diff --git a/python/convenience_tool_box/fts.png b/python/convenience_tool_box/fts.png
index 7b3f302d2d66ef6e41abfeafdd890bb0f0526104..de2bbf01f170eeaa4f5228a367bd659b3a42a626 100644
Binary files a/python/convenience_tool_box/fts.png and b/python/convenience_tool_box/fts.png differ
diff --git a/python/convenience_tool_box/measuring_stick.py b/python/convenience_tool_box/measuring_stick.py
index 189bbe83d4de625928dcde8b2726add4a7e706c4..c410bf28e8058fd21c6fa0548f5c10ab97b73706 100644
--- a/python/convenience_tool_box/measuring_stick.py
+++ b/python/convenience_tool_box/measuring_stick.py
@@ -14,7 +14,7 @@ from ur_simple_control.clik.clik_point_to_point import get_args
def handler(signum, frame):
print('i will end freedrive and exit')
- rtde_control.endFreedriveMode()
+ robot.rtde_control.endFreedriveMode()
exit()
args = get_args()
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index eb98e6ad20bbd1073e21f8f6137707a882ceb088..35e0e69578300d20e21368dae3ffce306c5acb26 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -21,7 +21,7 @@ from ur_simple_control.util.draw_path import drawPath
from ur_simple_control.dmp.dmp import DMP, NoTC,TCVelAccConstrained
# TODO merge these clik files as well, they don't deserve to be separate
# TODO but first you need to clean up clik.py as specified there
-from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact
+from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact, controlLoopClik
from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane, clikCartesianPathIntoJointPath
from ur_simple_control.managers import ControlLoopManager, RobotManager
from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
@@ -112,8 +112,8 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- #default=0.007)
- default=0.05)
+ default=0.01)
+ #default=0.05)
parser.add_argument('--beta', type=float, \
help="low-pass filter beta parameter", \
default=0.01)
@@ -130,6 +130,8 @@ def getArgs():
help="height of the board (in meters) the robot will write on", \
#default=0.35)
default=0.25)
+ # TODO: add axis direction too!!!!!!!!!!!!!!!!!
+ # and change the various offsets accordingly
parser.add_argument('--board-axis', type=str, \
choices=['z', 'y'], \
help="(world) axis (direction) in which you want to search for the board", \
@@ -159,6 +161,8 @@ def getArgs():
if args.gripper and args.simulation:
raise NotImplementedError('Did not figure out how to put the gripper in \
the simulation yet, sorry :/ . You can have only 1 these flags right now')
+ if args.calibration or args.pick_up_marker:
+ args.gripper = True
return args
# go and pick up the marker
@@ -188,7 +192,7 @@ def getMarker(args, robot):
# slighly up from goal to not hit marker weirdly
TgoalUP = Tgoal.copy()
- TgoalUP.translation += np.array([0,0,0.1])
+ TgoalUP.translation += np.array([0,0,0.2])
# instantiate controller
clik_controller = getClikController(args)
@@ -310,13 +314,21 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
#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([0.0, 0.0, 2.0, 0.0, 0.0, 0.0]))
+ #Z = np.diag(np.array([0.0, 0.0, 2.0, 0.0, 0.0, 0.0]))
+# if args.board_axis == 'z':
+# Z = np.diag(np.array([0.0, 0.0, 2.0, 1.0, 1.0, 1.0]))
+# if args.board_axis == 'y':
+# Z = np.diag(np.array([0.0, 1.0, 0.0, 1.0, 1.0, 1.0]))
+ Z = np.diag(np.array([0.0, 0.0, 2.0, 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
+ # 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)
# first-order low pass filtering instead
@@ -332,11 +344,8 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
wrench = mapping.T @ wrench
wrench = Z @ wrench
- # deepcopy for good coding practise (and correctness here)
- save_past_dict['wrench'] = copy.deepcopy(wrench)
- # rolling average
if i % 100 == 0:
- print(wrench)
+ print(*wrench.round(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))
@@ -400,6 +409,7 @@ if __name__ == "__main__":
print(q_init)
print(rotation_matrix)
print(translation_vector)
+ exit()
else:
# TODO: save this somewhere obviously
# also make it prettier if possible
@@ -409,10 +419,19 @@ if __name__ == "__main__":
#rotation_matrix = np.array([[1. , 0. ,0.00336406],
