Commit b106eb1f authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

force with ilc and setpoint trajectory (sucessfull parameters)

parent 5b08eb9e
......@@ -7,10 +7,11 @@
<!-- <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="ilc" file="models/ilc_setpoint_gen.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>
<!-- Create a project -->
......@@ -71,6 +72,7 @@
<member id="max_forces">2.0</member>
</clone> -->
<clone prototype="start_video_recorder" />
<clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member>
......@@ -84,6 +86,33 @@
<member id="force.compliance">0.0005</member>
<member id="force.corner_frequency">7</member>
<clone id="max_linear_velocity" prototype="float_parameter">10</clone>
<clone id="max_angular_velocity" prototype="float_parameter">10</clone>
<clone id="trajectory_duration" prototype="float_parameter">60</clone>
<clone id="retime_factor" prototype="float_parameter">0.9</clone>
<member id="force.tasks.apply_force.setpoint_generators">
<clone id="setpoint_ilc" prototype="cosine_setpoint_ILC">
<member id="data_source">
<reference reference_id="collections.force_chain.chains[0]"/>
</member>
<member id="desired" reference_id="target_forces"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
<member id="duration" reference_id="trajectory_duration"/>
<member id="retime_factor" reference_id="retime_factor"/>
<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="force.tasks.apply_force.controllers">
<clone id="ilc_controller" prototype="first_order_impedance_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
......@@ -91,7 +120,7 @@
<reference reference_id="collections.force_chain.chains[0]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint"/>
<reference reference_id="setpoint_generators.setpoint_ilc"/>
</member>
<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
......@@ -107,6 +136,14 @@
<member id="file_name">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="filter">force_chain/x,force_chain/y,force_chain/z</member>
</clone>
<clone prototype="script_measurement_logger">
<member id="provider">
<reference reference_id="force.tasks.apply_force.controllers.ilc_controller.data_source"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Meas/force_meas_{time %F_%H_%M_%S}.csv</member>
</clone>
</member>
</clone>
......@@ -116,6 +153,10 @@
</clone>
<clone prototype="stop_video_recorder" />
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">1_above_contact</member>
......@@ -137,7 +178,7 @@
<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">17</member>
<member id="convergence_threshold">150</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
......@@ -152,7 +193,7 @@
</member>
</clone>
-->
</member>
</clone>
......
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