From e7ff68a832aa8f7c6d19934065cc45e5a3189b86 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Wed, 8 Nov 2023 16:11:59 +0100
Subject: [PATCH] fixed calibration, and the loader with fixing is in util. the
 minimal test i did showed success.

---
 README.md                                     |    5 +
 clik/clik.py                                  |   28 +-
 dmp/{ => albin}/DMP.m                         |    0
 dmp/{ => albin}/dmp_node                      |    0
 dmp/{ => albin}/matlab/DMP.m                  |    0
 dmp/{ => albin}/matlab/NoTemporalCoupling.m   |    0
 dmp/{ => albin}/matlab/TemporalCoupling.m     |    0
 .../matlab/TemporalCouplingNoPotentials.m     |    0
 dmp/{ => albin}/matlab/dmp_from_ogs/README.md |    0
 .../matlab/dmp_from_ogs/code/dcp.m            |    0
 .../matlab/dmp_from_ogs/code/dmp_learn.m      |    0
 .../matlab/dmp_from_ogs/code/rcp.m            |    0
 .../matlab/dmp_from_ogs/code/rmp_learn.m      |    0
 .../matlab/dmp_from_ogs/code/transformation.m |    0
 dmp/{ => albin}/matlab/main.m                 |    0
 dmp/{ => albin}/matlab/plot_result.m          |    0
 dmp/{ => albin}/matlab/run_simulation.m       |    0
 dmp/{ => albin}/matlab/trajectories/g.mat     |  Bin
 dmp/{ => albin}/matlab/trajectories/omega.mat |  Bin
 dmp/{ => albin}/matlab/trajectories/psi.mat   |  Bin
 dmp/{ => albin}/matlab/trajectories/s.mat     |  Bin
 dmp/{ => albin}/matlab/trajectories/z.mat     |  Bin
 dmp/{ => albin}/motion_planning/__init__.py   |    0
 .../motion_planning/dmp/__init__.py           |    0
 .../motion_planning/dmp/__init__.pyc          |  Bin
 dmp/{ => albin}/motion_planning/dmp/dmp.py    |    0
 dmp/{ => albin}/motion_planning/dmp/dmp.pyc   |  Bin
 .../motion_planning/dmp/temporal_coupling.py  |    0
 .../motion_planning/dmp/temporal_coupling.pyc |  Bin
 .../online_traj_scaling/__init__.py           |    0
 .../online_traj_scaling/__init__.pyc          |  Bin
 .../__pycache__/gmr_oa.cpython-310.pyc        |  Bin
 .../__pycache__/gmr_oa.cpython-36.pyc         |  Bin
 .../online_traj_scaling/example.yaml          |    0
 .../online_traj_scaling/gmr_oa.py             |    0
 .../online_traj_scaling/gmr_oa.pyc            |  Bin
 .../trajectory_generator.py                   |    0
 .../trajectory_generator.pyc                  |  Bin
 dmp/{ => albin}/msg/DMPState.msg              |    0
 dmp/{ => albin}/msg/TrajGenState.msg          |    0
 dmp/{ => albin}/vel_ff_pos_fb_node            |    0
 dmp/foo.csv                                   |   70 +-
 dmp/my_sol/.create_dmp.py.swp                 |  Bin 20480 -> 0 bytes
 .../drawing_gen/.cliking_the_path.py.swp      |  Bin 12288 -> 0 bytes
 dmp/my_sol/drawing_gen/cliking_the_path.py    |   67 +-
 dmp/my_sol/drawing_gen/draw_path.py           |    1 +
 dmp/my_sol/drawing_gen/path_in_pixels.csv     |  221 ++
 dmp/my_sol/new_traj.csv                       | 1793 +++++++----------
 dmp/my_sol/run_dmp.py                         |   12 +-
 dmp/notes.md                                  |   15 +-
 my_robot_calibration.yaml                     |   44 +
 ...r5e_with_robotiq_hande_CALIBRATED.urdf.swp |  Bin 16384 -> 16384 bytes
 ...ve_me_the_calibrated_model.cpython-310.pyc |  Bin 0 -> 1762 bytes
 util/freedrive.py                             |   15 +-
 util/give_me_the_calibrated_model.py          |   55 +
 util/jog_example                              |  Bin 0 -> 151888 bytes
 util/measuring_stick.py                       |   41 +
 57 files changed, 1250 insertions(+), 1117 deletions(-)
 rename dmp/{ => albin}/DMP.m (100%)
 rename dmp/{ => albin}/dmp_node (100%)
 rename dmp/{ => albin}/matlab/DMP.m (100%)
 rename dmp/{ => albin}/matlab/NoTemporalCoupling.m (100%)
 rename dmp/{ => albin}/matlab/TemporalCoupling.m (100%)
 rename dmp/{ => albin}/matlab/TemporalCouplingNoPotentials.m (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/README.md (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/code/dcp.m (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/code/dmp_learn.m (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/code/rcp.m (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/code/rmp_learn.m (100%)
 rename dmp/{ => albin}/matlab/dmp_from_ogs/code/transformation.m (100%)
 rename dmp/{ => albin}/matlab/main.m (100%)
 rename dmp/{ => albin}/matlab/plot_result.m (100%)
 rename dmp/{ => albin}/matlab/run_simulation.m (100%)
 rename dmp/{ => albin}/matlab/trajectories/g.mat (100%)
 rename dmp/{ => albin}/matlab/trajectories/omega.mat (100%)
 rename dmp/{ => albin}/matlab/trajectories/psi.mat (100%)
 rename dmp/{ => albin}/matlab/trajectories/s.mat (100%)
 rename dmp/{ => albin}/matlab/trajectories/z.mat (100%)
 rename dmp/{ => albin}/motion_planning/__init__.py (100%)
 rename dmp/{ => albin}/motion_planning/dmp/__init__.py (100%)
 rename dmp/{ => albin}/motion_planning/dmp/__init__.pyc (100%)
 rename dmp/{ => albin}/motion_planning/dmp/dmp.py (100%)
 rename dmp/{ => albin}/motion_planning/dmp/dmp.pyc (100%)
 rename dmp/{ => albin}/motion_planning/dmp/temporal_coupling.py (100%)
 rename dmp/{ => albin}/motion_planning/dmp/temporal_coupling.pyc (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/__init__.py (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/__init__.pyc (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/example.yaml (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/gmr_oa.py (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/gmr_oa.pyc (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/trajectory_generator.py (100%)
 rename dmp/{ => albin}/motion_planning/online_traj_scaling/trajectory_generator.pyc (100%)
 rename dmp/{ => albin}/msg/DMPState.msg (100%)
 rename dmp/{ => albin}/msg/TrajGenState.msg (100%)
 rename dmp/{ => albin}/vel_ff_pos_fb_node (100%)
 delete mode 100644 dmp/my_sol/.create_dmp.py.swp
 delete mode 100644 dmp/my_sol/drawing_gen/.cliking_the_path.py.swp
 create mode 100644 dmp/my_sol/drawing_gen/path_in_pixels.csv
 create mode 100644 my_robot_calibration.yaml
 rename dmp/my_sol/.run_dmp.py.swp => robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp (54%)
 create mode 100644 util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc
 create mode 100644 util/give_me_the_calibrated_model.py
 create mode 100755 util/jog_example
 create mode 100644 util/measuring_stick.py

