diff --git a/TODOS_2024-03-23 b/TODOS_2024-03-23
new file mode 100644
index 0000000000000000000000000000000000000000..e9c3b94327794be2d5173d9a705110667744e4f9
--- /dev/null
+++ b/TODOS_2024-03-23
@@ -0,0 +1,15 @@
+in order of priority
+--------------------
+1. real-time plotting (need to see what's happening as it's happening,
+ this is here primarily to aid in debugging)
+---> have a list of what's possible to plot and then select what's selected
+2. debug dmp end-of-trajectory shennanigans
+3. implement compliantMoveL
+4. fix getMarkerOffset
+5. add waypoints to marker pick up
+6. fix anything that looks problematic in drawing
+7. switch to robot_manager.step() to ensure you're not double-computing things
+8. implement cartesian dmp
+9. faster visualizing (process in a different thread)
+
+
diff --git a/python/examples/clik.py b/python/examples/clik.py
index 3a32ec245b32caf0e7f670ec1aec9a516bfdd575..cf298c24f8495e6e8a6873f43765b4fd4f4f10df 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -3,7 +3,7 @@ import argparse
from functools import partial
from ur_simple_control.managers import ControlLoopManager, RobotManager
# TODO merge the 2 clik files
-from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik
+from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik, moveL
# TODO write this in managers and automate name generation
from ur_simple_control.util.logging_utils import saveLog
@@ -31,8 +31,10 @@ def get_args():
help="whether you are running the UR simulator", default=False)
parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
help="whether you want to just integrate with pinocchio", default=False)
- parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
- help="whether you want to visualize with gepetto, but NOTE: not implemented yet", default=False)
+ parser.add_argument('--visualize-manipulator', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize the manipulator and workspace with meshcat", default=False)
+ parser.add_argument('--real-time-plotting', action=argparse.BooleanOptionalAction,
+ help="whether you want to have some real-time matplotlib graphs (parts of log_dict you select)", default=False)
parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
help="whether you're using the gripper", default=False)
parser.add_argument('--goal-error', type=float, \
@@ -73,16 +75,18 @@ if __name__ == "__main__":
Mgoal = robot.defineGoalPointCLI()
clik_controller = getClikController(args)
controlLoop = partial(controlLoopClik, robot, clik_controller)
- log_dict = {
- 'qs' : np.zeros((args.max_iterations, robot.model.nq)),
- 'dqs' : np.zeros((args.max_iterations, robot.model.nq)),
+ log_item = {
+ 'qs' : np.zeros(robot.model.nq),
+ 'dqs' : np.zeros(robot.model.nq),
}
# we're not using any past data or logging, hence the empty arguments
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
# TODO create a logging function in util.
# something that generates a file name from something in args.
# also save args there
log_dict, final_iteration = loop_manager.run()
+
if args.save_log:
saveLog(log_dict, final_iteration, args)
+ loop_manager.stopHandler(None, None)
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index a0b8d642c6528d79754ac34332f0e72a11473710..850fd255c8215692608de0309f8eb485d5626b67 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -11,6 +11,7 @@
import pinocchio as pin
import numpy as np
import matplotlib.pyplot as plt
+import matplotlib
import copy
import argparse
import time
@@ -46,9 +47,10 @@ def getArgs():
help="whether you want to just integrate with pinocchio.\
NOTE: doesn't actually work because it's not a physics simulator", \
default=False)
- parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
- help="whether you want to visualize with gepetto, but \
- NOTE: not implemented yet", default=False)
+ parser.add_argument('--visualize-manipulator', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize the manipulator and workspace with meshcat", default=False)
+ parser.add_argument('--real-time-plotting', action=argparse.BooleanOptionalAction,
+ help="whether you want to have some real-time matplotlib graphs (parts of log_dict you select)", default=False)
parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
help="whether you're using the gripper", default=False)
parser.add_argument('--acceleration', type=float, \
@@ -196,11 +198,11 @@ def getMarker(args, robot):
# instantiate controller
clik_controller = getClikController(args)
controlLoop = partial(controlLoopClik, robot, clik_controller)
- log_dict = {
- 'qs' : np.zeros((args.max_iterations, robot.model.nq)),
- 'dqs' : np.zeros((args.max_iterations, robot.model.nq)),
