From 475a53898055a075137ffcab893b6379803461d3 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Thu, 21 Mar 2024 14:20:21 +0100
Subject: [PATCH] commiting before creating a branch to do some spicy rewrites

---
 python/convenience_tool_box/fts.png           |  Bin 397075 -> 383429 bytes
 .../convenience_tool_box/measuring_stick.py   |    2 +-
 python/examples/drawing_from_input_drawing.py |   68 +-
 python/examples/joint_trajectory.csv          | 6862 +++++++++++------
 python/examples/path_in_pixels.csv            |  780 +-
 .../__pycache__/managers.cpython-311.pyc      |  Bin 17187 -> 17146 bytes
 .../clik_trajectory_following.cpython-311.pyc |  Bin 3941 -> 3894 bytes
 .../clik/clik_trajectory_following.py         |    5 +-
 .../dmp/__pycache__/dmp.cpython-311.pyc       |  Bin 15425 -> 15441 bytes
 python/ur_simple_control/dmp/dmp.py           |    2 +-
 python/ur_simple_control/managers.py          |    2 +-
 .../visualize/pin_to_vedo_plot_util.py        |   78 +
 .../visualize/vedo_manipulator.py             |  236 +
 13 files changed, 5196 insertions(+), 2839 deletions(-)
 create mode 100644 python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
 create mode 100644 python/ur_simple_control/visualize/vedo_manipulator.py

diff --git a/python/convenience_tool_box/fts.png b/python/convenience_tool_box/fts.png
index 7b3f302d2d66ef6e41abfeafdd890bb0f0526104..de2bbf01f170eeaa4f5228a367bd659b3a42a626 100644
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diff --git a/python/convenience_tool_box/measuring_stick.py b/python/convenience_tool_box/measuring_stick.py
index 189bbe8..c410bf2 100644
--- a/python/convenience_tool_box/measuring_stick.py
+++ b/python/convenience_tool_box/measuring_stick.py
@@ -14,7 +14,7 @@ from ur_simple_control.clik.clik_point_to_point import get_args
 
 def handler(signum, frame):
     print('i will end freedrive and exit')
-    rtde_control.endFreedriveMode()
+    robot.rtde_control.endFreedriveMode()
     exit()
 
 args = get_args()
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index eb98e6a..35e0e69 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -21,7 +21,7 @@ from ur_simple_control.util.draw_path import drawPath
 from ur_simple_control.dmp.dmp import DMP, NoTC,TCVelAccConstrained 
 # TODO merge these clik files as well, they don't deserve to be separate
 # TODO but first you need to clean up clik.py as specified there
-from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact
+from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact, controlLoopClik
 from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane, clikCartesianPathIntoJointPath
 from ur_simple_control.managers import ControlLoopManager, RobotManager
 from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
@@ -112,8 +112,8 @@ def getArgs():
             default=0.001)
     parser.add_argument('--alpha', type=float, \
             help="force feedback proportional coefficient", \
-            #default=0.007)
-            default=0.05)
+            default=0.01)
+            #default=0.05)
     parser.add_argument('--beta', type=float, \
             help="low-pass filter beta parameter", \
             default=0.01)
@@ -130,6 +130,8 @@ def getArgs():
             help="height of the board (in meters) the robot will write on", \
             #default=0.35)
             default=0.25)
+    # TODO: add axis direction too!!!!!!!!!!!!!!!!!
+    # and change the various offsets accordingly
     parser.add_argument('--board-axis', type=str, \
             choices=['z', 'y'], \
             help="(world) axis (direction) in which you want to search for the board", \
@@ -159,6 +161,8 @@ def getArgs():
     if args.gripper and args.simulation:
         raise NotImplementedError('Did not figure out how to put the gripper in \
                 the simulation yet, sorry :/ . You can have only 1 these flags right now')
+    if args.calibration or args.pick_up_marker:
+        args.gripper = True
     return args
 
 # go and pick up the marker
@@ -188,7 +192,7 @@ def getMarker(args, robot):
 
     # slighly up from goal to not hit marker weirdly
     TgoalUP = Tgoal.copy() 
-    TgoalUP.translation += np.array([0,0,0.1])
+    TgoalUP.translation += np.array([0,0,0.2])
 
