From 20aca4940b2f4e12da1f17a44dc4f0b3d70e8918 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Sat, 25 Nov 2023 13:09:42 +0100
Subject: [PATCH] commiting before a new major cleanup
---
.../open_close_gripper.py | 5 +-
.../.drawing_from_input_drawing.py.swp | Bin 40960 -> 0 bytes
python/examples/drawing_from_input_drawing.py | 96 +-
python/examples/joint_trajectory.csv | 11675 +++++++++++-----
python/examples/path_in_pixels.csv | 219 +-
python/examples/point_impedance_control.py | 7 +-
.../clik_point_to_point.cpython-310.pyc | Bin 4672 -> 4672 bytes
.../clik/clik_point_to_point.py | 2 +-
.../calib_board_hacks.cpython-310.pyc | Bin 6800 -> 6800 bytes
.../util/calib_board_hacks.py | 63 +-
python/ur_simple_control/util/default_args.py | 133 +
11 files changed, 8644 insertions(+), 3556 deletions(-)
delete mode 100644 python/examples/.drawing_from_input_drawing.py.swp
create mode 100644 python/ur_simple_control/util/default_args.py
diff --git a/python/convenience_tool_box/open_close_gripper.py b/python/convenience_tool_box/open_close_gripper.py
index 9e1bd8a..6471963 100644
--- a/python/convenience_tool_box/open_close_gripper.py
+++ b/python/convenience_tool_box/open_close_gripper.py
@@ -19,10 +19,11 @@ signal.signal(signal.SIGINT, handler)
gripper = RobotiqGripper()
gripper.connect("192.168.1.102", 63352)
-gripper.activate()
time.sleep(3)
+gripper.activate()
+#time.sleep(3)
gripper.move(0,100,100)
-time.sleep(3)
+time.sleep(4)
gripper.move(255,255,255)
#time.sleep(300)
input("press Enter to close and quit")
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
deleted file mode 100644
index 60e0f9ab814cb312d953c2a43256ef52ecdb1fbe..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 6a681a1..06abf75 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -1,14 +1,12 @@
# this is the main file for the drawing your drawings with a dmp with force feedback
# TODO:
# 2. delete the unnecessary comments
-# 3. figure out how to scale the dmp velocity when creating it -> DONE (arg for tc)
-# 7. put an actual low-pass filter over the force-torque sensor
# 8. add some code to pick up the marker from a prespecified location
-# 9. add the (optional) decomposition of force feedback so that
-# you get hybrid motion-force control
# 10. write documentation as you go along
# BIG TODO:
# DOES NOT WORK WITH SPEED SLIDER =/= 1.0!!!!!!!!!!!!!!!!!!!!!!!!!!!
+# realistic solution: keep it at 1.0 at all times. make acceleration and/or
+# speeds small
import pinocchio as pin
import numpy as np
@@ -34,28 +32,6 @@ from ur_simple_control.basics.basics import moveJ
# arguments #
#######################################################################
-def calibrateFT(robot):
- ft_readings = []
- for i in range(2000):
- start = time.time()
- q = robot.rtde_receive.getActualQ()
- ft = robot.rtde_receive.getActualTCPForce()
- tau = robot.rtde_control.getJointTorques()
- current = robot.rtde_receive.getActualCurrent()
- #print("current", current)
- #print("getActualTCPForce", ft)
- #print("tau", tau)
- ft_readings.append(ft)
- end = time.time()
- diff = end - start
- if diff < robot.dt:
- time.sleep(robot.dt - diff)
-
- ft_readings = np.array(ft_readings)
- avg = np.average(ft_readings, axis=0)
- print("average ft time", avg)
- return avg
-
def getArgs():
#######################################################################
# generic arguments #
@@ -143,10 +119,10 @@ def getArgs():
# TODO measure this for the new board
parser.add_argument('--board-width', type=float, \
help="width of the board (in meters) the robot will write on", \
- default=0.3)
+ default=0.5)
parser.add_argument('--board-height', type=float, \
help="height of the board (in meters) the robot will write on", \
- default=0.3)
+ default=0.35)
parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
help="whether you want to do calibration", default=False)
parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
@@ -168,13 +144,44 @@ def getArgs():
help="number of max clik iterations to get to the first point", default=10000)
parser.add_argument('--max-running-clik-iterations', type=int, \
help="number of max clik iterations between path points", default=1000)
-
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
+"""
+calibrateFT
+-----------
+Read from the f/t sensor a bit, average the results
+and return the result.
+This can be used to offset the bias of the f/t sensor.
