RDC CLI Tools Documenation
This page provides documentation for RDC command line tools.
rdc
RDС Command Line Tools to Simplify Inverse Dynamic Robot Model Identification
Usage:
rdc [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc calib
Tool/Force Sensor TF calibration
This program should be used before verification of the Cartesian IDM model.
Usage:
rdc calib [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc calib ftsensor
Calibrating the force-sensor TF
The program can be used to estimate the origin and rotation of the force sensor corresponding to the world coordinate system.
Usage:
rdc calib ftsensor [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_z1 |
text | Original Robots urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_ee.urdf |
--urdf_z1_link_name |
text | Z1 urdf ee link_name | link_ee |
--urdf_tool |
text | Tool urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/tool_calib.urdf |
--urdf_tool_link_name |
text | Tool urdf start link link_name | tool_start_link |
--upd_urdf |
text | Updated urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_tool.urdf |
--urdf_sensor |
text | Updated urdf with sensor path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/sensor.urdf |
--pitch_deg |
float | Updated urdf with sensor path | 0 |
--roll_deg |
float | Updated urdf with sensor path | 0 |
--synth |
boolean | Synth data flag | False |
--help |
boolean | Show this message and exit. | False |
rdc calib tool
Calibrating the tool TF of the robot
The program can be used to estimate tools tip origin and rotation corresponding to the robot end-effector coordinate system.
Usage:
rdc calib tool [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_robot |
text | Original Robots urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_ee.urdf |
--urdf_tool |
text | Tool urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/tool.urdf |
--fixed_joint_name |
text | Fixed tool joint | fixed_tool_joint |
--out_urdf |
text | Output urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/tool_calib.urdf |
--load_data |
text | Joint data to load | None |
--num_poses |
integer | The ammount of poses to collect (min:3, recommended:30) | 30 |
--assume_coaxial |
boolean | Assuming that tool is coaxial to endeffector | False |
--help |
boolean | Show this message and exit. | False |
rdc data-collect
Verification
Usage:
rdc data-collect [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc data-collect lspb
Usage:
rdc data-collect lspb [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_path |
text | Path to urdf model | urdfs/z1_ee.urdf |
--meshes_path |
text | Path to model meshes | urdfs/meshes |
--data_path |
text | Path where executed trajectories will be stored | data/lspb |
--sim |
boolean | If true, script will be running in simulation | False |
--points_count |
integer | Count of configurations for visiting | 10 |
--seed |
integer | Seed for random generator | 1734537242 |
--joint_var |
float range (between 0.001 and 0.2) |
Absolute value for uniform joints pisition variation | 0.05 |
--speed_var_min |
float range (between 0.01 and 0.2) |
Absolute value for min of uniform joints speed variation | 0.1 |
--speed_var_max |
float range (between 0.2 and 0.4) |
Absolute value for max of uniform joints speed variation | 0.4 |
--full_range |
boolean | Generate random configurations for full robot range. If it is True, will be ignored | False |
--range_scale |
float range (between 0.0 and 1.0) |
The scale for robot configuration range | 0.75 |
--type |
choice (static | dynamic | full) |
Generate random configurations for full robot range/ If it is True, will be ignored | static |
--wait_hold |
float range (between 0.0 and 10.0) |
The time for waiting in desired points to collect data | 3.0 |
--repetition |
integer range (between 1 and 10) |
How many time_repeat from diffrent directions | 1 |
--dithering_config_path |
text | Path to config for dithering | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/configs/dithering_config.yaml |
--dithering_config_path |
text | Path to config for dithering | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/configs/dithering_config.yaml |
--dithering_on |
boolean | Should be dithering enabled? | False |
--help |
boolean | Show this message and exit. | False |
rdc exec
Execute provided in csv trajectory
Read check on self collisions and execute trajectories in one command using robotApi.