diff --git a/README.md b/README.md
index 5da62e2..388dfea 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,8 @@
+# do this everytime you use this repo
+- do git stash
+- and then git pull
+
+
 # general info
 - all of the code has been used and tested on Ubuntu 22 LTS
 - both Python and C++ implementations are available, there's examples of both (both for the libraries
diff --git a/clik/clik.py b/clik/clik.py
index 2dd5f55..a65e873 100644
--- a/clik/clik.py
+++ b/clik/clik.py
@@ -8,10 +8,13 @@ from pinocchio.visualize import GepettoVisualizer
 #import gepetto.corbaserver
 from rtde_control import RTDEControlInterface as RTDEControl
 from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from rtde_io import RTDEIOInterface
 from robotiq_gripper import RobotiqGripper
 import os
 import copy
 import signal
+sys.path.insert(0, '..')
+from util.give_me_the_calibrated_model import get_model
 
 #SIMULATION = True
 SIMULATION = False
@@ -25,26 +28,8 @@ PINOCCHIO_ONLY = False
 #time.sleep(3)
 
 # load model
-# NOTE: this program needs to be either ran from this directory, or the paths need to be changed
-# paths as arguments will be added a bit later, it's not prio rn
-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)
-print(mesh_dir_absolute)
-model = pin.buildModelFromUrdf(urdf_path_absolute)
-print(model)
-data = pin.Data(model)
-print(data)
+model, data = get_model()
 
-# can't get the urdf reading with these functions to save my life, idk what or why
-#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute)
-#visual_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL)
-#collision_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION)
-#data = pin.Data(model)
-#viz = GepettoVisualizer(model, collision_model, visual_model)
-#viz.initViewer()
-#viz.loadViewerModel()
 