     # instantiate controller
     clik_controller = getClikController(args)
@@ -310,13 +314,21 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
     #Z = np.diag(np.array([0.6, 0.6, 1.0, 0.5, 0.5, 0.5]))
     #Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
     #Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
-    Z = np.diag(np.array([0.0, 0.0, 2.0, 0.0, 0.0, 0.0]))
+    #Z = np.diag(np.array([0.0, 0.0, 2.0, 0.0, 0.0, 0.0]))
+#    if args.board_axis == 'z':
+#        Z = np.diag(np.array([0.0, 0.0, 2.0, 1.0, 1.0, 1.0]))
+#    if args.board_axis == 'y':
+#        Z = np.diag(np.array([0.0, 1.0, 0.0, 1.0, 1.0, 1.0]))
+    Z = np.diag(np.array([0.0, 0.0, 2.0, 1.0, 1.0, 1.0]))
     #Z = np.diag(np.ones(6))
     #Z = np.diag(np.array([0.1, 0.1, 1.0, 0.1, 0.1, 0.1]))
 
     #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
     wrench = robot.getWrench()
     wrench = wrench - wrench_offset
+    # deepcopy for good coding practise (and correctness here)
+    save_past_dict['wrench'] = copy.deepcopy(wrench)
+    # rolling average
     #wrench = np.average(np.array(past_data['wrench']), axis=0)
 
     # first-order low pass filtering instead
@@ -332,11 +344,8 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
     wrench = mapping.T @ wrench
 
     wrench = Z @ wrench
-    # deepcopy for good coding practise (and correctness here)
-    save_past_dict['wrench'] = copy.deepcopy(wrench)
-    # rolling average
     if i % 100 == 0:
-        print(wrench)
+        print(*wrench.round(1))
     pin.forwardKinematics(robot.model, robot.data, q)
     J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
     dq = robot.getQd()[:6].reshape((6,1))
@@ -400,6 +409,7 @@ if __name__ == "__main__":
         print(q_init)
         print(rotation_matrix)
         print(translation_vector)
+        exit()
     else:
         # TODO: save this somewhere obviously
         # also make it prettier if possible
@@ -409,10 +419,19 @@ if __name__ == "__main__":
         #rotation_matrix = np.array([[1.  ,       0.         ,0.00336406],
         #                            [-0.        , -0.00294646,  0.99999   ],
         #                            [ 0.        , -0.99999  ,  -0.00294646]])
-        q_init = robot.getQ()
-        Mtool = robot.getMtool()
-        translation_vector = Mtool.translation.copy()
-        rotation_matrix = Mtool.rotation.copy()
+        translation_vector = np.array([0.21997482, 0.41345861, 0.7314353])
+        rotation_matrix = np.array([
+                                    [ 1.,          0.,          0.01792578],
+                                    [ 0.,         -0.58973106,  0.80740073],
+                                    [ 0.,         -0.80740073, -0.58973106]]) 
+        q_init = np.array([ 1.33085752e+00, -1.44578363e+00, -1.21776414e+00, -1.17214762e+00,   1.75202715e+00, -1.94359605e-01,  2.94117647e-04,  2.94117647e-04])
+        #q_init = robot.getQ()
+        #Mtool = robot.getMtool()
+        #rotation_matrix = np.array([
+        #                        [-1, 0, 0],
+        #                        [0, 0, -1],
+        #                        [0, -1, 0]])
+        #translation_vector = Mtool.translation.copy()
 
     # make the path 3D
     path = map2DPathTo3DPlane(pixel_path, args.board_width, args.board_height)
@@ -450,9 +469,9 @@ if __name__ == "__main__":
         # and this is the best number to change to get it to work [upside_down_emoji]
         # but this is very close
         #path = path + np.array([0.0, 0.0, -0.0785])
-        path = path + np.array([0.0, 0.0, -0.1043])
+        #path = path + np.array([0.0, 0.0, -0.1043])
         #path = path + np.array([0.0, 0.0, -0.1000])
-        #path = path + np.array([0.0, 0.0, -0.1573])
+        path = path + np.array([0.0, 0.0, -0.0903])
         #path = path + np.array([0.0, 0.2938, 0.0])
 
