diff --git a/README.md b/README.md index 5da62e2034c0aea62812d62fa626ebdcb27ead89..388dfea43830ee227d5117225cab934d3e8cd579 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,8 @@ +# do this everytime you use this repo +- do git stash +- and then git pull + + # general info - all of the code has been used and tested on Ubuntu 22 LTS - both Python and C++ implementations are available, there's examples of both (both for the libraries diff --git a/clik/clik.py b/clik/clik.py index 2dd5f5523da40134b63bae80995cc36c76eca8eb..a65e873379f9bf0f435e886f6d2ce0a5fe123bff 100644 --- a/clik/clik.py +++ b/clik/clik.py @@ -8,10 +8,13 @@ from pinocchio.visualize import GepettoVisualizer #import gepetto.corbaserver from rtde_control import RTDEControlInterface as RTDEControl from rtde_receive import RTDEReceiveInterface as RTDEReceive +from rtde_io import RTDEIOInterface from robotiq_gripper import RobotiqGripper import os import copy import signal +sys.path.insert(0, '..') +from util.give_me_the_calibrated_model import get_model #SIMULATION = True SIMULATION = False @@ -25,26 +28,8 @@ PINOCCHIO_ONLY = False #time.sleep(3) # load model -# NOTE: this program needs to be either ran from this directory, or the paths need to be changed -# paths as arguments will be added a bit later, it's not prio rn -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) -print(mesh_dir_absolute) -model = pin.buildModelFromUrdf(urdf_path_absolute) -print(model) -data = pin.Data(model) -print(data) +model, data = get_model() -# can't get the urdf reading with these functions to save my life, idk what or why -#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute) -#visual_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL) -#collision_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION) -#data = pin.Data(model) -#viz = GepettoVisualizer(model, collision_model, visual_model) -#viz.initViewer() -#viz.loadViewerModel() #load gripper gripper = RobotiqGripper() @@ -55,6 +40,7 @@ gripper = RobotiqGripper() if not SIMULATION: rtde_control = RTDEControl("192.168.1.102") rtde_receive = RTDEReceive("192.168.1.102") + rtde_io = RTDEIOInterface("192.168.1.102") #NOTE: socket_timeout is the third argument, check what it does gripper.connect("192.168.1.102", 63352) # this is a blocking call @@ -76,7 +62,7 @@ Mtool = data.oMi[JOINT_ID] print("pos", Mtool) #SEerror = pin.SE3(np.zeros((3,3)), np.array([0.0, 0.0, 0.1]) Mgoal = copy.deepcopy(Mtool) -Mgoal.translation = Mgoal.translation + np.array([-0.2, 0.0, 0.0]) +Mgoal.translation = Mgoal.translation + np.array([-0.1, 0.0, 0.0]) print("goal", Mgoal) eps = 1e-3 IT_MAX = 100000 @@ -86,6 +72,8 @@ damp = 1e-6 # nice but large #acceleration = 1.0 acceleration = 0.2 +# let's go nice and slow +rtde_io.setSpeedSlider(0.5) # if you just stop it normally, it will continue running # the last speedj lmao diff --git a/dmp/DMP.m b/dmp/albin/DMP.m similarity index 100% rename from dmp/DMP.m rename to dmp/albin/DMP.m diff --git a/dmp/dmp_node b/dmp/albin/dmp_node similarity index 100% rename from dmp/dmp_node rename to dmp/albin/dmp_node diff --git a/dmp/matlab/DMP.m b/dmp/albin/matlab/DMP.m similarity index 100% rename from dmp/matlab/DMP.m rename to dmp/albin/matlab/DMP.m diff --git a/dmp/matlab/NoTemporalCoupling.m b/dmp/albin/matlab/NoTemporalCoupling.m similarity index 100% rename from dmp/matlab/NoTemporalCoupling.m rename to dmp/albin/matlab/NoTemporalCoupling.m diff --git a/dmp/matlab/TemporalCoupling.m