+NOTE: this is not an ideal solution.
+ALSO TODO: test whether the offset changes when
+the manipulator is in different poses.
+"""
+def calibrateFT(robot):
+ ft_readings = []
+ print("Will read from f/t sensors for a some number of seconds")
+ print("and give you the average.")
+ print("Use this as offset.")
+ for i in range(2000):
+ start = time.time()
+ q = robot.rtde_receive.getActualQ()
+ ft = robot.rtde_receive.getActualTCPForce()
+ tau = robot.rtde_control.getJointTorques()
+ current = robot.rtde_receive.getActualCurrent()
+ ft_readings.append(ft)
+ end = time.time()
+ diff = end - start
+ if diff < robot.dt:
+ time.sleep(robot.dt - diff)
+
+ ft_readings = np.array(ft_readings)
+ avg = np.average(ft_readings, axis=0)
+ print("average ft time", avg)
+ return avg
+
# go and pick up the marker
def getMarker(q_init):
@@ -189,21 +196,20 @@ Idea is you pick up the marker, go to the top corner,
touch it, and see the difference between that and the translation vector.
Obviously it's just a hacked solution, but it works so who cares.
"""
-def getMarkerOffset(rotation_matrix, translation_vector, q_init):
- # put this in a correct place
-# old_speed_slider = robot.speed_slider
-# robot.setSpeedSlider(0.3)
- # TODO: this isn't gonna work because it's not going
- # orthogonaly to the board
+def getMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init):
+ # TODO make this more general
# so TODO: calculate TCP speed based on the rotation matrix
# and then go
- z_of_rot = rotation_matrix[:,2]
+ #z_of_rot = rotation_matrix[:,2]
+ y_of_rot = rotation_matrix[:,1]
# it's going out of the board, and we want to go into the board, right????
# TODO test this
#z_of_rot = z_of_rot
- print("z i'm following:", z_of_rot)
+ print("vector i'm following:", y_of_rot)
speed = getSpeedInDirectionOfN(rotation_matrix)
- robot.rtde_control.moveUntilContact(speed)
+ #speed[2] = speed[2] * -1
+ #robot.rtde_control.moveUntilContact(speed)
+ moveUntilContact(args, robot, speed)
# we use the pin coordinate system because that's what's
# the correct thing long term accross different robots etc
q = robot.getQ()
@@ -372,12 +378,14 @@ if __name__ == "__main__":
if args.find_marker_offset:
# find the marker offset
# TODO find a better q init (just moveL away from the board)
- marker_offset = getMarkerOffset(rotation_matrix, translation_vector, q_init)
+ marker_offset = getMarkerOffset(args, robot, rotation_matrix, translation_vector, q_init)
print('marker_offset', marker_offset)
+ robot.stopHandler(None,None)
# Z
#path = path + np.array([0.0, 0.0, -1 * marker_offset])
# Y
- path = path + np.array([0.0, -1 * marker_offset, 0.0])
+ #path = path + np.array([0.0, -1 * marker_offset, 0.0])
+ path = path + np.array([0.0, 0.0, -1 * marker_offset])
else:
#path = path + np.array([0.0, -0.0938, 0.0])
#path = path + np.array([0.0, 0.0, -0.0938])
@@ -386,14 +394,15 @@ if __name__ == "__main__":
# NOTE GOOD FOR SHORT
#path = path + np.array([0.0, 0.0, -0.0750])
#path = path + np.array([0.0, 0.0, -0.0791])
- path = path + np.array([0.0, 0.0, -0.0808])
+ #path = path + np.array([0.0, 0.0, -0.0808])
+ #path = path + np.array([0.0, 0.0, -0.0108])
# NOTE: THIS IS THE ONE
# NOTE: not a single one is the one, the f/t sensor sucks
# and this is the best number to change to get it to work [upside_down_emoji]
# but this is very close
#path = path + np.array([0.0, 0.0, -0.0803])
#path = path + np.array([0.0, 0.0, -0.1043])
- #path = path + np.array([0.0, 0.0, -0.0790])
+ path = path + np.array([0.0, 0.0, -0.0100])
#path = path + np.array([0.0, 0.0, -0.1573])
#path = path + np.array([0.0, 0.2938, 0.0])
@@ -468,7 +477,8 @@ if __name__ == "__main__":
first_q = np.array(first_q)
#pin.forwardKinematics(robot.model, robot.data, first_q)
mtool = robot.getMtool(q_given=first_q)
- mtool.translation[1] = mtool.translation[1] - 0.0035
+ #mtool.translation[1] = mtool.translation[1] - 0.0035
