diff --git a/docs/hardware_docs/UR/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf b/docs/hardware_docs/robotiq_gripper/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf
similarity index 100%
rename from docs/hardware_docs/UR/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf
rename to docs/hardware_docs/robotiq_gripper/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf
diff --git a/old_note b/old_note
new file mode 100644
index 0000000000000000000000000000000000000000..cdb0c63aa0e2c28ac323ec7ae13d6898a5e194ba
--- /dev/null
+++ b/old_note
@@ -0,0 +1,30 @@
+
+1. do a writing demo
+---------------------
+- use pinocchio to get fast inverse kinematics and dynamics -> done
+- ensure some sim/visualization works -> need to recompile some urdf to get the visual stuff
+- use/redo albin's code so that you have the same thing
+ - read and understand (without all the theory) what is going on
+ - make an implementation roadmap
+ - implement
+- try out built-in ur force control
+- get a nice drawing input interface on some touch screen
+- do tests so that you know it works
+
+2. implement all algorithms up to force control via velocity inputs
+-----------------------------------------------------------------------------
+- do as the title says
+- impedance control done by students in project
+- some basic pushing done by other students
+
+3. can the gripper drop and catch long objects?
+------------------------------------------------
+- you literally don't even need to control the arm for this
+- the key points to check are:
+ - can you do force control with the gripper,
+ i.e. in any way (obv thru hax) get it to hold sth with a certain force
+ - see how fast this is
+
+
+3. write and test hold + flip
+---------------------------------
diff --git a/python/convenience_tool_box/frame_validation.py b/python/convenience_tool_box/frame_validation.py
new file mode 100644
index 0000000000000000000000000000000000000000..b7bb55df85ff55b5f68792f9e63639ee4fb06f4f
--- /dev/null
+++ b/python/convenience_tool_box/frame_validation.py
@@ -0,0 +1,78 @@
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import sys
+import time
+import copy
+import signal
+from ur_simple_control.managers import RobotManager
+from ur_simple_control.clik.clik_point_to_point import get_args
+
+args = get_args()
+robot = RobotManager(args)
+
+#print("payload", robot.rtde_receive.getPayload())
+#print("payload cog", robot.rtde_receive.getPayloadCog())
+#print("payload ixx, iyy, izz, angular", robot.rtde_receive.getPayloadInertia())
+
+ft_readings = []
+dt = 1/500
+#while True:
+for i in range(5000):
+ start = time.time()
+ q = robot.rtde_receive.getActualQ()
+ ft = robot.rtde_receive.getActualTCPForce()
+ tau = robot.rtde_control.getJointTorques()
+ current = robot.rtde_receive.getActualCurrent()
+ q.append(0.0)
+ q.append(0.0)
+ pinMtool = robot.getMtool()
+
+ if i % 25 == 0:
+ print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+ print("pin:", *pinMtool.translation.round(4), *pin.rpy.matrixToRpy(pinMtool.rotation).round(4))
+ #print("current", current)
+ #print("getActualTCPForce", ft)
+ #print("tau", tau)
+ ft_readings.append(ft)
+ end = time.time()
+ diff = end - start
+ if diff < dt:
+ time.sleep(dt - diff)
+
+
+ft_readings = np.array(ft_readings)
+time = np.arange(len(ft_readings))
+plt.title('fts')
+ax = plt.subplot(231)
+ax.plot(time, ft_readings[:,0])
+ax = plt.subplot(232)
+ax.plot(time, ft_readings[:,1])
+ax = plt.subplot(233)
+ax.plot(time, ft_readings[:,2])
+ax = plt.subplot(234)
+ax.plot(time, ft_readings[:,3])
+ax = plt.subplot(235)
+ax.plot(time, ft_readings[:,4])
+ax = plt.subplot(236)
+ax.plot(time, ft_readings[:,5])
+print("average over time", np.average(ft_readings, axis=0))
+plt.savefig('fts.png', dpi=600)
+plt.show()
+# ft = rtde_receive.getFtRawWrench()
+# print("getFtRawWrench", ft)
+# print("payload inertia", rtde_receive.getPayloadInertia())
+# print("momentum", rtde_receive.getActualMomentum())
+# print("target qdd", rtde_receive.getTargetQdd())
+# print("robot_current", rtde_receive.getActualRobotCurrent())
+# print("joint_voltage", rtde_receive.getActualJointVoltage())
+# print("robot_voltage", rtde_receive.getActualRobotVoltage())
+# print("getSafetyMode", rtde_receive.getSafetyMode())
+# print("tool_accelerometer", rtde_receive.getActualToolAccelerometer())
+# q.append(0.0)
+# q.append(0.0)
+# pin.forwardKinematics(model, data, np.array(q))
+# print(data.oMi[6])
+# print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+# print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+# time.sleep(0.005)
diff --git a/python/convenience_tool_box/ft_readings.py b/python/convenience_tool_box/ft_readings.py
index a43f9ef772e38d1a0622e25dd972e568ff6151a3..bbe22bfff8dcff03e83bab1587213985fe7bfcd4 100644
--- a/python/convenience_tool_box/ft_readings.py
+++ b/python/convenience_tool_box/ft_readings.py
@@ -8,10 +8,6 @@ import signal
from ur_simple_control.managers import RobotManager
from ur_simple_control.clik.clik_point_to_point import get_args
-
-
-
-
args = get_args()
robot = RobotManager(args)
diff --git a/python/convenience_tool_box/fts.png b/python/convenience_tool_box/fts.png
index 4195055f7686019be819db83f4ba74c68829d9a9..7b3f302d2d66ef6e41abfeafdd890bb0f0526104 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 97708bcdac52fdca7788ca3a48380845848ae40a..189bbe83d4de625928dcde8b2726add4a7e706c4 100644
--- a/python/convenience_tool_box/measuring_stick.py
+++ b/python/convenience_tool_box/measuring_stick.py
@@ -4,42 +4,30 @@ import sys
import os
from os.path import dirname, join, abspath
import time
-from pinocchio.visualize import GepettoVisualizer
-import gepetto.corbaserver
from rtde_control import RTDEControlInterface as RTDEControl
from rtde_receive import RTDEReceiveInterface as RTDEReceive
import os
import copy
import signal
-from give_me_the_calibrated_model import get_model
+from ur_simple_control.managers import RobotManager
+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()
exit()
+args = get_args()
+robot = RobotManager(args)
-rtde_control = RTDEControl("192.168.1.102")
-rtde_receive = RTDEReceive("192.168.1.102")
-while not rtde_control.isConnected():
- continue
-print("connected")
-rtde_control.freedriveMode()
+robot.rtde_control.freedriveMode()
signal.signal(signal.SIGINT, handler)
-urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
-urdf_path_absolute = os.path.abspath(urdf_path_relative)
-mesh_dir = "../robot_descriptions/"
-mesh_dir_absolute = os.path.abspath(mesh_dir)
-model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
while True:
- q = rtde_receive.getActualQ()
- q.append(0.0)
- q.append(0.0)
- pin.forwardKinematics(model, data, np.array(q))
- print(data.oMi[6])
- print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
