From 0e68e701d4f66732fc77419d957a4fc33b2323b9 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Sun, 14 Jan 2024 19:32:49 +0100
Subject: [PATCH] put in todos
---
python/examples/pushing_via_friction_cones.py | 3 +
python/examples/test_gripper.py | 177 ++++++++++++++++++
.../__pycache__/managers.cpython-310.pyc | Bin 7289 -> 7289 bytes
.../basics/__pycache__/basics.cpython-310.pyc | Bin 1125 -> 1156 bytes
.../clik_point_to_point.cpython-310.pyc | Bin 4777 -> 4959 bytes
.../__pycache__/logging_utils.cpython-310.pyc | Bin 1369 -> 1369 bytes
.../ur_simple_control/util/robotiq_gripper.py | 111 +++++++----
.../__pycache__/make_run.cpython-310.pyc | Bin 2727 -> 2727 bytes
.../InverseKinematics.cpython-310.pyc | Bin 4919 -> 4919 bytes
.../__pycache__/drawing.cpython-310.pyc | Bin 1443 -> 1443 bytes
.../drawing_for_anim.cpython-310.pyc | Bin 1239 -> 1239 bytes
.../__pycache__/follow_curve.cpython-310.pyc | Bin 2382 -> 2382 bytes
.../__pycache__/forw_kinm.cpython-310.pyc | Bin 11455 -> 11455 bytes
.../__pycache__/inv_kinm.cpython-310.pyc | Bin 6584 -> 6584 bytes
.../joint_as_hom_mat.cpython-310.pyc | Bin 3448 -> 3448 bytes
.../__pycache__/utils.cpython-310.pyc | Bin 1481 -> 1481 bytes
.../webots_api_helper_funs.cpython-310.pyc | Bin 4122 -> 4122 bytes
17 files changed, 258 insertions(+), 33 deletions(-)
create mode 100644 python/examples/pushing_via_friction_cones.py
create mode 100644 python/examples/test_gripper.py
diff --git a/python/examples/pushing_via_friction_cones.py b/python/examples/pushing_via_friction_cones.py
new file mode 100644
index 0000000..e4405ac
--- /dev/null
+++ b/python/examples/pushing_via_friction_cones.py
@@ -0,0 +1,3 @@
+# TODO:
+# implement the zoe paper basically
+# why? just to see how well it works
diff --git a/python/examples/test_gripper.py b/python/examples/test_gripper.py
new file mode 100644
index 0000000..b23d385
--- /dev/null
+++ b/python/examples/test_gripper.py
@@ -0,0 +1,177 @@
+# just import everything
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import copy
+import argparse
+import time
+from functools import partial
+from ur_simple_control.util.get_model import get_model
+from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.util.draw_path import drawPath
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+# needed to access some functions directly,
+# TODO: hide this for later use obviously
+from ur_simple_control.util.robotiq_gripper import RobotiqGripper
+
+# TODO have a generic get_args function
+# that just has all of them somewhere in utils
+# so that i don't have to copy-paste this around
+# for simple stuff like this gripper test
+def get_args():
+ parser = argparse.ArgumentParser(description='Run closed loop inverse kinematics \
+ of various kinds. Make sure you know what the goal is before you run!',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ parser.add_argument('--simulation', action=argparse.BooleanOptionalAction,
+ help="whether you are running the UR simulator", default=False)
+ parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
+ help="whether you want to just integrate with pinocchio", default=False)
+ parser.add_argument('--visualize', action=argparse.BooleanOptionalAction,
+ help="whether you want to visualize with gepetto, but NOTE: not implemented yet", default=False)
+ parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
+ help="whether you're using the gripper", default=True)
+ parser.add_argument('--goal-error', type=float, \
+ help="the final position error you are happy with", default=1e-2)
+ parser.add_argument('--max-iterations', type=int, \
+ help="maximum allowable iteration number (it runs at 500Hz)", default=100000)
+ parser.add_argument('--acceleration', type=float, \
+ help="robot's joints acceleration. scalar positive constant, max 1.7, and default 0.4. \
+ BE CAREFUL WITH THIS. the urscript doc says this is 'lead axis acceleration'.\
+ TODO: check what this means", default=0.3)
+ parser.add_argument('--speed-slider', type=float,\
+ help="cap robot's speed with the speed slider \
+ to something between 0 and 1, 0.5 by default \
+ BE CAREFUL WITH THIS.", default=0.5)
+ parser.add_argument('--tikhonov-damp', type=float, \
+ help="damping scalar in tiknohov regularization", default=1e-3)
+ # TODO add the rest
+ parser.add_argument('--clik-controller', type=str, \
+ help="select which click algorithm you want", \
+ default='dampedPseudoinverse', choices=['dampedPseudoinverse', 'jacobianTranspose'])
+ # maybe you want to scale the control signal
+ parser.add_argument('--controller-speed-scaling', type=float, \
+ default='1.0', help='not actually_used atm')
+
+ args = parser.parse_args()
+ if args.gripper and args.simulation:
+ raise NotImplementedError('Did not figure out how to put the gripper in \
+ the simulation yet, sorry :/ . You can have only 1 these flags right now')
+ return args
+
+
+
+# TODO: when this makes some sense,
+# integrate it into the RobotManager class
+# let's call the gripper's position x for now
+# then velocity is xd and acceleration is xdd
+# TODO ALSO a problem:
+# you're supposed to send this at 125Hz, not 500!
