diff --git a/python/examples/.drawing_from_input_drawing.py.swp b/python/examples/.drawing_from_input_drawing.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..ae7c0e382af11260516d6ef45d8da293311fa6fb
Binary files /dev/null and b/python/examples/.drawing_from_input_drawing.py.swp differ
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 41d9107279e4923f2ba771c0734c52390a6728fc..8ec4bf7185bf64a458b9ec9b4407a0dbefe847d2 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -112,7 +112,7 @@ def getArgs():
default=0.001)
parser.add_argument('--alpha', type=float, \
help="force feedback proportional coefficient", \
- default=0.005)
+ default=0.003)
# TODO add low pass filtering and make it's parameters arguments too
#######################################################################
# task specific arguments #
@@ -120,10 +120,10 @@ def getArgs():
# TODO measure this for the new board
parser.add_argument('--board-width', type=float, \
help="width of the board (in meters) the robot will write on", \
- default=0.2)
+ default=0.3)
parser.add_argument('--board-height', type=float, \
help="height of the board (in meters) the robot will write on", \
- default=0.2)
+ default=0.3)
parser.add_argument('--calibration', action=argparse.BooleanOptionalAction, \
help="whether you want to do calibration", default=False)
parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
@@ -238,16 +238,19 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
# is actually better, who knows.
# also you probably want to do the fusion of that onto tau (got from J.T @ wrench)
wrench = robot.getWrench()
+ # evil hack because wrench is not zeros (why? - no idea whatsoever)
+ # TODO: run it empty and zero it
+ wrench = wrench - np.array([-1.14156273, 11.05155707, 1.88523016, -0.06643418, 0.16550734, 0.09019818])
# deepcopy for good coding practise (and correctness here)
save_past_dict['wrench'] = copy.deepcopy(wrench)
# rolling average
- # TODO: try doing a low-pass filter instead
- # TODO: check where the shape of this is correct (should be, but check)
- #wrench = np.average(np.array(past_data['wrench']), axis=0)
+ wrench = np.average(np.array(past_data['wrench']), axis=0)
+ if i % 100 == 0:
+ print(wrench)
# first-order low pass filtering instead
# beta is a smoothing coefficient, smaller values smooth more, has to be in [0,1]
- beta = 0.01
- wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
+ #beta = 0.01
+ #wrench = beta * wrench + (1 - beta) * past_data['wrench'][-1]
pin.forwardKinematics(robot.model, robot.data, q)
J = pin.computeJointJacobian(robot.model, robot.data, q, robot.JOINT_ID)
dq = robot.getQd()[:6].reshape((6,1))
@@ -260,7 +263,9 @@ def controlLoopWriting(dmp, tc, controller, robot, i, past_data):
# TODO: don't use vel for qd, it's confusion (yes, that means changing dmp code too)
# TODO: put this in a controller function for easy swapping (or don't if you won't swap)
# solve this q number connundrum
- vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) - args.alpha * tau
+ # TODO evil hack
+ #vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) - args.alpha * tau
+ vel_cmd = dmp.vel + args.kp * (dmp.pos - q[:6].reshape((6,1))) + args.alpha * tau
robot.sendQd(vel_cmd)
# TODO find a better criterion for stopping
@@ -336,7 +341,12 @@ if __name__ == "__main__":
else:
#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])
+ # NEW MARKER IS SHORTER
+ #path = path + np.array([0.0, 0.0, -0.0813])
+ # NOTE GOOD FOR SHORT
+ #path = path + np.array([0.0, 0.0, -0.0750])
+ path = path + np.array([0.0, 0.0, -0.0791])
+ #path = path + np.array([0.0, 0.0, -0.1073])
#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
@@ -403,7 +413,18 @@ if __name__ == "__main__":
#moveL(args, robot, current_pose)
# move to initial pose
dmp.step(1/500)
- moveJ(args, robot, dmp.pos.reshape((6,)))
+ first_q = dmp.pos.reshape((6,))
+ first_q = list(first_q)
+ first_q.append(0.0)
+ first_q.append(0.0)
+ first_q = np.array(first_q)
+ #pin.forwardKinematics(robot.model, robot.data, first_q)
+ mtool = robot.getMtool(q_given=first_q)
+ mtool.translation[1] = mtool.translation[1] - 0.005
+ moveL(args, robot, mtool)
+ #moveL
+
+ #moveJ(args, robot, dmp.pos.reshape((6,)))
