From 0f388c16815a8d26198f7eee9b8f9411d2f06c92 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Thu, 23 Nov 2023 14:16:57 +0100
Subject: [PATCH] THIS IS THE CODE I RAN FOR ROBOTWEEK. IT WORKED FINE, BUT
THERE'S HIDDEN FIDDLING AND ASSUMPTIONS IN A BUNCH OF PLACES. READ IT
CAREFULLY IF YOU'RE PLANNING ON USING IT
---
python/convenience_tool_box/ft_readings.py | 2 +-
.../.drawing_from_input_drawing.py.swp | Bin 0 -> 40960 bytes
python/examples/drawing_from_input_drawing.py | 27 +-
python/examples/joint_trajectory.csv | 6039 +++++++++--------
python/examples/lil_test.py | 23 +-
python/examples/path_in_pixels.csv | 383 +-
python/examples/point_impedance_control.py | 2 +
python/fts.png | Bin 379140 -> 330375 bytes
8 files changed, 3490 insertions(+), 2986 deletions(-)
create mode 100644 python/examples/.drawing_from_input_drawing.py.swp
diff --git a/python/convenience_tool_box/ft_readings.py b/python/convenience_tool_box/ft_readings.py
index a43f9ef..65f21ae 100644
--- a/python/convenience_tool_box/ft_readings.py
+++ b/python/convenience_tool_box/ft_readings.py
@@ -22,7 +22,7 @@ robot = RobotManager(args)
ft_readings = []
dt = 1/500
#while True:
-for i in range(5000):
+for i in range(15000):
start = time.time()
q = robot.rtde_receive.getActualQ()
ft = robot.rtde_receive.getActualTCPForce()
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..60e0f9ab814cb312d953c2a43256ef52ecdb1fbe
GIT binary patch
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index d71f4e2..6a681a1 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -262,25 +262,32 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
# also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
#Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
#Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
- Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
+ #Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+ Z = np.diag(np.ones(6))
+ #Z = np.diag(np.array([0.1, 0.1, 1.0, 0.1, 0.1, 0.1]))
+
#Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
+ wrench = robot.getWrench()
+ wrench = wrench - wrench_offset
+ #wrench = np.average(np.array(past_data['wrench']), axis=0)
+
+ # first-order low pass filtering instead
+ # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
+ beta = 0.007
+ wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+
+ wrench = robot.getMtool().toDualActionMatrix().T @ wrench
wrench = Z @ robot.getWrench()
# evil hack because wrench is not zeros (why? - no idea whatsoever)
# TODO: run it empty and zero it
#wrench = wrench - np.array([-1.14156273, 11.05155707, 1.88523016, -0.06643418, 0.16550734, 0.09019818])
#wrench = wrench - np.array([ -2.89005509, 18.11969302, -1.92425821, -0.08124564, 0.08441558, 0.06800772])
#wrench = wrench - np.array( [ 0.38101014, -0.32524308, 0.50800527, -0.00830584, 0.06112097, 0.01231109])
- wrench = wrench - wrench_offset
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
- wrench = np.average(np.array(past_data['wrench']), axis=0)
if i % 100 == 0:
print(wrench)
- # first-order low pass filtering instead
- # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
- #beta = 0.01
- #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
pin.forwardKinematics(robot.model, robot.data, q)
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
dq = robot.getQd()[:6].reshape((6,1))
@@ -379,12 +386,12 @@ if __name__ == "__main__":
# NOTE GOOD FOR SHORT
#path = path + np.array([0.0, 0.0, -0.0750])
#path = path + np.array([0.0, 0.0, -0.0791])
- #path = path + np.array([0.0, 0.0, -0.0843])
+ path = path + np.array([0.0, 0.0, -0.0808])
# NOTE: THIS IS THE ONE
# NOTE: not a single one is the one, the f/t sensor sucks
# and this is the best number to change to get it to work [upside_down_emoji]
# but this is very close
- path = path + np.array([0.0, 0.0, -0.0803])
+ #path = path + np.array([0.0, 0.0, -0.0803])
#path = path + np.array([0.0, 0.0, -0.1043])
#path = path + np.array([0.0, 0.0, -0.0790])
#path = path + np.array([0.0, 0.0, -0.1573])
@@ -461,7 +468,7 @@ if __name__ == "__main__":
first_q = np.array(first_q)
#pin.forwardKinematics(robot.model, robot.data, first_q)
mtool = robot.getMtool(q_given=first_q)
- mtool.translation[1] = mtool.translation[1] - 0.004
