From 68d977ba5ff82449bef0d9164e42957786011b2d Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Sun, 19 Nov 2023 23:44:44 +0100
Subject: [PATCH] at the exact functionality-wise spot the code was last
friday, but it is now, finally, written and documentated as it should be. now
i need to add a low pass filter on the f/t sensors and that is pretty much it
---
python/convenience_tool_box/notes.md | 8 +
.../.drawing_from_input_drawing.py.swp | Bin 36864 -> 45056 bytes
python/examples/clik_new.py | 69 +
python/examples/drawing_from_input_drawing.py | 114 +-
python/examples/joint_trajectory.csv | 2240 +++++++++++++++++
python/examples/path_in_pixels.csv | 238 +-
python/ur_simple_control/.managers.py.swp | Bin 0 -> 40960 bytes
.../__pycache__/managers.cpython-310.pyc | Bin 6218 -> 6514 bytes
.../clik/.clik_point_to_point.py.swp | Bin 16384 -> 0 bytes
.../clik/.clik_trajectory_following.py.swp | Bin 20480 -> 20480 bytes
.../clik_point_to_point.cpython-310.pyc | Bin 3943 -> 3951 bytes
.../clik_trajectory_following.cpython-310.pyc | Bin 0 -> 1763 bytes
.../clik/clik_point_to_point.py | 31 +-
.../clik/clik_trajectory_following.py | 31 +-
.../dmp/__pycache__/dmp.cpython-310.pyc | Bin 6620 -> 6914 bytes
python/ur_simple_control/dmp/dmp.py | 11 +-
python/ur_simple_control/managers.py | 33 +-
.../util/.calib_board_hacks.py.swp | Bin 0 -> 24576 bytes
.../calib_board_hacks.cpython-310.pyc | Bin 0 -> 5604 bytes
.../__pycache__/draw_path.cpython-310.pyc | Bin 2061 -> 2060 bytes
.../__pycache__/freedrive.cpython-310.pyc | Bin 0 -> 717 bytes
.../util/calib_board_hacks.py | 108 +-
python/ur_simple_control/util/draw_path.py | 2 +-
python/ur_simple_control/util/freedrive.py | 9 +-
.../__pycache__/visualize.cpython-310.pyc | Bin 816 -> 829 bytes
.../ur_simple_control/visualize/visualize.py | 9 +-
26 files changed, 2746 insertions(+), 157 deletions(-)
create mode 100644 python/convenience_tool_box/notes.md
create mode 100644 python/examples/clik_new.py
create mode 100644 python/examples/joint_trajectory.csv
create mode 100644 python/ur_simple_control/.managers.py.swp
delete mode 100644 python/ur_simple_control/clik/.clik_point_to_point.py.swp
create mode 100644 python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-310.pyc
create mode 100644 python/ur_simple_control/util/.calib_board_hacks.py.swp
create mode 100644 python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-310.pyc
create mode 100644 python/ur_simple_control/util/__pycache__/freedrive.cpython-310.pyc
diff --git a/python/convenience_tool_box/notes.md b/python/convenience_tool_box/notes.md
new file mode 100644
index 0000000..667374e
--- /dev/null
+++ b/python/convenience_tool_box/notes.md
@@ -0,0 +1,8 @@
+# convenience toolbox
+------------------------
+a collection of random scripts useful when working with the real robot
+
+# TODO
+------
+- make linear jog better (redo the whole program in whatever way you see fit)
+- write joint jog
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
index dab6cd932f3d42ae427684d8449babf19a525544..c061a573335cdd9389217cc9fdfe3698ab20895d 100644
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diff --git a/python/examples/clik_new.py b/python/examples/clik_new.py
new file mode 100644
index 0000000..6d3b108
--- /dev/null
+++ b/python/examples/clik_new.py
@@ -0,0 +1,69 @@
+import argparse
+from functools import partial
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+# TODO merge the 2 clik files
+from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik
+"""
+Every imaginable magic number, flag and setting is put in here.
+This way the rest of the code is clean.
+If you want to know what these various arguments do, just grep
+though the code to find them (but replace '-' with '_' in multi-word arguments).
+All the sane defaults are here, and you can change any number of them as an argument
+when running your program. If you want to change a drastic amount of them, and
+not have to run a super long commands, just copy-paste this function and put your
+own parameters as default ones.
+NOTE1: the args object obtained from args = parser.get_args()
+is pushed all around the rest of the code (because it's tidy), so don't change their names.
+NOTE2: that you need to copy-paste and add aguments you need
+to the script you will be writing. This is kept here
+only as a convenient reference point.