 #load gripper
 gripper = RobotiqGripper()
@@ -55,6 +40,7 @@ gripper = RobotiqGripper()
 if not SIMULATION: 
     rtde_control = RTDEControl("192.168.1.102")
     rtde_receive = RTDEReceive("192.168.1.102")
+    rtde_io = RTDEIOInterface("192.168.1.102")
     #NOTE: socket_timeout is the third argument, check what it does 
     gripper.connect("192.168.1.102", 63352)
     # this is a blocking call
@@ -76,7 +62,7 @@ Mtool = data.oMi[JOINT_ID]
 print("pos", Mtool)
 #SEerror = pin.SE3(np.zeros((3,3)), np.array([0.0, 0.0, 0.1])
 Mgoal = copy.deepcopy(Mtool)
-Mgoal.translation = Mgoal.translation + np.array([-0.2, 0.0, 0.0])
+Mgoal.translation = Mgoal.translation + np.array([-0.1, 0.0, 0.0])
 print("goal", Mgoal)
 eps = 1e-3
 IT_MAX = 100000
@@ -86,6 +72,8 @@ damp = 1e-6
 # nice but large
 #acceleration = 1.0
 acceleration = 0.2
+# let's go nice and slow
+rtde_io.setSpeedSlider(0.5)
 
 # if you just stop it normally, it will continue running
 # the last speedj lmao
diff --git a/dmp/DMP.m b/dmp/albin/DMP.m
similarity index 100%
rename from dmp/DMP.m
rename to dmp/albin/DMP.m
diff --git a/dmp/dmp_node b/dmp/albin/dmp_node
similarity index 100%
rename from dmp/dmp_node
rename to dmp/albin/dmp_node
diff --git a/dmp/matlab/DMP.m b/dmp/albin/matlab/DMP.m
similarity index 100%
rename from dmp/matlab/DMP.m
rename to dmp/albin/matlab/DMP.m
diff --git a/dmp/matlab/NoTemporalCoupling.m b/dmp/albin/matlab/NoTemporalCoupling.m
similarity index 100%
rename from dmp/matlab/NoTemporalCoupling.m
rename to dmp/albin/matlab/NoTemporalCoupling.m
diff --git a/dmp/matlab/TemporalCoupling.m b/dmp/albin/matlab/TemporalCoupling.m
similarity index 100%
rename from dmp/matlab/TemporalCoupling.m
rename to dmp/albin/matlab/TemporalCoupling.m
diff --git a/dmp/matlab/TemporalCouplingNoPotentials.m b/dmp/albin/matlab/TemporalCouplingNoPotentials.m
similarity index 100%
rename from dmp/matlab/TemporalCouplingNoPotentials.m
rename to dmp/albin/matlab/TemporalCouplingNoPotentials.m
diff --git a/dmp/matlab/dmp_from_ogs/README.md b/dmp/albin/matlab/dmp_from_ogs/README.md
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/README.md
rename to dmp/albin/matlab/dmp_from_ogs/README.md
diff --git a/dmp/matlab/dmp_from_ogs/code/dcp.m b/dmp/albin/matlab/dmp_from_ogs/code/dcp.m
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/code/dcp.m
rename to dmp/albin/matlab/dmp_from_ogs/code/dcp.m
diff --git a/dmp/matlab/dmp_from_ogs/code/dmp_learn.m b/dmp/albin/matlab/dmp_from_ogs/code/dmp_learn.m
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/code/dmp_learn.m
rename to dmp/albin/matlab/dmp_from_ogs/code/dmp_learn.m
diff --git a/dmp/matlab/dmp_from_ogs/code/rcp.m b/dmp/albin/matlab/dmp_from_ogs/code/rcp.m
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/code/rcp.m
rename to dmp/albin/matlab/dmp_from_ogs/code/rcp.m
diff --git a/dmp/matlab/dmp_from_ogs/code/rmp_learn.m b/dmp/albin/matlab/dmp_from_ogs/code/rmp_learn.m
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/code/rmp_learn.m
rename to dmp/albin/matlab/dmp_from_ogs/code/rmp_learn.m
diff --git a/dmp/matlab/dmp_from_ogs/code/transformation.m b/dmp/albin/matlab/dmp_from_ogs/code/transformation.m
similarity index 100%
rename from dmp/matlab/dmp_from_ogs/code/transformation.m
rename to dmp/albin/matlab/dmp_from_ogs/code/transformation.m
diff --git a/dmp/matlab/main.m b/dmp/albin/matlab/main.m
similarity index 100%
rename from dmp/matlab/main.m
rename to dmp/albin/matlab/main.m
diff --git a/dmp/matlab/plot_result.m b/dmp/albin/matlab/plot_result.m
