From 5734e8c56c4605a5f7f71842db7fd4f6444c0fbb Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Wed, 22 Nov 2023 22:01:23 +0100
Subject: [PATCH] gettin closer by the second dawg

---
 python/convenience_tool_box/fts.png           |  Bin 360701 -> 375159 bytes
 .../open_close_gripper.py                     |    2 +
 .../.drawing_from_input_drawing.py.swp        |  Bin 40960 -> 0 bytes
 .../examples/.point_impedance_control.py.swp  |  Bin 28672 -> 0 bytes
 python/examples/drawing_from_input_drawing.py |    7 +-
 python/examples/joint_trajectory.csv          | 4866 ++++++++++-------
 python/examples/lil_test.py                   |  350 ++
 python/examples/path_in_pixels.csv            |  319 +-
 python/examples/point_impedance_control.py    |   52 +-
 .../__pycache__/managers.cpython-310.pyc      |  Bin 6960 -> 6960 bytes
 python/ur_simple_control/managers.py          |    4 +-
 11 files changed, 3351 insertions(+), 2249 deletions(-)
 delete mode 100644 python/examples/.drawing_from_input_drawing.py.swp
 delete mode 100644 python/examples/.point_impedance_control.py.swp
 create mode 100644 python/examples/lil_test.py

diff --git a/python/convenience_tool_box/fts.png b/python/convenience_tool_box/fts.png
index cfd5ee6281dc020f3687f2da77a24b9465e543f8..4e0feaefebb198021b86297773ea356f31801b7a 100644
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diff --git a/python/convenience_tool_box/open_close_gripper.py b/python/convenience_tool_box/open_close_gripper.py
index 1282489..9e1bd8a 100644
--- a/python/convenience_tool_box/open_close_gripper.py
+++ b/python/convenience_tool_box/open_close_gripper.py
@@ -22,6 +22,8 @@ gripper.connect("192.168.1.102", 63352)
 gripper.activate()
 time.sleep(3)
 gripper.move(0,100,100)
+time.sleep(3)
+gripper.move(255,255,255)
 #time.sleep(300)
 input("press Enter to close and quit")
 handler(None, None)
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
deleted file mode 100644
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index a3f9b79..d71f4e2 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -261,7 +261,8 @@ def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
     # is actually better, who knows.
     # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
     #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([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([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
     wrench = Z @ robot.getWrench()
     # evil hack because wrench is  not zeros (why? - no idea whatsoever)
@@ -383,9 +384,9 @@ if __name__ == "__main__":
         # NOTE: not a single one is the one, the f/t sensor sucks
         # 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, -0.0803])
+        path = path + np.array([0.0, 0.0, -0.0803])
         #path = path + np.array([0.0, 0.0, -0.1043])
-        path = path + np.array([0.0, 0.0, -0.0805])
+        #path = path + np.array([0.0, 0.0, -0.0790])
         #path = path + np.array([0.0, 0.0, -0.1573])
         #path = path + np.array([0.0, 0.2938, 0.0])
 