+"""
+def get_args():
+ parser = argparse.ArgumentParser(description='Run closed loop inverse kinematics \
+ of various kinds. Make sure you know what the goal is before you run!',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ parser.add_argument('--simulation', action=argparse.BooleanOptionalAction,
+ help="whether you are running the UR simulator", default=False)
+ parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
+ help="whether you want to just integrate with pinocchio", default=False)
+ parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize with gepetto, but NOTE: not implemented yet", default=False)
+ parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
+ help="whether you're using the gripper", default=False)
+ parser.add_argument('--goal-error', type=float, \
+ help="the final position error you are happy with", default=1e-2)
+ parser.add_argument('--max-iterations', type=int, \
+ help="maximum allowable iteration number (it runs at 500Hz)", default=100000)
+ parser.add_argument('--acceleration', type=float, \
+ help="robot's joints acceleration. scalar positive constant, max 1.7, and default 0.4. \
+ BE CAREFUL WITH THIS. the urscript doc says this is 'lead axis acceleration'.\
+ TODO: check what this means", default=0.3)
+ parser.add_argument('--speed-slider', type=float,\
+ help="cap robot's speed with the speed slider \
+ to something between 0 and 1, 0.5 by default \
+ BE CAREFUL WITH THIS.", default=0.5)
+ parser.add_argument('--tikhonov-damp', type=float, \
+ help="damping scalar in tiknohov regularization", default=1e-3)
+ # TODO add the rest
+ parser.add_argument('--clik-controller', type=str, \
+ help="select which click algorithm you want", \
+ default='dampedPseudoinverse', choices=['dampedPseudoinverse', 'jacobianTranspose'])
+ # maybe you want to scale the control signal
+ parser.add_argument('--controller-speed-scaling', type=float, \
+ default='1.0', help='not actually_used atm')
+
+ 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')
+ return args
+
+if __name__ == "__main__":
+ args = get_args()
+ robot = RobotManager(args)
+ Mgoal = robot.defineGoalPoint()
+ clik_controller = getClikController(args)
+ controlLoop = partial(controlLoopClik, robot, clik_controller)
+ # we're not using any past data or logging, hence the empty arguments
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
+ loop_manager.run()
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index caa9671..d307dac 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -1,47 +1,36 @@
-# TODO
# this is the main file for the drawing your drawings with a dmp with force feedback
# TODO:
-# 1. clean up these instantiations in a separate util file
-# and just do a line-liner importing -> need to make this a package to get rid
-# of the relative-path imports
# 2. delete the unnecessary comments
# 3. figure out how to scale the dmp velocity when creating it -> DONE (arg for tc)
-# 4. parametrize everything, put argparse with defaults in a separate file
-# like in tianshou examples. make magic numbers arguments!
-# also add helpfull error messages based on this, ex. if interfaces couldn't connect
-# with the simulation argument on, write out "check whether you started the simulator"
-# 5. remove all unused code:
-# - for stuff that could work, make a separate file
-# - just remove stuff that's a remnant of past tries
-# 6. put visualization into a separate file for visualization
# 7. put an actual low-pass filter over the force-torque sensor
# 8. add some code to pick up the marker from a prespecified location
# 9. add the (optional) decomposition of force feedback so that
# you get hybrid motion-force control
# 10. write documentation as you go along
-# 11. put gripper class in util or something,
-# package it and then have it one place instead of copying it everywhere
-# 12. make this a mainfile, put everything that could be turned into a function elsewhere
+# BIG TODO:
+# DOES NOT WORK WITH SPEED SLIDER =/= 1.0!!!!!!!!!!!!!!!!!!!!!!!!!!!
