Changes in scripts for robot data acquisition

TODOs

@@ -10,10 +10,10 @@ 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: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
+catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:234:                    #    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:265:                    # TODO make this meta data
+catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:277:                    # TODO modify format to work with models in the middel
+catkin_ws/src/panda_autodynamics/scripts/panda_auto_dynamics_v1.py:278:                    # 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:184:    # TODO add once application profile is merged.
 coscine_watchdog/coscine_client.py:192:    # TODO use update file rath then upload

catkin_ws/src/panda_autodynamics/custompanda/pathplanning.py

@@ -145,7 +145,7 @@ def plan_cartesian_path(
     (plan, fraction) = group.compute_cartesian_path(
         waypoints,
         0.01,
-        0.0,  # waypoints to follow  # eef_step
+        0.001,  # waypoints to follow  # eef_step
     )  # jump_threshold
     '''
 
@@ -161,3 +161,5 @@ def plan_cartesian_path(
     
 
     return plan, fraction
+
+    

catkin_ws/src/panda_autodynamics/custompanda/scenesetup.py

@@ -118,16 +118,16 @@ def create_scene(
         p.pose.orientation.w = 1 / np.sqrt(2)
         scene.add_box("wall", p, size=(3.5, 1.3, 0.1))  # (x, z / höhe, y)
         # Weiß gelbes Ding
-        p = geometry_msgs.msg.PoseStamped()
-        p.header.frame_id = planning_frame
-        p.pose.position.x = 0.5
-        p.pose.position.y = 0.0
-        p.pose.position.z = 0.01
-        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("Platte", p, size=(0.6, 0.02, 0.46))  # (x, z / höhe, y)
+        # p = geometry_msgs.msg.PoseStamped()
+        # p.header.frame_id = planning_frame
+        # p.pose.position.x = 0.5
+        # p.pose.position.y = 0.0
+        # p.pose.position.z = 0.01
+        # 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("Platte", p, size=(0.6, 0.02, 0.46))  # (x, z / höhe, y)
         # Panda Activation Knopf
         p = geometry_msgs.msg.PoseStamped()
         p.header.frame_id = planning_frame
@@ -140,16 +140,16 @@ def create_scene(
         p.pose.orientation.w = 1 / np.sqrt(2)
         scene.add_box("Activate Panda", p, size=(0.15, 0.15, 0.15))  # (x, z / höhe, y)
         # Getriebe
-        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 = 0.06
-        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("Getriebe", p, size=(0.2, 0.1, 0.2))  # (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 = 0.06
+        # 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("Getriebe", p, size=(0.2, 0.1, 0.2))  # (x, z / höhe, y)
         # Kamera
         p = geometry_msgs.msg.PoseStamped()
         p.header.frame_id = planning_frame
@@ -160,7 +160,7 @@ def create_scene(
         p.pose.orientation.y = 0
         p.pose.orientation.z = 0
         p.pose.orientation.w = 1 / np.sqrt(2)
-        scene.add_box("camera", p, size=(0.2, 0.2, 0.2))  # (x, z / höhe, y)
+        scene.add_box("camera", p, size=(0.25, 0.25, 0.25))  # (x, z / höhe, y)
         # Decke
         p = geometry_msgs.msg.PoseStamped()
         p.header.frame_id = planning_frame
@@ -197,14 +197,14 @@ def create_scene(
         # Other Robot
         p = geometry_msgs.msg.PoseStamped()
         p.header.frame_id = planning_frame
-        p.pose.position.x = -0.71
+        p.pose.position.x = -0.1
         p.pose.position.y = 0
-        p.pose.position.z = 0
+        p.pose.position.z = 1.2
         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("Other Robot", p, size=(0.02, 2, 1))  # (x, z / höhe, y)
+        scene.add_box("Other Robot", p, size=(0.02, 0.4, 1))  # (x, z / höhe, y)
     if ROBOT_UUID == "c9ff52e1-1733-4829-a209-ebd1586a8697":  # ITA
         # Wall (steht jetzt gerade)
         p = geometry_msgs.msg.PoseStamped()