- print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+ Mtool = robot.getMtool()
+ print(Mtool)
+ print("pin:", *Mtool.translation.round(4), *pin.rpy.matrixToRpy(Mtool.rotation).round(4))
+ print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
time.sleep(0.005)
diff --git a/python/convenience_tool_box/open_close_gripper.py b/python/convenience_tool_box/open_close_gripper.py
index 64719630427560dcf8df12281903e8a6ea3ea697..168175e4cd797432c034533cfe4fcfbf12dcf24a 100644
--- a/python/convenience_tool_box/open_close_gripper.py
+++ b/python/convenience_tool_box/open_close_gripper.py
@@ -19,7 +19,7 @@ signal.signal(signal.SIGINT, handler)
gripper = RobotiqGripper()
gripper.connect("192.168.1.102", 63352)
-time.sleep(3)
+time.sleep(8)
gripper.activate()
#time.sleep(3)
gripper.move(0,100,100)
diff --git a/python/examples/clik.py b/python/examples/clik.py
index 512934296fb2fbf38f00cc75a48bb657685f33f6..f066ec8870934cd454dd81387fa071b18f95aa1f 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -56,6 +56,8 @@ def get_args():
# 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('--debug-prints', action=argparse.BooleanOptionalAction, \
+ help="print some debug info", default=False)
args = parser.parse_args()
if args.gripper and args.simulation:
diff --git a/python/examples/data/clik_run_001.pickle b/python/examples/data/clik_run_001.pickle
index b6f8dbe767e5519830eb411f9c88c84156970430..846fe62b4ea4080532e231ec924e77c2c703c7f7 100644
Binary files a/python/examples/data/clik_run_001.pickle and b/python/examples/data/clik_run_001.pickle differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index f4960c80afce32ba7e4304d63a00bff28ebeec6c..eb98e6ad20bbd1073e21f8f6137707a882ceb088 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -25,7 +25,6 @@ from ur_simple_control.clik.clik_point_to_point import getClikController, moveL,
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
-from ur_simple_control.visualize.visualize import plotFromDict
from ur_simple_control.basics.basics import moveJ
#######################################################################
@@ -64,6 +63,8 @@ def getArgs():
BE CAREFUL WITH THIS.", default=1.0)
parser.add_argument('--max-iterations', type=int, \
help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+ parser.add_argument('--debug-prints', action=argparse.BooleanOptionalAction, \
+ help="print some debug info", default=False)
#######################################################################
# your controller specific arguments #
#######################################################################
@@ -111,7 +112,11 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- default=0.007)
+ #default=0.007)
+ default=0.05)
+ parser.add_argument('--beta', type=float, \
+ help="low-pass filter beta parameter", \
+ default=0.01)
# TODO add low pass filtering and make it's parameters arguments too
#######################################################################
# task specific arguments #
@@ -119,19 +124,25 @@ 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=0.5)
+ #default=0.5)
+ default=0.25)
parser.add_argument('--board-height', type=float, \
help="height of the board (in meters) the robot will write on", \
- default=0.35)
+ #default=0.35)
+ default=0.25)
+ parser.add_argument('--board-axis', type=str, \
+ choices=['z', 'y'], \
+ help="(world) axis (direction) in which you want to search for the board", \
+ default="z")
parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
help="whether you want to do calibration", default=False)
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('--pick_up_marker', action=argparse.BooleanOptionalAction, \
+ parser.add_argument('--pick-up-marker', action=argparse.BooleanOptionalAction, \
help="""
whether the robot should pick up the marker.
NOTE: THIS IS FROM A PREDEFINED LOCATION.
- """, default=True)
+ """, default=False)
parser.add_argument('--find-marker-offset', action=argparse.BooleanOptionalAction, \
help="""
whether you want to do find marker offset (recalculate TCP
@@ -150,45 +161,68 @@ def getArgs():
the simulation yet, sorry :/ . You can have only 1 these flags right now')
return args
+# go and pick up the marker
+# marker position:
"""
-calibrateFT
------------
-Read from the f/t sensor a bit, average the results
-and return the result.
-This can be used to offset the bias of the f/t sensor.
-NOTE: this is not an ideal solution.
-ALSO TODO: test whether the offset changes when
-the manipulator is in different poses.
+ 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 calibrateFT(robot):
- ft_readings = []
- print("Will read from f/t sensors for a some number of seconds")
- print("and give you the average.")
- print("Use this as offset.")
- for i in range(2000):
- start = time.time()
- q = robot.rtde_receive.getActualQ()
- ft = robot.rtde_receive.getActualTCPForce()
- tau = robot.rtde_control.getJointTorques()
- current = robot.rtde_receive.getActualCurrent()
- ft_readings.append(ft)
- end = time.time()
- diff = end - start
- if diff < robot.dt:
- time.sleep(robot.dt - diff)
-
- ft_readings = np.array(ft_readings)
- avg = np.average(ft_readings, axis=0)
- print("average ft time", avg)
- return avg
+def getMarker(args, robot):
+ # init position
+ Tinit = robot.getMtool().copy()
+ # 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([0,0,0.1])
-# go and pick up the marker
-def getMarker(q_init):
- pass
+ # instantiate controller
+ clik_controller = getClikController(args)
+ controlLoop = partial(controlLoopClik, robot, clik_controller)
+ log_dict = {
+ 'qs' : np.zeros((args.max_iterations, robot.model.nq)),
+ 'dqs' : np.zeros((args.max_iterations, robot.model.nq)),
+ }
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
+
+ print("going to above marker")
+ robot.Mgoal = TgoalUP.copy()
+ log_dict, final_iteration = loop_manager.run()
+ print("going down to marker")
+ robot.Mgoal = Tgoal.copy()
+ log_dict, final_iteration = loop_manager.run()
+ print("picking up marker")
+ robot.gripper.move(255,255,255)
+ time.sleep(2)
+ print("going up")
+ robot.Mgoal = TgoalUP.copy()
+ log_dict, final_iteration = loop_manager.run()
+ print("going back")
+ robot.Mgoal = Tinit.copy()
+ log_dict, final_iteration = loop_manager.run()
+ print("got back")
+# robot.stopHandler(None, None)
+# robot.stopHandler(None, None)
+# robot.stopHandler(None, None)
+# print("bye")
+# exit()
"""
-getMarkerOffset
+findMarkerOffset
---------------
This relies on having the correct orientation of the plane
and the correct translation vector for top-left corner.
@@ -196,17 +230,22 @@ Idea is you pick up the marker, go to the top corner,
touch it, and see the difference between that and the translation vector.
Obviously it's just a hacked solution, but it works so who cares.