import pinocchio as pin
import numpy as np
import matplotlib.pyplot as plt
import copy
import argparse
+from functools import partial
from ur_simple_control.util.get_model import get_model
from ur_simple_control.visualize.visualize import plotFromDict
from ur_simple_control.util.draw_path import drawPath
from ur_simple_control.dmp.dmp import DMP, NoTC,TCVelAccConstrained
-# TODO merge these files as well, they don't deserve to be separate
+# 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
-from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane
+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
+from ur_simple_control.visualize.visualize import plotFromDict
#######################################################################
# arguments #
#######################################################################
-# TODO sort these somehow
def getArgs():
#######################################################################
# generic arguments #
@@ -71,9 +60,9 @@ def getArgs():
parser.add_argument('--speed-slider', type=float,\
help="cap robot's speed with the speed slider \
to something between 0 and 1, 0.5 by default \
- BE CAREFUL WITH THIS.", default=0.5)
+ BE CAREFUL WITH THIS.", default=0.4)
parser.add_argument('--max-iterations', type=int, \
- help="maximum allowable iteration number (it runs at 500Hz)", default=100000)
+ help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
#######################################################################
# your controller specific arguments #
#######################################################################
@@ -129,12 +118,14 @@ def getArgs():
# TODO measure this for the new board
parser.add_argument('--board-width', type=float, \
help="width of the board (in meters) the robot will write on", \
- default=0.35)
+ default=0.3)
parser.add_argument('--board-height', type=float, \
help="height of the board (in meters) the robot will write on", \
- default=0.4)
+ default=0.3)
parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
help="whether you want to do calibration", default=True)
+ parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
+ help="whether draw a new picture, or use the saved path path_in_pixels.csv", default=True)
parser.add_argument('--n-calibration-tests', type=int, \
help="number of calibration tests you want to run", default=10)
parser.add_argument('--clik-goal-error', type=float, \
@@ -200,7 +191,7 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
wrench = np.average(np.array(past_data['wrench']), axis=0)
pin.forwardKinematics(robot.model, robot.data, q)
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
- dq = robot.getQd().reshape((6,1))
+ dq = robot.getQd()[:6].reshape((6,1))
# get joitn
tau = J.T @ wrench
tau = tau[:6].reshape((6,1))
@@ -209,8 +200,9 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
# - feedback the position
# TODO: don't use vel for qd, it's confusion (yes, that means changing dmp code too)
# TODO: put this in a controller function for easy swapping (or don't if you won't swap)
- vel_cmd = dmp.vel + kp * (dmp.pos - q6.reshape((6,1))) - alpha * tau
- robot.sendQd(vel_cmd, acceleration, dt)
+ # solve this q number connundrum
+ 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) < 0.0001) and (i > 5000):
@@ -220,7 +212,8 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
breakFlag = True
# log what you said you'd log
- log_item['qs'] = q6.reshape((6,))
+ # TODO fix the q6 situation (hide this)
+ log_item['qs'] = q[:6].reshape((6,))
log_item['dmp_poss'] = dmp.pos.reshape((6,))
log_item['dqs'] = dq.reshape((6,))
log_item['dmp_vels'] = dmp.vel.reshape((6,))
@@ -239,32 +232,45 @@ if __name__ == "__main__":
#######################################################################
# draw the path on the screen
- pixel_path = drawPath()
-
- # make it 3D
- path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
- # TODO: run calibration here
- # TODO: create calibration related arguments
- # add an offset of the marker (this is of course approximate)
- # TODO: fix z axis in 2D to 3D path
- # TODO: make this an argument once the rest is OK
- path = path + np.array([0.0, 0.0, -0.0938])
+ if args.draw_new:
+ pixel_path = drawPath()
+ # make it 3D
+ else:
+ pixel_path_file_path = './path_in_pixels.csv'
+ pixel_path = np.genfromtxt(pixel_path_file_path, delimiter=',')
# do calibration if specified
if args.calibration:
- R, translation = calibratePlane(robot, args.n_calibrations_tests)
+ rotation_matrix, translation_vector, q_init = calibratePlane(robot, args.n_calibration_tests)
else:
# TODO: save this somewhere obviously
- raise NotImplementedError("you gotta give me that R somehow, 'cos there is no default atm")
- # create a joint space trajectory based on the path
- transf_body_to_board = pin.SE3(R, p)
- #TODO find and fix q_init here
- # ideally you obtain it as a part of the calibration process.
- # of course you will or won't use/provide a new one based
- # on some argument.
- #q_init = np.array([1.584, -1.859, -0.953, -1.309, 1.578, -0.006, 0.0, 0.0])
- joint_trajectory = clikCartesianPathIntoJointPath(path, args, robot, \
- clikController, q_init, transf_body_task_frame)
+ # also make it prettier if possible
+ print("using predefined values")
+ q_init = np.array([1.4545, -1.7905, -1.1806, -1.0959, 1.6858, -0.1259, 0.0, 0.0])
+ translation_vector = np.array([0.19406676, 0.59990556, 0.57585894])
+ rotation_matrix = np.array([[1., 0., 0.01298926],
+ [ 0. , -0.83234077, 0.55411201],
+ [ 0. , -0.55411201, -0.83234077]])
+ # 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:
+ # make the path 3D
