From b96e035928b3303e6572f8016a53a1d296bf7fce Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 20 Nov 2023 23:26:24 +0100
Subject: [PATCH] so close
---
.../.drawing_from_input_drawing.py.swp | Bin 45056 -> 49152 bytes
python/examples/drawing_from_input_drawing.py | 40 +-
python/examples/joint_trajectory.csv | 2332 +++--------------
python/examples/path_in_pixels.csv | 69 +-
python/ur_simple_control/.managers.py.swp | Bin 49152 -> 53248 bytes
python/ur_simple_control/__init__.py | 2 +-
.../__pycache__/__init__.cpython-310.pyc | Bin 332 -> 367 bytes
.../__pycache__/managers.cpython-310.pyc | Bin 6797 -> 6797 bytes
.../ur_simple_control/basics/.basics.py.swp | Bin 0 -> 12288 bytes
python/ur_simple_control/basics/__init__.py | 0
.../__pycache__/__init__.cpython-310.pyc | Bin 0 -> 196 bytes
python/ur_simple_control/basics/basics.py | 43 +
.../clik/.clik_point_to_point.py.swp | Bin 28672 -> 28672 bytes
.../clik_point_to_point.cpython-310.pyc | Bin 4668 -> 4672 bytes
.../clik/clik_point_to_point.py | 3 +-
python/ur_simple_control/managers.py | 1 -
.../util/.calib_board_hacks.py.swp | Bin 36864 -> 36864 bytes
.../calib_board_hacks.cpython-310.pyc | Bin 6960 -> 6800 bytes
.../util/calib_board_hacks.py | 58 +-
19 files changed, 452 insertions(+), 2096 deletions(-)
create mode 100644 python/ur_simple_control/basics/.basics.py.swp
create mode 100644 python/ur_simple_control/basics/__init__.py
create mode 100644 python/ur_simple_control/basics/__pycache__/__init__.cpython-310.pyc
create mode 100644 python/ur_simple_control/basics/basics.py
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
index a9ef8b4996e0bd1281f5d0bd4956cb4b044d3265..792ac7052199c6bb745bb367289aac58e6b79790 100644
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index d8760ef..ba00508 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -15,6 +15,7 @@ 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
@@ -22,11 +23,12 @@ 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
+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.basic import moveJ
#######################################################################
# arguments #
@@ -123,7 +125,7 @@ def getArgs():
help="height of the board (in meters) the robot will write on", \
default=0.2)
parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
- help="whether you want to do calibration", default=True)
+ 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, \
@@ -134,7 +136,7 @@ def getArgs():
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=True)
+ 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, \
@@ -306,10 +308,10 @@ if __name__ == "__main__":
# also make it prettier if possible
print("using predefined values")
q_init = np.array([1.4545, -1.7905, -1.1806, -1.0959, 1.6858, -0.1259, 0.0, 0.0])
- translation_vector = np.array([0.19406676, 0.59990556, 0.57585894])
- rotation_matrix = np.array([[1., 0., 0.01298926],
- [ 0. , -0.83234077, 0.55411201],
- [ 0. , -0.55411201, -0.83234077]])
+ 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]])
# make the path 3D
path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
@@ -324,21 +326,26 @@ if __name__ == "__main__":
pass
if args.find_marker_offset:
# find the marker offset
+ # TODO find a better q init (just moveL away from the board)
marker_offset = getMarkerOffset(rotation_matrix, translation_vector, q_init)
print('marker_offset', marker_offset)
- path = path + np.array([0.0, 0.0, -1 * marker_offset])
+ # Z
+ #path = path + np.array([0.0, 0.0, -1 * marker_offset])
+ # Y
+ path = path + np.array([0.0, -1 * marker_offset, 0.0])
else:
- path = path + np.array([0.0, 0.0, -0.0938])
+ path = path + np.array([0.0, -0.0938, 0.0])
- exit()
