diff --git a/python/examples/data/from_writing_to_handover.pickle_save b/python/examples/data/from_writing_to_handover.pickle_save
new file mode 100644
index 0000000000000000000000000000000000000000..8d46773c5f1314dc4b4c551747f2f0796901e2de
Binary files /dev/null and b/python/examples/data/from_writing_to_handover.pickle_save differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 083c451f684f3ea9a4b9479d7d6291d59200126d..5c775079e64a0577f7895d5d62755dac14033617 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -10,7 +10,7 @@ import pickle
from functools import partial
from ur_simple_control.visualize.visualize import plotFromDict
from ur_simple_control.util.draw_path import drawPath
-from ur_simple_control.dmp.dmp import getDMPArgs, DMP, NoTC,TCVelAccConstrained
+from ur_simple_control.dmp.dmp import getDMPArgs, DMP, NoTC,TCVelAccConstrained, followDMP
from ur_simple_control.clik.clik import getClikArgs, getClikController, moveL, moveUntilContact, controlLoopClik, compliantMoveL, clikCartesianPathIntoJointPath
from ur_simple_control.util.map2DPathTo3DPlane import map2DPathTo3DPlane
from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager
@@ -51,92 +51,49 @@ def getArgs():
default=False)
argcomplete.autocomplete(parser)
args = parser.parse_args()
- 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
-# marker position:
-# NOTE: this function does not work (needs more points)
-"""
- R =
- -0.73032 -0.682357 0.0319574
--0.679774 0.730578 0.0645244
--0.067376 0.0253997 -0.997404
- p = 0.574534 -0.508343 0.249325
-
-pin: 0.5745 -0.5083 0.2493 3.1161 0.0674 -2.392
-ur5: 0.5796 -0.4982 0.0927 -1.1314 2.8725 0.0747
-q: -0.5586 -2.3103 -1.1638 -1.2468 1.6492 0.262 0.0 0.0
-
-"""
def getMarker(args, robot, plane_pose):
+ """
+ getMarker
+ ---------
+ get marker from user in a blind handover
+ RUN THIS IN SIM FIRST TO SEE IF IT MAKES SENSE.
+ if not, generate a different joint trajectory for your situation.
+ """
# load traj
- file = open('./data/from_writing_to_handover.pickle', 'rb')
+ file = open('./data/from_writing_to_handover.pickle_save', 'rb')
point_dict = pickle.load(file)
file.close()
- dmp_forward = DMP(point_dict['qs'])
- #for q_ref in point_dict['qs']:
- # moveJPI(args, robot, q_ref[:6])
+ #####################
+ # go toward user #
+ #####################
+ # this is more than enough, and it will be the same for both
+ tau0 = 5
+ # setting up array for dmp
+ # TODO: make the dmp general already
+ for i in range(len(point_dict['qs'])):
+ point_dict['qs'][i] = point_dict['qs'][i][:6]
+ qs = np.array(point_dict['qs'])
+
+ followDMP(args, robot, qs, tau0)
+ robot.sendQd(np.zeros(robot.model.nq))
+
+ ##########################################
+ # blind handover (open/close on timer) #
+ ##########################################
robot.openGripper()
time.sleep(5)
robot.closeGripper()
+ time.sleep(3)
+
+ #############
+ # go back #
+ #############
point_dict['qs'].reverse()
- dmp_back = DMP(point_dict['qs'])
- #for q_ref in point_dict['qs']:
- # moveJPI(args, robot, q_ref[:6])
- # # init position is the safe one above starting point of the board
- # above_starting_write_point = pin.SE3.Identity()
- # # start 20cm away from the board
- # above_starting_write_point.translation[2] = -0.2
- # above_starting_write_point = plane_pose.act(above_starting_write_point)
- # compliantMoveL(args, robot, above_starting_write_point)
- # Tinit = robot.getT_w_e().copy()
- # q_init = robot.getQ()
- # #exit()
- # #moveJ(args, robot, q_init)
- # compliantMoveL(args, robot, above_starting_write_point)
- # print("above_starting_write_point", above_starting_write_point)
- # # goal position, predefined
- # Tgoal = pin.SE3()
- # Tgoal.rotation = np.array([