"""
-def getMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
+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
- #z_of_rot = rotation_matrix[:,2]
- y_of_rot = rotation_matrix[:,1]
+ if args.board_axis == 'z':
+ axis_of_rot = rotation_matrix[:,2]
+ elif args.board_axis == 'y':
+ axis_of_rot = rotation_matrix[:,1]
+ else:
+ print("you passed", board_axis, ", but it has to be 'z' or 'y'")
+ exit()
# it's going out of the board, and we want to go into the board, right????
# TODO test this
#z_of_rot = z_of_rot
- print("vector i'm following:", y_of_rot)
- speed = getSpeedInDirectionOfN(rotation_matrix)
+ print("vector i'm following:", axis_of_rot)
+ speed = getSpeedInDirectionOfN(rotation_matrix, args.board_axis)
#speed[2] = speed[2] * -1
#robot.rtde_control.moveUntilContact(speed)
moveUntilContact(args, robot, speed)
@@ -230,6 +269,7 @@ def getMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
#######################################################################
# feedforward velocity, feedback position and force for impedance
+# TODO: actually write this out
def controller():
pass
@@ -261,6 +301,7 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
tau = dmp.tau + tc.update(dmp, robot.dt) * robot.dt
dmp.set_tau(tau)
q = robot.getQ()
+ Mtool = robot.getMtool()
# TODO look into UR code/api for estimating the same
# based on currents in the joints.
# it's probably worse, but maybe some sensor fusion-type thing
@@ -269,26 +310,28 @@ 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.ones(6))
+ Z = np.diag(np.array([0.0, 0.0, 2.0, 0.0, 0.0, 0.0]))
+ #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
- wrench = np.average(np.array(past_data['wrench']), axis=0)
+ #wrench = np.average(np.array(past_data['wrench']), axis=0)
# first-order low pass filtering instead
# beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
- beta = 0.007
- #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
-
- wrench = robot.getMtool().toDualActionMatrix().T @ wrench
- wrench = Z @ robot.getWrench()
- # evil hack because wrench is not zeros (why? - no idea whatsoever)
- # TODO: run it empty and zero it
- #wrench = wrench - np.array([-1.14156273, 11.05155707, 1.88523016, -0.06643418, 0.16550734, 0.09019818])
- #wrench = wrench - np.array([ -2.89005509, 18.11969302, -1.92425821, -0.08124564, 0.08441558, 0.06800772])
- #wrench = wrench - np.array( [ 0.38101014, -0.32524308, 0.50800527, -0.00830584, 0.06112097, 0.01231109])
+ wrench = args.beta * wrench + (1 - args.beta) * past_data['wrench'][-1]
+
+ # it's just coordinate change from base to end-effector,
+ # they're NOT the same rigid body,
+ # the vector itself is not changing, only the coordinate representation
+ mapping = np.zeros((6,6))
+ mapping[0:3, 0:3] = Mtool.rotation
+ mapping[3:6, 3:6] = Mtool.rotation
+ wrench = mapping.T @ wrench
+
+ wrench = Z @ wrench
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
@@ -305,9 +348,7 @@ def controlLoopWriting(wrench_offset, 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)
- # solve this q number connundrum
- # TODO evil hack
- #vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) - args.alpha * tau
+ # solve this q[:6] bs (clean it up)
vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) + args.alpha * tau
robot.sendQd(vel_cmd)
@@ -332,11 +373,13 @@ if __name__ == "__main__":
# software setup #
#######################################################################
args = getArgs()
+ print(args)
clikController = getClikController(args)
robot = RobotManager(args)
# calibrate FT first
- wrench_offset = calibrateFT(robot)
+ wrench_offset = robot.calibrateFT()
+ robot.wrench_offset = wrench_offset
#######################################################################
# drawing a path, making a joint trajectory for it #
#######################################################################
@@ -354,15 +397,22 @@ if __name__ == "__main__":
rotation_matrix, translation_vector, q_init = \
calibratePlane(args, robot, args.board_width, args.board_height, \
args.n_calibration_tests)
+ print(q_init)
+ print(rotation_matrix)
+ print(translation_vector)
else:
# TODO: save this somewhere obviously
# 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([0.10125722 ,0.43077874 ,0.9110792 ])
- rotation_matrix = np.array([[1. , 0. ,0.00336406],
- [-0. , -0.00294646, 0.99999 ],
- [ 0. , -0.99999 , -0.00294646]])
+ #q_init = np.array([1.4545, -1.7905, -1.1806, -1.0959, 1.6858, -0.1259, 0.0, 0.0])
+ #translation_vector = np.array([0.10125722 ,0.43077874 ,0.9110792 ])
+ #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()
# make the path 3D
path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
@@ -372,13 +422,12 @@ 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:
- # pick up the marker
- #TODO
- pass
+ getMarker(args, robot)
+
if args.find_marker_offset:
# find the marker offset
# TODO find a better q init (just moveL away from the board)
- marker_offset = getMarkerOffset(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
@@ -400,8 +449,8 @@ if __name__ == "__main__":
# 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, -0.1043])
+ #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, -0.1000])
#path = path + np.array([0.0, 0.0, -0.1573])
#path = path + np.array([0.0, 0.2938, 0.0])
@@ -479,6 +528,7 @@ if __name__ == "__main__":
mtool = robot.getMtool(q_given=first_q)
mtool.translation[1] = mtool.translation[1] - 0.0035
#mtool.translation[1] = mtool.translation[1] - 0.04
+ print('going to starting write position')
moveL(args, robot, mtool)
#moveL
@@ -486,7 +536,11 @@ if __name__ == "__main__":
# and now we can actually run
log_dict, final_iteration = loop_manager.run()
mtool = robot.getMtool()
- mtool.translation[1] = mtool.translation[1] - 0.1
+ print("move a bit back")
+ if args.board_axis == 'z' or args.board_axis == 'y':
+ mtool.translation[1] = mtool.translation[1] - 0.1
+# if args.board_axis == 'z':
+# mtool.translation[2] = mtool.translation[2] - 0.1
moveL(args, robot, mtool)
plotFromDict(log_dict, args)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index e4f0ced8473c19dc1d29e97cbdf3acff06fd9e75..7ebe7e40e3b8dbe54c82d0726088625d1f3a0b86 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,1979 +1,2512 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 4ec83a9f25609bc316da683202a4869aa939e42b..9fb1c44bd83f471c457909b87ea6269a70756529 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/examples/planar_dragging_via_top_contact_force.py b/python/examples/planar_dragging_via_top_contact_force.py
new file mode 100644
index 0000000000000000000000000000000000000000..653485e12bab015a78ed1aa23026942f106f4259
--- /dev/null
+++ b/python/examples/planar_dragging_via_top_contact_force.py
@@ -0,0 +1,253 @@
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import copy
+import argparse
+import time
+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 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_trajectory_following import map2DPathTo3DPlane, clikCartesianPathIntoJointPath
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
+from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.basics.basics import moveJ
+
+#######################################################################
+# arguments #
+#######################################################################
+
+def getArgs():
+ #######################################################################
