diff --git a/cpp/clik/src/CMakeLists.txt b/cpp/clik/src/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa7314297ba77960e1136bd02c96016bdf284c3c
--- /dev/null
+++ b/cpp/clik/src/CMakeLists.txt
@@ -0,0 +1,361 @@
+# TODO idk what the actual minimum version is
+cmake_minimum_required(VERSION 3.20.0)
+project(clik)
+set(PROJECT_DESCRIPTION
+ "basic click(s) with ur_rtde and pinocchio"
+)
+set ( CMAKE_EXPORT_COMPILE_COMMANDS ON )
+
+# TODO put this in
+#set(PROJECT_URL https://github.com/${PROJECT_NAMESPACE}/${PROJECT_NAME})
+# std=c++17 so that i can use std::filesystem, but otherwise min is 11
+set(CMAKE_CXX_STANDARD 17)
+
+
+# Build a static binary.
+#set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
+# Add further warning levels, they only help
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
+ -D_XOPEN_SOURCE=700 \
+ -D_FORTIFY_SOURCE=2 \
+ -O2 \
+ -fstack-protector \
+ -fomit-frame-pointer \
+ -pipe \
+ -std=c++17 \
+ -pedantic -pedantic-errors \
+ -Werror \
+ -Weffc++ \
+ -Wall -Wextra -Wshadow -Wdeprecated \
+ -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
+ -Wuninitialized -Wunreachable-code \
+ -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
+ -Wunused-value -Wunused-variable -Wunused-result \
+ -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
+
+# Add current build directory as include directory as it contains generated files.
+#include_directories(SYSTEM ${CMAKE_BINARY_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
+add_executable(${PROJECT_NAME} src/clik.cpp)
+
+################
+# ur_rtde library
+find_package(ur_rtde REQUIRED)
+target_link_libraries(${PROJECT_NAME} PUBLIC ur_rtde::rtde)
+#target_link_libraries(clik PUBLIC ur_rtde::rtde)
+
+### pinocchio
+find_package(pinocchio REQUIRED)
+target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio::pinocchio)
+#target_link_libraries(clik PUBLIC pinocchio::pinocchio)
+
+## pinocchio-gepetto-viewer
+find_package(pinocchio-gepetto-viewer REQUIRED)
+target_link_libraries(${PROJECT_NAME} PUBLIC pinocchio-gepetto-viewer)
+
+
+#add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_CURRENT_SOURCE_DIR}/src/clik.cpp)
+#set(LIBRARIES pinocchio::pinocchio ur_rtde::ur_rtde)
+#set(LIBRARIES pinocchio ur_rtde)
+
+# Create executable.
+#add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
+#add_executable(
+#target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
+#target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
+
+
+# TODO this doesn't hurt right?
+# Install executable.
+#install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})
+
+################################################################################
+# TODO implement and then Enable unit testing.
+#enable_testing()
+#add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/test-behavior.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
+#target_link_libraries(${PROJECT_NAME}-runner ${LIBRARIES})
+#add_test(NAME ${PROJECT_NAME}-runner COMMAND ${PROJECT_NAME}-runner)
+
+
+# TODO probably a good idea to start using doxygen or something similar
+#option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
+#set(DOXYGEN_USE_MATHJAX YES)
+#set(DOXYGEN_USE_TEMPLATE_CSS YES)
+
+# Create different building options
+# TODO idk what this does actually
+#option(ENABLE_VECTORIZATION
+# "Enable vectorization and further processor-related optimizations" OFF)
+# TODO see how to do this with pybind11 (just extend ur_rtde approach)
+#option(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+#option(BUILD_BENCHMARK "Build the benchmark" ON)
+#option(BUILD_EXAMPLES "Build the examples" ON)
+#option(BUILD_WITH_IPOPT "Build the IPOPT wrapper." ON)
+#option(GENERATE_PYTHON_STUBS
+# "Generate the Python stubs associated to the Python library" OFF)
+
+#if(ENABLE_VECTORIZATION)
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
+#endif()
+
+# Check if the conan file exist to find the dependencies
+#if (EXISTS ${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+#include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+#conan_basic_setup(NO_OUTPUT_DIRS KEEP_RPATHS SKIP_STD TARGETS)
+#set(Boost_USE_STATIC_LIBS ON)
+#set(Boost_ADDITIONAL_VERSIONS 1.75.0)
+#endif()
+#find_package(Boost REQUIRED COMPONENTS system thread program_options)
+#find_package(Threads)
+
+############### pybind copied from ur_rtde and i don't get it ######
+
+#if(${PYTHON_BINDINGS})
+## This is required to find python site-packages for installation of ur_rtde python bindings.