- # [ -0.73032, -0.682357, 0.0319574],
- # [-0.679774, 0.730578, 0.0645244],
- # [-0.067376, 0.0253997, -0.997404]])
- # Tgoal.translation = np.array([0.574534, -0.508343, 0.249325])
- #
- # # slighly up from goal to not hit marker weirdly
- # TgoalUP = Tgoal.copy()
- # TgoalUP.translation += np.array([0,0,0.2])
- # #TgoalUP.translation += np.array([0,0,0.3])
- #
- #
- # print("going to above marker")
- # robot.Mgoal = TgoalUP.copy()
- # compliantMoveL(args, robot, TgoalUP.copy())
- # #moveL(args, robot, TgoalUP.copy())
- # print("going down to marker")
- # robot.Mgoal = Tgoal.copy()
- # compliantMoveL(args, robot, Tgoal.copy())
- # #moveL(args, robot, Tgoal.copy())
- # print("picking up marker")
- # robot.closeGripper()
- # time.sleep(2)
- # print("going up")
- # robot.Mgoal = TgoalUP.copy()
- # compliantMoveL(args, robot, TgoalUP.copy())
- # #moveL(args, robot, TgoalUP.copy())
- # print("going back")
- # # TODO: this HAS to be a movej
- # # in fact all of them should be
- # robot.Mgoal = Tinit.copy()
- # #compliantMoveL(args, robot, Tinit.copy())
- # moveJPI(args, robot, q_init)
- # #moveL(args, robot, Tinit.copy())
- # print("got back")
+ # setting up array for dmp
+ qs = np.array(point_dict['qs'])
+ followDMP(args, robot, qs, tau0)
def findMarkerOffset(args, robot : RobotManager, plane_pose : pin.SE3):
@@ -291,7 +248,8 @@ if __name__ == "__main__":
# software setup #
#######################################################################
args = getArgs()
- #assert args.mm_into_board > 0.0 and args.mm_into_board < 5.0
+ if not args.board_wiping:
+ assert args.mm_into_board > 0.0 and args.mm_into_board < 5.0
args.mm_into_board = args.mm_into_board / 1000
print(args)
clikController = getClikController(args)
@@ -313,8 +271,12 @@ if __name__ == "__main__":
pixel_path = drawPath(args)
matplotlib.use('qtagg')
else:
- pixel_path_file_path = './path_in_pixels.csv'
- pixel_path = np.genfromtxt(pixel_path_file_path, delimiter=',')
+ if not args.board_wiping:
+ pixel_path_file_path = './path_in_pixels.csv'
+ pixel_path = np.genfromtxt(pixel_path_file_path, delimiter=',')
+ else:
+ pixel_path_file_path = './wiping_path.csv_save'
+ pixel_path = np.genfromtxt(pixel_path_file_path, delimiter=',')
# do calibration if specified
if args.calibration:
plane_pose, q_init = \
@@ -323,7 +285,7 @@ if __name__ == "__main__":
print("finished calibration")
else:
print("using existing plane calibration")
- file = open('./plane_pose.pickle', 'rb')
+ file = open('./plane_pose.pickle_save', 'rb')
plane_calib_dict = pickle.load(file)
file.close()
plane_pose = plane_calib_dict['plane_top_left_pose']
@@ -349,13 +311,7 @@ if __name__ == "__main__":
robot.sendQd(np.zeros(6))
print('marker_offset', marker_offset)
# we're going in a bit deeper
- if not args.board_wiping:
- path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + args.mm_into_board])
- #path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.005])
- else:
- # old robotweek
- path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
- path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.025])
+ path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + args.mm_into_board])
else:
print("i hope you know the magic number of marker length + going into board")
#path = path + np.array([0.0, 0.0, -0.1503])
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 9c1585c30bda4fe8e717e0f0f4c7640b43d057e6..ede219bb31636e192cba9c70f654516274b8b89d 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,204 +1,546 @@
-0.00000,0.81031,-1.52180,-1.33221,-1.12496,2.14787,-0.53658
-0.07389,0.81027,-1.52181,-1.33221,-1.12497,2.14789,-0.53661
-0.14778,0.81023,-1.52183,-1.33219,-1.12497,2.14792,-0.53665
-0.22167,0.81020,-1.52185,-1.33218,-1.12498,2.14794,-0.53667