+ # generic arguments #
+ #######################################################################
+ parser = argparse.ArgumentParser(description='Make a drawing on screen,\
+ watch the robot do it on the whiteboard.',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ # TODO this one won't really work but let's leave it here for the future
+ parser.add_argument('--simulation', action=argparse.BooleanOptionalAction,
+ help="whether you are running the UR simulator. \
+ NOTE: doesn't actually work because it's not a physics simulator", \
+ default=False)
+ parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
+ help="whether you want to just integrate with pinocchio.\
+ NOTE: doesn't actually work because it's not a physics simulator", \
+ 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('--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, 1.0 by default because for dmp. \
+ BE CAREFUL WITH THIS.", default=1.0)
+ parser.add_argument('--max-iterations', type=int, \
+ help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+ #######################################################################
+ # your controller specific arguments #
+ #######################################################################
+ # not applicable here, but leaving it in the case it becomes applicable
+ # it's also in the robot manager even though it shouldn't be
+ parser.add_argument('--past-window-size', type=int, \
+ help="how many timesteps of past data you want to save", default=5)
+ parser.add_argument('--goal-error', type=float, \
+ help="the final position error you are happy with. NOTE: not used here", \
+ default=1e-3)
+ # TODO: test the interaction of this and the overall demo
+ parser.add_argument('--tikhonov-damp', type=float, \
+ help="damping scalar in tiknohov regularization.\
+ This is used when generating the joint trajectory from the drawing.", \
+ default=1e-2)
+ # 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')
+ #############################
+ # dmp specific arguments #
+ #############################
+ parser.add_argument('--temporal-coupling', action=argparse.BooleanOptionalAction, \
+ help="whether you want to use temporal coupling", default=True)
+ parser.add_argument('--kp', type=float, \
+ help="proportial control constant for position errors", \
+ default=1.0)
+ parser.add_argument('--tau0', type=float, \
+ help="total time needed for trajectory. if you use temporal coupling,\
+ you can still follow the path even if it's too fast", \
+ default=5)
+ parser.add_argument('--gamma-nominal', type=float, \
+ help="positive constant for tuning temporal coupling: the higher,\
+ the fast the return rate to nominal tau", \
+ default=1.0)
+ parser.add_argument('--gamma-a', type=float, \
+ help="positive constant for tuning temporal coupling, potential term", \
+ default=0.5)
+ parser.add_argument('--eps-tc', type=float, \
+ help="temporal coupling term, should be small", \
+ default=0.001)
+ parser.add_argument('--alpha', type=float, \
+ help="force feedback proportional coefficient", \
+ default=0.007)
+ # TODO add low pass filtering and make it's parameters arguments too
+ #######################################################################
+ # task specific arguments #
+ #######################################################################
+ # 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=0.5)
+ parser.add_argument('--board-height', type=float, \
+ help="height of the board (in meters) the robot will write on", \
+ default=0.35)
+ parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
+ help="whether you want to do calibration", default=False)
+ 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('--pick_up_marker', action=argparse.BooleanOptionalAction, \
+ help="""
+ whether the robot should pick up the marker.
+ NOTE: THIS IS FROM A PREDEFINED LOCATION.
+ """, default=True)
+ parser.add_argument('--find-marker-offset', action=argparse.BooleanOptionalAction, \
+ help="""
+ whether you want to do find marker offset (recalculate TCP
+ based on the marker""", default=False)
+ 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, \
+ help="the clik error you are happy with", default=1e-2)
+ parser.add_argument('--max-init-clik-iterations', type=int, \
+ help="number of max clik iterations to get to the first point", default=10000)
+ parser.add_argument('--max-running-clik-iterations', type=int, \
+ help="number of max clik iterations between path points", default=1000)
+ 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
+
+
+
+
+#######################################################################
+# control loop #
+#######################################################################
+
+# feedforward velocity, feedback position and force for impedance
+def controller():
+ pass
+
+
+# control loop to be passed to ControlLoopManager
+def controlLoopPlanarDragging(wrench_offset, dmp, tc, controller, robot, i, past_data):
+ breakFlag = False
+ # TODO rename this into something less confusing
+ save_past_dict = {}
+ 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)
+ q = robot.getQ()
+ Z = np.diag(np.ones(6))
+
+ wrench = robot.getWrench()
+ wrench = wrench - wrench_offset
+ wrench = np.average(np.array(past_data['wrench']), axis=0)
+
+ # first-order low pass filtering
+ # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
+ beta = 0.007
+ #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+
+ wrench = robot.getMtool().toDualActionMatrix().T @ wrench
+ wrench = Z @ robot.getWrench()
+ # deepcopy for good coding practise (and correctness here)
+ save_past_dict['wrench'] = copy.deepcopy(wrench)
+ # rolling average
+ if i % 100 == 0:
+ print(wrench)
+ 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))
+ # get joitn
+ tau = J.T @ wrench
+ tau = tau[:6].reshape((6,1))
+ # compute control law:
+ #vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) + args.alpha * tau
+ vel_cmd = np.zeros(6)
+ robot.sendQd(vel_cmd)
+
+ # TODO find a better criterion for stopping
+ if (np.linalg.norm(dmp.vel) < 0.0001) and (i > 5000):
+ breakFlag = True
+ # immediatelly stop if something weird happened (some non-convergence)
+ if np.isnan(vel_cmd[0]):
+ breakFlag = True
+
+ # log what you said you'd log
+ # TODO fix the q6 situation (hide this)
+ log_item['wrench'] = wrench[:6].reshape((6,))
+
+ return breakFlag, save_past_dict, log_item
+
+if __name__ == "__main__":
+ #######################################################################
+ # software setup #
+ #######################################################################
+ args = getArgs()
+ clikController = getClikController(args)
+ robot = RobotManager(args)
+
+ # calibrate FT first
+ wrench_offset = robot.calibrateFT()
+
+ speed_down = np.array([0,0,-1,0,0,0])
+ moveUntilContact(args, robot, speed_down)
+ m_goal_up = robot.getMtool()
+ m_goal_up.translation[2] += 0.1
+ moveL(args, robot, m_goal_up)
+
+ # controlLoopManager will populate the queue with these initial values
+# save_past_dict = {
+# 'wrench' : np.zeros(6),
+# }
+# # here you give it it's initial value
+# log_dict = {
+# 'wrench': np.zeros((args.max_iterations, 6)),
+# }
+# controlLoop = partial(controlLoopPlanarDragging, wrench_offset, dmp, tc, controller, robot)
+# loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
+# #######################################################################