+ log_item = {
+ 'qs' : np.zeros(robot.model.nq),
+ 'dqs' : np.zeros(robot.model.nq),
}
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
print("going to above marker")
robot.Mgoal = TgoalUP.copy()
@@ -372,10 +374,13 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
log_item['dmp_poss'] = dmp.pos.reshape((6,))
log_item['dqs'] = dq.reshape((6,))
log_item['dmp_vels'] = dmp.vel.reshape((6,))
+ log_item['wrench'] = wrench.reshape((6,))
+ log_item['tau'] = tau.reshape((6,))
return breakFlag, save_past_dict, log_item
if __name__ == "__main__":
+
#######################################################################
# software setup #
#######################################################################
@@ -394,7 +399,10 @@ if __name__ == "__main__":
# draw the path on the screen
if args.draw_new:
+ # pure evil way to solve a bug that was pure evil
+ matplotlib.use('tkagg')
pixel_path = drawPath(args)
+ matplotlib.use('qtagg')
# make it 3D
else:
pixel_path_file_path = './path_in_pixels.csv'
@@ -496,10 +504,10 @@ if __name__ == "__main__":
# TODO test whether this works (it should, but test it)
# test the interplay between this and the speed slider
# ---> SPEED SLIDER HAS TO BE AT 1.0
- v_max_ndarray = np.ones(robot.n_joints) * robot.max_qd #* args.speed_slider
+ v_max_ndarray = np.ones(robot.n_arm_joints) * robot.max_qd #* args.speed_slider
# test the interplay between this and the speed slider
# args.acceleration is the actual maximum you're using
- a_max_ndarray = np.ones(robot.n_joints) * args.acceleration #* args.speed_slider
+ a_max_ndarray = np.ones(robot.n_arm_joints) * args.acceleration #* args.speed_slider
tc = TCVelAccConstrained(args.gamma_nominal, args.gamma_a, v_max_ndarray, a_max_ndarray, args.eps_tc)
# TODO and NOTE the weight, TCP and inertial matrix needs to be set on the robot
@@ -515,14 +523,14 @@ if __name__ == "__main__":
'wrench' : np.zeros(6),
}
# here you give it it's initial value
- log_dict = {
- 'qs' : np.zeros((args.max_iterations, 6)),
- 'dmp_poss' : np.zeros((args.max_iterations, 6)),
- 'dqs' : np.zeros((args.max_iterations, 6)),
- 'dmp_vels' : np.zeros((args.max_iterations, 6)),
+ log_item = {
+ 'qs' : np.zeros(robot.n_arm_joints),
+ 'dmp_poss' : np.zeros(robot.n_arm_joints),
+ 'dqs' : np.zeros(robot.n_arm_joints),
+ 'dmp_vels' : np.zeros(robot.n_arm_joints),
+ 'wrench' : np.zeros(6),
+ 'tau' : np.zeros(robot.n_arm_joints),
}
- controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
- loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
#######################################################################
# physical setup #
#######################################################################
@@ -545,12 +553,17 @@ if __name__ == "__main__":
mtool = robot.getMtool(q_given=first_q)
#mtool.translation[1] = mtool.translation[1] - 0.0035
mtool.translation[1] = mtool.translation[1] - 0.012
+ if args.debug_prints:
+ print("im at:", robot.getMtool())
+ print("going to:", mtool)
print('going to starting write position')
# TODO: write a compliantMoveL - be careful that everything is in the body frame
# since your jacobian is the body jacobian!!!
moveL(args, robot, mtool)
#moveJ(args, robot, dmp.pos.reshape((6,)))
+ controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
+ loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
# and now we can actually run
log_dict, final_iteration = loop_manager.run()
#loop_manager.stopHandler(None, None)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 2dbab5ec77811f0bc1d807f76d62cb0b9eec2fdc..27c72f430fa4e4ff3f77a6cbf2068d54142a8464 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,4350 +1,7199 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index a55a6f859a818118e7c8a1697bf7d88b76ae490e..fec04227694d6d7d224516efec65b4917df923f1 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/joint_trajectory.csv b/python/joint_trajectory.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd2eaa62adb99e423920b54030ba979ded28d6ee
--- /dev/null
+++ b/python/joint_trajectory.csv
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diff --git a/python/path_in_pixels.csv b/python/path_in_pixels.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa2da6b86e1a2da828316040bb983a11b2917be2
--- /dev/null
+++ b/python/path_in_pixels.csv
@@ -0,0 +1,24 @@
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diff --git a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc
index 5455df7279181101a5bbc6a30cb325d201481eab..278ae766df43c7922059b8626aa229b37a25a8ea 100644
Binary files a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc and b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc differ