+#if(NOT PYBIND11_PYTHON_VERSION)
+# set(PYBIND11_PYTHON_VERSION "" CACHE STRING "Python version to use for compiling modules")
+#endif()
+#set(Python_ADDITIONAL_VERSIONS 3.11 3.10 3.9 3.8 3.7 3.6 3.5 3.4)
+#find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} REQUIRED)
+#
+#include(FetchContent)
+#
+#FetchContent_Declare(
+# pybind11-src
+# GIT_REPOSITORY https://github.com/pybind/pybind11.git
+# GIT_TAG v2.10.1
+#)
+#FetchContent_MakeAvailable(pybind11-src)
+#
+#endif()
+#
+#
+#if(${PYTHON_BINDINGS})
+#pybind11_add_module(rtde_control SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} ${LIB_URCL_HEADER_FILES} src/rtde_python_bindings.cpp)
+#target_include_directories(rtde_control
+# PUBLIC ${Boost_INCLUDE_DIRS}
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
+# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
+# PRIVATE ${PYTHON_INCLUDE_DIRS})
+#target_link_libraries(rtde_control PRIVATE
+# #${PYTHON_LIBRARIES}
+# ${Boost_SYSTEM_LIBRARY}
+# ${Boost_THREAD_LIBRARY}
+# ${CMAKE_THREAD_LIBS_INIT})
+# target_compile_definitions(rtde_control PRIVATE rtde_EXPORTS)
+#
+#pybind11_add_module(rtde_receive SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
+#target_include_directories(rtde_receive
+# PUBLIC ${Boost_INCLUDE_DIRS}
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
+# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
+# PRIVATE ${PYTHON_INCLUDE_DIRS})
+#target_link_libraries(rtde_receive PRIVATE
+# #${PYTHON_LIBRARIES}
+# ${Boost_SYSTEM_LIBRARY}
+# ${Boost_THREAD_LIBRARY})
+# target_compile_definitions(rtde_receive PRIVATE rtde_EXPORTS)
+#
+#pybind11_add_module(rtde_io SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
+#target_include_directories(rtde_io
+# PUBLIC ${Boost_INCLUDE_DIRS}
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
+# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
+# PRIVATE ${PYTHON_INCLUDE_DIRS})
+#target_link_libraries(rtde_io PRIVATE
+# #${PYTHON_LIBRARIES}
+# ${Boost_SYSTEM_LIBRARY}
+# ${Boost_THREAD_LIBRARY})
+#target_compile_definitions(rtde_io PRIVATE rtde_EXPORTS)
+#
+#pybind11_add_module(script_client SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
+#target_include_directories(script_client
+# PUBLIC ${Boost_INCLUDE_DIRS}
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
+# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
+# PRIVATE ${PYTHON_INCLUDE_DIRS})
+# target_link_libraries(script_client PRIVATE
+# #${PYTHON_LIBRARIES}
+# ${Boost_SYSTEM_LIBRARY}
+# ${Boost_THREAD_LIBRARY})
