diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 5d2126b922acc5d6028818f412f1570c6719a75b..e774d45ca995749fec1e78bd881ab5a0d0c2a0e7 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -1,4 +1,4 @@
-# this is the main file for the drawing your drawings with a dmp with force feedback
+#, this is the main file for the drawing your drawings with a dmp with force feedback
# TODO:
# 2. delete the unnecessary comments
# 8. add some code to pick up the marker from a prespecified location
@@ -90,6 +90,8 @@ def getArgs():
# maybe you want to scale the control signal
parser.add_argument('--controller-speed-scaling', type=float, \
default='1.0', help='not actually_used atm')
+ parser.add_argument('--contact-detecting-force', type=float, \
+ default='1.3', help='the force used to detect contact (collision) in the moveUntilContact function')
#############################
# dmp specific arguments #
#############################
@@ -132,6 +134,9 @@ def getArgs():
help="height of the board (in meters) the robot will write on", \
#default=0.35)
default=0.25)
+ parser.add_argument('--board-wiping', action=argparse.BooleanOptionalAction, \
+ help="are you wiping the board (default is no because you're writing)", \
+ default=False)
# TODO: add axis direction too!!!!!!!!!!!!!!!!!
# and change the various offsets accordingly
parser.add_argument('--board-axis', type=str, \
@@ -181,9 +186,20 @@ 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):
- # init position
+def getMarker(args, robot, rotation_matrix, translation_vector):
+ # 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
+ transf_bord_to_board = pin.SE3(rotation_matrix, translation_vector)
+ above_starting_write_point = transf_bord_to_board.act(above_starting_write_point)
+ print("above_starting_write_point", above_starting_write_point)
+ print("Mtool", robot.getMtool())
Tinit = robot.getMtool().copy()
+ q_init = robot.getQ()
+ #exit()
+ #moveJ(args, robot, q_init)
+ compliantMoveL(args, robot, above_starting_write_point)
# goal position, predefined
Tgoal = pin.SE3()
Tgoal.rotation = np.array([
@@ -195,7 +211,6 @@ def getMarker(args, robot):
# slighly up from goal to not hit marker weirdly
TgoalUP = Tgoal.copy()
TgoalUP.translation += np.array([0,0,0.2])
- q_init = robot.getQ()
#TgoalUP.translation += np.array([0,0,0.3])
# instantiate controller
@@ -253,8 +268,20 @@ def findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
# TODO make this more general
# so TODO: calculate TCP speed based on the rotation matrix
# and then go
- moveJ(args, robot, q_init)
- Tinit = robot.getMtool().copy()
+ above_starting_write_point = pin.SE3.Identity()
+ #above_starting_write_point.translation[0] = args.board_width / 2
+ # this one might be with a minus sign
+ #above_starting_write_point.translation[1] = -1* args.board_height / 2
+ # start 20cm away from the board
+ above_starting_write_point.translation[2] = -0.2
+ transf_bord_to_board = pin.SE3(rotation_matrix, translation_vector)
+ above_starting_write_point = transf_bord_to_board.act(above_starting_write_point)
+ print("above_starting_write_point", above_starting_write_point)
+ print("Mtool", robot.getMtool())
+ #exit()
+ #moveJ(args, robot, q_init)
+ compliantMoveL(args, robot, above_starting_write_point)
+ #Tinit = robot.getMtool().copy()
if args.board_axis == 'z':
axis_of_rot = rotation_matrix[:,2]
elif args.board_axis == 'y':
@@ -267,27 +294,31 @@ def findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
#z_of_rot = z_of_rot
print("vector i'm following:", axis_of_rot)
speed = getSpeedInDirectionOfN(rotation_matrix, args.board_axis)