# and if you don't want to draw new nor calibrate, but you want the same path
# with a different clik, i'm sorry, i can't put that if here.
# atm running the same joint trajectory on the same thing makes for easier testing
# of the final system.
if args.draw_new or args.calibration:
- path = path + np.array([0.0, 0.0, -0.0938])
+ #path = path + np.array([0.0, 0.0, -0.0938])
# create a joint space trajectory based on the 3D path
+ # TODO: add flag of success (now it's your eyeballs and printing)
+ # and immediatelly exit if it didn't work
joint_trajectory = clikCartesianPathIntoJointPath(path, args, robot, \
clikController, q_init, rotation_matrix, translation_vector)
else:
@@ -385,12 +392,15 @@ if __name__ == "__main__":
#######################################################################
# TODO: add marker picking
# get up from the board
- current_pose = robot.rtde_receive.getActualTCPPose()
- current_pose[2] = current_pose[2] + 0.03
- robot.rtde_control.moveL(current_pose)
+ current_pose = robot.getMtool()
+ # Z
+ #current_pose.translation[2] = current_pose.translation[2] + 0.03
+ # Y
+ current_pose.translation[1] = current_pose.translation[1] + 0.03
+ moveL(args, robot, current_pose)
# move to initial pose
# this is a blocking call
- robot.rtde_control.moveJ(dmp.pos.reshape((6,)))
+ moveJ(dmp.pos.reshape((6,)))
# and now we can actually run
loop_manager.run()
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 54daf23..403165c 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 6f2f561..ccbd6ba 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
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diff --git a/python/ur_simple_control/__init__.py b/python/ur_simple_control/__init__.py
index ce2a563..4cbd4c8 100644
--- a/python/ur_simple_control/__init__.py
+++ b/python/ur_simple_control/__init__.py
@@ -1,4 +1,4 @@
from ur_simple_control import clik, dmp, robot_descriptions, util, visualize
__all__ = [
-"clik", "dmp", "robot_descriptions", "util", "visualize",
+"clik", "dmp", "robot_descriptions", "util", "visualize", "basics",
]
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diff --git a/python/ur_simple_control/basics/__init__.py b/python/ur_simple_control/basics/__init__.py
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diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
new file mode 100644
index 0000000..6f14e3b
--- /dev/null
+++ b/python/ur_simple_control/basics/basics.py
@@ -0,0 +1,43 @@
+# this is a quickest possible solution,
+# not a good one
+# please change at the earliest convenience
+
+import pinocchio as pin
+import numpy as np
+import copy
+import argparse
+from functools import partial
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+import time
+
+"""
+moveJControlLoop
+---------------
+generic control loop for clik (handling error to final point etc).
+in some version of the universe this could be extended to a generic
+point-to-point motion control loop.
+"""
+def moveJControlLoop(q_desired, robot, i, past_data):
+ breakFlag = False
+ save_past_dict = {}
+ # you don't even need forward kinematics for this lmao
+ q = robot.getQ()
+ q_error = q_desired - q
+
+ if np.linalg.norm(q_error) < 1e-3:
+ breakFlag = True
+ # stupid hack, for the love of god remove this
+ # but it should be small enough lel
+ qd = q_error / np.linalg.norm(q_error)
+ robot.sendQd(qd)
+ return breakFlag, {}, {}
+
+def moveJ(args, robot, q_desired):
+ assert type(goal_point) == pin.pinocchio_pywrap.SE3
+ controlLoop = partial(moveJControlLoop, q_desired, robot)
+ # we're not using any past data or logging, hence the empty arguments
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
+ loop_manager.run()
+ # TODO: remove, this isn't doing anything
+ time.sleep(0.01)
+ print("MoveJ done: convergence achieved, reached destionation!")
diff --git a/python/ur_simple_control/clik/.clik_point_to_point.py.swp b/python/ur_simple_control/clik/.clik_point_to_point.py.swp
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diff --git a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc
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diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index adf18cf..4d61a4f 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -180,7 +180,8 @@ def moveUntilContactControlLoop(speed, robot, clik_controller, i, past_data):
wrench = robot.getWrench()
# print(np.linalg.norm(wrench))
# TODO: remove magick number
- if np.linalg.norm(wrench) > 4:
+ # it is empirical bla bla, but make it an argument at least
+ if np.linalg.norm(wrench) > 3.6:
breakFlag = True
# pin.computeJointJacobian is much different than the C++ version lel
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index af7c8db..1f5c5ac 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -441,7 +441,6 @@ class RobotManager:
self.q = pin.integrate(self.model, self.q, qd * self.dt)
-
"""
defineGoalPoint
------------------
diff --git a/python/ur_simple_control/util/.calib_board_hacks.py.swp b/python/ur_simple_control/util/.calib_board_hacks.py.swp
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diff --git a/python/ur_simple_control/util/calib_board_hacks.py b/python/ur_simple_control/util/calib_board_hacks.py
index 1d66a7a..d3f2fb4 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -58,23 +58,19 @@ def fitNormalVector(positions):
print("n_slightly_weighted", n_slightly_weighted)
for p in positions:
print("cdot weak", p @ n_slightly_weighted)
- except numpy.linalg.LinAlgError:
+ except np.linalg.LinAlgError:
print("n_slightly_weighted is singular bruh")
- # strong
- W = np.diag(np.arange(1, len(positions) + 1))
- n_strongly_weighted = np.linalg.inv(positions.T @ W @ positions) @ positions.T @ W @ np.ones(len(positions))
- #print("n", *n, sep=',')
- # normalize
- # TODO why am i not doing this again?