Usage:
rdc exec [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc exec traj
Usage:
rdc exec traj [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_path |
text | Path to urdf model | urdfs/z1_ee.urdf |
--meshes_path |
text | Path to model meshes | urdfs/meshes |
--data_path |
text | Path where desired trajectories are stored | _required |
--sim |
boolean | If true, script will be running in simulation | False |
-r |
boolean | If true, script will recursively be executed for every founded desired_trajectory.csv file | False |
--skip_exist |
boolean | If true, script will skip folders where recordings exist | False |
--joint_num |
text | Specify which joint num use. Works only for friction trajectories | None |
--type |
choice (nominal | slow | warmup) |
Type of trajectory | nominal |
--refine_dt |
boolean | Perform checking dt between points in trajectory and recalculate trajectory for lower dt | True |
--check |
boolean | Perform checking on trajectory self-collision, qoint limits and collision with floor before execution | True |
--times |
integer range (between 1 and 100) |
Count of trajectory repeats | 1 |
--load_urdf_path |
text | Path to urdf model for nominal load | None |
--load_attached_frame_name |
text | Frame from robot URDF to attach the load model | None |
--dithering_config_path |
text | Path to config for dithering | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/configs/dithering_config.yaml |
--dithering_on |
boolean | Should be dithering enabled? | False |
--help |
boolean | Show this message and exit. | False |
rdc gen
Generate trajectories for identification
Create directories with csv containing special trajectories for inverse dynamic model identification
Usage:
rdc gen [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc gen fourier
Run the Fourier-based trajectory optimization for a serial robot manipulator.
Example usage:
rdc gen fourier --pipeline_name pipeline_no_load --output_path ./data/base_trj --save_plots
Usage:
rdc gen fourier [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--config_path |
text | Config file path contains optimization pipeline settings. | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/configs/fourier_trajectory_optimization_pipelines.yaml |
--pipeline_name |
text | Specific pipeline to execute. If it's empty, run all pipelines. | `` |
--output_path |
text | Directory to save output trajectories. | ./data/base_trj |
--save_plots |
boolean | Save additional plots and logs. | False |
--help |
boolean | Show this message and exit. | False |
rdc gen friction
Run the generation of trajectories for friction.
Example usage:
rdc gen friction
Usage:
rdc gen friction [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--config_path |
text | Path to config for trajectory generation | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/configs/z1_friction_gen_traj_config.yaml |
--urdf_path |
text | Path to urdf model | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_ee.urdf |
--output_path |
text | Path to save trajectories | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/data/friction |
--skip_exist |
boolean | If true, script will skip folders where desired.csv already exists | False |
--type |
text | The type of trajectories that will be generated: friction | base |
--help |
boolean | Show this message and exit. | False |
rdc ident
Inverse dynamic model identification.
Identificate full or friction models of a serial manipulator for datasets captured on special trajectories. The .rdcm model will be returned.
Usage:
rdc ident [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc ident forward_residuals
Forward Residuals Identification.
Before use it please generate and execute force-torque sensor trajectories
Example: rdc ident forward_residuals --save_path models/ --model_name forward_res --config_path configs/forward_residual_learning_config.yaml --data_path data/wrench/
Usage:
rdc ident forward_residuals [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--config_path |
text | Path to file with yaml config | configs/learning_config.yaml |
--urdf_path |
text | Path to file with urdf model | urdfs/z1_tool.urdf |
--save_path |
text | Path of directory to save the model | . |
--model_name |
text | Name of the model, used for saving the model | _required |
--data_path |
text | Path to directory containing recorded_trajectory.csv | _required |
-v, --verbose / -q, --quiet |
boolean | Whether to print debug information | True |
--help |
boolean | Show this message and exit. | False |
rdc ident friction
Friction model Identification
Before use it please generate and execute special LSPB trajectories
Usage:
rdc ident friction [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--data_path |
text | Path to read trajectories | _required |
--save_path |
text | Path to save model | _required |
--offset |
integer | Offset on plato | 50 |
--save_plots_path |
text | Path to save plots | None |
--help |
boolean | Show this message and exit. | False |
rdc ident full
Full Inverse dynamic model Identification.
