From 5ee5c36f41fadd4c582c2f9548174ccfba188003 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Wed, 29 Jan 2025 19:28:54 +0100
Subject: [PATCH] client for graziano ready (executes clik it receives via
 networking). the only other thing that needs to happen is to translate
 between ros1 messages and my protobuf messages

---
 .../graz/cartesian_pose_command_server.py     |  66 ++
 python/examples/graz/clik_client.py           | 121 +++
 .../examples/graz/point_impedance_server.py   |   2 +-
 python/examples/joint_trajectory.csv          | 750 +++++-------------
 python/examples/path_in_pixels.csv            | 609 ++------------
 .../__pycache__/managers.cpython-311.pyc      | Bin 61103 -> 61250 bytes
 python/ur_simple_control/managers.py          |   2 +-
 python/ur_simple_control/networking/client.py |   7 +-
 .../networking/message_specs.proto            |   9 +-
 .../networking/message_specs_pb2.py           |   6 +-
 python/ur_simple_control/networking/util.py   |  40 +-
 11 files changed, 476 insertions(+), 1136 deletions(-)
 create mode 100644 python/examples/graz/cartesian_pose_command_server.py
 create mode 100644 python/examples/graz/clik_client.py

diff --git a/python/examples/graz/cartesian_pose_command_server.py b/python/examples/graz/cartesian_pose_command_server.py
new file mode 100644
index 0000000..8611aad
--- /dev/null
+++ b/python/examples/graz/cartesian_pose_command_server.py
@@ -0,0 +1,66 @@
+import pinocchio as pin
+import numpy as np
+from ur_simple_control.managers import (
+    ProcessManager,
+    getMinimalArgParser,
+)
+from ur_simple_control.networking.server import server
+from ur_simple_control.networking.client import client
+import time
+
+
+def getArgs():
+    parser = getMinimalArgParser()
+    parser.description = "simple test program. sends commands to go in a circle, receives and prints out wrenches received by the client executing the go-in-circle commands"
+    parser.add_argument("--host", type=str, help="host ip address", default="127.0.0.1")
+    parser.add_argument("--port", type=int, help="host's port", default=7777)
+
+    args = parser.parse_args()
+    return args
+
+
+def sendCircleGoalReceiveWrench(freq, i):
+    save_past_dict = {}
+    log_item = {}
+    breakFlag = False
+
+    # create command to go in a circle
+    radius = 0.6
+    t = (i / freq) / 6
+    pose = pin.SE3.Identity()
+    pose.translation = radius * np.array([np.cos(t), np.sin(t), 0.0])
+
+    transform = pin.SE3.Identity()
+    # transform = pin.SE3(
+    #    pin.rpy.rpyToMatrix(0.0, np.pi / 2, 0.0), np.array([0.3, 0.0, 0.3])
+    # )
+
+    pose = pose.act(transform)
+    if i % freq == 0:
+        print(pose.translation)
+    print("translation:", pose.translation)
+    print("rotation:", pin.Quaternion(pose.rotation))
+
+    return {"T_goal": pose, "v": np.zeros(6)}
+
+
+if __name__ == "__main__":
+    args = getArgs()
+
+    # command_sender: 7777
+    sender = ProcessManager(
+        args, server, {"T_goal": pin.SE3.Identity(), "v": np.zeros(6)}, 0
+    )
+    # wrench_receiver: 6666
+    args.port = 6666
+    receiver = ProcessManager(
+        args, client, {"wrench": np.zeros(6)}, 4, init_value={"wrench": np.zeros(6)}
+    )
+    freq = 200
+    i = 0
+    while True:
+        i += 1
+        sender.sendCommand(sendCircleGoalReceiveWrench(freq, i))
+        if i % freq == 0:
+            print(receiver.getData())
+        time.sleep(1 / 200)
diff --git a/python/examples/graz/clik_client.py b/python/examples/graz/clik_client.py
new file mode 100644
index 0000000..f7f29d0
--- /dev/null
+++ b/python/examples/graz/clik_client.py
@@ -0,0 +1,121 @@
+import pinocchio as pin
+import numpy as np
+from functools import partial
+from ur_simple_control.networking.client import client
+from ur_simple_control.networking.server import server
+from ur_simple_control.clik.clik import *
+from ur_simple_control.managers import (
+    ProcessManager,
+    getMinimalArgParser,
+    ControlLoopManager,
+    RobotManager,
+)
+
+