similarity index 100%
rename from dmp/matlab/plot_result.m
rename to dmp/albin/matlab/plot_result.m
diff --git a/dmp/matlab/run_simulation.m b/dmp/albin/matlab/run_simulation.m
similarity index 100%
rename from dmp/matlab/run_simulation.m
rename to dmp/albin/matlab/run_simulation.m
diff --git a/dmp/matlab/trajectories/g.mat b/dmp/albin/matlab/trajectories/g.mat
similarity index 100%
rename from dmp/matlab/trajectories/g.mat
rename to dmp/albin/matlab/trajectories/g.mat
diff --git a/dmp/matlab/trajectories/omega.mat b/dmp/albin/matlab/trajectories/omega.mat
similarity index 100%
rename from dmp/matlab/trajectories/omega.mat
rename to dmp/albin/matlab/trajectories/omega.mat
diff --git a/dmp/matlab/trajectories/psi.mat b/dmp/albin/matlab/trajectories/psi.mat
similarity index 100%
rename from dmp/matlab/trajectories/psi.mat
rename to dmp/albin/matlab/trajectories/psi.mat
diff --git a/dmp/matlab/trajectories/s.mat b/dmp/albin/matlab/trajectories/s.mat
similarity index 100%
rename from dmp/matlab/trajectories/s.mat
rename to dmp/albin/matlab/trajectories/s.mat
diff --git a/dmp/matlab/trajectories/z.mat b/dmp/albin/matlab/trajectories/z.mat
similarity index 100%
rename from dmp/matlab/trajectories/z.mat
rename to dmp/albin/matlab/trajectories/z.mat
diff --git a/dmp/motion_planning/__init__.py b/dmp/albin/motion_planning/__init__.py
similarity index 100%
rename from dmp/motion_planning/__init__.py
rename to dmp/albin/motion_planning/__init__.py
diff --git a/dmp/motion_planning/dmp/__init__.py b/dmp/albin/motion_planning/dmp/__init__.py
similarity index 100%
rename from dmp/motion_planning/dmp/__init__.py
rename to dmp/albin/motion_planning/dmp/__init__.py
diff --git a/dmp/motion_planning/dmp/__init__.pyc b/dmp/albin/motion_planning/dmp/__init__.pyc
similarity index 100%
rename from dmp/motion_planning/dmp/__init__.pyc
rename to dmp/albin/motion_planning/dmp/__init__.pyc
diff --git a/dmp/motion_planning/dmp/dmp.py b/dmp/albin/motion_planning/dmp/dmp.py
similarity index 100%
rename from dmp/motion_planning/dmp/dmp.py
rename to dmp/albin/motion_planning/dmp/dmp.py
diff --git a/dmp/motion_planning/dmp/dmp.pyc b/dmp/albin/motion_planning/dmp/dmp.pyc
similarity index 100%
rename from dmp/motion_planning/dmp/dmp.pyc
rename to dmp/albin/motion_planning/dmp/dmp.pyc
diff --git a/dmp/motion_planning/dmp/temporal_coupling.py b/dmp/albin/motion_planning/dmp/temporal_coupling.py
similarity index 100%
rename from dmp/motion_planning/dmp/temporal_coupling.py
rename to dmp/albin/motion_planning/dmp/temporal_coupling.py
diff --git a/dmp/motion_planning/dmp/temporal_coupling.pyc b/dmp/albin/motion_planning/dmp/temporal_coupling.pyc
similarity index 100%
rename from dmp/motion_planning/dmp/temporal_coupling.pyc
rename to dmp/albin/motion_planning/dmp/temporal_coupling.pyc
diff --git a/dmp/motion_planning/online_traj_scaling/__init__.py b/dmp/albin/motion_planning/online_traj_scaling/__init__.py
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/__init__.py
rename to dmp/albin/motion_planning/online_traj_scaling/__init__.py
diff --git a/dmp/motion_planning/online_traj_scaling/__init__.pyc b/dmp/albin/motion_planning/online_traj_scaling/__init__.pyc
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/__init__.pyc
rename to dmp/albin/motion_planning/online_traj_scaling/__init__.pyc
diff --git a/dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc b/dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc
rename to dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-310.pyc
