From ec4bbf7e2e8dfe7da6801426981d2c70beb7f758 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Mon, 7 Oct 2024 13:32:15 +0200
Subject: [PATCH] fresh todos, less random inverse kinematics calls
---
Dockerfile | 2 +-
TODOS_2024_09_19 | 12 ++++++++++++
docs/installation.md | 4 ++--
python/ur_simple_control/clik/clik_point_to_point.py | 3 +--
.../visualize/manipulator_visual_motion_analyzer.py | 6 +++---
5 files changed, 19 insertions(+), 8 deletions(-)
diff --git a/Dockerfile b/Dockerfile
index fa9e6d0..95b0217 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -29,7 +29,7 @@ RUN apt install -y \
# make the environment more usable
# create user
-RUN useradd -m -s /bin/zsh -G sudo -u 1001 student
+RUN useradd -m -s /bin/zsh -G sudo -u 1000 student
WORKDIR /home/student/
RUN passwd -d student
diff --git a/TODOS_2024_09_19 b/TODOS_2024_09_19
index 1e083f6..1c12eb3 100644
--- a/TODOS_2024_09_19
+++ b/TODOS_2024_09_19
@@ -5,6 +5,13 @@ goal 2: clean up the code
of a 'session' or at least names all logs in a run)
3. use python's logging instead of printing
+goal 3:
+----------
+enforce simulation first, or at least make it easy to simulate a thing
+STARTING FROM THE CURRENT ROBOT POSITION while you're connected.
+basically "--simulate-from-current-pose"
+to the make the "simulate every time before you run maxim" not annoying.
+
goal 4: more controllers
------------------------
1. finish adding all ik algorithms
@@ -12,9 +19,14 @@ goal 4: more controllers
3. [hard] adjusting the dmp to get back on the path despite external forces
(fix the problem of writing on a non-flat surface/whatever) --> publishable side-project
+goal 5:
+-------
+include the workspace somehow
+
finally, do what you promised and put this on another robot,
thereby rendering this something publishable in joss
goal 5: panda/yumi
----------------
1. transfer the library to panda or yumi or both
+
diff --git a/docs/installation.md b/docs/installation.md
index 32c1b58..f0ef86a 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -3,8 +3,8 @@
In the interest of time, the library is shipped as a Docker image.
Installing docker on windows:
-1. install wsl with "wsl --install" in powershell administrator, more at https://learn.microsoft.com/en-us/windows/wsl/install
-2. install docker on windows (with wsl option, should be default)
+1. install wsl with "wsl --install" in powershell administrator, more at [windows docs](https://learn.microsoft.com/en-us/windows/wsl/install)
+2. install docker on windows (with wsl option, should be default), more at [docker docs](https://docs.docker.com/desktop/install/windows-install)
3. create the docker accout
4. open docker desktop, navigate to Settings (by user/account button) -> Resources -> Network -> click on enable host networking
5. open wsl (type wsl in powershell) and navigate to git folder (now in wsl) with "cd /mnt/Users/YOURUSERNAME/PATH_TO_GIT_FOLDER"
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 838a917..5146137 100644
--- a/python/ur_simple_control/clik/clik_point_to_point.py
+++ b/python/ur_simple_control/clik/clik_point_to_point.py
@@ -167,7 +167,6 @@ def controlLoopClik(robot, clik_controller, i, past_data):
log_item = {}
# know where you are, i.e. do forward kinematics
q = robot.getQ()
- pin.forwardKinematics(robot.model, robot.data, q)
# first check whether we're at the goal
SEerror = robot.data.oMi[robot.JOINT_ID].actInv(robot.Mgoal)
err_vector = pin.log6(SEerror).vector
@@ -175,6 +174,7 @@ def controlLoopClik(robot, clik_controller, i, past_data):
# print("Convergence achieved, reached destionation!")
breakFlag = True
# pin.computeJointJacobian is much different than the C++ version lel
+ # TODO: put in step, havew getter for it
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
# compute the joint velocities.
# just plug and play different ones
@@ -211,7 +211,6 @@ def moveUntilContactControlLoop(contact_detecting_force, speed, robot, clik_cont
breakFlag = False
# know where you are, i.e. do forward kinematics
q = robot.getQ()
- pin.forwardKinematics(robot.model, robot.data, q)
# break if wrench is nonzero basically
#wrench = robot.getWrench()
# you're already giving the speed in the EE i.e. body frame
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 2abb22e..280709b 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_HEIGHT = 0.8
+ #self.SCALING_FACTOR_WIDTH = 0.5
+ self.SCALING_FACTOR_HEIGHT = 0.35
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
--
GitLab