From 573ffed3e67c2cbc07205a984e5fb28de177e96d Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 26 Mar 2024 14:28:43 +0100
Subject: [PATCH] best so far
---
.../open_close_gripper.py | 2 +-
python/examples/clik.py | 39 +-
python/examples/drawing_from_input_drawing.py | 56 +-
python/examples/joint_trajectory.csv | 11889 ++++++----------
python/examples/path_in_pixels.csv | 553 +-
.../planar_dragging_via_top_contact_force.py | 2 +-
python/examples/point_impedance_control.py | 2 +-
python/examples/test_gripper.py | 2 +-
python/joint_trajectory.csv | 2516 +++-
python/path_in_pixels.csv | 128 +-
.../__pycache__/managers.cpython-311.pyc | Bin 21405 -> 21451 bytes
.../clik_point_to_point.cpython-311.pyc | Bin 9428 -> 13659 bytes
.../clik/clik_point_to_point.py | 110 +-
python/ur_simple_control/managers.py | 3 +-
.../__pycache__/visualize.cpython-311.pyc | Bin 8189 -> 8219 bytes
.../visualize/vedo_manipulator.py | 2 +-
.../ur_simple_control/visualize/visualize.py | 2 +-
17 files changed, 7219 insertions(+), 8087 deletions(-)
diff --git a/python/convenience_tool_box/open_close_gripper.py b/python/convenience_tool_box/open_close_gripper.py
index 168175e..ad6df1a 100644
--- a/python/convenience_tool_box/open_close_gripper.py
+++ b/python/convenience_tool_box/open_close_gripper.py
@@ -19,7 +19,7 @@ signal.signal(signal.SIGINT, handler)
gripper = RobotiqGripper()
gripper.connect("192.168.1.102", 63352)
-time.sleep(8)
+time.sleep(6)
gripper.activate()
#time.sleep(3)
gripper.move(0,100,100)
diff --git a/python/examples/clik.py b/python/examples/clik.py
index cf298c2..a8850fe 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -1,9 +1,10 @@
import numpy as np
+import time
import argparse
from functools import partial
from ur_simple_control.managers import ControlLoopManager, RobotManager
# TODO merge the 2 clik files
-from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik, moveL
+from ur_simple_control.clik.clik_point_to_point import getClikController, controlLoopClik, moveL, compliantMoveL
# TODO write this in managers and automate name generation
from ur_simple_control.util.logging_utils import saveLog
@@ -50,7 +51,7 @@ def get_args():
to something between 0 and 1, 0.5 by default \
BE CAREFUL WITH THIS.", default=0.5)
parser.add_argument('--tikhonov-damp', type=float, \
- help="damping scalar in tiknohov regularization", default=1e-3)
+ help="damping scalar in tikhonov regularization", default=1e-3)
# TODO add the rest
parser.add_argument('--clik-controller', type=str, \
help="select which click algorithm you want", \
@@ -62,6 +63,14 @@ def get_args():
help="print some debug info", default=False)
parser.add_argument('--save-log', action=argparse.BooleanOptionalAction, \
help="save log data folder in whatever directory you called this in. if it doesn't exists there, it's saved to /tmp/data", default=False)
+ parser.add_argument('--alpha', type=float, \
+ help="force feedback proportional coefficient", \
+ default=0.01)
+ parser.add_argument('--beta', type=float, \
+ help="low-pass filter beta parameter", \
+ default=0.01)
+ parser.add_argument('--past-window-size', type=int, \
+ help="how many timesteps of past data you want to save", default=5)
args = parser.parse_args()
if args.gripper and args.simulation:
@@ -73,20 +82,28 @@ if __name__ == "__main__":
args = get_args()
robot = RobotManager(args)
Mgoal = robot.defineGoalPointCLI()
- clik_controller = getClikController(args)
- controlLoop = partial(controlLoopClik, robot, clik_controller)
- log_item = {
- 'qs' : np.zeros(robot.model.nq),
- 'dqs' : np.zeros(robot.model.nq),
- }
+ compliantMoveL(args, robot, Mgoal)
+ print("stopping via freedrive lel")
+ robot.rtde_control.freedriveMode()
+ time.sleep(0.5)
+ robot.rtde_control.endFreedriveMode()
+ #ControlLoopManager.stopHandler(None, None, None)
+ #clik_controller = getClikController(args)
+ #controlLoop = partial(controlLoopClik, robot, clik_controller)
+ #log_item = {
+ # 'qs' : np.zeros(robot.model.nq),
+ # 'dqs' : np.zeros(robot.model.nq),
+ # }
# we're not using any past data or logging, hence the empty arguments
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
+ #loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
+ #loop_manager.stopHandler(None, None)