+ mtool.translation[1] = mtool.translation[1] - 0.03
moveL(args, robot, mtool)
#moveL
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 10cfead..582ecca 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,3263 +1,8412 @@
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+9.99762,1.07827,-0.84825,-2.09387,-0.20114,2.06370,0.00409
+9.99881,1.07887,-0.84796,-2.09389,-0.20142,2.06310,0.00409
+10.00000,1.07948,-0.84769,-2.09390,-0.20168,2.06250,0.00409
diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 7b0cbe4..de74278 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,199 +1,20 @@
-0.35039,0.57090
-0.35187,0.57353
-0.35484,0.58142
-0.36522,0.60508
-0.38302,0.63531
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 83e5c9f..a084ace 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -216,18 +216,19 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
- wrench = np.average(np.array(past_data['wrench']), axis=0)
+ #wrench = np.average(np.array(past_data['wrench']), axis=0)
# first-order low pass filtering instead
# beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
beta = 0.001
-# wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+ wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
#Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
#Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
#Z = np.diag(np.array([1.0, 1.0, 0.1, 1.0, 1.0, 1.0]))
#Z = np.diag(np.ones(6))
copy_wrench = copy.deepcopy(wrench)
# wrench[1] =
- Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
+ #Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
+ Z = np.diag(np.ones(6))
#Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
#Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
# the robot gives the wrench in the base frame for some unknown reason
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 c3751199763c06221d9d592677d6d4b3e24f8fa4..b9fde457d3263e808aa5850664e9db5bd513f0cf 100644
GIT binary patch
delta 27
jcmX@0azKSUpO=@5fq{YHcT)UD?xVbn0-G=L=Cc3*YBmSP
delta 27
gcmX@0azKSUpO=@50R*l_Z{$A8%gD3&B5ytm0AdRVHUIzs
diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index 4d61a4f..afe07d3 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -181,7 +181,7 @@ def moveUntilContactControlLoop(speed, robot, clik_controller, i, past_data):
# print(np.linalg.norm(wrench))
# TODO: remove magick number
# it is empirical bla bla, but make it an argument at least
- if np.linalg.norm(wrench) > 3.6:
+ if np.linalg.norm(wrench) > 4.2:
breakFlag = True
# pin.computeJointJacobian is much different than the C++ version lel
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
diff --git a/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-310.pyc
index 4e6212a9d22044db0b8a4ce669417c53af734fe9..241bd9e24178eaa5bc912899e4c8fd24857bc3bf 100644
GIT binary patch
delta 46
zcmbPWI>D4LpO=@5fq{V`vLHTH)OsVIxG*F0W;J0ECPuE!)}q^(8Q*OFBr%tfQ5FF3
Cu?r;t
delta 46
zcmbPWI>D4LpO=@5fq{Xc`AT%^8>@|c;=+uKo7IFxm>4-XTZ?XEW_-2zlf+y`Mri;V
CAPjy0
diff --git a/python/ur_simple_control/util/calib_board_hacks.py b/python/ur_simple_control/util/calib_board_hacks.py
index d3f2fb4..66b5d42 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -27,51 +27,31 @@ Returns R because that's what's needed to construct the hom transf. mat.
fitNormalVector
----------------
classic least squares fit.
-TODO: since you're also fixing the orientation of the gripper as you go,
-and that changes the contact point (most grippers are a some shape at the end,
-not a single contact point,
-you should do a weighting of these points in the least squares
----> the newer points are in fact more correct than old points!
+there's also weighting to make new measurements more important,
+beucase we change the orientation of the end-effector as we go.
+the change in orientation is done so that the end-effector hits the
+board at the angle of the board, and thus have consistent measurements.
