From f41cf3277e8055fc62f27c638aeb198791edb578 Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Tue, 21 Nov 2023 00:09:30 +0100
Subject: [PATCH] literally a 0.5cm off
---
.../.drawing_from_input_drawing.py.swp | Bin 49152 -> 0 bytes
python/examples/drawing_from_input_drawing.py | 25 +-
python/examples/joint_trajectory.csv | 1952 ++++++++++++++---
python/examples/path_in_pixels.csv | 139 +-
python/ur_simple_control.egg-info/SOURCES.txt | 1 +
python/ur_simple_control/.managers.py.swp | Bin 53248 -> 0 bytes
.../ur_simple_control/basics/.basics.py.swp | Bin 12288 -> 0 bytes
.../basics/__pycache__/basics.cpython-310.pyc | Bin 0 -> 1118 bytes
python/ur_simple_control/basics/basics.py | 7 +-
.../clik/.clik_point_to_point.py.swp | Bin 28672 -> 0 bytes
.../util/.calib_board_hacks.py.swp | Bin 36864 -> 0 bytes
11 files changed, 1759 insertions(+), 365 deletions(-)
delete mode 100644 python/examples/.drawing_from_input_drawing.py.swp
delete mode 100644 python/ur_simple_control/.managers.py.swp
delete mode 100644 python/ur_simple_control/basics/.basics.py.swp
create mode 100644 python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc
delete mode 100644 python/ur_simple_control/clik/.clik_point_to_point.py.swp
delete mode 100644 python/ur_simple_control/util/.calib_board_hacks.py.swp
diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
deleted file mode 100644
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diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index ba00508..41d9107 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -28,7 +28,7 @@ from ur_simple_control.clik.clik_trajectory_following import map2DPathTo3DPlane,
from ur_simple_control.managers import ControlLoopManager, RobotManager
from ur_simple_control.util.calib_board_hacks import calibratePlane, getSpeedInDirectionOfN
from ur_simple_control.visualize.visualize import plotFromDict
-from ur_simple_control.basics.basic import moveJ
+from ur_simple_control.basics.basics import moveJ
#######################################################################
# arguments #
@@ -53,7 +53,7 @@ def getArgs():
help="whether you want to visualize with gepetto, but \
NOTE: not implemented yet", default=False)
parser.add_argument('--gripper', action=argparse.BooleanOptionalAction, \
- help="whether you're using the gripper", default=True)
+ help="whether you're using the gripper", default=False)
parser.add_argument('--acceleration', type=float, \
help="robot's joints acceleration. scalar positive constant, \
max 1.7, and default 0.4. \
@@ -112,7 +112,7 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- default=0.003)
+ default=0.005)
# TODO add low pass filtering and make it's parameters arguments too
#######################################################################
# task specific arguments #
@@ -334,7 +334,10 @@ if __name__ == "__main__":
# Y
path = path + np.array([0.0, -1 * marker_offset, 0.0])
else:
- path = path + np.array([0.0, -0.0938, 0.0])
+ #path = path + np.array([0.0, -0.0938, 0.0])
+ #path = path + np.array([0.0, 0.0, -0.0938])
+ path = path + np.array([0.0, 0.0, -0.0873])
+ #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
# with a different clik, i'm sorry, i can't put that if here.
@@ -396,14 +399,20 @@ if __name__ == "__main__":
# Z
#current_pose.translation[2] = current_pose.translation[2] + 0.03
# Y
- current_pose.translation[1] = current_pose.translation[1] + 0.03
- moveL(args, robot, current_pose)
+ #current_pose.translation[1] = current_pose.translation[1] + 0.03
+ #moveL(args, robot, current_pose)
# move to initial pose
- # this is a blocking call
- moveJ(dmp.pos.reshape((6,)))
+ dmp.step(1/500)
+ moveJ(args, robot, dmp.pos.reshape((6,)))
# and now we can actually run
loop_manager.run()
+ mtool = robot.getMtool()
+ mtool.translation[1] = mtool.translation[1] - 0.1
+ moveL(args, robot, mtool)
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
+ robot.stopHandler(None, None)
# plot results
plotFromDict(log_dict, args)
# TODO: add some math to analyze path precision
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 403165c..63017f4 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,334 +1,1618 @@
-0.00000,1.54423,-1.62695,-0.85987,-0.65905,1.60056,0.00299
-0.01502,1.54353,-1.62715,-0.85969,-0.65903,1.60124,0.00299
-0.03003,1.54285,-1.62735,-0.85952,-0.65900,1.60191,0.00299
-0.04505,1.54219,-1.62755,-0.85934,-0.65898,1.60256,0.00298
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index ccbd6ba..301dc23 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,20 +1,119 @@
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diff --git a/python/ur_simple_control.egg-info/SOURCES.txt b/python/ur_simple_control.egg-info/SOURCES.txt
index 77d6984..958962f 100644
--- a/python/ur_simple_control.egg-info/SOURCES.txt
+++ b/python/ur_simple_control.egg-info/SOURCES.txt
@@ -2,6 +2,7 @@ LICENSE.txt
README.md
setup.py
ur_simple_control/__init__.py
+ur_simple_control/managers.py
ur_simple_control.egg-info/PKG-INFO
ur_simple_control.egg-info/SOURCES.txt
ur_simple_control.egg-info/dependency_links.txt
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
deleted file mode 100644
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diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
index 6f14e3b..25985b2 100644
--- a/python/ur_simple_control/basics/basics.py
+++ b/python/ur_simple_control/basics/basics.py
@@ -22,18 +22,19 @@ def moveJControlLoop(q_desired, robot, i, past_data):
save_past_dict = {}
# you don't even need forward kinematics for this lmao
q = robot.getQ()
+ q = q[:6]
q_error = q_desired - q
- if np.linalg.norm(q_error) < 1e-3:
+ if np.linalg.norm(q_error) < 1e-4:
breakFlag = True
# stupid hack, for the love of god remove this
# but it should be small enough lel
- qd = q_error / np.linalg.norm(q_error)
+ qd = q_error / (np.linalg.norm(q_error) *14)
robot.sendQd(qd)
return breakFlag, {}, {}
def moveJ(args, robot, q_desired):
- assert type(goal_point) == pin.pinocchio_pywrap.SE3
+ assert type(q_desired) == np.ndarray
controlLoop = partial(moveJControlLoop, q_desired, robot)
# we're not using any past data or logging, hence the empty arguments
loop_manager = ControlLoopManager(robot, controlLoop, args, {}, {})
diff --git a/python/ur_simple_control/clik/.clik_point_to_point.py.swp b/python/ur_simple_control/clik/.clik_point_to_point.py.swp
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--
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