     # and if you don't want to draw new nor calibrate, but you want the same path
@@ -526,15 +545,17 @@ if __name__ == "__main__":
     first_q = np.array(first_q)
     #pin.forwardKinematics(robot.model, robot.data, first_q)
     mtool = robot.getMtool(q_given=first_q)
-    mtool.translation[1] = mtool.translation[1] - 0.0035
-    #mtool.translation[1] = mtool.translation[1] - 0.04
+    #mtool.translation[1] = mtool.translation[1] - 0.0035
+    mtool.translation[1] = mtool.translation[1] - 0.012
     print('going to starting write position')
+    # TODO: write a compliantMoveL - be careful that everything is in the body frame
+    # since your jacobian is the body jacobian!!!
     moveL(args, robot, mtool)
-    #moveL
 
     #moveJ(args, robot, dmp.pos.reshape((6,)))
     # and now we can actually run
     log_dict, final_iteration = loop_manager.run()
+    #loop_manager.stopHandler(None, None)
     mtool = robot.getMtool()
     print("move a bit back")
     if args.board_axis == 'z' or args.board_axis == 'y':
@@ -543,12 +564,13 @@ if __name__ == "__main__":
 #        mtool.translation[2] = mtool.translation[2] - 0.1
     moveL(args, robot, mtool)
 
-    plotFromDict(log_dict, args)
-    robot.stopHandler(None, None)
-    robot.stopHandler(None, None)
-    robot.stopHandler(None, None)
+
+    #plotFromDict(log_dict, args)
+    loop_manager.stopHandler(None, None)
+    #robot.stopHandler(None, None)
+    #robot.stopHandler(None, None)
     # plot results
-    plotFromDict(log_dict, args)
+    #plotFromDict(log_dict, args)
     # TODO: add some math to analyze path precision
 
     
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 7ebe7e4..2dbab5e 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,2512 +1,4350 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 9fb1c44..a55a6f8 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,298 +1,482 @@
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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
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diff --git a/python/ur_simple_control/clik/clik_trajectory_following.py b/python/ur_simple_control/clik/clik_trajectory_following.py
index 63c2779..c57b099 100644
--- a/python/ur_simple_control/clik/clik_trajectory_following.py
+++ b/python/ur_simple_control/clik/clik_trajectory_following.py
@@ -9,6 +9,7 @@
 import numpy as np
 import pinocchio as pin
 import copy
+from ur_simple_control.managers import ControlLoopManager
 
 #######################################################################
 #                    map the pixels to a 3D plane                     #
@@ -129,9 +130,7 @@ def clikCartesianPathIntoJointPath(path, args, robot, \
         else:
             if i == args.max_running_clik_iterations - 1:
                 print("DID NOT CONVERGE -- exiting")
-                robot.stopHandler(None, None)
-                robot.stopHandler(None, None)
-                robot.stopHandler(None, None)
+                ControlLoopManager.stopHandler(None, None)
                 exit()
 
     ##############################################
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 58f7080212cb9966c81870f3342bd6193b1976c6..b69c2546b2f2d3fb8359d3d6fa2b74bce0dfc2e6 100644
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diff --git a/python/ur_simple_control/dmp/dmp.py b/python/ur_simple_control/dmp/dmp.py
index 2741bd4..16f6f15 100644
--- a/python/ur_simple_control/dmp/dmp.py
+++ b/python/ur_simple_control/dmp/dmp.py
@@ -231,7 +231,7 @@ class TCVelAccConstrained:
         # Nominal bound
         taud_min_nominal = (dmp.tau0 - dmp.tau) / dt
 
-        taud_min = np.max((taud_min_a, taud_min_v, taud_min_f, taud_min_nominal))
+        taud_min = np.max((taud_min_a, taud_min_v, taud_min_f[0], taud_min_nominal))
 
