Commit ea49e9a8 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

update rob_ilc_lin_test für versuchshalle

parent 144eac24
...@@ -63,7 +63,6 @@ ...@@ -63,7 +63,6 @@
<member id="target_frame">goal_position</member> <member id="target_frame">goal_position</member>
</clone> </clone>
<clone id="ilc_skill" prototype="skill_lin"> <clone id="ilc_skill" prototype="skill_lin">
<member id="trajectory_duration">10</member> <member id="trajectory_duration">10</member>
<clone id="retime_factor" prototype="float_parameter">0.9</clone> <clone id="retime_factor" prototype="float_parameter">0.9</clone>
...@@ -108,9 +107,8 @@ ...@@ -108,9 +107,8 @@
<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">
<member id="filename_in">/home/victor/Documents/ilc_Logs/lin_ff_2.txt</member> <member id="filename_in">/home/ipa325/Documents/ilc_Logs/lin_ff_2.txt</member>
<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="setpoint_generator"> <member id="setpoint_generator">
...@@ -140,14 +138,23 @@ ...@@ -140,14 +138,23 @@
</member> </member>
<member id="scripts"> <member id="scripts">
<clone prototype="script_error_logger"> <clone prototype="script_error_logger">
<member id="controllers"> <member id="controllers">
<!-- Controller must be declared before referencing -->
<reference reference_id="tasks.tracking.controllers.ilc_controller"/> <reference reference_id="tasks.tracking.controllers.ilc_controller"/>
</member> </member>
<member id="file_name">/home/victor/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/meas_logger_{time %F_%H_%M_%S}.csv</member>
</clone>
</member> </member>
</clone> </clone>
...@@ -159,9 +166,9 @@ ...@@ -159,9 +166,9 @@
<clone prototype="script_trigger_ilc"> <clone prototype="script_trigger_ilc">
<member id="namespace">ilc_rosproxy</member> <member id="namespace">ilc_rosproxy</member>
<member id="service_name">ilc_service</member> <member id="service_name">ilc_service</member>
<member id="file_in">/home/victor/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/victor/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/victor/Documents/ilc_Logs/trajectory.txt</member> <member id="file_traj">/home/ipa325/Documents/ilc_Logs/trajectory.txt</member>
<member id="traj_type">const</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>
...@@ -174,7 +181,7 @@ ...@@ -174,7 +181,7 @@
<member id="retime_srv">retime_setpoint_ilc</member> <!-- "retime_" + <id of cosine_setpoint_ILC prototype> --> <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" reference_id="ilc_skill.retime_factor"/> <member id="retime_factor" reference_id="ilc_skill.retime_factor"/>
<member id="convergence_threshold">0.02</member> <member id="convergence_threshold">0</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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