diff --git a/python/ur_simple_control/basics/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/basics/__pycache__/__init__.cpython-311.pyc
index 365e03849ae95513d34c4a86d71412c495a29df3..46754c908e5bf6f1099bbea41f50042c6e03f530 100644
Binary files a/python/ur_simple_control/basics/__pycache__/__init__.cpython-311.pyc and b/python/ur_simple_control/basics/__pycache__/__init__.cpython-311.pyc differ
diff --git a/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc b/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc
index bd8ded4dfba677133962cb31a6759bb16044798a..d015b983dfd1f3a5c10e8f110c39caab5852592e 100644
Binary files a/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc and b/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc differ
diff --git a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-311.pyc b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-311.pyc
index 9b3a270c6e1c04ea59a98227f6d366babc3201fd..6d54d607bb2c5e41063b9c43b89277f3124eb954 100644
Binary files a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-311.pyc and b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-311.pyc differ
diff --git a/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-311.pyc b/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-311.pyc
index 18db5c996e4046d8835349b00b98255b309ada41..bd7ec689a085ec851760ba7fdeef9af6ec978125 100644
Binary files a/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-311.pyc and b/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-311.pyc differ
diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index ba8399c1675a5522e05d691cb9155eefdb023440..ca9cc340f3c6f65591ff30ba64b63f11b3c381cf 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -27,6 +27,8 @@ def get_args():
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--simulation', action=argparse.BooleanOptionalAction,
help="whether you are running the UR simulator", default=False)
+ parser.add_argument('--debug_prints', action=argparse.BooleanOptionalAction,
+ help="print some info for debugging", default=False)
parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
help="whether you want to just integrate with pinocchio", default=False)
parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
@@ -225,7 +227,11 @@ def moveL(args, robot, goal_point):
clik_controller = getClikController(args)
controlLoop = partial(controlLoopClik, robot, clik_controller)
# we're not using any past data or logging, hence the empty arguments
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
+ log_item = {
+ 'qs' : np.zeros(robot.model.nq),
+ 'dqs' : np.zeros(robot.model.nq),
+ }
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
log_dict, final_iteration = loop_manager.run()
# TODO: remove, this isn't doing anything
time.sleep(0.01)
diff --git a/python/ur_simple_control/clik/clik_trajectory_following.py b/python/ur_simple_control/clik/clik_trajectory_following.py
index c57b099427e0c0c03a5048b52cbfc26c634c43d6..621be7dc9234cc8bc663b6f0d9c5bb9ccc6bf797 100644
--- a/python/ur_simple_control/clik/clik_trajectory_following.py
+++ b/python/ur_simple_control/clik/clik_trajectory_following.py
@@ -130,7 +130,10 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
else:
if i == args.max_running_clik_iterations - 1:
print("DID NOT CONVERGE -- exiting")
- ControlLoopManager.stopHandler(None, None)
+ # nothing is moving
+ # and i'm not even using a manager here
+ # so no need, right?
+ #ControlLoopManager.stopHandler(None, None, None)
exit()
##############################################
diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc
index b69c2546b2f2d3fb8359d3d6fa2b74bce0dfc2e6..dfdea907d28b992845d18251ccc1b2c9062a2a40 100644
Binary files a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc and b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc differ
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 716a238d6d44df1c272c3c5decf47050f656e220..7d0f8e9a48bc5827029d7a6b2f539d9f9979b0a0 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -16,8 +16,9 @@ import copy
import signal
from ur_simple_control.util.get_model import get_model
from collections import deque
-from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.visualize.visualize import plotFromDict, realTimePlotter
from pinocchio.visualize import MeshcatVisualizer
+from multiprocessing import Process, Queue
"""
general notes
@@ -99,30 +100,51 @@ Other info:
"""
class ControlLoopManager:
- def __init__(self, robot_manager, controlLoop, args, save_past_dict, log_dict):
+ def __init__(self, robot_manager, controlLoop, args, save_past_item, log_item):
signal.signal(signal.SIGINT, self.stopHandler)