+# but let's first try 500 and see what happens.
+# if there will be problems, implement handling that into the
+# controlLoop manager. count some seconds there, or have a different
+# thread for the gripper (will be painfull, try getting
+# away with 100Hz since that's a multiple of 500, no need
+# to overengineer if it isn't necessary)
+# TODO: add control frequency as a parameter to controlLoop
+def gripperPositionControlLoop(robot, clik_controller, i, past_data):
+ breakFlag = False
+ log_item = {}
+
+ # let's start simple:
+ # send position command, read as it goes (essential if you want
+ # to have a closed-loop system)
+ x_goal = robot.gripper.get_min_position() # or whatever really
+ # speed is in [0,255]
+ xd = 10
+ # force is in [0,255] - acts while gripping I guess
+ F_x= 10
+ # you'll need to pass some kind of a flag here
+ robot.gripper.move(x_goal, xd, F_x)
+ # wait until not moving
+ cur_obj = self._get_var(self.OBJ)
+ # TODO: this can't actually be in this control loop form
+ # so TODO: make it separate function for now, then a controlLoop?
+ # also NOTE: this is code straight from the RobotiqGripper class
+ while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
+ cur_obj = robot.gripper._get_var(self.OBJ)
+ print(cur_obj)
+
+# log_item['x'] = x.reshape((,))
+# log_item['xd'] = xd.reshape((,))
+# log_item['xdd'] = xdd.reshape((,))
+ return breakFlag, {}, log_item
+
+
+# TODO: implement via hacks
+def gripperLinearSlipControlLoop(robot, clik_controller, i, past_data):
+ breakFlag = False
+ log_item = {}
+
+ # let's start simple:
+ # send position command, read as it goes (essential if you want
+ # to have a closed-loop system)
+ x_goal = robot.gripper.get_min_position() # or whatever really
+ # speed is in [0,255]
+ xd = 10
+ # force is in [0,255] - acts while gripping I guess
+ F_x= 10
+ # you'll need to pass some kind of a flag here
+ robot.gripper.move(x_goal, xd, F_x)
+ # wait until not moving
+ cur_obj = self._get_var(self.OBJ)
+ # TODO: this can't actually be in this control loop form
+ # so TODO: make it separate function for now, then a controlLoop?
+ # also NOTE: this is code straight from the RobotiqGripper class
+ while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
+ cur_obj = robot.gripper._get_var(self.OBJ)
+ print(cur_obj)
+
+# log_item['x'] = x.reshape((,))
+# log_item['xd'] = xd.reshape((,))
+# log_item['xdd'] = xdd.reshape((,))
+ return breakFlag, {}, log_item
+
+# TODO: implement as per yiannis' paper
+def gripperTorsionalSlipControlLoop(robot, clik_controller, i, past_data):
+ breakFlag = False
+ log_item = {}
+
+ # let's start simple:
+ # send position command, read as it goes (essential if you want
+ # to have a closed-loop system)
+ x_goal = robot.gripper.get_min_position() # or whatever really
+ # speed is in [0,255]
+ xd = 10
+ # force is in [0,255] - acts while gripping I guess
+ F_x= 10
+ # you'll need to pass some kind of a flag here
+ robot.gripper.move(x_goal, xd, F_x)
+ # wait until not moving
+ cur_obj = self._get_var(self.OBJ)
+ # TODO: this can't actually be in this control loop form
+ # so TODO: make it separate function for now, then a controlLoop?