+# # physical setup #
+# #######################################################################
+# # TODO: add marker picking
+# # get up from the board
+# current_pose = robot.getMtool()
+# # and now we can actually run
+# log_dict, final_iteration = loop_manager.run()
+# mtool = robot.getMtool()
+# mtool.translation[1] = mtool.translation[1] - 0.1
+# moveL(args, robot, mtool)
+
+ plotFromDict(log_dict, args)
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
+ # plot results
+ plotFromDict(log_dict, args)
+ # TODO: add some math to analyze path precision
diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 901e1b4e539c3017f564268715eee48eb00f25c4..78ad110f6da290dcc60383b431910c6b4154b84a 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -15,35 +15,12 @@ from ur_simple_control.clik.clik_point_to_point import getClikController, moveL,
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
-from ur_simple_control.visualize.visualize import plotFromDict
from ur_simple_control.basics.basics import moveJ
#######################################################################
# arguments #
#######################################################################
-def calibrateFT(robot):
- ft_readings = []
- for i in range(2000):
- start = time.time()
- q = robot.rtde_receive.getActualQ()
- ft = robot.rtde_receive.getActualTCPForce()
- tau = robot.rtde_control.getJointTorques()
- current = robot.rtde_receive.getActualCurrent()
- #print("current", current)
- #print("getActualTCPForce", ft)
- #print("tau", tau)
- ft_readings.append(ft)
- end = time.time()
- diff = end - start
- if diff < robot.dt:
- time.sleep(robot.dt - diff)
-
- ft_readings = np.array(ft_readings)
- avg = np.average(ft_readings, axis=0)
- print("average ft time", avg)
- return avg
-
def getArgs():
#######################################################################
# generic arguments #
@@ -75,7 +52,7 @@ def getArgs():
to something between 0 and 1, 1.0 by default because for dmp. \
BE CAREFUL WITH THIS.", default=1.0)
parser.add_argument('--max-iterations', type=int, \
- help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+ help="maximum allowable iteration number (it runs at 500Hz)", default=500000)
#######################################################################
# your controller specific arguments #
#######################################################################
@@ -159,6 +136,8 @@ def getArgs():
help="number of max clik iterations to get to the first point", default=10000)
parser.add_argument('--max-running-clik-iterations', type=int, \
help="number of max clik iterations between path points", default=1000)
+ parser.add_argument('--debug-prints', action=argparse.BooleanOptionalAction, \
+ help="print some debug info", default=False)
args = parser.parse_args()
if args.gripper and args.simulation:
@@ -167,11 +146,6 @@ def getArgs():
return args
-# go and pick up the marker
-def getMarker(q_init):
- pass
-
-
#######################################################################
# control loop #
#######################################################################
@@ -180,23 +154,6 @@ def getMarker(q_init):
def controller():
pass
-# TODO:
-# regarding saving data you have 2 options:
-# 1) explicitely return what you want to save - you can't magically read local variables
-# 2) make controlLoop a class and then save handle the saving behind the scenes -
-# now you these variables are saved in a class so they're not local variables
-# option 1 is clearly more hands-on and thus worse
-# option 2 introduces a third big class and makes everything convoluted.
-# for now, we go for option 1) because it's simpler to implement and deal with.
-# but in the future, implementing 2) should be tried. you really have to try
-# to do it cleanly to see how good/bad it is.
-# in that case you'd most likely want to inherit ControlLoopManager and go from there.
-# you'd still need to specify what you're saving with self.that_variable so no matter
-# there's no running away from that in any case.
-# it's 1) for now, it's the only non-idealy-clean part of this solution, and it's ok really.
-# TODO but also look into something fancy like some decorator or something and try
-# to find option 3)
-
# control loop to be passed to ControlLoopManager
def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_data):
breakFlag = False
@@ -204,56 +161,78 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
save_past_dict = {}
log_item = {}
q = robot.getQ()
- # TODO look into UR code/api for estimating the same
- # based on currents in the joints.
- # it's probably worse, but maybe some sensor fusion-type thing
- # is actually better, who knows.
- # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
- # evil hack because wrench is not zeros (why? - no idea whatsoever)
+ Mtool = robot.getMtool()
wrench = robot.getWrench()
log_item['wrench_raw'] = wrench.reshape((6,))
wrench = wrench - wrench_offset
- # deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
+ # 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
# beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
- beta = 0.01
+ beta = 0.1
wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
#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, 0.1, 1.0, 1.0, 1.0]))
#Z = np.diag(np.ones(6))
- copy_wrench = copy.deepcopy(wrench)
+ #copy_wrench = copy.deepcopy(wrench)
# wrench[1] =
- #Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
- Z = np.diag(np.ones(6))
- #Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
+ Z = np.diag(np.array([1.0, 1.0, 2.0, 1.0, 1.0, 1.0]))
+ #Z = np.diag(np.ones(6))
+ ##### TODO try this cartesian test
+ #spatial_x = pin.SE3().setIdentity()
+ #spatial_x.translation = np.array([1.0, 0.0, 0.0])
+ #Z = Mtool.actInv(spatial_x).vector
+ #Z = np.diag(np.array([1.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
#Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
# the robot gives the wrench in the base frame for some unknown reason
- wrench = robot.getMtool().toDualActionMatrix().T @ wrench
+ #wrench = robot.getMtool().toDualActionMatrix().T @ wrench
+ mapping = np.zeros((6,6))
+ mapping[0:3, 0:3] = Mtool.rotation
+ mapping[3:6, 3:6] = Mtool.rotation
+ #TODO # this might be expressed in the spatial frame
+ wrench = mapping.T @ wrench
+
wrench = Z @ wrench
if i % 25 == 0:
- for w in wrench:
- if w < 0:
- print(np.round(w, 3), end=", ")
- else:
- print(np.round(w, 3), end=', ')
- print("")
+ #print(Z)
+ print("================================")
+ print(*wrench.round(1))
+# if i % 25 == 0:
+# for w in wrench:
+# if w < 0:
+# print(np.round(w, 3), end=", ")
+# else:
+# print(np.round(w, 3), end=', ')
+# print("")
pin.forwardKinematics(robot.model, robot.data, q)
+ # this jacobian starts at the end of the end-effector.
+ # but the wrench is probably modified wrt tip of the end effector
+ # because we defined the load in the ur inteface thing.
+ # so that might cause some offset.
+ # test for this:
+ # when i touch the f/t sensor directly, it gives on linear force,
+ # when i touch it at the tip of the end-effector, then it give both linear force
+ # and torque. so that means there's no memeing going on with internally transforming the wrench.
+ # plus the f/t sensor has no way of knowing where the contact is anyway, so you can't account
+ # for this even if you wanted to.