self.max_iterations = args.max_iterations
self.robot_manager = robot_manager
self.controlLoop = controlLoop
+ self.final_iteration = -1 # because we didn't even start yet
self.args = args
self.past_data = {}
# save_past_dict has to have the key and 1 example of what you're saving
# so that it's type can be inferred (but we're in python so types don't really work).
# the good thing is this way you also immediatelly put in the initial values
- for key in save_past_dict:
+ for key in save_past_item:
self.past_data[key] = deque()
# immediatelly populate every deque with initial values
- for i in range(args.past_window_size):
+ for i in range(self.args.past_window_size):
# deepcopy just in case, better safe than sorry plus it's during initialization,
# not real time
- self.past_data[key].append(copy.deepcopy(save_past_dict[key]))
+ self.past_data[key].append(copy.deepcopy(save_past_item[key]))
# similar story for log_dict as for past_data,
# except this is not used in the control loop,
- # and we pre-declare the sizes
- # TODO the itialization is done on client side,
- # but i want to do it here. this is a big ick
- self.log_dict = log_dict
+ # we don't predeclare sizes, but instead
+ # just shove items into linked lists (python lists) in dictionaries (hash-maps)
+ self.log_dict = {}
+ for key in log_item:
+ self.log_dict[key] = []
+
+ if self.args.real_time_plotting:
+ self.plotter_queue = Queue()
+ if args.debug_prints:
+ print("CONTROL_LOOP_MANAGER", self.controlLoop, ": i created queue:", self.plotter_queue)
+ print("CONTROL_LOOP_MANAGER: i am creating and starting the real-time-plotter process")
+ self.real_time_plotter_process = Process(target=realTimePlotter,
+ args=(self.args, self.plotter_queue, ))
+ # give real-time plotter some time to set itself up
+ self.real_time_plotter_process.start()
+ if args.debug_prints:
+ print("CONTROL_LOOP_MANAGER: real_time_plotter started")
+ # wait for feedback that the thing has started
+ self.plotter_queue.get()
+ self.plotter_queue.put(log_item)
+ if args.debug_prints:
+ print("CONTROL_LOOP_MANAGER: i managed to put initializing log_item to queue")
+ # let it boot up, hope you're not in a hurry lmao
+ time.sleep(1)
"""
run
@@ -138,7 +160,9 @@ class ControlLoopManager:
start = time.time()
# TODO make the arguments to controlLoop kwargs or whatever
# so that you don't have to declare them on client side if you're not using them
- breakFlag, latest_to_save_dict, log_entry_dict = self.controlLoop(i, self.past_data)
+ breakFlag, latest_to_save_dict, log_item = self.controlLoop(i, self.past_data)
+ self.final_iteration = i
+
# update past rolling window
# TODO: write an assert assuring the keys are what's been promised
# (ideally this is done only once, not every time, so think whether/how that can be avoided)
@@ -151,21 +175,35 @@ class ControlLoopManager:
# log the data
# check that you can
# TODO only need to check this once, pls enforce better
- for key in log_entry_dict:
- if key not in self.log_dict.keys():
- break
- #self.robot_manager.stopHandler(None, None)
- self.log_dict[key][i] = log_entry_dict[key]
+ #if len(self.log_dict) > 0:
+ for key in log_item:
+ #if key not in self.log_dict.keys():
+ # raise KeyError("you need to provide log items you promised!")
+ # break
+ #self.robot_manager.stopHandler(None, None)
+ self.log_dict[key].append(log_item[key])
- # TODO: offload this to a different
- # process, it's hindering real-time performance (not by a lot,
- # but it does)
- if self.args.visualize:
- if i % 20 == 0:
+ if i % 20 == 0:
+ # TODO: offload this to a different
+ # process, it's hindering real-time performance (not by a lot,
+ # but it does)
+ # --> replicate what's done for real_time_plotting
+ if self.args.visualize_manipulator:
self.robot_manager.viz.display(self.robot_manager.q)
+ if self.args.real_time_plotting:
+ # don't put new stuff in if it didn't handle the previous stuff.
+ # it's a plotter, who cares if it's late.
+ # the number 5 is arbitrary
+ if self.plotter_queue.qsize() < 5:
+ self.plotter_queue.put_nowait(log_item)
+ if self.args.debug_prints:
+ print("queue size status:", self.plotter_queue.qsize())
+
# break if done
if breakFlag:
break
+
+ # sleep for the rest of the frequency cycle
end = time.time()
diff = end - start
if self.robot_manager.dt < diff:
@@ -174,13 +212,29 @@ class ControlLoopManager:
continue
else:
time.sleep(self.robot_manager.dt - diff)
- self.final_iteration = i
+
+
if self.args.debug_prints:
if i < self.max_iterations -1:
print("success in", i, "iterations!")