+ speed = np.zeros(6)
+ # this is in the end-effector frame, so this means going straight down
+ # because we are using the body jacobians in our clik
+ # TODO: make this both more transparent AND provide the option to do clik
+ # with a spatial jacobian
+ speed[2] = 0.02
#speed[2] = speed[2] * -1
#robot.rtde_control.moveUntilContact(speed)
moveUntilContact(args, robot, speed)
# we use the pin coordinate system because that's what's
# the correct thing long term accross different robots etc
- q = robot.getQ()
- pin.forwardKinematics(robot.model, robot.data, np.array(q))
- current_translation = robot.data.oMi[6].translation
+ current_translation = robot.getMtool().translation
# i only care about the z because i'm fixing the path atm
# but, let's account for the possible milimiter offset 'cos why not
- print("translation_vector", translation_vector)
- print("current_translation", current_translation)
- print("translation_vector - current_translation", \
- translation_vector - current_translation)
+ #print("translation_vector", translation_vector)
+ #print("current_translation", current_translation)
+ #print("translation_vector - current_translation", \
+ # translation_vector - current_translation)
marker_offset = np.linalg.norm(translation_vector - current_translation)
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)
+ #robot.Mgoal = Tinit.copy()
+ compliantMoveL(args, robot, above_starting_write_point)
# robot.setSpeedSlider(old_speed_slider)
return marker_offset
@@ -325,8 +356,8 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
log_item = {}
dmp.step(robot.dt) # dmp step
# temporal coupling step
- tau = dmp.tau + tc.update(dmp, robot.dt) * robot.dt
- dmp.set_tau(tau)
+ tau_dmp = dmp.tau + tc.update(dmp, robot.dt) * robot.dt
+ dmp.set_tau(tau_dmp)
q = robot.getQ()
Mtool = robot.getMtool()
# TODO look into UR code/api for estimating the same
@@ -383,8 +414,10 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) + args.alpha * tau
robot.sendQd(vel_cmd)
- # TODO find a better criterion for stopping
- if (np.linalg.norm(dmp.vel) < 0.001) and (i > 3000):
+ # tau0 is the minimum time needed for dmp
+ # 500 is the frequency
+ # so we need tau0 * 500 iterations minimum
+ if (np.linalg.norm(dmp.vel) < 0.01) and (i > int(args.tau0 * 500)):
breakFlag = True
# immediatelly stop if something weird happened (some non-convergence)
if np.isnan(vel_cmd[0]):
@@ -437,7 +470,7 @@ if __name__ == "__main__":
print(q_init)
print(rotation_matrix)
print(translation_vector)
- exit()
+ #exit()
else:
# TODO: save this somewhere obviously
# also make it prettier if possible
@@ -447,12 +480,18 @@ if __name__ == "__main__":
#rotation_matrix = np.array([[1. , 0. ,0.00336406],
# [-0. , -0.00294646, 0.99999 ],
# [ 0. , -0.99999 , -0.00294646]])
- 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])
+ #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])
+ translation_vector = np.array([0.21754368, 0.42021616, 0.74162252])
+ rotation_matrix = np.array([[ 1. , 0. ,0.0139409 ],
+ [ 0., -0.61730976 , 0.78659666],
+ [ 0., -0.78659666 ,-0.61730976]])
+ q_init = np.array([ 1.32022870e+00, -1.40114772e+00, -1.27237797e+00, -1.15715911e+00,
+ 1.76543856e+00, -2.38652054e-01, 2.94117647e-04, 2.94117647e-04])
#q_init = robot.getQ()
#Mtool = robot.getMtool()
#rotation_matrix = np.array([
@@ -469,48 +508,30 @@ if __name__ == "__main__":
# ---> just go to the board while you have the marker ready to find this
# ---> do that right here
if args.pick_up_marker:
- getMarker(args, robot)
+ getMarker(args, robot, rotation_matrix, translation_vector)
if args.find_marker_offset:
