def milestone2_test():
"""
Milestone 2 : Test
The robot manipulator traectory generation for pick and place task
CoppeliaSim : Scene8_gripper_csv
"""
Tse_initial = [[1, 0, 0, 0.1662], [0, 1, 0, 0], [0, 0, 1, 0.5],
[0, 0, 0, 1]]
Tsc_initial = [[1, 0, 0, 1], [0, 1, 0, 0], [0, 0, 1, 0.025], [0, 0, 0, 1]]
Tsc_goal = [[0, 1, 0, 0], [-1, 0, 0, -1], [0, 0, 1, 0.025], [0, 0, 0, 1]]
# Generating stadoff and gripping transforms
theta = [0, 3 * math.pi / 4, 0]
R_so3 = mr.VecToso3(theta)
R = mr.MatrixExp3(R_so3)
position = [-0.01, 0, 0.20]
Tce_standoff = mr.RpToTrans(R, position)
position = [-0.01, 0, 0.01]
Tce_gripping = mr.RpToTrans(R, position)
trajectory = trajectory_planner.TrajectoryGenerator(
Tse_initial, Tsc_initial, Tsc_goal, Tce_gripping, Tce_standoff, 0.01,
10)
csv_writer.writeDataList(trajectory, 'milestone2_test')
def milestone1_test4():
"""
Milestone 1 : Test 1
The robot chassis should drive forward by 0.475 meters.
CoppeliaSim : Scene6_youBot_cube
"""
configuration = [0 for x in range(12)]
timeStep = 0.01
configurations = []
configurations.append(configuration)
control = [0, 0, 0, 0, 0, 10, 10, 10, 10]
velocityLimits = [5 for x in range(9)]
for t in range(100):
configuration = kinematic_simulator.NextState(configuration, control,
timeStep, velocityLimits)
print configuration.tolist()
configurations.append(configuration)
csv_writer.writeDataList(configurations, 'milestone1_test4')
def milestone1_test3():
"""
Milestone 1 : Test 2
The robot chassis should spin counterclockwise in place by 1.234 radians
CoppeliaSim : Scene6_youBot_cube
"""
configuration = [0 for x in range(12)]
timeStep = 0.01
configurations = []
configurations.append(configuration)
control = [0, 0, 0, 0, 0, -10, 10, 10, -10]
velocityLimits = [5 for x in range(9)]
for t in range(100):
configuration = kinematic_simulator.NextState(configuration, control,
timeStep)
print configuration.tolist()
configurations.append(configuration)
csv_writer.writeDataList(configurations, 'milestone1_test3')
# Append with gripper state
gripper_state = trajectory[x][12]
youBot_configuration = np.concatenate((configuration, [gripper_state]))
result_configuration.append(youBot_configuration)
result_Xerr.append(Xerr)
completion = round( ( x * 100.0 /(len(trajectory) -1) ), 2)
sys.stdout.write("\033[F")
print ('Generating youBot trajectory controls. Progress ' + str(completion) + '%\r')
# Displaying final Controller error
print "Final Error (Xerr : Wx, Wy, Wz, Vx, Vy, Vz) : \n", np.around(Xerr, 5)
## Saving Configuration and Xerr data to CSV files
configComments = ["A 12-vector representing the current configuration of the robot",
"\t3 variables for the chassis configuration (theta, x, y)",
"\t5 variables for the arm configuration (J1, J2, J3, J4, J5)",
"\tand 4 variables for the wheel angles (W1, W2, W3, W4)"]
csv_writer.writeDataList(result_configuration, name = "youBot_Trajectory", comments = configComments)
XerrComments = ["A 6-vector representing the error twist",
"\t3 variables for the angular velocity error (Wx, Wy, Wz)",
"\t3 variables for the linear velocity error (Vx, Vy, Vz)"]
csv_writer.writeDataList(result_Xerr, name = "trajectory_Xerr", comments = XerrComments)
## Displaying Error Plots
labels = ['Wx', 'Wy', 'Wz', 'Vx', 'Vy', 'Vz']