+
+ # this jacobian might be wrong
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
dq = robot.getQd()[:6].reshape((6,1))
# get joint
tau = J.T @ wrench
+ if i % 25 == 0:
+ print(*tau.round(1))
tau = tau[:6].reshape((6,1))
# compute control law:
# - feedback the position
- #print(q_init[:6])
- #print(q[:6])
- #print(args.alpha * tau)
- vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) + args.alpha * tau - args.kv * dq
- #print(vel_cmd)
+ # kv is not needed if we're running velocity control
+ vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) + args.alpha * tau
+ #vel_cmd = np.zeros(6)
robot.sendQd(vel_cmd)
# immediatelly stop if something weird happened (some non-convergence)
@@ -277,7 +256,7 @@ if __name__ == "__main__":
robot = RobotManager(args)
# calibrate FT first
- wrench_offset = calibrateFT(robot)
+ wrench_offset = robot.calibrateFT()
# 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
@@ -307,13 +286,10 @@ if __name__ == "__main__":
# and now we can actually run
log_dict, final_iteration = loop_manager.run()
- for i in range(300):
- vel_cmd = np.zeros(6)
- self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
#plotFromDict(log_dict, args)
- # plot results
- plotFromDict(log_dict, args)
- robot.stopHandler(None, None)
+ # plotting is now initiated in stophandler because then we get the plot
+ # even if we end sooner
+ loop_manager.stopHandler(log_dict, args)
# TODO: add some math to analyze path precision
diff --git a/python/examples/test_gripper.py b/python/examples/test_gripper.py
index b23d38505573512f11ff7d4f5db8c3250f5f90fd..366a6a583b562b14ff7c0dd4ac137ea6ee860e98 100644
--- a/python/examples/test_gripper.py
+++ b/python/examples/test_gripper.py
@@ -58,6 +58,43 @@ def get_args():
the simulation yet, sorry :/ . You can have only 1 these flags right now')
return args
+def readFromGripper(robot):
+ did = 0
+ robot.gripper.move_and_wait_for_pos(0,255,1)
+ time.sleep(2)
+ robot.gripper.move_and_wait_for_pos(255,255,1)
+ time.sleep(2)
+ # real value
+ #offset_open = 218
+ offset_open = 255
+
+ for i in range(5):
+ robot.gripper.move_and_wait_for_pos(offset_open, 1, 1)
+ print("dropping", offset_open)
+ print("current_position", robot.gripper.get_current_position())
+ time.sleep(4)
+
+# exit()
+
+ robot.gripper.move_and_wait_for_pos(255, 1, 255)
+ print("holding", 255)
+ print("current_position", robot.gripper.get_current_position())
+ did += 1
+ time.sleep(5)
+# for i in range(255):
+# start = time.time()
+# robot.gripper.move_and_wait_for_pos(offset - i, 255, 10)
+# print(offset - i, robot.gripper.get_current_position())
+# did += 1
+# end = time.time()
+# #time.sleep(10/125 - (end - start))
+# time.sleep(5)
+# print("read", did, "times")
+# robot.gripper.move(255, 255, 255)
+# for i in range(1250):
+# print(i, robot.gripper.get_current_position())
+# did += 1
+# time.sleep(1/125)
# TODO: when this makes some sense,
@@ -164,14 +201,17 @@ def gripperTorsionalSlipControlLoop(robot, clik_controller, i, past_data):
if __name__ == "__main__":
args = get_args()
robot = RobotManager(args)
- controlLoop = partial(gripperPositionControlLoop, robot, clik_controller)
- log_dict = {
- 'x' : np.zeros((args.max_iterations, 1)),
- 'xd' : np.zeros((args.max_iterations, 1)),
- 'xdd' : np.zeros((args.max_iterations, 1)),
- }
- # we're not using any past data or logging, hence the empty arguments
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
- log_dict, final_iteration = loop_manager.run()
- saveLog(log_dict, final_iteration, args)
+ readFromGripper(robot)
+
+ # real stuff for later
+# controlLoop = partial(gripperPositionControlLoop, robot, clik_controller)
+# log_dict = {
+# 'x' : np.zeros((args.max_iterations, 1)),
+# 'xd' : np.zeros((args.max_iterations, 1)),
+# 'xdd' : np.zeros((args.max_iterations, 1)),
+# }
+# # we're not using any past data or logging, hence the empty arguments
+# loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
+# log_dict, final_iteration = loop_manager.run()
+# saveLog(log_dict, final_iteration, args)
diff --git a/python/ur_simple_control.egg-info/PKG-INFO b/python/ur_simple_control.egg-info/PKG-INFO
index b15b402cdc66b7291a2d30d186c855ea27331755..84b865bdb559c9c6924c033eb1baba2982422ea7 100644
--- a/python/ur_simple_control.egg-info/PKG-INFO
+++ b/python/ur_simple_control.egg-info/PKG-INFO
@@ -1,5 +1,5 @@
Metadata-Version: 2.1
-Name: ur-simple-control
+Name: ur_simple_control
Version: 0.1
Summary: Collection of control algorithms for the UR5e arm based on the ur_rtde interface for communication and pinocchio for calculations.
Home-page: https://gitlab.control.lth.se/marko-g/ur_simple_control
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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
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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 a0470fa1c6214b7d780ffc98eb36ff5a5a3b04e3..c101839febbabbe17622dd0e81741568b74af6cd 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -182,10 +182,12 @@ def moveUntilContactControlLoop(speed, robot, clik_controller, i, past_data):
pin.forwardKinematics(robot.model, robot.data, q)
# break if wrench is nonzero basically
wrench = robot.getWrench()
-# print(np.linalg.norm(wrench))
+ # TODO: move this to the robot class
+ wrench = wrench - robot.wrench_offset
# TODO: remove magick number
# it is empirical bla bla, but make it an argument at least
if np.linalg.norm(wrench) > 4.2:
+ print("hit with", np.linalg.norm(wrench))
breakFlag = True
# pin.computeJointJacobian is much different than the C++ version lel
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
@@ -209,7 +211,7 @@ def moveUntilContact(args, robot, speed):
log_dict, final_iteration = loop_manager.run()
# TODO: remove, this isn't doing anything
time.sleep(0.01)
- print("Colision detected!!")
+ print("Collision detected!!")
"""
moveL
diff --git a/python/ur_simple_control/clik/clik_trajectory_following.py b/python/ur_simple_control/clik/clik_trajectory_following.py
index 99b082c78a14545b8acabcedb3cac47525b4fc5f..63c2779b1aa8996b7372b34b8a82ca83052695ef 100644
--- a/python/ur_simple_control/clik/clik_trajectory_following.py
+++ b/python/ur_simple_control/clik/clik_trajectory_following.py
@@ -87,7 +87,8 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
for i in range(len(path)):
path[i] = transf_body_to_task_frame.act(path[i])
# TODO remove print, write a test for this instead
- print(path)
+ if args.debug_prints:
+ print(path)
# TODO: finish this
# - pass clik alg as argument
@@ -112,7 +113,8 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
err_vector = pin.log6(SEerror).vector
if np.linalg.norm(err_vector) < args.clik_goal_error:
if not n_iter == args.max_init_clik_iterations:
- print("converged in", i)
+ if args.debug_prints:
+ print("converged in", i)
break
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
qd = clikController(J, err_vector)
@@ -126,7 +128,11 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
n_iter = args.max_running_clik_iterations
else:
if i == args.max_running_clik_iterations - 1:
- print("DID NOT CONVERGE")
+ print("DID NOT CONVERGE -- exiting")
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
+ exit()
##############################################
# save the obtained joint-space trajectory #
diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-311.pyc
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 9e4962bb904975d1e1bfa87854041db75fff5b25..c20166aab0bc98946cde3be2c72e066686766143 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -17,6 +17,7 @@ import copy
import signal
from ur_simple_control.util.get_model import get_model
from collections import deque
+from ur_simple_control.visualize.visualize import plotFromDict
"""
general notes
@@ -99,6 +100,7 @@ Other info:
"""
class ControlLoopManager:
def __init__(self, robot_manager, controlLoop, args, save_past_dict, log_dict):
+ signal.signal(signal.SIGINT, self.stopHandler)
self.max_iterations = args.max_iterations
# NOTE the robot manager is all over the place,
# there might be a better design approach to that
@@ -133,6 +135,7 @@ class ControlLoopManager:
this is done via the breakFlag
"""
def run(self):
+ self.final_iteration = 0
for i in range(self.max_iterations):
start = time.time()
# TODO make the arguments to controlLoop kwargs or whatever
@@ -165,11 +168,12 @@ class ControlLoopManager:
end = time.time()
diff = end - start
if self.robot_manager.dt < diff:
- print("missed deadline by", diff - self.robot_manager.dt)
+ if self.args.debug_prints:
+ print("missed deadline by", diff - self.robot_manager.dt)
continue
else:
time.sleep(self.robot_manager.dt - diff)
