From 9401d4d3a4e4c58f176b71595f930fc52dff129b Mon Sep 17 00:00:00 2001 From: Sharwin24 Date: Thu, 11 Dec 2025 20:04:45 -0600 Subject: [PATCH 1/2] Adding attraction and repulsion forces to PlannedPath and CSV --- pfield_library/include/pfield/pfield.hpp | 75 +++++------- pfield_library/src/pfield/pfield.cpp | 138 +++++++++++++++++++++-- 2 files changed, 162 insertions(+), 51 deletions(-) diff --git a/pfield_library/include/pfield/pfield.hpp b/pfield_library/include/pfield/pfield.hpp index f3658922..d18453ba 100644 --- a/pfield_library/include/pfield/pfield.hpp +++ b/pfield_library/include/pfield/pfield.hpp @@ -41,7 +41,6 @@ #include "solvers/ik_solver.hpp" namespace pfield { - struct PFLimits { double minX; // Minimum X coordinate of the bounding box [m] double maxX; // Maximum X coordinate of the bounding box [m] @@ -78,6 +77,9 @@ namespace pfield { std::vector> jointAngles; // Joint angles for each point in the path [rad] std::vector> jointVelocities; // Joint velocities for each point in the path [rad/s] std::vector> jointTorques; // Joint torques for each point in the path [Nm] + std::vector> linkObstacleClearances; // Min Clearances between links and obstacles [m] + std::vector attractionForces; // Attractive Force vectors applied to the EE + std::vector> repulsiveForces; // Repulsive Force vectors applied to each link unsigned int numPoints; // The number of points in the planned path, should be equal across all vectors double duration; // Total duration of the path [s] double dt; // Time difference between consecutive points [s] @@ -99,45 +101,19 @@ namespace pfield { */ void recordPathPoint( double timeStamp, const SpatialVector& pose, const TaskSpaceTwist& twist, - std::vector jointAngles, std::vector jointVelocities = {}, std::vector jointTorques = {}) { + std::vector jointAngles, std::vector jointVelocities = {}, std::vector jointTorques = {}, + std::vector linkClearances = {}, + Eigen::Vector3d attractionForce = Eigen::Vector3d::Zero(), + std::vector repulsiveForces = {}) { + this->timeStamps.push_back(timeStamp); this->poses.push_back(pose); this->twists.push_back(twist); this->jointAngles.push_back(jointAngles); - this->timeStamps.push_back(timeStamp); - this->numPoints = static_cast(this->poses.size()); - if (!jointTorques.empty()) { - this->jointTorques.push_back(jointTorques); - } - if (!jointVelocities.empty()) { - this->jointVelocities.push_back(jointVelocities); - } - else { - // Estimate joint velocities if not provided from previous point - if (numPoints == 1) { - this->dt = 0.0; - this->duration = 0.0; - this->jointVelocities.clear(); - // Joint Velocity at first point is zero - this->jointVelocities.resize(jointAngles.size(), std::vector(jointAngles.size(), 0.0)); - this->jointVelocities.push_back(std::vector(jointAngles.size(), 0.0)); - } - else if (this->numPoints > 1) { - this->dt = this->timeStamps.back() - this->timeStamps[this->numPoints - 2]; - this->duration = this->timeStamps.back() - this->timeStamps.front(); - // Add an estimation of joint velocities - const double dtSec = this->dt > 0.0 ? this->dt : 1.0; - const size_t numJoints = this->jointAngles.back().size(); - std::vector velocities(numJoints, 0.0); - for (size_t j = 0; j < numJoints; ++j) { - velocities[j] = (this->jointAngles.back()[j] - this->jointAngles[this->numPoints - 2][j]) / dtSec; - } - this->jointVelocities.push_back(velocities); - } - else { - this->dt = 0.0; - this->duration = 0.0; - } - } + this->jointVelocities.push_back(jointVelocities); + this->jointTorques.push_back(jointTorques); + this->linkObstacleClearances.push_back(linkClearances); + this->attractionForces.push_back(attractionForce); + this->repulsiveForces.push_back(repulsiveForces); } }; @@ -437,15 +413,21 @@ namespace pfield { * @brief Computes the whole-body joint velocities resulting from the combination * of the attractive and repulsive forces at the given configuration and joint velocities. * - * @param jointAngles The current joint angles of the robot [rad] - * @param prevJointVelocities The previous joint velocities of the robot [rad/s] - * @param eePose The current end-effector pose - * @param dt The time step over which