b/dmp/albin/matlab/TemporalCoupling.m similarity index 100% rename from dmp/matlab/TemporalCoupling.m rename to dmp/albin/matlab/TemporalCoupling.m diff --git a/dmp/matlab/TemporalCouplingNoPotentials.m b/dmp/albin/matlab/TemporalCouplingNoPotentials.m similarity index 100% rename from dmp/matlab/TemporalCouplingNoPotentials.m rename to dmp/albin/matlab/TemporalCouplingNoPotentials.m diff --git a/dmp/matlab/dmp_from_ogs/README.md b/dmp/albin/matlab/dmp_from_ogs/README.md similarity index 100% rename from dmp/matlab/dmp_from_ogs/README.md rename to dmp/albin/matlab/dmp_from_ogs/README.md diff --git a/dmp/matlab/dmp_from_ogs/code/dcp.m b/dmp/albin/matlab/dmp_from_ogs/code/dcp.m similarity index 100% rename from dmp/matlab/dmp_from_ogs/code/dcp.m rename to dmp/albin/matlab/dmp_from_ogs/code/dcp.m diff --git a/dmp/matlab/dmp_from_ogs/code/dmp_learn.m b/dmp/albin/matlab/dmp_from_ogs/code/dmp_learn.m similarity index 100% rename from dmp/matlab/dmp_from_ogs/code/dmp_learn.m rename to dmp/albin/matlab/dmp_from_ogs/code/dmp_learn.m diff --git a/dmp/matlab/dmp_from_ogs/code/rcp.m b/dmp/albin/matlab/dmp_from_ogs/code/rcp.m similarity index 100% rename from dmp/matlab/dmp_from_ogs/code/rcp.m rename to dmp/albin/matlab/dmp_from_ogs/code/rcp.m diff --git a/dmp/matlab/dmp_from_ogs/code/rmp_learn.m b/dmp/albin/matlab/dmp_from_ogs/code/rmp_learn.m similarity index 100% rename from dmp/matlab/dmp_from_ogs/code/rmp_learn.m rename to dmp/albin/matlab/dmp_from_ogs/code/rmp_learn.m diff --git a/dmp/matlab/dmp_from_ogs/code/transformation.m b/dmp/albin/matlab/dmp_from_ogs/code/transformation.m similarity index 100% rename from dmp/matlab/dmp_from_ogs/code/transformation.m rename to dmp/albin/matlab/dmp_from_ogs/code/transformation.m diff --git a/dmp/matlab/main.m b/dmp/albin/matlab/main.m similarity index 100% rename from dmp/matlab/main.m rename to dmp/albin/matlab/main.m diff --git a/dmp/matlab/plot_result.m b/dmp/albin/matlab/plot_result.m similarity index 100% rename from dmp/matlab/plot_result.m rename to dmp/albin/matlab/plot_result.m diff --git a/dmp/matlab/run_simulation.m b/dmp/albin/matlab/run_simulation.m similarity index 100% rename from dmp/matlab/run_simulation.m rename to dmp/albin/matlab/run_simulation.m diff --git a/dmp/matlab/trajectories/g.mat b/dmp/albin/matlab/trajectories/g.mat similarity index 100% rename from dmp/matlab/trajectories/g.mat rename to dmp/albin/matlab/trajectories/g.mat diff --git a/dmp/matlab/trajectories/omega.mat b/dmp/albin/matlab/trajectories/omega.mat similarity index 100% rename from dmp/matlab/trajectories/omega.mat rename to dmp/albin/matlab/trajectories/omega.mat diff --git a/dmp/matlab/trajectories/psi.mat b/dmp/albin/matlab/trajectories/psi.mat similarity index 100% rename from dmp/matlab/trajectories/psi.mat rename to dmp/albin/matlab/trajectories/psi.mat diff --git a/dmp/matlab/trajectories/s.mat b/dmp/albin/matlab/trajectories/s.mat similarity index 100% rename from dmp/matlab/trajectories/s.mat rename to dmp/albin/matlab/trajectories/s.mat diff --git a/dmp/matlab/trajectories/z.mat b/dmp/albin/matlab/trajectories/z.mat similarity index 100% rename from dmp/matlab/trajectories/z.mat rename to dmp/albin/matlab/trajectories/z.mat diff --git a/dmp/motion_planning/__init__.py b/dmp/albin/motion_planning/__init__.py similarity index 100% rename from dmp/motion_planning/__init__.py rename to dmp/albin/motion_planning/__init__.py diff --git a/dmp/motion_planning/dmp/__init__.py