From 16f54accd81557c0e18fa6c239c10971b2b0d92f Mon Sep 17 00:00:00 2001 From: hbuurmei Date: Sat, 16 Nov 2024 12:09:08 -0800 Subject: [PATCH] add new data w beta sampling and circular --- .../dynamic/control_inputs_circle_decay.csv | 41 + .../dynamic/control_inputs_controlled.csv | 23700 ++++++++-------- .../dynamic/control_inputs_decay.csv | 76 +- .../dynamic/control_inputs_uniform.csv | 5 - .../dynamic/control_inputs_uniform_decay.csv | 37 + .../observations_beta_controlled_200g.csv | 11702 ++++++++ .../observations_circle_decay_200g.csv | 9659 +++++++ .../observations_controlled_200g_06sep24.csv | 0 ...ervations_controlled_sine_200g_06sep24.csv | 0 ...servations_controlled_src_demo_17oct24.csv | 0 .../observations_decay_200g_06sep24.csv | 0 .../observations_decay_src_demo_17oct24.csv | 0 stack/main/scripts/control_inputs_sampling.py | 19 +- stack/main/scripts/data_visualization.ipynb | 149 +- .../scripts/generate_ol_control_sequence.py | 79 +- .../executor/executor/data_collection_node.py | 6 +- 16 files changed, 33351 insertions(+), 12122 deletions(-) create mode 100644 stack/main/data/trajectories/dynamic/control_inputs_circle_decay.csv delete mode 100644 stack/main/data/trajectories/dynamic/control_inputs_uniform.csv create mode 100644 stack/main/data/trajectories/dynamic/control_inputs_uniform_decay.csv create mode 100644 stack/main/data/trajectories/dynamic/observations_beta_controlled_200g.csv create mode 100644 stack/main/data/trajectories/dynamic/observations_circle_decay_200g.csv rename stack/main/data/trajectories/dynamic/{ => src_demo}/observations_controlled_200g_06sep24.csv (100%) rename stack/main/data/trajectories/dynamic/{ => src_demo}/observations_controlled_sine_200g_06sep24.csv (100%) rename stack/main/data/trajectories/dynamic/{ => src_demo}/observations_controlled_src_demo_17oct24.csv (100%) rename stack/main/data/trajectories/dynamic/{ => src_demo}/observations_decay_200g_06sep24.csv (100%) rename stack/main/data/trajectories/dynamic/{ => src_demo}/observations_decay_src_demo_17oct24.csv (100%) diff --git a/stack/main/data/trajectories/dynamic/control_inputs_circle_decay.csv b/stack/main/data/trajectories/dynamic/control_inputs_circle_decay.csv new file mode 100644 index 0000000..fcd59e8 --- /dev/null +++ b/stack/main/data/trajectories/dynamic/control_inputs_circle_decay.csv @@ -0,0 +1,41 @@ +ID,u1,u2,u3,u4,u5,u6 +0,0.4271320643266746,0.1270751949359401,-0.24644279764270402,0.1748803882538612,-0.3032581900942945,-0.027520335446915234 +1,0.3646263915311276,0.2474089526782779,-0.31359378914937086,0.06521544753016176,-0.25257575480289934,-0.018825177723610434 +2,0.32980940341164966,0.2631979881984631,-0.2626750994474689,0.07126031481575215,-0.20991739864109837,-0.14747959070352568 +3,0.39595982251257833,0.31727410828009717,-0.29550226265034474,-0.023703213207022733,-0.19972896313958352,-0.1684759073108729 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+39,0.10044937580823898,-0.10626435279846191,0.10551914572715759,0.10493400692939758,-0.20220091938972473,0.11317852884531021,0.10143687576055527,-0.31956925988197327,0.09944894164800644 diff --git a/stack/main/data/trajectories/dynamic/observations_controlled_200g_06sep24.csv b/stack/main/data/trajectories/dynamic/src_demo/observations_controlled_200g_06sep24.csv similarity index 100% rename from stack/main/data/trajectories/dynamic/observations_controlled_200g_06sep24.csv rename to stack/main/data/trajectories/dynamic/src_demo/observations_controlled_200g_06sep24.csv diff --git