TODO:

• write test for every algorithm - just run it on sample data on simulation and pinocchio. using things on the real robot needs to be tested manually, but simulation in URsimulator should take care of that because the only difference is the IP address in that case. point is test what you can.
• write out types in various functions
• write appropriate asserts over applicable arguments - you don't want to blow something up due to a misclick while typing out arguments
• try to get reading and setting the payload from code. also figure out why doesn't it zero the f/t sensor --> works, but you need to change ur_rtde code, recompile, and install both c++ and python from there. so not terribly convenient. it will get fixed in a future ur_rtde release tho
• use logging instead of a debug flag (you're reinventing the wheel and it's also ugly)
• add types to everything, check them with mypy

installation

first you MUST update pip, otherwise it won't work: python3 -m pip install --upgrade pip setuptools wheel build then install with pip install --user -e . from this directory. now the package is editable, which there's a chance you'd want

description

• organized as a library called ur_simple_control (should be Simple Manipulator Control), made into a python package. the hope is that if this is done well enough, you could mix-and-match different components and just have them work as intended. on the other hand, the code should still be simple enough to afford the quickest possible prototyping, which is the point of having it all in python anyway
• initial python solution is age-old code which needs to be remapped into the libraries used here. it will sit here until everything it offers has been translated. this primarily concerns all the inverse kinematics algorithms in there, primarily QP --> which could be outsourced to the pink library as it's literally QP ik, but written competently and tested

runnable things

are in the examples folder