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-/usr/include/boost/math/special_functions/nonfinite_num_facets.hpp:
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+
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+
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+
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+
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+
+/opt/openrobots/include/hpp/fcl/shape/geometric_shapes.h:
+
+/usr/include/boost/math/special_functions/nonfinite_num_facets.hpp:
+
/usr/include/boost/asio/detail/assert.hpp:
/usr/include/asm-generic/int-ll64.h:
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-
-/usr/include/boost/asio/detail/impl/timer_queue_set.ipp:
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-/usr/include/c++/11/bits/algorithmfwd.h:
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-/usr/include/boost/fusion/view/reverse_view/detail/value_of_data_impl.hpp:
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+/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp:
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+/usr/include/boost/function_types/detail/encoding/aliases_undef.hpp:
+
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+
+/usr/include/eigen3/Eigen/src/Core/SolverBase.h:
+
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+
/usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h:
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+
+/usr/include/boost/asio/detail/thread_info_base.hpp:
+
+/usr/include/boost/mpl/aux_/front_impl.hpp:
+
+/usr/include/boost/type_traits/promote.hpp:
+
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+
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--- a/clik/build/CMakeFiles/clik.dir/flags.make
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-CXX_INCLUDES = -I/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3
+CXX_INCLUDES = -I/home/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3
CXX_FLAGS = -D_XOPEN_SOURCE=700 -D_FORTIFY_SOURCE=2 -O2 -fstack-protector -fomit-frame-pointer -pipe -pedantic -pedantic-errors -Werror -Weffc++ -Wall -Wextra -Wshadow -Wdeprecated -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith -Wuninitialized -Wunreachable-code -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable -Wunused-value -Wunused-variable -Wunused-result -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -std=gnu++14
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CMakeFiles/clik.dir/src/clik.cpp.o: \
- /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp \
+ /home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp \
/usr/include/stdc-predef.h \
/opt/openrobots/include/pinocchio/algorithm/jacobian.hpp \
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diff --git a/clik/build/Makefile b/clik/build/Makefile
index cf5555fe70f2bcefe388699cfbaeec572f15590d..7354d162dc28c63c0f04d3a76a6bbf151611e8ba 100644
--- a/clik/build/Makefile
+++ b/clik/build/Makefile
@@ -57,10 +57,10 @@ RM = /home/gospodar/.local/lib/python3.10/site-packages/cmake/data/bin/cmake -E
EQUALS = =
# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik
+CMAKE_SOURCE_DIR = /home/gospodar/lund/praxis/ur_simple_control/clik
# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build
+CMAKE_BINARY_DIR = /home/gospodar/lund/praxis/ur_simple_control/clik/build
#=============================================================================
# Targets provided globally by CMake.
@@ -87,9 +87,9 @@ rebuild_cache/fast: rebuild_cache
# The main all target
all: cmake_check_build_system
- $(CMAKE_COMMAND) -E cmake_progress_start /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build/CMakeFiles /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build//CMakeFiles/progress.marks
+ $(CMAKE_COMMAND) -E cmake_progress_start /home/gospodar/lund/praxis/ur_simple_control/clik/build/CMakeFiles /home/gospodar/lund/praxis/ur_simple_control/clik/build//CMakeFiles/progress.marks
$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 all
- $(CMAKE_COMMAND) -E cmake_progress_start /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build/CMakeFiles 0
+ $(CMAKE_COMMAND) -E cmake_progress_start /home/gospodar/lund/praxis/ur_simple_control/clik/build/CMakeFiles 0
.PHONY : all
# The main clean target
diff --git a/clik/build/clik b/clik/build/clik
