From 2f26f254a40404802183e16793ddb4a94f8c52cc Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Fri, 30 Aug 2024 11:05:42 +0200
Subject: [PATCH] just added 2 todos
---
README.md | 2 ++
TODOS_2024-03-23 | 12 +++++-------
python/README.md | 2 ++
python/examples/point_impedance_control.py | 1 -
4 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/README.md b/README.md
index e1fb325..4ca8353 100644
--- a/README.md
+++ b/README.md
@@ -87,6 +87,8 @@ Here is a checklist of what to do together with the key remarks.
files to make clutter and cause confusion.
- the pyproject.toml actually brakes local install so i'm just keeping it out for now. sweet jesus
what a mess
+- instead of using a debug argument and ifs for prints,
+ use built-in python logging
#TODO: write instruction for extending the library to new robots
-------------
diff --git a/TODOS_2024-03-23 b/TODOS_2024-03-23
index e9c3b94..3542775 100644
--- a/TODOS_2024-03-23
+++ b/TODOS_2024-03-23
@@ -1,15 +1,13 @@
in order of priority
--------------------
1. real-time plotting (need to see what's happening as it's happening,
- this is here primarily to aid in debugging)
----> have a list of what's possible to plot and then select what's selected
-2. debug dmp end-of-trajectory shennanigans
-3. implement compliantMoveL
-4. fix getMarkerOffset
+ this is here primarily to aid in debugging) - DONE
+---> have a list of what's possible to plot and then select what's selected - TODO make logging smoother and uniform accross code
+2. debug dmp end-of-trajectory shennanigans - DONE (at least mostly)
+3. implement compliantMoveL - DONE
+4. fix getMarkerOffset - DONE
5. add waypoints to marker pick up
6. fix anything that looks problematic in drawing
7. switch to robot_manager.step() to ensure you're not double-computing things
8. implement cartesian dmp
9. faster visualizing (process in a different thread)
-
-
diff --git a/python/README.md b/python/README.md
index 2dcfa44..d638db8 100644
--- a/python/README.md
+++ b/python/README.md
@@ -17,6 +17,8 @@ so not terribly convenient. it will get fixed in a future ur_rtde release tho
this to work than to re-do the same functionality from scratch.
and you won't really be using it too much anyway let's be real. AND ALSO,
if you ditch your shitty integration for pinocchio's it will be faster.
+- use logging instead of a debug flag (you're reinventing the wheel and it's also ugly)
+- add types to everything, check them with mypy
# installation
------------
diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index d48ea38..9a68dc1 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -255,7 +255,6 @@ def controlLoopPointImpedance(q_init, controller, robot, i, past_data):
-# TODO: implement
def controlLoopCartesianPointImpedance(Mtool_init, clik_controller, robot, i, past_data):
breakFlag = False
# TODO rename this into something less confusing
--
GitLab