# and now we can actually run
loop_manager.run()
mtool = robot.getMtool()
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 63017f42fa0879c096ab79e848f32c9c80600779..2d1911f1af218bd08d8bccf3aa8adef3abae7945 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,1618 +1,3243 @@
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 301dc237d911c21cbc575b2d857dfad141f317e7..27f2904f3fe3d6f4c69b91b42d2496af29f3bfba 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
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diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..20dee56a41eee396aafa8eb4b0238c05bb6fdacc
Binary files /dev/null and b/python/ur_simple_control/.managers.py.swp differ
diff --git a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc
index 01f4c4bc5f276f45e8456c8e7a1d6e28ddc3e288..2182fde78b9b7bca755bba50306471909c76bb98 100644
Binary files a/python/ur_simple_control/__pycache__/managers.cpython-310.pyc and b/python/ur_simple_control/__pycache__/managers.cpython-310.pyc differ
diff --git a/python/ur_simple_control/basics/.basics.py.swp b/python/ur_simple_control/basics/.basics.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..91f857fb659921e79ffd64b34cee3258dc346c43
Binary files /dev/null and b/python/ur_simple_control/basics/.basics.py.swp differ
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 7c03ddac280ffd092c700a1891c722a7385cd043..bf08e547774804db451086aa3542eb488668758a 100644
Binary files a/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc and b/python/ur_simple_control/basics/__pycache__/basics.cpython-310.pyc differ
diff --git a/python/ur_simple_control/basics/basics.py b/python/ur_simple_control/basics/basics.py
index 748cd9eb7beba6994d26dffec9d0b856eab6ae96..7d999ad8057d0d469193fda6411d1d7bebe45b68 100644
--- a/python/ur_simple_control/basics/basics.py
+++ b/python/ur_simple_control/basics/basics.py
@@ -33,7 +33,11 @@ def moveJControlLoop(q_desired, robot, i, past_data):
# stupid hack, for the love of god remove this
# but it should be small enough lel
# there. fixed. tko radi taj i grijesi, al jebemu zivot sta je to bilo
- qd = q_error * robot.dt
+ K = 120
+ #print(q_error)
+ # TODO: you should clip this
+ qd = K * q_error * robot.dt
+ #qd = np.clip(qd, robot.acceleration, robot.acceleration)
robot.sendQd(qd)
return breakFlag, {}, {}
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 1f5c5ac96d76904e3b5ff8dd1766972a6270b388..9bde3a23dab35e4a96255b8ea586fa4eefe54a9c 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -340,25 +340,37 @@ class RobotManager:
also, the gripper is controlled separately so we'd need to do this somehow anyway
NOTE: this gripper_past_pos thing is not working atm, but i'll keep it here as a TODO
"""
- def getMtool(self):
- if not self.pinocchio_only:
- q = self.rtde_receive.getActualQ()
- if self.args.gripper:
- # TODO: make it work or remove it
- #self.gripper_past_pos = self.gripper_pos
- # this is pointless by itself
- self.gripper_pos = self.gripper.get_current_position()
- # the /255 is to get it dimensionless.
- # the gap is 5cm,
- # thus half the gap is 0.025m (and we only do si units here).
- q.append((self.gripper_pos / 255) * 0.025)
- q.append((self.gripper_pos / 255) * 0.025)
+ # TODO remove evil hack
+ def getMtool(self, q_given=None):
+ test = True
+ try:
+ test = q_given.all() == None
+ print(test)
+ print(q_given)
+ except AttributeError:
+ test = True
+
+ if test:
+ if not self.pinocchio_only:
+ q = self.rtde_receive.getActualQ()
+ if self.args.gripper:
+ # TODO: make it work or remove it
+ #self.gripper_past_pos = self.gripper_pos
+ # this is pointless by itself
+ self.gripper_pos = self.gripper.get_current_position()
+ # the /255 is to get it dimensionless.
+ # the gap is 5cm,
+ # thus half the gap is 0.025m (and we only do si units here).
+ q.append((self.gripper_pos / 255) * 0.025)
+ q.append((self.gripper_pos / 255) * 0.025)
+ else:
+ # just fill it with zeros otherwise
+ q.append(0.0)
+ q.append(0.0)
else:
- # just fill it with zeros otherwise
- q.append(0.0)
- q.append(0.0)
+ q = self.q
else:
- q = self.q
+ q = copy.deepcopy(q_given)
q = np.array(q)
self.q = q
pin.forwardKinematics(self.model, self.data, q)