+ path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
+ # TODO: fix and trust z axis in 2D to 3D path
+ # TODO: add an offset of the marker (this is of course approximate)
+ # TODO: make this an argument once the rest is OK
+ # ---> just go to the board while you have the marker ready to find this
+ # ---> do that right here
+ path = path + np.array([0.0, 0.0, -0.0938])
+ # create a joint space trajectory based on the 3D path
+ joint_trajectory = clikCartesianPathIntoJointPath(path, args, robot, \
+ clikController, q_init, rotation_matrix, translation_vector)
+ else:
+ joint_trajectory_file_path = './joint_trajectory.csv'
+ joint_trajectory = np.genfromtxt(joint_trajectory_file_path, delimiter=',')
+
# create DMP based on the trajectory
dmp = DMP(joint_trajectory)
if not args.temporal_coupling:
@@ -272,11 +278,12 @@ if __name__ == "__main__":
else:
# TODO test whether this works (it should, but test it)
# test the interplay between this and the speed slider
- v_max_ndarray = np.ones(6) * robot.max_qd
+ # ---> SPEED SLIDER HAS TO BE AT 1.0
+ v_max_ndarray = np.ones(robot.n_joints) * robot.max_qd #* args.speed_slider
# test the interplay between this and the speed slider
# args.acceleration is the actual maximum you're using
- a_max_ndarray = np.ones(6) * args.acceleration
- tc = TCVelAccConstrained(gamma_nominal, gamma_a, v_max, a_max, eps_tc)
+ a_max_ndarray = np.ones(robot.n_joints) * args.acceleration #* args.speed_slider
+ tc = TCVelAccConstrained(args.gamma_nominal, args.gamma_a, v_max_ndarray, a_max_ndarray, args.eps_tc)
# TODO and NOTE the weight, TCP and inertial matrix needs to be set on the robot
# you already found an API in rtde_control for this, just put it in initialization
@@ -310,8 +317,13 @@ if __name__ == "__main__":
# move to initial pose
# this is a blocking call
robot.rtde_control.moveJ(dmp.pos.reshape((6,)))
+ # and now we can actually run
loop_manager.run()
+
+ # plot results
+ plotFromDict(log_dict, args)
+ # TODO: add some math to analyze path precision
+
- # and now we can actually run
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
new file mode 100644
index 0000000..c118ee3
--- /dev/null
+++ b/python/examples/joint_trajectory.csv
@@ -0,0 +1,2240 @@
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+0.00223,1.40812,-1.31122,-1.83006,-0.98192,1.65873,-0.13260
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diff --git 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/clik/__pycache__/clik_point_to_point.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc
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diff --git a/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/clik_trajectory_following.cpython-310.pyc
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diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index d5ce006..a85c176 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -5,9 +5,7 @@ import argparse
from functools import partial
from ur_simple_control.managers import ControlLoopManager, RobotManager
-# TODO move actually using this (main file and arguments to an example file).
-# but do make assertions that certain arguments have to exist.
-# this is good, just not separated the way it should be, like dmp is for example.
+
"""
Every imaginable magic number, flag and setting is put in here.
@@ -18,8 +16,11 @@ All the sane defaults are here, and you can change any number of them as an argu
when running your program. If you want to change a drastic amount of them, and
not have to run a super long commands, just copy-paste this function and put your
own parameters as default ones.
-NOTE: the args object obtained from args = parser.get_args()
+NOTE1: the args object obtained from args = parser.get_args()
is pushed all around the rest of the code (because it's tidy), so don't change their names.
+NOTE2: that you need to copy-paste and add aguments you need
+to the script you will be writing. This is kept here
+only as a convenient reference point.
"""
def get_args():
parser = argparse.ArgumentParser(description='Run closed loop inverse kinematics \
@@ -64,6 +65,19 @@ def get_args():
#######################################################################
# controllers #
#######################################################################
+"""
+controllers general
+-----------------------
+really trully just the equation you are running.
+ideally, everything else is a placeholder,
+meaning you can swap these at will.
+if a controller has some additional arguments,
+those are put in via functools.partial in getClikController,
+so that you don't have to worry about how your controller is handled in
+the actual control loop after you've put it in getClikController,
+which constructs the controller from an argument to the file.
+"""
+
def dampedPseudoinverse(tiknonov_damp, J, err_vector):
qd = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * tiknonov_damp) @ err_vector
return qd
@@ -73,6 +87,8 @@ def jacobianTranspose(J, err_vector):
return qd
"""
+getClikController
+-----------------
A string argument is used to select one of these.
It's a bit ugly, bit totally functional and OK solution.
we want all of theme to accept the same arguments, i.e. the jacobian and the error vector.
@@ -108,6 +124,13 @@ def getClikController(args):
# modularity yo
# past data to comply with the API
# TODO make this a kwarg or whatever to be more lax with this
+"""
+controlLoopClik
+---------------
+generic control loop for clik (handling error to final point etc).
+in some version of the universe this could be extended to a generic
+point-to-point motion control loop.