-0.29557,0.81017,-1.52187,-1.33216,-1.12499,2.14795,-0.53670
-0.36946,0.81014,-1.52189,-1.33212,-1.12501,2.14797,-0.53671
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-0.59113,0.81066,-1.52532,-1.32436,-1.12857,2.14738,-0.53604
-0.66502,0.81313,-1.52997,-1.31241,-1.13407,2.14543,-0.53361
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-0.81281,0.82171,-1.53543,-1.29315,-1.14309,2.13929,-0.52582
-0.88670,0.82724,-1.53669,-1.28540,-1.14679,2.13544,-0.52093
-0.96059,0.83184,-1.53714,-1.28018,-1.14932,2.13225,-0.51690
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index bc1f19d77df1c9f6e5a337ed43e102f341f0b04b..24c30ee1551a9d021b23617b4c930d39999fff32 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/examples/wiping_path.csv_save b/python/examples/wiping_path.csv_save
new file mode 100644
index 0000000000000000000000000000000000000000..3971e66aef355df0007209be0e714e1b957757d3
--- /dev/null
+++ b/python/examples/wiping_path.csv_save
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diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc
index 387629268df78baa2af96f268f427ed3c2d093dc..496b8c705ee1e32c4b4865057475df6ae5f3db9c 100644
Binary files a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc and b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc differ
diff --git a/python/ur_simple_control/dmp/dmp.py b/python/ur_simple_control/dmp/dmp.py
index 11f8364de0bc46e799590039cd28d52668bf5818..0a14d9490e6f6450d109745231592980e279be0a 100644
--- a/python/ur_simple_control/dmp/dmp.py
+++ b/python/ur_simple_control/dmp/dmp.py
@@ -1,6 +1,7 @@
import numpy as np
import argparse
-from ur_simple_control.managers import RobotManager
+from ur_simple_control.managers import RobotManager, ControlLoopManager
+from functools import partial
# TODO:
# 1. change the dimensions so that they make sense,
# i.e. shape = (N_points, dimension_of_points)
@@ -276,7 +277,7 @@ class TCVelAccConstrained:
return taud
-def controlLoopDMP(args, robot : RobotManager, dmp : DMP, i, past_data):
+def controlLoopDMP(args, robot : RobotManager, dmp : DMP, tc, i, past_data):
"""
controlLoopDMP
-----------------------------
@@ -287,13 +288,40 @@ def controlLoopDMP(args, robot : RobotManager, dmp : DMP, i, past_data):
save_past_dict = {}
q = robot.getQ()
- T_w_e = robot.getT_w_e()
- wrench = robot.getWrench()
- q_ref = dmp.step()
+ dmp.step(robot.dt)
+ tau_dmp = dmp.tau + tc.update(dmp, robot.dt) * robot.dt
+ dmp.set_tau(tau_dmp)
- robot.sendQd(qd_cmd)
+ vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1)))
+
+ robot.sendQd(vel_cmd)
+
+ if (np.linalg.norm(dmp.vel) < 0.01) and (i > int(dmp.tau0 * 500)):
+ breakFlag = True
log_item['qs'] = q.reshape((robot.model.nq,))
+ log_item['dmp_qs'] = dmp.pos.reshape((6,))
log_item['dqs'] = robot.getQd().reshape((robot.model.nv,))
+ log_item['dmp_dqs'] = dmp.vel.reshape((6,))
return breakFlag, save_past_dict, log_item
+
+def followDMP(args, robot, qs : np.ndarray, tau0):
+ t = np.linspace(0, tau0, len(qs)).reshape((len(qs),1))
+ joint_trajectory = np.hstack((t, qs))
+ dmp = DMP(joint_trajectory)
+ if not args.temporal_coupling:
+ tc = NoTC()
+ else:
+ v_max_ndarray = np.ones(robot.n_arm_joints) * robot.max_qd
+ a_max_ndarray = np.ones(robot.n_arm_joints) * args.acceleration
+ tc = TCVelAccConstrained(args.gamma_nominal, args.gamma_a, v_max_ndarray, a_max_ndarray, args.eps_tc)
+ save_past_dict = {}
+ log_item = {}
+ log_item['qs'] = np.zeros((robot.model.nq,))
+ log_item['dmp_qs'] = np.zeros((6,))
+ log_item['dqs'] = np.zeros((robot.model.nv,))
+ log_item['dmp_dqs'] = np.zeros((6,))
+ controlLoop = partial(controlLoopDMP, args, robot, dmp, tc)
+ loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
+ loop_manager.run()