+def get_args():
+    parser = getMinimalArgParser()
+    parser = getClikArgs(parser)
+    parser.description = "the robot will received joint angles from a socket and go to them in joint space"
+    # add more arguments here from different Simple Manipulator Control modules
+    parser.add_argument("--host", type=str, help="host ip address", default="127.0.0.1")
+    parser.add_argument("--port", type=int, help="host's port", default=7777)
+    args = parser.parse_args()
+    return args
+
+
+def controlLoopClikExternalGoal(
+    robot: RobotManager,
+    receiver: ProcessManager,
+    sender: ProcessManager,
+    clik_controller,
+    i,
+    past_data,
+):
+    """
+    controlLoop
+    -----------------------------
+    controller description
+    """
+    breakFlag = False
+    log_item = {}
+    save_past_dict = {}
+
+    q = robot.getQ()
+    T_w_e = robot.getT_w_e()
+    data = receiver.getData()
+    T_goal = data["T_goal"]
+    print("translation:", T_goal.translation)
+    print("rotation:", pin.Quaternion(T_goal.rotation))
+    SEerror = T_w_e.actInv(T_goal)
+    err_vector = pin.log6(SEerror).vector
+    J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id)
+
+    qd_cmd = (
+        J.T
+        @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * args.tikhonov_damp)
+        @ (err_vector + data["v"])
+    )
+    if qd_cmd is None:
+        print("the controller you chose didn't work, using dampedPseudoinverse instead")
+        qd_cmd = dampedPseudoinverse(1e-2, J, err_vector)
+
+    # NOTE: this will also receive a velocity
+    # i have no idea what to do with that velocity
+    robot.sendQd(qd_cmd)
+    # NOTE: this one is in the base frame! (as it should be)
+    # it is saved in robotmanager (because it's a private variable,
+    # yes this is evil bla bla)
+    wrench_in_robot = robot.getWrench()
+    robot._getWrench()
+    wrench = robot.getWrench()
+    robot.wrench = wrench_in_robot
+    sender.sendCommand({"wrench": wrench})
+
+    log_item["qs"] = robot.getQ().reshape((robot.model.nq,))
+    log_item["dqs"] = robot.getQd().reshape((robot.model.nv,))
+    log_item["err_vector"] = err_vector
+    return breakFlag, save_past_dict, log_item
+
+
+if __name__ == "__main__":
+    args = get_args()
+    robot = RobotManager(args)
+
+    # get expected behaviour here (library can't know what the end is - you have to do this here)
+    if not args.pinocchio_only:
+        robot.stopRobot()
+
+    # VERY important that the first q we'll pass as desired is the current q, meaning the robot won't move
+    # this is set with init_value
+    # command_sender: 7777
+    receiver = ProcessManager(
+        args,
+        client,
+        {"T_goal": pin.SE3.Identity(), "v": np.zeros(6)},
+        4,
+        init_value={"T_goal": robot.getT_w_e(), "v": np.zeros(6)},
+    )
+    # wrench_sender: 6666
+    args.port = 6666
+    sender = ProcessManager(args, server, {"wrench": np.zeros(6)}, 0)
+    log_item = {
+        "qs": np.zeros((robot.model.nq,)),
+        "dqs": np.zeros((robot.model.nv,)),
+        "err_vector": np.zeros((6,)),
+    }
+    clik_controller = getClikController(args, robot)
+    control_loop = partial(
+        controlLoopClikExternalGoal, robot, receiver, sender, clik_controller
+    )
+    loop_manager = ControlLoopManager(robot, control_loop, args, {}, log_item)
+    loop_manager.run()
+
+    if args.save_log:
+        robot.log_manager.plotAllControlLoops()
+
+    if args.visualizer:
+        robot.killManipulatorVisualizer()
+
+    if args.save_log:
+        robot.log_manager.saveLog()
+    # loop_manager.stopHandler(None, None)
diff --git a/python/examples/graz/point_impedance_server.py b/python/examples/graz/point_impedance_server.py
index f525008..260efaf 100644
--- a/python/examples/graz/point_impedance_server.py
+++ b/python/examples/graz/point_impedance_server.py
@@ -227,5 +227,5 @@ if __name__ == "__main__":
         robot.log_manager.saveLog()
         robot.log_manager.plotAllControlLoops()
 