a/stack/main/data/trajectories/dynamic/observations_controlled_sine_200g_06sep24.csv b/stack/main/data/trajectories/dynamic/src_demo/observations_controlled_sine_200g_06sep24.csv similarity index 100% rename from stack/main/data/trajectories/dynamic/observations_controlled_sine_200g_06sep24.csv rename to stack/main/data/trajectories/dynamic/src_demo/observations_controlled_sine_200g_06sep24.csv diff --git a/stack/main/data/trajectories/dynamic/observations_controlled_src_demo_17oct24.csv b/stack/main/data/trajectories/dynamic/src_demo/observations_controlled_src_demo_17oct24.csv similarity index 100% rename from stack/main/data/trajectories/dynamic/observations_controlled_src_demo_17oct24.csv rename to stack/main/data/trajectories/dynamic/src_demo/observations_controlled_src_demo_17oct24.csv diff --git a/stack/main/data/trajectories/dynamic/observations_decay_200g_06sep24.csv b/stack/main/data/trajectories/dynamic/src_demo/observations_decay_200g_06sep24.csv similarity index 100% rename from stack/main/data/trajectories/dynamic/observations_decay_200g_06sep24.csv rename to stack/main/data/trajectories/dynamic/src_demo/observations_decay_200g_06sep24.csv diff --git a/stack/main/data/trajectories/dynamic/observations_decay_src_demo_17oct24.csv b/stack/main/data/trajectories/dynamic/src_demo/observations_decay_src_demo_17oct24.csv similarity index 100% rename from stack/main/data/trajectories/dynamic/observations_decay_src_demo_17oct24.csv rename to stack/main/data/trajectories/dynamic/src_demo/observations_decay_src_demo_17oct24.csv diff --git a/stack/main/scripts/control_inputs_sampling.py b/stack/main/scripts/control_inputs_sampling.py index 7695cb9..6e0d94c 100644 --- a/stack/main/scripts/control_inputs_sampling.py +++ b/stack/main/scripts/control_inputs_sampling.py @@ -100,15 +100,16 @@ def beta_sampling(control_variables, seed, sample_size=100): def circle_sampling(control_variables, random_seed): np.random.seed(random_seed) - tip_radius, mid_radius, base_radius = 0.25, 0.20, 0.15 # always fits within check control inputs with 0.45, 0.35, 0.30 - change these for bigger/smaller circles - noise_amplitude = 0.05 # was 0.05 + tip_radius, mid_radius, base_radius = 0.4, 0.35, 0.3 # always fits within check control inputs with 0.45, 0.35, 0.30 - change these for bigger/smaller circles + noise_amplitude = 0.05 - num_samples_on_circle = 60 - sampled_angles_fwd = np.linspace(0, 2*np.pi, num_samples_on_circle) - sampled_angles_bkwd = sampled_angles_fwd[::-1] # flip it - sampled_angles = np.concatenate((sampled_angles_fwd, sampled_angles_bkwd)) + num_samples_on_circle = 40 + sampled_angles = np.linspace(0, 2*np.pi, num_samples_on_circle) # no flipping for now + # sampled_angles_fwd = np.linspace(0, 2*np.pi, num_samples_on_circle) + # sampled_angles_bkwd = sampled_angles_fwd[::-1] # flip it + # sampled_angles = np.concatenate((sampled_angles_fwd, sampled_angles_bkwd)) - angle_offset = (1/6)*np.pi #30 degrees + angle_offset = (1/6)*np.pi # 30 deg # set control inputs based on geometry of cable arrangement u1s = tip_radius * np.cos(sampled_angles) @@ -119,7 +120,7 @@ def circle_sampling(control_variables, random_seed): u3s = - base_radius * np.sin(sampled_angles + 2 * angle_offset) circle_samples = np.column_stack((u1s, u2s, u3s, u4s, u5s, u6s)) - circle_samples += np.random.uniform(-noise_amplitude, noise_amplitude, (num_samples_on_circle*2, circle_samples.shape[1])) + circle_samples += np.random.uniform(-noise_amplitude, noise_amplitude, circle_samples.shape) # we are not checking the circle values with check_control_inputs control_inputs_df = pd.DataFrame(circle_samples, columns=control_variables) @@ -272,7 +273,7 @@ def main(data_type, sampling_type, seed=None): if __name__ == '__main__': - data_type = 'steady_state' # 'steady_state' or 'dynamic' + data_type = 'dynamic' # 'steady_state' or 'dynamic' sampling_type = 'circle' # 'circle', 'beta', 'targeted', 'uniform' or 'sinusoidal' seed = 10 # choose integer seed number main(data_type, sampling_type, seed) diff --git a/stack/main/scripts/data_visualization.ipynb b/stack/main/scripts/data_visualization.ipynb index 80e8b4d..afa021f 100644 --- a/stack/main/scripts/data_visualization.ipynb +++ b/stack/main/scripts/data_visualization.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 17, "metadata": {}, "outputs": [], "source": [ @@ -22,7 +22,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 18, "metadata": {}, "outputs": [], "source": [ @@ -47,7 +47,22 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 27, + "metadata": {}, + "outputs": [], + "source": [ + "# ys_ik = pd.read_csv(f'../data/trajectories/dynamic/src_demo/observations_controlled_200g_06sep24.csv')\n", + "ys_ik = pd.read_csv(f'../data/trajectories/dynamic/observations_beta_controlled_200g.csv')\n", + "\n", + "ys_ik = ys_ik.drop(columns='ID')\n", + "# rest_positions = np.array([0.1005, -0.10698, 0.10445, 0.10302, -0.20407, 0.10933, 0.10581, -0.32308, 0.10566])\n", + "rest_positions = np.array([0.1005, 0, 0.10445, 0.10302, 0, 0.10933, 0.10581, 0, 0.10566])\n", + "ys_ik = ys_ik - rest_positions" + ] + }, + { + "cell_type": "code", + "execution_count": 28, "metadata": {}, "outputs": [ { @@ -85,63 +100,63 @@ " \n", " \n", " 0\n", - " 0.001388\n", - " 0.000262\n", - " 0.002404\n", - " 0.001525\n", - " 0.000917\n", - " 0.008192\n", - " -0.027185\n", - " 0.004284\n", - " 0.009027\n", + " 0.001038\n", + " -0.105898\n", + " -0.001014\n", + " 0.003178\n", + " -0.202692\n", + " -0.005402\n", + " 0.006742\n", + " -0.320060\n", + " -0.019781\n", " \n", " \n", " 1\n", - " -0.000144\n", - " 0.002273\n", - " 0.006647\n", - " -0.014645\n", - " 0.012949\n", - " 0.032971\n", - " -0.095175\n", - " 0.054506\n", - " 0.065371\n", + " 0.001036\n", + " -0.105886\n", + " -0.001021\n", + " 0.003174\n", + " -0.202683\n", + " -0.005409\n", + " 0.006736\n", + " -0.320060\n", + " -0.019779\n", " \n", " \n", " 2\n", - " 0.002898\n", - " 0.003259\n", - " 0.004776\n", - " -0.005506\n", - " 0.012599\n", - " 0.026367\n", - " -0.084840\n", - " 0.052863\n", - " 0.054692\n", + " 0.001028\n", + " -0.105892\n", + " -0.001019\n", + " 0.003180\n", + " -0.202684\n", + " -0.005408\n", + " 0.006734\n", + " -0.320059\n", + " -0.019779\n", " \n", " \n", " 3\n", - " 0.002328\n", - " 0.003137\n", - " 0.005545\n", - " -0.007127\n", - " 0.012919\n", - " 0.028930\n", - " -0.085737\n", - " 0.052588\n", - " 0.059419\n", + " 0.001039\n", + " -0.105902\n", + " -0.001015\n", + " 0.003175\n", + " -0.202694\n", + " -0.005405\n", + " 0.006734\n", + " -0.320060\n", + " -0.019783\n", " \n", " \n", " 4\n", - " 0.003921\n", - " 0.002647\n", - " 0.005519\n", - " 0.003216\n", - " 0.012927\n", - " 0.028542\n", - " -0.057584\n", - " 0.041652\n", - " 0.066958\n", + " 0.001034\n", + " -0.105893\n", + " -0.001016\n", + " 0.003168\n", + " -0.202693\n", + " -0.005410\n", + " 0.006715\n", + " -0.320073\n", + " -0.019778\n", " \n", " \n", "\n", @@ -149,21 +164,21 @@ ], "text/plain": [ " x1 y1 z1 x2 y2 z2 x3 \\\n", - "0 0.001388 0.000262 0.002404 0.001525 0.000917 0.008192 -0.027185 \n", - "1 -0.000144 0.002273 0.006647 -0.014645 0.012949 0.032971 -0.095175 \n", - "2 0.002898 0.003259 