b/dmp/albin/motion_planning/dmp/__init__.py similarity index 100% rename from dmp/motion_planning/dmp/__init__.py rename to dmp/albin/motion_planning/dmp/__init__.py diff --git a/dmp/motion_planning/dmp/__init__.pyc b/dmp/albin/motion_planning/dmp/__init__.pyc similarity index 100% rename from dmp/motion_planning/dmp/__init__.pyc rename to dmp/albin/motion_planning/dmp/__init__.pyc diff --git a/dmp/motion_planning/dmp/dmp.py b/dmp/albin/motion_planning/dmp/dmp.py similarity index 100% rename from dmp/motion_planning/dmp/dmp.py rename to dmp/albin/motion_planning/dmp/dmp.py diff --git a/dmp/motion_planning/dmp/dmp.pyc b/dmp/albin/motion_planning/dmp/dmp.pyc similarity index 100% rename from dmp/motion_planning/dmp/dmp.pyc rename to dmp/albin/motion_planning/dmp/dmp.pyc diff --git a/dmp/motion_planning/dmp/temporal_coupling.py b/dmp/albin/motion_planning/dmp/temporal_coupling.py similarity index 100% rename from dmp/motion_planning/dmp/temporal_coupling.py rename to dmp/albin/motion_planning/dmp/temporal_coupling.py diff --git a/dmp/motion_planning/dmp/temporal_coupling.pyc b/dmp/albin/motion_planning/dmp/temporal_coupling.pyc similarity index 100% rename from dmp/motion_planning/dmp/temporal_coupling.pyc rename to dmp/albin/motion_planning/dmp/temporal_coupling.pyc diff --git a/dmp/motion_planning/online_traj_scaling/__init__.py b/dmp/albin/motion_planning/online_traj_scaling/__init__.py similarity index 100% rename from dmp/motion_planning/online_traj_scaling/__init__.py rename to dmp/albin/motion_planning/online_traj_scaling/__init__.py diff --git a/dmp/motion_planning/online_traj_scaling/__init__.pyc b/dmp/albin/motion_planning/online_traj_scaling/__init__.pyc similarity index 100% rename from dmp/motion_planning/online_traj_scaling/__init__.pyc rename to dmp/albin/motion_planning/online_traj_scaling/__init__.pyc diff --git a/dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc b/dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc similarity index 100% rename from dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc rename to dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc diff --git a/dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc b/dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc similarity index 100% rename from dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc rename to dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc diff --git a/dmp/motion_planning/online_traj_scaling/example.yaml b/dmp/albin/motion_planning/online_traj_scaling/example.yaml similarity index 100% rename from dmp/motion_planning/online_traj_scaling/example.yaml rename to dmp/albin/motion_planning/online_traj_scaling/example.yaml diff --git a/dmp/motion_planning/online_traj_scaling/gmr_oa.py b/dmp/albin/motion_planning/online_traj_scaling/gmr_oa.py similarity index 100% rename from dmp/motion_planning/online_traj_scaling/gmr_oa.py rename to dmp/albin/motion_planning/online_traj_scaling/gmr_oa.py diff --git a/dmp/motion_planning/online_traj_scaling/gmr_oa.pyc b/dmp/albin/motion_planning/online_traj_scaling/gmr_oa.pyc similarity index 100% rename from dmp/motion_planning/online_traj_scaling/gmr_oa.pyc rename to dmp/albin/motion_planning/online_traj_scaling/gmr_oa.pyc diff --git a/dmp/motion_planning/online_traj_scaling/trajectory_generator.py b/dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.py similarity index 100% rename from dmp/motion_planning/online_traj_scaling/trajectory_generator.py