index 1d053f340f657eb2f5ade293abebcb098ff4898b..9fcfb2b7ae5ee9745e04adafce099603c556af05 100755
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diff --git a/clik/build/cmake_install.cmake b/clik/build/cmake_install.cmake
index 732a1ff045a7c180c2cf3a27c09ed0880e013fdc..bd0229d9c0fc8ca470359875a44926c01b4b17a0 100644
--- a/clik/build/cmake_install.cmake
+++ b/clik/build/cmake_install.cmake
@@ -1,4 +1,4 @@
-# Install script for directory: /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik
+# Install script for directory: /home/gospodar/lund/praxis/ur_simple_control/clik
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
@@ -50,5 +50,5 @@ endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
-file(WRITE "/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build/${CMAKE_INSTALL_MANIFEST}"
+file(WRITE "/home/gospodar/lund/praxis/ur_simple_control/clik/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/clik/build/compile_commands.json b/clik/build/compile_commands.json
index 4fab5e1fd73d558aed3cb795fa8486dd164cd21c..44da3f8aaa38f0947e993c44bd932d567494240c 100644
--- a/clik/build/compile_commands.json
+++ b/clik/build/compile_commands.json
@@ -1,8 +1,8 @@
[
{
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- "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3 -D_XOPEN_SOURCE=700 -D_FORTIFY_SOURCE=2 -O2 -fstack-protector -fomit-frame-pointer -pipe -pedantic -pedantic-errors -Werror -Weffc++ -Wall -Wextra -Wshadow -Wdeprecated -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith -Wuninitialized -Wunreachable-code -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable -Wunused-value -Wunused-variable -Wunused-result -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -std=gnu++14 -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
- "file": "/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
+ "directory": "/home/gospodar/lund/praxis/ur_simple_control/clik/build",
+ "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3 -D_XOPEN_SOURCE=700 -D_FORTIFY_SOURCE=2 -O2 -fstack-protector -fomit-frame-pointer -pipe -pedantic -pedantic-errors -Werror -Weffc++ -Wall -Wextra -Wshadow -Wdeprecated -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith -Wuninitialized -Wunreachable-code -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable -Wunused-value -Wunused-variable -Wunused-result -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -std=gnu++14 -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
+ "file": "/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
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diff --git a/clik/src/clik.cpp b/clik/src/clik.cpp
index 0d668ad536eca3c3a0d6b6c05e65395ce91a4724..8cc3dd92933e8ff48ae78013426f2d15ee03a361 100644
--- a/clik/src/clik.cpp
+++ b/clik/src/clik.cpp
@@ -11,76 +11,84 @@
#include <ur_rtde/rtde_receive_interface.h>
#include <iostream>
+// so that i can get my unique pointer
+#include <memory>
-int main(void) {
- // std::cout << "help" << std::endl;
-
- // TODO put in some ifs to run it in sim/something if you're not connected
- // to the robot
- ur_rtde::RTDEControlInterface rtde_control("192.168.1.102");
- ur_rtde::RTDEReceiveInterface rtde_receive("192.168.1.102");
- std::vector<double> init_q = rtde_receive.getActualQ();
+#define SIMULATION true
-// const std::string urdf_filename = std::string(
-// "/home/gospodar/lund/praxis/pinocchio/models/example-robot-data/robots/"
-// "ur_description/urdf/ur5_robot.urdf");
- const std::string urdf_filename = std::string(
- "/home/gospodar/lund/praxis/ur_resources/ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
+int main(void) {
+ // load robot model from urdf (most common type of robot description file)
+ const std::string urdf_filename =
+ std::string("/home/gospodar/lund/praxis/ur_resources/"
+ "ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
pinocchio::Model model;
pinocchio::urdf::buildModel(urdf_filename, model);
- // pinocchio::buildModels::manipulator(model);
-
pinocchio::Data data(model);
- const int JOINT_ID = 6;
- // oMdes is the desired pose
-
- //const pinocchio::SE3 oMdes(Eigen::Matrix3d(1.0, 0.0, 0.0,
- // 0.0, 1.0, 0.0,
- // 0.0, 0.0, 1.0),
- const pinocchio::SE3 oMdes(Eigen::Matrix3d::Zero(),
- Eigen::Vector3d(0.5, 0.3, 0.5));
+ // need to make these pointers so that i can have the object