+
# TODO create a logging function in util.
# something that generates a file name from something in args.
# also save args there
- log_dict, final_iteration = loop_manager.run()
+ #log_dict, final_iteration = loop_manager.run()
if args.save_log:
saveLog(log_dict, final_iteration, args)
- loop_manager.stopHandler(None, None)
+ #loop_manager.stopHandler(None, None)
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 850fd25..bd87a68 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, controlLoopClik
+from ur_simple_control.clik.clik_point_to_point import getClikController, moveL, moveUntilContact, controlLoopClik, compliantMoveL
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
@@ -78,7 +78,7 @@ def getArgs():
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.\
+ help="damping scalar in tikhonov regularization.\
This is used when generating the joint trajectory from the drawing.", \
default=1e-2)
# TODO add the rest
@@ -113,7 +113,7 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- default=0.01)
+ default=0.007)
#default=0.05)
parser.add_argument('--beta', type=float, \
help="low-pass filter beta parameter", \
@@ -193,32 +193,41 @@ def getMarker(args, robot):
# slighly up from goal to not hit marker weirdly
TgoalUP = Tgoal.copy()
- TgoalUP.translation += np.array([0,0,0.2])
+ #TgoalUP.translation += np.array([0,0,0.2])
+ TgoalUP.translation += np.array([0,0,0.3])
# instantiate controller
- clik_controller = getClikController(args)
- controlLoop = partial(controlLoopClik, robot, clik_controller)
- log_item = {
- 'qs' : np.zeros(robot.model.nq),
- 'dqs' : np.zeros(robot.model.nq),
- }
- loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
+ #clik_controller = getClikController(args)
+ #controlLoop = partial(controlLoopClik, robot, clik_controller)
+ #log_item = {
+ # 'qs' : np.zeros(robot.model.nq),
+ # 'dqs' : np.zeros(robot.model.nq),
+ # }
+ #loop_manager = ControlLoopManager(robot, controlLoop, args, {}, log_item)
print("going to above marker")
robot.Mgoal = TgoalUP.copy()
- log_dict, final_iteration = loop_manager.run()
+ #compliantMoveL(args, robot, TgoalUP.copy())
+ moveL(args, robot, TgoalUP.copy())
+ #log_dict, final_iteration = loop_manager.run()
print("going down to marker")
robot.Mgoal = Tgoal.copy()
- log_dict, final_iteration = loop_manager.run()
+ #compliantMoveL(args, robot, Tgoal.copy())
+ moveL(args, robot, Tgoal.copy())
+ #log_dict, final_iteration = loop_manager.run()
print("picking up marker")
robot.gripper.move(255,255,255)
time.sleep(2)
print("going up")
robot.Mgoal = TgoalUP.copy()
- log_dict, final_iteration = loop_manager.run()
+ #compliantMoveL(args, robot, TgoalUP.copy())
+ moveL(args, robot, TgoalUP.copy())
+ #log_dict, final_iteration = loop_manager.run()
print("going back")
robot.Mgoal = Tinit.copy()
- log_dict, final_iteration = loop_manager.run()
+ #compliantMoveL(args, robot, Tinit.copy())
+ moveL(args, robot, Tinit.copy())
+ #log_dict, final_iteration = loop_manager.run()
print("got back")
# robot.stopHandler(None, None)
# robot.stopHandler(None, None)
@@ -362,7 +371,7 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
robot.sendQd(vel_cmd)
# TODO find a better criterion for stopping
- if (np.linalg.norm(dmp.vel) < 0.0001) and (i > 5000):
+ if (np.linalg.norm(dmp.vel) < 0.001) and (i > 3000):
breakFlag = True
# immediatelly stop if something weird happened (some non-convergence)
if np.isnan(vel_cmd[0]):
@@ -476,9 +485,10 @@ if __name__ == "__main__":
# 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, -0.1000])
- path = path + np.array([0.0, 0.0, -0.0903])
- #path = path + np.array([0.0, 0.2938, 0.0])
+ path = path + np.array([0.0, 0.0, -0.0920])
+ #path = path + np.array([0.0, 0.0, -0.0903])
+ #path = path + np.array([0.0, 0.0, -0.0790])
+ #path = path + np.array([0.0, 0.0, -0.1003])