rename to dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.py diff --git a/dmp/motion_planning/online_traj_scaling/trajectory_generator.pyc b/dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.pyc similarity index 100% rename from dmp/motion_planning/online_traj_scaling/trajectory_generator.pyc rename to dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.pyc diff --git a/dmp/msg/DMPState.msg b/dmp/albin/msg/DMPState.msg similarity index 100% rename from dmp/msg/DMPState.msg rename to dmp/albin/msg/DMPState.msg diff --git a/dmp/msg/TrajGenState.msg b/dmp/albin/msg/TrajGenState.msg similarity index 100% rename from dmp/msg/TrajGenState.msg rename to dmp/albin/msg/TrajGenState.msg diff --git a/dmp/vel_ff_pos_fb_node b/dmp/albin/vel_ff_pos_fb_node similarity index 100% rename from dmp/vel_ff_pos_fb_node rename to dmp/albin/vel_ff_pos_fb_node diff --git a/dmp/foo.csv b/dmp/foo.csv index 2f5c0e7d93c6e17bdab504dfb0b6a03ce3409359..68f7d86f7216f97437a964b873789236b4899e4f 100644 --- a/dmp/foo.csv +++ b/dmp/foo.csv @@ -1,20 +1,50 @@ -91.95752,20.54460,67.05755,79.28822,7.44036,14.34274 -8.19768,66.59219,33.50315,88.02353,66.00660,75.05940 -25.59865,47.32599,54.90994,0.69086,17.00136,22.16938 -50.34043,68.93221,91.19810,45.25895,53.85435,95.05934 -57.17939,61.95363,62.82719,10.89851,89.53397,42.59941 -19.91617,9.63301,80.90256,34.02111,66.77825,10.33415 -95.01825,94.01395,50.42798,53.76650,82.35249,86.54953 -93.96005,44.60053,56.45169,20.15949,11.02641,57.66196 -78.41841,3.27468,71.97246,54.94057,31.04586,36.50777 -74.20454,19.36789,36.10229,96.56415,69.52338,32.00818 -72.05607,86.49986,50.22457,8.99782,80.88300,16.76694 -84.70613,66.26398,80.76942,96.90357,11.73177,76.10016 -62.65264,48.30619,80.49647,75.55566,84.58094,99.83353 -93.26129,58.84515,73.43210,66.87649,72.73627,70.98217 -32.60035,66.88685,73.38905,58.76843,33.85312,39.78090 -55.66805,2.41836,53.07940,94.63999,19.06198,39.37208 -70.86814,61.76685,27.47206,77.34658,27.60970,69.96702 -33.97376,73.33102,60.60688,86.87571,36.08155,38.97256 -57.72629,14.69208,46.80443,46.93736,88.90871,79.37640 -88.16679,2.31752,6.03647,14.85282,77.52156,55.30332 +0.00000,1.00000 +2.00000,3.00000 +4.00000,5.00000 +6.00000,7.00000 +8.00000,9.00000 +10.00000,11.00000 +12.00000,13.00000 +14.00000,15.00000 +16.00000,17.00000 +18.00000,19.00000 +20.00000,21.00000 +22.00000,23.00000 +24.00000,25.00000 +26.00000,27.00000 +28.00000,29.00000 +30.00000,31.00000 +32.00000,33.00000 +34.00000,35.00000 +36.00000,37.00000 +38.00000,39.00000 +40.00000,41.00000 +42.00000,43.00000 +44.00000,45.00000 +46.00000,47.00000 +48.00000,49.00000 +50.00000,51.00000 +52.00000,53.00000 +54.00000,55.00000 +56.00000,57.00000 +58.00000,59.00000 +60.00000,61.00000 +62.00000,63.00000 +64.00000,65.00000 +66.00000,67.00000 +68.00000,69.00000 +70.00000,71.00000 +72.00000,73.00000 +74.00000,75.00000 +76.00000,77.00000 +78.00000,79.00000 +80.00000,81.00000 +82.00000,83.00000 +84.00000,85.00000 +86.00000,87.00000 +88.00000,89.00000 +90.00000,91.00000 +92.00000,93.00000 +94.00000,95.00000 +96.00000,97.00000 +98.00000,99.00000 diff --git a/dmp/my_sol/.create_dmp.py.swp b/dmp/my_sol/.create_dmp.py.swp deleted file mode 100644 index 7af9e892f098ac59ace5b1fd6d13f2b295a30fe0..0000000000000000000000000000000000000000 Binary files a/dmp/my_sol/.create_dmp.py.swp and /dev/null differ diff --git a/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp b/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp deleted