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Commit e09682c2 authored by Lorenz Halt's avatar Lorenz Halt 🔀
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cherrypicked applications

parent e3f49a60
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apps/rob_ilc_approach.xml
View file @ e09682c2
......@@ -25,8 +25,8 @@
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<!-- <member id="robot_driver.max_velocity">0.02</member>
<member id="robot_driver.max_acceleration">1</member>
<member id="robot_driver.max_velocity">10</member> -->
<member id="robot_driver.max_acceleration">1</member> -->
<member id="robot_driver.max_velocity">10</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
......@@ -51,20 +51,12 @@
<!-- <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">-1.9282563368426722, -1.6304424444781702, -1.5087736288653772, -1.1538098494159144, 1.560910940170288, -0.7429631392108362</member>
<member id="target_joint_state">-1.9578354994403284, -1.64996844926943, -1.5086544195758265, -1.1046407858477991, 1.5608749389648438, -0.7433469931231897</member>
</clone>
<clone id="above_ground_lin" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_ground</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">5</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_ground</member>
<member id="target_frame">above_contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">5</member>
......@@ -75,18 +67,27 @@
<member id="control_frame">kms40</member>
<member id="axes">z</member>
<member id="velocities">0.005</member>
<member id="max_force">5.0</member>
<member id="max_forces">10.0</member>
<member id="move_skill.tasks.velocity_feedforward.setpoint_generators">
<clone id="setpoint_cos" prototype="constant_setpoint">
<member id="data_source">
<reference reference_id="collections.target_to_eef.chains[0]"/>
</member>
<member id="desired" reference_id="velocities"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>
<member id="move_skill.tasks.velocity_feedforward.controllers">
<clone prototype="velocity_controller_ilc">
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/Logs/vel_ff_2.txt</member>
<member id="filename_in">/home/ipa325/Documents/ilc_Logs/vel_ff_2.txt</member>
<member id="data_source">
<reference reference_id="collections.target_to_eef.chains[0]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint"/>
<reference reference_id="setpoint_generators.setpoint_cos"/>
</member>
<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
......@@ -102,20 +103,44 @@
</clone>
</member>
<member id="scripts">
<clone prototype="script_measurement_logger">
<member id="provider" reference_id="force_skill.collections.force_chain.chains"/>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/approach_force_0.csv</member>
<member id="filter">force_chain/x</member>
</clone>
</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_ground</member>
<member id="target_frame">above_contact</member>
<member id="scripts">
<clone prototype="script_trigger_ilc_meas">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service_meas</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/approach_force_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/vel_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">0.6</member>
<member id="cutoff_freq">0.5</member>
<member id="setpoint">10.0</member>
<member id="time_shift">25</member>
</clone>
<clone prototype="script_retime_if_ilc">
<member id="namespace">ilc_rosproxy</member>
<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">0.0003</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
</member>
<member id="transitions">
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">skill_ptp</member>
</clone>
</member>
</clone>
</member>
</clone>
......
apps/rob_ilc_force.xml
View file @ e09682c2
......@@ -52,23 +52,28 @@
<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">-1.9282563368426722, -1.6304424444781702, -1.5087736288653772, -1.1538098494159144, 1.560910940170288, -0.7429631392108362</member>
<member id="target_joint_state">-1.9502881209002894, -1.6445744673358362, -1.508630100880758, -1.117523495350973, 1.5609349012374878, -0.743263069783346</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_ground</member>
<member id="target_frame">1_above_contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">5</member>
</clone>
<clone prototype="skill_guarded_approach">
<!-- <clone prototype="skill_guarded_approach">
<member id="tool_frame">ee_link</member>
<member id="control_frame">kms40</member>
<member id="axes">z</member>
<member id="velocities">0.005</member>
<member id="max_force">5.0</member>
<member id="max_forces">2.0</member>
</clone> -->
<clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member>
</clone>
<clone id="ilc_push_settle" prototype="skill_push_settle">
......@@ -106,25 +111,33 @@
</clone>
<clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_ground</member>
<member id="target_frame">1_above_contact</member>
<member id="scripts">
<clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member>
<member id="file_in">/home/ipa325/Documents/ilc_Logs/force_logger_0.csv</member>
<member id="file_out">/home/ipa325/Documents/ilc_Logs/force_ff_2.txt</member>
<member id="traj_type">e</member>
<member id="L">0.00005</member>
<member id="cutoff_freq">0.9</member>
<member id="time_shift">25</member>
</clone>
<clone prototype="script_retime_if_ilc">
<member id="namespace">ilc_rosproxy</member>
<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">10</member>
<member id="convergence_threshold">17</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
......
