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AS: joint and cartesian limits

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This commit is contained in:
Alexander Schaefer
2025-04-30 09:44:12 +02:00
parent 33f21d3096
commit d4240bc4de
12 changed files with 241 additions and 50 deletions
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4
test/joint_states_recording.py
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@@ -56,8 +56,8 @@ class JointStateLogger(Node):
writer.writerow(["timestamp", "x", "y", "z", "roll", "pitch", "yaw"])
with open(file_path_cart, mode='a', newline='') as f:
writer = csv.writer(f)
[x,y,z] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:4])).t
[roll, pitch, yaw] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:4])).rpy()
[x,y,z] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:5])).t
[roll, pitch, yaw] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:5])).rpy()
writer.writerow([timestamp, x, y, z, roll, pitch, yaw])

4
test/joint_trajectory_recording.py
View File

@@ -59,9 +59,7 @@ class JointTrajectoryLogger(Node):
for point in msg.points:
timestamp = recive_time + point.time_from_start.sec + point.time_from_start.nanosec * 1e-9
T = self.robot.fkine(point.positions)
x = T.t[0]
y = T.t[1]
z = T.t[2]
[x,y,z] = T.t
roll, pitch, yaw = T.rpy()
row = [timestamp, x, y, z, roll, pitch, yaw]
writer.writerow(row)