diff --git a/dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc b/dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc
rename to dmp/albin/motion_planning/online_traj_scaling/__pycache__/gmr_oa.cpython-36.pyc
diff --git a/dmp/motion_planning/online_traj_scaling/example.yaml b/dmp/albin/motion_planning/online_traj_scaling/example.yaml
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/example.yaml
rename to dmp/albin/motion_planning/online_traj_scaling/example.yaml
diff --git a/dmp/motion_planning/online_traj_scaling/gmr_oa.py b/dmp/albin/motion_planning/online_traj_scaling/gmr_oa.py
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/gmr_oa.py
rename to dmp/albin/motion_planning/online_traj_scaling/gmr_oa.py
diff --git a/dmp/motion_planning/online_traj_scaling/gmr_oa.pyc b/dmp/albin/motion_planning/online_traj_scaling/gmr_oa.pyc
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/gmr_oa.pyc
rename to dmp/albin/motion_planning/online_traj_scaling/gmr_oa.pyc
diff --git a/dmp/motion_planning/online_traj_scaling/trajectory_generator.py b/dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.py
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/trajectory_generator.py
rename to dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.py
diff --git a/dmp/motion_planning/online_traj_scaling/trajectory_generator.pyc b/dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.pyc
similarity index 100%
rename from dmp/motion_planning/online_traj_scaling/trajectory_generator.pyc
rename to dmp/albin/motion_planning/online_traj_scaling/trajectory_generator.pyc
diff --git a/dmp/msg/DMPState.msg b/dmp/albin/msg/DMPState.msg
similarity index 100%
rename from dmp/msg/DMPState.msg
rename to dmp/albin/msg/DMPState.msg
diff --git a/dmp/msg/TrajGenState.msg b/dmp/albin/msg/TrajGenState.msg
similarity index 100%
rename from dmp/msg/TrajGenState.msg
rename to dmp/albin/msg/TrajGenState.msg
diff --git a/dmp/vel_ff_pos_fb_node b/dmp/albin/vel_ff_pos_fb_node
similarity index 100%
rename from dmp/vel_ff_pos_fb_node
rename to dmp/albin/vel_ff_pos_fb_node
diff --git a/dmp/foo.csv b/dmp/foo.csv
index 2f5c0e7..68f7d86 100644
--- a/dmp/foo.csv
+++ b/dmp/foo.csv
@@ -1,20 +1,50 @@
-91.95752,20.54460,67.05755,79.28822,7.44036,14.34274
-8.19768,66.59219,33.50315,88.02353,66.00660,75.05940
-25.59865,47.32599,54.90994,0.69086,17.00136,22.16938
-50.34043,68.93221,91.19810,45.25895,53.85435,95.05934
-57.17939,61.95363,62.82719,10.89851,89.53397,42.59941
-19.91617,9.63301,80.90256,34.02111,66.77825,10.33415
-95.01825,94.01395,50.42798,53.76650,82.35249,86.54953
-93.96005,44.60053,56.45169,20.15949,11.02641,57.66196
-78.41841,3.27468,71.97246,54.94057,31.04586,36.50777
-74.20454,19.36789,36.10229,96.56415,69.52338,32.00818
-72.05607,86.49986,50.22457,8.99782,80.88300,16.76694
-84.70613,66.26398,80.76942,96.90357,11.73177,76.10016
-62.65264,48.30619,80.49647,75.55566,84.58094,99.83353
-93.26129,58.84515,73.43210,66.87649,72.73627,70.98217
-32.60035,66.88685,73.38905,58.76843,33.85312,39.78090
-55.66805,2.41836,53.07940,94.63999,19.06198,39.37208
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diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
index aaae8e4..412f215 100644
--- a/dmp/my_sol/drawing_gen/cliking_the_path.py
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -17,16 +17,16 @@ import os
 #                STEP 1: map the pixels to a 3D plane                 #
 #######################################################################
 