+"""
def controlLoopClik(robot, clik_controller, i, past_data):
breakFlag = False
save_past_dict = {}
diff --git a/python/ur_simple_control/clik/clik_trajectory_following.py b/python/ur_simple_control/clik/clik_trajectory_following.py
index 141b90d..cf25427 100644
--- a/python/ur_simple_control/clik/clik_trajectory_following.py
+++ b/python/ur_simple_control/clik/clik_trajectory_following.py
@@ -8,8 +8,7 @@
import numpy as np
import pinocchio as pin
-import os
-import sys
+import copy
#######################################################################
# map the pixels to a 3D plane #
@@ -17,6 +16,8 @@ import sys
"""
map2DPathTo3DPlane
--------------------
+TODO: THINK AND FINALIZE THE FRAME
+TODO: WRITE PRINT ABOUT THE FRAME TO THE USER
assumptions:
- origin in top-left corner (natual for western latin script writing)
- x goes right (from TCP)
@@ -29,16 +30,16 @@ Returns a 3D path appropriately scaled, and placed into the first quadrant
of the x-y plane of the body-frame (TODO: what is the body frame if we're general?)
"""
def map2DPathTo3DPlane(path_2D, width, height):
- z = np.zeros((len(path),1))
- path_3D = np.hstack((path,z))
+ z = np.zeros((len(path_2D),1))
+ path_3D = np.hstack((path_2D,z))
# scale the path to m
- path[:,0] = path[:,0] * width
- path[:,1] = path[:,1] * height
+ path_3D[:,0] = path_3D[:,0] * width
+ path_3D[:,1] = path_3D[:,1] * height
# in the new coordinate system we're going in the -y direction
# TODO this is a demo specific hack,
# make it general for a future release
- path[:,1] = -1 * path[:,1] + args.height
- return path
+ path_3D[:,1] = -1 * path_3D[:,1] + height
+ return path_3D
"""
@@ -78,8 +79,10 @@ TODO: make this a kwarg with a neural transform as default.
so this makes perfect sense to ensure correctness
"""
def clikCartesianPathIntoJointPath(path, args, robot, \
- clikController, q_init, transf_body_task_frame):
+ clikController, q_init, R, p):
+
transf_body_to_task_frame = pin.SE3(R, p)
+ q = copy.deepcopy(q_init)
for i in range(len(path)):
path[i] = transf_body_to_task_frame.act(path[i])
@@ -108,18 +111,18 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
SEerror = robot.data.oMi[robot.JOINT_ID].actInv(Mgoal)
err_vector = pin.log6(SEerror).vector
if np.linalg.norm(err_vector) < args.clik_goal_error:
- if not n_iter == args.args.max_init_clik_iterations:
+ if not n_iter == args.max_init_clik_iterations:
print("converged in", i)
break
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
qd = clikController(J, err_vector)
# we're integrating this fully offline of course
- q = pin.integrate(robot.model, q, qd * dt)
- if (not n_iter == args.args.max_init_clik_iterations) and (i % 10 == 0):
+ q = pin.integrate(robot.model, q, qd * robot.dt)
+ if (not n_iter == args.max_init_clik_iterations) and (i % 10 == 0):
qs.append(q[:6])
# just skipping the first run with one stone
- if n_iter == args.args.max_init_clik_iterations:
+ if n_iter == args.max_init_clik_iterations:
n_iter = args.max_running_clik_iterations
else:
if i == args.max_running_clik_iterations - 1:
@@ -136,7 +139,7 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
joint_trajectory = np.hstack((t, qs))
# TODO handle saving more consistently/intentionally
# (although this definitely works right now and isn't bad, just mid)
- np.savetxt("./new_traj.csv", joint_trajectory, delimiter=',', fmt='%.5f')
+ np.savetxt("./joint_trajectory.csv", joint_trajectory, delimiter=',', fmt='%.5f')
return joint_trajectory
diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc
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diff --git a/python/ur_simple_control/dmp/dmp.py b/python/ur_simple_control/dmp/dmp.py
index 2e6c734..2741bd4 100644
--- a/python/ur_simple_control/dmp/dmp.py
+++ b/python/ur_simple_control/dmp/dmp.py
@@ -61,17 +61,16 @@ class DMP:
def load_trajectory_from_file(self, file_path):
# load trajectory. this is just joint positions.
- data = np.genfromtxt(file_path, delimiter=',')
- self.time = data[:, 0]
+ trajectory = np.genfromtxt(file_path, delimiter=',')
+ self.time = trajectory [:, 0]
self.time = self.time.reshape(1, len(self.time))
- self.y = np.array(data[:, 1:]).T
+ self.y = np.array(trajectory[:, 1:]).T
def load_trajectory(self, trajectory):
# load trajectory. this is just joint positions.
- data = np.genfromtxt(file_path, delimiter=',')
- self.time = data[:, 0]
+ self.time = trajectory[:, 0]
self.time = self.time.reshape(1, len(self.time))
- self.y = np.array(data[:, 1:]).T
+ self.y = np.array(trajectory[:, 1:]).T
def reset(self):
self.x = np.vstack((np.zeros((self.n, 1)), self.y0, 1.))