to integrate acceleration [s] + * @param[in] jointAngles The current joint angles of the robot [rad] + * @param[in] prevJointVelocities The previous joint velocities of the robot [rad/s] + * @param[in] eePose The current end-effector pose + * @param[in] dt The time step over which to integrate acceleration [s] + * @param[out] outLinkForces A vector of linear forces acting on each link [N] + * @param[out] outLinkClearances A vector of minimum clearances between each link and obstacles [m] + * @param[out] outAttractionForce The linear force vector acting on the end-effector [N] * @return Eigen::VectorXd The resulting whole-body joint velocities [rad/s] */ Eigen::VectorXd evaluateWholeBodyJointTorquesAtConfiguration( const std::vector& jointAngles, const std::vector& prevJointVelocities, - const SpatialVector& eePose, const double dt); + const SpatialVector& eePose, const double dt, + std::vector* outLinkForces = nullptr, + std::vector* outLinkClearances = nullptr, + Eigen::Vector3d* outAttractionForce = nullptr); /** * @brief Computes the task-space twist resulting from whole-body joint velocities. @@ -636,10 +618,15 @@ namespace pfield { * at the nearest points and mapping them to joint space via link Jacobian transposes. * Uses COAL distance queries and the Khatib repulsive potential formulation. * - * @param jointAngles The current joint configuration [rad] + * @param[in] jointAngles The current joint configuration [rad] + * @param[out] outLinkForces A pointer to a vector to store the computed forces on each link [N] + * @param[out] outLinkClearances A pointer to a vector to store the minimum * @return Eigen::VectorXd Joint torques for whole-body obstacle avoidance [Nm] */ - Eigen::VectorXd computeWholeBodyRepulsionJointTorques(const std::vector& jointAngles) const; + Eigen::VectorXd computeWholeBodyRepulsionJointTorques( + const std::vector& jointAngles, + std::vector* outLinkForces = nullptr, + std::vector* outLinkClearances = nullptr) const; // ============ Path Planning ============ diff --git a/pfield_library/src/pfield/pfield.cpp b/pfield_library/src/pfield/pfield.cpp index f75fa55c..cd4cacbf 100644 --- a/pfield_library/src/pfield/pfield.cpp +++ b/pfield_library/src/pfield/pfield.cpp @@ -198,12 +198,21 @@ namespace pfield { Eigen::VectorXd PotentialField::evaluateWholeBodyJointTorquesAtConfiguration( const std::vector& jointAngles, const std::vector& prevJointVelocities, const SpatialVector& eePose, - const double dt) { + const double dt, + std::vector* outLinkForces, + std::vector* outLinkClearances, + Eigen::Vector3d* outAttractionForce) { // --- 1. Compute End-Effector Attraction Joint Torques --- Eigen::VectorXd attractionTorques = this->computeEndEffectorAttractionJointTorques(eePose, jointAngles); + if (outAttractionForce) { + *outAttractionForce = this->computeAttractiveForceLinear(eePose); + } + // --- 2. Compute Whole-Body Obstacle Repulsion Joint Torques --- - Eigen::VectorXd repulsionTorques = this->computeWholeBodyRepulsionJointTorques(jointAngles); + Eigen::VectorXd repulsionTorques = this->computeWholeBodyRepulsionJointTorques( + jointAngles, outLinkForces, outLinkClearances + ); // --- 3. Combine Torques --- Eigen::VectorXd totalJointTorques = attractionTorques + repulsionTorques; @@ -640,7 +649,9 @@ namespace pfield { } Eigen::VectorXd PotentialField::computeWholeBodyRepulsionJointTorques( - const std::vector& jointAngles) const { + const std::vector& jointAngles, + std::vector* outLinkForces, + std::vector* outLinkClearances) const { // Get robot links and environment obstacles auto robotLinks = this->getObstaclesByGroup(ObstacleGroup::ROBOT); auto envObstacles = this->getObstaclesByGroup(ObstacleGroup::STATIC); @@ -649,6 +660,16 @@ namespace pfield { Eigen::VectorXd jointTorques; bool initializedJointTorqueSize = false; + // Initialize outputs if provided + if (outLinkForces) { + outLinkForces->clear(); + outLinkForces->reserve(robotLinks.size()); + } + if (outLinkClearances) { + outLinkClearances->clear(); + outLinkClearances->reserve(robotLinks.size()); + } + // Setup distance computation request coal::DistanceRequest distRequest; distRequest.enable_nearest_points = true; @@ -656,6 +677,9 @@ namespace pfield { // Iterate over all robot link-obstacle pairs for (const auto& link : robotLinks) { + Eigen::Vector3d linkNetForce = Eigen::Vector3d::Zero(); + double linkMinDist = std::numeric_limits::infinity(); + for (const auto& obs : envObstacles) { distResult.clear(); coal::distance( @@ -664,6 +688,10 @@ namespace pfield { distRequest, distResult ); + if (distResult.min_distance < linkMinDist) { + linkMinDist = distResult.min_distance; + } + // Only consider obstacles within influence distance if (distResult.min_distance < this->influenceDistance) { // Extract nearest points (in world frame) @@ -693,6 +721,8 @@ namespace pfield { const double magnitude = this->repulsiveGain * (1.0 / d - 1.0 / Q) * (1.0 / (d * d)); Eigen::Vector3d repulsiveForce = direction * magnitude; + linkNetForce += repulsiveForce; + // Extract the actual link name from the obstacle ID (format: "linkName::collisionName") std::string obstacleID = link.getFrameID(); std::string linkName = obstacleID; @@ -717,6 +747,9 @@ namespace pfield { jointTorques += J_link.transpose() * repulsiveForce; } } + + if (outLinkForces) outLinkForces->push_back(linkNetForce); + if (outLinkClearances) outLinkClearances->push_back(linkMinDist); } // If no repulsive forces were computed, return zero vector @@ -851,9 +884,15 @@ namespace pfield { this->updateObstaclesFromKinematics(currentJointAngles); // --- 2. Compute whole-body joint velocities considering end-effector attraction and obstacle repulsion --- + std::vector linkRepulsiveForces; + std::vector linkClearances; + Eigen::Vector3d attractionForce; + Eigen::VectorXd jointTorques = this->evaluateWholeBodyJointTorquesAtConfiguration( - currentJointAngles, prevJointVelocities, currentEEPose, stepDt + currentJointAngles, prevJointVelocities, currentEEPose, stepDt, + &linkRepulsiveForces, &linkClearances, &attractionForce ); + Eigen::VectorXd jointVelocities = this->convertJointTorquesToJointVelocities( jointTorques, currentJointAngles, prevJointVelocities, stepDt ); @@ -885,7 +924,10 @@ namespace pfield { eeTwist, currentJointAngles, std::vector(jointVelocities.data(), jointVelocities.data() + jointVelocities.size()), - std::vector(jointTorques.data(), jointTorques.data() + jointTorques.size()) + std::vector(jointTorques.data(), jointTorques.data() + jointTorques.size()), + linkClearances, + attractionForce, + linkRepulsiveForces ); // --- 7. Check goal tolerance --- @@ -994,7 +1036,9 @@ namespace pfield { } // Creates a CSV file from the given PlannedPath with the following - const unsigned int numJoints = (path.numPoints > 0) ? static_cast(path.jointAngles[0].size()) : 0; + const unsigned int numJoints = (path.numPoints > 0 && !path.jointAngles.empty()) ? static_cast(path.jointAngles[0].size()) : 0; + const unsigned int numLinks = (path.numPoints > 0 && !path.linkObstacleClearances.empty()) ? static_cast(path.linkObstacleClearances[0].size()) : 0; + auto jointPositionHeaders = [numJoints]() -> std::string { std::string jointHeaders; for (unsigned int j = 0; j < numJoints; ++j) { @@ -1021,6 +1065,44 @@ namespace pfield { } return jointVelHeaders; }; + auto jointTorqueHeaders = [numJoints]() -> std::string { + std::string jointTorqueHeaders; + for (unsigned int j = 0; j < numJoints; ++j) { + jointTorqueHeaders += "joint_torque_" + std::to_string(j + 1) + "_N_m,"; + } + if (!jointTorqueHeaders.empty()) { + // Insert leading comma + jointTorqueHeaders = "," + jointTorqueHeaders; + // Remove trailing comma + jointTorqueHeaders.pop_back(); + } + return jointTorqueHeaders; + }; + auto linkClearanceHeaders = [numLinks]() -> std::string { + std::string headers; + for (unsigned int j = 0; j < numLinks; ++j) { + headers += "link_" + std::to_string(j) + "_clearance_m,"; + } + if (!headers.empty()) { + headers = "," + headers; + headers.pop_back(); + } + return headers; + }; + auto linkRepulsiveForceHeaders = [numLinks]() -> std::string { + std::string headers; + for (unsigned int j = 0; j < numLinks; ++j) { + headers += "link_" + std::to_string(j) + "_rep_force_x_N," + + "link_" + std::to_string(j) + "_rep_force_y_N," + + "link_" + std::to_string(j) + "_rep_force_z_N,"; + } + if (!headers.empty()) { + headers = "," + headers; + headers.pop_back(); + } + return headers; + }; + // CSV Header with dynamic joint columns based on number of joints const std::string header = "time_s," @@ -1029,7 +1111,9 @@ namespace pfield { "vel_x_m_s,vel_y_m_s,vel_z_m_s," "ang_vel_x_rad_s,ang_vel_y_rad_s,ang_vel_z_rad_s," "min_obstacle_clearance_m," - + jointPositionHeaders() + jointVelocityHeaders(); + "att_force_x_N,att_force_y_N,att_force_z_N" + + jointPositionHeaders() + jointVelocityHeaders() + jointTorqueHeaders() + + linkClearanceHeaders() + linkRepulsiveForceHeaders(); // Write metadata as commented header lines const Eigen::Vector3d goalPosition = this->goalPose.getPosition(); @@ -1075,8 +1159,18 @@ namespace pfield { // Write: minimum obstacle clearance csvFile << minClearance << ","; + // Write: attraction force + if (i < path.attractionForces.size()) { + const auto& f = path.attractionForces[i]; + csvFile << f.x() << "," << f.y() << "," << f.z(); + } + else { + csvFile << "0,0,0"; + } + // Write: joint angles if (i < path.jointAngles.size()) { + csvFile << ","; for (unsigned int j = 0; j < numJoints; ++j) { csvFile << path.jointAngles[i][j]; if (j < numJoints - 1) { @@ -1096,6 +1190,36 @@ namespace pfield { } } + // Write: joint torques + if (i < path.jointTorques.size()) { + csvFile << ","; + for (unsigned int j = 0; j < numJoints; ++j) { + csvFile << path.jointTorques[i][j]; + if (j < numJoints - 1) { + csvFile << ","; + } + } + } + + // Write: link clearances + if (i < path.linkObstacleClearances.size()) { + csvFile << ","; + for (unsigned int j = 0; j < numLinks; ++j) { + csvFile << path.linkObstacleClearances[i][j]; + if (j < numLinks - 1) csvFile << ","; + } + } + + // Write: link repulsive forces + if (i < path.repulsiveForces.size()) { + csvFile << ","; + for (unsigned int j = 0; j < numLinks; ++j) { + const auto& f = path.repulsiveForces[i][j]; + csvFile << f.x() << "," << f.y() << "," << f.z(); + if (j < numLinks - 1) csvFile << ","; + } + } + csvFile << "\n"; } From 9287e3783f9c59c51a501b34beb36895f0a25835 Mon Sep 17 00:00:00 2001 From: Sharwin24 Date: Thu, 11 Dec 2025 20:32:00 -0600 Subject: [PATCH 2/2] New plots and fixes to empty arrays for CSV creation --- data/planned_path.csv | 50002 ++++++++++----------- data/planned_path.png | Bin 407385 -> 626416 bytes pfield_library/include/pfield/pfield.hpp | 11 +- pfield_library/src/pfield/pfield.cpp | 31 +- prototyping/pfield_3d_prototype.py | 176 +- prototyping/plot_plan_path_response.py | 36 + 6 files changed, 25198 insertions(+), 25058 deletions(-) diff --git a/data/planned_path.csv b/data/planned_path.csv index 731a84e4..879ca5f3 100644 --- a/data/planned_path.csv +++ b/data/planned_path.csv @@ -4,25004 +4,25004 @@ # Angular Tolerance: 0.05 # Num Joints: 7 # Planning Method: whole_body_velocity -time_s,pos_x_m,pos_y_m,pos_z_m,q_x,q_y,q_z,q_w,vel_x_m_s,vel_y_m_s,vel_z_m_s,ang_vel_x_rad_s,ang_vel_y_rad_s,ang_vel_z_rad_s,min_obstacle_clearance_m,,joint_1_rad,joint_2_rad,joint_3_rad,joint_4_rad,joint_5_rad,joint_6_rad,joint_7_rad,joint_vel_1_rad_s,joint_vel_2_rad_s,joint_vel_3_rad_s,joint_vel_4_rad_s,joint_vel_5_rad_s,joint_vel_6_rad_s,joint_vel_7_rad_s 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+98,17 @@ namespace pfield { * @param pose The EE pose at the path point * @param twist The EE twist at the path point * @param jointAngles The joint angles at the path point [rad] + * @param jointVelocities The joint velocities at the path point [rad/s] (optional) + * @param jointTorques The joint torques at the path point [Nm] (optional) + * @param linkClearances The minimum clearances between each link and obstacles [m] (optional) + * @param attractionForce The attractive force vector applied to the EE [N] (optional) + * @param repulsiveForces The repulsive force vectors applied to each link [N] (optional) */ void recordPathPoint( double timeStamp, const SpatialVector& pose, const TaskSpaceTwist& twist, - std::vector jointAngles, std::vector jointVelocities = {}, std::vector jointTorques = {}, + std::vector jointAngles, + std::vector jointVelocities = {}, + std::vector jointTorques = {}, std::vector