data_processing.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import pandas as pd\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "\n",
    "# Read the first CSV file\n",
    "# df1 = pd.read_csv(\"test-linear-2.csv\")\n",
    "# t1 = np.arange(0, len(df1[\"x\"]))\n",
    "\n",
    "\n",
    "# Read the first CSV file\n",
    "df2 = pd.read_csv(\"traj-2.csv\")\n",
    "t2 = np.arange(0, len(df2[\"x\"]))\n",
    "\n",
    "# Create the second plot for the second CSV file\n",
    "plt.figure(1)\n",
    "plt.plot(t2, df2[\"x\"], label=\"x\")\n",
    "plt.plot(t2, df2[\"y\"], label=\"y\")\n",
    "plt.plot(t2, df2[\"z\"], label=\"z\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot for traj.csv\")\n",
    "\n",
    "plt.figure(2)\n",
    "plt.plot(t2, df2[\"des_x\"], label=\"des_x\")\n",
    "plt.plot(t2, df2[\"des_y\"], label=\"des_y\")\n",
    "plt.plot(t2, df2[\"des_z\"], label=\"des_z\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot for traj-des.csv\")\n",
    "\n",
    "plt.figure(3)\n",
    "plt.plot(t2, df2[\"x\"] - df2[\"des_x\"], label=\"e_x\")\n",
    "plt.plot(t2, df2[\"y\"] - df2[\"des_y\"], label=\"e_y\")\n",
    "plt.plot(t2, df2[\"z\"] - df2[\"des_z\"], label=\"e_z\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot error\")\n",
    "\n",
    "# Create the second plot for the second CSV file\n",
    "plt.figure(1)\n",
    "plt.plot(t2, df2[\"qw\"], label=\"qw\")\n",
    "plt.plot(t2, df2[\"qx\"], label=\"qx\")\n",
    "plt.plot(t2, df2[\"qy\"], label=\"qy\")\n",
    "plt.plot(t2, df2[\"qz\"], label=\"qz\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot for traj.csv\")\n",
    "\n",
    "plt.figure(2)\n",
    "plt.plot(t2, df2[\"des_w\"], label=\"des_qw\")\n",
    "plt.plot(t2, df2[\"des_x\"], label=\"des_qx\")\n",
    "plt.plot(t2, df2[\"des_y\"], label=\"des_qy\")\n",
    "plt.plot(t2, df2[\"des_z\"], label=\"des_qz\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot for traj-des.csv\")\n",
    "\n",
    "plt.figure(3)\n",
    "plt.plot(t2, df2[\"w\"] - df2[\"des_qw\"], label=\"e_qw\")\n",
    "plt.plot(t2, df2[\"x\"] - df2[\"des_qx\"], label=\"e_qx\")\n",
    "plt.plot(t2, df2[\"y\"] - df2[\"des_qy\"], label=\"e_qy\")\n",
    "plt.plot(t2, df2[\"z\"] - df2[\"des_qz\"], label=\"e_qz\")\n",
    "plt.legend()\n",
    "plt.title(\"Plot error\")\n",
    "\n",
    "# Show both plots\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 34,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[ 1.  2.  3.  4.  5.  6.  7.  8.  9. 10.]\n",
      "[2.         3.33333333 4.66666667 6.        ]\n",
      "[ 1.          2.          3.          2.          3.33333333  4.66666667\n",
      "  6.          8.          9.         10.        ]\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "\n",
    "a = np.linspace(1,10,10)\n",
    "print(a)\n",
    "b = np.linspace(2,6,4)\n",
    "print(b)\n",
    "a[3:3+len(b)] = b\n",
    "print(a)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[1, 2, 3, 4, 5, 6, 7, 8, 9]\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "a = [1,2,3]\n",
    "b = [4,5,6]\n",
    "c = [7,8,9]\n",
    "print( a+b+c)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[6.123233995736766e-17, 0, 0, 1.0]\n"
     ]
    }
   ],
   "source": [
    "import math as m\n",
    "import numpy as np\n",
    "import math\n",
    "\n",
    "def angle_to_quaternion(angle_degrees):\n",
    "    # Convert angle to radians\n",
    "    angle_radians = math.radians(angle_degrees)\n",
    "\n",
    "    # Calculate quaternion values\n",
    "    cos_val = math.cos(angle_radians / 2)\n",
    "    sin_val = math.sin(angle_radians / 2)\n",
    "\n",
    "    # Quaternion representation for rotation about the z-axis\n",
    "    quat = [cos_val, 0, 0, sin_val]\n",
    "\n",
    "    return quat\n",
    "\n",
    "# Example usage for -90 degrees\n",
    "angle_degrees = 180\n",
    "result_quat = angle_to_quaternion(angle_degrees)\n",
