diff --git a/Dockerfile b/Dockerfile
index 955ab220512b05eabe6a24f46b11de87c9b76b65..fa9e6d0b936d89830f9d81f4e1538e96ada783ef 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,19 +1,25 @@
FROM ubuntu:jammy
-
-# install pyhton3-tk without questions
+# install python3-tk without questions
ARG DEBIAN_FRONTEND=noninteractive
ENV TZ=Europe/Stockholm
RUN apt update && apt upgrade
-RUN apt install -y python3 \
+# necessary
+RUN apt install -y \
+ python3 \
python3-pip \
python3-tk \
ipython3 \
git \
- sudo \
+ sudo
+# for some reason it's needed again
+RUN apt update && apt upgrade
+# nice to have
+RUN apt install -y \
vim \
vim-youcompleteme \
+ vim-python-jedi \
zsh \
zsh-syntax-highlighting \
python3-python-qt-binding
@@ -31,9 +37,10 @@ USER student
# copy repo to workdir
COPY --chown=student . .
RUN mkdir -p .cache/zsh/
-COPY ./dot_files_for_docker/.vimrc /home/student/
-COPY ./dot_files_for_docker/.zshrc /home/student/
-COPY ./dot_files_for_docker/global_extra_conf.py /home/student/
+COPY --chown=student /dot_files_for_docker/.vimrc /home/student/
+COPY --chown=student /dot_files_for_docker/.zshrc /home/student/
+COPY --chown=student /dot_files_for_docker/global_extra_conf.py /home/student/
+RUN vam install python-jedi
RUN vam install youcompleteme
# this is enough to run clik
diff --git a/README.md b/README.md
index c6148e4b98ff7aac21f7641bbd28c0fe1085b03d..156b164441e0d9dae43869500afee37c10d34911 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
# do this everytime you use this repo
-------------
-- do git stash
+[comment]: <> (- do git stash)
- and then git pull
diff --git a/dot_files_for_docker/.vimrc b/dot_files_for_docker/.vimrc
index 345fcb48d7eaaf44a483fe60bb92ad918e48880a..777938227a42a7060e97aa1fbe5f1550ba8f9c3d 100644
--- a/dot_files_for_docker/.vimrc
+++ b/dot_files_for_docker/.vimrc
@@ -30,13 +30,14 @@ nnoremap tfs :tabe +Ex<CR>
set path +=**
set wildmenu
+" let's not complicate life with folds
" automatically set fold if a c++ file is opened
-autocmd FileType cpp set foldmethod=syntax
-autocmd FileType hpp set foldmethod=syntax
-" likewise if a python file is opened
-autocmd FileType python set foldmethod=indent
-autocmd FileType python nnoremap <space> za
-autocmd FileType python vnoremap <space> zf
+"autocmd FileType cpp set foldmethod=syntax
+"autocmd FileType hpp set foldmethod=syntax
+"" likewise if a python file is opened
+"autocmd FileType python set foldmethod=indent
+"autocmd FileType python nnoremap <space> za
+"autocmd FileType python vnoremap <space> zf
set nocompatible " be iMproved, required
diff --git a/python/ur_simple_control/visualize/__pycache__/make_run.cpython-312.pyc b/python/ur_simple_control/visualize/__pycache__/make_run.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..9c3e6925ad1e4bc8f21203deccd4c3c653c18b39
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diff --git a/python/ur_simple_control/visualize/make_run.py b/python/ur_simple_control/visualize/make_run.py
index 04ebe058e8f5c0b5cc9264d4f7acd7ade0a9fb3f..7c79e5046cb16982c0540c11c354d13ad5e05fed 100644
--- a/python/ur_simple_control/visualize/make_run.py
+++ b/python/ur_simple_control/visualize/make_run.py
@@ -107,7 +107,7 @@ def loadRun(args, robot, log_data):
# TODO fix if you want it, whatever atm man
# TODO you're doubling fkine, dont
if recompute_checker['p_es']:
- log_data['p_es'][i] = robot.getMtool().translation
+ log_data['p_es'][i] = robot.getT_w_e().translation
M = J_lin @ J_lin.T
manip_index = np.sqrt(np.linalg.det(M))
diff --git a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
index e949abd66610a22caf14e894e8144b76b539f8f5..2abb22effaa6a666ddfc93390550448fab3057f4 100644
--- a/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
+++ b/python/ur_simple_control/visualize/manipulator_visual_motion_analyzer.py
@@ -144,10 +144,10 @@ class ManipulatorVisualMotionAnalyzer:
screensize = pyautogui.size()
self.SCREEN_WIDTH = screensize.width
self.SCREEN_HEIGHT = screensize.height
- #self.SCALING_FACTOR_HEIGHT = 0.8
- #self.SCALING_FACTOR_WIDTH = 0.5
- self.SCALING_FACTOR_HEIGHT = 0.3
- self.SCALING_FACTOR_WIDTH = 0.3
+ self.SCALING_FACTOR_HEIGHT = 0.8
+ self.SCALING_FACTOR_WIDTH = 0.5
+ #self.SCALING_FACTOR_HEIGHT = 0.3
+ #self.SCALING_FACTOR_WIDTH = 0.3
# dicts not because they have to be, but just so that
# they are named because that might be useful
# and because names are the only thing keeping horrendous this code together
@@ -190,8 +190,8 @@ class ManipulatorVisualMotionAnalyzer:
# putting it into this class so that python remembers it 'cos reasons, whatever
# TODO: load this from run log files later
# or just remove it since you're not generating runs from here
-# self.controller1 = getController("")
-# self.controller2 = getController("invKinm_Jac_T")
+ self.controller1 = getController("")
+ self.controller2 = getController("invKinm_Jac_T")
# TODO: load runs, not make them
# but deliver the same format.
# TODO: ensure you're saving AT LEAST what's required here
@@ -883,8 +883,8 @@ if __name__ == "__main__":
log_data = cleanUpRun(log_data, log_data['qs'].shape[0], 200)
robot = RobotManager(args)
log_data = loadRun(args, robot, log_data)
- gui = ManipulatorVisualMotionAnalyzer(root, queue, log_data, False)
- #gui = ManipulatorVisualMotionAnalyzer(root, queue, None, False)
+ #gui = ManipulatorVisualMotionAnalyzer(root, queue, log_data, False)
+ gui = ManipulatorVisualMotionAnalyzer(root, queue, None, False)
# have mainloop 'cos from tkinter import *
mainloop()
diff --git a/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-312.pyc b/python/ur_simple_control/visualize/robot_stuff/__pycache__/InverseKinematics.cpython-312.pyc
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