+ mtool.translation[1] = mtool.translation[1] - 0.0035
moveL(args, robot, mtool)
#moveL
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index c374fa6..10cfead 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,2776 +1,3263 @@
-0.00000,1.18170,-1.44942,-1.41069,-0.28422,1.96014,0.00341
-0.00360,1.18192,-1.44939,-1.41025,-0.28469,1.95992,0.00342
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diff --git a/python/examples/lil_test.py b/python/examples/lil_test.py
index 872b15f..aacf81d 100644
--- a/python/examples/lil_test.py
+++ b/python/examples/lil_test.py
@@ -216,39 +216,32 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
- wrench = np.average(np.array(past_data['wrench']), axis=0)
+ #wrench = np.average(np.array(past_data['wrench']), axis=0)
# first-order low pass filtering instead
# beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
- beta = 0.001
-# wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+ beta = 0.1
+ wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
#Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
#Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
#Z = np.diag(np.array([1.0, 1.0, 0.1, 1.0, 1.0, 1.0]))
#Z = np.diag(np.ones(6))
copy_wrench = copy.deepcopy(wrench)
# wrench[1] =
- Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+ #Z = np.diag(np.array([0.1, 0.1, 1.0, 0.1, 0.1, 0.1]))
+ Z = np.diag(np.array(np.ones(6)))
#Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
#Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
# MAP WRENCH TO TCP FRAME
# print("before", wrench)
- if i % 100 == 0:
- print("before: ", end="")
- for w in wrench:
- if w < 0:
- print(np.round(w, 3), end=", ")
- else:
- print(np.round(w, 3), end=', ')
- print("")
# good idea, bad execution 1
# this one makes most sense
# wrench = robot.getMtool().toDualActionMatrix() @ wrench
# if it aint that then it could be
- #wrench = robot.getMtool().toDualActionMatrix().T @ wrench
+ wrench = robot.getMtool().toDualActionMatrix().T @ wrench
# and if it ain't that then it could be
- # wrench = robot.getMtool().inverse().toDualActionMatrix() @ wrench
+ #wrench = robot.getMtool().inverse().toDualActionMatrix() @ wrench
# this one is correct if i'm readying the book right
- wrench = robot.getMtool().inverse().toDualActionMatrix().T @ wrench
+ #wrench = robot.getMtool().inverse().toDualActionMatrix().T @ wrench
if i % 100 == 0:
print("after: ", end="")
diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index ef8780d..7b0cbe4 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,184 +1,199 @@
-0.48760,0.60700
-0.48760,0.60833
-0.48462,0.62155
-0.47268,0.64139
-0.46224,0.65990
-0.45627,0.66652
-0.44882,0.67313
-0.43241,0.68371
-0.42495,0.68768
-0.41898,0.69164
-0.41600,0.69429
-0.41152,0.69561
-0.40556,0.69958
-0.39959,0.70355
-0.39064,0.70884
-0.37721,0.71413
-0.36826,0.71809
-0.35633,0.72338
-0.34589,0.72735
-0.33545,0.73000
-0.30860,0.73529
-0.29815,0.73661
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-0.28324,0.73793
-0.27727,0.73793
-0.27280,0.73793
-0.26683,0.73793
-0.25937,0.73793
-0.24893,0.73529
-0.23998,0.73000
-0.23103,0.72471
-0.22357,0.71942
-0.21164,0.70751
-0.20865,0.70355
-0.20716,0.70090
-0.20418,0.69826
-0.20119,0.68900
-0.19821,0.67181
-0.19523,0.65065
-0.19523,0.64007
-0.19523,0.62023
-0.19672,0.60568
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-0.22954,0.53162
-0.23401,0.52236
-0.23699,0.51575
-0.24147,0.50914
-0.24594,0.50385
-0.24893,0.49724
-0.26086,0.48666
-0.28771,0.46814
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-0.30710,0.45756
-0.32351,0.45227
-0.34440,0.44698
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index c364b30..83e5c9f 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -230,6 +230,8 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
#Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
#Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
+ # the robot gives the wrench in the base frame for some unknown reason
+ wrench = robot.getMtool().toDualActionMatrix().T @ wrench
wrench = Z @ wrench
if i % 25 == 0:
for w in wrench:
diff --git a/python/fts.png b/python/fts.png
index 16481cb3bc6a9c6055fdad6d215d40089f7d4627..84adc854bf5f7081849a0b865471aa193eff2f33 100644
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