diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index a0622a16128b2ce42add8a31706266f0bcc84a78..da20eb870fbc3fd125d4166ab038f7b65337fadc 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -30,6 +30,7 @@ def getArgs():
parser.add_argument('--kp', type=float, \
help="proportial control constant for position errors", \
default=1.0)
+ parser.add_argument('--mm-into-board', type=float, help="number of milimiters the path is into the board", default=3.0)
parser.add_argument('--kv', type=float, \
help="damping in impedance control", \
default=0.001)
@@ -70,13 +71,12 @@ ur5: 0.5796 -0.4982 0.0927 -1.1314 2.8725 0.0747
q: -0.5586 -2.3103 -1.1638 -1.2468 1.6492 0.262 0.0 0.0
"""
-def getMarker(args, robot, rotation_matrix, translation_vector):
+def getMarker(args, robot, plane_pose):
# init position is the safe one above starting point of the board
above_starting_write_point = pin.SE3.Identity()
# start 20cm away from the board
above_starting_write_point.translation[2] = -0.2
- transf_bord_to_board = pin.SE3(rotation_matrix, translation_vector)
- above_starting_write_point = transf_bord_to_board.act(above_starting_write_point)
+ above_starting_write_point = plane_pose.act(above_starting_write_point)
compliantMoveL(args, robot, above_starting_write_point)
Tinit = robot.getT_w_e().copy()
q_init = robot.getQ()
@@ -122,7 +122,7 @@ def getMarker(args, robot, rotation_matrix, translation_vector):
#moveL(args, robot, Tinit.copy())
print("got back")
-def findMarkerOffset(args, robot, plane_pose):
+def findMarkerOffset(args, robot : RobotManager, plane_pose : pin.SE3):
"""
findMarkerOffset
---------------
@@ -134,7 +134,6 @@ def findMarkerOffset(args, robot, plane_pose):
"""
above_starting_write_point = pin.SE3.Identity()
above_starting_write_point.translation[2] = -0.2
- plane_pose = pin.SE3(rotation_matrix, translation_vector)
above_starting_write_point = plane_pose.act(above_starting_write_point)
print("going to above plane pose point", above_starting_write_point)
compliantMoveL(args, robot, above_starting_write_point)
@@ -149,7 +148,7 @@ def findMarkerOffset(args, robot, plane_pose):
current_translation = robot.getT_w_e().translation
# i only care about the z because i'm fixing the path atm
# but, let's account for the possible milimiter offset 'cos why not
- marker_offset = np.linalg.norm(translation_vector - current_translation)
+ marker_offset = np.linalg.norm(plane_pose.translation - current_translation)
print("going back")
compliantMoveL(args, robot, above_starting_write_point)
@@ -202,6 +201,7 @@ def controlLoopWriting(args, robot : RobotManager, dmp, tc, i, past_data):
breakFlag = True
# immediatelly stop if something weird happened (some non-convergence)
if np.isnan(vel_cmd[0]):
+ print("GO NAN FROM INTO VEL_CMD!!! EXITING!!")
breakFlag = True
# log what you said you'd log
@@ -236,7 +236,7 @@ def write(args, robot : RobotManager, joint_trajectory):
mtool = robot.getT_w_e(q_given=first_q)
# start a bit above
go_away_from_plane_transf = pin.SE3.Identity()
- go_away_from_plane_transf.translation[2] = -0.002
+ go_away_from_plane_transf.translation[2] = -1 * args.mm_into_board
mtool = mtool.act(go_away_from_plane_transf)
if not args.board_wiping:
compliantMoveL(args, robot, mtool)
@@ -274,11 +274,14 @@ if __name__ == "__main__":
# software setup #
#######################################################################
args = getArgs()
+ assert args.mm_into_board > 0.0 and args.mm_into_board < 5.0
+ args.mm_into_board = args.mm_into_board / 1000
print(args)
clikController = getClikController(args)
robot = RobotManager(args)
if args.pinocchio_only:
robot.q = np.array([ 1.32, -1.40, -1.27, -1.157, 1.76, -0.238, 0.0, 0.0 ]) + np.random.random(8) * 0.1
+ robot._step()
#######################################################################
# drawing a path, making a joint trajectory for it #
@@ -295,7 +298,7 @@ if __name__ == "__main__":
pixel_path = np.genfromtxt(pixel_path_file_path, delimiter=',')
# do calibration if specified
if args.calibration:
- rotation_matrix, translation_vector, q_init = \
+ plane_pose, q_init = \
calibratePlane(args, robot, args.board_width, args.board_height, \
args.n_calibration_tests)
print("finished calibration")
@@ -305,8 +308,6 @@ if __name__ == "__main__":
plane_calib_dict = pickle.load(file)
file.close()
plane_pose = plane_calib_dict['plane_top_left_pose']
- translation_vector = plane_calib_dict['plane_top_left_pose'].translation
- rotation_matrix = plane_calib_dict['plane_top_left_pose'].rotation
q_init = plane_calib_dict['q_init']
# make the path 3D
@@ -326,7 +327,7 @@ if __name__ == "__main__":
print('marker_offset', marker_offset)
# we're going in a bit deeper
if not args.board_wiping:
- path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.003])
