From 056f87e33b433f03fb6c7a2d2161ef47d2667ab7 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Thu, 9 Nov 2023 16:52:21 +0100
Subject: [PATCH] some calibration is being done. math is correct, but there
 are some errors coming from god knows where. right now i am blaming the
 curvature of the board. next step is to move while having force in the z
 direction. to do the calib, start in top left corner.

---
 dmp/my_sol/drawing_gen/cliking_the_path.py |  53 +-
 dmp/my_sol/drawing_gen/path_in_pixels.csv  | 236 ++----
 dmp/my_sol/forcemode_example.py            |  27 +
 dmp/my_sol/new_traj.csv                    | 884 ++++++---------------
 dmp/my_sol/run_dmp.py                      |   2 +-
 util/calib_board_hacks.py                  |  79 +-
 util/jog_example                           | Bin 151888 -> 151888 bytes
 util/math_tst.py                           |  20 +
 util/measuring_stick.py                    |   1 +
 util/open_close_gripper.py                 |   2 +-
 10 files changed, 438 insertions(+), 866 deletions(-)
 create mode 100644 dmp/my_sol/forcemode_example.py
 create mode 100644 util/math_tst.py

diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
index a4ea3b6..d0b4e92 100644
--- a/dmp/my_sol/drawing_gen/cliking_the_path.py
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -29,6 +29,8 @@ board_width = 0.35
 board_height = 0.4
 path[:,0] = path[:,0] * board_width
 path[:,1] = path[:,1] * board_height
+# in the new coordinate system we're going in the -y direction
+path[:,1] = -1 * path[:,1] + board_height
 
 
 # now the path is appropriately scaled and in the first quadrant
@@ -51,37 +53,33 @@ path[:,1] = path[:,1] * board_height
 # (in pin coordinates, real ones are [-x, -y, z])
 # UPPER LEFT POINT 
 #  0.1065, 0.7083, 0.6362, -2.6137, -0.0248, -0.0033
-rpy = np.array([-2.6137, -0.0248, -0.0033])
-R = pin.rpy.rpyToMatrix(rpy)
+#rpy = np.array([-2.6137, -0.0248, -0.0033])
+#R = pin.rpy.rpyToMatrix(rpy)
+#print(R)
+#R = np.array([[ 1.        ,  0.        , 0.14570094],
+#       [ 0.        , -0.70647877, 0.69257417],
+#       [ 0.        , -0.69257417,  -0.70647877]])
+#R = np.array([[ 1.        ,  0.        , 0.1496001 ],
+#       [ 0.        , -0.71010996, 0.68801429],
+#       [ 0.        , -0.68801429,  -0.71010996]])
+R = np.array([[1.,         0.,         0.03236534],
+[ 0.,         -0.82404727,  0.56559577],
+[ 0. ,        -0.56559577, -0.82404727]])
+
+
 print(R)
-#R = np.eye(3)
-# change +/- stuff if you go the other way idk or c lmao
 p = np.array([0.1065, 0.7083, 0.6362])
 transf_body_to_board = pin.SE3(R, p)
 
-# LOWER LEFT POINT
-#  R =
-# -0.998592 -0.0509392 -0.0147815
-#-0.0332665   0.818552  -0.573468
-# 0.0413114   -0.57217  -0.819094
-#  p = -0.114727   -0.3738  0.401655
-
-# UPPER RIGHT POINT
-# is not in the workspace lmao
-
-# LOWER RIGHT POINT
-#  R =
-# -0.999219 -0.0141156 -0.0369115
-#0.00980125   0.816329  -0.577504
-# 0.0382838  -0.577415  -0.815553
-#  p = -0.595579 -0.373942  0.413703
-path = path + np.array([0.0, 0.0, -0.0838])
+# offset in z
+# very close
+#path = path + np.array([0.0, 0.0, -0.0238])
+path = path + np.array([0.0, 0.0, -0.1038])
+
+#path = path + np.array([0.0, 0.2, -0.1438])
 for i in range(len(path)):
     path[i] = transf_body_to_board.act(path[i])
-#print(path)
-# make it hover a bit
-#path = path + np.array([-0.02, 0.0, 0.02])
-
+print(path)
 #######################################################################
 #                      STEP 2: clik that path                         #
 #######################################################################
@@ -97,7 +95,8 @@ JOINT_ID = 6
 eps = 10**-2
 dt = 0.01
 # skip inital pos tho
-q = np.array([-2.256,-1.408,0.955,-1.721,-1.405,-0.31, 0.0, 0.0])
+#q = np.array([-2.256,-1.408,0.955,-1.721,-1.405,-0.31, 0.0, 0.0])
+q = np.array([-2.014, -1.469, 1.248, -1.97, -1.366, -0.327, 0.0, 0.0])
 INIT_ITER = 10000
 n_iter = INIT_ITER
 RUNNING_ITER = 1000
@@ -125,7 +124,7 @@ for goal in path:
     if n_iter == INIT_ITER:
         n_iter = RUNNING_ITER
     else:
-        if i == RUNNING_ITER:
+        if i == RUNNING_ITER-1:
             print("DID NOT CONVERGE")
 