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index c4a21c5..c374fa6 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,2090 +1,2776 @@
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diff --git a/python/examples/lil_test.py b/python/examples/lil_test.py
new file mode 100644
index 0000000..872b15f
--- /dev/null
+++ b/python/examples/lil_test.py
@@ -0,0 +1,350 @@
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import copy
+import argparse
+import time
+from functools import partial
+from ur_simple_control.util.get_model import get_model
+from ur_simple_control.visualize.visualize import plotFromDict
+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_trajectory_following import map2DPathTo3DPlane, clikCartesianPathIntoJointPath
+from ur_simple_control.managers import ControlLoopManager, RobotManager
+from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
+from ur_simple_control.visualize.visualize import plotFromDict
+from ur_simple_control.basics.basics import moveJ
+
+#######################################################################
+#                            arguments                                #
+#######################################################################
+
+def calibrateFT(robot):
+    ft_readings = []
+    for i in range(2000):
+        start = time.time()
+        q = robot.rtde_receive.getActualQ()
+        ft = robot.rtde_receive.getActualTCPForce()
+        tau = robot.rtde_control.getJointTorques()
+        current = robot.rtde_receive.getActualCurrent()
+        #print("current", current)
+        #print("getActualTCPForce", ft)
+        #print("tau", tau)
+        ft_readings.append(ft)
+        end = time.time()
+        diff = end - start
+        if diff < robot.dt:
+            time.sleep(robot.dt - diff)
+
+    ft_readings = np.array(ft_readings)
+    avg = np.average(ft_readings, axis=0)
+    print("average ft time", avg)
+    return avg
+
+def getArgs():
+    #######################################################################
+    #                          generic arguments                          #
+    #######################################################################
+    parser = argparse.ArgumentParser(description='Make a drawing on screen,\
+            watch the robot do it on the whiteboard.',
+            formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    # TODO this one won't really work but let's leave it here for the future
+    parser.add_argument('--simulation', action=argparse.BooleanOptionalAction, 
+            help="whether you are running the UR simulator. \
+                    NOTE: doesn't actually work because it's not a physics simulator", \
+                    default=False)
+    parser.add_argument('--pinocchio-only', action=argparse.BooleanOptionalAction, 
+            help="whether you want to just integrate with pinocchio.\
+                    NOTE: doesn't actually work because it's not a physics simulator", \
+                    default=False)
+    parser.add_argument('--visualize', action=argparse.BooleanOptionalAction, 
+            help="whether you want to visualize with gepetto, but \
+                    NOTE: not implemented yet", default=False)
+    parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
+            help="whether you're using the gripper", default=False)
+    parser.add_argument('--acceleration', type=float, \
+            help="robot's joints acceleration. scalar positive constant, \
+            max 1.7, and default 0.4. \
+            BE CAREFUL WITH THIS. the urscript doc says this is 'lead axis acceleration'.\
+            TODO: check what this means", default=0.3)
+    parser.add_argument('--speed-slider', type=float,\
+            help="cap robot's speed with the speed slider \
+                    to something between 0 and 1, 1.0 by default because for dmp. \
+                    BE CAREFUL WITH THIS.", default=1.0)
+    parser.add_argument('--max-iterations', type=int, \
+            help="maximum allowable iteration number (it runs at 500Hz)", default=50000)
+    #######################################################################
+    #                 your controller specific arguments                  #
+    #######################################################################
+    # not applicable here, but leaving it in the case it becomes applicable
+    # it's also in the robot manager even though it shouldn't be
+    parser.add_argument('--past-window-size', type=int, \
+            help="how many timesteps of past data you want to save", default=5)
+    parser.add_argument('--goal-error', type=float, \
+            help="the final position error you are happy with. NOTE: not used here", \
+            default=1e-3)
+    # TODO: test the interaction of this and the overall demo
+    parser.add_argument('--tikhonov-damp', type=float, \
+            help="damping scalar in tiknohov regularization.\
+            This is used when generating the joint trajectory from the drawing.", \
+            default=1e-2)
+    # TODO add the rest
+    parser.add_argument('--clik-controller', type=str, \
+            help="select which click algorithm you want", \
+            default='dampedPseudoinverse', \
+            choices=['dampedPseudoinverse', 'jacobianTranspose'])
+        # maybe you want to scale the control signal
+    parser.add_argument('--controller-speed-scaling', type=float, \
+            default='1.0', help='not actually_used atm')
+    #############################
+    #  dmp  specific arguments  #
+    #############################
+    parser.add_argument('--temporal-coupling', action=argparse.BooleanOptionalAction, \
+            help="whether you want to use temporal coupling", default=True)
+    parser.add_argument('--kp', type=float, \
+            help="proportial control constant for position errors", \
+            default=1.0)
+    parser.add_argument('--kv', type=float, \
+            help="damping in impedance control", \
+            default=0.001)
+    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)
+    parser.add_argument('--gamma-nominal', type=float, \
+            help="positive constant for tuning temporal coupling: the higher,\
+            the fast the return rate to nominal tau", \
+            default=1.0)