# [-0. , -0.00294646, 0.99999 ],
# [ 0. , -0.99999 , -0.00294646]])
- q_init = robot.getQ()
- Mtool = robot.getMtool()
- translation_vector = Mtool.translation.copy()
- rotation_matrix = Mtool.rotation.copy()
+ translation_vector = np.array([0.21997482, 0.41345861, 0.7314353])
+ rotation_matrix = np.array([
+ [ 1., 0., 0.01792578],
+ [ 0., -0.58973106, 0.80740073],
+ [ 0., -0.80740073, -0.58973106]])
+ q_init = np.array([ 1.33085752e+00, -1.44578363e+00, -1.21776414e+00, -1.17214762e+00, 1.75202715e+00, -1.94359605e-01, 2.94117647e-04, 2.94117647e-04])
+ #q_init = robot.getQ()
+ #Mtool = robot.getMtool()
+ #rotation_matrix = np.array([
+ # [-1, 0, 0],
+ # [0, 0, -1],
+ # [0, -1, 0]])
+ #translation_vector = Mtool.translation.copy()
# make the path 3D
path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
@@ -450,9 +469,9 @@ if __name__ == "__main__":
# 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, -0.0785])
- path = path + np.array([0.0, 0.0, -0.1043])
+ #path = path + np.array([0.0, 0.0, -0.1043])
#path = path + np.array([0.0, 0.0, -0.1000])
- #path = path + np.array([0.0, 0.0, -0.1573])
+ path = path + np.array([0.0, 0.0, -0.0903])
#path = path + np.array([0.0, 0.2938, 0.0])
# and if you don't want to draw new nor calibrate, but you want the same path
@@ -526,15 +545,17 @@ 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] - 0.0035
- #mtool.translation[1] = mtool.translation[1] - 0.04
+ #mtool.translation[1] = mtool.translation[1] - 0.0035
+ mtool.translation[1] = mtool.translation[1] - 0.012
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)
- #moveL
#moveJ(args, robot, dmp.pos.reshape((6,)))
# and now we can actually run
log_dict, final_iteration = loop_manager.run()
+ #loop_manager.stopHandler(None, None)
mtool = robot.getMtool()
print("move a bit back")
if args.board_axis == 'z' or args.board_axis == 'y':
@@ -543,12 +564,13 @@ if __name__ == "__main__":
# mtool.translation[2] = mtool.translation[2] - 0.1
moveL(args, robot, mtool)
- plotFromDict(log_dict, args)
- robot.stopHandler(None, None)
- robot.stopHandler(None, None)
- robot.stopHandler(None, None)
+
+ #plotFromDict(log_dict, args)
+ loop_manager.stopHandler(None, None)
+ #robot.stopHandler(None, None)
+ #robot.stopHandler(None, None)
# plot results
- plotFromDict(log_dict, args)
+ #plotFromDict(log_dict, args)
# TODO: add some math to analyze path precision
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 7ebe7e40e3b8dbe54c82d0726088625d1f3a0b86..2dbab5ec77811f0bc1d807f76d62cb0b9eec2fdc 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,2512 +1,4350 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 9fb1c44bd83f471c457909b87ea6269a70756529..a55a6f859a818118e7c8a1697bf7d88b76ae490e 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/__pycache__/managers.cpython-311.pyc b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc
index 2d434f1f67bac8ac32904caaf55e1e0b9754ddce..26120b0cff823e6d4bc7f91a37548db23576a5ab 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/clik/__pycache__/clik_trajectory_following.cpython-311.pyc b/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-311.pyc
index 612d7bda706bce4f89d7d0a106fc828bd606beb5..18db5c996e4046d8835349b00b98255b309ada41 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_trajectory_following.py b/python/ur_simple_control/clik/clik_trajectory_following.py
index 63c2779b1aa8996b7372b34b8a82ca83052695ef..c57b099427e0c0c03a5048b52cbfc26c634c43d6 100644
--- a/python/ur_simple_control/clik/clik_trajectory_following.py
+++ b/python/ur_simple_control/clik/clik_trajectory_following.py
@@ -9,6 +9,7 @@
import numpy as np
import pinocchio as pin
import copy
+from ur_simple_control.managers import ControlLoopManager
#######################################################################
# map the pixels to a 3D plane #
@@ -129,9 +130,7 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
else:
if i == args.max_running_clik_iterations - 1:
print("DID NOT CONVERGE -- exiting")
- robot.stopHandler(None, None)
- robot.stopHandler(None, None)
- robot.stopHandler(None, None)