 #######################################################################
diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv
index c04a7f1..2b2f9c6 100644
--- a/dmp/my_sol/drawing_gen/path_in_pixels.csv
+++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv
@@ -1,174 +1,62 @@
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diff --git a/dmp/my_sol/forcemode_example.py b/dmp/my_sol/forcemode_example.py
new file mode 100644
index 0000000..ade9934
--- /dev/null
+++ b/dmp/my_sol/forcemode_example.py
@@ -0,0 +1,27 @@
+from rtde_control import RTDEControlInterface as RTDEControl
+
+rtde_c = RTDEControl("192.168.1.102")
+
+task_frame = [0, 0, 0, 0, 0, 0]
+selection_vector = [0, 0, 1, 0, 0, 0]
+wrench_down = [0, 0, -10, 0, 0, 0]
+wrench_up = [0, 0, 10, 0, 0, 0]
+force_type = 2
+limits = [2, 2, 1.5, 1, 1, 1]
+joint_q = [-1.52, -1.411, -1.374, -2.026, 1.375, -0.034]
+
+# Move to initial joint position with a regular moveJ
+rtde_c.moveJ(joint_q)
+
+# Execute 500Hz control loop for 4 seconds, each cycle is 2ms
+for i in range(20000):
+    t_start = rtde_c.initPeriod()
+    # First move the robot down for 2 seconds, then up for 2 seconds
+    if i > 10000:
+        rtde_c.forceMode(task_frame, selection_vector, wrench_up, force_type, limits)
+    else:
+        rtde_c.forceMode(task_frame, selection_vector, wrench_down, force_type, limits)
+    rtde_c.waitPeriod(t_start)
+
+rtde_c.forceModeStop()
+rtde_c.stopScript()
diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
index 2906feb..e237258 100644
--- a/dmp/my_sol/new_traj.csv
+++ b/dmp/my_sol/new_traj.csv
@@ -1,643 +1,241 @@
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diff --git a/dmp/my_sol/run_dmp.py b/dmp/my_sol/run_dmp.py
index 2f97fd7..5042616 100644
--- a/dmp/my_sol/run_dmp.py
+++ b/dmp/my_sol/run_dmp.py
@@ -29,7 +29,7 @@ import matplotlib.pyplot as plt
 rtde_control = RTDEControl("192.168.1.102")
 rtde_receive = RTDEReceive("192.168.1.102")
 rtde_io = RTDEIOInterface("192.168.1.102")
-rtde_io.setSpeedSlider(0.7)
+rtde_io.setSpeedSlider(0.2)
 
 # run if marker isn't gripped
 #gripper = RobotiqGripper()
diff --git a/util/calib_board_hacks.py b/util/calib_board_hacks.py
index 31923dc..ef356a4 100644
--- a/util/calib_board_hacks.py
+++ b/util/calib_board_hacks.py
@@ -37,34 +37,73 @@ model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
 
 init_pose = rtde_receive.getActualTCPPose()
 new_pose = copy.deepcopy(init_pose)
-# dangerous
-#new_pose[3] = 0
-#new_pose[4] = 0
-#new_pose[5] = 0
+#new_pose[0] += 0.05
+#new_pose[1] -= 0.1
 #rtde_control.moveL(new_pose)
 #exit()
 
