diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index bd87a68243605faf10039e4127cd817e37cdc391..5d2126b922acc5d6028818f412f1570c6719a75b 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -62,6 +62,7 @@ def getArgs():
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)
+ # TODO: make this optional
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, \
@@ -193,8 +194,9 @@ def getMarker(args, robot):
# slighly up from goal to not hit marker weirdly
TgoalUP = Tgoal.copy()
- #TgoalUP.translation += np.array([0,0,0.2])
- TgoalUP.translation += np.array([0,0,0.3])
+ TgoalUP.translation += np.array([0,0,0.2])
+ q_init = robot.getQ()
+ #TgoalUP.translation += np.array([0,0,0.3])
# instantiate controller
#clik_controller = getClikController(args)
@@ -207,26 +209,29 @@ def getMarker(args, robot):
print("going to above marker")
robot.Mgoal = TgoalUP.copy()
- #compliantMoveL(args, robot, TgoalUP.copy())
- moveL(args, robot, TgoalUP.copy())
+ compliantMoveL(args, robot, TgoalUP.copy())
+ #moveL(args, robot, TgoalUP.copy())
#log_dict, final_iteration = loop_manager.run()
print("going down to marker")
robot.Mgoal = Tgoal.copy()
- #compliantMoveL(args, robot, Tgoal.copy())
- moveL(args, robot, Tgoal.copy())
+ compliantMoveL(args, robot, Tgoal.copy())
+ #moveL(args, robot, 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()
- #compliantMoveL(args, robot, TgoalUP.copy())
- moveL(args, robot, TgoalUP.copy())
+ compliantMoveL(args, robot, TgoalUP.copy())
+ #moveL(args, robot, TgoalUP.copy())
#log_dict, final_iteration = loop_manager.run()
print("going back")
+ # TODO: this HAS to be a movej
+ # in fact all of them should be
robot.Mgoal = Tinit.copy()
#compliantMoveL(args, robot, Tinit.copy())
- moveL(args, robot, Tinit.copy())
+ moveJ(args, robot, q_init)
+ #moveL(args, robot, Tinit.copy())
#log_dict, final_iteration = loop_manager.run()
print("got back")
# robot.stopHandler(None, None)
@@ -248,6 +253,8 @@ def findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
# TODO make this more general
# so TODO: calculate TCP speed based on the rotation matrix
# and then go
+ moveJ(args, robot, q_init)
+ Tinit = robot.getMtool().copy()
if args.board_axis == 'z':
axis_of_rot = rotation_matrix[:,2]
elif args.board_axis == 'y':
@@ -275,6 +282,12 @@ def findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
print("translation_vector - current_translation", \
translation_vector - current_translation)
marker_offset = np.linalg.norm(translation_vector - current_translation)
+
+ print("going back")
+ # TODO: this HAS to be a movej
+ # in fact all of them should be
+ robot.Mgoal = Tinit.copy()
+ compliantMoveL(args, robot, Tinit)
# robot.setSpeedSlider(old_speed_slider)
return marker_offset
@@ -353,8 +366,8 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
wrench = mapping.T @ wrench
wrench = Z @ wrench
- if i % 100 == 0:
- print(*wrench.round(1))
+# if i % 100 == 0:
+# print(*wrench.round(1))
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))
@@ -461,9 +474,11 @@ if __name__ == "__main__":
if args.find_marker_offset:
# find the marker offset
# TODO find a better q init (just moveL away from the board)
+ # THIS Q_INIT IS NOT SUITED FOR THIS PURPOSE!!!!!