+ path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + args.mm_into_board])
#path_points_3D = path_points_3D + np.array([0.0, 0.0, -1 * marker_offset + 0.005])
else:
# old robotweek
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 54aba40f6fec413feaa58e598bd22c1fc9552c7b..d30743d2ab7fb15727a54cb658cc9b92c6d219ed 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,355 +1,242 @@
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-0.01412,1.31427,-1.32875,-1.36211,-1.12073,1.77600,-0.15978
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 5437a6287619ada354b6070fe6a1dc83871e8513..f2435dcadce445d536b0164e242d12ca9a2273fe 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-312.pyc
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diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-312.pyc
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diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-312.pyc
index 4e6126a9fbe330cb962c4cf2245ed8776e8eb631..af096cd0eb3d6119386239959f2086f901c097ba 100644
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diff --git a/python/ur_simple_control/dmp/dmp.py b/python/ur_simple_control/dmp/dmp.py
index 5c3c490cd19f387f09bbc580609642136e98171d..5d2da4b4762b8feca20ca9b93bb177f80fef1886 100644
--- a/python/ur_simple_control/dmp/dmp.py
+++ b/python/ur_simple_control/dmp/dmp.py
@@ -23,7 +23,7 @@ def getDMPArgs(parser):
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)
+ default=10)
parser.add_argument('--gamma-nominal', type=float, \
help="positive constant for tuning temporal coupling: the higher,\
the fast the return rate to nominal tau", \
diff --git a/python/ur_simple_control/util/__pycache__/__init__.cpython-312.pyc b/python/ur_simple_control/util/__pycache__/__init__.cpython-312.pyc
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diff --git a/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc b/python/ur_simple_control/util/__pycache__/calib_board_hacks.cpython-312.pyc
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diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc
index b58f1882fb35dc03e56f929f8a076affb090553c..e5301f4763c035b7f485882b0dc0b704b3e67228 100644
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diff --git a/python/ur_simple_control/util/calib_board_hacks.py b/python/ur_simple_control/util/calib_board_hacks.py
index f753a18a8624f62a5906722954ef47d64a0b0e4a..6282e8a7f98362178c3e806a6197f02abf89e02d 100644
--- a/python/ur_simple_control/util/calib_board_hacks.py
+++ b/python/ur_simple_control/util/calib_board_hacks.py
@@ -172,6 +172,8 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
we sam
"""
handleUserToHandleTCPPose(args, robot)
+ if args.pinocchio_only:
+ robot._step()
q_init = robot.getQ()
Mtool = robot.getT_w_e()
@@ -179,7 +181,7 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
new_pose = copy.deepcopy(init_pose)
R_initial_estimate = Mtool.rotation.copy()
- print("R_initial_estimate", R_initial_estimate)
+ print("initial pose estimate:", Mtool)
R = R_initial_estimate.copy()
go_away_from_plane_transf = pin.SE3.Identity()
@@ -191,7 +193,6 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
# our goal is to align that with board z
speed = np.zeros(6)
speed[2] = 0.02
- print("speed", speed)
positions = []
for i in range(n_tests):
@@ -206,7 +207,7 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
T_w_e = robot.getT_w_e()
print("pin:", *T_w_e.translation.round(4), \
*pin.rpy.matrixToRpy(T_w_e.rotation).round(4))
- print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
+# print("ur5:", *np.array(robot.rtde_receive.getActualTCPPose()).round(4))
positions.append(copy.deepcopy(T_w_e.translation))
if i < n_tests -1:
@@ -282,7 +283,7 @@ def calibratePlane(args, robot : RobotManager, plane_width, plane_height, n_test
log_item = {'plane_top_left_pose': plane_pose, 'q_init': q_init.copy()}
pickle.dump(log_item, log_file)
log_file.close()
- return R, translation, q_init
+ return plane_pose, q_init
# TODO: update for the current year
#if __name__ == "__main__":
diff --git a/python/ur_simple_control/util/grippers/on_robot/twofg.py b/python/ur_simple_control/util/grippers/on_robot/twofg.py
index f6f665f819084a5431b7ae6af16b16a1200a9943..007eb946eb6910442fee7d27b12be6f8a3c56d05 100644
--- a/python/ur_simple_control/util/grippers/on_robot/twofg.py
+++ b/python/ur_simple_control/util/grippers/on_robot/twofg.py
@@ -54,7 +54,8 @@ class TWOFG(AbstractGripper):
self.t_index = 0
self.wait_for_grip = False
self.speed = 10 # [m/s]
- self.gripping_force = 20 # [N]
+ #self.gripping_force = 20 # [N]
+ self.gripping_force = 140 # [N]
self.max_width = self.get_max_exposition()
self.min_width = self.get_min_exposition()
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc
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