0.004776 -0.005506 0.012599 0.026367 -0.084840 \n", - "3 0.002328 0.003137 0.005545 -0.007127 0.012919 0.028930 -0.085737 \n", - "4 0.003921 0.002647 0.005519 0.003216 0.012927 0.028542 -0.057584 \n", + "0 0.001038 -0.105898 -0.001014 0.003178 -0.202692 -0.005402 0.006742 \n", + "1 0.001036 -0.105886 -0.001021 0.003174 -0.202683 -0.005409 0.006736 \n", + "2 0.001028 -0.105892 -0.001019 0.003180 -0.202684 -0.005408 0.006734 \n", + "3 0.001039 -0.105902 -0.001015 0.003175 -0.202694 -0.005405 0.006734 \n", + "4 0.001034 -0.105893 -0.001016 0.003168 -0.202693 -0.005410 0.006715 \n", "\n", " y3 z3 \n", - "0 0.004284 0.009027 \n", - "1 0.054506 0.065371 \n", - "2 0.052863 0.054692 \n", - "3 0.052588 0.059419 \n", - "4 0.041652 0.066958 " + "0 -0.320060 -0.019781 \n", + "1 -0.320060 -0.019779 \n", + "2 -0.320059 -0.019779 \n", + "3 -0.320060 -0.019783 \n", + "4 -0.320073 -0.019778 " ] }, - "execution_count": 12, + "execution_count": 28, "metadata": {}, "output_type": "execute_result" } @@ -174,16 +189,16 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 29, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "1320" + "11701" ] }, - "execution_count": 3, + "execution_count": 29, "metadata": {}, "output_type": "execute_result" } @@ -194,7 +209,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 24, "metadata": {}, "outputs": [], "source": [ @@ -236,24 +251,24 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "application/vnd.jupyter.widget-view+json": { - "model_id": "d349a46af2d74e3ead8ce08ebf750074", + "model_id": "da17945fd77b47d89513d5d0599e2064", "version_major": 2, "version_minor": 0 }, - "image/png": 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", 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", 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\n", " " ], diff --git a/stack/main/scripts/generate_ol_control_sequence.py b/stack/main/scripts/generate_ol_control_sequence.py index 53405a1..88bea7a 100644 --- a/stack/main/scripts/generate_ol_control_sequence.py +++ b/stack/main/scripts/generate_ol_control_sequence.py @@ -9,7 +9,7 @@ def random_trajectory(): sample_interval = 1 # [s] total_duration = 150 # [s] sampling_rate = 100 # [Hz] - u_min, u_max = -0.35, 0.35 + u_min, u_max = -0.4, 0.4 num_trajectories = 10 # Number of sinusoidal trajectories # Number of samples @@ -78,16 +78,91 @@ def sine_trajectory(): return df +def interpolated_beta(seed=0): + # Parameters + n_u = 6 + sample_size = 40 + sec_per_sample = 3 + sampling_rate = 100 # [Hz] + np.random.seed(seed) + tip_range, mid_range, base_range = 0.45, 0.35, 0.3 + + N = sample_size * sec_per_sample * sampling_rate + control_variables = ['u1', 'u2', 'u3', 'u4', 'u5', 'u6'] + control_inputs_df = pd.DataFrame(columns=['ID'] + control_variables) + + # Beta parameters + a, b = 0.5, 0.5 + + # Initialize an empty list to collect valid samples + valid_samples = [] + num_valid_samples = 0 + + rejection_count = 0 + while num_valid_samples < sample_size: + # Sample from Beta distribution, then shift and scale to match desired ranges + u1 = (np.random.beta(a, b) - 0.5) * 2 * tip_range + u6 = (np.random.beta(a, b) - 0.5) * 2 * tip_range + u2 = (np.random.beta(a, b) - 0.5) * 2 * mid_range + u5 = (np.random.beta(a, b) - 0.5) * 2 * mid_range + u3 = (np.random.beta(a, b) - 0.5) * 2 * base_range + u4 = (np.random.beta(a, b) - 0.5) * 2 * base_range + + # Compute control input vectors + u1_vec = u1 * np.array([-np.cos(15 * np.pi/180), np.sin(15 * np.pi/180)]) + u2_vec = u2 * np.array([np.cos(45 * np.pi/180), np.sin(45 * np.pi/180)]) + u3_vec = u3 * np.array([-np.cos(15 * np.pi/180), -np.sin(15 * np.pi/180)]) + u4_vec = u4 * np.array([-np.cos(75 * np.pi/180), np.sin(75 * np.pi/180)]) + u5_vec = u5 * np.array([np.cos(45 * np.pi/180), -np.sin(45 * np.pi/180)]) + u6_vec = u6 * np.array([-np.cos(75 * np.pi/180), -np.sin(75 * np.pi/180)]) + + # Calculate the norm based on the constraint + vector_sum = ( + 0.75 * (u3_vec + u4_vec) + + 1.0 * (u2_vec + u5_vec) + + 1.4 * (u1_vec + u6_vec) + ) + norm_value = np.linalg.norm(vector_sum) + + # Check the constraint: if the sample is valid, keep it + if norm_value <= 0.7: + valid_samples.append([u1, u2, u3, u4, u5, u6]) + num_valid_samples += 1 + else: + rejection_count += 1 + print(f'Rejected {u1, u2, u3, u4, u5, u6} count: {rejection_count}') + + valid_samples = np.array(valid_samples) + + # Interpolate these sampled control inputs to get smoother signal at high sampling rate + interp_points = np.linspace(0, 1, sec_per_sample * sampling_rate) + interpolated_data = [] + for i in range(sample_size - 1): + start = valid_samples[i] + end = valid_samples[i + 1] + interpolated = np.outer(1 - interp_points, start) + np.outer(interp_points, end) + interpolated_data.append(interpolated) + + interpolated_data = np.array(interpolated_data).reshape(-1, 6) + + IDs = np.arange(len(interpolated_data)) + control_inputs_df = pd.DataFrame(interpolated_data, columns=control_variables) + control_inputs_df.insert(0, 'ID', IDs) + return control_inputs_df + + def main(control_inputs_file, control_type): if control_type == 'random': df = random_trajectory() + elif control_type == 'interp_beta': + df = interpolated_beta() elif control_type == 'sinusoidal': df = sine_trajectory() df.to_csv(control_inputs_file, index=False) if __name__ == '__main__': - control_type = 'sinusoidal' + control_type = 'interp_beta' # 'random', 'interp_beta' or 'sinusoidal' data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data') # control_inputs_file = os.path.join(data_dir, f'trajectories/dynamic/control_inputs_controlled_{control_type}.csv') control_inputs_file = os.path.join(data_dir, f'trajectories/dynamic/control_inputs_controlled.csv') diff --git a/stack/main/src/executor/executor/data_collection_node.py b/stack/main/src/executor/executor/data_collection_node.py index e6272a7..f5fc6f7 100644 --- a/stack/main/src/executor/executor/data_collection_node.py +++ b/stack/main/src/executor/executor/data_collection_node.py @@ -43,8 +43,8 @@ def __init__(self): ('sample_size', 10), # for checking settling condition and averaging (steady state) ('update_period', 0.1), # for steady state and avoiding dynamic trajectories to interrupt each other, in [s] ('max_traj_length', 600), # maximum number of samples in a dynamic trajectory - ('data_type', 'steady_state'), # 'steady_state' or 'dynamic' - ('data_subtype', 'circle'), # 'decay' or 'controlled' for dynamic and e.g. 'circle' or 'beta' or 'uniform' for steady_state + ('data_type', 'dynamic'), # 'steady_state' or 'dynamic' + ('data_subtype', 'decay'), # 'decay' or 'controlled' for dynamic and e.g. 'circle' or 'beta' or 'uniform' for steady_state ('mocap_type', 'rigid_bodies'), # 'rigid_bodies' or 'markers' ('control_type', 'output'), # 'output' or 'position' ('results_name', 'observations') @@ -60,7 +60,7 @@ def __init__(self): self.mocap_type = self.get_parameter('mocap_type').value self.control_type = self.get_parameter('control_type').value self.results_name = self.get_parameter('results_name').value - + self.is_collecting = False self.ic_settled = False self.previous_time = time.time()