"""
def fitNormalVector(positions):
positions = np.array(positions)
-# non-weighted least square
- # none
+ # non-weighted least squares as fallback (numerical properties i guess)
n_non_weighted = np.linalg.lstsq(positions, np.ones(len(positions)), rcond=None)[0]
n_non_weighted = n_non_weighted / np.linalg.norm(n_non_weighted)
print("n_non_weighted", n_non_weighted)
for p in positions:
print("cdot none", p @ n_non_weighted)
- # bs weights, just to weight the new things more and linear is probably good
- # (altough it could/should be even more agressive probably)
- # +1 to start with 1 (0 both doesn't make sense and is makes W singular)
-# print("W", W)
-# print("positions", positions)
-# print("positions.T", positions.T)
-# print("positions.T @ W @ positions", positions.T @ W @ positions)
-# print("np.linalg.inv(positions.T @ W @ positions)", np.linalg.inv(positions.T @ W @ positions))
- # weak
- try:
- W = np.diag(np.linspace(1, 1.2, len(positions)))
- n_slightly_weighted = np.linalg.inv(positions.T @ W @ positions) @ positions.T @ W @ np.ones(len(positions))
- n_slightly_weighted = n_slightly_weighted / np.linalg.norm(n_slightly_weighted)
- print("n_slightly_weighted", n_slightly_weighted)
- for p in positions:
- print("cdot weak", p @ n_slightly_weighted)
- except np.linalg.LinAlgError:
- print("n_slightly_weighted is singular bruh")
-
try:
# strong
W = np.diag(np.arange(1, len(positions) + 1))
- n_strongly_weighted = np.linalg.inv(positions.T @ W @ positions) @ positions.T @ W @ np.ones(len(positions))
- n_strongly_weighted = n_strongly_weighted / np.linalg.norm(n_strongly_weighted)
- print("n_strongly_weighed", n_strongly_weighted)
+ n_linearly_weighted = np.linalg.inv(positions.T @ W @ positions) @ positions.T @ W @ np.ones(len(positions))
+ n_linearly_weighted = n_linearly_weighted / np.linalg.norm(n_linearly_weighted)
+ print("n_linearly_weighed", n_linearly_weighted)
print("if the following give you roughly the same number, it worked")
for p in positions:
- print("cdot strong", p @ n_strongly_weighted)
+ print("cdot strong", p @ n_linearly_weighted)
+ return n_linearly_weighted
except np.linalg.LinAlgError:
- print("n_strongly_weighted is singular bruh")
+ print("n_linearly_weighted is singular bruh")
return n_non_weighted
"""
@@ -87,24 +67,15 @@ def constructFrameFromNormalVector(R_initial_estimate, n):
z_new = n
x_new = np.array([1.0, 0.0, 0.0])
y_new = np.cross(x_new, z_new)
- # just fix the signs idc
- # TODO: find a reasonable solution to this sign problem
- # --> idea: use signs from inital R estimate
- # and just force actually estimate R to have these
- # old code stays here until fix is proven to work
- #y_new[0] = np.abs(y_new[0])
- #y_new[1] = np.abs(y_new[1]) * -1
- #y_new[2] = np.abs(y_new[2]) * -1
- #z_new[0] = np.abs(z_new[0])
- #z_new[1] = np.abs(z_new[1])
- #z_new[2] = np.abs(z_new[2]) * -1
- # y is good 'cos it was obtained with a cross
+ # reshaping so that hstack works as expected
R = np.hstack((x_new.reshape((3,1)), y_new.reshape((3,1))))
R = np.hstack((R, z_new.reshape((3,1))))
# now ensure all the signs are the signs that you want,
# which we get from the initial estimate (which can not be that off)
+ # NOTE this is potentially just an artifact of the previous solution which relied
+ # on UR TCP readings which used rpy angles. but it ain't hurting nobody
+ # so i'm leaving it.
R = np.abs(R) * np.sign(R_initial_estimate)
-
print('rot mat to new frame:')
print(*R, sep=',\n')
return R
@@ -211,6 +182,8 @@ def getSpeedInDirectionOfN(R):
#speed = np.array([z_of_rot[0], z_of_rot[1], z_of_rot[2], 0, 0, 0])
# this is for y
y_of_rot = R[:,1]
+ # try z again
+ #z_of_rot = R[:,2]
speed = np.array([y_of_rot[0], y_of_rot[1], y_of_rot[2], 0, 0, 0])
# make speed small no matter what
speed = speed / np.linalg.norm(speed)
@@ -299,7 +272,7 @@ def calibratePlane(args, robot, plane_width, plane_height, n_tests):
new_pose.rotation = R
moveL(args, robot, new_pose)
# skip the first one
- if i > 0:
+ if i > 2:
n = fitNormalVector(positions)
R = constructFrameFromNormalVector(R_initial_estimate, n)
speed = getSpeedInDirectionOfN(R)
diff --git a/python/ur_simple_control/util/default_args.py b/python/ur_simple_control/util/default_args.py
new file mode 100644
index 0000000..aea31ea
--- /dev/null
+++ b/python/ur_simple_control/util/default_args.py
@@ -0,0 +1,133 @@
+import pinocchio as pin
+import numpy as np
+import argparse
+
+
+"""
+preferably you copy-paste these parameters and add/remove
+arguments to suit your specific arguments.