+    parser.add_argument('--gamma-a', type=float, \
+            help="positive constant for tuning temporal coupling, potential term", \
+            default=0.5)
+    parser.add_argument('--eps-tc', type=float, \
+            help="temporal coupling term, should be small", \
+            default=0.001)
+    parser.add_argument('--alpha', type=float, \
+            help="force feedback proportional coefficient", \
+            default=0.01)
+    # TODO add low pass filtering and make it's parameters arguments too
+    #######################################################################
+    #                       task specific arguments                       #
+    #######################################################################
+    # TODO measure this for the new board
+    parser.add_argument('--board-width', type=float, \
+            help="width of the board (in meters) the robot will write on", \
+            default=0.3)
+    parser.add_argument('--board-height', type=float, \
+            help="height of the board (in meters) the robot will write on", \
+            default=0.3)
+    parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
+            help="whether you want to do calibration", default=False)
+    parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
+            help="whether draw a new picture, or use the saved path path_in_pixels.csv", default=True)
+    parser.add_argument('--pick_up_marker', action=argparse.BooleanOptionalAction, \
+            help="""
+    whether the robot should pick up the marker.
+    NOTE: THIS IS FROM A PREDEFINED LOCATION.
+    """, default=True)
+    parser.add_argument('--find-marker-offset', action=argparse.BooleanOptionalAction, \
+            help="""
+    whether you want to do find marker offset (recalculate TCP
+    based on the marker""", default=False)
+    parser.add_argument('--n-calibration-tests', type=int, \
+            help="number of calibration tests you want to run", default=10)
+    parser.add_argument('--clik-goal-error', type=float, \
+            help="the clik error you are happy with", default=1e-2)
+    parser.add_argument('--max-init-clik-iterations', type=int, \
+            help="number of max clik iterations to get to the first point", default=10000)
+    parser.add_argument('--max-running-clik-iterations', type=int, \
+            help="number of max clik iterations between path points", default=1000)
+
+    args = parser.parse_args()
+    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')
+    return args
+
+
+# go and pick up the marker
+def getMarker(q_init):
+    pass
+
+
+#######################################################################
+#                            control loop                             #
+#######################################################################
+
+# feedforward velocity, feedback position and force for impedance
+def controller():
+    pass
+
+# TODO:
+# regarding saving data you have 2 options:
+# 1) explicitely return what you want to save - you can't magically read local variables
+# 2) make controlLoop a class and then save handle the saving behind the scenes -
+#    now you these variables are saved in a class so they're not local variables
+# option 1 is clearly more hands-on and thus worse
+# option 2 introduces a third big class and makes everything convoluted.
+# for now, we go for option 1) because it's simpler to implement and deal with.
+# but in the future, implementing 2) should be tried. you really have to try 
+# to do it cleanly to see how good/bad it is.
+# in that case you'd most likely want to inherit ControlLoopManager and go from there.
+# you'd still need to specify what you're saving with self.that_variable so no matter
+# there's no running away from that in any case.
+# it's 1) for now, it's the only non-idealy-clean part of this solution, and it's ok really.
+# TODO but also look into something fancy like some decorator or something and try
+# to find option 3)
+
+# control loop to be passed to ControlLoopManager
+def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_data):
+    breakFlag = False
+    # TODO rename this into something less confusing
+    save_past_dict = {}
+    log_item = {}
+    q = robot.getQ()
+    # TODO look into UR code/api for estimating the same
+    # based on currents in the joints.
+    # it's probably worse, but maybe some sensor fusion-type thing
+    # is actually better, who knows.
+    # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
+    # evil hack because wrench is  not zeros (why? - no idea whatsoever)
+    wrench = robot.getWrench()
+    log_item['wrench_raw'] = wrench.reshape((6,))
+    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
+    # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
+    beta = 0.001
+#    wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+    #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, 0.1, 1.0, 1.0, 1.0]))
+    #Z = np.diag(np.ones(6))
+    copy_wrench = copy.deepcopy(wrench)
+#    wrench[1] =
+    Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+    #Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
+    #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
+    # MAP WRENCH TO TCP FRAME
+#    print("before", wrench)
+    if i % 100 == 0:
+        print("before: ", end="")
+        for w in wrench:
+            if w < 0:
+                print(np.round(w, 3), end=",  ")
+            else:
+                print(np.round(w, 3), end=', ')
+        print("")
+    # good idea, bad execution 1
+    # this one makes most sense
+    # wrench = robot.getMtool().toDualActionMatrix() @ wrench
+    # if it aint that then it could be
+    #wrench = robot.getMtool().toDualActionMatrix().T @ wrench
+    # and if it ain't that then it could be
+    # wrench = robot.getMtool().inverse().toDualActionMatrix() @ wrench
+    # this one is correct if i'm readying the book right
+     wrench = robot.getMtool().inverse().toDualActionMatrix().T @ wrench
+
+    if i % 100 == 0:
+        print("after: ", end="")
+        for w in wrench:
+            if w < 0:
+                print(np.round(w, 3), end=",  ")
+            else:
+                print(np.round(w, 3), end=', ')
+        print("")
+    wrench = Z @ wrench
+#    print("after", wrench)
+#    if i % 100 == 0:
+#        for w in wrench:
+#            if w < 0:
+#                print(np.round(w, 3), end=",  ")
+#            else:
+#                print(np.round(w, 3), end=', ')
+#        print("")
+    #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))
+    # get joint 
+    tau = J.T @ wrench
+    tau = tau[:6].reshape((6,1))
+    # compute control law:
+    # - feedback the position 
+    #print(q_init[:6])
+    #print(q[:6])
+    #print(args.alpha * tau)
+    vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) + args.alpha * tau - args.kv * dq
+    #print(vel_cmd)
+    robot.sendQd(vel_cmd)
+
+    # immediatelly stop if something weird happened (some non-convergence)
+    if np.isnan(vel_cmd[0]):
+        breakFlag = True
+
+    # log what you said you'd log
+    # TODO fix the q6 situation (hide this)
+    log_item['qs'] = q[:6].reshape((6,))
+    log_item['dqs'] = dq.reshape((6,))
+    log_item['wrench_used'] = wrench.reshape((6,))
+
+    return breakFlag, save_past_dict, log_item
+
+if __name__ == "__main__":
+    #######################################################################
+    #                           software setup                            #
+    #######################################################################
+    args = getArgs()
+    clikController = getClikController(args)
+    robot = RobotManager(args)
+    #print("ur_tcp", robot.rtde_receive.getActualTCPPose())
+    #print("my_tcp", robot.getMtool().translation, pin.rpy.matrixToRpy(robot.getMtool().rotation))
+    #exit()
+
+    # calibrate FT first
+    wrench_offset = calibrateFT(robot)
+    
+    # TODO and NOTE the weight, TCP and inertial matrix needs to be set on the robot
+    # you already found an API in rtde_control for this, just put it in initialization 
+    # under using/not-using gripper parameters
+    # ALSO NOTE: to use this you need to change the version inclusions in
+    # ur_rtde due to a bug there in the current ur_rtde + robot firmware version 
+    # (the bug is it works with the firmware verion, but ur_rtde thinks it doesn't)
+    # here you give what you're saving in the rolling past window 
+    # it's initial value.
+    # controlLoopManager will populate the queue with these initial values
+    save_past_dict = {
+            'wrench' : np.zeros(6),
+        }
+    # here you give it it's initial value
+    log_dict = {
+            'qs' : np.zeros((args.max_iterations, 6)),
+            'dqs' : np.zeros((args.max_iterations, 6)),
+            'wrench_raw' : np.zeros((args.max_iterations, 6)),
+            'wrench_used' : np.zeros((args.max_iterations, 6)),
+        }
+    q_init = robot.getQ()
+
+    controlLoop = partial(controlLoopPointImpedance, wrench_offset, q_init, controller, robot)
+    loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
+
+    #moveJ(args, robot, dmp.pos.reshape((6,)))
+    # and now we can actually run
+    loop_manager.run()
+
+    for i in range(300):
+        vel_cmd = np.zeros(6)
+        self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+    #plotFromDict(log_dict, args)
+    # plot results
+    plotFromDict(log_dict, args)
+    robot.stopHandler(None, None)
+    # TODO: add some math to analyze path precision
+
+    
+
+
diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 992ad54..ef8780d 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,135 +1,184 @@
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index ccfd78f..c364b30 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -109,7 +109,7 @@ def getArgs():
             default=1.0)
     parser.add_argument('--kv', type=float, \
             help="damping in impedance control", \
-            default=0.01)
+            default=0.001)
     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", \
@@ -126,7 +126,7 @@ def getArgs():
             default=0.001)
     parser.add_argument('--alpha', type=float, \
             help="force feedback proportional coefficient", \
-            default=0.007)
+            default=0.05)
     # TODO add low pass filtering and make it's parameters arguments too
     #######################################################################
     #                       task specific arguments                       #
@@ -209,27 +209,39 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
     # it's probably worse, but maybe some sensor fusion-type thing
     # is actually better, who knows.
     # also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
-    #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([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
-    wrench = Z @ robot.getWrench()
     # evil hack because wrench is  not zeros (why? - no idea whatsoever)
+    wrench = robot.getWrench()
+    log_item['wrench_raw'] = wrench.reshape((6,))
     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)
-    if i % 100 == 0:
-        print(wrench)
     # first-order low pass filtering instead
     # beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
-    #beta = 0.01
-    #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+    beta = 0.001
+#    wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+    #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, 0.1, 1.0, 1.0, 1.0]))
+    #Z = np.diag(np.ones(6))
+    copy_wrench = copy.deepcopy(wrench)
+#    wrench[1] =
+    Z = np.diag(np.array([1.0, 1.0, -1.0, 1.0, 1.0, 1.0]))
+    #Z = np.diag(np.array([0.0, 1.0, 0.0, 0.0, 0.0, 0.0]))
+    #Z = np.diag(np.array([1.0, 0.6, 1.0, 0.5, 0.5, 0.5]))
+    wrench = Z @ wrench
+    if i % 25 == 0:
+        for w in wrench:
+            if w < 0:
+                print(np.round(w, 3), end=", ")
+            else:
+                print(np.round(w, 3), end=',  ')
+        print("")
     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))
-    # get joitn 
+    # get joint 
     tau = J.T @ wrench
     tau = tau[:6].reshape((6,1))
     # compute control law:
@@ -237,7 +249,7 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
     #print(q_init[:6])
     #print(q[:6])
     #print(args.alpha * tau)
-    vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) - args.alpha * tau - args.kv * dq
+    vel_cmd = args.kp * (q_init[:6].reshape((6,1)) - q[:6].reshape((6,1))) + args.alpha * tau - args.kv * dq
     #print(vel_cmd)
     robot.sendQd(vel_cmd)
 