+# target_compile_definitions(script_client PRIVATE rtde_EXPORTS)
+#
+#
+#pybind11_add_module(dashboard_client SHARED ${LIB_SOURCE_FILES} ${LIB_HEADER_FILES} src/rtde_python_bindings.cpp)
+#target_include_directories(dashboard_client
+# PUBLIC ${Boost_INCLUDE_DIRS}
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE ${PYBIND11_INCLUDE_DIR} # from project CMakeLists.txt
+# PRIVATE ${pybind11_INCLUDE_DIR} # from pybind11Config
+# PRIVATE ${PYTHON_INCLUDE_DIRS})
+#target_link_libraries(dashboard_client PRIVATE
+# #${PYTHON_LIBRARIES}
+# ${Boost_SYSTEM_LIBRARY}
+# ${Boost_THREAD_LIBRARY})
+#target_compile_definitions(dashboard_client PRIVATE rtde_EXPORTS)
+#
+#endif()
+
+######################################################
+
+
+#add_project_dependency(pinocchio 2.6.3 REQUIRED PKG_CONFIG_REQUIRES
+# "pinocchio >= 2.6.3")
+#if(BUILD_EXAMPLES
+# OR BUILD_TESTING
+# OR BUILD_BENCHMARK)
+# add_project_dependency(example-robot-data 4.0.7 REQUIRED PKG_CONFIG_REQUIRES
+# "example-robot-data >= 4.0.7")
+#else()
+# add_optional_dependency(example-robot-data)
+#endif()
+
+# i don't have experience with any of this,
+# but it's probably good
+#option(
+# BUILD_WITH_CODEGEN_SUPPORT
+# "Build the library with the Code Generation support (required CppADCodeGen)"
+# OFF)
+#
+#option(BUILD_WITH_MULTITHREADS
+# "Build the library with the Multithreading support (required OpenMP)"
+# OFF)
+#if(BUILD_WITH_MULTITHREADS)
+# # If BUILD_WITH_NTHREADS defined, use the value - otherwise detect
+# if(NOT DEFINED BUILD_WITH_NTHREADS)
+# include(ProcessorCount)
+# ProcessorCount(NPROCESSOR)
+# if(NOT NPROCESSOR EQUAL 0)
+# math(EXPR NPROCESSOR ${NPROCESSOR}/2)
+# set(BUILD_WITH_NTHREADS
+# ${NPROCESSOR}
+# CACHE STRING "Number of threads")
+# else()
+# set(BUILD_WITH_NTHREADS
+# "4"
+# CACHE STRING "Number of threads") # Default setting
+# endif()
+# endif()
+# string(REGEX MATCH "^[0-9]+$" BUILD_WITH_NTHREADS ${BUILD_WITH_NTHREADS})
+# if(NOT BUILD_WITH_NTHREADS MATCHES "^[0-9]+$")
+# set(BUILD_WITH_NTHREADS 4) # Default setting 4.
+# message(
+# WARNING
+# "The number of threads has to be an integer value, set to ${BUILD_WITH_NTHREADS}"
+# )
+# endif()
+#endif()
+#
+#if(BUILD_WITH_CODEGEN_SUPPORT)
+# add_project_dependency(cppad 20200000.0 REQUIRED)
+# add_project_dependency(cppadcg 2.4.1 REQUIRED)
+# add_definitions(-DCROCODDYL_WITH_CODEGEN)
+# # Pinocchio codegen related preproccessor defs.
+# add_definitions(-DPINOCCHIO_WITH_CPPADCG_SUPPORT)
+# add_definitions(-DPINOCCHIO_WITH_CPPAD_SUPPORT)
+# # Packaging for downstream.