- final_iteration = i
+ self.final_iteration = i
# TODO: provide a debug flag for this
# if i < self.max_iterations -1:
# print("success in", i, "iterations!")
@@ -179,8 +183,31 @@ class ControlLoopManager:
# if not self.args.pinocchio_only:
# self.robot_manager.stopHandler(None, None)
- return self.log_dict, final_iteration
+ return self.log_dict, self.final_iteration
+ """
+ stopHandler
+ -----------
+ TODO: make ifs for simulation too
+ can have self as first argument apparently.
+ upon receiving SIGINT it sends zeros for speed commands to
+ stop the robot
+ """
+ def stopHandler(self, signum, frame):
+ #plotFromDict(signum, frame)
+ print('sending 300 speedjs full of zeros and exiting')
+ for i in range(300):
+ vel_cmd = np.zeros(6)
+ self.robot_manager.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+ # hopefully this actually stops it
+ self.robot_manager.rtde_control.speedStop(1)
+ print("sending a stopj as well")
+ self.robot_manager.rtde_control.stopJ(1)
+ print("putting it to freedrive for good measure too")
+ self.robot_manager.rtde_control.freedriveMode()
+ plotFromDict(self.log_dict, self.final_iteration, self.args)
+ self.robot_manager.rtde_control.endFreedriveMode()
+ exit()
"""
robotmanager:
@@ -215,7 +242,7 @@ class RobotManager:
# if you just stop it the program with Ctrl-C, it will continue running
# the last speedj lmao.
# there's also an actual stop command, but sending 0s works so i'm not changing it
- signal.signal(signal.SIGINT, self.stopHandler)
+ #signal.signal(signal.SIGINT, self.stopHandler)
self.args = args
self.pinocchio_only = args.pinocchio_only
@@ -237,8 +264,11 @@ class RobotManager:
#viz.initViewer()
#viz.loadViewerModel()
#viz.display(q0)
+ # TODO: make general
if self.gripper_flag and not self.pinocchio_only:
self.gripper = RobotiqGripper()
+ self.gripper.connect("192.168.1.102", 63352)
+ self.gripper.activate()
# TODO: this is obviously at least a partial redundancy w.r.t. the pinocchio data object
# however i have no time to investigate what i get or don't get there
# so i'll just leave this be. but fix this!!!! we don't want to duplicate information!!
@@ -262,7 +292,9 @@ class RobotManager:
if args.gripper:
self.gripper.connect("192.168.1.102", 63352)
# this is a blocking call
- self.gripper.activate()
+ # this isn't actually needed and it's annoying
+ # TODO: test after rebooting the robot
+# self.gripper.activate()
else:
self.rtde_control = RTDEControlInterface("127.0.0.1")
self.rtde_receive = RTDEReceiveInterface("127.0.0.1")
@@ -300,23 +332,43 @@ class RobotManager:
# error limit
# TODO this is clik specific, put it in a better place
self.goal_error = args.goal_error
+ # this is probably the right place to manage this
+ self.wrench_offset = np.zeros(6)
+
+
"""
- stopHandler
+ calibrateFT
-----------
- TODO: make ifs for simulation too
- can have self as first argument apparently.
- upon receiving SIGINT it sends zeros for speed commands to
- stop the robot
+ Read from the f/t sensor a bit, average the results
+ and return the result.
+ This can be used to offset the bias of the f/t sensor.
+ NOTE: this is not an ideal solution.
+ ALSO TODO: test whether the offset changes when
+ the manipulator is in different poses.
"""
- def stopHandler(self, signum, frame):
- print('sending 300 speedjs full of zeros and exiting')
- for i in range(300):
- vel_cmd = np.zeros(6)
- self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
- # hopefully this actually stops it
- self.rtde_control.speedStop(self.acceleration)
- exit()
+ def calibrateFT(self):
+ ft_readings = []
+ print("Will read from f/t sensors for a some number of seconds")
+ print("and give you the average.")
+ print("Use this as offset.")
