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Commit 63b4b956 authored by Leon Michel Gorißen's avatar Leon Michel Gorißen
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Change ITA scene Setup

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Stage: todo_check
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.gitignore
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......@@ -5,6 +5,7 @@
**/Foundation_Model
**/models
**/analysis
**/*log
**commit**
commit
......
TODOs
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− 8
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......@@ -10,15 +10,15 @@ catkin_ws/src/panda_autodynamics/launch/panda_auto_dynamics_template.launch:8:
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:6:# TODO docstring
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:7:# TODO commenting
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:177: # TODO implement actually running at 500 Hz
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:233: move_group.set_pose_target([0.25, 0, 0.2, -np.pi, 0, 0]) # TODO test 0.6,0,0.2
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:263: # TODO make this meta data
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:275: # TODO modify format to work with models in the middel
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:276: # TODO modify format to save datatype as meta data and create individual trajectory data
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:233: # move_group.set_pose_target([0.25, 0, 0.2, -np.pi, 0, 0]) # TODO test 0.6,0,0.2
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:264: # TODO make this meta data
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:276: # TODO modify format to work with models in the middel
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:277: # TODO modify format to save datatype as meta data and create individual trajectory data
coscine_watchdog/README.rst:1:.. TODO describe docker compose up for individual component
coscine_watchdog/coscine_client.py:177: # TODO add once application profile is merged.
coscine_watchdog/coscine_client.py:185: # TODO use update file rath then upload
coscine_watchdog/coscine_client.py:220: ("datatype", "Datatype is missing"), # , # TODO
coscine_watchdog/coscine_client.py:221: # ('dataset_type', 'Dataset type is missing') # TODO
coscine_watchdog/coscine_client.py:184: # TODO add once application profile is merged.
coscine_watchdog/coscine_client.py:192: # TODO use update file rath then upload
coscine_watchdog/coscine_client.py:227: ("datatype", "Datatype is missing"), # , # TODO
coscine_watchdog/coscine_client.py:228: # ('dataset_type', 'Dataset type is missing') # TODO
docs/index.rst:4:.. TODO change to two (or more) main pages + metadata. one on data generation one on ai.
dynamics_learning/dynamics_learning/testing/__init__.py:159: # TODO download Test data and interpolate it
dynamics_learning/dynamics_learning/testing/__init__.py:260: # TODO switch to update function and use filename string
......
catkin_ws/src/panda_autodynamics/custompanda/pathplanning.py
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− 1
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......@@ -27,7 +27,7 @@ def plan_cartesian_path(
group: moveit_commander.MoveGroupCommander,
) -> "tuple[moveit_commander.RobotTrajectory,float]":
waypoints = []
factor = 0.001
factor = 0.0005 # 0.001 is old default
start_pose = group.get_current_pose().pose
# Point 11
......
catkin_ws/src/panda_autodynamics/custompanda/scenesetup.py
+ 24
− 14
View file @ 63b4b956
......@@ -210,7 +210,7 @@ def create_scene(
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = planning_frame
p.pose.position.x = 0.0
p.pose.position.y = 0.5
p.pose.position.y = -0.5
p.pose.position.z = 0.0
p.pose.orientation.x = 1 / np.sqrt(2)
p.pose.orientation.y = 0
......@@ -220,7 +220,7 @@ def create_scene(
# UR5e
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = planning_frame
p.pose.position.x = 1.1
p.pose.position.x = -1.6
p.pose.position.y = 0.0
p.pose.position.z = 0.30
p.pose.orientation.x = 1 / np.sqrt(2)