for x in range(6):
plt.plot(np.array(result_Xerr)[:,x], label = labels[x])
plt.ylabel('Xerr')
plt.legend(loc='upper center', bbox_to_anchor=(0.5, -0.05), fancybox=True, shadow=True, ncol=6)
plt.show()
def milestone3_test4():
"""
Milestone 3 : Test4
Check robot controller for generated tragectory (kp = 0, ki = 0)
"""
configuration = [
0.0, 0.0, 0.0, 0.0, -0.35, -0.698, -0.505, 0.0, 0.0, 0.0, 0.0, 0.0
]
Tsc_initial = [[1, 0, 0, 1], [0, 1, 0, 0], [0, 0, 1, 0.025], [0, 0, 0, 1]]
Tsc_goal = [[0, 1, 0, 0], [-1, 0, 0, -1], [0, 0, 1, 0.025], [0, 0, 0, 1]]
# Tsc_goal = [[1, 0, 0, 0.5], [0, 1, 0, 0], [0, 0, 1, 0.025], [0, 0, 0, 1]]
Tse_initial = kinematic_model.youBot_Tse(configuration)
result_configuration = []
result_Xerr = []
gains = [0, 0] # kp, ki
timeStep = 0.01
velocityLimits = [10, 10, 10, 20, 20, 20, 20, 20, 10, 10, 10, 10]
K = 1
# Generating stadoff and gripping transforms
theta = [0, 3 * math.pi / 4, 0]
R_so3 = mr.VecToso3(theta)
R = mr.MatrixExp3(R_so3)
position = [-0.01, 0, 0.20]
Tce_standoff = mr.RpToTrans(R, position)
position = [-0.005, 0, 0.005]
Tce_gripping = mr.RpToTrans(R, position)
# Trajectory generation
print 'Generating trajectory'
trajectory = trajectory_planner.TrajectoryGenerator(
Tse_initial, Tsc_initial, Tsc_goal, Tce_gripping, Tce_standoff,
timeStep, K)
print 'Trajectory generation successfull'
# Control generation
for x in range(len(trajectory) - 1):
Xd = kinematic_model.configurationToTransform(trajectory[x])
Xd_next = kinematic_model.configurationToTransform(trajectory[x + 1])
Tse = kinematic_model.youBot_Tse(configuration)
V, Xerr = controller.FeedbackControl(Tse, Xd, Xd_next, gains, timeStep)
# Calculate Je
Je = kinematic_model.youBot_Je(configuration)
while True:
# Calculating control
cmd = np.dot(np.linalg.pinv(Je), V)
# Control : omega (5 variables), wheel speeds u (4 variables)
control = np.concatenate((cmd[4:9], cmd[0:4]))
next_config = kinematic_simulator.NextState(
configuration, control, timeStep, velocityLimits)
# Joint limit checking
# status, jointVector = kinematic_model.youBot_testJointLimits(next_config[3:8])
# status = True # TODO
status = kinematic_model.youBot_selfCollisionCheck(
next_config[3:8])
jointVector = [0, 0, 0, 0, 0]
if status:
configuration = next_config
break
else:
Je[:, 4:9] = Je[:, 4:9] * jointVector
# Save configuration (Tse) and Xerr per every K iterations
if (x % K) == 0:
# Append with gripper state
gripper_state = trajectory[x][12]
youBot_configuration = np.concatenate(
(configuration, [gripper_state]))
result_configuration.append(youBot_configuration)
result_Xerr.append(Xerr)
completion = round(((x + 1) * 100.0 / len(trajectory)), 2)
sys.stdout.write("\033[F")
print('Generating youBot trajectory controls. Progress ' +
str(completion) + '%\r')
print "Final Error (Xerr) : \n", np.around(Xerr, 5)
configComments = [
"A 12-vector representing the current configuration of the robot",
"\t3 variables for the chassis configuration (theta, x, y)",
"\t5 variables for the arm configuration (J1, J2, J3, J4, J5)",
"\tand 4 variables for the wheel angles (W1, W2, W3, W4)"
]
csv_writer.writeDataList(result_configuration,
name="milestone3_configurations",
comments=configComments)
XerrComments = [