+ ControlLoopManager.stopHandler(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 58f7080212cb9966c81870f3342bd6193b1976c6..b69c2546b2f2d3fb8359d3d6fa2b74bce0dfc2e6 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/dmp/dmp.py b/python/ur_simple_control/dmp/dmp.py
index 2741bd47abbf7bb8cc6f4c5a1ee051d44760b4ee..16f6f154a15cc75ccc6b2f0c83062d020ddecd2c 100644
--- a/python/ur_simple_control/dmp/dmp.py
+++ b/python/ur_simple_control/dmp/dmp.py
@@ -231,7 +231,7 @@ class TCVelAccConstrained:
# Nominal bound
taud_min_nominal = (dmp.tau0 - dmp.tau) / dt
- taud_min = np.max((taud_min_a, taud_min_v, taud_min_f, taud_min_nominal))
+ taud_min = np.max((taud_min_a, taud_min_v, taud_min_f[0], taud_min_nominal))
# Base update law
ydd_bar = dmp.h() / (dmp.tau**2 * self.a_max)
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index c20166aab0bc98946cde3be2c72e066686766143..4fba1193aab8f83f39530ea0c331f346b4b91d08 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -207,7 +207,7 @@ class ControlLoopManager:
self.robot_manager.rtde_control.freedriveMode()
plotFromDict(self.log_dict, self.final_iteration, self.args)
self.robot_manager.rtde_control.endFreedriveMode()
- exit()
+ #exit()
"""
robotmanager:
diff --git a/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py b/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
new file mode 100644
index 0000000000000000000000000000000000000000..d400cf7f74ecd176a77ab8ecf0dfca5e27a8a500
--- /dev/null
+++ b/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
@@ -0,0 +1,78 @@
+import numpy as np
+import vedo
+import pinocchio as pin
+
+
+def drawBoxFromSE3(frame : pin.SE3, box_shape : list) -> vedo.Box:
+ objectt = vedo.Box(pos=frame.translation, length=box_shape[0], width=box_shape[1], height=box_shape[2], alpha=0.5)
+ angleAxis = pin.AngleAxis()
+ # they fucked in because they want to accept return value as argument
+ # which is no pythonic
+ # but they also then return it as well lmao
+ axx = pin.AngleAxis.fromRotationMatrix(angleAxis, frame.rotation)
+ #print(angleAxis)
+ #print(np.linalg.norm(angleAxis.axis))
+ objectt.rotate(angleAxis.angle, axis=angleAxis.axis, point=frame.translation, rad=True)
+ #objectt.rotate(0.5, axis=[1,0,0], point=frame.translation, rad=True)
+ return objectt
+
+def updateBoxFromSE3(box : vedo.Box, previous_pose : pin.SE3, new_pose : pin.SE3):
+ # has to be passed as argument because non-pythonic original C++ code
+ angleAxis = pin.AngleAxis()
+ # groups yo
+ difference = new_pose.act(previous_pose.inverse())
+ axx = pin.AngleAxis.fromRotationMatrix(angleAxis, difference.rotation)
+ box.rotate(angleAxis.angle, axis=angleAxis.axis, point=previous_pose.translation, rad=True)
+ #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=new_pose.translation, rad=True)
+ #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=difference.translation, rad=True)
+ box.pos(new_pose.translation)
+
+def updateFrameArrowsFromSE3(arrows : list[vedo.Arrow], frame : pin.SE3):
+ for i in range(0,3):
+ x = frame.translation[0] + frame.rotation[0,i]
+ y = frame.translation[1] + frame.rotation[1,i]
+ z = frame.translation[2] + frame.rotation[2,i]
+ arrows[i].base = frame.translation
+ arrows[i].top = np.array([x,y,z])
+
+def drawSE3AsFrame(frame : pin.SE3,
+ text : str) -> vedo.Arrows:
+ #print(text)
+ #print(frame)
+ colors = ['r', 'g', 'b']
+ arrows = []
+ #print(frame.rotation)
+ scaling = 0.02
+ for i in range(0,3):
+ x = frame.translation[0] + frame.rotation[0,i] * scaling
+ y = frame.translation[1] + frame.rotation[1,i] * scaling
+ z = frame.translation[2] + frame.rotation[2,i] * scaling
+ arrows.append(vedo.Arrow(frame.translation, np.array([x,y,z]), c=colors[i]))
+
+ text_plot = vedo.shapes.Text3D(text, pos=frame.translation, s=0.02)
+ return arrows, text_plot
+
+def setContact1InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
+ c1.rotation = pin.rpy.rpyToMatrix(0,np.pi,0)
+ c1.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], 0.5*box_dimensions[2]])
+ return c1
+
+def setContact2InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
+ c2.rotation = pin.rpy.rpyToMatrix(0,0,0)
+ c2.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], -0.5*box_dimensions[2]])
+ return c1
+
+# there will be no angular velocity drawing,
+# you can watch the b frame spin.