Before use it please generate and execute multiharmonic trajectories
Example:
rdc ident full --urdf_path urdfs/z1_ee.urdf --data_path data/base_trj/opttraj_0_85cond_7h_2000Hz/ --config_path configs/learning_config.yaml --verbose --plot --model_name my --save_path my --accel_mode estimate
Usage:
rdc ident full [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--config_path |
text | Path to file with yaml config | configs/learning_config.yaml |
--urdf_path |
text | Path to file with urdf model | urdfs/z1_ee.urdf |
--save_path |
text | Path of directory to save the model | . |
--model_name |
text | Name of the model, used for saving the model and plotting the results | _required |
--data_path |
text | Path to directory containing recorded_trajectory.csv | _required |
-r, --recursive / -nr, --no_recursive |
boolean | Whether to load all recorded_trajectory.csv files in data_path recursively | True |
--save_dataset / --no_save_dataset |
boolean | Whether to save the dataset as dataset.csv | True |
--accel_mode |
choice (data | estimate | off) |
Where to get acceleration data from, can be data (directly from dataset), estimate (numerical derivative) or off (no acceleration used, only filtered regressor can be used in this case) | estimate |
--train_ratio |
float range (between 0 and 1) |
ratio of dataset to use for training, if 1.0, no testing is done | 0.75 |
--plot, -p / --no_plot, -np |
boolean | Whether to plot the results | True |
-v, --verbose / -q, --quiet |
boolean | Whether to print debug information | True |
--help |
boolean | Show this message and exit. | False |
rdc verification
Verificate inverse dynamic model
Verificate inverse dynamic model in cartesian or configuration space.
Usage:
rdc verification [OPTIONS] COMMAND [ARGS]...
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--help |
boolean | Show this message and exit. | False |
rdc verification data-collection
Collect dataset to train forward reesidual model
Dataset collected on the stand with force/torque sensor using the same algorithm as wrench verification.
Usage:
rdc verification data-collection [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_system |
text | System (robot + ft sensor) urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_tool.urdf |
--num_poses |
integer | The ammount of poses to collect | 1 |
--tool_link_name |
text | The name of tool link in urdf | tool_end_link |
--ft_transform_urdf |
text | Urdf with transform from platform to sensor | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/sensor.urdf |
--ft_link_name |
text | The name of sensor link in urdf | sensor_link |
--roll_angle |
float | N/A | 0.0 |
--pitch_angle |
float | N/A | 0.0 |
--approaching_speed |
float | Speed for moving in the specified pose | 0.005 |
--max_force |
float | The maximum force applied to sensor | 60.0 |
--help |
boolean | Show this message and exit. | False |
rdc verification torques
Verificate torques for specified inverse dynamic model
Verificate inverse dynamic model for torque prediction.
Usage:
rdc verification torques [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--traj_dir_path |
text | N/A | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/data/base_trj/opttraj_0_85cond_7h_2000Hz/recorded__19_11_2024_18_13_56 |
--roll_angle |
float | N/A | 0.0 |
--pitch_angle |
float | N/A | 0.0 |
--rdc_path |
text | Path to rdc model | ['full.rdcm', 'rdc_model_new.rdcm'] |
--help |
boolean | Show this message and exit. | False |
rdc verification wrenches
Verificate wrenches for specified inverse dynamic model
Verificate inverse dynamic model in task when robot pushed force/torque sensor.
Usage:
rdc verification wrenches [OPTIONS]
Options:
| Name | Type | Description | Default |
|---|---|---|---|
--urdf_system |
text | System (robot + ft sensor) urdf path | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/z1_tool.urdf |
--rdc_path |
text | Path to rdc model | train_full.rdcm |
--forward_residual_path |
text | Path to forward residual | forward_residual_20241217-1.pkl |
--num_poses |
integer | The ammount of poses to collect | 1 |
--tool_link_name |
text | The name of tool link in urdf | tool_end_link |
--ft_transform_urdf |
text | Urdf with transform from platform to sensor | /opt/buildhome/.asdf/installs/python/3.11.5/lib/python3.11/urdfs/sensor.urdf |
--ft_link_name |
text | The name of sensor link in urdf | sensor_link |
--roll_angle |
float | N/A | 0.0 |
--pitch_angle |
float | N/A | 0.0 |
--save_data |
boolean | Save or not the collected data (csv file will be created) | False |
--approaching_speed |
float | Speed for moving in the specified pose | 0.005 |
--max_force |
float | The maximum force applied to sensor | 60.0 |
--help |
boolean | Show this message and exit. | False |