+the generic arguments are pretty much always used.
+TODO: think about setting the generic arguments somewhere else,
+not parsing there, but returning the parses and then only adding
+stuff you want.
+that way it's a bit cleanear, and you also can't delete the obligatory ones
+"""
+def getDefaultArgs():
+ #######################################################################
+ # generic arguments #
+ #######################################################################
+ parser = argparse.ArgumentParser(description='Make a drawing on screen,\
+ watch the robot do it on the whiteboard.',
+ formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+ # TODO this one won't really work but let's leave it here for the future
+ parser.add_argument('--simulation', action=argparse.BooleanOptionalAction,
+ help="whether you are running the UR simulator. \
+ NOTE: doesn't actually work because it's not a physics simulator", \
+ default=False)
+ parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction,
+ help="whether you want to just integrate with pinocchio.\
+ NOTE: doesn't actually work because it's not a physics simulator", \
+ 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=False)
+ 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, 1.0 by default because for dmp. \
+ BE CAREFUL WITH THIS.", default=1.0)
+ parser.add_argument('--max-iterations', type=int, \
+ help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+ #######################################################################
+ # your controller specific arguments #
+ #######################################################################
+ # not applicable here, but leaving it in the case it becomes applicable
+ # it's also in the robot manager even though it shouldn't be
+ parser.add_argument('--past-window-size', type=int, \
+ help="how many timesteps of past data you want to save", default=5)
+ parser.add_argument('--goal-error', type=float, \
+ help="the final position error you are happy with. NOTE: not used here", \
+ default=1e-3)
+ # TODO: test the interaction of this and the overall demo
+ parser.add_argument('--tikhonov-damp', type=float, \
+ help="damping scalar in tiknohov regularization.\
+ This is used when generating the joint trajectory from the drawing.", \
+ default=1e-2)
+ # 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')
+ #############################
+ # dmp specific arguments #
+ #############################
+ parser.add_argument('--temporal-coupling', action=argparse.BooleanOptionalAction, \
+ help="whether you want to use temporal coupling", default=True)
+ parser.add_argument('--kp', type=float, \
+ help="proportial control constant for position errors", \
+ default=1.0)
+ parser.add_argument('--tau0', type=float, \
+ help="total time needed for trajectory. if you use temporal coupling,\
+ you can still follow the path even if it's too fast", \
+ default=5)
+ parser.add_argument('--gamma-nominal', type=float, \
+ help="positive constant for tuning temporal coupling: the higher,\
+ the fast the return rate to nominal tau", \
+ default=1.0)
+ parser.add_argument('--gamma-a', type=float, \
+ help="positive constant for tuning temporal coupling, potential term", \
+ default=0.5)
+ parser.add_argument('--eps-tc', type=float, \
+ help="temporal coupling term, should be small", \
+ default=0.001)
+ parser.add_argument('--alpha', type=float, \
+ help="force feedback proportional coefficient", \
+ default=0.007)
+ # TODO add low pass filtering and make it's parameters arguments too
+ #######################################################################
+ # task specific arguments #
+ #######################################################################
+ # TODO measure this for the new board
+ parser.add_argument('--board-width', type=float, \
+ help="width of the board (in meters) the robot will write on", \
+ default=0.5)
+ parser.add_argument('--board-height', type=float, \
+ help="height of the board (in meters) the robot will write on", \
+ default=0.35)
+ parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
+ help="whether you want to do calibration", default=False)
+ parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
+ help="whether draw a new picture, or use the saved path path_in_pixels.csv", default=True)
+ parser.add_argument('--pick_up_marker', action=argparse.BooleanOptionalAction, \
+ help="""
+ whether the robot should pick up the marker.
+ NOTE: THIS IS FROM A PREDEFINED LOCATION.
+ """, default=True)
+ parser.add_argument('--find-marker-offset', action=argparse.BooleanOptionalAction, \
+ help="""
+ whether you want to do find marker offset (recalculate TCP
+ based on the marker""", default=False)
+ parser.add_argument('--n-calibration-tests', type=int, \
+ help="number of calibration tests you want to run", default=10)
+ parser.add_argument('--clik-goal-error', type=float, \
+ help="the clik error you are happy with", default=1e-2)
+ parser.add_argument('--max-init-clik-iterations', type=int, \
+ help="number of max clik iterations to get to the first point", default=10000)
+ parser.add_argument('--max-running-clik-iterations', type=int, \
+ help="number of max clik iterations between path points", default=1000)
+
+ 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
+
--
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