         # Base update law
         ydd_bar = dmp.h() / (dmp.tau**2 * self.a_max)
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index c20166a..4fba119 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -207,7 +207,7 @@ class ControlLoopManager:
         self.robot_manager.rtde_control.freedriveMode()
         plotFromDict(self.log_dict, self.final_iteration, self.args)
         self.robot_manager.rtde_control.endFreedriveMode()
-        exit()
+        #exit()
 
 """
 robotmanager:
diff --git a/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py b/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
new file mode 100644
index 0000000..d400cf7
--- /dev/null
+++ b/python/ur_simple_control/visualize/pin_to_vedo_plot_util.py
@@ -0,0 +1,78 @@
+import numpy as np
+import vedo
+import pinocchio as pin
+
+
+def drawBoxFromSE3(frame : pin.SE3, box_shape : list) -> vedo.Box:
+    objectt = vedo.Box(pos=frame.translation, length=box_shape[0], width=box_shape[1], height=box_shape[2], alpha=0.5)
+    angleAxis = pin.AngleAxis()
+    # they fucked in because they want to accept return value as argument
+    # which is no pythonic
+    # but they also then return it as well lmao
+    axx = pin.AngleAxis.fromRotationMatrix(angleAxis, frame.rotation)
+    #print(angleAxis)
+    #print(np.linalg.norm(angleAxis.axis))
+    objectt.rotate(angleAxis.angle, axis=angleAxis.axis, point=frame.translation, rad=True)
+    #objectt.rotate(0.5, axis=[1,0,0], point=frame.translation, rad=True)
+    return objectt
+
+def updateBoxFromSE3(box : vedo.Box, previous_pose : pin.SE3, new_pose : pin.SE3):
+    # has to be passed as argument because non-pythonic original C++ code
+    angleAxis = pin.AngleAxis()
+    # groups yo
+    difference = new_pose.act(previous_pose.inverse())
+    axx = pin.AngleAxis.fromRotationMatrix(angleAxis, difference.rotation)
+    box.rotate(angleAxis.angle, axis=angleAxis.axis, point=previous_pose.translation, rad=True)
+    #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=new_pose.translation, rad=True)
+    #box.rotate(angleAxis.angle, axis=angleAxis.axis, point=difference.translation, rad=True)
+    box.pos(new_pose.translation)
+
+def updateFrameArrowsFromSE3(arrows : list[vedo.Arrow], frame : pin.SE3):
+    for i in range(0,3):
+        x = frame.translation[0] + frame.rotation[0,i]
+        y = frame.translation[1] + frame.rotation[1,i]
+        z = frame.translation[2] + frame.rotation[2,i]
+        arrows[i].base = frame.translation
+        arrows[i].top = np.array([x,y,z])
+
+def drawSE3AsFrame(frame : pin.SE3, 
+        text : str) -> vedo.Arrows:
+    #print(text)
+    #print(frame)
+    colors = ['r', 'g', 'b']
+    arrows = []
+    #print(frame.rotation)
+    scaling = 0.02
+    for i in range(0,3):
+        x = frame.translation[0] + frame.rotation[0,i] * scaling 
+        y = frame.translation[1] + frame.rotation[1,i] * scaling
+        z = frame.translation[2] + frame.rotation[2,i] * scaling
+        arrows.append(vedo.Arrow(frame.translation, np.array([x,y,z]), c=colors[i]))
+
+    text_plot = vedo.shapes.Text3D(text, pos=frame.translation, s=0.02)
+    return arrows, text_plot
+
+def setContact1InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