else:
print("FAIL: did not succed in", max_iterations, "iterations")
+ if self.args.real_time_plotting:
+ if self.args.debug_prints:
+ print("i am putting befree in plotter_queue to stop the real time visualizer")
+ self.plotter_queue.put_nowait("befree")
+ # just fcks me over when i call again from stopHandler,
+ # and that really needs to work
+ #self.plotter_queue.close()
+ # give it time to become free
+ time.sleep(0.1)
+ self.real_time_plotter_process.join()
+
+ # now turn the logs into numpy arrays
+ for key in self.log_dict:
+ self.log_dict[key] = np.array(self.log_dict[key])
+
return self.log_dict, self.final_iteration
"""
@@ -196,15 +250,30 @@ class ControlLoopManager:
print('sending 300 speedjs full of zeros and exiting')
for i in range(300):
vel_cmd = np.zeros(6)
- self.robot_manager.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+ #self.robot_manager.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+ self.robot_manager.sendQd(vel_cmd)
# hopefully this actually stops it
- self.robot_manager.rtde_control.speedStop(1)
- print("sending a stopj as well")
- self.robot_manager.rtde_control.stopJ(1)
- print("putting it to freedrive for good measure too")
- self.robot_manager.rtde_control.freedriveMode()
+ if not self.args.pinocchio_only:
+ self.robot_manager.rtde_control.speedStop(1)
+ print("sending a stopj as well")
+ self.robot_manager.rtde_control.stopJ(1)
+ print("putting it to freedrive for good measure too")
+ self.robot_manager.rtde_control.freedriveMode()
+
+ # need to turn logs into ndarrays here too
+ for key in self.log_dict:
+ self.log_dict[key] = np.array(self.log_dict[key])
plotFromDict(self.log_dict, self.final_iteration, self.args)
- self.robot_manager.rtde_control.endFreedriveMode()
+
+ if not self.args.pinocchio_only:
+ self.robot_manager.rtde_control.endFreedriveMode()
+ # TODO: add visualizer here too
+ if self.args.real_time_plotting:
+ if self.args.debug_prints:
+ print("i am putting befree in plotter_queue to stop the real time visualizer")
+ self.plotter_queue.put_nowait("befree")
+ self.real_time_plotter_process.join()
+ #exit()
"""
robotmanager:
@@ -243,7 +312,7 @@ class RobotManager:
# we're using meshcat exclusively.
# there are no good options,
# but this does work and isn't a dead project
- if args.visualize:
+ if args.visualize_manipulator:
# for whatever reason the hand-e files don't have/
# meshcat can't read scaling information.
# so we scale manually
@@ -256,6 +325,48 @@ class RobotManager:
self.viz = MeshcatVisualizer(self.model, self.collision_model, self.visual_model)
self.viz.initViewer(open=True)
self.viz.loadViewerModel()
+ # give meshcat some time to start (not really necessary, but
+ # you yourself need some time to clik on the browser,
+ # and you probably want the viz to be initialized
+ # before the robot starts moving)
+ time.sleep(2)
+# if args.real_time_plotting:
+# self.plotter_queue = Queue()
+# self.real_time_plotter_process = Process(target=realTimePlotter,
+# args=(self.plotter_queue, ))
+# # give real-time plotter some time to set itself up
+# self.real_time_plotter_process.start()
+# time.sleep(0.5)
+
+ # ur specific magic numbers
+ # NOTE: all of this is ur-specific, and needs to be if-ed if other robots are added.
+ # TODO: this is 8 in pinocchio and that's what you actually use
+ # if we're being real lmao
+ # the TODO here is make this consistent obviously
+ self.n_arm_joints = 6
+ # last joint because pinocchio adds base frame as 0th joint.
+ # and since this is unintuitive, we add the other variable too
+ # so that the control designer doesn't need to think about such bs
+ self.JOINT_ID = 6
+ self.update_rate = 500 #Hz
+ self.dt = 1 / self.update_rate
+ # you better not give me crazy stuff
+ # and i'm not clipping it, you're fixing it
+ assert args.acceleration <= 1.7 and args.acceleration > 0.0
+ # this is the number passed to speedj
+ self.acceleration = args.acceleration
+ # NOTE: this is evil and everything only works if it's set to 1
+ # you really should control the acceleration via the acceleration argument.
+ assert args.speed_slider <= 1.0 and args.acceleration > 0.0
+ # TODO: these are almost certainly higher
+ # NOTE and TODO: speed slider is evil, put it to 1, handle the rest yourself.
+ # NOTE: i have no idea what's the relationship between max_qdd and speed slider
+ #self.max_qdd = 1.7 * args.speed_slider
+ # NOTE: this is an additional kinda evil speed limitation (by this code, not UR).
+ # we're clipping joint velocities with this.
+ # if your controllers are not what you expect, you might be commanding a very high velocity,
+ # which is clipped, resulting in unexpected movement.
+ self.max_qd = 0.5 * args.speed_slider
# TODO: make general
@@ -298,38 +409,9 @@ class RobotManager:
self.rtde_receive = RTDEReceiveInterface("127.0.0.1")
self.rtde_io = RTDEIOInterface("127.0.0.1")
- # ur specific magic numbers
- # NOTE: all of this is ur-specific, and needs to be if-ed if other robots are added.
- # TODO: this is 8 in pinocchio and that's what you actually use
- # if we're being real lmao
- # the TODO here is make this consistent obviously
- self.n_arm_joints = 6
- # last joint because pinocchio adds base frame as 0th joint.