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index c7f17cf..b786893 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -128,7 +128,7 @@ class ControlLoopManager:
for i in range(100):
vel_cmd = np.zeros(6)
self.robot_manager.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
- exit()
+ #exit()
"""
run
@@ -154,6 +154,8 @@ class ControlLoopManager:
self.past_data[key].append(latest_to_save_dict[key])
# log the data
+ for key in log_entry_dict:
+ self.log_dict[key][i] = log_entry_dict[key]
# break if done
if breakFlag:
@@ -246,6 +248,9 @@ class RobotManager:
self.rtde_io = RTDEIOInterface("127.0.0.1")
# ur specific magic numbers
+ # TODO: this is 8 in pinocchio and that's what you actually use
+ # if we're being real lmao
+ # the TODO here is make this consistent obviously
self.n_joints = 6
# last joint because pinocchio adds base frame as 0th joint.
# and since this is unintuitive, we add the other variable too
@@ -259,18 +264,31 @@ class RobotManager:
# we're not saying it's qdd because it isn't directly (apparently)
# TODO: check that again
self.acceleration = args.acceleration
+ assert args.speed_slider <= 1.0 and args.acceleration > 0.0
+ self.speed_slider = args.speed_slider
if not args.pinocchio_only:
self.rtde_io.setSpeedSlider(args.speed_slider)
self.max_iterations = args.max_iterations
# TODO: these are almost certainly higher
# maybe you want to have them high and cap the rest with speed slider?
# idk really, but it's better to have this low and burried for safety and robot longevity reasons
- self.max_qdd = 1.7
+ self.max_qdd = 1.7 * args.speed_slider
# NOTE: i had this thing at 2 in other code
- self.max_qd = 0.5
+ self.max_qd = 0.5 * args.speed_slider
# error limit
# TODO this is clik specific, put it in a better place
self.goal_error = args.goal_error
+
+ """
+ setSpeedSlider
+ ---------------
+ update in all places
+ """
+ def setSpeedSlider(self, value):
+ assert value <= 1.0 and value > 0.0
+ if not self.args.pinocchio_only:
+ self.rtde_io.setSpeedSlider(value)
+ self.speed_slider = value
"""
getQ
@@ -327,12 +345,13 @@ class RobotManager:
# the /255 is to get it dimensionless
# the gap is 5cm
# thus half the gap is 0.025m and we only do si units here
- q.append(self.gripper_vel)
- q.append(self.gripper_vel)
+ # no need to deepcopy because only literals are passed
+ qd.append(self.gripper_vel)
+ qd.append(self.gripper_vel)
else:
# just fill it with zeros otherwise
- q.append(0.0)
- q.append(0.0)
+ qd.append(0.0)
+ qd.append(0.0)
# let's just have both options for getting q, it's just a 8d float list
# readability is a somewhat subjective quality after all
qd = np.array(qd)
diff --git a/python/ur_simple_control/util/.calib_board_hacks.py.swp b/python/ur_simple_control/util/.calib_board_hacks.py.swp
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diff --git a/python/ur_simple_control/util/calib_board_hacks.py b/python/ur_simple_control/util/calib_board_hacks.py
index 0d8acd5..286ed50 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -3,11 +3,12 @@
import pinocchio as pin
import numpy as np
-import sys
import time
import copy
from ur_simple_control.managers import RobotManager
from ur_simple_control.util.freedrive import freedrive
+# used to deal with freedrive's infinite while loop
+import threading
"""
general
@@ -37,6 +38,7 @@ def fitNormalVector(positions):
print("if the following give you roughly the same number, it worked")
for p in positions:
print("cdot", p @ n)
+ return n
"""
constructFrameFromNormalVector
@@ -83,40 +85,85 @@ handleUserToHandleTCPPose
4. release the freedrive and then start doing the calibration process
"""
def handleUserToHandleTCPPose(robot):
- print("Whatever code you ran wants you to calibrate the plane on which you will be doing\
- your things. Put the end-effector at the top left corner of the plane \
- where you'll be doing said things. \n
- Make sure the orientation is reasonably correct as that will be \
- used as the initial estimate of the orientation, \
- which is what you will get as an output from this calibration procedure.\
- The end-effector will go down (it's TCP z pozitive direction) and touch the thing\
- the number of times you specified (if you are not aware of this, check the\
- arguments of the program you ran.\n \
- The robot will now enter freedrive mode so that you can manually put\
- the end-effector where it's supposed to be.\n \
- When you did it, press 'Y', or press 'n' to exit.")