+ # also NOTE: this is code straight from the RobotiqGripper class
+ while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING:
+ cur_obj = robot.gripper._get_var(self.OBJ)
+ print(cur_obj)
+
+# log_item['x'] = x.reshape((,))
+# log_item['xd'] = xd.reshape((,))
+# log_item['xdd'] = xdd.reshape((,))
+ return breakFlag, {}, log_item
+
+
+if __name__ == "__main__":
+ args = get_args()
+ robot = RobotManager(args)
+ controlLoop = partial(gripperPositionControlLoop, robot, clik_controller)
+ log_dict = {
+ 'x' : np.zeros((args.max_iterations, 1)),
+ 'xd' : np.zeros((args.max_iterations, 1)),
+ 'xdd' : np.zeros((args.max_iterations, 1)),
+ }
+ # we're not using any past data or logging, hence the empty arguments
+ loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_dict)
+ log_dict, final_iteration = loop_manager.run()
+ saveLog(log_dict, final_iteration, args)
+
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
index 887f36a4e47f78717aeae754bdc4ee1ce9bb15f6..2fc97dcccb20512aad35f4827b79036aaa833b93 100644
GIT binary patch
delta 20
bcmexq@za7kpO=@5fq{X+hAnL)cb*IYJ(UFS
delta 20
bcmexq@za7kpO=@5fq{YH(BIUJ+<7tpM+63I
diff --git a/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc b/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc
index 39479797c796ac2cf74a596f87a7c0fc705d6b0a..ff88e439ab199e7fe995968252caea7174bd1d85 100644
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delta 77
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diff --git a/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/clik_point_to_point.cpython-310.pyc
index bd5b467ed659eded72709b979c8c7912649263f4..6f41384a5420130817fc7462a78e18e0eb2c3140 100644
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delta 90
zcmcbwwo+9)pO=@5fq{V`^LuJ)wiW}!V-N=!GchnQI503U6i=I|J(VqmF_=M9WU~Y#
it00r6$Yf2SPNpK+$&I|illg`D7<DGg3F|WPumb?^Y!Chb
diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc
index c6c2c90ef4c8ebf132ae34444b0ad309926e8926..a9d82f13280e4f3e31a0b9ed7c941fa52e5621e6 100644
GIT binary patch
delta 19
acmcb~b(4!LpO=@5fq{X+hHWF4KPvz&Q3JIA
delta 19
acmcb~b(4!LpO=@5fq{V`nrS1KKPvz&_XE%X
diff --git a/python/ur_simple_control/util/robotiq_gripper.py b/python/ur_simple_control/util/robotiq_gripper.py
index a17ab18..53efd87 100644
--- a/python/ur_simple_control/util/robotiq_gripper.py
+++ b/python/ur_simple_control/util/robotiq_gripper.py
@@ -27,21 +27,29 @@ class RobotiqGripper:
ENCODING = 'UTF-8' # ASCII and UTF-8 both seem to work
class GripperStatus(Enum):
- """Gripper status reported by the gripper. The integer values have to match what the gripper sends."""
+ """
+ Gripper status reported by the gripper. The integer values have to
+ match what the gripper sends.
+ """
RESET = 0
ACTIVATING = 1
# UNUSED = 2 # This value is currently not used by the gripper firmware
ACTIVE = 3
class ObjectStatus(Enum):
- """Object status reported by the gripper. The integer values have to match what the gripper sends."""
+ """
+ Object status reported by the gripper. The integer values have to match
+ what the gripper sends.
+ """
MOVING = 0
STOPPED_OUTER_OBJECT = 1
STOPPED_INNER_OBJECT = 2
AT_DEST = 3
def __init__(self):
- """Constructor."""
+ """
+ Constructor.
+ """
self.socket = None
self.command_lock = threading.Lock()
self._min_position = 0
@@ -52,7 +60,8 @@ class RobotiqGripper:
self._max_force = 255
def connect(self, hostname: str, port: int, socket_timeout: float = 2.0) -> None:
- """Connects to a gripper at the given address.
+ """
+ Connects to a gripper at the given address.
:param hostname: Hostname or ip.
:param port: Port.
:param socket_timeout: Timeout for blocking socket operations.
@@ -66,10 +75,13 @@ class RobotiqGripper:
self.socket.close()
def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]):
- """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response.
+ """
+ Sends the appropriate command via socket to set the value of n
+ variables, and waits for its 'ack' response.
:param var_dict: Dictionary of variables to set (variable_name, value).
- :return: True on successful reception of ack, false if no ack was received, indicating the set may not
- have been effective.
+ :return: True on successful reception of ack,
+ false if no ack was received, indicating the set may not
+ have been effective.
"""
# construct unique command
cmd = "SET"
@@ -83,17 +95,22 @@ class RobotiqGripper:
return self._is_ack(data)
def _set_var(self, variable: str, value: Union[int, float]):
- """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response.
+ """
+ Sends the appropriate command via socket to set the value of a
+ variable, and waits for its 'ack' response.
:param variable: Variable to set.
