Commit 5489266c authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

pls test pitasc/lth/master/format vs pitasc/lth/master/Merge branch 'logger' into 'master'

change path's and plot z-axis
roslaunch ilc bringup_microsim.launch & rosrun cppitasc file_reader ilc apps/rob_ilc_lin_test.xml
parent 4d159967
......@@ -4,10 +4,13 @@
<models>
<include package="pitasc_library" file="models/pitasc.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="pitasc_library" file="models/skills.xml"/> -->
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="ilc" file="models/skills.xml"/> -->
</models>
<!-- Create a project -->
......@@ -21,7 +24,7 @@
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">10</member>
<member id="robot_driver.max_velocity">20</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
......@@ -38,11 +41,15 @@
<!-- Use the UR5 for this skill (and for its subskill) -->
<member id="robot" reference_id="environment.robot_ur5"/>
<!-- Add subskill(s) -->
<member id="skills">
<!-- Move ptp -->
<clone prototype="skill_ptp">
<member id="joint_names">elbow_joint, shoulder_pan_joint, wrist_3_joint, wrist_1_joint, shoulder_lift_joint, wrist_2_joint</member>
<member id="target_joint_state">1.5111723007545828, 1.6092279039888917, -3.141917966357802, 2.9014219134662995, -1.3423824706872163, -3.1797213696262983</member>
<!-- Move to target1 (lin) -->
<!-- <clone prototype="skill_lin_ilc"> -->
<clone prototype="skill_ptp">
<member id="joint_names">elbow_joint, shoulder_lift_joint, shoulder_pan_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint</member>
<member id="target_joint_state">-0.8761704603778284, -1.705047909413473, -1.5110262076007288, -2.1497629324542444, 1.5639780759811401, -0.7346790472613733</member>
</clone>
<clone prototype="skill_lin">
......@@ -50,12 +57,19 @@
<member id="target_frame">start_position</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">goal_position</member>
</clone>
<clone id="ilc_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">intermediate_position_low</member>
<member id="target_frame">start_position</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="linear_controller_gain">5</member>
<member id="max_linear_velocity">5</member>
<member id="tasks.tracking.setpoint_generators">
<clone id="setpoint" prototype="constant_setpoint">
......@@ -70,7 +84,7 @@
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/victor/ilc_ws/src/ilc/Logs/lin_ff_2_1D.txt</member>
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
......@@ -105,12 +119,12 @@
<!-- Controller must be declared before referencing -->
<reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member>
<member id="file_name">/home/victor/ilc_ws/src/ilc/Logs/logger_0_1D.csv</member>
<member id="filter">target_to_tool/z</member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
</clone>
</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">start_position</member>
......@@ -118,30 +132,23 @@
<member id="scripts">
<clone prototype="script_trigger_ilc">
<member id="service_name">ilc_service</member>
<member id="file_in">/home/victor/ilc_ws/src/ilc/Logs/logger_0_1D.csv</member>
<member id="file_out">/home/victor/ilc_ws/src/ilc/Logs/lin_ff_2_1D.txt</member>
<member id="file_traj">/home/victor/ilc_ws/src/ilc/Logs/trajectory_1D.txt</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<member id="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="traj_type">cos</member>
<member id="L">0.3</member>
<member id="L">0.6</member>
<member id="cutoff_freq">0.5</member>
</clone>
</member>
<clone prototype="script_retime_if_ilc">
<member id="service_name">ilc_retime_if</member>
<member id="on_start">false</member>
<member id="retime_factor">0.9</member>
<member id="convergence_threshold">0.5</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
<!-- <clone prototype="script_retime_ilc">
<member id="service_name">ilc_retime</member>
<member id="setpoint_duration_ms">1000</member>
<member id="reuse_ff">True</member>
</clone> -->
<clone prototype="script_retime_if_ilc">
<member id="service_name">ilc_retime_if</member>
<member id="on_start">false</member>
<member id="retime_factor">0.9</member>
<member id="convergence_threshold">0.02</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
</member>
<member id="transitions">
<clone prototype="transition">
......@@ -151,6 +158,9 @@
</member>
</clone>
</member>
</clone>
</member>
......
......@@ -65,12 +65,12 @@
<node pkg="robot_state_publisher" type="robot_state_publisher" name="box_state_publisher" ns="box"/>
<node name="pgih_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 -0.5 0 0 0 0 1 base_link pgih 100"/>
<node name="start_pos_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.5 1 0 0 0 world start_position 100"/>
<node name="goal_pos_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.45 1 0 0 0 world goal_position 100"/>
<node name="intermediate_pos_v_high_publisher" pkg="tf" type="static_transform_publisher"
args="-0.05 0.6 0.3 1 0 0 0 world intermediate_position_v_high 100"/>
......
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