+ print("""
+ Whatever code you ran wants you to calibrate the plane on which you will be doing
+ your things. Put the end-effector at the top left corner SOMEWHAT ABOVE of the plane
+ where you'll be doing said things. \n
+ Make sure the orientation is reasonably correct as that will be
+ used as the initial estimate of the orientation,
+ which is what you will get as an output from this calibration procedure.
+ The end-effector will go down (it's TCP z pozitive direction) and touch the thing
+ the number of times you specified (if you are not aware of this, check the
+ arguments of the program you ran.\n
+ The robot will now enter freedrive mode so that you can manually put
+ the end-effector where it's supposed to be.\n
+ When you did it, press 'Y', or press 'n' to exit.
+ """)
while True:
answer = input("Ready to calibrate or exit? [Y/n]")
if answer == 'n' or answer == 'N':
- print("The whole program will exit. Change the argument to --no-calibrate or \
- change code that lead you here.")
+ print("""
+ The whole program will exit. Change the argument to --no-calibrate or
+ change code that lead you here.
+ """)
exit()
elif answer == 'y' or answer == 'Y':
- print("The robot will now enter freedrive mode. Put the end-effector to the \
- top left corner of your plane and mind the orientation.")
+ print("""
+ The robot will now enter freedrive mode. Put the end-effector to the
+ top left corner of your plane and mind the orientation.
+ """)
break
else:
print("Whatever you typed in is neither 'Y' nor 'n'. Give it to me straight cheif!")
continue
- freedrive()
+ print("""
+ Entering freedrive.
+ Put the end-effector to the top left corner of your plane and mind the orientation.
+ Press Enter to stop freedrive.
+ """)
+ time.sleep(2)
+ # it is necessary both to have freedrive as an infinite loop,
+ # and to run it in another thread to stop it.
+ # TODO: make this pretty (redefine freedrive or something, idc,
+ # just don't have it here)
+ def freedriveThreadFunction(robot, stop_event):
+ robot.rtde_control.freedriveMode()
+ while not stop_event.is_set():
+ q = robot.rtde_receive.getActualQ()
+ q.append(0.0)
+ q.append(0.0)
+ pin.forwardKinematics(robot.model, robot.data, np.array(q))
+ print(robot.data.oMi[6])
+ print("pin:", *robot.data.oMi[6].translation.round(4), \
+ *pin.rpy.matrixToRpy(robot.data.oMi[6].rotation).round(4))
+ print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+ print("q:", *np.array(q).round(4))
+ time.sleep(0.005)
+
+ # Create a stop event
+ stop_event = threading.Event()
+
+ # Start freedrive in a separate thread
+ freedrive_thread = threading.Thread(target=freedriveThreadFunction, args=(robot, stop_event,))
+ freedrive_thread.start()
+
+ input("Press Enter to stop...")
+ stop_event.set()
+
+ # join child thread (standard practise)
+ freedrive_thread.join()
+
while True:
- answer = input("You got the end-effector in the correct pose and are ready \
- to start calibrating or do you want to exit? [Y/n]")
+ answer = input("""
+ I am assuming you got the end-effector in the correct pose. \n
+ Are you ready to start calibrating or do you want to exit? [Y/n]
+ """)
if answer == 'n' or answer == 'N':
print("The whole program will exit. Goodbye!")
exit()
elif answer == 'y' or answer == 'Y':
print("Calibration about to start. Have your hand on the big red stop button!")
+ time.sleep(2)
break
else:
print("Whatever you typed in is neither 'Y' nor 'n'. Give it to me straight cheif!")
