fixed a thing or two

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:

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:

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)
 

python/examples/joint_trajectory.csv

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python/examples/path_in_pixels.csv

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