From 3eeac9d027ad23bf13d9a56539455cb4dd5f8020 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 20 Nov 2023 00:06:11 +0100
Subject: [PATCH] added the low-pass filter. needs testing tho. the only thing
not tried yet is hybrid force-motion control, that is the next and final
thing that could be good for the demo
---
.../open_close_gripper.py | 8 +-
.../.drawing_from_input_drawing.py.swp | Bin 45056 -> 36864 bytes
python/examples/drawing_from_input_drawing.py | 17 +-
python/examples/joint_trajectory.csv | 4238 ++++++++---------
python/examples/path_in_pixels.csv | 366 +-
python/ur_simple_control/.managers.py.swp | Bin 40960 -> 0 bytes
.../clik/.clik_trajectory_following.py.swp | Bin 20480 -> 0 bytes
.../util/.calib_board_hacks.py.swp | Bin 24576 -> 0 bytes
8 files changed, 2188 insertions(+), 2441 deletions(-)
delete mode 100644 python/ur_simple_control/.managers.py.swp
delete mode 100644 python/ur_simple_control/clik/.clik_trajectory_following.py.swp
delete mode 100644 python/ur_simple_control/util/.calib_board_hacks.py.swp
diff --git a/python/convenience_tool_box/open_close_gripper.py b/python/convenience_tool_box/open_close_gripper.py
index 2f53b48..1282489 100644
--- a/python/convenience_tool_box/open_close_gripper.py
+++ b/python/convenience_tool_box/open_close_gripper.py
@@ -1,7 +1,7 @@
from rtde_control import RTDEControlInterface as RTDEControl
from rtde_receive import RTDEReceiveInterface as RTDEReceive
from rtde_io import RTDEIOInterface
-from robotiq_gripper import RobotiqGripper
+from ur_simple_control.util.robotiq_gripper import RobotiqGripper
import pinocchio as pin
import numpy as np
import os
@@ -12,7 +12,7 @@ import matplotlib.pyplot as plt
def handler(signum, frame):
gripper.move(255,255,255)
- time.sleep(3)
+ time.sleep(2)
exit()
signal.signal(signal.SIGINT, handler)
@@ -22,4 +22,6 @@ gripper.connect("192.168.1.102", 63352)
gripper.activate()
time.sleep(3)
gripper.move(0,100,100)
-time.sleep(300)
+#time.sleep(300)
+input("press Enter to close and quit")
+handler(None, None)
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
index c061a573335cdd9389217cc9fdfe3698ab20895d..6cf925d12f431010f4c30a9c95291912b3547236 100644
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index d307dac..ac6c1b2 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -188,7 +188,11 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
# rolling average
# TODO: try doing a low-pass filter instead
# TODO: check where the shape of this is correct (should be, but check)
- 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 = 0.01
+ 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))
@@ -263,6 +267,17 @@ if __name__ == "__main__":
# TODO: make this an argument once the rest is OK
# ---> just go to the board while you have the marker ready to find this
# ---> do that right here
+ # put this in a correct place
+ #old_speed_slider = robot.speed_slider
+ #robot.setSpeedSlider(0.3)
+ #speed = [0, 0, -0.1, 0, 0, 0]
+ #robot.rtde_control.moveUntilContact(speed)
+ #current_pose = np.array(robot.rtde_receive.getActualTCPPose())
+ ## i only care about the z because i'm fixing the path atm
+ #marker_offset = translation_vector[2] - current_pose[2]
+ #robot.setSpeedSlider(old_speed_slider)
+
+ # TODO: change magic -0.0938 with market_offset (you first need to check that it works)
path = path + np.array([0.0, 0.0, -0.0938])
# create a joint space trajectory based on the 3D path
joint_trajectory = clikCartesianPathIntoJointPath(path, args, robot, \
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index c118ee3..54daf23 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,2240 +1,1998 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index dd8348d..9f8bdff 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
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--
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