# and if you don't want to draw new nor calibrate, but you want the same path
# with a different clik, i'm sorry, i can't put that if here.
@@ -552,14 +562,16 @@ if __name__ == "__main__":
#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] - 0.012
+ #mtool.translation[1] = mtool.translation[1] - 0.012
+ mtool.translation[1] = mtool.translation[1] - 0.0045
if args.debug_prints:
print("im at:", robot.getMtool())
print("going to:", mtool)
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(args, robot, mtool)
+ compliantMoveL(args, robot, mtool)
#moveJ(args, robot, dmp.pos.reshape((6,)))
controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
@@ -573,7 +585,7 @@ if __name__ == "__main__":
mtool.translation[1] = mtool.translation[1] - 0.1
# if args.board_axis == 'z':
# mtool.translation[2] = mtool.translation[2] - 0.1
- moveL(args, robot, mtool)
+ compliantMoveL(args, robot, mtool)
#plotFromDict(log_dict, args)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 27c72f4..29cc024 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,7199 +1,4690 @@
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-0.00069,1.02646,-1.25025,-1.60866,-0.98669,1.99986,-0.33993
-0.00139,1.02646,-1.25064,-1.60804,-0.98692,1.99986,-0.33993
-0.00208,1.02645,-1.25103,-1.60742,-0.98714,1.99987,-0.33993
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-0.00903,1.02565,-1.25568,-1.60054,-0.98954,2.00047,-0.34050
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index fec0422..1fc24d9 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/examples/planar_dragging_via_top_contact_force.py b/python/examples/planar_dragging_via_top_contact_force.py
index 171b444..9724481 100644
--- a/python/examples/planar_dragging_via_top_contact_force.py
+++ b/python/examples/planar_dragging_via_top_contact_force.py
@@ -65,7 +65,7 @@ def getArgs():
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.\
+ help="damping scalar in tikhonov regularization.\
This is used when generating the joint trajectory from the drawing.", \
default=1e-2)
# TODO add the rest
diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index d1d06e4..919ba5a 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -64,7 +64,7 @@ def getArgs():
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.\
+ help="damping scalar in tikhonov regularization.\
This is used when generating the joint trajectory from the drawing.", \
default=1e-2)
# TODO add the rest
diff --git a/python/examples/test_gripper.py b/python/examples/test_gripper.py
index 6613fdd..2b1102d 100644
--- a/python/examples/test_gripper.py
+++ b/python/examples/test_gripper.py
@@ -42,7 +42,7 @@ def get_args():
to something between 0 and 1, 0.5 by default \
BE CAREFUL WITH THIS.", default=0.5)
parser.add_argument('--tikhonov-damp', type=float, \
- help="damping scalar in tiknohov regularization", default=1e-3)
+ help="damping scalar in tikhonov regularization", default=1e-3)
# TODO add the rest
parser.add_argument('--clik-controller', type=str, \
help="select which click algorithm you want", \
diff --git a/python/joint_trajectory.csv b/python/joint_trajectory.csv
index fd2eaa6..215c720 100644
--- a/python/joint_trajectory.csv
+++ b/python/joint_trajectory.csv
@@ -1,608 +1,1908 @@
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diff --git a/python/path_in_pixels.csv b/python/path_in_pixels.csv
index aa2da6b..ba1cb6c 100644
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diff --git a/python/ur_simple_control/clik/clik_point_to_point.py b/python/ur_simple_control/clik/clik_point_to_point.py
index ca9cc34..5a66bab 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -48,7 +48,7 @@ def get_args():
to something between 0 and 1, 0.5 by default \
BE CAREFUL WITH THIS.", default=0.5)
parser.add_argument('--tikhonov-damp', type=float, \
- help="damping scalar in tiknohov regularization", default=1e-3)
+ help="damping scalar in tikhonov regularization", default=1e-3)
# TODO add the rest
parser.add_argument('--clik-controller', type=str, \
help="select which click algorithm you want", \
@@ -56,6 +56,13 @@ def get_args():
# maybe you want to scale the control signal
parser.add_argument('--controller-speed-scaling', type=float, \
default='1.0', help='not actually_used atm')
+ parser.add_argument('--alpha', type=float, \
+ help="force feedback proportional coefficient", \
+ #default=0.01)
+ default=0.05)
+ parser.add_argument('--beta', type=float, \
+ help="low-pass filter beta parameter", \
+ default=0.01)
args = parser.parse_args()
if args.gripper and args.simulation:
@@ -79,8 +86,8 @@ the actual control loop after you've put it in getClikController,
which constructs the controller from an argument to the file.