@@ -125,14 +172,19 @@ def handleUserToHandleTCPPose(robot):
def calibratePlane(robot, n_tests):
+ # i don't care which speed slider you have,
+ # because 0.4 is the only reasonable one here
+ old_speed_slider = robot.speed_slider
+ robot.setSpeedSlider(0.4)
handleUserToHandleTCPPose(robot)
+ q_init = copy.deepcopy(robot.getQ())
init_pose = robot.rtde_receive.getActualTCPPose()
new_pose = copy.deepcopy(init_pose)
# TODO change this, i just shoved the pen through the board
# the point is go up, but the frame is the TCP frame
- speed = [0, 0, -0.3, 0, 0, 0]
+ speed = [0, 0, -0.1, 0, 0, 0]
n_tests = 10
# TODO: for the love of god please actually read this when you begin
# instead of having this horror here
@@ -147,7 +199,6 @@ def calibratePlane(robot, n_tests):
pin.forwardKinematics(robot.model, robot.data, q)
# this apsolutely has to be deepcopied aka copy-constructed
R_initial_estimate = copy.deepcopy(robot.data.oMi[robot.JOINT_ID].rotation)
- translation = copy.deepcopy(robot.data.oMi[robot.JOINT_ID].translation)
positions = []
for i in range(n_tests):
@@ -159,6 +210,12 @@ def calibratePlane(robot, n_tests):
print("pin:", *robot.data.oMi[6].translation.round(4), \
*pin.rpy.matrixToRpy(robot.data.oMi[6].rotation).round(4))
print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+
+ # the first contact point is the translation vector
+ # --> this is how the whole program is set up
+ if i == 0:
+ translation = copy.deepcopy(robot.data.oMi[robot.JOINT_ID].translation)
+
positions.append(copy.deepcopy(robot.data.oMi[6].translation))
if i < n_tests -1:
current_pose = robot.rtde_receive.getActualTCPPose()
@@ -166,6 +223,7 @@ def calibratePlane(robot, n_tests):
# go back up (assuming top-left is highest incline)
# TODO: make this assumption an argument, or print it at least
new_pose[2] = init_pose[2]
+ # TODO make these moveLs slower, they're way too fast
robot.rtde_control.moveL(new_pose)
new_pose[0] = init_pose[0] + np.random.random() * 0.3
new_pose[1] = init_pose[1] - np.random.random() * 0.2
@@ -183,14 +241,16 @@ def calibratePlane(robot, n_tests):
n = fitNormalVector(positions)
R = constructFrameFromNormalVector(R_initial_estimate, n)
- current_pose = rtde_receive.getActualTCPPose()
+ current_pose = robot.rtde_receive.getActualTCPPose()
new_pose = copy.deepcopy(current_pose)
new_pose[2] = init_pose[2]
robot.rtde_control.moveL(new_pose)
robot.rtde_control.moveL(init_pose)
+ # put the speed slider back to its previous value
+ robot.setSpeedSlider(old_speed_slider)
print('also, the translation vector is:', translation)
- return R, translation
+ return R, translation, q_init
if __name__ == "__main__":
robot = RobotManager()
diff --git a/python/ur_simple_control/util/draw_path.py b/python/ur_simple_control/util/draw_path.py
index b93166f..0fa950d 100644
--- a/python/ur_simple_control/util/draw_path.py
+++ b/python/ur_simple_control/util/draw_path.py
@@ -40,7 +40,7 @@ class DrawPathManager:
# made to save and exit
def accept(self, event):
if event.key == "enter":
- print("path points:")
+ print("pixel path:")
print(self.path)
self.disconnect()
# TODO: ensure this runs fine after packaging
diff --git a/python/ur_simple_control/util/freedrive.py b/python/ur_simple_control/util/freedrive.py
index 7c89d70..552333a 100644
--- a/python/ur_simple_control/util/freedrive.py
+++ b/python/ur_simple_control/util/freedrive.py
@@ -11,10 +11,11 @@ def freedrive(robot):
q.append(0.0)
q.append(0.0)
pin.forwardKinematics(robot.model, robot.data, np.array(q))
- print(robot.data.oMi[6])
- print("pin:", *robot.data.oMi[6].translation.round(4), \
- *pin.rpy.matrixToRpy(robot.data.oMi[6].rotation).round(4))
- print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+ # print(robot.data.oMi[6])
+ # print("pin:", *robot.data.oMi[6].translation.round(4), \
+ # *pin.rpy.matrixToRpy(robot.data.oMi[6].rotation).round(4))
+ # print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+ # print("q:", *np.array(q).round(4))
time.sleep(0.005)
if __name__ == "__main__":
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc
index 68ca46ae7f81ca421c192f85191a01c73b82c31f..f4f3e5fc87b29baec3f22e19efb26294ddcf7091 100644
GIT binary patch
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diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index a1cb997..ccee92a 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -6,6 +6,7 @@ import matplotlib.pyplot as plt
# every key is one subplot, and it's value
# is what you plot
def plotFromDict(plot_data, args):
+ # TODO cut zeros from data
# TODO: replace with actual time
# --> you should be able to extract/construct this from dmp data
# or some timing
@@ -19,10 +20,8 @@ def plotFromDict(plot_data, args):
# TODO: choose a nice color palette
colors = plt.cm.jet(np.linspace(0, 1, len(plot_data)))
for i, data_key in enumerate(plot_data):
- ax_dict[data_key] = plt.subplot(subplot_col_row + str(i))
- for j in range(len(plot_data[data_key])):
- ax_dict[data_key].plot(t, plot_data[data_key][:,j], color=colors[i], label=day_key)
- # TODO maybe write a hack for getting the legend to work (all lines are the same color so
- # we're not using it as intended
+ ax_dict[data_key] = plt.subplot(int(subplot_col_row + str(i + 1)))
+ for j in range(plot_data[data_key].shape[1]):
+ ax_dict[data_key].plot(t, plot_data[data_key][:,j], color=colors[i], label=data_key)
ax_dict[data_key].legend()
plt.show()
--
GitLab