linkClearances = {}, Eigen::Vector3d attractionForce = Eigen::Vector3d::Zero(), std::vector repulsiveForces = {}) { @@ -620,7 +627,7 @@ namespace pfield { * * @param[in] jointAngles The current joint configuration [rad] * @param[out] outLinkForces A pointer to a vector to store the computed forces on each link [N] - * @param[out] outLinkClearances A pointer to a vector to store the minimum + * @param[out] outLinkClearances A pointer to a vector to store the minimum clearances between each link and obstacles [m] * @return Eigen::VectorXd Joint torques for whole-body obstacle avoidance [Nm] */ Eigen::VectorXd computeWholeBodyRepulsionJointTorques( diff --git a/pfield_library/src/pfield/pfield.cpp b/pfield_library/src/pfield/pfield.cpp index cd4cacbf..6e0253fc 100644 --- a/pfield_library/src/pfield/pfield.cpp +++ b/pfield_library/src/pfield/pfield.cpp @@ -1092,9 +1092,9 @@ namespace pfield { auto linkRepulsiveForceHeaders = [numLinks]() -> std::string { std::string headers; for (unsigned int j = 0; j < numLinks; ++j) { - headers += "link_" + std::to_string(j) + "_rep_force_x_N," + - "link_" + std::to_string(j) + "_rep_force_y_N," + - "link_" + std::to_string(j) + "_rep_force_z_N,"; + headers += "link_" + std::to_string(j + 1) + "_rep_force_x_N," + + "link_" + std::to_string(j + 1) + "_rep_force_y_N," + + "link_" + std::to_string(j + 1) + "_rep_force_z_N,"; } if (!headers.empty()) { headers = "," + headers; @@ -1178,6 +1178,11 @@ namespace pfield { } } } + else { + for (unsigned int j = 0; j < numJoints; ++j) { + csvFile << ",0"; + } + } // Write: joint velocities if (i < path.jointVelocities.size()) { @@ -1189,6 +1194,11 @@ namespace pfield { } } } + else { + for (unsigned int j = 0; j < numJoints; ++j) { + csvFile << ",0"; + } + } // Write: joint torques if (i < path.jointTorques.size()) { @@ -1200,6 +1210,11 @@ namespace pfield { } } } + else { + for (unsigned int j = 0; j < numJoints; ++j) { + csvFile << ",0"; + } + } // Write: link clearances if (i < path.linkObstacleClearances.size()) { @@ -1209,6 +1224,11 @@ namespace pfield { if (j < numLinks - 1) csvFile << ","; } } + else { + for (unsigned int j = 0; j < numLinks; ++j) { + csvFile << ",0"; + } + } // Write: link repulsive forces if (i < path.repulsiveForces.size()) { @@ -1219,6 +1239,11 @@ namespace pfield { if (j < numLinks - 1) csvFile << ","; } } + else { + for (unsigned int j = 0; j < numLinks; ++j) { + csvFile << ",0,0,0"; + } + } csvFile << "\n"; } diff --git a/prototyping/pfield_3d_prototype.py b/prototyping/pfield_3d_prototype.py index cdb9ec68..9dba23a3 100644 --- a/prototyping/pfield_3d_prototype.py +++ b/prototyping/pfield_3d_prototype.py @@ -730,15 +730,19 @@ def plot_kinematics(title: str, save_path: optional path to save the plot image (e.g., PNG) description: optional text description to include below the title - Plot a 4x2 grid of time-series: + Plot a 4x3 grid of time-series: (row 1, col 1) position components (x,y,z) + dashed |p| - (row 1, col 2) distance-to-goal (if goal given) else |p| + (row 1, col 2) joint positions vs time (if present) + (row 1, col 3) distance-to-goal (if goal given) else |p| (row 2, col 1) linear velocity components (vx,vy,vz) + dashed |v| - (row 2, col 2) min_clearance_m if present + (row 2, col 2) joint velocities vs time (if present) + (row 2, col 3) min_clearance_m if present (row 3, col 1) linear acceleration components (ax,ay,az) + dashed |a| - (row 3, col 2) joint positions vs time (if present) + (row 3, col 2) joint torques vs time (if present) + (row 3, col 3) link clearances (if present) (row 4, col 1) angular velocity components (wx,wy,wz) + dashed |w| (if present) - (row 4, col 2) joint velocities vs time (if present) + (row 4, col 2) attraction force components (if present) + (row 4, col 3) repulsive force magnitudes per link (if present) Expected keys in res: - "t": time array [N] @@ -746,6 +750,7 @@ def plot_kinematics(title: str, - "vx", "vy", "vz": linear velocity components [N] - optionally: "wx","wy","wz" (or CSV-style "ee_wx" etc.) and "min_clearance_m". - optionally: "joint_positions" [N x num_joints], "joint_velocities" [N x num_joints] + - optionally: "link_clearances", "attraction_force", "link_repulsive_magnitudes" """ t = np.asarray(res.get("t", []), dtype=float) @@ -786,10 +791,19 @@ def plot_kinematics(title: str, # Joint data joint_pos = res.get("joint_positions") joint_vel = res.get("joint_velocities") + joint_torques = res.get("joint_torques") if joint_pos is not None: joint_pos = np.asarray(joint_pos, dtype=float) if joint_vel is not None: joint_vel = np.asarray(joint_vel, dtype=float) + if joint_torques is not None: + joint_torques = np.asarray(joint_torques, dtype=float) + + # New data + link_clearances = res.get("link_clearances") + link_names = res.get("link_names") + attraction_force = res.get("attraction_force") + link_repulsive_magnitudes = res.get("link_repulsive_magnitudes") if t.size == 0: raise ValueError("Result dictionary is missing time array 't'.") @@ -803,8 +817,8 @@ def plot_kinematics(title: str, vel_mag = np.sqrt(vx*vx + vy*vy + vz*vz) acc_mag = np.sqrt(ax*ax + ay*ay + az*az) - # Build 4x2 grid - fig, axes = plt.subplots(4, 2, sharex=True, figsize=(12, 12)) + # Build 4x3 grid + fig, axes = plt.subplots(4, 3, sharex=True, figsize=(18, 12)) fig.suptitle(f"{title}", fontsize=16) # Row 1, Col 1: Position components (+|p|) @@ -817,18 +831,31 @@ def plot_kinematics(title: str, ax11.grid(True, linestyle=':') ax11.legend(loc='best', fontsize=9) - # Row 1, Col 2: Distance to goal (if provided) else |p| + # Row 1, Col 2: Joint Positions ax12 = axes[0, 1] + if joint_pos is not None: + num_joints = joint_pos.shape[1] + for j in range(num_joints): + ax12.plot(t, joint_pos[:, j], label=f'q{j+1}') + ax12.set_ylabel('Joint Pos [rad]') + ax12.legend(loc='best', fontsize=8, ncol=2) + else: + ax12.text(0.5, 0.5, 'No joint positions provided', transform=ax12.transAxes, + ha='center', va='center', fontsize=10, color='gray') + ax12.grid(True, linestyle=':') + + # Row 1, Col 3: Distance to goal (if provided) else |p| + ax13 = axes[0, 2] goal_pos = res.get('goal_pos') if goal_pos is not None and goal_pos.size > 0: g = np.asarray(goal_pos, dtype=float).reshape(3,) d_goal = np.sqrt((x - g[0])**2 + (y - g[1])**2 + (z - g[2])**2) - line_d, = ax12.plot(t, d_goal, color='C3', label='Dist→Goal') - ax12.set_ylabel('Dist→Goal [m]') + line_d, = ax13.plot(t, d_goal, color='C3', label='Dist→Goal') + ax13.set_ylabel('Dist→Goal [m]') pos_tol = res.get('goal_tolerance_m') if pos_tol is not None: - ax12.axhline(y=pos_tol, color=line_d.get_color(), + ax13.axhline(y=pos_tol, color=line_d.get_color(), linestyle='--', linewidth=1.2, label='Pos. Tolerance') # Initialize angular distance array @@ -846,25 +873,25 @@ def plot_kinematics(title: str, angle_to_goal = np.linalg.norm(angle_to_goal, axis=1) # Plot angular distance on a secondary y-axis - ax12_twin = ax12.twinx() - line_a, = ax12_twin.plot( + ax13_twin = ax13.twinx() + line_a, = ax13_twin.plot( t, angle_to_goal, color='C4', linestyle='-', label='Angle→Goal') - ax12_twin.set_ylabel('Angle→Goal [rad]', color='C4') - ax12_twin.tick_params(axis='y', labelcolor='C4') + ax13_twin.set_ylabel('Angle→Goal [rad]', color='C4') + ax13_twin.tick_params(axis='y', labelcolor='C4') ang_tol = res.get('angular_tolerance_rad') if ang_tol is not None: - ax12_twin.axhline(y=ang_tol, color=line_a.get_color( + ax13_twin.axhline(y=ang_tol, color=line_a.get_color( ), linestyle=':', linewidth=1.2, label='Ang. Tolerance') # Combine legends from both y-axes lines = [line_d, line_a] # Add the tolerance lines to the legend - lines.extend([l for l in ax12.get_lines() + lines.extend([l for l in ax13.get_lines() if l.get_linestyle() == '--']) - lines.extend([l for l in ax12_twin.get_lines() + lines.extend([l for l in ax13_twin.get_lines() if l.get_linestyle() == ':']) - ax12.legend(lines, [l.get_label() + ax13.legend(lines, [l.get_label() for l in lines], loc='upper right', fontsize=9) # Find the first index where BOTH translational and rotational tolerances are met @@ -878,11 +905,11 @@ def plot_kinematics(title: str, if np.any(both_ok): first_converged_idx = np.where(both_ok)[0][0] - ax12.axvline(t[first_converged_idx], color='C2', linestyle='--', + ax13.axvline(t[first_converged_idx], color='C2', linestyle='--', linewidth=1.5, label=f"Converged at