From dcf82d9e1aa1e983ecc139eec0c6a0abad39d50c Mon Sep 17 00:00:00 2001
From: Your Name <marko.guberina@control.lth.se>
Date: Wed, 11 Dec 2024 16:24:57 +0100
Subject: [PATCH] getting closer to smc_yumi_node

---
 python/examples/smc_yumi_challenge.py         |  20 ++++++++++++------
 python/ur_simple_control/.managers.py.swp     | Bin 0 -> 81920 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 379 -> 379 bytes
 .../__pycache__/managers.cpython-310.pyc      | Bin 35761 -> 35897 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 192 -> 192 bytes
 .../basics/__pycache__/basics.cpython-310.pyc | Bin 7100 -> 7100 bytes
 .../clik/__pycache__/__init__.cpython-310.pyc | Bin 188 -> 188 bytes
 .../dmp/__pycache__/__init__.cpython-310.pyc  | Bin 186 -> 186 bytes
 .../dmp/__pycache__/dmp.cpython-310.pyc       | Bin 9311 -> 9311 bytes
 python/ur_simple_control/managers.py          |  11 +++++++++-
 .../__pycache__/__init__.cpython-310.pyc      | Bin 181 -> 181 bytes
 .../util/__pycache__/__init__.cpython-310.pyc | Bin 167 -> 167 bytes
 .../__pycache__/get_model.cpython-310.pyc     | Bin 7638 -> 7638 bytes
 .../__pycache__/logging_utils.cpython-310.pyc | Bin 4363 -> 4363 bytes
 .../__pycache__/__init__.cpython-310.pyc      | Bin 172 -> 172 bytes
 .../__pycache__/visualize.cpython-310.pyc     | Bin 8744 -> 8744 bytes
 16 files changed, 23 insertions(+), 8 deletions(-)
 create mode 100644 python/ur_simple_control/.managers.py.swp

diff --git a/python/examples/smc_yumi_challenge.py b/python/examples/smc_yumi_challenge.py
index 835fb36..06ae8f7 100644
--- a/python/examples/smc_yumi_challenge.py
+++ b/python/examples/smc_yumi_challenge.py
@@ -22,6 +22,7 @@ def get_args():
     of various kinds. Make sure you know what the goal is before you run!'
     parser = getClikArgs(parser)
     parser = get_OCP_args(parser)
+    parser.add_argument('--ros-namespace', type=str, default="maskinn", help="you MUST put in ros namespace you're using")
     argcomplete.autocomplete(parser)
     args = parser.parse_args()
     return args
@@ -31,15 +32,19 @@ class ROSCommHandlerMYumi(Node):
     def __init__(self, args, robot_manager : RobotManager, loop_manager : ControlLoopManager):
         super().__init__('ROSCommHandlerHeron')
         
-        self._ns = get_rosified_name(self.get_namespace())
+        # does not work
+        #self._ns = get_rosified_name(self.get_namespace())
+        # so we pass it as an argument
+        self._ns = args.ros_namespace + "/"
         self.get_logger().info(f"### Starting dummy example under namespace {self._ns}")
         
-        self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/base_command", 1)
+        #self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/base_command", 1)
+        self.pub_vel_base = self.create_publisher(Twist, f"{self._ns}platform/command_limiter_node/base/cmd_vel_in_navigation", 1)
         self.pub_vel_left = self.create_publisher(JointState, f"{self._ns}platform/left_arm_command", 1)
         self.pub_vel_right = self.create_publisher(JointState, f"{self._ns}platform/right_arm_command", 1)
         robot_manager.set_publisher_vel_base(self.pub_vel_base)
-        robot_manager.set_publiser_vel_left(self.pub_vel_left)
-        robot_manager.set_publiser_vel_right(self.pub_vel_right)
+        robot_manager.set_publisher_vel_left(self.pub_vel_left)
+        robot_manager.set_publisher_vel_right(self.pub_vel_right)
         