+# but we do need the linear arrows
+def drawBodyTwist(T_w_b : pin.SE3, v_b : pin.Motion) -> vedo.Arrow:
+ color = 'black'
+ v_s = T_w_b.act(v_b)
+ # this should be global or an argument or something
+ # or calculate it based on the box size, whatever
+ scaling = 0.02
+ arrow = (v_s.linear / np.linalg.norm(v_s.linear)) * scaling
+ arrow_v = vedo.Arrow(T_w_b.translation, arrow , c=color)
+ return arrow_v
+
+
diff --git a/python/ur_simple_control/visualize/vedo_manipulator.py b/python/ur_simple_control/visualize/vedo_manipulator.py
new file mode 100644
index 0000000000000000000000000000000000000000..5c3972b701ee4da0621447c0d9847a10755f727c
--- /dev/null
+++ b/python/ur_simple_control/visualize/vedo_manipulator.py
@@ -0,0 +1,236 @@
+"""
+the idea here is that the all the robot-math
+is handled by pinocchio and all the plotting is
+done with vedo. we're just making the 3D plot here.
+
+there are 2 modes of operation, and ideally they can be
+handled in the same implementation with a few if statements:
+ 1. visualization from a log file
+ 2. real-time visualization
+what's written in the
+"""
+
+import numpy as np
+import vedo
+import pinocchio as pin
+import time
+from ur_simple_control.visualize.pin_to_vedo_plot_util import *
+from friction import ReducedFrictionModel
+from multiprocessing import Process
+from scipy.integrate import solve_ivp
+
+
+#######################################################################
+# IMPLEMENT THIS ACTUALLY #
+#######################################################################
+
+
+if __name__ == "__main__":
+ args = getArgs()
+ # change this after you add the manipulator
+ box_dimensions = [args.box_length, args.box_width, args.box_height]
+
+ ###########################################
+ # vedo instantiation, frame definitions #
+ ###########################################
+ vedo.settings.use_depth_peeling = True
+
+ # need to manually seed lmao
+ #pin.seed(int(time.time()))
+ T_w_J = pin.SE3()
+ # TODO: check how friction behaves when we're perpendicular to gravity
+ T_w_J.setIdentity()
+ T_w_J.translation = np.array([1,2,3])
+ T_w_J.setRandom()
+ #T_w_J.rotation = pin.rpy.rpyToMatrix(0,np.pi/2,0)
+
+
+ model, data, OBJECT_JOINT_ID = getPlanarJointModel(args, T_w_J, box_dimensions)
+ q_init = pin.randomConfiguration(model)
+ #theta = np.random.random() * 2 * np.pi
+ theta = 0.345321
+ q_init[0] = 0.1
+ q_init[1] = 0.1
+ q_init[2] = np.cos(theta)
+ q_init[3] = np.sin(theta)
+
+ v_b_se2 = np.array([0.1, 0.0, 0.5])
+ v_b_se3 = pin.Motion(np.array([v_b_se2[0], v_b_se2[1], 0]), np.array([0,0,v_b_se2[2]]))
+ print("v_b_se2", v_b_se2)
+ #print("pin.exp3(v)", pin.exp3(v))
+ #exit()
+ #tau = np.ones((model.nv)) * 0.1
+ #a = pin.aba(model, data, q, v, tau)