    "print(result_quat)\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "87.21395775941231\n"
     ]
    }
   ],
   "source": [
    "x = (212 * 448) / 1089\n",
    "print(x)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "PyPlot3D backend, t = 0.05, scene:\n",
       "  robot: Text(0.0, 0.0, 'ur10e')"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "text/plain": [
       "<Figure size 640x480 with 0 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import roboticstoolbox as rtb\n",
    "from math import pi\n",
    "UR_EE_TO_WRIST_JOINTS = 0.21268 # m\n",
    "import spatialmath as sm\n",
    "_arm = rtb.DHRobot(\n",
    "            [\n",
    "                rtb.RevoluteDH(d = 0.1807, alpha = pi / 2.0),        # J1\n",
    "                rtb.RevoluteDH(a = -0.6127),                         # J2\n",
    "                rtb.RevoluteDH(a = -0.57155),                        # J3\n",
    "                rtb.RevoluteDH(d = 0.17415, alpha =  pi / 2.0),      # J4\n",
    "                rtb.RevoluteDH(d = 0.11985, alpha = -pi / 2.0),      # J5\n",
    "                rtb.RevoluteDH(d = 0.11655 + UR_EE_TO_WRIST_JOINTS), # J6 + forearm\n",
    "                rtb.RevoluteDH(alpha = pi / 2),                      # WR1\n",
    "                rtb.RevoluteDH(alpha = pi / 2, offset= pi / 2),      # WR2\n",
    "            ], name=\"ur10e\", base=sm.SE3.Trans(0,0,0)\n",
    "        )\n",
    "q0 = [-1.5708, -1.5708, 1.5708, -1.5708, -1.5708, 0, 0, 0]\n",
    "\n",
    "_arm.plot(q=q0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[1, 2, 3], [4, 5, 6], [7, 8, 9], [1, 1, 1], [1, 1, 1], [1, 1, 1]]\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "arm = [ \n",
    "    [1,2,3], \n",
    "    [4,5,6], \n",
    "    [7,8,9] \n",
    "    ]\n",
    "\n",
    "gripper = [\n",
    "    [1,1,1],\n",
    "    [1,1,1],\n",
    "    [1,1,1]\n",
    "]\n",
    "\n",
    "arm_gripper = arm.extend(gripper)\n",
    "\n",
    "print(arm)\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[1 2 3 1 1 1]\n",
      " [4 5 6 1 1 1]\n",
      " [7 8 9 1 1 1]]\n",
      "[6, 7, 8, 9]\n",
      "[0, 1, 2, 3, 4, 5]\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "\n",
    "arm = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]])\n",
    "gripper = np.array([[1, 1, 1], [1, 1, 1], [1, 1, 1]])\n",
    "\n",
    "arm_gripper = np.concatenate((arm, gripper), axis=1)\n",
    "\n",
    "print(arm_gripper)\n",
    "\n",
    "X = [0,1,2,3,4,5 ,6,7,8,9]\n",
    "print(X[6:])\n",
    "print(X[:6])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "['hello']\n"
     ]
    }
   ],
   "source": [
    "prefix = \"hello\".split(\"_\")\n",
    "print(prefix)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[1, 'b', 'c', 4, 5, 6]\n"
     ]
    }
   ],
   "source": [
    "a = [1,2,3,4,5,6]\n",
    "\n",
    "b = [\"a\",\"b\",\"c\"]\n",
    "\n",
    "a[1:3] = b[1:3]\n",
    "\n",
    "print(a)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]\n"
     ]
    }
   ],
   "source": [
    "import roboticstoolbox as rtb\n",
    "q0 = [0,0,0]\n",
    "qf = [0,0,0]\n",
    "n_steps = 10\n",
    "new_traj = rtb.jtraj(\n",
    "    q0 = q0,\n",
    "    qf = qf,\n",
    "    t = n_steps\n",
    ").q.tolist()\n",
    "print(new_traj)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0\n",
      "0\n"
     ]
    }
   ],
   "source": [
    "a = 0\n",
    "\n",
    "def cake(a):\n",
    "    a += 1\n",
    "    return a\n",
    "\n",
    "print(a)\n",
    "cake(a)\n",
    "print(a)\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0\n",
      "0\n"
     ]
    }
   ],
   "source": [
    "\n",
    "class B:\n",
    "    def __init__(self):\n",
    "        # this should be a ference to the Xa in class A\n",
    "        self.Xa = 0\n",
    "\n",
    "    def add(self,x):\n",
    "        return self.Xa + x\n",
    "\n",
    "class A:\n",
    "    def __init__(self):\n",
    "        self.b = B()\n",
