From e7ff68a832aa8f7c6d19934065cc45e5a3189b86 Mon Sep 17 00:00:00 2001 From: m-guberina <gubi.guberina@gmail.com> Date: Wed, 8 Nov 2023 16:11:59 +0100 Subject: [PATCH] fixed calibration, and the loader with fixing is in util. the minimal test i did showed success. --- README.md | 5 + clik/clik.py | 28 +- dmp/{ => albin}/DMP.m | 0 dmp/{ => albin}/dmp_node | 0 dmp/{ => albin}/matlab/DMP.m | 0 dmp/{ => albin}/matlab/NoTemporalCoupling.m | 0 dmp/{ => albin}/matlab/TemporalCoupling.m | 0 .../matlab/TemporalCouplingNoPotentials.m | 0 dmp/{ => albin}/matlab/dmp_from_ogs/README.md | 0 .../matlab/dmp_from_ogs/code/dcp.m | 0 .../matlab/dmp_from_ogs/code/dmp_learn.m | 0 .../matlab/dmp_from_ogs/code/rcp.m | 0 .../matlab/dmp_from_ogs/code/rmp_learn.m | 0 .../matlab/dmp_from_ogs/code/transformation.m | 0 dmp/{ => albin}/matlab/main.m | 0 dmp/{ => albin}/matlab/plot_result.m | 0 dmp/{ => albin}/matlab/run_simulation.m | 0 dmp/{ => albin}/matlab/trajectories/g.mat | Bin dmp/{ => albin}/matlab/trajectories/omega.mat | Bin dmp/{ => albin}/matlab/trajectories/psi.mat | Bin dmp/{ => albin}/matlab/trajectories/s.mat | Bin dmp/{ => albin}/matlab/trajectories/z.mat | Bin dmp/{ => albin}/motion_planning/__init__.py | 0 .../motion_planning/dmp/__init__.py | 0 .../motion_planning/dmp/__init__.pyc | Bin dmp/{ => albin}/motion_planning/dmp/dmp.py | 0 dmp/{ => albin}/motion_planning/dmp/dmp.pyc | Bin .../motion_planning/dmp/temporal_coupling.py | 0 .../motion_planning/dmp/temporal_coupling.pyc | Bin .../online_traj_scaling/__init__.py | 0 .../online_traj_scaling/__init__.pyc | Bin .../__pycache__/gmr_oa.cpython-310.pyc | Bin .../__pycache__/gmr_oa.cpython-36.pyc | Bin .../online_traj_scaling/example.yaml | 0 .../online_traj_scaling/gmr_oa.py | 0 .../online_traj_scaling/gmr_oa.pyc | Bin .../trajectory_generator.py | 0 .../trajectory_generator.pyc | Bin dmp/{ => albin}/msg/DMPState.msg | 0 dmp/{ => albin}/msg/TrajGenState.msg | 0 dmp/{ => albin}/vel_ff_pos_fb_node | 0 dmp/foo.csv | 70 +- dmp/my_sol/.create_dmp.py.swp | Bin 20480 -> 0 bytes .../drawing_gen/.cliking_the_path.py.swp | Bin 12288 -> 0 bytes dmp/my_sol/drawing_gen/cliking_the_path.py | 67 +- dmp/my_sol/drawing_gen/draw_path.py | 1 + dmp/my_sol/drawing_gen/path_in_pixels.csv | 221 ++ dmp/my_sol/new_traj.csv | 1793 +++++++---------- dmp/my_sol/run_dmp.py | 12 +- dmp/notes.md | 15 +- my_robot_calibration.yaml | 44 + ...r5e_with_robotiq_hande_CALIBRATED.urdf.swp | Bin 16384 -> 16384 bytes ...ve_me_the_calibrated_model.cpython-310.pyc | Bin 0 -> 1762 bytes util/freedrive.py | 15 +- util/give_me_the_calibrated_model.py | 55 + util/jog_example | Bin 0 -> 151888 bytes util/measuring_stick.py | 41 + 57 files changed, 1250 insertions(+), 1117 deletions(-) rename dmp/{ => albin}/DMP.m (100%) rename dmp/{ => albin}/dmp_node (100%) rename dmp/{ => albin}/matlab/DMP.m (100%) rename dmp/{ => albin}/matlab/NoTemporalCoupling.m (100%) rename dmp/{ => albin}/matlab/TemporalCoupling.m (100%) rename dmp/{ => albin}/matlab/TemporalCouplingNoPotentials.m (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/README.md (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/code/dcp.m (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/code/dmp_learn.m (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/code/rcp.m (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/code/rmp_learn.m (100%) rename dmp/{ => albin}/matlab/dmp_from_ogs/code/transformation.m (100%) rename dmp/{ => albin}/matlab/main.m (100%) rename dmp/{ => albin}/matlab/plot_result.m (100%) rename dmp/{ => albin}/matlab/run_simulation.m (100%) rename dmp/{ => albin}/matlab/trajectories/g.mat (100%) rename dmp/{ => albin}/matlab/trajectories/omega.mat (100%) rename dmp/{ => albin}/matlab/trajectories/psi.mat (100%) rename dmp/{ => albin}/matlab/trajectories/s.mat (100%) rename dmp/{ => albin}/matlab/trajectories/z.mat (100%) rename dmp/{ => albin}/motion_planning/__init__.py (100%) rename dmp/{ => albin}/motion_planning/dmp/__init__.py (100%) rename dmp/{ => albin}/motion_planning/dmp/__init__.pyc (100%) rename dmp/{ => albin}/motion_planning/dmp/dmp.py (100%) rename dmp/{ => albin}/motion_planning/dmp/dmp.pyc (100%) rename dmp/{ => albin}/motion_planning/dmp/temporal_coupling.py (100%) rename dmp/{ => albin}/motion_planning/dmp/temporal_coupling.pyc (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/__init__.py (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/__init__.pyc (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/example.yaml (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/gmr_oa.py (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/gmr_oa.pyc (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/trajectory_generator.py (100%) rename dmp/{ => albin}/motion_planning/online_traj_scaling/trajectory_generator.pyc (100%) rename dmp/{ => albin}/msg/DMPState.msg (100%) rename dmp/{ => albin}/msg/TrajGenState.msg (100%) rename dmp/{ => albin}/vel_ff_pos_fb_node (100%) delete mode 100644 dmp/my_sol/.create_dmp.py.swp delete mode 100644 dmp/my_sol/drawing_gen/.cliking_the_path.py.swp create mode 100644 dmp/my_sol/drawing_gen/path_in_pixels.csv create mode 100644 my_robot_calibration.yaml rename dmp/my_sol/.run_dmp.py.swp => robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp (54%) create mode 100644 util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc create mode 100644 util/give_me_the_calibrated_model.py create mode 100755 util/jog_example create mode 100644 util/measuring_stick.py diff --git a/README.md b/README.md index 5da62e2..388dfea 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 2dd5f55..a65e873 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 2f5c0e7..68f7d86 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 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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 c8e3aa5..1c6bd81 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 0000000..0eea0a0 --- /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 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e9577e5..1437367 100644 --- a/dmp/my_sol/run_dmp.py +++ b/dmp/my_sol/run_dmp.py @@ -27,6 +27,15 @@ import matplotlib.pyplot as plt rtde_control = RTDEControl("192.168.1.102") 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 ee57051..d623781 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 0000000..bc5c558 --- /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 GIT binary patch literal 16384 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aa33bbf..53cc81d 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 0000000..26c947e --- /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 GIT binary patch literal 151888 zcmb<-^>JfjWMpQ50%is~21W)3h6B$a0uB(0LBNv<%3@$}V6b4|WpH3nWKdvWV_;xl zVE~Ciq+#k|^bM#s7|j7u#sIPqq)!6GU|?WCr)8k(U^K{0AR!P9(g$K=!vZ%TqA;34 z0Ky09V+AoEfCvT#1~ghV5+V+xk@bP?a{!qD@+c}j#R#GgMkDJ3h0Tj{i24`psI&nz zARcf+^uzRlf(xYYKs7}Dfo@bf0HlC{fdNKCjRD62$ek9@@I<E#pw_@>bbT36edx3c zR3D56*#Qy?ep-?OVx!vw<HPKM(J=c0p!#^+ApSz9OP~s2G{_E+eSuF)Qb6GXViSX* 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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) -- GitLab