+    c1.rotation = pin.rpy.rpyToMatrix(0,np.pi,0)
+    c1.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], 0.5*box_dimensions[2]])
+    return c1
+
+def setContact2InBodyFrame(b : pin.SE3(), box_dimensions : np.ndarray) -> pin.SE3:
+    c2.rotation = pin.rpy.rpyToMatrix(0,0,0)
+    c2.translation = np.array([0.2*box_dimensions[0], 0.3*box_dimensions[1], -0.5*box_dimensions[2]])
+    return c1
+
+# there will be no angular velocity drawing,
+# you can watch the b frame spin.
+# but we do need the linear arrows
+def drawBodyTwist(T_w_b : pin.SE3, v_b : pin.Motion) -> vedo.Arrow:
+    color = 'black'
+    v_s = T_w_b.act(v_b)
+    # this should be global or an argument or something
+    # or calculate it based on the box size, whatever
+    scaling = 0.02
+    arrow = (v_s.linear / np.linalg.norm(v_s.linear)) * scaling
+    arrow_v = vedo.Arrow(T_w_b.translation, arrow , c=color)
+    return arrow_v
+
+
diff --git a/python/ur_simple_control/visualize/vedo_manipulator.py b/python/ur_simple_control/visualize/vedo_manipulator.py
new file mode 100644
index 0000000..5c3972b
--- /dev/null
+++ b/python/ur_simple_control/visualize/vedo_manipulator.py
@@ -0,0 +1,236 @@
+"""
+the idea here is that the all the robot-math
+is handled by pinocchio and all the plotting is 
+done with vedo. we're just making the 3D plot here.
+
+there are 2 modes of operation, and ideally they can be 
+handled in the same implementation with a few if statements:
+    1. visualization from a log file
+    2. real-time visualization
+what's written in the 
+"""
+
+import numpy as np
+import vedo
+import pinocchio as pin
+import time
+from ur_simple_control.visualize.pin_to_vedo_plot_util import *
+from friction import ReducedFrictionModel
+from multiprocessing import Process
+from scipy.integrate import solve_ivp
+
+
+#######################################################################
+#                       IMPLEMENT THIS ACTUALLY                       #
+#######################################################################
+
+
+if __name__ == "__main__":
+    args = getArgs()
+    # change this after you add the manipulator
+    box_dimensions = [args.box_length, args.box_width, args.box_height]
+
+    ###########################################
+    #  vedo instantiation, frame definitions  #
+    ###########################################
+    vedo.settings.use_depth_peeling = True
+
+    # need to manually seed lmao
+    #pin.seed(int(time.time()))
+    T_w_J = pin.SE3()
+    # TODO: check how friction behaves when we're perpendicular to gravity
+    T_w_J.setIdentity()
+    T_w_J.translation = np.array([1,2,3])
+    T_w_J.setRandom()
+    #T_w_J.rotation = pin.rpy.rpyToMatrix(0,np.pi/2,0)
+
+
+    model, data, OBJECT_JOINT_ID = getPlanarJointModel(args, T_w_J, box_dimensions)
+    q_init = pin.randomConfiguration(model)
+    #theta = np.random.random() * 2 * np.pi
+    theta = 0.345321
+    q_init[0] = 0.1
+    q_init[1] = 0.1
+    q_init[2] = np.cos(theta)
+    q_init[3] = np.sin(theta)
+
+    v_b_se2 = np.array([0.1, 0.0, 0.5])
+    v_b_se3 = pin.Motion(np.array([v_b_se2[0], v_b_se2[1], 0]), np.array([0,0,v_b_se2[2]]))
+    print("v_b_se2", v_b_se2)
+    #print("pin.exp3(v)", pin.exp3(v))