    "        self.Xa = 0\n",
    "\n",
    "a = A()\n",
    "print(a.Xa)\n",
    "a.b.add(2)\n",
    "print(a.Xa)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0\n",
      "2\n"
     ]
    }
   ],
   "source": [
    "class B:\n",
    "    def __init__(self, a_instance):\n",
    "        # Reference to the Xa in class A\n",
    "        self.a_instance = a_instance\n",
    "\n",
    "    def add(self, x):\n",
    "        # Modify the Xa attribute in class A\n",
    "        self.a_instance.Xa += x\n",
    "        return self.a_instance.Xa\n",
    "\n",
    "class A:\n",
    "    def __init__(self):\n",
    "        self.b = B(self)\n",
    "        self.Xa = 0\n",
    "\n",
    "a = A()\n",
    "print(a.Xa)  # Output: 0\n",
    "a.b.add(2)\n",
    "print(a.Xa)  # Output: 2\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[7, 8, 9]\n"
     ]
    }
   ],
   "source": [
    "a = [1,2,3,4,5,6,7,8,9]\n",
    "n = 3\n",
    "print(a[-n:])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.3960874361700334 2.103912563829967\n"
     ]
    }
   ],
   "source": [
    "import math as m\n",
    "\n",
    "Kp = 3\n",
    "q_ref = 0.025\n",
    "q = 0.01\n",
    "ctrl = 0.025\n",
    "a = -Kp*q\n",
    "b = Kp*ctrl\n",
    "c = -q_ref\n",
    "\n",
    "x1 = (-b + m.sqrt(b**2 -4*a*c) )/(2*a)\n",
    "x2 = (-b - m.sqrt(b**2 -4*a*c) )/(2*a)\n",
    "print(x1,x2)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "119\n"
     ]
    }
   ],
   "source": [
    "\n",
    "import os\n",
    "\n",
    "obj_list = os.listdir(\"objects/rgmc_practice_task_board/obj/\")[:67]\n",
    "print(len(obj_list))\n",
    "\n",
    "file_str = \"\"\"\n",
    "<mujocoinclude>\n",
    "    <asset>\n",
    "\"\"\"\n",
    "for i, obj in enumerate(obj_list):\n",
    "    file_str += f\"      <mesh name=\\\"task_board_{i}\\\" file=\\\"../rgmc_practice_task_board/obj/{obj}\\\" scale=\\\"0.001 0.001 0.001\\\" />\\n\"\n",
    "\n",
    "file_str += \"   </asset>\\n\"\n",
    "\n",
    "file_str += \"   <worldbody>\\n\"\n",
    "\n",
    "for i, obj in enumerate(obj_list):\n",
    "    file_str += f\"      <body name=\\\"task_board_{i}\\\" pos=\\\"{i/10} 0.0 0.0\\\" quat=\\\"1 0 0 1\\\"> \\n\"\n",
    "    file_str += f\"          <joint type=\\\"free\\\"/> \\n\"\n",
    "    file_str += f\"          <geom type=\\\"mesh\\\" mesh=\\\"task_board_{i}\\\" mass=\\\"0.2\\\"/> \\n\"\n",
    "    file_str += f\"      </body>\\n\"\n",
    "\n",
    "file_str += \"   </worldbody>\\n\"\n",
    "file_str += \"</mujocoinclude>\"\n",
    "\n",
    "\n",
    "with open(\"objects/rgmc_practice_task_board/all_task_board.xml\", \"w\") as text_file:\n",
    "    text_file.write(file_str)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "-2.8014183045543817e-07\n",
      "                       x\n",
      "0       0.30000028014183\n",
      "1       0.30000028014183\n",
      "2       0.30000028014183\n",
      "3       0.30000028014183\n",
      "4       0.30000028014183\n",
      "...                  ...\n",
      "307195  0.30000028014183\n",
      "307196  0.30000028014183\n",
      "307197  0.30000028014183\n",
      "307198  0.30000028014183\n",
      "307199  0.30000028014183\n",
      "\n",
      "[307200 rows x 1 columns]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "array([[<Axes: title={'center': 'x'}>]], dtype=object)"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import pandas as pd\n",
    "import json\n",
    "import numpy as np\n",
    "with open('output.json', 'r') as json_file:\n",
    "    data_dict = json.load(json_file)\n",
    "\n",
    "pd.set_option('display.precision', 14)\n",
    "# Create a DataFrame from the dictionary\n",
    "df = pd.DataFrame(data_dict)\n",
    "print(0.3 - np.mean(df[\"x\"]))\n",
    "print(df)\n",
    "\n",
    "df.hist()\n",
    "\n"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "dex-mani-mujoco",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}