+ # tau_q_control does not exist in reality, those are the actuators
+ # of the planar joint
+ #tau_q_control = np.zeros((model.nv))
+
+ pin.forwardKinematics(model, data, q_init)
+ T_w_b_init = data.oMi[1].copy()
+
+ q_pin = pin.integrate(model, q_init, v_b_se2)
+ print("q_pin:", q_pin)
+ pin.forwardKinematics(model, data, q_pin)
+ pin.updateFramePlacements(model, data)
+# for vvv in data.v:
+# print(vvv)
+# for fr in data.oMf:
+# print(fr)
+ T_w_b_pin = data.oMi[1].copy()
+
+ q_3 = np.zeros(3)
+ q_3[0] = q_init[0]
+ q_3[1] = q_init[1]
+ q_3[2] = theta
+ print("q_3", q_3)
+
+ in_SE3 = False
+
+########################################################
+## JUST USE THE EXP FOR THE LOVE OF GOD
+#############################################3333333
+# omega = v[2]
+# cv = np.cos(omega)
+# sv = np.sin(omega)
+# R_omega = np.array([[cv, -1*sv], [sv, cv]])
+# vcross = np.array([-1*v[1], v[0]])
+# vcross -= -v[:2]*R_omega[:,0] + v[:2]*R_omega[:,1]
+# vcross /= omega
+# t = vcross.copy()
+# T_next = np.hstack((R_omega, t.reshape((2,1))))
+# T_next = np.vstack((T_next, np.array([0,0,1]).reshape((1,3))))
+# # let's try inverse
+# #T_next = np.hstack((R_omega.T, -1*R_omega.T @ t.reshape((2,1))))
+# #T_next = np.vstack((T_next, np.array([0,0,1]).reshape((1,3))))
+# print("T_next", T_next)
+
+# c_theta = np.cos(theta)
+# s_theta = np.sin(theta)
+# R_theta = np.array([[c_theta, -1*s_theta], [s_theta, c_theta]])
+# T_J_b_se2 = np.hstack((R_theta, np.array([q_3[0],q_3[1]]).reshape((2,1))))
+# T_J_b_se2 = np.vstack((T_J_b_se2, np.array([0,0,1]).reshape((1,3))))
+
+# print("T_J_b_se2", T_J_b_se2)
+# T_J_b_se2 = T_next @ T_J_b_se2
+# print("T_J_b_se2", T_J_b_se2)
+
+# T_next_SE3 = pin.exp(v_b_se3)
+# T_next_SE2 = np.hstack((T_next_SE3.rotation[:2,:2], T_next_SE3.translation[:2].reshape((2,1))))
+# T_next_SE2 = np.vstack((T_next_SE2, np.array([0,0,1]).reshape((1,3))))
+
+ # wrogn notation last term lel
+# T_J_b_SE2 = T_next_SE2 @ T_J_b_se2
+# q_3[0] = T_J_b_SE2[0,2]
+# q_3[1] = T_J_b_SE2[1,2]
+# # not good but w/3
+# q_3[2] = np.arccos(T_J_b_SE2[0,0])
+
+ # this changes the no rotation problem
+ #q_3[2] = omega
+
+ #print("q_3 + v_b_se2", q_3)
+#################
+# q_euler = np.zeros(4)
+# q_euler[0] = q_3[0] #+ np.cos(v[2])
+# q_euler[1] = q_3[1] #+ np.exp(v[2])
+# q_euler[2] = np.cos(q_3[2])
+# q_euler[3] = np.sin(q_3[2])
+# print("q_euler:", q_euler)
+# pin.forwardKinematics(model, data, q_euler)
+ #T_w_b_euler = data.oMi[1].copy()
+ #T_w_b_euler = pin.exp6(v_b_se3).act(T_w_J)
+ #T_w_b_euler = pin.exp6(v_twist).act(T_w_b_init)
+# T_J_b = T_w_J.actInv(T_w_b_init)
+ #print(T_J_b)
+ #T_w_b_euler = pin.exp6(T_J_b.act(v_twist)).act(T_w_b_init)
+ # THIS IS THE ONE!!!!!!!!!!!!!!!!!!!