file mode 100644 index c0c975551e9ab6f28bebbc39ea538fc2bc70323b..0000000000000000000000000000000000000000 Binary files a/dmp/my_sol/drawing_gen/.cliking_the_path.py.swp and /dev/null differ diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py index aaae8e4e4d96dff49a984bff57df0dbbc0630e97..412f215ce910c9b903ddd4c6292af401dc49c748 100644 --- a/dmp/my_sol/drawing_gen/cliking_the_path.py +++ b/dmp/my_sol/drawing_gen/cliking_the_path.py @@ -17,16 +17,16 @@ import os # STEP 1: map the pixels to a 3D plane # ####################################################################### -# TODO you'll pass the path into this path, it's just bs for now +# let's call it 10 seconds, whatever t = (np.arange(100) / 10).reshape((100,1)) -path = np.hstack((np.cos(t), np.sin(t))) / 2 +path = np.genfromtxt('./path_in_pixels.csv', delimiter=',') z = np.zeros((len(path),1)) path = np.hstack((path,z)) +# todo measure better maybe # we now scale this appropriatelly to m -# TODO measure -board_width = 0.3 -board_height = 0.2 +board_width = 0.35 +board_height = 0.4 path[:,0] = path[:,0] * board_width path[:,1] = path[:,1] * board_height @@ -36,16 +36,49 @@ path[:,1] = path[:,1] * board_height # we now need a transformation from the body frame to the board # such that the first quadrant of the x-y plane is # in the bottom left corner of the board (obvious solution) + +# sample stuff +#translation_body_to_board = np.array([0.2, 0.2, 0.3]) +## here let's assume it's just rotated around x (it's not ofc) +#rot_mat_body_to_board = np.array([[1.0, 0.0, 0.0], +# [0.0, 0.0, 1.0], +# [0.0, 1.0, 0.0]]) +#transf_body_to_board = pin.SE3(rot_mat_body_to_board, translation_body_to_board) + +# real stuff # TODO measure AND AUTOMATICALLY FIND/CALIBRATE -translation_body_to_board = np.array([0.3, 0.4, 0.5]) -# here let's assume it's just rotated around x (it's not ofc) -rot_mat_body_to_board = np.array([[1.0, 0.0, 0.0], - [0.0, 0.0, 1.0], - [0.0, 1.0, 0.0]]) -transf_body_to_board = pin.SE3(rot_mat_body_to_board, translation_body_to_board) +# TODO write some algorithm to do this automatically, this is asinine +# (in pin coordinates, real ones are [-x, -y, z]) +# UPPER LEFT POINT +R = np.array([[ -0.999451, -0.0284345, 0.0169942], + [ -0.0330578, 0.889025, -0.456663], + [ -0.00212333, -0.456974, -0.889477]]) +# change +/- stuff if you go the other way idk or c lmao +p = np.array([-0.113205, -0.71668, 0.638377]) +transf_body_to_board = pin.SE3(R, p) + +# LOWER LEFT POINT +# R = +# -0.998592 -0.0509392 -0.0147815 +#-0.0332665 0.818552 -0.573468 +# 0.0413114 -0.57217 -0.819094 +# p = -0.114727 -0.3738 0.401655 + +# UPPER RIGHT POINT +# is not in the workspace lmao + +# LOWER RIGHT POINT +# R = +# -0.999219 -0.0141156 -0.0369115 +#0.00980125 0.816329 -0.577504 +# 0.0382838 -0.577415 -0.815553 +# p = -0.595579 -0.373942 0.413703 +path = path + np.array([0.0, 0.0, -0.1]) for i in range(len(path)): path[i] = transf_body_to_board.act(path[i]) -print(path) +#print(path) +# make it hover a bit +#path = path + np.array([-0.02, 0.0, 0.02]) ####################################################################### # STEP 2: clik that path # @@ -65,7 +98,7 @@ JOINT_ID = 6 eps = 10**-2 dt = 0.01 # skip inital pos tho -q = pin.neutral(model) +q = np.array([-2.035, -1.371, 1.146, -2.071, -1.376, 0.048, 0.0, 0.0]) INIT_ITER = 10000 n_iter = INIT_ITER RUNNING_ITER = 1000 @@ -77,8 +110,9 @@ for goal in path: SEerror = data.oMi[JOINT_ID].actInv(Mgoal) err_vector = pin.log6(SEerror).vector if np.linalg.norm(err_vector) < eps: - print("converged", i) - break + if not n_iter == INIT_ITER: + print("converged in", i) + break J = pin.computeJointJacobian(model, data, q, JOINT_ID) v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector q = pin.integrate(model, q, v * dt) @@ -88,6 +122,9 @@ for goal in path: # just skipping the first run with one stone if n_iter == INIT_ITER: n_iter = RUNNING_ITER + else: + if i == RUNNING_ITER: + print("DID NOT CONVERGE") ####################################################################### # STEP 3: save joint path # diff --git a/dmp/my_sol/drawing_gen/draw_path.py b/dmp/my_sol/drawing_gen/draw_path.py index c8e3aa5a9bced96115c0c44200790773983cad0b..1c6bd814033b7a1fc4a6b043dfcb6a7e5d12b6ef 100644 --- a/dmp/my_sol/drawing_gen/draw_path.py +++ b/dmp/my_sol/drawing_gen/draw_path.py @@ -41,6 +41,7 @@ if __name__ == '__main__': print(selector.path) selector.disconnect() ax.set_title("") + np.savetxt("./path_in_pixels.csv", selector.path, delimiter=',', fmt='%.5f') print("TODO: run clik on me") exit() diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv new file mode 100644 index 0000000000000000000000000000000000000000..0eea0a0d49f44dc863b6d65c727f64274f1d05a2 --- /dev/null +++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv @@ -0,0 +1,221 @@ +0.49719,0.77818 +0.49719,0.77668 +0.49571,0.77519 +0.49423,0.77220 +0.49275,0.76922 +0.48535,0.75877 +0.48387,0.75728 +0.48387,0.75429 +0.47795,0.74832 +0.47647,0.74384 +0.47351,0.73936 +0.47055,0.73339 +0.46907,0.73190 +0.46611,0.72742 +0.46020,0.71697 +0.45872,0.71249 +0.45576,0.70802 +0.45280,0.70354 +0.43948,0.67965 +0.43800,0.67518 +0.43504,0.67070 +0.42764,0.66025 +0.42764,0.65428 +0.42320,0.64980 +0.42024,0.64532 +0.41728,0.64084 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rtde_receive = RTDEReceive("192.168.1.102") + +# run if marker isn't gripped +#gripper = RobotiqGripper() +#gripper.connect("192.168.1.102", 63352) +#gripper.activate() +#time.sleep(3) +#gripper.move(255,100,100) +#time.sleep(3) + #rtde_control = RTDEControl("127.0.0.1") #rtde_receive = RTDEReceive("127.0.0.1") @@ -82,7 +91,8 @@ JOINT_ID = 6 # parameters from yaml config file in albin's repo kp = 2 -acceleration = 1.7 +#acceleration = 1.7 +acceleration = 0.5 if not TEMPORAL_COUPLING: tc = NoTC() diff --git a/dmp/notes.md b/dmp/notes.md index ee5705135bde6619646efc8a756e9cb341e4f3a8..d623781255144169f87aa81f10c3951c548932db 100644 --- a/dmp/notes.md +++ b/dmp/notes.md @@ -13,9 +13,14 @@ but looks OK as is also ------------------------- just put your pixels onto a plane onto a predefined place with the right coordinate transform. ofc you have the pixel -> mm conversion and mins and maxes. whatever makes sense workspace-wise is good. +TODO: +- write an algorithm to automatically calibrate where the board is +- doing anything else is asinine -# timed joint trajectory +# timed joint trajectory: DONE ----------------------------- +- assumed 10s 'cos who cares +- the dmp class code handles the finite differencing the UR matlab module just magically calculates what's needed. thus just running clik along the points to get joint angles for each point is almost certainly fine, although can be probably made better or worse. @@ -32,16 +37,18 @@ struct q_traj{ how to read this from the .mat if you leave it this way idk. but you'll almost certainly want to replicate this code anyway so who cares. -# dmp-ing the trajectory +# dmp-ing