+ // without calling the constructor
+ // unique pointer as i would otherwise use these variables directly
+ std::unique_ptr<ur_rtde::RTDEControlInterface> rtde_control;
+ std::unique_ptr<ur_rtde::RTDEReceiveInterface> rtde_receive;
+ if ( !SIMULATION) {
+ rtde_control = std::make_unique<ur_rtde::RTDEControlInterface>("192.168.1.102");
+ rtde_receive = std::make_unique<ur_rtde::RTDEReceiveInterface>("192.168.1.102");
+ }
- //Eigen::VectorXd q = pinocchio::neutral(model);
+ std::vector<double> init_q;
Eigen::VectorXd q(model.nq);
- q = Eigen::Map<Eigen::VectorXd>(&rtde_receive.getActualQ()[0], model.nq);
- // random print to make sure it works
- std::cout << q[2] << std::endl;
-// Eigen::VectorXd q;
+ if (!SIMULATION) {
+ q = Eigen::Map<Eigen::VectorXd>(&rtde_receive->getActualQ()[0], model.nq);
+ } else {
+ q = pinocchio::neutral(model);
+ }
+
+ // oMdes is the desired pose
+ // const pinocchio::SE3 oMdes(Eigen::Matrix3d(1.0, 0.0, 0.0,
+ // 0.0, 1.0,
+ // 0.0, 0.0,
+ // 0.0, 1.0),
+ const pinocchio::SE3 oMdes(Eigen::Matrix3d::Zero(),
+ Eigen::Vector3d(0.5, 0.3, 0.5));
const double eps = 1e-4;
const int IT_MAX = 10000000;
-// const double DT = 1e-1;
+ const double DT = 1e-1;
const double damp = 1e-6;
+ // define manipulator jacobian
+ // 6 is the velocity dimension: 3 linear, 3 angular directions
pinocchio::Data::Matrix6x J(6, model.nv);
J.setZero();
bool success = false;
- typedef Eigen::Matrix<double, 6, 1> Vector6d;
- Vector6d err;
+ Eigen::Matrix<double, 6, 1> err;
Eigen::VectorXd v(model.nv);
+ // TODO make casting cleaner somehow
std::vector<double> v_as_std_vec;
+ const int JOINT_ID = 6;
for (int i = 0;; i++) {
- q = Eigen::Map<Eigen::VectorXd>(&rtde_receive.getActualQ()[0], model.nq);
+ if (!SIMULATION) {
+ q = Eigen::Map<Eigen::VectorXd>(&rtde_receive->getActualQ()[0], model.nq);
+ }
pinocchio::forwardKinematics(model, data, q);
-// data.omi[joint_id] is the placement of joint_id
- // se3.act is the group action,
- // se3.actinv is the inverse group action
- // you need to check the actual math to see what and why is this here
+ // data.omi[joint_id] is the placement of joint_id
+ // se3.act is the group action,
+ // se3.actinv is the inverse group action
+ // you need to check the actual math to see what and why is this here
const pinocchio::SE3 iMd = data.oMi[JOINT_ID].actInv(oMdes);
err = pinocchio::log6(iMd).toVector(); // in joint frame
if (err.norm() < eps) {
success = true;
- std::cout << "reached destionation" << std::endl;
+ std::cout << "reached destionation" << std::endl;
break;
}
if (i >= IT_MAX) {
success = false;
- std::cout << "FAIL: did not succed in IT_MAX iterations" << std::endl;
+ std::cout << "FAIL: did not succed in IT_MAX iterations" << std::endl;
break;
}
- pinocchio::computeJointJacobian(model, data, q, JOINT_ID,
- J); // J in joint frame
+// J in joint frame
+ pinocchio::computeJointJacobian(model, data, q, JOINT_ID, J);
pinocchio::Data::Matrix6 Jlog;
pinocchio::Jlog6(iMd.inverse(), Jlog);
J = -Jlog * J;
@@ -88,20 +96,24 @@ int main(void) {
JJt.noalias() = J * J.transpose();
JJt.diagonal().array() += damp;
v.noalias() = -J.transpose() * JJt.ldlt().solve(err);
- // we're running it on the real system
-// q = pinocchio::integrate(model, q, v * DT);
-// make a cleaner cast, but also who cares
- v_as_std_vec.push_back(v[0]);
- v_as_std_vec.push_back(v[1]);
- v_as_std_vec.push_back(v[2]);
- v_as_std_vec.push_back(v[3]);
- v_as_std_vec.push_back(v[4]);
- v_as_std_vec.push_back(v[5]);
- rtde_control.speedJ(v_as_std_vec, 0.1, 1.0/500);
- v_as_std_vec.clear();
- if (!(i % 1000))
+ // we're running it on the real system
+ if ( !SIMULATION) {
+ // TODO check that this works, otherwise fall back to uglier assignment
+ v_as_std_vec.assign(v.data(), v.data() + v.size());
+// v_as_std_vec.push_back(v[0]);
+// v_as_std_vec.push_back(v[1]);
+// v_as_std_vec.push_back(v[2]);
+// v_as_std_vec.push_back(v[3]);
+// v_as_std_vec.push_back(v[4]);
+// v_as_std_vec.push_back(v[5]);
+ rtde_control->speedJ(v_as_std_vec, 0.1, 1.0 / 500);
+// v_as_std_vec.clear();
+ } else {
+ q = pinocchio::integrate(model, q, v * DT);
+ }
+ if (!(i % 10))
std::cout << i << ": error = " << err.transpose() << std::endl;
- std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
+ std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
}
if (success) {