apps/rob_ilc_lin_contact.xml 0 → 100644
View file @ e09682c2
<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<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_scripts.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="ilc" file="models/skills.xml"/> -->
</models>
<!-- Create a project -->
<clone prototype="project">
<member id="configuration">
<!-- Use the default configuration with recommended settings -->
<clone id="configuration" prototype="default_configuration"/>
</member>
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">20</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
<member id="wrench_topic">wrench</member>
</clone>
</member>
</clone>
</member>
<member id="applications">
<!-- Use a skill sequence as a container -->
<clone prototype="skill_sequence">
<!-- 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 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">-1.8796876112567347, -1.6048505941974085, -1.50897723833193, -1.227774445210592, 1.5608389377593994, -0.742410961781637</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
</clone>
<clone id="ilc_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">contact_frame</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="tasks.tracking.setpoint_generators">
<clone id="setpoint_cos" prototype="constant_setpoint">
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="desired" reference_id="target_offsets"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<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]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/>
</member>
<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
<member id="limit" reference_id="max_linear_velocity"/>
<member id="gain" reference_id="linear_controller_gain"/>
</clone>
<clone prototype="tanh_controller">
<member id="max_output" reference_id="max_angular_velocity"/>
<member id="P_lin" reference_id="angular_controller_gain"/>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/>
</member>
<member id="coordinates">a, b, c</member>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>
<member id="scripts">
<clone prototype="script_error_logger">
<member id="controllers">
<reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
</clone>
</member>
</clone>
<clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">above_contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="scripts">
<clone prototype="script_trigger_ilc">
<member id="service_name">ilc_service</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">0.6</member>
<member id="cutoff_freq">0.5</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">0.03</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
</member>
<member id="transitions">
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">skill_ptp</member>
</clone>
</member>
</member>
</member>
</member>
</member>
</member>
</clone>
</member>
</clone>
</member>
</clone>
</pitasc>
apps/rob_ilc_lin_down.xml 0 → 100644
View file @ e09682c2
<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<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_scripts.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="ilc" file="models/skills.xml"/> -->
</models>
<!-- Create a project -->
<clone prototype="project">
<member id="configuration">
<!-- Use the default configuration with recommended settings -->
<clone id="configuration" prototype="default_configuration"/>
</member>
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">20</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
<member id="wrench_topic">wrench</member>
</clone>
</member>
</clone>
</member>
<member id="applications">
<!-- Use a skill sequence as a container -->
<clone prototype="skill_sequence">
<!-- 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 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">
<member id="tool_frame">ee_link</member>
<member id="target_frame">start</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
</clone>
<clone id="ilc_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">goal</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="tasks.tracking.setpoint_generators">
<clone id="setpoint_cos" prototype="constant_setpoint">
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="desired" reference_id="target_offsets"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>
<member id="tasks.tracking.controllers">
<clone id="ilc_controller" prototype="p_controller_ilc">
<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]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/>
</member>
<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
<member id="limit" reference_id="max_linear_velocity"/>
<member id="gain" reference_id="linear_controller_gain"/>
</clone>
<!-- orientation controller -->
<clone prototype="tanh_controller">
<member id="max_output" reference_id="max_angular_velocity"/>
<member id="P_lin" reference_id="angular_controller_gain"/>
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="setpoint_generator">
<reference reference_id="setpoint_generators.setpoint_cos"/>
</member>
<member id="coordinates">a, b, c</member>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>
<member id="scripts">
<clone prototype="script_error_logger">
<member id="controllers">
<!-- Controller must be declared before referencing -->
<reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member>
<member id="file_name">/home/ipa325/Documents/ilc_Logs/logger_0.csv</member>
</clone>
</member>
</clone>
<clone prototype="skill_idle_duration">
<member id ="duration"> 1 </member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">start</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="scripts">
<clone prototype="script_trigger_ilc">
<member id="service_name">ilc_service</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">0.6</member>
<member id="cutoff_freq">0.5</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">0.03</member>
<member id="reuse_ff">True</member>
<member id="reuse_scheme">1</member>
</clone>
</member>
<member id="transitions">
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">skill_ptp</member>
</clone>
</member>
</clone>
</member>
</clone>
</member>
</clone>
</pitasc>
apps/rob_ilc_lin_force.xml 0 → 100644
View file @ e09682c2
<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<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_scripts.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<!-- <include package="ilc" file="models/skills.xml"/> -->
</models>
<!-- Create a project -->
<clone prototype="project">
<member id="configuration">
<!-- Use the default configuration with recommended settings -->
<clone id="configuration" prototype="default_configuration"/>
</member>
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">20</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
<member id="wrench_topic">wrench</member>
</clone>
</member>
</clone>
</member>
<member id="applications">
<!-- Use a skill sequence as a container -->
<clone prototype="skill_sequence">
<!-- 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 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">-1.8836291472064417, -1.6066244284259241, -1.5089896360980433, -1.2221058050738733, 1.5608270168304443, -0.7423265616046351</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">5_above_contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
</clone>
<clone id="ilc_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">contact</member>
<member id="linear_controller_gain">0.5</member>
<member id="max_linear_velocity">10</member>
<member id="tasks.tracking.setpoint_generators">
<clone id="setpoint_cos" prototype="constant_setpoint">
<member id="data_source">
<reference reference_id="collections.target_to_tool.chains[0]"/>
</member>
<member id="desired" reference_id="target_offsets"/>
<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
</clone>
</member>