+# set(PACKAGE_EXTRA_MACROS
+# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DCROCODDYL_WITH_CODEGEN -DPINOCCHIO_WITH_CPPAD_SUPPORT -DPINOCCHIO_WITH_CPPADCG_SUPPORT)"
+# )
+# if(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
+# add_definitions(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)
+# set(PACKAGE_EXTRA_MACROS
+# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DPINOCCHIO_CPPAD_REQUIRES_MATRIX_BASE_PLUGIN)"
+# )
+# endif(NOT ${EIGEN3_VERSION} VERSION_GREATER "3.3.0")
+#endif()
+#
+## Add OpenMP
+#if(BUILD_WITH_MULTITHREADS)
+# find_package(OpenMP REQUIRED COMPONENTS CXX)
+#
+# add_definitions(-DCROCODDYL_WITH_MULTITHREADING)
+# add_definitions(-DCROCODDYL_WITH_NTHREADS=${BUILD_WITH_NTHREADS})
+# set(PACKAGE_EXTRA_MACROS
+# "${PACKAGE_EXTRA_MACROS}\nADD_DEFINITIONS(-DCROCODDYL_WITH_MULTITHREADING -DCROCODDYL_WITH_NTHREADS=${BUILD_WITH_NTHREADS})"
+# )
+# set(OMP_NUM_THREADS ${BUILD_WITH_NTHREADS})
+#endif()
+#
+## Add Ipopt
+#if(BUILD_WITH_IPOPT AND IPOPT_FOUND)
+# add_definitions(-DCROCODDYL_WITH_IPOPT)
+# link_directories(${IPOPT_LIBRARY_DIRS})
+#endif()
+
+#set(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
+#set(BOOST_BUILD_COMPONENTS unit_test_framework)
+#set_boost_default_options()
+#export_boost_default_options()
+#add_project_dependency(Boost 1.65 REQUIRED COMPONENTS
+# ${BOOST_REQUIRED_COMPONENTS})
+#find_package(Boost 1.65 REQUIRED COMPONENTS ${BOOST_BUILD_COMPONENTS})
+#
+#if(Boost_VERSION GREATER 107299)
+# # Silence a warning about a deprecated use of boost bind by boost python at
+# # least fo boost 1.73 to 1.75
+# add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+#endif()
+
+#target_include_directories(${PROJECT_NAME}
+# PUBLIC $<INSTALL_INTERFACE:include>)
+#target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
+#target_link_libraries(${PROJECT_NAME} Boost::filesystem Boost::system
+# Boost::serialization)
+
+# add this if you add this
+#if(BUILD_WITH_MULTITHREADS)
+#target_link_libraries(${PROJECT_NAME} OpenMP::OpenMP_CXX)
+#endif()
+#
+#if(BUILD_WITH_IPOPT AND IPOPT_FOUND)
+#target_link_libraries(${PROJECT_NAME} ipopt)
+#target_include_directories(${PROJECT_NAME} PUBLIC ${IPOPT_INCLUDE_DIRS})
+#endif()
+
+# TODO try to figure it out
+# Build the Python interface
+#if(BUILD_PYTHON_INTERFACE)
+# # Include and add the bindings directory
+# include_directories(bindings)
+# add_subdirectory(bindings)
+#endif(BUILD_PYTHON_INTERFACE)
+#
+## Build the unit tests
+#if(BUILD_TESTING)
+# add_subdirectory(unittest)
+#endif(BUILD_TESTING)
+#
+## Build the benchmark
+#if(BUILD_BENCHMARK)
+# add_subdirectory(benchmark)
+#endif(BUILD_BENCHMARK)
+#
+## Build the examples
+#if(BUILD_EXAMPLES)
+# if(BUILD_PYTHON_INTERFACE)
+# add_subdirectory(examples)
+# else(BUILD_PYTHON_INTERFACE)
+# message(
+# WARNING "Python interface is not built, hence cannot build examples.")