+ exit()
marker_offset = findMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init)
print('marker_offset', marker_offset)
- robot.stopHandler(None,None)
+ #robot.stopHandler(None,None)
# Z
#path = path + np.array([0.0, 0.0, -1 * marker_offset])
# Y
@@ -484,8 +499,9 @@ if __name__ == "__main__":
# 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, -0.0920])
+ #path = path + np.array([0.0, 0.0, -0.1003])
+ # THIS ONE
+ path = path + np.array([0.0, 0.0, -0.0830])
#path = path + np.array([0.0, 0.0, -0.0903])
#path = path + np.array([0.0, 0.0, -0.0790])
#path = path + np.array([0.0, 0.0, -0.1003])
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 29cc02484481838eda9809c91cf8b83cfff771e1..eef2cb90bcbc083e896dda469c66a964e525f5b0 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,4690 +1,499 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 1fc24d92772381b7494ec790eda3aa2bbdab31b2..6d4ee0d8e2ed4a0606012d6ecdbec04f0e360c74 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 919ba5aa6384bd26ddfcfa7ed833d037bc93b462..666b89f102e432a1893478986070bfdcba8c2a12 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -15,6 +15,7 @@ from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane,
from ur_simple_control.managers import ControlLoopManager, RobotManager
from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
from ur_simple_control.basics.basics import moveJ
+import matplotlib
#######################################################################
# arguments #
@@ -36,9 +37,10 @@ def getArgs():
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('--visualize-manipulator', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize the manipulator and workspace with meshcat", default=False)
+ parser.add_argument('--real-time-plotting', action=argparse.BooleanOptionalAction,
+ help="whether you want to have some real-time matplotlib graphs (parts of log_dict you select)", default=False)
parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
help="whether you're using the gripper", default=False)
parser.add_argument('--acceleration', type=float, \
@@ -103,7 +105,9 @@ def getArgs():
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
default=0.05)
- # TODO add low pass filtering and make it's parameters arguments too
+ parser.add_argument('--beta', type=float, \
+ help="low-pass filter beta parameter", \
+ default=0.01)
#######################################################################
# task specific arguments #
#######################################################################
@@ -154,7 +158,7 @@ def controller():
pass
# control loop to be passed to ControlLoopManager
-def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_data):
+def controlLoopPointImpedance(q_init, controller, robot, i, past_data):
breakFlag = False
# TODO rename this into something less confusing
save_past_dict = {}
@@ -163,7 +167,6 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
Mtool = robot.getMtool()
wrench = robot.getWrench()
log_item['wrench_raw'] = wrench.reshape((6,))
- wrench = wrench - wrench_offset
save_past_dict['wrench'] = copy.deepcopy(wrench)
# deepcopy for good coding practise (and correctness here)
# save_past_dict['wrench'] = copy.deepcopy(wrench)
@@ -171,8 +174,7 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
#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 = 0.1
- wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+ wrench = args.beta * wrench + (1 - args.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]))
@@ -196,10 +198,10 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
wrench = mapping.T @ wrench
wrench = Z @ wrench
- if i % 25 == 0:
- #print(Z)
- print("================================")
- print(*wrench.round(1))
+# if i % 25 == 0:
+# #print(Z)
+# print("================================")
+# print(*wrench.round(1))
# if i % 25 == 0:
# for w in wrench:
# if w < 0:
@@ -224,8 +226,8 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
dq = robot.getQd()[:6].reshape((6,1))
# get joint
tau = J.T @ wrench
- if i % 25 == 0:
- print(*tau.round(1))
+# if i % 25 == 0:
+# print(*tau.round(1))
tau = tau[:6].reshape((6,1))
# compute control law:
# - feedback the position
@@ -250,12 +252,16 @@ if __name__ == "__main__":
#######################################################################
# software setup #
#######################################################################
+
+ #matplotlib.use('tkagg')
args = getArgs()
+ if args.debug_prints:
+ print("you will get a lot of stuff printed out, as requested")
clikController = getClikController(args)
robot = RobotManager(args)
# calibrate FT first
- wrench_offset = robot.calibrateFT()
+ #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
@@ -270,16 +276,16 @@ if __name__ == "__main__":
'wrench' : np.zeros(6),
}
# here you give it it's initial value
- log_dict = {
- 'qs' : np.zeros((args.max_iterations, 6)),
- 'dqs' : np.zeros((args.max_iterations, 6)),
- 'wrench_raw' : np.zeros((args.max_iterations, 6)),
- 'wrench_used' : np.zeros((args.max_iterations, 6)),
+ log_item = {
+ 'qs' : np.zeros(robot.n_arm_joints),
+ 'dqs' : np.zeros(robot.n_arm_joints),
+ 'wrench_raw' : np.zeros(6),
+ 'wrench_used' : np.zeros(6),
}
q_init = robot.getQ()
- controlLoop = partial(controlLoopPointImpedance, wrench_offset, q_init, controller, robot)
- loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