- # and since this is unintuitive, we add the other variable too
- # so that the control designer doesn't need to think about such bs
- self.JOINT_ID = 6
- self.update_rate = 500 #Hz
- self.dt = 1 / self.update_rate
- # you better not give me crazy stuff
- # and i'm not clipping it, you're fixing it
- assert args.acceleration <= 1.7 and args.acceleration > 0.0
- # this is the number passed to speedj
- self.acceleration = args.acceleration
- # NOTE: this is evil and everything only works if it's set to 1
- # you really should control the acceleration via the acceleration argument.
- assert args.speed_slider <= 1.0 and args.acceleration > 0.0
self.speed_slider = args.speed_slider
if not args.pinocchio_only:
self.rtde_io.setSpeedSlider(args.speed_slider)
- # TODO: these are almost certainly higher
- # NOTE and TODO: speed slider is evil, put it to 1, handle the rest yourself.
- # NOTE: i have no idea what's the relationship between max_qdd and speed slider
- #self.max_qdd = 1.7 * args.speed_slider
- # NOTE: this is an additional kinda evil speed limitation (by this code, not UR).
- # we're clipping joint velocities with this.
- # if your controllers are not what you expect, you might be commanding a very high velocity,
- # which is clipped, resulting in unexpected movement.
- self.max_qd = 0.5 * args.speed_slider
"""
calibrateFT
@@ -536,7 +618,10 @@ class RobotManager:
return wrench
def getWrench(self):
- self.wrench = np.array(self.rtde_receive.getActualTCPForce()) - self.wrench_offset
+ if not self.pinocchio_only:
+ self.wrench = np.array(self.rtde_receive.getActualTCPForce()) - self.wrench_offset
+ else:
+ self.wrench = np.random.random(self.n_arm_joints)
return self.wrench.copy()
"""
@@ -559,6 +644,13 @@ class RobotManager:
self.rtde_control.speedJ(qd_cmd, self.acceleration, self.dt)
else:
# this one takes all 8 elements of qd since we're still in pinocchio
+ # this is ugly, todo: fix
+ if len(qd) == 6:
+ qd = qd.reshape((6,))
+ qd = list(qd)
+ qd.append(0.0)
+ qd.append(0.0)
+ qd = np.array(qd)
self.q = pin.integrate(self.model, self.q, qd * self.dt)
diff --git a/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-311.pyc
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diff --git a/python/ur_simple_control/util/__pycache__/draw_path.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/draw_path.cpython-311.pyc
index 23e3c67c35826439c4c8181d26cb517804e294a3..7a563b7a7003b18cc44e56c7becc4c8bc9f83fec 100644
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diff --git a/python/ur_simple_control/util/__pycache__/freedrive.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/freedrive.cpython-311.pyc
index ab42d0ed7150f7f0ccd976b8ca6494a1da93e2a5..bf0e9a6472218454360769e79d76b2c88ed33ffe 100644
Binary files a/python/ur_simple_control/util/__pycache__/freedrive.cpython-311.pyc and b/python/ur_simple_control/util/__pycache__/freedrive.cpython-311.pyc differ
diff --git a/python/ur_simple_control/util/draw_path.py b/python/ur_simple_control/util/draw_path.py
index 4a54dca26f391b847aa8811f09a76e632748e387..b06db178645e9bdce5a13178429b022089c150a6 100644
