counterbalance_training.py

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#!/usr/bin/env python
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##\author Eric Berger, Kevin Watts
##\brief Determines counterbalance adjustments based on CB data

PKG = 'pr2_counterbalance_check'
from pr2_counterbalance_check import *


from joint_qualification_controllers.msg import CounterbalanceTestData

from optparse import OptionParser

import sys, os

from ros import rosrecord

import numpy

CB_MSG_TYPE = 'joint_qualification_controllers/CounterbalanceTestData'

def get_data(bag):
    for topic, msg, t in rosrecord.logplayer(bag):
        return CounterbalanceAnalysisData(msg)

def print_usage(code = 0):
    print "./counterbalance_training cb_bag1 cb_bag2 cb_bag3 ..."
    print "Determines counterbalance adjustments necessary to tune CB"
    print "Bags must have one message of type %s" % CB_MSG_TYPE
    sys.exit(code)

if __name__ == '__main__':
    if len(sys.argv) < 2 or sys.argv[1] == '-h' or sys.argv[1] == '--help':
        print_usage(1)

    bags = sys.argv[1:]

    adjustments = {}
    efforts = {}
    print 'Enter CB adjustments from "zero" in turns CW for each bag'
    for b in bags:
        if not os.path.exists(b):
            print >> sys.stderr, "Bag %s does not exist. Check filename and retry" % b
            print_usage(1)

        #Ask for adjustments when this bag was taken
        try:
            adj_secondary = float(raw_input("Please enter secondary adjustment (turns CW) for bag %s: "%b))
            adj_cb_bar = float(raw_input("Please enter CB bar adjustment (turns CW) for bag %s: "%b))
            adjustments[b] = (adj_secondary, adj_cb_bar, 1)
        except:
            print "Invalid input for adjustment.  Floating point values expected."
            sys.exit(1)

        data = get_data(b)
        efforts[b] = get_efforts(data, True) + get_efforts(data, False)
    
    B = numpy.array([efforts[b] for b in bags])
    A = numpy.array([adjustments[b] for b in bags])
    X = numpy.linalg.lstsq(A, B)
    model = X[0]
    model.dump('counterbalance_model.dat')
    print '\"counterbalance_model.dat\" contains CB adjustment values'