem_razer a more generalized version of gesture learning and reproduction using dynamic motion primitives.

Uses https://github.com/awesomebytes/dmp based on http://wiki.ros.org/dmp .

Uses https://github.com/awesomebytes/razer_hydra for using with Razer Hydra.

Uses REEM as robot example, but should be general enough to use with any robot using ROS. Follow this tutorial to setup REEM http://wiki.ros.org/Robots/REEM/Tutorials/Launching%20a%20REEM%20Gazebo%20simulation

TODO: Uses ---- for leap motion.

Uses ---- for Kinect.

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This package is divided conceptually in:

• dmp_training:

  • Learn from end effectors (Razer Hydra, Kinect... 6D poses).
  • Learn from joints (joint states of a robot).
  • Management interface for gestures (save learnt gestures, visualize them)

• dmp_generation:

  • Generate from end effectors pose (generate from 6D pose to another 6D pose motions).
  • Generate from joint state (generate from one joint state (current, probably) to another joint state).

• dmp_execution:

  • Trajectory executor (via MoveIt!).

TODO:

• Clean up previous code into this package
• Downsample points in recorded trajectories
• Research multiple group goal sending in MoveIt!
• Learn from joint states DMPs
• Execute from joint state
• Management interface + Rviz state viewer
• Demos: Handshake from Razer Hydra (maybe Leap motion also) arm+torso(+hand), Wave from previously known robot movement torso+arm, moving a box from Kinect captured data with both arms

Low priority...

• Recompute motion if final goal is changing
• Recompute motion if there is an obstacle

Must be done but lazy:

• Update CMakeLists.txt and package.xml with dependences.

Workroad:

• Implement learning from play_motion gesture.
  • Send motion to play motion + start recording bag (with rosbag python API http://wiki.ros.org/rosbag/Code%20API#py_api). Necessary info will be needed to be taken from param server (i.e.: joints involved in the movement to learn only from these in /joint_states).
  • When motion is finished stop recording and save "metadata". Initial point, final point, recorded trajectory.
  • From here do a low pass filter on the trajectories and downsample it.
  • Learn DMP and store values and metadata in .yaml file.
• Once this is done learning from live robot should be straight forward (change the sending of the play_motion gesture to move the real robot and have some start and stop buttons to record... probably setting manually the joints you wanna learn from).
• Then create some GUI to play, rqt_ based probably and watch on Rviz the trajectory. Setting initial and final point/configuration would be the most convenient. rqt_trajectory_xxx will probably be used for configurations. For initial and final points, interactive markers... or MoveIt! Rviz plugin-like style IK would be ideal.