the trajectory - DONE (albin's code gg ez) -------------------------- - +- TODO: understand what's going on - idea type beat: we're doing it in joint space, but since it's just a demo, doing it with speedl might be easier (it's not like the damped pseudoinverse is peak performance, let's be real) -# control loop around trajectory following +# control loop around trajectory following - DONE within dmp ------------------------------------------- +- TODO for fun this with alternative basic methods to get a better grip on things +- you'll need to measure and analyse stuff in a non-trivial way tho it's literally just feedforward position and feedback velocity ```python def compute_ctrl(self, target_state, robot_state): diff --git a/my_robot_calibration.yaml b/my_robot_calibration.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc5c5587f108a07e78b88e509dc27ebb136f871b --- /dev/null +++ b/my_robot_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1625134425523304 + roll: -0 + pitch: 0 + yaw: 5.315711138647629e-08 + upper_arm: + x: 0.000300915150907851 + y: 0 + z: 0 + roll: 1.571659987714477 + pitch: 0 + yaw: 1.155342090832558e-06 + forearm: + x: -0.4249536100418752 + y: 0 + z: 0 + roll: 3.140858652067472 + pitch: 3.141065383898231 + yaw: 3.141581851193229 + wrist_1: + x: -0.3922353894477613 + y: -0.001171506236920081 + z: 0.1337997346972175 + roll: 0.008755445624588536 + pitch: 0.0002860523431017214 + yaw: 7.215921353974553e-06 + wrist_2: + x: 5.620166987673597e-05 + y: -0.09948910981796041 + z: 0.0002201494606859632 + roll: 1.568583530823855 + pitch: 0 + yaw: -3.513049549874747e-07 + wrist_3: + x: 9.062061300900664e-06 + y: 0.09947787349620175 + z: 0.0001411778743239612 + roll: 1.572215514545703 + pitch: 3.141592653589793 + yaw: 3.141592633687631 + hash: calib_7977937988884314362 \ No newline at end of file diff --git a/dmp/my_sol/.run_dmp.py.swp b/robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp similarity index 54% rename from dmp/my_sol/.run_dmp.py.swp rename to robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp index 460fa55a5cc5c091043410973b6bf62d27f8e4a7..f33e1a0306813ae235e268262a78a9b00cf5d18f 100644 Binary files a/dmp/my_sol/.run_dmp.py.swp and b/robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp differ diff --git a/util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc b/util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..cf70b7fc8e60ff75b0bf65f43c6951ed6ef4ead4 Binary files /dev/null and b/util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc differ diff --git a/util/freedrive.py b/util/freedrive.py index aa33bbf4f948c92b79853287c2905988efe410a6..53cc81d15aba781a620ea42233ab3d905d668ee6 100644 --- a/util/freedrive.py +++ b/util/freedrive.py @@ -1,6 +1,9 @@ +import numpy as np +import time from rtde_control import RTDEControlInterface as RTDEControl from rtde_receive import RTDEReceiveInterface as RTDEReceive -import time +import os +import copy import signal def handler(signum, frame): @@ -17,9 +20,9 @@ print("connected") rtde_control.freedriveMode() signal.signal(signal.SIGINT, handler) -time.sleep(100) -#time.sleep(1) -#print(rtde_control.getFreedriveStatus()) -#rtde_control.endFreedriveMode() -#print("done") +while True: + q = rtde_receive.getActualQ() + q = np.array(q) + print(q.round(3)) + time.sleep(0.005) diff --git a/util/give_me_the_calibrated_model.py b/util/give_me_the_calibrated_model.py new file mode 100644 index 