# find the marker offset
# TODO find a better q init (just moveL away from the board)
# THIS Q_INIT IS NOT SUITED FOR THIS PURPOSE!!!!!
- exit()
+ #marker_offset = findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init)
marker_offset = findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init)
print('marker_offset', marker_offset)
- #robot.stopHandler(None,None)
- # Z
- #path = path + np.array([0.0, 0.0, -1 * marker_offset])
- # Y
- #path = path + np.array([0.0, -1 * marker_offset, 0.0])
- path = path + np.array([0.0, 0.0, -1 * marker_offset])
+ # we're going in a bit deeper
+ #path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
+ if not args.board_wiping:
+ path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.003])
+ else:
+ path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
else:
- #path = path + np.array([0.0, -0.0938, 0.0])
- #path = path + np.array([0.0, 0.0, -0.0938])
- # NEW MARKER IS SHORTER
- #path = path + np.array([0.0, 0.0, -0.0813])
- # NOTE GOOD FOR SHORT
- #path = path + np.array([0.0, 0.0, -0.0750])
- #path = path + np.array([0.0, 0.0, -0.0791])
- #path = path + np.array([0.0, 0.0, -0.0808])
- #path = path + np.array([0.0, 0.0, -0.0108])
- # NOTE: THIS IS THE ONE
- # NOTE: not a single one is the one, the f/t sensor sucks
- # 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, -0.1003])
- # THIS ONE
- path = path + np.array([0.0, 0.0, -0.0830])
- #path = path + np.array([0.0, 0.0, -0.0903])
- #path = path + np.array([0.0, 0.0, -0.0790])
- #path = path + np.array([0.0, 0.0, -0.1003])
+ #path = path + np.array([0.0, 0.0, -0.1503])
+ path = path + np.array([0.0, 0.0, - 0.092792+ 0.003])
# and if you don't want to draw new nor calibrate, but you want the same path
# with a different clik, i'm sorry, i can't put that if here.
# atm running the same joint trajectory on the same thing makes for easier testing
# of the final system.
- if args.draw_new or args.calibration:
+ if args.draw_new or args.calibration or args.find_marker_offset:
#path = path + np.array([0.0, 0.0, -0.0938])
# create a joint space trajectory based on the 3D path
@@ -579,7 +600,7 @@ if __name__ == "__main__":
mtool = robot.getMtool(q_given=first_q)
#mtool.translation[1] = mtool.translation[1] - 0.0035
#mtool.translation[1] = mtool.translation[1] - 0.012
- mtool.translation[1] = mtool.translation[1] - 0.0045
+ mtool.translation[1] = mtool.translation[1] - 0.006
if args.debug_prints:
print("im at:", robot.getMtool())
print("going to:", mtool)
@@ -587,7 +608,10 @@ if __name__ == "__main__":
# TODO: write a compliantMoveL - be careful that everything is in the body frame
# since your jacobian is the body jacobian!!!
#moveL(args, robot, mtool)
- compliantMoveL(args, robot, mtool)
+ if not args.board_wiping:
+ compliantMoveL(args, robot, mtool)
+ else:
+ moveL(args, robot, mtool)
#moveJ(args, robot, dmp.pos.reshape((6,)))
controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index eef2cb90bcbc083e896dda469c66a964e525f5b0..6ea8bf82d0d4324e5e3e532d8d063670fd96f3bb 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,499 +1,9654 @@
-0.00000,1.05847,-1.30589,-1.51747,-1.01343,1.97546,-0.31773
-0.01004,1.05782,-1.30623,-1.51735,-1.01338,1.97595,-0.31818
-0.02008,1.05718,-1.30656,-1.51723,-1.01334,1.97643,-0.31862
-0.03012,1.05656,-1.30689,-1.51712,-1.01329,1.97690,-0.31905
-0.04016,1.05594,-1.30721,-1.51701,-1.01325,1.97737,-0.31948
-0.05020,1.05533,-1.30752,-1.51689,-1.01321,1.97783,-0.31989
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-0.08032,1.05357,-1.30844,-1.51656,-1.01309,1.97916,-0.32111
-0.09036,1.05300,-1.30874,-1.51645,-1.01306,1.97958,-0.32150
-0.10040,1.05245,-1.30903,-1.51635,-1.01302,1.98000,-0.32188
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 6d4ee0d8e2ed4a0606012d6ecdbec04f0e360c74..c739895cc0048413c4274e61aa478407f03de642 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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