:param value: Value to set for the variable.
- :return: True on successful reception of ack, false if no ack was received, indicating the set may not
- have been effective.
+ :return: True on successful reception of ack,
+ false if no ack was received, indicating the set may not
+ have been effective.
"""
return self._set_vars(OrderedDict([(variable, value)]))
def _get_var(self, variable: str):
- """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the
- response is received or the socket times out.
+ """
+ Sends the appropriate command to retrieve the value of a variable from
+ the gripper, blocking until the response is received or the socket
+ times out.
:param variable: Name of the variable to retrieve.
:return: Value of the variable as integer.
"""
@@ -103,8 +120,9 @@ class RobotiqGripper:
self.socket.sendall(cmd.encode(self.ENCODING))
data = self.socket.recv(1024)
- # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value
- # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here
+ # expect data of the form 'VAR x', where VAR is an echo of the variable
+ # name, and X the value note some special variables (like FLT) may send
+ # 2 bytes, instead of an integer. We assume integer here
var_name, value_str = data.decode(self.ENCODING).split()
if var_name != variable:
raise ValueError(f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'")
@@ -141,8 +159,11 @@ class RobotiqGripper:
def activate(self, auto_calibrate: bool = True):
- """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags.
- :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion.
+ """
+ Resets the activation flag in the gripper, and sets it back to one,
+ clearing previous fault flags.
+ :param auto_calibrate: Whether to calibrate the minimum and maximum
+ positions based on actual motion.
The following code is executed in the corresponding script function
def rq_activate(gripper_socket="1"):
if (not rq_is_gripper_activated(gripper_socket)):
@@ -184,40 +205,58 @@ class RobotiqGripper:
self.auto_calibrate()
def is_active(self):
- """Returns whether the gripper is active."""
+ """
+ Returns whether the gripper is active.
+ """
status = self._get_var(self.STA)
return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE
def get_min_position(self) -> int:
- """Returns the minimum position the gripper can reach (open position)."""
+ """
+ Returns the minimum position the gripper can reach (open position).
+ """
return self._min_position
def get_max_position(self) -> int:
- """Returns the maximum position the gripper can reach (closed position)."""
+ """
+ Returns the maximum position the gripper can reach (closed position).
+ """
return self._max_position
def get_open_position(self) -> int:
- """Returns what is considered the open position for gripper (minimum position value)."""
+ """
+ Returns what is considered the open position for gripper (minimum position value).
+ """
return self.get_min_position()
def get_closed_position(self) -> int:
- """Returns what is considered the closed position for gripper (maximum position value)."""
+ """
+ Returns what is considered the closed position for gripper (maximum position value).
+ """
return self.get_max_position()
def is_open(self):
- """Returns whether the current position is considered as being fully open."""
+ """
+ Returns whether the current position is considered as being fully open.
+ """
return self.get_current_position() <= self.get_open_position()
def is_closed(self):
- """Returns whether the current position is considered as being fully closed."""
+ """
+ Returns whether the current position is considered as being fully closed.
+ """
return self.get_current_position() >= self.get_closed_position()
def get_current_position(self) -> int:
- """Returns the current position as returned by the physical hardware."""
+ """
+ Returns the current position as returned by the physical hardware.
+ """
return self._get_var(self.POS)
def auto_calibrate(self, log: bool = True) -> None:
- """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper.
+ """
+ Attempts to calibrate the open and closed positions, by slowly closing
+ and opening the gripper.
:param log: Whether to print the results to log.
"""
# first try to open in case we are holding an object
@@ -243,7 +282,9 @@ class RobotiqGripper:
print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]")
def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]:
- """Sends commands to start moving towards the given position, with the specified speed and force.
+ """
+ Sends commands to start moving towards the given position, with the
+ specified speed and force.
:param position: Position to move to [min_position, max_position]
:param speed: Speed to move at [min_speed, max_speed]
:param force: Force to use [min_force, max_force]
@@ -263,20 +304,24 @@ class RobotiqGripper:
return self._set_vars(var_dict), clip_pos
def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]: # noqa
- """Sends commands to start moving towards the given position, with the specified speed and force, and
- then waits for the move to complete.
+ """
+ Sends commands to start moving towards the given position, with the
+ specified speed and force, and then waits for the move to complete.
:param position: Position to move to [min_position, max_position]
:param speed: Speed to move at [min_speed, max_speed]
:param force: Force to use [min_force, max_force]
- :return: A tuple with an integer representing the last position returned by the gripper after it notified
- that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note
- that it is possible that the position was not reached, if an object was detected during motion.