+ controlLoop = partial(controlLoopPointImpedance, q_init, controller, robot)
+ loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
#moveJ(args, robot, dmp.pos.reshape((6,)))
# and now we can actually run
@@ -288,7 +294,7 @@ if __name__ == "__main__":
#plotFromDict(log_dict, args)
# plotting is now initiated in stophandler because then we get the plot
# even if we end sooner
- loop_manager.stopHandler(log_dict, args)
+ loop_manager.stopHandler(None, None)
# TODO: add some math to analyze path precision
diff --git a/python/examples/test_movej.py b/python/examples/test_movej.py
new file mode 100644
index 0000000000000000000000000000000000000000..c00d3683f8534117080ae5dfce6f59c27c70b534
--- /dev/null
+++ b/python/examples/test_movej.py
@@ -0,0 +1,204 @@
+
+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.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.basics.basics import moveJ
+import matplotlib
+
+#######################################################################
+# 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-manipulator', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize the manipulator and workspace with meshcat", default=False)
+ parser.add_argument('--real-time-plotting', action=argparse.BooleanOptionalAction,
+ help="whether you want to have some real-time matplotlib graphs (parts of log_dict you select)", 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=500000)
+ #######################################################################
+ # 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 tikhonov 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('--kv', type=float, \
+ help="damping in impedance control", \
+ default=0.001)
+ 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=0.05)
+ parser.add_argument('--beta', type=float, \
+ help="low-pass filter beta parameter", \
+ default=0.01)
+ #######################################################################
+ # 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=0.3)
+ parser.add_argument('--board-height', type=float, \
+ help="height of the board (in meters) the robot will write on", \
+ default=0.3)
+ 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)
+ 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:
+ 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__":
+ #######################################################################
+ # software setup #
+ #######################################################################
+
+ #matplotlib.use('tkagg')
+ args = getArgs()
+ if args.debug_prints:
+ print("you will get a lot of stuff printed out, as requested")
+ clikController = getClikController(args)
+ robot = RobotManager(args)
+
+ # calibrate FT first
+ #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
+ # under using/not-using gripper parameters
+ # ALSO NOTE: to use this you need to change the version inclusions in
+ # ur_rtde due to a bug there in the current ur_rtde + robot firmware version
+ # (the bug is it works with the firmware verion, but ur_rtde thinks it doesn't)
+ # here you give what you're saving in the rolling past window
+ # it's initial value.
+ # 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_item = {
+# 'qs' : np.zeros(robot.n_arm_joints),
+# 'dqs' : np.zeros(robot.n_arm_joints),
+# 'wrench_raw' : np.zeros(6),
+# 'wrench_used' : np.zeros(6),
+# }
+ q_init = robot.getQ()
+
+# controlLoop = partial(controlLoopPointImpedance, q_init, controller, robot)
+# loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
+
+ q_init[5] += 0.1
+ moveJ(args, robot, q_init)
+ # and now we can actually run
+# log_dict, final_iteration = loop_manager.run()
+
+ #plotFromDict(log_dict, args)
+ # plotting is now initiated in stophandler because then we get the plot
+ # even if we end sooner
+ # TODO: add some math to analyze path precision
+
+
+
+
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc
index 3a5ef00af9c245c0f18a6e26d57945373702bf53..2675a1cf3013718070b82c0e8d76397492812c3f 100644
Binary files a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc and b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc differ
diff --git a/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc b/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc
index d015b983dfd1f3a5c10e8f110c39caab5852592e..2e9246e2621ab405a1c970b708cdee5099cb8193 100644
Binary files a/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc and b/python/ur_simple_control/basics/__pycache__/basics.cpython-311.pyc differ
diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
index 2f10c50633c2b87ab94fef8b755b24dd18ec7971..6b9f414014d44f5bc2e2f0e13977cc6ad689afd3 100644
--- a/python/ur_simple_control/basics/basics.py
+++ b/python/ur_simple_control/basics/basics.py
@@ -22,7 +22,9 @@ def moveJControlLoop(q_desired, robot, i, past_data):
save_past_dict = {}
# you don't even need forward kinematics for this lmao
q = robot.getQ()
+ # TODO: be more intelligent with qs
q = q[:6]
+ q_desired = q_desired[:6]
q_error = q_desired - q
# STOP MUCH BEFORE YOU NEED TO FOR THE DEMO
@@ -52,5 +54,6 @@ def moveJ(args, robot, q_desired):
loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
log_dict, final_iteration = loop_manager.run()
# TODO: remove, this isn't doing anything
- time.sleep(0.01)
- print("MoveJ done: convergence achieved, reached destionation!")