         self.robot_manager = robot_manager
         self.loop_manager = loop_manager
@@ -57,6 +62,7 @@ class ROSCommHandlerMYumi(Node):
         self.sub_base_odom = self.create_subscription(Odometry, f"{self._ns}platform/odometry", self.callback_base_odom, qos_prof)
         # self.sub_amcl = self.create_subscription(PoseWithCovarianceStamped, '/amcl_pose', self.pose_callback, qos_prof)
         self.sub_arms_state = self.create_subscription(JointState, f"{self._ns}platform/joint_states", self.callback_arms_state, qos_prof)
+
         self.names_left = {f"{self._ns}_yumi_robl_joint_{i+1}": i for i in range(7)}
         self.state_left = JointState(name=list(sorted(self.names_left.keys())),
                                      position=[0] * 7,
@@ -149,9 +155,9 @@ def main(args=None):
     if robot.robot_name == "yumi":
         goal.rotation = np.eye(3)
         goal_transform = pin.SE3.Identity()
-#        goal_transform.translation[1] = 0.1
-#        goal_left = goal_transform.act(goal)
-#        goal_left = goal_transform.inverse().act(goal)
+        goal_transform.translation[1] = 0.1
+        goal_left = goal_transform.act(goal)
+        goal_left = goal_transform.inverse().act(goal)
 #        goal = (goal_left, goal_right)
     #loop_manager = CrocoIKMPC(args, robot, goal, run=False)
     loop_manager = moveLDualArm(args, robot, goal, goal_transform, run=False)
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
new file mode 100644
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diff --git a/python/ur_simple_control/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/__pycache__/__init__.cpython-310.pyc
index ce6673496f7e6316a3904ce2006131b6aed286ca..66a7ae1d673b877c2f76b218972970879116ddcc 100644
GIT binary patch
delta 20
bcmey(^qYx0pO=@5fq{YH^6bcs+y#sPJ&*;B

delta 20
bcmey(^qYx0pO=@5fq{X+_GrXL?gB;tI&B3Y

diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
index 45e06998fec1cdb20af8d2e092947181e3091db4..7c773d8c3aa8cc3f72351d40e311f1dd9e64718c 100644
GIT binary patch
delta 875
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diff --git a/python/ur_simple_control/basics/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/basics/__pycache__/__init__.cpython-310.pyc
index 4fcc48325eb50ae80151049a8bd95d410b78bf1c..043b8caa77c5bae3e06d5fdbbc08ff8f4f781c35 100644
GIT binary patch
delta 19
acmX@Wcz}^RpO=@5fq{YH((K5I+*<)JbOks7

delta 19
acmX@Wcz}^RpO=@5fq{X+=4ix3?yUeUz68qv

diff --git a/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc b/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc
index b12dae4be0485859ae209b9f9ce244671d36d973..0249803d684c8194126402b59550e820d3f02aae 100644
GIT binary patch
delta 20
bcmdmEzQ>$9pO=@5fq{YH^6bcs+#96<JVpi7

delta 20
bcmdmEzQ>$9pO=@5fq{X+_GrXL?v2s_IU@yU

diff --git a/python/ur_simple_control/clik/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/clik/__pycache__/__init__.cpython-310.pyc
index b7cc6106c1f0c88a87540694b79a5ba5fa9c9383..db758e965347cd0bbe68439b146cea4c58aec265 100644
GIT binary patch
delta 19
acmdnPxQCHDpO=@5fq{YH^6bco+#3Nd<^?SP

delta 19
acmdnPxQCHDpO=@5fq{X+_GrXJ?u`H}Fa*E=

diff --git a/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/__init__.cpython-310.pyc
index c52ad2d6a07ddbfb794cde23e26b76b2b7811177..3ee65b4a22bb546dcb73a46d96079bc3ae5fa78e 100644
GIT binary patch
delta 19
acmdnRxQmfHpO=@5fq{YH((K5I-0J}@mIWpN