+# endif(BUILD_PYTHON_INTERFACE)
+#endif(BUILD_EXAMPLES)
+
+# TODO: generate this as well for full points i guess
+# PkgConfig packaging of the project
+#pkg_config_append_libs(${PROJECT_NAME})
+#pkg_config_append_boost_libs(${BOOST_REQUIRED_COMPONENTS})
diff --git a/python/README.md b/python/README.md
index cc31c69b2903a784f0cbd7ff4069437ea29a1735..9d3d5f035a17e4e123b95787eafcea88b7af14ac 100644
--- a/python/README.md
+++ b/python/README.md
@@ -8,6 +8,7 @@
- write out types in various functions
- write appropriate asserts over applicable arguments - you don't want to blow something up
due to a misclick while typing out arguments
+- try to get reading and setting the payload from code. also figure out why doesn't it zero the f/t sensor
# installation
------------
diff --git a/python/ur_simple_control/basics/.basics.py.swp b/python/convenience_tool_box/.ft_readings.py.swp
similarity index 74%
rename from python/ur_simple_control/basics/.basics.py.swp
rename to python/convenience_tool_box/.ft_readings.py.swp
index 91f857fb659921e79ffd64b34cee3258dc346c43..af38ae571664e934dff03f6a299a13e6513fcdcd 100644
Binary files a/python/ur_simple_control/basics/.basics.py.swp and b/python/convenience_tool_box/.ft_readings.py.swp differ
diff --git a/python/convenience_tool_box/check_tcp_payload b/python/convenience_tool_box/check_tcp_payload
new file mode 100755
index 0000000000000000000000000000000000000000..dca57cd600cf8d8d863419444744061d40a26d92
Binary files /dev/null and b/python/convenience_tool_box/check_tcp_payload differ
diff --git a/python/convenience_tool_box/ft_readings.py b/python/convenience_tool_box/ft_readings.py
index b721486d6b3028065fc66d424e5fe4f402875ebf..a43f9ef772e38d1a0622e25dd972e568ff6151a3 100644
--- a/python/convenience_tool_box/ft_readings.py
+++ b/python/convenience_tool_box/ft_readings.py
@@ -2,50 +2,32 @@ import pinocchio as pin
import numpy as np
import matplotlib.pyplot as plt
import sys
-import os
-from os.path import dirname, join, abspath
import time
-from pinocchio.visualize import GepettoVisualizer
-import gepetto.corbaserver
-from rtde_control import RTDEControlInterface
-from rtde_receive import RTDEReceiveInterface
-import os
import copy
import signal
-from give_me_the_calibrated_model import get_model
+from ur_simple_control.managers import RobotManager
+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()
- exit()
-rtde_control = RTDEControlInterface("192.168.1.102")
-rtde_receive = RTDEReceiveInterface("192.168.1.102")
-while not rtde_control.isConnected():
- continue
-print("connected")
-print("payload", rtde_receive.getPayload())
-print("payload cog", rtde_receive.getPayloadCog())
-print("payload ixx, iyy, izz, angular", rtde_receive.getPayloadInertia())
-#exit()
-signal.signal(signal.SIGINT, handler)
-urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
-urdf_path_absolute = os.path.abspath(urdf_path_relative)
-mesh_dir = "../robot_descriptions/"
-mesh_dir_absolute = os.path.abspath(mesh_dir)
-model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
+args = get_args()
+robot = RobotManager(args)
+
+#print("payload", robot.rtde_receive.getPayload())
+#print("payload cog", robot.rtde_receive.getPayloadCog())
+#print("payload ixx, iyy, izz, angular", robot.rtde_receive.getPayloadInertia())
+
ft_readings = []
dt = 1/500
#while True:
for i in range(5000):
start = time.time()
- q = rtde_receive.getActualQ()
- ft = rtde_receive.getActualTCPForce()
- tau = rtde_control.getJointTorques()
- current = rtde_receive.getActualCurrent()
+ 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)
@@ -55,6 +37,8 @@ for i in range(5000):
if diff < dt:
time.sleep(dt - diff)
+
+robot.rtde_control.endFreedriveMode()
ft_readings = np.array(ft_readings)
time = np.arange(len(ft_readings))
plt.title('fts')
@@ -70,6 +54,7 @@ ax = plt.subplot(235)
ax.plot(time, ft_readings[:,4])
ax = plt.subplot(236)
ax.plot(time, ft_readings[:,5])
+print("average over time", np.average(ft_readings, axis=0))
plt.savefig('fts.png', dpi=600)
plt.show()
# ft = rtde_receive.getFtRawWrench()
diff --git a/python/convenience_tool_box/fts.png b/python/convenience_tool_box/fts.png
index c425e6ad19ac9d6f16c5d123919944483f2561e2..cfd5ee6281dc020f3687f2da77a24b9465e543f8 100644
Binary files a/python/convenience_tool_box/fts.png and b/python/convenience_tool_box/fts.png differ
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