-# TODO you'll pass the path into this path, it's just bs for now
+# let's call it 10 seconds, whatever
 t = (np.arange(100) / 10).reshape((100,1))
-path = np.hstack((np.cos(t), np.sin(t))) / 2
+path = np.genfromtxt('./path_in_pixels.csv', delimiter=',')
 z = np.zeros((len(path),1))
 path = np.hstack((path,z))
 
+# todo measure better maybe
 # we now scale this appropriatelly to m
-# TODO measure
-board_width = 0.3
-board_height = 0.2
+board_width = 0.35
+board_height = 0.4
 path[:,0] = path[:,0] * board_width
 path[:,1] = path[:,1] * board_height
 
@@ -36,16 +36,49 @@ path[:,1] = path[:,1] * board_height
 # we now need a transformation from the body frame to the board
 # such that the first quadrant of the x-y plane is 
 # in the bottom left corner of the board (obvious solution)
+
+# sample stuff
+#translation_body_to_board = np.array([0.2, 0.2, 0.3])
+## here let's assume it's just rotated around x (it's not ofc)
+#rot_mat_body_to_board = np.array([[1.0, 0.0, 0.0],
+#                                  [0.0, 0.0, 1.0],
+#                                  [0.0, 1.0, 0.0]])
+#transf_body_to_board = pin.SE3(rot_mat_body_to_board, translation_body_to_board)
+
+# real stuff
 # TODO measure AND AUTOMATICALLY FIND/CALIBRATE
-translation_body_to_board = np.array([0.3, 0.4, 0.5])
-# here let's assume it's just rotated around x (it's not ofc)
-rot_mat_body_to_board = np.array([[1.0, 0.0, 0.0],
-                                  [0.0, 0.0, 1.0],
-                                  [0.0, 1.0, 0.0]])
-transf_body_to_board = pin.SE3(rot_mat_body_to_board, translation_body_to_board)
+# TODO write some algorithm to do this automatically, this is asinine
+# (in pin coordinates, real ones are [-x, -y, z])
+# UPPER LEFT POINT 
+R = np.array([[ -0.999451,  -0.0284345,   0.0169942],
+              [ -0.0330578,    0.889025,   -0.456663],
+              [ -0.00212333,   -0.456974,   -0.889477]])
+# change +/- stuff if you go the other way idk or c lmao
+p = np.array([-0.113205,  -0.71668,  0.638377])
+transf_body_to_board = pin.SE3(R, p)
+
+# LOWER LEFT POINT
+#  R =
+# -0.998592 -0.0509392 -0.0147815
+#-0.0332665   0.818552  -0.573468
+# 0.0413114   -0.57217  -0.819094
+#  p = -0.114727   -0.3738  0.401655
+
+# UPPER RIGHT POINT
+# is not in the workspace lmao
+
+# LOWER RIGHT POINT
+#  R =
+# -0.999219 -0.0141156 -0.0369115
+#0.00980125   0.816329  -0.577504
+# 0.0382838  -0.577415  -0.815553
+#  p = -0.595579 -0.373942  0.413703
+path = path + np.array([0.0, 0.0, -0.1])
 for i in range(len(path)):
     path[i] = transf_body_to_board.act(path[i])
-print(path)
+#print(path)
+# make it hover a bit
+#path = path + np.array([-0.02, 0.0, 0.02])
 
 #######################################################################
 #                      STEP 2: clik that path                         #
@@ -65,7 +98,7 @@ JOINT_ID = 6
 eps = 10**-2
 dt = 0.01
 # skip inital pos tho
-q = pin.neutral(model)
+q = np.array([-2.035, -1.371,  1.146, -2.071, -1.376,  0.048, 0.0, 0.0])
 INIT_ITER = 10000
 n_iter = INIT_ITER
 RUNNING_ITER = 1000
@@ -77,8 +110,9 @@ for goal in path:
         SEerror = data.oMi[JOINT_ID].actInv(Mgoal)
         err_vector = pin.log6(SEerror).vector 
         if np.linalg.norm(err_vector) < eps:
-            print("converged", i)
-            break
+            if not n_iter == INIT_ITER:
+                print("converged in", i)
+                break
         J = pin.computeJointJacobian(model, data, q, JOINT_ID)
         v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector
         q = pin.integrate(model, q, v * dt)
@@ -88,6 +122,9 @@ for goal in path:
     # just skipping the first run with one stone
     if n_iter == INIT_ITER:
         n_iter = RUNNING_ITER
+    else:
+        if i == RUNNING_ITER:
+            print("DID NOT CONVERGE")
 
 #######################################################################
 #                       STEP 3: save joint path                       #
diff --git a/dmp/my_sol/drawing_gen/draw_path.py b/dmp/my_sol/drawing_gen/draw_path.py
index c8e3aa5..1c6bd81 100644
--- a/dmp/my_sol/drawing_gen/draw_path.py
+++ b/dmp/my_sol/drawing_gen/draw_path.py
@@ -41,6 +41,7 @@ if __name__ == '__main__':
             print(selector.path)
             selector.disconnect()
             ax.set_title("")
+            np.savetxt("./path_in_pixels.csv", selector.path, delimiter=',', fmt='%.5f')
             print("TODO: run clik on me")
             exit()
 
diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv
new file mode 100644
index 0000000..0eea0a0
--- /dev/null
+++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv
@@ -0,0 +1,221 @@
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diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
index 87232b0..893c562 100644
--- a/dmp/my_sol/new_traj.csv
+++ b/dmp/my_sol/new_traj.csv
@@ -1,1051 +1,742 @@
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diff --git a/dmp/my_sol/run_dmp.py b/dmp/my_sol/run_dmp.py
index e9577e5..1437367 100644
--- a/dmp/my_sol/run_dmp.py
+++ b/dmp/my_sol/run_dmp.py
@@ -27,6 +27,15 @@ import matplotlib.pyplot as plt
 
 rtde_control = RTDEControl("192.168.1.102")
 rtde_receive = RTDEReceive("192.168.1.102")
+
+# run if marker isn't gripped
+#gripper = RobotiqGripper()
+#gripper.connect("192.168.1.102", 63352)
+#gripper.activate()
+#time.sleep(3)
+#gripper.move(255,100,100)
+#time.sleep(3)
+
 #rtde_control = RTDEControl("127.0.0.1")
 #rtde_receive = RTDEReceive("127.0.0.1")
 