--- a/python/ur_simple_control/util/draw_path.py
+++ b/python/ur_simple_control/util/draw_path.py
@@ -18,6 +18,7 @@ import matplotlib.pyplot as plt
# Thus it is the correct tool for the job and there's no need
# to reimplement it from mouse events.
from matplotlib.widgets import LassoSelector
+from ur_simple_control.clik.clik_point_to_point import get_args
# Path is the most generic matplotlib class.
# It has some convenient functions to handle the draw line,
# i.e. collection of points, but just refer to matplotlib
@@ -45,7 +46,7 @@ class DrawPathManager:
# made to save and exit
def accept(self, event):
if event.key == "enter":
- if args.debug_prints:
+ if self.args.debug_prints:
print("pixel path:")
print(self.path)
self.disconnect()
@@ -74,4 +75,12 @@ def drawPath(args):
if __name__ == '__main__':
+ args = get_args()
drawPath(args)
+ #plt.ion()
+ #fig = plt.figure()
+ #canvas = fig.canvas
+ #ax = fig.add_subplot(111)
+ #ax.plot(np.arange(100), np.sin(np.arange(100)))
+ #canvas.draw()
+ #canvas.flush_events()
diff --git a/python/ur_simple_control/util/path_in_pixels.csv b/python/ur_simple_control/util/path_in_pixels.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99a805f95b3f92eb11cb419ff1357cc0df1d666e
--- /dev/null
+++ b/python/ur_simple_control/util/path_in_pixels.csv
@@ -0,0 +1,17 @@
+0.19034,0.61585
+0.22610,0.61585
+0.24249,0.61585
+0.25590,0.61585
+0.27229,0.62037
+0.31848,0.62037
+0.33189,0.62037
+0.34828,0.62037
+0.40788,0.62037
+0.42576,0.62490
+0.43321,0.62490
+0.48387,0.63093
+0.49877,0.63093
+0.50771,0.63093
+0.52410,0.63395
+0.52261,0.63395
+0.52261,0.63395
diff --git a/python/ur_simple_control/visualize/__pycache__/make_run.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/make_run.cpython-311.pyc
index 23e19ea34b35ec3423378895ac32ab709f55df04..00cb31d5333325fb66550d6d78158995c55770a6 100644
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diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc
index 44f507b6f1ebdeda62574ea70174ab2afce3bc34..ceacac05da4b5625053574aeb600448166a3a142 100644
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diff --git a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
index 59952dc1d02ab557f1ff176a436e9bb7495d3802..e949abd66610a22caf14e894e8144b76b539f8f5 100644
--- a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
+++ b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
@@ -879,6 +879,7 @@ if __name__ == "__main__":
log_data_file_name = "/home/gospodar/lund/praxis/projects/ur_simple_control/python/examples/data/clik_run_001.pickle"
args_file_name = "/home/gospodar/lund/praxis/projects/ur_simple_control/python/examples/data/clik_run_001_args.pickle"
log_data, args = loadRunForAnalysis(log_data_file_name, args_file_name)
+ args.visualize_manipulator = False
log_data = cleanUpRun(log_data, log_data['qs'].shape[0], 200)
robot = RobotManager(args)
log_data = loadRun(args, robot, log_data)
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-311.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-311.pyc
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diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index 4c7f71e165100d56a01d20fcd83d075e6847334e..6d8491efa669a753dab35222a26693e43ede3b93 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -1,5 +1,36 @@
import numpy as np
import matplotlib.pyplot as plt
+from collections import deque, namedtuple
+import time
+import copy
+
+# tkinter stuff
+from matplotlib.backends.backend_tkagg import (FigureCanvasTkAgg, NavigationToolbar2Tk)
+from tkinter import *
+from tkinter.ttk import *
+
+# rows and cols are flipped lel
+def getNRowsMColumnsFromTotalNumber(n_plots):
+ if n_plots == 1:
+ n_cols = 1
+ n_rows = 1
+ if n_plots == 2:
+ n_rows = 2
+ n_cols = 1
+ # i'm not going to bother with differently sized plots
+ if (n_plots == 3) or (n_plots == 4):
+ n_cols = 2
+ n_rows = 2
+ if (n_plots == 5) or (n_plots == 6):
+ n_cols = 2
+ n_rows = 3
+ if (n_plots >= 7) and (n_plots <= 9):
+ n_cols = 3
+ n_rows = 3
+ if n_plots >= 10:
+ raise NotImplementedError("sorry, you can only do up to 9 plots. more require tabs, and that's future work")
+ return n_rows, n_cols
+
"""
plotFromDict
@@ -9,18 +40,14 @@ plots logs stored in a dictionary
is what you plot
"""
def plotFromDict(plot_data, final_iteration, args):
- # TODO cut zeros from data
- # TODO: replace with actual time
- # --> you should be able to extract/construct this from dmp data
- # or some timing
+ # TODO: replace with actual time ( you know what dt is from args)
t = np.arange(final_iteration)
- # TODO make the plot number assignment general
- n_cols = 2
- n_rows = 2
+ n_cols, n_rows = getNRowsMColumnsFromTotalNumber(len(plot_data))
# this is what subplot wants
subplot_col_row = str(n_cols) + str(n_rows)
ax_dict ={}
- # TODO: choose a nice color palette
+ # NOTE: cutting off after final iterations is a vestige from a time
+ # when logs were prealocated arrays, but it ain't hurtin' nobody as it is
for i, data_key in enumerate(plot_data):
colors = plt.cm.jet(np.linspace(0, 1, plot_data[data_key].shape[1]))
ax_dict[data_key] = plt.subplot(int(subplot_col_row + str(i + 1)))
@@ -30,9 +57,102 @@ def plotFromDict(plot_data, final_iteration, args):
plt.show()
-# you need to write out specifications for this.
-# only then implement.
