From 3ee06d856e7b4b4e20ef3ee2aaa4cd4a2e8a13cf Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Fri, 24 Jan 2025 13:02:07 +0100
Subject: [PATCH] fixed a thing or two
---
python/examples/clik.py | 4 +-
python/examples/drawing_from_input_drawing.py | 4 +-
python/examples/graz/joint_copier_client.py | 4 +-
python/examples/joint_trajectory.csv | 70 +++++++++++++++----
python/examples/path_in_pixels.csv | 70 +++++++++++++++----
5 files changed, 122 insertions(+), 30 deletions(-)
diff --git a/python/examples/clik.py b/python/examples/clik.py
index e6d2587..e16f1ed 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -35,7 +35,7 @@ if __name__ == "__main__":
robot = RobotManager(args)
if args.randomly_generate_goal:
Mgoal = getRandomlyGeneratedGoal(args)
- if args.visualize_manipulator:
+ if args.visualizer:
robot.visualizer_manager.sendCommand({"Mgoal": Mgoal})
else:
Mgoal = robot.defineGoalPointCLI()
@@ -52,7 +52,7 @@ if __name__ == "__main__":
if not args.pinocchio_only:
robot.stopRobot()
- if args.visualize_manipulator:
+ if args.visualizer:
robot.killManipulatorVisualizer()
if args.save_log:
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 612c145..e8f8302 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -254,7 +254,6 @@ if __name__ == "__main__":
args.mm_into_board = args.mm_into_board / 1000
print(args)
robot = RobotManager(args)
- clikController = getClikController(args, robot)
if args.pinocchio_only:
rand_pertb = np.zeros(8)
rand_pertb[:6] = np.random.random(6) * 0.1
@@ -334,6 +333,7 @@ if __name__ == "__main__":
it has to look reasonable, otherwise we can't run it!
"""
)
+ clikController = getClikController(args, robot)
joint_trajectory = clikCartesianPathIntoJointPath(args, robot, path, \
clikController, q_init, plane_pose)
if args.viz_test_path:
@@ -358,7 +358,7 @@ if __name__ == "__main__":
if args.save_log:
robot.log_manager.saveLog()
- if args.visualize_manipulator:
+ if args.visualizer:
robot.killManipulatorVisualizer()
if args.save_log:
diff --git a/python/examples/graz/joint_copier_client.py b/python/examples/graz/joint_copier_client.py
index cd95e82..0ed3acb 100644
--- a/python/examples/graz/joint_copier_client.py
+++ b/python/examples/graz/joint_copier_client.py
@@ -34,8 +34,8 @@ def controlLoopExternalQ(robot: RobotManager, receiver: ProcessManager, i, past_
q_desired = receiver.getData()["q"]
q_error = q_desired - q
- K = 120
- qd_cmd = K * q_error * robot.dt
+ K = 10
+ qd_cmd = K * q_error
robot.sendQd(qd_cmd)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 50e963a..c91cde2 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,12 +1,58 @@
-0.00000,0.89399,-1.14443,-1.59870,-1.19904,2.09084,-0.46538
-0.90909,0.85737,-1.15854,-1.59128,-1.20634,2.11545,-0.49549
-1.81818,0.78072,-1.22087,-1.54384,-1.22630,2.16669,-0.56226
-2.72727,0.72981,-1.29410,-1.47091,-1.25266,2.19980,-0.60946
-3.63636,0.72173,-1.30816,-1.45575,-1.25825,2.20497,-0.61719
-4.54545,0.71453,-1.32044,-1.44268,-1.26311,2.20956,-0.62412
-5.45455,0.70929,-1.32971,-1.43271,-1.26682,2.21288,-0.62919
-6.36364,0.70645,-1.33502,-1.42687,-1.26899,2.21468,-0.63196
-7.27273,0.70331,-1.34106,-1.42016,-1.27147,2.21666,-0.63503
-8.18182,0.70057,-1.34709,-1.41319,-1.27403,2.21839,-0.63772
-9.09091,0.69463,-1.36301,-1.39376,-1.28104,2.22213,-0.64359
-10.00000,0.69461,-1.36306,-1.39370,-1.28106,2.22214,-0.64361
+0.00000,0.45874,-1.08962,-1.51206,-1.38620,2.51445,-0.74052
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+10.00000,0.43940,-1.18671,-1.37581,-1.44267,2.52506,-0.75952
diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index fd83f22..e556fcf 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,12 +1,58 @@
-0.20381,0.36380
-0.25473,0.36700
-0.35332,0.38197
-0.44758,0.42152
-0.46491,0.43007
-0.48116,0.43434
-0.49308,0.43862
-0.49958,0.44183
-0.50716,0.44503
-0.51366,0.45038
-0.53100,0.46320
-0.53100,0.46320
+0.27487,0.52681
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+0.27191,0.53863
+0.27487,0.54651
+0.28226,0.55964
+0.29409,0.57409
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+0.31479,0.59641
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--
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