"A 6-vector representing the error twist",
"\t3 variables for the angular velocity error (Wx, Wy, Wz)",
"\t3 variables for the linear velocity error (Vx, Vy, Vz)"
]
csv_writer.writeDataList(result_Xerr,
name="milestone3_Xerr",
comments=XerrComments)
# Displaying Error Plots
labels = ['Wx', 'Wy', 'Wz', 'Vx', 'Vy', 'Vz']
for x in range(6):
plt.plot(np.array(result_Xerr)[:, x], label=labels[x])
plt.ylabel('Xerr')
plt.legend()
plt.show()
def milestone3_test4_debug():
"""
Milestone 3 : Test4
Check robot controller for generated tragectory (kp = 0, ki = 0)
"""
# configuration = [0, 0, 0, 0, -0.35, -0.698, -0.505, 0, 0, 0, 0, 0]
configuration = [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
]
Tsc_initial = [[1, 0, 0, 1], [0, 1, 0, 0], [0, 0, 1, 0.025], [0, 0, 0, 1]]
Tsc_goal = [[0, 1, 0, 0], [-1, 0, 0, -1], [0, 0, 1, 0.025], [0, 0, 0, 1]]
Tse_initial = kinematic_model.youBot_Tse(configuration)
result_configuration = []
result_Xerr = []
gains = [0, 0] # kp, ki
timeStep = 0.5
K = 1
# Generating stadoff and gripping transforms
theta = [0, 3 * math.pi / 4, 0]
R_so3 = mr.VecToso3(theta)
R = mr.MatrixExp3(R_so3)
position = [-0.01, 0, 0.20]
Tce_standoff = mr.RpToTrans(R, position)
position = [-0.01, 0, 0.01]
Tce_gripping = mr.RpToTrans(R, position)
# Trajectory generation
# trajectory = trajectory_planner.TrajectoryGenerator(Tse_initial, Tsc_initial, Tsc_goal, Tce_gripping, Tce_standoff, timeStep, K )
Xstart = kinematic_model.youBot_Tse(configuration)
XendConfig = [0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Xend = kinematic_model.youBot_Tse(XendConfig)
trajectory = mr.ScrewTrajectory(Xstart, Xend, 3, 6, 3)
csv_writer.writeDataList(trajectory, "milestone3_trajectory")
# Control generation
for x in range(len(trajectory) - 1):
Xd = trajectory[x]
Xd_next = trajectory[x + 1]
# Xd = kinematic_model.configurationToTransform(trajectory[x])
# Xd_next = kinematic_model.configurationToTransform(trajectory[x+1])
Tse = kinematic_model.youBot_Tse(configuration)
print "####### Iteration #######"
print "Tse"
print np.around(Tse, 3).tolist()
print "Xd"
print np.around(Xd, 3).tolist()
print "Xd_next"
print np.around(Xd_next, 3).tolist()
V, Xerr = controller.FeedbackControl(Tse, Xd, Xd_next, gains, timeStep)
print "V"
print np.around(V, 3).tolist()
print "Xerr"
print np.around(Xerr, 3).tolist()
# Calculate Je
Je = kinematic_model.youBot_Je(configuration)
while True:
# Calculating control
cmd = np.dot(np.linalg.pinv(Je), V)
# Control : omega (5 variables), wheel speeds u (4 variables)
control = np.concatenate((cmd[4:9], cmd[0:4]))
print "control"
print np.around(control, 3).tolist()
next_config = kinematic_simulator.NextState(
configuration, control, timeStep)
print "next_config"
print np.around(next_config, 3).tolist()
# Joint limit checking
status, jointVector = kinematic_model.youBot_testJointLimits(
next_config[3:8])
if status:
configuration = next_config
break
else:
Je[:, 4:9] = Je[:, 4:9] * jointVector
# Save configuration (Tse) and Xerr per every K iterations
if (x % K) == 0:
result_configuration.append(configuration)
result_Xerr.append(Xerr)
# print np.around(configuration, 3).tolist()
csv_writer.writeDataList(result_configuration, "milestone3_configurations")