-# this is too fucked to try to do it from your head
-#class RealTimePlotter:
-# def __init__(self, TODO):
+"""
+realTimePlotter
+---------------
+- true to its name
+"""
+# STUPID MATPLOTLIB CAN'T HANDLE MULTIPLE FIGURES FROM DIFFERENT PROCESS
+# LITERALLY REFUSES TO GET ME A FIGURE
+def realTimePlotter(args, queue):
+ if args.debug_prints:
+# print("REAL_TIME_PLOTTER: real time visualizer has been summoned")
+ print("REAL_TIME_PLOTTER: i got this queue:", queue)
+ plt.ion()
+ fig = plt.figure()
+ canvas = fig.canvas
+ queue.put("success")
+ logs_deque = {}
+ logs_ndarrays = {}
+ AxisAndArtists = namedtuple("AxAndArtists", "ax artists")
+ axes_and_updating_artists = {}
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: i am waiting for the first log_item to initialize myself")
+ log_item = queue.get()
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: got log_item, i am initializing the desired plots")
+ ROLLING_BUFFER_SIZE = 100
+ t = np.arange(ROLLING_BUFFER_SIZE)
+
+ n_cols, n_rows = getNRowsMColumnsFromTotalNumber(len(log_item))
+ # this is what subplot wants
+ subplot_col_row = str(n_cols) + str(n_rows)
+ # preload some zeros and initialize plots
+ for i, data_key in enumerate(log_item):
+ # you give single-vector numpy arrays, i instantiate and plot lists of these
+ # so for your (6,) vector, i plot (N, 6) ndarrays resulting in 6 lines of length N.
+ # i manage N because plot data =/= all data for efficiency reasons.
+ assert type(log_item[data_key]) == np.ndarray
+ assert len(log_item[data_key].shape) == 1
+ # prepopulate with zeros via list comperhension (1 item is the array, the queue is
+ # ROLLING_BUFFER_SIZE of such arrays, and these go in and out at every time step)
+ logs_deque[data_key] = deque([log_item[data_key] for index in range(ROLLING_BUFFER_SIZE)])
+ # i can only plot np_arrays, so these queues will have to be turned to nparray at every timestep
+ # thankfull, deque is an iterable
+ logs_ndarrays[data_key] = np.array(logs_deque[data_key])
+ colors = plt.cm.jet(np.linspace(0, 1, log_item[data_key].shape[0]))
+ ax = fig.add_subplot(int(subplot_col_row + str(i + 1)))
+ # some hacks, i'll have to standardize things somehow
+ if data_key == 'qs':
+ ax.set_ylim(bottom=-6.14, top=6.14)
+ if data_key == 'dmp_poss':
+ ax.set_ylim(bottom=-6.14, top=6.14)
+ if data_key == 'dqs':
+ ax.set_ylim(bottom=-1.7, top=1.7)
+ if data_key == 'dmp_vels':
+ ax.set_ylim(bottom=-1.7, top=1.7)
+ if data_key == 'wrench':
+ ax.set_ylim(bottom=-20.0, top=20.0)
+ if data_key == 'tau':
+ ax.set_ylim(bottom=-2.0, top=2.0)
+ axes_and_updating_artists[data_key] = AxisAndArtists(ax, {})
+ for j in range(log_item[data_key].shape[0]):
+ # the comma is because plot retuns ax, sth_unimportant.
+ # and python let's us assign iterable return values like this
+ axes_and_updating_artists[data_key].artists[str(data_key) + str(j)], = \
+ axes_and_updating_artists[data_key].ax.plot(t, logs_ndarrays[data_key][:,j],
+ color=colors[j], label=data_key + "_" + str(j))
+ axes_and_updating_artists[data_key].ax.legend()
+
+ # need to call it once
+ canvas.draw()
+ canvas.flush_events()
+ #plt.show(block=False)
+ n_of_calls = 0
+ # can't get background, idk how to get it to work
+ #background = ?
+ background = fig.bbox
+ while True:
+ log_item = queue.get()
+ if log_item == "befree":
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: got befree, visualizer out")
+ break
+ n_of_calls += 1
+ for data_key in log_item:
+ # remove oldest
+ logs_deque[data_key].popleft()
+ # put in new one
+ logs_deque[data_key].append(log_item[data_key])
+ # make it an ndarray (plottable)
+ logs_ndarrays[data_key] = np.array(logs_deque[data_key])
+ # now shape == (ROLLING_BUFFER_SIZE, vector_dimension)
+ for j in range(logs_ndarrays[data_key].shape[1]):
+ axes_and_updating_artists[data_key].artists[str(data_key) + str(j)].set_data(t, logs_ndarrays[data_key][:,j])
+ axes_and_updating_artists[data_key].ax.draw_artist(\
+ axes_and_updating_artists[data_key].artists[str(data_key) + str(j)])
+ canvas.blit(fig.bbox)
+ canvas.flush_events()
+ plt.close(fig)
+