+ :return: A tuple with an integer representing the last position
+ returned by the gripper after it notified that the move had completed,
+ a status indicating how the move ended (see ObjectStatus enum for
+ details). Note that it is possible that the position was not reached,
+ if an object was detected during motion.
"""
set_ok, cmd_pos = self.move(position, speed, force)
if not set_ok:
raise RuntimeError("Failed to set variables for move.")
- # wait until the gripper acknowledges that it will try to go to the requested position
+ # wait until the gripper acknowledges that it will try to go to the
+ # requested position
while self._get_var(self.PRE) != cmd_pos:
time.sleep(0.001)
@@ -288,4 +333,4 @@ class RobotiqGripper:
# report the actual position and the object status
final_pos = self._get_var(self.POS)
final_obj = cur_obj
- return final_pos, RobotiqGripper.ObjectStatus(final_obj)
\ No newline at end of file
+ return final_pos, RobotiqGripper.ObjectStatus(final_obj)
diff --git a/python/ur_simple_control/visualize/__pycache__/make_run.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/make_run.cpython-310.pyc
index 607c0fa9684ec739810129676b0ad85f254d1d75..795c1b9cd7d0727feea25ea834e9feb0bd2509bf 100644
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diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-310.pyc
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diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/drawing.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/drawing.cpython-310.pyc
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GIT binary patch
delta 20
bcmZ3?y_lOjpO=@5fq{X+hAnL)_Y775D!K#w
delta 20
bcmZ3?y_lOjpO=@5fq{XcAT?zp_Y775E>;AM
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/drawing_for_anim.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/drawing_for_anim.cpython-310.pyc
index edfb210d0a6e98b4d5e63a27394a09f5931708f4..386e4348adfe154220854b90c5a300a9b4ce4db5 100644
GIT binary patch
delta 20
bcmcc4d7YCxpO=@5fq{X+hAnL)_Zb!dGLZz6
delta 20
bcmcc4d7YCxpO=@5fq{XcAT?zp_Zb!dHZ27t
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/follow_curve.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/follow_curve.cpython-310.pyc
index 82f14ea95893dce69a57d1c4cc66d153d88e93c2..ecad6f7a98fc940c8358392551174b8157054704 100644
GIT binary patch
delta 20
bcmX>nbWVsnpO=@5fq{X+hAnL)w=*XIF>(YC
delta 20
bcmX>nbWVsnpO=@5fq{XcAT?zpw=*XIH4X%z
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc
index 9bf21a63a8d2e7f40aea156cae95fc80c0768c7a..89c05576e0619765fe6e4e9b695158ac2afa3982 100644
GIT binary patch
delta 20
bcmdlVxj&LSpO=@5fq{X+hAnL)_ZA%hIynUs
delta 20
bcmdlVxj&LSpO=@5fq{Wx;@y;u+*@=2L5v1H
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/inv_kinm.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/inv_kinm.cpython-310.pyc
index 019ec0fc3322ff2667d95fd3933437d829cd2882..5b9bd3eda81c325bc8d9dfa41bbea95983485ac7 100644
GIT binary patch
delta 20
bcmdmCyu+9~pO=@5fq{X+hAnL)_gYB+Gqwbu
delta 20
bcmdmCyu+9~pO=@5fq{XcAT?zp_gYB+H&O*K
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/joint_as_hom_mat.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/joint_as_hom_mat.cpython-310.pyc
index 5ba205c8b7b413f27c4deb1fe4e9770e874c7c6e..6e33983b3c586c97d4f0f7eab4fa0b1062a2b9bf 100644
GIT binary patch
delta 20
bcmew%^+Sp~pO=@5fq{X+hAnL)cP=jgIVJ?5
delta 20
bcmew%^+Sp~pO=@5fq{XcAT?zpcP=jgJi-Ms
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/utils.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/utils.cpython-310.pyc
index 4c46e6f66c03ec78ccfa78f5c4ec2a045d0df4e9..52483807547e9f5e32545dd73487ac395a413263 100644
GIT binary patch
delta 20
bcmX@feUh6ypO=@5fq{X+hAnL)_dZqtFscM@
delta 20
bcmX@feUh6ypO=@5fq{XcAT?zp_dZqtG)4sf
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/webots_api_helper_funs.cpython-310.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/webots_api_helper_funs.cpython-310.pyc
index d0a69e62d20ea45aceaf28eb99b3149a77c7d3f3..09b6d2de2411f442899e7ae401d866dc1418d567 100644
GIT binary patch
delta 20
bcmbQGFiU|upO=@5fq{X+hAnL)H@^S?D^UZM
delta 20
bcmbQGFiU|upO=@5fq{XcAT?zpH@^S?F6{&-
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