+ #time.sleep(0.01)
+ if args.debug_prints:
+ print("MoveJ done: convergence achieved, reached destionation!")
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index d3dba357ac0dc0e4823a2ce402177cfca4ca231a..9d2289757ba2d4ee8f5b82650d5ac852ad1d79da 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -16,7 +16,7 @@ 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, realTimePlotter
+from ur_simple_control.visualize.visualize import plotFromDict, realTimePlotter, manipulatorVisualizer
from pinocchio.visualize import MeshcatVisualizer
from multiprocessing import Process, Queue
@@ -130,20 +130,21 @@ class ControlLoopManager:
if self.args.real_time_plotting:
self.plotter_queue = Queue()
if args.debug_prints:
- print("CONTROL_LOOP_MANAGER", self.controlLoop, ": i created queue:", self.plotter_queue)
+ print("CONTROL_LOOP_MANAGER", self.controlLoop, ": i created queue for real time plotting:", self.plotter_queue)
print("CONTROL_LOOP_MANAGER: i am creating and starting the real-time-plotter process")
self.real_time_plotter_process = Process(target=realTimePlotter,
args=(self.args, self.plotter_queue, ))
# give real-time plotter some time to set itself up
self.real_time_plotter_process.start()
if args.debug_prints:
- print("CONTROL_LOOP_MANAGER: real_time_plotter started")
+ print("CONTROL_LOOP_MANAGER: real_time_plotter_process started")
# wait for feedback that the thing has started
self.plotter_queue.get()
self.plotter_queue.put(log_item)
if args.debug_prints:
print("CONTROL_LOOP_MANAGER: i managed to put initializing log_item to queue")
+
"""
run
---
@@ -182,20 +183,20 @@ class ControlLoopManager:
self.log_dict[key].append(log_item[key])
if i % 20 == 0:
- # TODO: offload this to a different
- # process, it's hindering real-time performance (not by a lot,
- # but it does)
- # --> replicate what's done for real_time_plotting
+ # don't send what wasn't ready
if self.args.visualize_manipulator:
- self.robot_manager.viz.display(self.robot_manager.q)
+ if self.robot_manager.manipulator_visualizer_queue.qsize() < 5:
+ self.robot_manager.manipulator_visualizer_queue.put_nowait(self.robot_manager.q)
+# if self.args.debug_prints:
+# print("manipulator_visualizer_queue size status:", self.robot_manager.manipulator_visualizer_queue.qsize())
if self.args.real_time_plotting:
# don't put new stuff in if it didn't handle the previous stuff.
# it's a plotter, who cares if it's late.
# the number 5 is arbitrary
if self.plotter_queue.qsize() < 5:
self.plotter_queue.put_nowait(log_item)
- if self.args.debug_prints:
- print("queue size status:", self.plotter_queue.qsize())
+# if self.args.debug_prints:
+# print("plotter_queue size status:", self.plotter_queue.qsize())
# break if done
if breakFlag:
@@ -226,11 +227,16 @@ class ControlLoopManager:
# and that really needs to work
#self.plotter_queue.close()
# give it time to become free
- time.sleep(0.1)
- self.real_time_plotter_process.join()
+ #time.sleep(0.1)
+ # TODO: check if this is causing a delay
+ self.real_time_plotter_process.terminate()
+ if self.args.debug_prints:
+ print("terminated real_time_plotter_process")
# now turn the logs into numpy arrays
for key in self.log_dict:
+ if self.args.debug_prints:
+ print("turning log files into numpy arrays")
self.log_dict[key] = np.array(self.log_dict[key])
return self.log_dict, self.final_iteration
@@ -258,6 +264,36 @@ class ControlLoopManager:
print("putting it to freedrive for good measure too")
self.robot_manager.rtde_control.freedriveMode()
+ # set kill command and join visualization processes
+ # TODO: actually send them a SIGINT and a SIGKILL if necessary
+ if self.args.real_time_plotting:
+ if self.args.debug_prints:
+ print("i am putting befree in plotter_queue to stop the real time visualizer")
+ self.plotter_queue.put_nowait("befree")
+ self.real_time_plotter_process.terminate()
+ if self.args.debug_prints:
+ print("terminated real_time_plotter_process")
+
+ #self.real_time_plotter_process.kill()
+ #self.real_time_plotter_process.terminate()
+
+ if self.args.visualize_manipulator:
+ if self.args.debug_prints:
+ print("i am putting befree in manipulator to stop the manipulator visualizer")
+ self.robot_manager.manipulator_visualizer_queue.put_nowait("befree")
+ #time.sleep(1)
+ #self.robot_manager.manipulator_visualizer_process.join()
+ self.robot_manager.manipulator_visualizer_process.terminate()
+ if self.args.debug_prints:
+ print("terminated manipulator_visualizer_process")
+ #self.robot_manager.manipulator_visualizer_process.kill()
+# self.robot_manager.manipulator_visualizer_process.terminate()
+# if self.args.debug_prints:
+# print("joined manipulator_visualizer_process")
+# self.robot_manager.manipulator_visualizer_process.kill()
+# if self.args.debug_prints:
+# print("joined manipulator_visualizer_process")
+
# need to turn logs into ndarrays here too
for key in self.log_dict:
self.log_dict[key] = np.array(self.log_dict[key])
@@ -265,13 +301,8 @@ class ControlLoopManager:
if not self.args.pinocchio_only:
self.robot_manager.rtde_control.endFreedriveMode()
- # TODO: add visualizer here too
- if self.args.real_time_plotting:
- if self.args.debug_prints:
- print("i am putting befree in plotter_queue to stop the real time visualizer")
- self.plotter_queue.put_nowait("befree")
- self.real_time_plotter_process.join()
- #exit()
+
+ exit()
"""
robotmanager:
@@ -311,30 +342,19 @@ class RobotManager:
# there are no good options,
# but this does work and isn't a dead project
if args.visualize_manipulator:
- # for whatever reason the hand-e files don't have/
- # meshcat can't read scaling information.
- # so we scale manually
- for geom in self.visual_model.geometryObjects:
- if "hand" in geom.name:
- s = geom.meshScale
- # this looks exactly correct lmao
- s *= 0.001
- geom.meshScale = s
- self.viz = MeshcatVisualizer(self.model, self.collision_model, self.visual_model)
- self.viz.initViewer(open=True)
- self.viz.loadViewerModel()
- # give meshcat some time to start (not really necessary, but
- # you yourself need some time to clik on the browser,
- # and you probably want the viz to be initialized
- # before the robot starts moving)
- time.sleep(2)
-# if args.real_time_plotting:
-# self.plotter_queue = Queue()
-# self.real_time_plotter_process = Process(target=realTimePlotter,
-# args=(self.plotter_queue, ))
-# # give real-time plotter some time to set itself up
-# self.real_time_plotter_process.start()
-# time.sleep(0.5)
+ self.manipulator_visualizer_queue = Queue()
+ if args.debug_prints:
+ print("ROBOT_MANAGER: i created queue for manipulator visualization:", self.manipulator_visualizer_queue)
+ print("ROBOT_MANAGER: i am creating and starting the manipulator visualizer process")
+ self.manipulator_visualizer_process = Process(target=manipulatorVisualizer,
+ args=(self.args, self.model, self.collision_model, self.visual_model, self.manipulator_visualizer_queue, ))
+ # give real-time plotter some time to set itself up
+ self.manipulator_visualizer_process.start()
+ if args.debug_prints:
+ print("ROBOT_MANAGER: manipulator_visualizer_process started")
+ self.manipulator_visualizer_queue.put(np.zeros(self.model.nq))
+ if args.debug_prints:
+ print("ROBOT_MANAGER: i managed to put initializing q to manipulator_visualizer_queue")