+# max offset is (+0.3, -0.3)
+# generate 10 and try them out
+# but let's try to get it done with only 3 to begin with
+
 # TODO change this, i just shoved the pen through the board
-speed = [0, 0, -0.05, 0, 0, 0]
-for i in range(3):
+speed = [0, 0, -0.5, 0, 0, 0]
+n_tests = 5
+positions = []
+for i in range(n_tests):
     rtde_control.moveUntilContact(speed)
-    print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
-    init_pose = rtde_receive.getActualTCPPose()
-    new_pose = copy.deepcopy(init_pose)
-    new_pose[2] += 0.1
-    rtde_control.moveL(new_pose)
-    new_pose[1] += 0.1
-    rtde_control.moveL(new_pose)
-
-exit()
-
-while True:
     q = rtde_receive.getActualQ()
     q.append(0.0)
     q.append(0.0)
     pin.forwardKinematics(model, data, np.array(q))
     print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
-    print("pin:", *data.oMi[7].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
-    print("pin:", *data.oMi[8].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
     print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
-    time.sleep(0.005)
+    positions.append(copy.deepcopy(data.oMi[6].translation))
+    if i < n_tests -1:
+        current_pose = rtde_receive.getActualTCPPose()
+        new_pose = copy.deepcopy(current_pose)
+        new_pose[2] = init_pose[2]
+        rtde_control.moveL(new_pose)
+        new_pose[0] = init_pose[0] + np.random.random() * 0.3
+        new_pose[1] = init_pose[1] - np.random.random() * 0.2
+        rtde_control.moveL(new_pose)
+
+current_pose = rtde_receive.getActualTCPPose()
+new_pose = copy.deepcopy(current_pose)
+new_pose[2] = init_pose[2]
+rtde_control.moveL(new_pose)
+rtde_control.moveL(init_pose)
+
+# find the angle
+positions = np.array(positions)
+
+
+print("positions")
+print(*positions, sep=',\n')
+# the offset does not matter, we only need the angle
+# i.e. the normal vector to the plane
+n = np.linalg.lstsq(positions, np.ones(len(positions)), rcond=None)[0]
+print("n", *n, sep=',')
+# normalize
+#n = n - 1
+n = n / np.linalg.norm(n)
+print("n normalized:", *n, sep=',')
+for p in positions:
+    print("cdot", p @ n)
+z_new = n
+x_new = np.array([1.0, 0.0, 0.0])
+y_new = np.cross(x_new, z_new)
+# it just is
+z_new = z_new * -1
+# y is good tho
+R = np.hstack((x_new.reshape((3,1)), y_new.reshape((3,1))))
+R = np.hstack((R, z_new.reshape((3,1))))
+
+print('rot mat to new frame:')
+print(*R, sep=',\n')
+# question now is in what f-ing frame is this n in
+# has to be base frame because that's where the position numbers are from
+# so
+# rot @ np.eye(3) = n
+# but n is one vector
+# keep x where it was?, make y complete the frame?
diff --git a/util/jog_example b/util/jog_example
index b5d7c27ef76687a2827fe8d15963460c7fbf8d6c..b6b524d6df0ad8cc8a8b56f09061206f3d78f9f1 100755
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diff --git a/util/math_tst.py b/util/math_tst.py
new file mode 100644
index 0000000..3e02ce7
--- /dev/null
+++ b/util/math_tst.py
@@ -0,0 +1,20 @@
+import numpy as np
+
+positions = np.array([[0.102 ,0.5755 ,0.5474 ],
+[0.102 ,0.5755 ,0.5474 ],
+[0.1882, 0.3965, 0.4246],
+[0.1882, 0.3965, 0.4246],
+[0.2379, 0.4054, 0.4328],
+[0.2379, 0.4054, 0.4328],
+[0.1641, 0.4749, 0.4823],
+[0.1641, 0.4749, 0.4823],
+[0.2363, 0.4265, 0.4495],
+[0.2363, 0.4265, 0.4495]])
+
+
+print(np.linalg.matrix_rank(positions))
+# of course it's not 2 - both the board isn't flat
+# nor are the measurements precise
+
+# (m x 3) @ (3) = as close to 0
+sol = np.linalg.lstsq(positions, np.ones(len(positions)), rcond=None)
diff --git a/util/measuring_stick.py b/util/measuring_stick.py
index 83737cf..97708bc 100644
--- a/util/measuring_stick.py
+++ b/util/measuring_stick.py
@@ -39,6 +39,7 @@ while True:
     q.append(0.0)
     q.append(0.0)
     pin.forwardKinematics(model, data, np.array(q))
+    print(data.oMi[6])
     print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
     print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
     time.sleep(0.005)
diff --git a/util/open_close_gripper.py b/util/open_close_gripper.py
index 023b319..2f53b48 100644
--- a/util/open_close_gripper.py
+++ b/util/open_close_gripper.py
@@ -11,7 +11,7 @@ import matplotlib.pyplot as plt
 
 
 def handler(signum, frame):
-    gripper.move(255,100,100)
+    gripper.move(255,255,255)
     time.sleep(3)
     exit()
 
-- 
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