"""
-def dampedPseudoinverse(tiknonov_damp, J, err_vector):
- qd = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * tiknonov_damp) @ err_vector
+def dampedPseudoinverse(tikhonov_damp, J, err_vector):
+ qd = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * tikhonov_damp) @ err_vector
return qd
def jacobianTranspose(J, err_vector):
@@ -119,7 +126,7 @@ def getClikController(args):
# return invKinmQPSingAvoidManipMax
# default
- return partial(dampedPseudoinverse, args.tiknonov_damp)
+ return partial(dampedPseudoinverse, args.tikhonov_damp)
# modularity yo
@@ -238,6 +245,101 @@ def moveL(args, robot, goal_point):
print("MoveL done: convergence achieved, reached destionation!")
+"""
+controlLoopClik
+---------------
+generic control loop for clik (handling error to final point etc).
+in some version of the universe this could be extended to a generic
+point-to-point motion control loop.
+"""
+def controlLoopCompliantClik(args, robot, i, past_data):
+ breakFlag = False
+ log_item = {}
+ save_past_dict = {}
+ # know where you are, i.e. do forward kinematics
+ q = robot.getQ()
+ pin.forwardKinematics(robot.model, robot.data, q)
+ # this has forward kinematics in it
+ Mtool = robot.getMtool()
+ wrench = robot.getWrench()
+ # we need to overcome noise if we want to converge
+ if np.linalg.norm(wrench) < 3:
+ wrench = np.zeros(6)
+ save_past_dict['wrench'] = copy.deepcopy(wrench)
+ wrench = args.beta * wrench + (1 - args.beta) * past_data['wrench'][-1]
+ mapping = np.zeros((6,6))
+ mapping[0:3, 0:3] = Mtool.rotation
+ mapping[3:6, 3:6] = Mtool.rotation
+ wrench = mapping.T @ wrench
+ #Z = np.diag(np.array([1.0, 1.0, 2.0, 1.0, 1.0, 1.0]))
+ Z = np.diag(np.array([1.0, 1.0, 1.0, 1.0, 1.0, 1.0]))
+ wrench = Z @ wrench
+ #pin.forwardKinematics(robot.model, robot.data, q)
+ # first check whether we're at the goal
+ SEerror = Mtool.actInv(robot.Mgoal)
+ err_vector = pin.log6(SEerror).vector
+ if np.linalg.norm(err_vector) < robot.args.goal_error:
+# print("Convergence achieved, reached destionation!")
+ breakFlag = True
+ # pin.computeJointJacobian is much different than the C++ version lel
+ J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
+ # compute the joint velocities.
+ # just plug and play different ones
+ qd = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * args.tikhonov_damp) @ err_vector
+ tau = J.T @ wrench
+ #tau = tau[:6].reshape((6,1))
+ qd += args.alpha * tau
+ robot.sendQd(qd)
+
+ # TODO: only print under a debug flag, it's just clutter otherwise
+ # we do the printing here because controlLoopManager should be general.
+ # and these prints are click specific (although i'm not 100% happy with the arrangement)
+# if not i % 1000:
+# print("pos", robot.data.oMi[robot.JOINT_ID])
+# print("linear error = ", pin.log6(SEerror).linear)
+# print("angular error = ", pin.log6(SEerror).angular)
+# print(" error = ", err_vector.transpose())
+
+ log_item['qs'] = q.reshape((robot.model.nq,))
+ # get actual velocity, not the commanded one.