index ae7c0e382af11260516d6ef45d8da293311fa6fb..608515cc2f32846a7797b33739a03eee7b7a2eb0 100644
Binary files a/python/examples/.drawing_from_input_drawing.py.swp and b/python/examples/.drawing_from_input_drawing.py.swp differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 8ec4bf7185bf64a458b9ec9b4407a0dbefe847d2..7e41d94035b42223b7c4be15b0de0d7228b8e2f8 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -33,6 +33,29 @@ 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 #
@@ -95,7 +118,7 @@ def getArgs():
help="whether you want to use temporal coupling", default=True)
parser.add_argument('--kp', type=float, \
help="proportial control constant for position errors", \
- default=2.0)
+ default=1.0)
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", \
@@ -112,7 +135,7 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- default=0.003)
+ default=0.007)
# TODO add low pass filtering and make it's parameters arguments too
#######################################################################
# task specific arguments #
@@ -222,7 +245,7 @@ def controller():
# to find option 3)
# control loop to be passed to ControlLoopManager
-def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
+def controlLoopWriting(wrench_offset, dmp, tc, controller, robot, i, past_data):
breakFlag = False
# TODO rename this into something less confusing
save_past_dict = {}
@@ -237,10 +260,14 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
# 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)
- wrench = robot.getWrench()
+ Z = np.diag(np.array([0.6, 1.0, 0.6, 0.5, 0.5, 0.5]))
+ wrench = Z @ robot.getWrench()
# evil hack because wrench is not zeros (why? - no idea whatsoever)
# TODO: run it empty and zero it
- wrench = wrench - np.array([-1.14156273, 11.05155707, 1.88523016, -0.06643418, 0.16550734, 0.09019818])
+ #wrench = wrench - np.array([-1.14156273, 11.05155707, 1.88523016, -0.06643418, 0.16550734, 0.09019818])
+ #wrench = wrench - np.array([ -2.89005509, 18.11969302, -1.92425821, -0.08124564, 0.08441558, 0.06800772])
+ #wrench = wrench - np.array( [ 0.38101014, -0.32524308, 0.50800527, -0.00830584, 0.06112097, 0.01231109])
+ wrench = wrench - wrench_offset
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
@@ -291,6 +318,9 @@ if __name__ == "__main__":
args = getArgs()
clikController = getClikController(args)
robot = RobotManager(args)
+
+ # calibrate FT first
+ wrench_offset = calibrateFT(robot)
#######################################################################
# drawing a path, making a joint trajectory for it #
#######################################################################
@@ -345,8 +375,16 @@ if __name__ == "__main__":
#path = path + np.array([0.0, 0.0, -0.0813])
# NOTE GOOD FOR SHORT
#path = path + np.array([0.0, 0.0, -0.0750])
- path = path + np.array([0.0, 0.0, -0.0791])
- #path = path + np.array([0.0, 0.0, -0.1073])
+ #path = path + np.array([0.0, 0.0, -0.0791])
+ #path = path + np.array([0.0, 0.0, -0.0843])
+ # NOTE: THIS IS THE ONE
+ # 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, -0.1043])
+ path = path + np.array([0.0, 0.0, -0.0801])
+ #path = path + np.array([0.0, 0.0, -0.1573])
#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
@@ -398,7 +436,7 @@ if __name__ == "__main__":
'dqs' : np.zeros((args.max_iterations, 6)),
'dmp_vels' : np.zeros((args.max_iterations, 6)),
}
- controlLoop = partial(controlLoopWriting, dmp, tc, controller, robot)
+ controlLoop = partial(controlLoopWriting, wrench_offset, dmp, tc, controller, robot)
loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_dict)
#######################################################################
# physical setup #
@@ -431,6 +469,7 @@ if __name__ == "__main__":
mtool.translation[1] = mtool.translation[1] - 0.1
moveL(args, robot, mtool)
+ plotFromDict(log_dict, args)
robot.stopHandler(None, None)
robot.stopHandler(None, None)
robot.stopHandler(None, None)
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 2d1911f1af218bd08d8bccf3aa8adef3abae7945..e07ac52648f0113a8f15c8e06188cd91899b1097 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,3243 +1,4012 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 27f2904f3fe3d6f4c69b91b42d2496af29f3bfba..9f0fa48dd35d6f8bf2035fd69192a8b36fc3458a 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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