# ur specific magic numbers
# NOTE: all of this is ur-specific, and needs to be if-ed if other robots are added.
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc
index a7d7e06be1d8ddae19d0d223035431c46835e963..e868ff923241d09bdd682a13b217ddf53f57601d 100644
Binary files a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc and b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc differ
diff --git a/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py b/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
deleted file mode 100644
index a89138777224afd73d6ea4369234e6cbe43d0034..0000000000000000000000000000000000000000
--- a/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
+++ /dev/null
@@ -1,77 +0,0 @@
-import numpy as np
-import vedo
-import pinocchio as pin
-
-
-def drawBoxFromSE3(frame : pin.SE3, box_shape : list) -> vedo.Box:
- objectt = vedo.Box(pos=frame.translation, length=box_shape[0], width=box_shape[1], height=box_shape[2], alpha=0.5)
- angleAxis = pin.AngleAxis()
- # they fucked in because they want to accept return value as argument
- # which is no pythonic
- # but they also then return it as well lmao
- axx = pin.AngleAxis.fromRotationMatrix(angleAxis, frame.rotation)
- #print(angleAxis)
- #print(np.linalg.norm(angleAxis.axis))
- objectt.rotate(angleAxis.angle, axis=angleAxis.axis, point=frame.translation, rad=True)
- #objectt.rotate(0.5, axis=[1,0,0], point=frame.translation, rad=True)
- return objectt
-
-def updateBoxFromSE3(box : vedo.Box, previous_pose : pin.SE3, new_pose : pin.SE3):
- # has to be passed as argument because non-pythonic original C++ code
- angleAxis = pin.AngleAxis()
- # groups yo
- difference = new_pose.act(previous_pose.inverse())
- axx = pin.AngleAxis.fromRotationMatrix(angleAxis, difference.rotation)
- box.rotate(angleAxis.angle, axis=angleAxis.axis, point=previous_pose.translation, rad=True)
- #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=new_pose.translation, rad=True)
- #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=difference.translation, rad=True)
- box.pos(new_pose.translation)
-
-def updateFrameArrowsFromSE3(arrows : list[vedo.Arrow], frame : pin.SE3):
- for i in range(0,3):
- x = frame.translation[0] + frame.rotation[0,i]
- y = frame.translation[1] + frame.rotation[1,i]
- z = frame.translation[2] + frame.rotation[2,i]
- arrows[i].base = frame.translation
- arrows[i].top = np.array([x,y,z])
-
-def drawSE3AsFrame(frame : pin.SE3,
- text : str, scaling=0.1) -> vedo.Arrows:
- #print(text)
- #print(frame)
- colors = ['r', 'g', 'b']
- arrows = []
- #print(frame.rotation)
- for i in range(0,3):
- x = frame.translation[0] + frame.rotation[0,i] * scaling
- y = frame.translation[1] + frame.rotation[1,i] * scaling
- z = frame.translation[2] + frame.rotation[2,i] * scaling
- arrows.append(vedo.Arrow(frame.translation, np.array([x,y,z]), c=colors[i]))
-
- text_plot = vedo.shapes.Text3D(text, pos=frame.translation, s=0.02)
- return arrows, text_plot
-
-def setContact1InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
- c1.rotation = pin.rpy.rpyToMatrix(0,np.pi,0)
- c1.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], 0.5*box_dimensions[2]])
- return c1
-
-def setContact2InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
- c2.rotation = pin.rpy.rpyToMatrix(0,0,0)
- c2.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], -0.5*box_dimensions[2]])
- return c1
-
-# there will be no angular velocity drawing,
-# you can watch the b frame spin.