@@ -82,7 +91,8 @@ JOINT_ID = 6
 
 # parameters from yaml config file in albin's repo
 kp = 2
-acceleration = 1.7
+#acceleration = 1.7
+acceleration = 0.5
 
 if not TEMPORAL_COUPLING:
     tc = NoTC()
diff --git a/dmp/notes.md b/dmp/notes.md
index ee57051..d623781 100644
--- a/dmp/notes.md
+++ b/dmp/notes.md
@@ -13,9 +13,14 @@ but looks OK as is also
 -------------------------
 just put your pixels onto a plane onto a predefined place with the right coordinate transform.
 ofc you have the pixel -> mm conversion and mins and maxes. whatever makes sense workspace-wise is good.
+TODO: 
+- write an algorithm to automatically calibrate where the board is
+- doing anything else is asinine
 
-# timed joint trajectory
+# timed joint trajectory: DONE
 -----------------------------
+- assumed 10s 'cos who cares
+- the dmp class code handles the finite differencing
 the UR matlab module just magically calculates what's needed.
 thus just running clik along the points to get joint angles for each point is almost certainly fine,
 although can be probably made better or worse.
@@ -32,16 +37,18 @@ struct q_traj{
 how to read this from the .mat if you leave it this way idk.
 but you'll almost certainly want to replicate this code anyway so who cares.
 
-# dmp-ing the trajectory
+# dmp-ing the trajectory - DONE (albin's code gg ez)
 --------------------------
-
+- TODO: understand what's going on
 - idea type beat: we're doing it in joint space, but since it's just a demo,
 doing it with speedl might be easier (it's not like 
 the damped pseudoinverse is peak performance, let's be real)
 