+ if in_SE3:
+ print("SE3 version")
+ v_w_se3 = T_w_b_init.act(v_b_se3)
+ print(v_w_se3)
+ T_w_next_SE3 = pin.exp6(v_w_se3)
+ print(T_w_next_SE3)
+ T_w_b_euler = T_w_next_SE3.act(T_w_b_init)
+ #T_w_b_euler = pin.exp6(v_twist).act(T_w_b_init)
+ #T_J_b_next_euler = pin.exp6(v_twist).act(T_J_b)
+ #T_w_b_euler = T_w_J.act(T_J_b_next_euler)
+ # let's try to get this within J and SE(2)
+ # get v_b to v_J
+ else:
+ print("SE2 version")
+ c_theta = np.cos(theta)
+ s_theta = np.sin(theta)
+ R_theta = np.array([[c_theta, -1*s_theta], [s_theta, c_theta]])
+ # needed later
+ T_J_b_SE2 = np.zeros((3,3))
+ T_J_b_SE2[:2,:2] = R_theta
+ T_J_b_SE2[0,2] = q_3[0]
+ T_J_b_SE2[1,2] = q_3[1]
+ T_J_b_SE2[2,2] = 1
+ Ad_T_J_b_SE2 = np.zeros((3,3))
+ Ad_T_J_b_SE2[:2,:2] = R_theta
+ Ad_T_J_b_SE2[0,2] = q_init[1]
+ Ad_T_J_b_SE2[1,2] = -q_init[0]
+ Ad_T_J_b_SE2[2,2] = 1
+ v_J_se2 = Ad_T_J_b_SE2 @ v_b_se2
+ print("v_J_se2", v_J_se2)
+ # get v_J_se2 to T_next_SE2
+ omega = v_J_se2[2]
+ c_omega = np.cos(omega)
+ s_omega = np.sin(omega)
+ # note that this is the same as exp(omega)
+ R_omega = np.array([[c_omega, -1*s_omega], [s_omega, c_omega]])
+ omega_abs = np.abs(omega)
+ t = np.zeros(2)
+ if omega_abs > 1e-14:
+ V = np.array([[s_omega, -1*(1 -c_omega)], [1- c_omega, s_omega]])
+ V /= omega
+ t = V @ np.array([v_J_se2[0], v_J_se2[1]])#.reshape((2,1))
+ else:
+ t = np.zeros(2)
+ t[0] = v_J_se2[0]
+ t[1] = v_J_se2[1]
+ T_next_SE2 = np.hstack((R_omega, t.reshape((2,1))))
+ T_next_SE2 = np.vstack((T_next_SE2, np.array([0,0,1]).reshape((1,3))))
+ print("T_next_SE2", T_next_SE2)
+ T_J_b_SE2 = T_next_SE2 @ T_J_b_SE2
+ q_euler = np.zeros(4)
+ q_euler[0] = T_J_b_SE2[0,2]
+ q_euler[1] = T_J_b_SE2[1,2]
+ q_euler[2] = T_J_b_SE2[0,0]
+ q_euler[3] = T_J_b_SE2[1,0]
+ #q_euler[0] = q_3[0]
+ #q_euler[1] = q_3[1]
+ #q_euler[2] = np.cos(q_3[2])
+ #q_euler[3] = np.sin(q_3[2])
+ print("q3 + v_J", q_3 + v_J_se2)
+ print("q_euler:", q_euler)
+ pin.forwardKinematics(model, data, q_euler)
+ T_w_b_euler = data.oMi[OBJECT_JOINT_ID]
+
+
+
+ joint_arrows, joint_text = drawSE3AsFrame(T_w_J, "J")
+ b_init_arrows, b_init_text = drawSE3AsFrame(T_w_b_init, "b_init")
+ # pin
+ objectt = drawBoxFromSE3(T_w_b_pin, box_dimensions)
+ b_arrows_pin, b_text_pin = drawSE3AsFrame(T_w_b_pin, "b_pin")
+ # euler
+ objectt = drawBoxFromSE3(T_w_b_pin, box_dimensions)
+ b_arrows_euler, b_text_euler = drawSE3AsFrame(T_w_b_euler, "b_euler")
+
+
+ plt = vedo.Plotter(axes=1)
+ plt.camera = vedo.utils.oriented_camera(center=(0, 0, 0),
+ up_vector=(0, 1, 0),
+ backoff_vector=(0, 1, 0),
+ backoff=1.0)
+
+ plt.add(objectt)
+ plt.add(b_init_arrows, b_init_text)
+ plt.add(b_arrows_pin, b_text_pin)
+ plt.add(b_arrows_euler, b_text_euler)
+ plt.add(joint_arrows, joint_text)
+ plt.render()
+ plt.show()
+ plt.close()