+ # although that would be fun to compare i guess
+ # TODO: have both, but call the compute control signal like it should be
+ log_item['dqs'] = robot.getQd().reshape((robot.model.nq,))
+ log_item['wrench'] = wrench.reshape((6,))
+ log_item['tau'] = tau.reshape((robot.model.nq,))
+ # we're not saving here, but need to respect the API,
+ # hence the empty dict
+ return breakFlag, save_past_dict, log_item
+"""
+compliantMoveL
+-----
+does compliantMoveL - a moveL, but with compliance achieved
+through f/t feedback
+send a SE3 object as goal point.
+if you don't care about rotation, make it np.zeros((3,3))
+"""
+# add a threshold for the wrench
+def compliantMoveL(args, robot, goal_point):
+ assert type(goal_point) == pin.pinocchio_pywrap.SE3
+ robot.Mgoal = copy.deepcopy(goal_point)
+ clik_controller = getClikController(args)
+ controlLoop = partial(controlLoopCompliantClik, args, robot)
+ # we're not using any past data or logging, hence the empty arguments
+ log_item = {
+ 'qs' : np.zeros(robot.model.nq),
+ 'wrench' : np.zeros(6),
+ 'tau' : np.zeros(robot.model.nq),
+ 'dqs' : np.zeros(robot.model.nq),
+ }
+ save_past_dict = {
+ 'wrench': np.zeros(6),
+ }
+ loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
+ log_dict, final_iteration = loop_manager.run()
+ # TODO: remove, this isn't doing anything
+ time.sleep(0.01)
+ print("compliantMoveL done: convergence achieved, reached destionation!")
+
if __name__ == "__main__":
args = get_args()
robot = RobotManager(args)
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 7d0f8e9..d3dba35 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -143,8 +143,6 @@ class ControlLoopManager:
self.plotter_queue.put(log_item)
if args.debug_prints:
print("CONTROL_LOOP_MANAGER: i managed to put initializing log_item to queue")
- # let it boot up, hope you're not in a hurry lmao
- time.sleep(1)
"""
run
@@ -428,6 +426,7 @@ class RobotManager:
print("Will read from f/t sensors for a some number of seconds")
print("and give you the average.")
print("Use this as offset.")
+ self.rtde_control.zeroFtSensor()
for i in range(2000):
start = time.time()
ft = self.rtde_receive.getActualTCPForce()
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-311.pyc
index ceacac05da4b5625053574aeb600448166a3a142..a7d7e06be1d8ddae19d0d223035431c46835e963 100644
GIT binary patch
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diff --git a/python/ur_simple_control/visualize/vedo_manipulator.py b/python/ur_simple_control/visualize/vedo_manipulator.py
index d4a2a38..c2ce0f3 100644
--- a/python/ur_simple_control/visualize/vedo_manipulator.py
+++ b/python/ur_simple_control/visualize/vedo_manipulator.py
@@ -44,7 +44,7 @@ def get_args():
to something between 0 and 1, 0.5 by default \
BE CAREFUL WITH THIS.", default=0.5)
parser.add_argument('--tikhonov-damp', type=float, \
- help="damping scalar in tiknohov regularization", default=1e-3)
+ help="damping scalar in tikhonov regularization", default=1e-3)
# TODO add the rest
parser.add_argument('--clik-controller', type=str, \
help="select which click algorithm you want", \
diff --git a/python/ur_simple_control/visualize/visualize.py b/python/ur_simple_control/visualize/visualize.py
index 6d8491e..4679a62 100644
--- a/python/ur_simple_control/visualize/visualize.py
+++ b/python/ur_simple_control/visualize/visualize.py
@@ -122,7 +122,7 @@ def realTimePlotter(args, queue):
axes_and_updating_artists[data_key].artists[str(data_key) + str(j)], = \
axes_and_updating_artists[data_key].ax.plot(t, logs_ndarrays[data_key][:,j],
color=colors[j], label=data_key + "_" + str(j))
- axes_and_updating_artists[data_key].ax.legend()
+ axes_and_updating_artists[data_key].ax.legend(loc='upper left')
# need to call it once
canvas.draw()
--
GitLab