+ for i in range(2000):
+ start = time.time()
+ q = self.rtde_receive.getActualQ()
+ ft = self.rtde_receive.getActualTCPForce()
+ tau = self.rtde_control.getJointTorques()
+ current = self.rtde_receive.getActualCurrent()
+ ft_readings.append(ft)
+ end = time.time()
+ diff = end - start
+ if diff < self.dt:
+ time.sleep(self.dt - diff)
+
+ ft_readings = np.array(ft_readings)
+ avg = np.average(ft_readings, axis=0)
+ self.wrench_offset = avg
+ print("average ft time", avg)
+ return avg
"""
step
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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 66b5d42bcffdbcbabbb6e6dc946a13b30e02c9cc..0fa20509cc0893b0b75a56e04267d1bcb91f4ee3 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -175,16 +175,22 @@ def handleUserToHandleTCPPose(robot):
continue
robot.rtde_control.endFreedriveMode()
-def getSpeedInDirectionOfN(R):
+def getSpeedInDirectionOfN(R, board_axis):
# TODO: make this general
+ # TODO: FIX WHAT YOU MEAN BY Y AND Z
+ ############
# this is for z
- #z_of_rot = R[:,2]
- #speed = np.array([z_of_rot[0], z_of_rot[1], z_of_rot[2], 0, 0, 0])
+ if board_axis == 'y':
+ z_of_rot = R[:,2]
+ speed = np.array([z_of_rot[0], z_of_rot[1], z_of_rot[2], 0, 0, 0])
+ ############
# this is for y
- y_of_rot = R[:,1]
- # try z again
- #z_of_rot = R[:,2]
- speed = np.array([y_of_rot[0], y_of_rot[1], y_of_rot[2], 0, 0, 0])
+ elif board_axis == 'z':
+ y_of_rot = R[:,1]
+ speed = np.array([y_of_rot[0], y_of_rot[1], y_of_rot[2], 0, 0, 0])
+ else:
+ print("you passed", board_axis, ", but it has to be 'z' or 'y'")
+ exit()
# make speed small no matter what
speed = speed / np.linalg.norm(speed)
# nice 'n' slow
@@ -192,6 +198,7 @@ def getSpeedInDirectionOfN(R):
speed = speed / 40
#speed[2] = -1 * speed[2]
speed = -1 * speed
+ print("going in", speed, "direction")
return speed
# TODO
@@ -230,7 +237,7 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
R = copy.deepcopy(R_initial_estimate)
# go in the TCP z direction
- speed = getSpeedInDirectionOfN(R_initial_estimate)
+ speed = getSpeedInDirectionOfN(R_initial_estimate, args.board_axis)
print("speed", speed)
# get q, do forward kinematics, get current TCP R
@@ -254,9 +261,11 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
# go back up (assuming top-left is highest incline)
# TODO: make this assumption an argument, or print it at least
# THIS IS Z
- #new_pose.translation[2] = init_pose.translation[2]
+ if args.board_axis == 'z':
+ new_pose.translation[2] = init_pose.translation[2]
# THIS IS Y
- new_pose.translation[1] = init_pose.translation[1]
+ if args.board_axis == 'y':
+ new_pose.translation[1] = init_pose.translation[1]
moveL(args, robot, new_pose)
q = robot.getQ()
pin.forwardKinematics(robot.model, robot.data, np.array(q))
@@ -264,9 +273,11 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
# this is also an ugly ugly hack
new_pose.translation[0] = init_pose.translation[0] + np.random.random() * plane_width
# THIS IS Z
- #new_pose.translation[1] = init_pose.translation[1] - np.random.random() * plane_height
+ if args.board_axis == 'z':
+ new_pose.translation[1] = init_pose.translation[1] - np.random.random() * plane_height
# THIS IS Y
- new_pose.translation[2] = init_pose.translation[2] - np.random.random() * plane_height
+ if args.board_axis == 'y':
+ new_pose.translation[2] = init_pose.translation[2] - np.random.random() * plane_height
moveL(args, robot, new_pose)
# fix orientation
new_pose.rotation = R
@@ -275,7 +286,7 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
if i > 2:
n = fitNormalVector(positions)
R = constructFrameFromNormalVector(R_initial_estimate, n)
- speed = getSpeedInDirectionOfN(R)
+ speed = getSpeedInDirectionOfN(R, args.board_axis)
print("finished estimating R")
@@ -283,9 +294,11 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
new_pose = copy.deepcopy(current_pose)
# go back up
# Z
- new_pose.translation[2] = init_pose.translation[2]
+ if args.board_axis == 'z':
+ new_pose.translation[2] = init_pose.translation[2]
# Y
- new_pose.translation[1] = init_pose.translation[1]
+ if args.board_axis == 'y':
+ new_pose.translation[1] = init_pose.translation[1]
moveL(args, robot, new_pose)
# go back to the same spot
new_pose.translation[0] = init_pose.translation[0]
@@ -299,7 +312,7 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
# --> now you're ready to measure the translation vector correctly
# for this we want to go directly into the board
print("i'll estimate the translation vector now")
- speed = getSpeedInDirectionOfN(R)
+ speed = getSpeedInDirectionOfN(R, args.board_axis)
moveUntilContact(args, robot, speed)
diff --git a/python/ur_simple_control/util/ft_calibration.py b/python/ur_simple_control/util/ft_calibration.py
new file mode 100644
index 0000000000000000000000000000000000000000..a8af630c823260fe5833cfba6cbdef69310e3b83
--- /dev/null
+++ b/python/ur_simple_control/util/ft_calibration.py
@@ -0,0 +1,19 @@
+
+def calibrateFT(robot):
+ ft_readings = []
+ for i in range(2000):
+ start = time.time()
+ q = robot.rtde_receive.getActualQ()
+ ft = robot.rtde_receive.getActualTCPForce()
+ tau = robot.rtde_control.getJointTorques()
+ current = robot.rtde_receive.getActualCurrent()
+ ft_readings.append(ft)
+ end = time.time()
+ diff = end - start
+ if diff < robot.dt:
+ time.sleep(robot.dt - diff)
+
+ ft_readings = np.array(ft_readings)
+ avg = np.average(ft_readings, axis=0)
+ print("average ft time", avg)
+ return avg
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diff --git a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
index 10555675ccaa8555886d274389b1e1e238457a95..b4b9380a88a1498e52b9345abd85ba72d4b23ce0 100644
--- a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
+++ b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
@@ -876,8 +876,8 @@ if __name__ == "__main__":
root = Tk()
# TODO: change to something different obviously
# or add a button to load or something, idc
- log_data_file_name = "/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001.pickle"
- args_file_name = "/home/gospodar/lund/praxis/ur_simple_control/python/examples/data/clik_run_001_args.pickle"
+ log_data_file_name = "/home/gospodar/lund/praxis/projects/ur_simple_control/python/examples/data/clik_run_001.pickle"
+ args_file_name = "/home/gospodar/lund/praxis/projects/ur_simple_control/python/examples/data/clik_run_001_args.pickle"
log_data, args = loadRunForAnalysis(log_data_file_name, args_file_name)
log_data = cleanUpRun(log_data, log_data['qs'].shape[0], 200)
robot = RobotManager(args)
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diff --git a/python/ur_simple_control/visualize/robot_stuff/inv_kinm.py b/python/ur_simple_control/visualize/robot_stuff/inv_kinm.py
index 2906bfd60219df5c7150a1d3d26425a7b1f71318..ce04720a5bf41d6bdb496fc7bf1e4787a1674d82 100644
--- a/python/ur_simple_control/visualize/robot_stuff/inv_kinm.py
+++ b/python/ur_simple_control/visualize/robot_stuff/inv_kinm.py
@@ -7,8 +7,9 @@ from matplotlib.animation import FuncAnimation
import matplotlib.colors as colr
import sys
import scipy.optimize
-from qpsolvers import solve_qp
-from qpsolvers import dense_solvers
+# TODO put this back after you fix your installation
+#from qpsolvers import solve_qp
+#from qpsolvers import dense_solvers
from scipy.linalg import sqrtm
diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index ccee92a3c92e458720304dcb1c464e7413d65845..9e8c4677057aac406452ba5de2875c71a717da25 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -5,12 +5,12 @@ import matplotlib.pyplot as plt
# make plot_data a dictionary.
# every key is one subplot, and it's value
# is what you plot
-def plotFromDict(plot_data, args):
+def plotFromDict(plot_data, final_iteration, 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
- t = np.arange(args.max_iterations)
+ t = np.arange(final_iteration)
# TODO make the plot number assignment general
n_cols = 2
n_rows = 2
@@ -18,10 +18,10 @@ def plotFromDict(plot_data, args):
subplot_col_row = str(n_cols) + str(n_rows)
ax_dict ={}
# 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):
+ colors = plt.cm.jet(np.linspace(0, 1, plot_data[data_key].shape[1]))
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].plot(t, plot_data[data_key][:final_iteration,j], color=colors[j], label=data_key + "_" + str(j))
ax_dict[data_key].legend()
plt.show()