0000000000000000000000000000000000000000..26c947e7b82428a6031b03b476f95d41937e3f0f --- /dev/null +++ b/util/give_me_the_calibrated_model.py @@ -0,0 +1,55 @@ +import pinocchio as pin +import numpy as np +import sys +import os +from os.path import dirname, join, abspath + +# can't get the urdf reading with these functions to save my life, idk what or why +#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute) +#visual_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL) +#collision_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION) +#data = pin.Data(model) +#viz = GepettoVisualizer(model, collision_model, visual_model) +#viz.initViewer() +#viz.loadViewerModel() + +def get_model(): + + shoulder_trans = np.array([0, 0, 0.1625134425523304]) + shoulder_rpy = np.array([-0, 0, 5.315711138647629e-08]) + shoulder_se3 = pin.SE3(pin.rpy.rpyToMatrix(shoulder_rpy),shoulder_trans) + + upper_arm_trans = np.array([0.000300915150907851, 0, 0]) + upper_arm_rpy = np.array([1.571659987714477, 0, 1.155342090832558e-06]) + upper_arm_se3 = pin.SE3(pin.rpy.rpyToMatrix(upper_arm_rpy),upper_arm_trans) + + forearm_trans = np.array([-0.4249536100418752, 0, 0]) + forearm_rpy = np.array([3.140858652067472, 3.141065383898231, 3.141581851193229]) + forearm_se3 = pin.SE3(pin.rpy.rpyToMatrix(forearm_rpy),forearm_trans) + + wrist_1_trans = np.array([-0.3922353894477613, -0.001171506236920081, 0.1337997346972175]) + wrist_1_rpy = np.array([0.008755445624588536, 0.0002860523431017214, 7.215921353974553e-06]) + wrist_1_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_1_rpy),wrist_1_trans) + + wrist_2_trans = np.array([5.620166987673597e-05, -0.09948910981796041, 0.0002201494606859632]) + wrist_2_rpy = np.array([1.568583530823855, 0, -3.513049549874747e-07]) + wrist_2_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_2_rpy),wrist_2_trans) + + wrist_3_trans = np.array([9.062061300900664e-06, 0.09947787349620175, 0.0001411778743239612]) + wrist_3_rpy = np.array([1.572215514545703, 3.141592653589793, 3.141592633687631]) + wrist_3_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_3_rpy),wrist_3_trans) + + 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 = pin.buildModelFromUrdf(urdf_path_absolute) + model.jointPlacements[1] = shoulder_se3 + model.jointPlacements[2] = upper_arm_se3 + model.jointPlacements[3] = forearm_se3 + model.jointPlacements[4] = wrist_1_se3 + model.jointPlacements[5] = wrist_2_se3 + model.jointPlacements[6] = wrist_3_se3 + data = pin.Data(model) + + return model, data diff --git a/util/jog_example b/util/jog_example new file mode 100755 index 0000000000000000000000000000000000000000..b5d7c27ef76687a2827fe8d15963460c7fbf8d6c Binary files /dev/null and b/util/jog_example differ diff --git a/util/measuring_stick.py b/util/measuring_stick.py new file mode 100644 index 0000000000000000000000000000000000000000..5bedd2ca35cf8caffed15a4455c69c9d6f0620da --- /dev/null +++ b/util/measuring_stick.py @@ -0,0 +1,41 @@ +import pinocchio as pin +import numpy as np +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 + +def handler(signum, frame): + print('i will end freedrive and exit') + rtde_control.endFreedriveMode() + exit() + + +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() +signal.signal(signal.SIGINT, handler) + + +model, data = get_model() + +while True: + q = rtde_receive.getActualQ() + q.append(0.0) + q.append(0.0) + pin.forwardKinematics(model, data, np.array(q)) + 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)