FloBaRoID
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kjyv
Identification & Excitation Issues
I am using the measurements.regressor.npz file generated from excite.py script into the identify.py script and this is the error I am getting with identify.py
mouhyemen@khan-msi:~/desktop/research/FloBaRoID$ ./identify.py --config configs/testing.yaml --model model/kuka_lwr4.urdf --measurements test_new_measurement.npz --output model/example_identified.urdf
loaded model model/kuka_lwr4.urdf
# DOFs: 7
Joints: ['lwr_0_joint', 'lwr_1_joint', 'lwr_2_joint', 'lwr_3_joint', 'lwr_4_joint', 'lwr_5_joint', 'lwr_6_joint']
# regressor outputs: 7
# links: 8 (+ 0 fake)
{0: 'lwr_base_link', 1: 'lwr_1_link', 2: 'lwr_2_link', 3: 'lwr_3_link', 4: 'lwr_4_link', 5: 'lwr_5_link', 6: 'lwr_6_link', 7: 'lwr_7_link'}
# params: 80 (94 will be identified)
loaded random structural regressor from model/kuka_lwr4.urdf.regressor.npz
loaded 709 measurement samples (using 709)
computing standard regressor matrix for data samples
100%|███████████████████████████████████████████████████████████████████████████████| 709/709 [00:00<00:00, 3018.16it/s]
estimating parameters using regressor
./identify.py:590: FutureWarning: `rcond` parameter will change to the default of machine precision times ``max(M, N)`` where M and N are the input matrix dimensions.
To use the future default and silence this warning we advise to pass `rcond=None`, to keep using the old, explicitly pass `rcond=-1`.
self.model.xBase = la.lstsq(YBase, tau)[0]
/usr/local/lib/python2.7/dist-packages/numpy/linalg/linalg.py:2054: RuntimeWarning: overflow encountered in square
resids = sum(r_parts**2, axis=-2)
/usr/local/lib/python2.7/dist-packages/numpy/linalg/linalg.py:2286: RuntimeWarning: overflow encountered in multiply
s = (x.conj() * x).real
Initializing LMIs...
Traceback (most recent call last):
File "./identify.py", line 1096, in <module>
main()
File "./identify.py", line 1074, in main
idf.estimateParameters()
File "./identify.py", line 762, in estimateParameters
self.sdp.initSDP_LMIs(self)
File "/home/mouhyemen/desktop/research/FloBaRoID/identification/sdp.py", line 306, in initSDP_LMIs
self.LMIs = list(map(LMI_PD, self.D_blocks))
File "/home/mouhyemen/desktop/research/FloBaRoID/identification/sdp_helpers.py", line 28, in LMI_PD
lmi = lhs > sympify(rhs)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/numbers.py", line 2133, in __lt__
return Rational.__lt__(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/numbers.py", line 1791, in __lt__
return Expr.__lt__(expr, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/expr.py", line 328, in __lt__
dif = self - other
File "/usr/local/lib/python2.7/dist-packages/sympy/core/numbers.py", line 2057, in __sub__
return Rational.__sub__(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 91, in __sympifyit_wrapper
return func(a, b)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/numbers.py", line 1577, in __sub__
return Number.__sub__(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 91, in __sympifyit_wrapper
return func(a, b)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/numbers.py", line 652, in __sub__
return AtomicExpr.__sub__(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 91, in __sympifyit_wrapper
return func(a, b)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 131, in binary_op_wrapper
return f(self)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 132, in binary_op_wrapper
return func(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/common.py", line 2092, in __rsub__
return (-self) + a
File "/usr/local/lib/python2.7/dist-packages/sympy/core/decorators.py", line 132, in binary_op_wrapper
return func(self, other)
File "/usr/local/lib/python2.7/dist-packages/sympy/matrices/common.py", line 1964, in __add__
raise TypeError('cannot add %s and %s' % (type(self), type(other)))
TypeError: cannot add <class 'sympy.matrices.immutable.ImmutableDenseMatrix'> and <class 'sympy.core.numbers.Zero'>
Also, the excite.py script does not work with the regressor.npz files generated from our custom-made URDF files. The custom URDF file I am using is also 7DOF like Kuka's with only mass, com, axes of rotations, and inertial values changed.
Thanks for your report. I'll have to find some time in the next week to look at your issues properly.
@mouhyemen , @kjyv ,have this problem been solved? I have the same problem when i run test_identification_fixed.py.Should i have install sympy 0.7.3?Please give me a help?
100%|█████████████████████████████████████| 9054/9054 [00:04<00:00, 2251.22it/s]
./identify.py:590: FutureWarning: rcond parameter will change to the default of machine precision times max(M, N) where M and N are the input matrix dimensions.
To use the future default and silence this warning we advise to pass rcond=None, to keep using the old, explicitly pass rcond=-1.
self.model.xBase = la.lstsq(YBase, tau)[0]
Traceback (most recent call last):
File "./identify.py", line 1096, in
@mouhyemen , @kjyv .I have sovle the problem by install sympy 1.0.I installed sympy 1.3 before.
That's great to hear! Sorry that I haven't been able to look into the problem, I was rather busy lately. I will change the Readme to state sympy 1.0 has to be used. Possibly the line with the error can be changed to work with sympy 1.3 easily.