+    #exit()
+    #tau = np.ones((model.nv)) * 0.1
+    #a = pin.aba(model, data, q, v, tau)
+    # tau_q_control does not exist in reality, those are the actuators
+    # of the planar joint
+    #tau_q_control = np.zeros((model.nv)) 
+
+    pin.forwardKinematics(model, data, q_init)
+    T_w_b_init  = data.oMi[1].copy()
+
+    q_pin = pin.integrate(model, q_init, v_b_se2)
+    print("q_pin:", q_pin)
+    pin.forwardKinematics(model, data, q_pin)
+    pin.updateFramePlacements(model, data)
+#    for vvv in data.v:
+#        print(vvv)
+#    for fr in data.oMf:
+#        print(fr)
+    T_w_b_pin = data.oMi[1].copy()
+
+    q_3 = np.zeros(3)
+    q_3[0] = q_init[0]
+    q_3[1] = q_init[1]
+    q_3[2] = theta
+    print("q_3", q_3)
+
+    in_SE3 = False
+
+########################################################
+## JUST USE THE EXP FOR THE LOVE OF GOD
+#############################################3333333
+#    omega = v[2]
+#    cv = np.cos(omega)
+#    sv = np.sin(omega)
+#    R_omega = np.array([[cv, -1*sv], [sv, cv]])
+#    vcross = np.array([-1*v[1], v[0]])
+#    vcross -= -v[:2]*R_omega[:,0] + v[:2]*R_omega[:,1]
+#    vcross /= omega
+#    t = vcross.copy()
+#    T_next = np.hstack((R_omega, t.reshape((2,1))))
+#    T_next = np.vstack((T_next, np.array([0,0,1]).reshape((1,3))))
+#    # let's try inverse
+#    #T_next = np.hstack((R_omega.T, -1*R_omega.T @ t.reshape((2,1))))
+#    #T_next = np.vstack((T_next, np.array([0,0,1]).reshape((1,3))))
+#    print("T_next", T_next)
+
+#    c_theta = np.cos(theta)
+#    s_theta = np.sin(theta)
+#    R_theta = np.array([[c_theta, -1*s_theta], [s_theta, c_theta]])
+#    T_J_b_se2 = np.hstack((R_theta, np.array([q_3[0],q_3[1]]).reshape((2,1))))
+#    T_J_b_se2 = np.vstack((T_J_b_se2, np.array([0,0,1]).reshape((1,3))))
+
+#    print("T_J_b_se2", T_J_b_se2)
+#    T_J_b_se2 = T_next @ T_J_b_se2
+#    print("T_J_b_se2", T_J_b_se2)
+
+#    T_next_SE3 = pin.exp(v_b_se3)
+#    T_next_SE2 = np.hstack((T_next_SE3.rotation[:2,:2], T_next_SE3.translation[:2].reshape((2,1))))
+#    T_next_SE2 = np.vstack((T_next_SE2, np.array([0,0,1]).reshape((1,3))))
+    
+    # wrogn notation last term lel
+#    T_J_b_SE2 = T_next_SE2 @ T_J_b_se2
+#    q_3[0] = T_J_b_SE2[0,2]
+#    q_3[1] = T_J_b_SE2[1,2]
+#    # not good but w/3
+#    q_3[2] = np.arccos(T_J_b_SE2[0,0])
+
+    # this changes the no rotation problem
+    #q_3[2] = omega
+
+    #print("q_3 + v_b_se2", q_3)
+#################
+#    q_euler = np.zeros(4)
+#    q_euler[0] = q_3[0] #+ np.cos(v[2]) 
+#    q_euler[1] = q_3[1] #+ np.exp(v[2]) 
+#    q_euler[2] = np.cos(q_3[2])
+#    q_euler[3] = np.sin(q_3[2])
+#    print("q_euler:", q_euler)
+#    pin.forwardKinematics(model, data, q_euler)
+    #T_w_b_euler = data.oMi[1].copy()
+    #T_w_b_euler = pin.exp6(v_b_se3).act(T_w_J)
+    #T_w_b_euler = pin.exp6(v_twist).act(T_w_b_init)
+#    T_J_b = T_w_J.actInv(T_w_b_init)
+    #print(T_J_b)
+    #T_w_b_euler = pin.exp6(T_J_b.act(v_twist)).act(T_w_b_init)
+    # THIS IS THE ONE!!!!!!!!!!!!!!!!!!!
+    if in_SE3:
+        print("SE3 version")
+        v_w_se3 = T_w_b_init.act(v_b_se3)
+        print(v_w_se3)
+        T_w_next_SE3 = pin.exp6(v_w_se3)
+        print(T_w_next_SE3)