@@ -249,7 +261,7 @@ def controlLoopPointImpedance(wrench_offset, q_init, controller, robot, i, past_
     # TODO fix the q6 situation (hide this)
     log_item['qs'] = q[:6].reshape((6,))
     log_item['dqs'] = dq.reshape((6,))
-    log_item['wrench'] = wrench.reshape((6,))
+    log_item['wrench_used'] = wrench.reshape((6,))
 
     return breakFlag, save_past_dict, log_item
 
@@ -280,7 +292,8 @@ if __name__ == "__main__":
     log_dict = {
             'qs' : np.zeros((args.max_iterations, 6)),
             'dqs' : np.zeros((args.max_iterations, 6)),
-            'wrench' : np.zeros((args.max_iterations, 6)),
+            'wrench_raw' : np.zeros((args.max_iterations, 6)),
+            'wrench_used' : np.zeros((args.max_iterations, 6)),
         }
     q_init = robot.getQ()
 
@@ -291,12 +304,13 @@ if __name__ == "__main__":
     # and now we can actually run
     loop_manager.run()
 
-    plotFromDict(log_dict, args)
-    robot.stopHandler(None, None)
-    robot.stopHandler(None, None)
-    robot.stopHandler(None, None)
+    for i in range(300):
+        vel_cmd = np.zeros(6)
+        self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
+    #plotFromDict(log_dict, args)
     # plot results
     plotFromDict(log_dict, args)
+    robot.stopHandler(None, None)
     # TODO: add some math to analyze path precision
 
     
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
index 2182fde78b9b7bca755bba50306471909c76bb98..bf343fb9824b543b7be07c2f7b832527f91aa3e2 100644
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 9bde3a2..72d493f 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -279,8 +279,8 @@ class RobotManager:
     stop the robot
     """
     def stopHandler(self, signum, frame):
-        print('sending 100 speedjs full of zeros and exiting')
-        for i in range(100):
+        print('sending 300 speedjs full of zeros and exiting')
+        for i in range(300):
             vel_cmd = np.zeros(6)
             self.rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
         exit()
-- 
GitLab