-    if args.visualize_manipulator:
+    if args.visualizer:
         robot.killManipulatorVisualizer()
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index f2401c0..179460b 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,563 +1,187 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 2040e1f..c28926c 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 2f3690a363cf4d9c51db5e28701a6d2339495f7b..a442dff4d7668a4df729fb1036c21f76ede319ca 100644
GIT binary patch
delta 513
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zWR~n?T{}6h6vh<(WlRhVtC=Pn1dFj$F)%PpF25ivDzJuQ88ZXJYG#mH5Uyc}m!Ir?
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zF{QXD79<b_B8ovo8i+{Utn<i&g*zR@4h9j0i|d~;F;;GFcrlZSv2L=|>lutwH*bFZ
GhY0{f;d`V2

delta 397
zcmX?fk9qxFX5Qtzyj%<n3=Cy;lhTDZ^5&djl-gW%W)d^ww#mE~vgB&nO87z25S+yU
zp&1xz*izV2_$Pn7Aj~K;+55cQ<d8K29JO3ETr~_?GLsw6D^8BNXv8Qxx&NX(qwM65
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Kvf1s;A0_}%&tI<q

diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index e09c5dc..f43ee36 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -1201,7 +1201,7 @@ class ProcessManager:
             self.encoder_decoder = DictPb2EncoderDecoder()
             self.msg_code = self.encoder_decoder.dictToMsgCode(init_command)
             # TODO: the name should be random and send over as function argument
-            shm_name = "client_socket"
+            shm_name = "client_socket" + str(np.random.randint(0, 1000))
             # NOTE: size is max size of the recv buffer too,
             # and the everything blows up if you manage to fill it atm
             self.shm_msg = shared_memory.SharedMemory(shm_name, create=True, size=1024)
diff --git a/python/ur_simple_control/networking/client.py b/python/ur_simple_control/networking/client.py
index 4c3d219..2e23f47 100644
--- a/python/ur_simple_control/networking/client.py
+++ b/python/ur_simple_control/networking/client.py
@@ -59,7 +59,12 @@ def client(args, init_command, shm_name, lock):
     shm = shared_memory.SharedMemory(name=shm_name)
     host_addr = (args.host, args.port)
     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    s.connect(host_addr)
+    while True:
+        try:
+            s.connect(host_addr)
+            break
+        except ConnectionRefusedError:
+            time.sleep(0.005)
     if args.debug_prints:
         print("NETWORKING CLIENT: connected to server")
 
diff --git a/python/ur_simple_control/networking/message_specs.proto b/python/ur_simple_control/networking/message_specs.proto
index a0af620..2dbe216 100644
--- a/python/ur_simple_control/networking/message_specs.proto
+++ b/python/ur_simple_control/networking/message_specs.proto
@@ -9,8 +9,11 @@ message wrenches {
   repeated double wrench_estimate = 2;
 }
 
-message robot_target {
+message wrench { repeated double wrench = 1; }
+
+// NOTE: you better know in which frame this will be
+message T_goal {
   repeated double position = 1; // 3 double
-  repeated double rotation = 2; // 3 double
-  repeated double velocity = 2; // 6 double
+  repeated double rotation = 2; // 4 double (quaternion)
+  repeated double velocity = 3; // 6 double (
 }
diff --git a/python/ur_simple_control/networking/message_specs_pb2.py b/python/ur_simple_control/networking/message_specs_pb2.py
index 3d2d21d..01ac585 100644
--- a/python/ur_simple_control/networking/message_specs_pb2.py
+++ b/python/ur_simple_control/networking/message_specs_pb2.py
@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13message_specs.proto\"\x19\n\x0cjoint_angles\x12\t\n\x01q\x18\x01 \x03(\x01\"3\n\x08wrenches\x12\x0e\n\x06wrench\x18\x01 \x03(\x01\x12\x17\n\x0fwrench_estimate\x18\x02 \x03(\x01\x62\x08\x65\x64itionsp\xe8\x07')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13message_specs.proto\"\x19\n\x0cjoint_angles\x12\t\n\x01q\x18\x01 \x03(\x01\"3\n\x08wrenches\x12\x0e\n\x06wrench\x18\x01 \x03(\x01\x12\x17\n\x0fwrench_estimate\x18\x02 \x03(\x01\"\x18\n\x06wrench\x12\x0e\n\x06wrench\x18\x01 \x03(\x01\">\n\x06T_goal\x12\x10\n\x08position\x18\x01 \x03(\x01\x12\x10\n\x08rotation\x18\x02 \x03(\x01\x12\x10\n\x08velocity\x18\x03 \x03(\x01\x62\x08\x65\x64itionsp\xe8\x07')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -35,4 +35,8 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_JOINT_ANGLES']._serialized_end=48
   _globals['_WRENCHES']._serialized_start=50
   _globals['_WRENCHES']._serialized_end=101
+  _globals['_WRENCH']._serialized_start=103
+  _globals['_WRENCH']._serialized_end=127
+  _globals['_T_GOAL']._serialized_start=129
+  _globals['_T_GOAL']._serialized_end=191
 # @@protoc_insertion_point(module_scope)
diff --git a/python/ur_simple_control/networking/util.py b/python/ur_simple_control/networking/util.py
index 909a3ba..a3b5e98 100644
--- a/python/ur_simple_control/networking/util.py
+++ b/python/ur_simple_control/networking/util.py
@@ -2,6 +2,7 @@ import ur_simple_control.networking.message_specs_pb2 as message_specs_pb2
 from google.protobuf.internal.encoder import _VarintBytes
 from google.protobuf.internal.decoder import _DecodeVarint32
 import numpy as np
+import pinocchio as pin
 