-# but we do need the linear arrows
-def drawBodyTwist(T_w_b : pin.SE3, v_b : pin.Motion) -> vedo.Arrow:
- color = 'black'
- v_s = T_w_b.act(v_b)
- # this should be global or an argument or something
- # or calculate it based on the box size, whatever
- scaling = 0.02
- arrow = (v_s.linear / np.linalg.norm(v_s.linear)) * scaling
- arrow_v = vedo.Arrow(T_w_b.translation, arrow , c=color)
- return arrow_v
-
-
diff --git a/python/ur_simple_control/visualize/vedo_manipulator.py b/python/ur_simple_control/visualize/vedo_manipulator.py
deleted file mode 100644
index c2ce0f3034dca141acc4f7a4a231282ea0f87c15..0000000000000000000000000000000000000000
--- a/python/ur_simple_control/visualize/vedo_manipulator.py
+++ /dev/null
@@ -1,100 +0,0 @@
-"""
-the idea here is that the all the robot-math
-is handled by pinocchio and all the plotting is
-done with vedo. we're just making the 3D plot here.
-
-there are 2 modes of operation, and ideally they can be
-handled in the same implementation with a few if statements:
- 1. visualization from a log file
- 2. real-time visualization
-what's written in the
-"""
-
-import numpy as np
-import vedo
-import pinocchio as pin
-import time
-from ur_simple_control.visualize.pin_to_vedo_plot_util import *
-from ur_simple_control.managers import RobotManager
-import argparse
-
-
-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=True)
- parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
- help="whether you want to visualize with gepetto, but NOTE: not implemented yet", default=True)
- 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 tikhonov 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')
- 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:
- 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
-#######################################################################
-# IMPLEMENT THIS ACTUALLY #
-#######################################################################
-
-
-if __name__ == "__main__":
- pin.seed(int(time.time()))
- args = get_args()
- robot = RobotManager(args)
- q = pin.randomConfiguration(robot.model)
- q = np.zeros(8)
- pin.forwardKinematics(robot.model, robot.data, q)
- print(type(robot.data))
- #pin.computeAllTerms(robot.model, robot.data, q, np.zeros(8))
- # no need to use AnimationPlayer, we can update stuff on Plotter as we please.
- # so the comm logic + updating will be implemented here (ideal circumstance)
- plt = vedo.Plotter(axes=1)
- plt.camera = vedo.utils.oriented_camera(center=(0, 0, 0),
- up_vector=(0, 1, 0),
- backoff_vector=(0, 1, 0),
- backoff=1.0)
-
- for i in range(robot.model.nq):
- plt += drawSE3AsFrame(robot.data.oMi[i], "",scaling=0.02)
- if i+1 < robot.model.nq:
- # plt += vedo.Arrow(robot.data.oMi[i].translation,
- # robot.data.oMi[i+1].translation - robot.data.oMi[i].translation)
- #plt += vedo.Arrow(robot.data.oMi[i].translation,
- # -1 * (robot.data.oMi[i].translation - robot.data.oMi[i+1].translation))
- plt += vedo.Arrow(robot.data.oMi[i].translation,
- robot.data.oMi[i].act(robot.data.liMi[i+1]).translation)
-
-
-
-
-
- plt.render()
- plt.show()
diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index 4679a620c55405d07aaa913fd554114e8a9cd7c0..217059261ce42b3a34e979989491b6a58cdb306d 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -3,6 +3,7 @@ import matplotlib.pyplot as plt
from collections import deque, namedtuple
import time
import copy
+from pinocchio.visualize import MeshcatVisualizer
# tkinter stuff
from matplotlib.backends.backend_tkagg import (FigureCanvasTkAgg, NavigationToolbar2Tk)
@@ -79,6 +80,9 @@ def realTimePlotter(args, queue):
if args.debug_prints:
print("REAL_TIME_PLOTTER: i am waiting for the first log_item to initialize myself")
log_item = queue.get()
+ if len(log_item) == 0:
+ print("you've send me nothing, so no real-time plotting for you")
+ return
if args.debug_prints:
print("REAL_TIME_PLOTTER: got log_item, i am initializing the desired plots")
ROLLING_BUFFER_SIZE = 100
@@ -111,7 +115,7 @@ def realTimePlotter(args, queue):
ax.set_ylim(bottom=-1.7, top=1.7)
if data_key == 'dmp_vels':
ax.set_ylim(bottom=-1.7, top=1.7)
- if data_key == 'wrench':
+ if 'wrench' in data_key:
ax.set_ylim(bottom=-20.0, top=20.0)
if data_key == 'tau':
ax.set_ylim(bottom=-2.0, top=2.0)
@@ -127,32 +131,71 @@ def realTimePlotter(args, queue):
# need to call it once
canvas.draw()
canvas.flush_events()
- #plt.show(block=False)
- n_of_calls = 0
- # can't get background, idk how to get it to work
- #background = ?