 
-# control loop around trajectory following
+# control loop around trajectory following - DONE within dmp
 -------------------------------------------
+- TODO for fun this with alternative basic methods to get a better grip on things
+- you'll need to measure and analyse stuff in a non-trivial way tho
 it's literally just feedforward position and feedback velocity
 ```python
 def compute_ctrl(self, target_state, robot_state):
diff --git a/my_robot_calibration.yaml b/my_robot_calibration.yaml
new file mode 100644
index 0000000..bc5c558
--- /dev/null
+++ b/my_robot_calibration.yaml
@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1625134425523304
+    roll: -0
+    pitch: 0
+    yaw: 5.315711138647629e-08
+  upper_arm:
+    x: 0.000300915150907851
+    y: 0
+    z: 0
+    roll: 1.571659987714477
+    pitch: 0
+    yaw: 1.155342090832558e-06
+  forearm:
+    x: -0.4249536100418752
+    y: 0
+    z: 0
+    roll: 3.140858652067472
+    pitch: 3.141065383898231
+    yaw: 3.141581851193229
+  wrist_1:
+    x: -0.3922353894477613
+    y: -0.001171506236920081
+    z: 0.1337997346972175
+    roll: 0.008755445624588536
+    pitch: 0.0002860523431017214
+    yaw: 7.215921353974553e-06
+  wrist_2:
+    x: 5.620166987673597e-05
+    y: -0.09948910981796041
+    z: 0.0002201494606859632
+    roll: 1.568583530823855
+    pitch: 0
+    yaw: -3.513049549874747e-07
+  wrist_3:
+    x: 9.062061300900664e-06
+    y: 0.09947787349620175
+    z: 0.0001411778743239612
+    roll: 1.572215514545703
+    pitch: 3.141592653589793
+    yaw: 3.141592633687631
+  hash: calib_7977937988884314362
\ No newline at end of file
diff --git a/dmp/my_sol/.run_dmp.py.swp b/robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp
similarity index 54%
rename from dmp/my_sol/.run_dmp.py.swp
rename to robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp
index 460fa55a5cc5c091043410973b6bf62d27f8e4a7..f33e1a0306813ae235e268262a78a9b00cf5d18f 100644
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diff --git a/util/freedrive.py b/util/freedrive.py
index aa33bbf..53cc81d 100644
--- a/util/freedrive.py
+++ b/util/freedrive.py
@@ -1,6 +1,9 @@
+import numpy as np
+import time
 from rtde_control import RTDEControlInterface as RTDEControl
 from rtde_receive import RTDEReceiveInterface as RTDEReceive
-import time
+import os
+import copy
 import signal
 
 def handler(signum, frame):
@@ -17,9 +20,9 @@ print("connected")
 
 rtde_control.freedriveMode()
 signal.signal(signal.SIGINT, handler)
-time.sleep(100)
 
-#time.sleep(1)
-#print(rtde_control.getFreedriveStatus())
-#rtde_control.endFreedriveMode()
-#print("done")
+while True:
+    q = rtde_receive.getActualQ()
+    q = np.array(q)
+    print(q.round(3))
+    time.sleep(0.005)
diff --git a/util/give_me_the_calibrated_model.py b/util/give_me_the_calibrated_model.py
new file mode 100644
index 0000000..26c947e
--- /dev/null
+++ b/util/give_me_the_calibrated_model.py
@@ -0,0 +1,55 @@
+import pinocchio as pin
+import numpy as np
+import sys
+import os
+from os.path import dirname, join, abspath
+
+# can't get the urdf reading with these functions to save my life, idk what or why
+#model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute)
+#visual_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL)
+#collision_model = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION)
+#data = pin.Data(model)
+#viz = GepettoVisualizer(model, collision_model, visual_model)
+#viz.initViewer()
+#viz.loadViewerModel()
+
+def get_model():
+
+    shoulder_trans = np.array([0, 0, 0.1625134425523304])
+    shoulder_rpy = np.array([-0, 0, 5.315711138647629e-08])
+    shoulder_se3 = pin.SE3(pin.rpy.rpyToMatrix(shoulder_rpy),shoulder_trans)
+
+    upper_arm_trans = np.array([0.000300915150907851, 0, 0])
+    upper_arm_rpy = np.array([1.571659987714477, 0, 1.155342090832558e-06])
+    upper_arm_se3 = pin.SE3(pin.rpy.rpyToMatrix(upper_arm_rpy),upper_arm_trans)
+
+    forearm_trans = np.array([-0.4249536100418752, 0, 0])
+    forearm_rpy = np.array([3.140858652067472, 3.141065383898231, 3.141581851193229])
+    forearm_se3 = pin.SE3(pin.rpy.rpyToMatrix(forearm_rpy),forearm_trans)
+
+    wrist_1_trans = np.array([-0.3922353894477613, -0.001171506236920081, 0.1337997346972175])
+    wrist_1_rpy = np.array([0.008755445624588536, 0.0002860523431017214, 7.215921353974553e-06])
+    wrist_1_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_1_rpy),wrist_1_trans)
+
+    wrist_2_trans = np.array([5.620166987673597e-05, -0.09948910981796041, 0.0002201494606859632])
+    wrist_2_rpy = np.array([1.568583530823855, 0, -3.513049549874747e-07])
+    wrist_2_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_2_rpy),wrist_2_trans)
+
+    wrist_3_trans = np.array([9.062061300900664e-06, 0.09947787349620175, 0.0001411778743239612])
+    wrist_3_rpy = np.array([1.572215514545703, 3.141592653589793, 3.141592633687631])
+    wrist_3_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_3_rpy),wrist_3_trans)
+
+    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 = pin.buildModelFromUrdf(urdf_path_absolute)
+    model.jointPlacements[1] = shoulder_se3
+    model.jointPlacements[2] = upper_arm_se3
+    model.jointPlacements[3] = forearm_se3
+    model.jointPlacements[4] = wrist_1_se3
+    model.jointPlacements[5] = wrist_2_se3
+    model.jointPlacements[6] = wrist_3_se3 
+    data = pin.Data(model)
+
+    return model, data
diff --git a/util/jog_example b/util/jog_example
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diff --git a/util/measuring_stick.py b/util/measuring_stick.py
new file mode 100644
index 0000000..5bedd2c
--- /dev/null
+++ b/util/measuring_stick.py
@@ -0,0 +1,41 @@
+import pinocchio as pin
+import numpy as np
+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 as RTDEControl
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+import os
+import copy
+import signal
+from give_me_the_calibrated_model import get_model
+
+def handler(signum, frame):
+    print('i will end freedrive and exit')
+    rtde_control.endFreedriveMode()
+    exit()
+
+
+rtde_control = RTDEControl("192.168.1.102")
+rtde_receive = RTDEReceive("192.168.1.102")
+while not rtde_control.isConnected():
+    continue
+print("connected")
+
+rtde_control.freedriveMode()
+signal.signal(signal.SIGINT, handler)
+
+
+model, data = get_model()
+
+while True:
+    q = rtde_receive.getActualQ()
+    q.append(0.0)
+    q.append(0.0)
+    pin.forwardKinematics(model, data, np.array(q))
+    print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+    print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+    time.sleep(0.005)
-- 
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