 """
 to make the data API uniform across the library (dictionaries),
@@ -32,7 +33,13 @@ class DictPb2EncoderDecoder:
     def __init__(self):
         # TODO: fill this in with more messages
         # int_to_message = {0: message_specs_pb2.joint_angles, 6: message_specs_pb2.wrenches}
-        self.key_to_index = {"q": 0, "wrench": 1, "wrench_estimate": 2}
+        self.key_to_index = {
+            "q": 0,
+            "wrench": 1,
+            "wrench_estimate": 2,
+            "T_goal": 3,
+            "v": 4,
+        }
         # if you want to embed message codes into messages,
         # you'll need to use this
         # stupidest possible solution
@@ -75,15 +82,27 @@ class DictPb2EncoderDecoder:
             pb2_msg = message_specs_pb2.joint_angles()
             # if i could go from string to class atribute somehow
             # that'd be amazing
-            # TODO: see if that's possible
             pb2_msg.q.extend(dict_msg["q"])
+        if msg_code == 2:
+            pb2_msg = message_specs_pb2.wrench()
+            # if i could go from string to class atribute somehow
+            # that'd be amazing
+            pb2_msg.wrench.extend(dict_msg["wrench"])
         if msg_code == 6:
             pb2_msg = message_specs_pb2.wrenches()
             # if i could go from string to class atribute somehow
             # that'd be amazing
-            # TODO: see if that's possible
             pb2_msg.wrench.extend(dict_msg["wrench"])
             pb2_msg.wrench_estimate.extend(dict_msg["wrench_estimate"])
+        if msg_code == 24:
+            pb2_msg = message_specs_pb2.T_goal()
+            # if i could go from string to class atribute somehow
+            # that'd be amazing
+            pb2_msg.position.extend(dict_msg["T_goal"].translation)
+            pb2_msg.rotation.extend(
+                pin.Quaternion(dict_msg["T_goal"].rotation).coeffs()
+            )
+            pb2_msg.velocity.extend(dict_msg["v"])
 
         # NOTE: possible extension:
         #   prepend the message code as well so that i can send different
@@ -135,6 +154,12 @@ class DictPb2EncoderDecoder:
             # that'd be amazing
             # TODO: see if that's possible
             dict_msg["q"] = np.array(pb2_msg.q)
+        if msg_code == 2:
+            pb2_msg = message_specs_pb2.wrench()
+            pb2_msg.ParseFromString(pb2_msg_in_bytes_cut)
+            # if i could go from string to class atribute somehow
+            # that'd be amazing
+            dict_msg["wrench"] = np.array(pb2_msg.wrench)
         if msg_code == 6:
             pb2_msg = message_specs_pb2.wrenches()
             pb2_msg.ParseFromString(pb2_msg_in_bytes_cut)
@@ -143,5 +168,14 @@ class DictPb2EncoderDecoder:
             # TODO: see if that's possible
             dict_msg["wrench"] = np.array(pb2_msg.wrench)
             dict_msg["wrench_estimate"] = np.array(pb2_msg.wrench_estimate)
+        if msg_code == 24:
+            pb2_msg = message_specs_pb2.T_goal()
+            pb2_msg.ParseFromString(pb2_msg_in_bytes_cut)
+            # if i could go from string to class atribute somehow
+            # that'd be amazing
+            dict_msg["T_goal"] = pin.XYZQUATToSE3(
+                list(pb2_msg.position) + list(pb2_msg.rotation)
+            )
+            dict_msg["v"] = np.array(pb2_msg.velocity)
 
         return dict_msg
-- 
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