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Commit 67fd613e authored by Lorenz Halt's avatar Lorenz Halt 🔀
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duration_monitor für lin_skill

parent 5d56eed3
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apps/rob_ilc_lin_contact.xml
View file @ 67fd613e
...@@ -4,12 +4,14 @@ ...@@ -4,12 +4,14 @@
<models> <models>
<include package="pitasc_library" file="models/pitasc.xml"/> <include package="pitasc_library" file="models/pitasc.xml"/>
<!-- <include package="pitasc_library" file="models/skills.xml"/> -->
<include package="ilc" file="models/ilc_controllers.xml"/> <include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/> <include package="ilc" file="models/ilc_scripts.xml"/>
<include package="ilc" file="models/ilc_setpoint_gen.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/> <include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="ilc" file="models/skills.xml"/> -->
<include package="snapshot_tools" file="models/scripts_gstreamer.xml"/>
</models> </models>
...@@ -24,7 +26,7 @@ ...@@ -24,7 +26,7 @@
<member id="environment"> <member id="environment">
<!-- Add a UR5 --> <!-- Add a UR5 -->
<clone prototype="robot_ur5"> <clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">20</member> <member id="robot_driver.max_velocity">10</member>
<member id="robot_driver.max_acceleration">10</member> <member id="robot_driver.max_acceleration">10</member>
<member id="components"> <member id="components">
<clone prototype="force_sensor"> <clone prototype="force_sensor">
...@@ -60,24 +62,47 @@ ...@@ -60,24 +62,47 @@
<member id="max_linear_velocity">10</member> <member id="max_linear_velocity">10</member>
</clone> </clone>
<clone prototype="start_video_recorder" />
<clone id="ilc_skill" prototype="skill_lin"> <clone id="ilc_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member> <member id="tool_frame">ee_link</member>
<member id="target_frame">contact_frame</member> <member id="target_frame">contact</member>
<member id="trajectory_duration">10</member>
<clone id="retime_factor" prototype="float_parameter">0.9</clone>
<member id="positioning_monitor.distances">0.0, 0.0, 0.0, 0.0, 0.0, 0.0</member>
<member id="monitors">
<clone prototype="monitor_duration">
<member id="duration">15</member>
</clone>
</member>
<member id="linear_controller_gain">0.5</member> <member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member> <member id="max_linear_velocity">10</member>
<member id="tasks.tracking.setpoint_generators">
<member id="tasks.tracking.setpoint_generators"> <clone id="setpoint_ilc" prototype="cosine_setpoint_ILC">
<clone id="setpoint_cos" prototype="constant_setpoint"> <member id="data_source">
<member id="data_source"> <reference reference_id="collections.target_to_tool.chains[0]"/>
<reference reference_id="collections.target_to_tool.chains[0]"/> </member>
</member> <member id="desired" reference_id="target_offsets"/>
<member id="desired" reference_id="target_offsets"/> <member id="coordinates" reference_id="coordinates"/>
<member id="coordinates" reference_id="coordinates"/> <member id="prefix" reference_id="prefix"/>
<member id="prefix" reference_id="prefix"/> <member id="duration" reference_id="trajectory_duration"/>
</clone> <member id="retime_factor" reference_id="retime_factor"/>
</member> <member id="max_vel_groups">
<reference reference_id="max_linear_velocity"/>
<reference reference_id="max_angular_velocity"/>
</member>
<member id="symbol_groups">
<clone id="position_coordinates" prototype="string_csv">x, y, z</clone>
<clone id="orientation_coordinates" prototype="string_csv">a, b, c</clone>
</member>
</clone>
</member>
<member id="tasks.tracking.controllers"> <member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc"> <clone id="ilc_controller" prototype="p_controller_ilc">
...@@ -87,7 +112,7 @@ ...@@ -87,7 +112,7 @@
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
</member> </member>
<member id="setpoint_generator"> <member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/> <reference reference_id="setpoint_generators.setpoint_ilc"/>
</member> </member>
<member id="coordinates">x, y, z</member> <member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/> <member id="prefix" reference_id="prefix"/>
...@@ -103,7 +128,7 @@ ...@@ -103,7 +128,7 @@
<reference reference_id="collections.target_to_tool.chains[0]"/> <reference reference_id="collections.target_to_tool.chains[0]"/>
</member> </member>
<member id="setpoint_generator"> <member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/> <reference reference_id="setpoint_generators.setpoint_ilc"/>
</member> </member>
<member id="coordinates">a, b, c</member> <member id="coordinates">a, b, c</member>
<member id="prefix" reference_id="prefix"/> <member id="prefix" reference_id="prefix"/>
...@@ -113,18 +138,29 @@ ...@@ -113,18 +138,29 @@
<member id="scripts"> <member id="scripts">
<clone prototype="script_error_logger"> <clone prototype="script_error_logger">
<member id="controllers"> <member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member> <member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
</clone> </clone>
<clone prototype="script_measurement_logger">
<member id="provider">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Meas/lin_meas_{time %F_%H_%M_%S}.csv</member>
</clone>
</member> </member>
</clone> </clone>
<clone prototype="skill_idle_duration"> <clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member> <member id ="duration"> 1 </member>
</clone> </clone>
<clone prototype="stop_video_recorder" />
<clone prototype="skill_lin"> <clone prototype="skill_lin">
<member id="tool_frame">ee_link</member> <member id="tool_frame">ee_link</member>
<member id="target_frame">above_contact</member> <member id="target_frame">above_contact</member>
...@@ -134,20 +170,24 @@ ...@@ -134,20 +170,24 @@
<member id="scripts"> <member id="scripts">
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/logger_0.csv</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_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="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="traj_type">cos</member> <member id="traj_type">const</member>
<member id="L">0.6</member> <member id="L">0.6</member>
<member id="cutoff_freq">0.5</member> <member id="cutoff_freq">0.5</member>
<member id="time_shift">0</member>
</clone> </clone>
<clone prototype="script_retime_if_ilc"> <clone prototype="script_retime_if_ilc">
<member id="namespace">ilc_rosproxy1</member>
<member id="service_name">ilc_retime_if</member> <member id="service_name">ilc_retime_if</member>
<member id="retime_srv">retime_setpoint_ilc</member> <!-- "retime_" + <id of cosine_setpoint_ILC prototype> -->
<member id="on_start">false</member> <member id="on_start">false</member>
<member id="retime_factor">0.9</member> <member id="retime_factor" reference_id="ilc_skill.retime_factor"/>
<member id="convergence_threshold">0.03</member> <member id="convergence_threshold">0.02</member>
<member id="reuse_ff">True</member> <member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member> <member id="reuse_scheme">1</member>
</clone> </clone>
......
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