- #n = n - 1
try:
+ # strong
+ W = np.diag(np.arange(1, len(positions) + 1))
+ n_strongly_weighted = np.linalg.inv(positions.T @ W @ positions) @ positions.T @ W @ np.ones(len(positions))
n_strongly_weighted = n_strongly_weighted / np.linalg.norm(n_strongly_weighted)
print("n_strongly_weighed", n_strongly_weighted)
print("if the following give you roughly the same number, it worked")
for p in positions:
print("cdot strong", p @ n_strongly_weighted)
- except numpy.linalg.LinAlgError:
+ except np.linalg.LinAlgError:
print("n_strongly_weighted is singular bruh")
return n_non_weighted
@@ -208,30 +204,21 @@ def handleUserToHandleTCPPose(robot):
continue
robot.rtde_control.endFreedriveMode()
-# TODO FIX THIS UGLY HACK!!!!!!
-# as in make it mathematically correct somehow.
-# a good start would be ranges ur uses for it's thing.
-# or, TODO alternatively, do the correct solution,
-# drop the stupid ur code, and use your own implementation
-# of both movel and speedj
-# --> then you don't even need to use the stupid rpy,
-# but instead rock only rotation matrices the way it should be
-def fixPinsRPY(pins_rpy):
- #print("rpy", rpy)
- ur_rpy = copy.deepcopy(pins_rpy)
- if ur_rpy[0] > 0.0:
- ur_rpy[0] = ur_rpy[0] - 2*np.pi
- return ur_rpy
-
def getSpeedInDirectionOfN(R):
- z_of_rot = R[:,2]
- speed = np.array([z_of_rot[0], z_of_rot[1], z_of_rot[2], 0, 0, 0])
+ # TODO: make this general
+ # 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])
+ # this is for y
+ y_of_rot = R[:,1]
+ speed = np.array([y_of_rot[0], y_of_rot[1], y_of_rot[2], 0, 0, 0])
# make speed small no matter what
speed = speed / np.linalg.norm(speed)
# nice 'n' slow
# TODO: remove magic number
speed = speed / 40
- speed[2] = -1 * speed[2]
+ #speed[2] = -1 * speed[2]
+ speed = -1 * speed
return speed
# TODO
@@ -266,10 +253,12 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
# this apsolutely has to be deepcopied aka copy-constructed
#R_initial_estimate = copy.deepcopy(robot.data.oMi[robot.JOINT_ID].rotation)
R_initial_estimate = copy.deepcopy(Mtool.rotation)
+ print("R_initial_estimate", R_initial_estimate)
R = copy.deepcopy(R_initial_estimate)
# go in the TCP z direction
speed = getSpeedInDirectionOfN(R_initial_estimate)
+ print("speed", speed)
# get q, do forward kinematics, get current TCP R
positions = []
@@ -291,16 +280,20 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
new_pose = copy.deepcopy(current_pose)
# go back up (assuming top-left is highest incline)
# TODO: make this assumption an argument, or print it at least
- new_pose.translation[2] = init_pose.translation[2]
- # TODO make these moveLs slower, they're way too fast
- #robot.rtde_control.moveL(new_pose)
+ # THIS IS Z
+ #new_pose.translation[2] = init_pose.translation[2]
+ # THIS IS 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))
# TODO: make this not base-orientation dependent,
# this is also an ugly ugly hack
new_pose.translation[0] = init_pose.translation[0] + np.random.random() * plane_width
- new_pose.translation[1] = init_pose.translation[1] - np.random.random() * plane_height
+ # THIS IS 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
moveL(args, robot, new_pose)
# fix orientation
new_pose.rotation = R
@@ -316,7 +309,10 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
current_pose = robot.getMtool()
new_pose = copy.deepcopy(current_pose)
# go back up
+ # Z
new_pose.translation[2] = init_pose.translation[2]
+ # 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]
--
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