delta 19
acmdnRxQmfHpO=@5fq{X+=4ix3?)3mG-~_n<

diff --git a/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc b/python/ur_simple_control/dmp/__pycache__/dmp.cpython-310.pyc
index 1748ec39385a4de2c51fdc093e07874945c27f85..4956a36b4841594d3d70f849609a714bfd194868 100644
GIT binary patch
delta 20
bcmccbao>YGpO=@5fq{YH^6bcs+#xCeLn{U7

delta 20
bcmccbao>YGpO=@5fq{X+_GrXL?hq9KKnMkU

diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 4b01fb3..48467bb 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -936,7 +936,16 @@ class RobotManager:
         if self.robot_name == "yumi":
             qd_cmd = np.clip(qd, -1 * self.model.velocityLimit, self.model.velocityLimit)
             self.v_q = qd_cmd
-            self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
+            if self.args.pinocchio_only:
+                self.q = pin.integrate(self.model, self.q, qd_cmd * self.dt)
+            else:
+                qd_base = qd[:3]
+                qd_left = qd[3:10]
+                qd_right = qd[10:]
+                self.publisher_vel_base(qd_base)
+                self.publisher_vel_left(qd_left)
+                self.publisher_vel_right(qd_right)
+
             
 
 
diff --git a/python/ur_simple_control/robot_descriptions/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/robot_descriptions/__pycache__/__init__.cpython-310.pyc
index 4205132f18c1fa9e6f360245f8563b5689393978..0806428f665ab55390f7bc917ea3c79c554b8034 100644
GIT binary patch
delta 19
acmdnWxRsGRpO=@5fq{YH((K5I+^YaB-31o_

delta 19
acmdnWxRsGRpO=@5fq{X+=4ix3?o|LQCj_bh

diff --git a/python/ur_simple_control/util/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/__init__.cpython-310.pyc
index e4807fe1c1df90399b3c25f5ebafd91b56ee7b8d..ffdca2fdd15c7955b24c823c089a647bc847f159 100644
GIT binary patch
delta 19
acmZ3^xSWwYpO=@5fq{YH((K5I+;adc*97eV

delta 19
acmZ3^xSWwYpO=@5fq{X+=4ix3?l}M{Aq0Q`

diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-310.pyc
index f156703b670f5cf4630b8fbdd538088be5a9576c..dd179f150c733a47bda1f946bd294d5c5f4bb05b 100644
GIT binary patch
delta 20
bcmca+ea)IXpO=@5fq{YH^6bcs+^1y$K<EZ6

delta 20
bcmca+ea)IXpO=@5fq{X+_GrXL?$fdWJ;epT

diff --git a/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc b/python/ur_simple_control/util/__pycache__/logging_utils.cpython-310.pyc
index 4c09aab89ebdec862597aa374132927a8fcd0e96..e97154fba239571a8fc08725ead074ba7acaab1c 100644
GIT binary patch
delta 19
acmeBH>Q>^;=jG*MU|?XlJUenBw;%v3^aOnX

delta 19
acmeBH>Q>^;=jG*MU|?XdJsPo)TMz&#J_HZ|

diff --git a/python/ur_simple_control/visualize/__pycache__/__init__.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/__init__.cpython-310.pyc
index eb9ca0ddb65ee961913ca9fde50c764effc20b46..ad7422e9ee45004d7b00debb9d962d34e75cf926 100644
GIT binary patch
delta 19
acmZ3(xQ3BCpO=@5fq{YH((K5I+zSCLkOcey

delta 19
acmZ3(xQ3BCpO=@5fq{X+=4ix3?u7s;+60dP

diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-310.pyc
index d48f6116dd1dd800f9a9f003050b74a758be83dd..31da6f3686755ce93ed26ca5e2cff7bcc988cfa7 100644
GIT binary patch
delta 20
bcmZ4CvciQspO=@5fq{YH^6bcs+_FjlIspYa

delta 20
bcmZ4CvciQspO=@5fq{X+_GrXLZdoM&Hr@ox

-- 
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