+        T_w_b_euler = T_w_next_SE3.act(T_w_b_init)
+    #T_w_b_euler = pin.exp6(v_twist).act(T_w_b_init)
+    #T_J_b_next_euler = pin.exp6(v_twist).act(T_J_b)
+    #T_w_b_euler = T_w_J.act(T_J_b_next_euler)
+    # let's try to get this within J and SE(2)
+    # get v_b to v_J
+    else:
+        print("SE2 version")
+        c_theta = np.cos(theta)
+        s_theta = np.sin(theta)
+        R_theta = np.array([[c_theta, -1*s_theta], [s_theta, c_theta]])
+        # needed later
+        T_J_b_SE2 = np.zeros((3,3))
+        T_J_b_SE2[:2,:2] = R_theta
+        T_J_b_SE2[0,2] = q_3[0]
+        T_J_b_SE2[1,2] = q_3[1]
+        T_J_b_SE2[2,2] = 1
+        Ad_T_J_b_SE2 = np.zeros((3,3))
+        Ad_T_J_b_SE2[:2,:2] = R_theta
+        Ad_T_J_b_SE2[0,2] = q_init[1]
+        Ad_T_J_b_SE2[1,2] = -q_init[0]
+        Ad_T_J_b_SE2[2,2] = 1
+        v_J_se2 = Ad_T_J_b_SE2 @ v_b_se2
+        print("v_J_se2", v_J_se2)
+        # get v_J_se2 to T_next_SE2
+        omega = v_J_se2[2]
+        c_omega = np.cos(omega)
+        s_omega = np.sin(omega)
+        # note that this is the same as exp(omega)
+        R_omega = np.array([[c_omega, -1*s_omega], [s_omega, c_omega]])
+        omega_abs = np.abs(omega)
+        t = np.zeros(2)
+        if omega_abs > 1e-14:
+            V = np.array([[s_omega, -1*(1 -c_omega)], [1- c_omega, s_omega]])
+            V /= omega
+            t = V @ np.array([v_J_se2[0], v_J_se2[1]])#.reshape((2,1))
+        else:
+            t = np.zeros(2)
+            t[0] = v_J_se2[0]
+            t[1] = v_J_se2[1]
+        T_next_SE2 = np.hstack((R_omega, t.reshape((2,1))))
+        T_next_SE2 = np.vstack((T_next_SE2, np.array([0,0,1]).reshape((1,3))))
+        print("T_next_SE2", T_next_SE2)
+        T_J_b_SE2 = T_next_SE2 @ T_J_b_SE2
+        q_euler = np.zeros(4)
+        q_euler[0] = T_J_b_SE2[0,2]
+        q_euler[1] = T_J_b_SE2[1,2]
+        q_euler[2] = T_J_b_SE2[0,0]
+        q_euler[3] = T_J_b_SE2[1,0]
+        #q_euler[0] = q_3[0] 
+        #q_euler[1] = q_3[1] 
+        #q_euler[2] = np.cos(q_3[2])
+        #q_euler[3] = np.sin(q_3[2])
+        print("q3 + v_J", q_3 + v_J_se2)
+        print("q_euler:", q_euler)
+        pin.forwardKinematics(model, data, q_euler)
+        T_w_b_euler = data.oMi[OBJECT_JOINT_ID]
+
+
+
+    joint_arrows, joint_text = drawSE3AsFrame(T_w_J, "J")
+    b_init_arrows, b_init_text = drawSE3AsFrame(T_w_b_init, "b_init")
+    # pin
+    objectt = drawBoxFromSE3(T_w_b_pin, box_dimensions)
+    b_arrows_pin, b_text_pin = drawSE3AsFrame(T_w_b_pin, "b_pin")
+    # euler
+    objectt = drawBoxFromSE3(T_w_b_pin, box_dimensions)
+    b_arrows_euler, b_text_euler = drawSE3AsFrame(T_w_b_euler, "b_euler")
+
+
+    plt = vedo.Plotter(axes=1)
+    plt.camera = vedo.utils.oriented_camera(center=(0, 0, 0),
+                                up_vector=(0, 1, 0),
+                                backoff_vector=(0, 1, 0),
+                                backoff=1.0)
+    
+    plt.add(objectt)
+    plt.add(b_init_arrows, b_init_text)
+    plt.add(b_arrows_pin, b_text_pin)
+    plt.add(b_arrows_euler, b_text_euler)
+    plt.add(joint_arrows, joint_text)
+    plt.render()
+    plt.show()
+    plt.close()
-- 
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