background = fig.bbox
- while True:
- log_item = queue.get()
- if log_item == "befree":
- if args.debug_prints:
- print("REAL_TIME_PLOTTER: got befree, visualizer out")
- break
- n_of_calls += 1
- for data_key in log_item:
- # remove oldest
- logs_deque[data_key].popleft()
- # put in new one
- logs_deque[data_key].append(log_item[data_key])
- # make it an ndarray (plottable)
- logs_ndarrays[data_key] = np.array(logs_deque[data_key])
- # now shape == (ROLLING_BUFFER_SIZE, vector_dimension)
- for j in range(logs_ndarrays[data_key].shape[1]):
- axes_and_updating_artists[data_key].artists[str(data_key) + str(j)].set_data(t, logs_ndarrays[data_key][:,j])
- axes_and_updating_artists[data_key].ax.draw_artist(\
- axes_and_updating_artists[data_key].artists[str(data_key) + str(j)])
- canvas.blit(fig.bbox)
- canvas.flush_events()
+
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: FULLY ONLINE")
+ try:
+ while True:
+ log_item = queue.get()
+ if log_item == "befree":
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: got befree, realTimePlotter out")
+ break
+ for data_key in log_item:
+ # remove oldest
+ logs_deque[data_key].popleft()
+ # put in new one
+ logs_deque[data_key].append(log_item[data_key])
+ # make it an ndarray (plottable)
+ logs_ndarrays[data_key] = np.array(logs_deque[data_key])
+ # now shape == (ROLLING_BUFFER_SIZE, vector_dimension)
+ for j in range(logs_ndarrays[data_key].shape[1]):
+ axes_and_updating_artists[data_key].artists[str(data_key) + str(j)].set_data(t, logs_ndarrays[data_key][:,j])
+ axes_and_updating_artists[data_key].ax.draw_artist(\
+ axes_and_updating_artists[data_key].artists[str(data_key) + str(j)])
+ canvas.blit(fig.bbox)
+ canvas.flush_events()
+ except KeyboardInterrupt:
+ if args.debug_prints:
+ print("REAL_TIME_PLOTTER: caught KeyboardInterrupt, i'm out")
plt.close(fig)
+def manipulatorVisualizer(args, model, collision_model, visual_model, queue):
+ # for whatever reason the hand-e files don't have/
+ # meshcat can't read scaling information.
+ # so we scale manually
+ for geom in visual_model.geometryObjects:
+ if "hand" in geom.name:
+ s = geom.meshScale
+ # this looks exactly correct lmao
+ s *= 0.001
+ geom.meshScale = s
+ for geom in collision_model.geometryObjects:
+ if "hand" in geom.name:
+ s = geom.meshScale
+ # this looks exactly correct lmao
+ s *= 0.001
+ geom.meshScale = s
+ viz = MeshcatVisualizer(model, collision_model, visual_model)
+ viz.initViewer(open=True)
+ viz.loadViewerModel()
+ print("MANIPULATORVISUALIZER: FULLY ONLINE")
+ try:
+ while True:
+ q = queue.get()
+ if type(q) == str:
+ print("got str q")
+ if q == "befree":
+ if args.debug_prints:
+ print("MANIPULATORVISUALIZER: got befree, manipulatorVisualizer out")
+ viz.viewer.close()
+ break
+ viz.display(q)
+ except KeyboardInterrupt:
+ if args.debug_prints:
+ print("MANIPULATORVISUALIZER: caught KeyboardInterrupt, i'm out")
+ # TODO: find a way to actually close it, i don't want a bilion dangling sockets
+ # and a random explosion caused by them
+ #viz.viewer.close()