......@@ -231,8 +231,8 @@ def create_scene(
# Single ITEM Profile
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = planning_frame
p.pose.position.x = -0.55
p.pose.position.y = -0.55
p.pose.position.x = 0.25
p.pose.position.y = 0.55
p.pose.position.z = 0.0
p.pose.orientation.x = 1 / np.sqrt(2)
p.pose.orientation.y = 0
......@@ -242,15 +242,25 @@ def create_scene(
"Single ITEM Profile ", p, size=(0.15, 2, 0.15)
) # (x, z / höhe, y)
# Textile Form
# p = geometry_msgs.msg.PoseStamped()
# p.header.frame_id = planning_frame
# p.pose.position.x = 0.35
# p.pose.position.y = 0.0
# p.pose.position.z = 0.05
# p.pose.orientation.x = 1 / np.sqrt(2)
# p.pose.orientation.y = 0
# p.pose.orientation.z = 0
# p.pose.orientation.w = 1 / np.sqrt(2)
# scene.add_box("Textile Form", p, size=(0.6, 0.1, 0.2)) # (x, z / höhe, y)
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = planning_frame
p.pose.position.x = -0.7
p.pose.position.y = 0.40
p.pose.position.z = 0.05
p.pose.orientation.x = 1 / np.sqrt(2)
p.pose.orientation.y = 0
p.pose.orientation.z = 0
p.pose.orientation.w = 1 / np.sqrt(2)
scene.add_box("Textile Form", p, size=(0.4, 0.1, 0.4)) # (x, z / höhe, y)
p = geometry_msgs.msg.PoseStamped()
p.header.frame_id = planning_frame
p.pose.position.x = 0.3
p.pose.position.y = 0.0
p.pose.position.z = 0.0
p.pose.orientation.x = 1 / np.sqrt(2)
p.pose.orientation.y = 0
p.pose.orientation.z = 0
p.pose.orientation.w = 1 / np.sqrt(2)
scene.add_box("wall_kurz", p, size=(0.02, 3, 3)) # (x, z / höhe, y)
return None
catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py
+ 7
− 6
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......@@ -227,12 +227,13 @@ def main():
######Execute motion##################
if MOVEMENT == "true":
if DATASET_TYPE == "TEST":
if ROBOT_UUID == "c9ff52e1-1733-4829-a209-ebd1586a8697":# For ITA move start position to the other side
move_group.set_pose_target([-0.18, -0.6, 0.2, -np.pi, 0, 0])
if TEST == "true": # LLT
move_group.set_pose_target([0.25, 0, 0.2, -np.pi, 0, 0]) # TODO test 0.6,0,0.2
else:
move_group.set_pose_target([-0.18, 0.6, 0.2, -np.pi, 0, 0]) # Left of base
#if ROBOT_UUID == "c9ff52e1-1733-4829-a209-ebd1586a8697":# For ITA move start position to the other side
# move_group.set_pose_target([-0.18, -0.6, 0.2, -np.pi, 0, 0])
#if TEST == "true": # LLT
# move_group.set_pose_target([0.25, 0, 0.2, -np.pi, 0, 0]) # TODO test 0.6,0,0.2
#else:
# move_group.set_pose_target([-0.18, 0.6, 0.2, -np.pi, 0, 0]) # Left of base
move_group.set_pose_target([-0.50, 0.0, 0.20, -np.pi, 0, 0]) # Left of base
move_group.go(wait=True)
plan, _ = plan_cartesian_path(move_group)
success = move_group.execute(plan, wait=True)
......
docker-compose.yaml
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− 0
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......@@ -24,6 +24,8 @@ services:
network_mode: host
# network_mode: pandavlan # Uses the host's network stack, not creating a separate network namespace
privileged: true
volumes:
- "./flulog:/var/log"
#command: /bin/bash # Overrides the default command to start an interactive bash shell
###########################ros#########################################
......@@ -31,6 +33,7 @@ services:
build:
context: . # Sets the build context to the catkin_ws directory
dockerfile: ./catkin_ws/src/panda_autodynamics/Dockerfile.ros # Specifies the Dockerfile to use for building the image
#entrypoint: /bin/bash # Override the entrypoint to start bash
stop_grace_period: 30s
deploy:
resources:
......@@ -56,6 +59,7 @@ services:
volumes:
- "/tmp/.X11-unix:/tmp/.X11-unix"
- "./train:/app/train"
- "./roslog:/var/log"
environment:
DISPLAY: unix${DISPLAY}
FRANKA_IP: ${FRANKA_IP}
......@@ -90,6 +94,8 @@ services:
tty: true # Allocates a pseudo-TTY (like 'docker run -t'), useful for interactive shells
#command: /bin/bash # Overrides the default command to start an interactive bash shell
network_mode: host
volumes:
- "./coscinelog:/var/log"
# network_mode: pandavlan # Uses the host's network stack, not creating a separate network namespace
#########################foundation_model##############################
......
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