t={t[first_converged_idx]:.2f}s") # Update the main legend to include the convergence line - lines.append(ax12.get_lines()[-1]) # Add the axvline - ax12.legend(lines, [l.get_label() + lines.append(ax13.get_lines()[-1]) # Add the axvline + ax13.legend(lines, [l.get_label() for l in lines], loc='upper right', fontsize=9) else: # If convergence was never met, add text to the plot @@ -894,19 +921,19 @@ def plot_kinematics(title: str, if messages: message_text = "\n".join(messages) - ax12.text(0.95, 0.05, message_text, - transform=ax12.transAxes, + ax13.text(0.95, 0.05, message_text, + transform=ax13.transAxes, fontsize=9, color='red', ha='right', va='bottom', bbox=dict(boxstyle='round,pad=0.3', fc='white', ec='red', alpha=0.8)) - elif 'ax12_twin' not in locals(): - ax12.legend(loc='best', fontsize=9) + elif 'ax13_twin' not in locals(): + ax13.legend(loc='best', fontsize=9) else: - ax12.plot(t, pos_mag, color='C7', label='|p|') - ax12.set_ylabel('|p| [m]') - ax12.legend(loc='best', fontsize=9) - ax12.grid(True, linestyle=':') + ax13.plot(t, pos_mag, color='C7', label='|p|') + ax13.set_ylabel('|p| [m]') + ax13.legend(loc='best', fontsize=9) + ax13.grid(True, linestyle=':') # Row 2, Col 1: Linear velocity components (+|v|) ax21 = axes[1, 0] @@ -918,17 +945,30 @@ def plot_kinematics(title: str, ax21.grid(True, linestyle=':') ax21.legend(loc='best', fontsize=9) - # Row 2, Col 2: Min clearance (if present) + # Row 2, Col 2: Joint Velocities ax22 = axes[1, 1] - if min_clear is not None: - ax22.plot(t, min_clear, color='C2', label='min_clearance') - ax22.legend(loc='best', fontsize=9) + if joint_vel is not None: + num_joints = joint_vel.shape[1] + for j in range(num_joints): + ax22.plot(t, joint_vel[:, j], label=f'dq{j+1}') + ax22.set_ylabel('Joint Vel [rad/s]') + ax22.legend(loc='best', fontsize=8, ncol=2) else: - ax22.text(0.5, 0.5, 'No min_clearance provided', transform=ax22.transAxes, + ax22.text(0.5, 0.5, 'No joint velocities provided', transform=ax22.transAxes, ha='center', va='center', fontsize=10, color='gray') - ax22.set_ylabel('Clearance [m]') ax22.grid(True, linestyle=':') + # Row 2, Col 3: Min clearance (if present) + ax23 = axes[1, 2] + if min_clear is not None: + ax23.plot(t, min_clear, color='C2', label='min_clearance') + ax23.legend(loc='best', fontsize=9) + else: + ax23.text(0.5, 0.5, 'No min_clearance provided', transform=ax23.transAxes, + ha='center', va='center', fontsize=10, color='gray') + ax23.set_ylabel('Clearance [m]') + ax23.grid(True, linestyle=':') + # Row 3, Col 1: Linear acceleration components (+|a|) ax31 = axes[2, 0] ax31.plot(t, ax, label='ax') @@ -939,19 +979,33 @@ def plot_kinematics(title: str, ax31.grid(True, linestyle=':') ax31.legend(loc='best', fontsize=9) - # Row 3, Col 2: Joint Positions + # Row 3, Col 2: Joint Torques ax32 = axes[2, 1] - if joint_pos is not None: - num_joints = joint_pos.shape[1] + if joint_torques is not None: + num_joints = joint_torques.shape[1] for j in range(num_joints): - ax32.plot(t, joint_pos[:, j], label=f'q{j+1}') - ax32.set_ylabel('Joint Pos [rad]') + ax32.plot(t, joint_torques[:, j], label=f'tau{j+1}') + ax32.set_ylabel('Joint Torque [Nm]') ax32.legend(loc='best', fontsize=8, ncol=2) else: - ax32.text(0.5, 0.5, 'No joint positions provided', transform=ax32.transAxes, + ax32.text(0.5, 0.5, 'No joint torques provided', transform=ax32.transAxes, ha='center', va='center', fontsize=10, color='gray') ax32.grid(True, linestyle=':') + # Row 3, Col 3: Link Clearances + ax33 = axes[2, 2] + if link_clearances is not None: + for i in range(link_clearances.shape[1]): + label = link_names[i] if link_names else f"Link {i}" + ax33.plot(t, link_clearances[:, i], label=label) + ax33.set_ylabel('Link Clearance [m]') + ax33.grid(True, linestyle=':') + ax33.legend(loc='best', fontsize=7) + else: + ax33.text(0.5, 0.5, "No Link Clearance Data", ha='center', + va='center', transform=ax33.transAxes) + ax33.set_ylabel('Link Clearance [m]') + # Row 4, Col 1: Angular velocity components (+|w|) if present ax41 = axes[3, 0] if wx is not None and wy is not None and wz is not None: @@ -969,20 +1023,38 @@ def plot_kinematics(title: str, ax41.grid(True, linestyle=':') ax41.set_xlabel('Time [s]') - # Row 4, Col 2: Joint Velocities + # Row 4, Col 2: Attraction Force ax42 = axes[3, 1] - if joint_vel is not None: - num_joints = joint_vel.shape[1] - for j in range(num_joints): - ax42.plot(t, joint_vel[:, j], label=f'dq{j+1}') - ax42.set_ylabel('Joint Vel [rad/s]') - ax42.legend(loc='best', fontsize=8, ncol=2) + if attraction_force is not None: + ax42.plot(t, attraction_force[:, 0], label='Fx') + ax42.plot(t, attraction_force[:, 1], label='Fy') + ax42.plot(t, attraction_force[:, 2], label='Fz') + att_mag = np.linalg.norm(attraction_force, axis=1) + ax42.plot(t, att_mag, '--', color='k', label='|F|') + ax42.set_ylabel('Attraction Force [N]') + ax42.grid(True, linestyle=':') + ax42.legend(loc='best', fontsize=9) else: - ax42.text(0.5, 0.5, 'No joint velocities provided', transform=ax42.transAxes, - ha='center', va='center', fontsize=10, color='gray') - ax42.grid(True, linestyle=':') + ax42.text(0.5, 0.5, "No Attraction Force Data", ha='center', + va='center', transform=ax42.transAxes) + ax42.set_ylabel('Attraction Force [N]') ax42.set_xlabel('Time [s]') + # Row 4, Col 3: Repulsive Forces (Magnitudes) + ax43 = axes[3, 2] + if link_repulsive_magnitudes is not None: + for i in range(link_repulsive_magnitudes.shape[1]): + label = link_names[i] if link_names else f"Link {i}" + ax43.plot(t, link_repulsive_magnitudes[:, i], label=label) + ax43.set_ylabel('Repulsive Force Mag [N]') + ax43.grid(True, linestyle=':') + ax43.legend(loc='best', fontsize=7) + else: + ax43.text(0.5, 0.5, "No Repulsive Force Data", ha='center', + va='center', transform=ax43.transAxes) + ax43.set_ylabel('Repulsive Force Mag [N]') + ax43.set_xlabel('Time [s]') + # Create a text box for the description if provided if description: fig.text(0.5, 0.92, description, ha='center', va='bottom', fontsize=10) diff --git a/prototyping/plot_plan_path_response.py b/prototyping/plot_plan_path_response.py index 2acbfb4a..a312e6ae 100644 --- a/prototyping/plot_plan_path_response.py +++ b/prototyping/plot_plan_path_response.py @@ -100,6 +100,7 @@ def create_plots_with_kinematics(df: pd.DataFrame, header_data: dict) -> None: # Construct column names j_pos_keys = [f'joint_{i+1}_rad' for i in range(n_joints)] j_vel_keys = [f'joint_vel_{i+1}_rad_s' for i in range(n_joints)] + j_torque_keys = [f'joint_torque_{i+1}_N_m' for i in range(n_joints)] # The header row might have an empty column name, which pandas reads as Unnamed: X # We filter those out. @@ -111,9 +112,44 @@ def create_plots_with_kinematics(df: pd.DataFrame, header_data: dict) -> None: if all(k in valid_columns for k in j_vel_keys): res["joint_velocities"] = df[j_vel_keys].to_numpy(dtype=float) + + if all(k in valid_columns for k in j_torque_keys): + res["joint_torques"] = df[j_torque_keys].to_numpy(dtype=float) except Exception as e: print(f"Warning: Could not extract joint data: {e}") + # Extract Link Clearances + link_clearance_cols = [c for c in df.columns if 'clearance_m' in c and 'link_' in c] + if link_clearance_cols: + # Sort by link index to ensure correct order (link_0, link_1, ...) + link_clearance_cols.sort(key=lambda x: int(x.split('_')[1])) + res["link_clearances"] = df[link_clearance_cols].to_numpy(dtype=float) + res["link_names"] = [c.replace('_clearance_m', '') for c in link_clearance_cols] + + # Extract Attraction Force + if 'att_force_x_N' in df.columns: + res["attraction_force"] = df[['att_force_x_N', 'att_force_y_N', 'att_force_z_N']].to_numpy(dtype=float) + + # Extract Repulsive Forces (Magnitudes per link) + import re + rep_cols = [c for c in df.columns if '_rep_force_x_N' in c] + link_indices = [] + for c in rep_cols: + m = re.search(r'link_(\d+)_rep_force_x_N', c) + if m: + link_indices.append(int(m.group(1))) + link_indices.sort() + + if link_indices: + rep_mags = [] + for i in link_indices: + fx = df[f'link_{i}_rep_force_x_N'] + fy = df[f'link_{i}_rep_force_y_N'] + fz = df[f'link_{i}_rep_force_z_N'] + mag = np.sqrt(fx*fx + fy*fy + fz*fz) + rep_mags.append(mag) + res["link_repulsive_magnitudes"] = np.column_stack(rep_mags) + # Save outputs under data/ with a consistent base name save_base = DATA_DIR / 'planned_path' plot_kinematics(