From 3a88c9a732edcc8320cdbd5b23a47af5bae3fc0c Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 10 Dec 2024 13:19:45 +0100
Subject: [PATCH] hopefully have urdf for yumi

---
 .../__pycache__/__init__.cpython-311.pyc      | Bin 443 -> 488 bytes
 .../__pycache__/managers.cpython-311.pyc      | Bin 42158 -> 57066 bytes
 .../clik/__pycache__/__init__.cpython-311.pyc | Bin 219 -> 248 bytes
 .../dmp/__pycache__/__init__.cpython-311.pyc  | Bin 218 -> 246 bytes
 .../dmp/__pycache__/dmp.cpython-311.pyc       | Bin 16850 -> 20199 bytes
 python/ur_simple_control/managers.py          |  15 +++++++++++++--
 .../util/__pycache__/__init__.cpython-311.pyc | Bin 219 -> 219 bytes
 .../__pycache__/get_model.cpython-311.pyc     | Bin 4180 -> 16341 bytes
 .../__pycache__/logging_utils.cpython-311.pyc | Bin 5911 -> 7294 bytes
 python/ur_simple_control/util/get_model.py    |   1 +
 .../__pycache__/visualize.cpython-311.pyc     | Bin 18242 -> 19266 bytes
 11 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/python/ur_simple_control/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/__pycache__/__init__.cpython-311.pyc
index e6536f859f51b8b8a17c0032e2d11854161023ad..83e8dc1caa549a0c48d4b1b555bf9f81c9281138 100644
GIT binary patch
delta 182
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delta 140
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diff --git a/python/ur_simple_control/__pycache__/managers.cpython-311.pyc b/python/ur_simple_control/__pycache__/managers.cpython-311.pyc
index 18f3958bb1c315fff9b9f78273c15d57a03f5cf6..a9cb9681827fd5bf80a51b5ad0c1febe78fd9923 100644
GIT binary patch
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diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-311.pyc
index 47dfd580761c955ca39175dd03a865d137c0bcb2..22beafda9e5a29c24a3dc6f2ff7234ca612005bd 100644
GIT binary patch
delta 128
zcmcc3_=C}JIWI340|NuY^zP7f69xu`#~=<2GeH@j`9LZdQW#Pga~MJxQka4nG?`yA
zGB7Y`GTvg;^3!Cz#gd$pnZ0tNWuqns0|Ns{s#u(Xf#Cx)BO~Jt2H^{+sECb$fdK&O
Cp%``m

delta 99
zcmeytc$?93IWI340|Ntto5`P45d9cLz%V0}@tKW*fnhpB3PUi1CZpd<h9V{ghKYWS
eimVI_3?Mbd{0s~XAD9^#89y+<h$3bN1_l5k%nr{0

diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-311.pyc
index 94aa9adee31a8c24a5d1149f612b7a8a46762036..dd510be1a758c41f336d6bf9ef6dfa661f87a3c4 100644
GIT binary patch
delta 127
zcmcb`_>IwbIWI340|NttMzeLgFara_V-N?1nV^i%d<+Z>(-~42QW$d>LKsq*f*CZK
zUotW<FlaK~V$|}}WW2?kl3TEHqGf|72Ll5GNTyhvfq~%zGb1D84F;hLsHljIfq?-4
Dc<mQf

delta 99
zcmeyyc#F|;IWI340|Ntto5`P45d9cLz%V0}@tKW*fnhpB3PUi1CZpd<h9V{ghKarn
eimVI_3?Mbd{0s~XAD9^#89y+<h$3bN1_l5jUJl9t

diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-311.pyc
index ac6f7a73897befd20cabe6dae3478b5641c2b3b0..c5479ed52b6db36c9b993efa9e233fa29bc93cf1 100644
GIT binary patch
delta 5538
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 42f12c0..f3e8679 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -13,7 +13,7 @@ from ur_simple_control.util.grippers.robotiq.robotiq_gripper import RobotiqGripp
 from ur_simple_control.util.grippers.on_robot.twofg import TWOFG
 import copy
 import signal
-from ur_simple_control.util.get_model import get_model, heron_approximation, heron_approximationDD, getGripperlessUR5e, mir_approximation
+from ur_simple_control.util.get_model import get_model, heron_approximation, heron_approximationDD, getGripperlessUR5e, mir_approximation, get_yumi_model
 from collections import deque
 from ur_simple_control.visualize.visualize import plotFromDict, realTimePlotter, manipulatorVisualizer
 from ur_simple_control.util.logging_utils import LogManager
@@ -86,7 +86,7 @@ def getMinimalArgParser():
     #################################################
     parser.add_argument('--robot', type=str, \
             help="which robot you're running or simulating", default="ur5e", \
-            choices=['ur5e', 'heron', 'heronros', 'gripperlessur5e', 'mirros'])
+            choices=['ur5e', 'heron', 'heronros', 'gripperlessur5e', 'mirros', 'yumi'])
     parser.add_argument('--simulation', action=argparse.BooleanOptionalAction, \
             help="whether you are running the UR simulator", default=False)
     parser.add_argument('--robot-ip', type=str, 
@@ -286,6 +286,9 @@ class ControlLoopManager:
                 if self.robot_manager.robot_name == "heron":
                     T_base = self.robot_manager.data.oMi[1]
                     self.robot_manager.visualizer_manager.sendCommand({"T_base" : T_base})
+#                if self.robot_manager.robot_name == "yumi":
+#                    T_base = self.robot_manager.data.oMi[1]
+#                    self.robot_manager.visualizer_manager.sendCommand({"T_base" : T_base})
 
             if self.args.real_time_plotting:
                 # don't put new stuff in if it didn't handle the previous stuff.
@@ -434,6 +437,9 @@ class RobotManager:
         if self.robot_name == "gripperlessur5e":
             self.model, self.collision_model, self.visual_model, self.data = \
                  getGripperlessUR5e()
+        if self.robot_name == "yumi":
+            self.model, self.collision_model, self.visual_model, self.data = \
+                 get_yumi_model()
 
         # create log manager if we're saving logs
         if args.save_log:
@@ -879,6 +885,11 @@ class RobotManager:
             else:
                 self.v_q = qd_cmd
                 self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
+
+        if self.robot_name == "yumi":
+            qd_cmd = np.clip(qd, -1 * self.model.velocityLimit, self.model.velocityLimit)
+            self.v_q = qd_cmd
+            self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
             
 
 
diff --git a/python/ur_simple_control/util/__pycache__/__init__.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/__init__.cpython-311.pyc
index 73ad86e2073753e1f862d0c21f332c78f73adcef..dde9762240beb46abb3d77d92ef2770b4465aec4 100644
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diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-311.pyc
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diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-311.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-311.pyc
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diff --git a/python/ur_simple_control/util/get_model.py b/python/ur_simple_control/util/get_model.py
index 5383e5b..7d9cdc2 100644
--- a/python/ur_simple_control/util/get_model.py
+++ b/python/ur_simple_control/util/get_model.py
@@ -169,6 +169,7 @@ def get_heron_model():
 def get_yumi_model():
     
     urdf_path_relative = files('ur_simple_control.robot_descriptions').joinpath('yumi.urdf')
+    urdf_path_absolute = os.path.abspath(urdf_path_relative)
     #mesh_dir = files('ur_simple_control')
     #mesh_dir_absolute = os.path.abspath(mesh_dir)
     #mesh_dir_absolute = "/home/gospodar/lund/praxis/software/ros/ros-containers/home/heron_description/MIR_robot"
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc
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