AS: upload log recordings

This commit is contained in:
cha2080 2025-04-30 12:28:56 +02:00
parent d4240bc4de
commit ff3b2a03bf
11 changed files with 22475 additions and 6 deletions

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@ -16,12 +16,12 @@ class JointStateLogger(Node):
self.joint_states_callback,
1000
)
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
self.robot = rtb.ERobot.URDF('/ws/src/ba-alexanderschaefer/ur10e.urdf')
# Directory to store logs
self.log_dir = '/BA/joint_states_logs'
self.log_dir = './joint_states_logs'
os.makedirs(self.log_dir, exist_ok=True)
self.log_dir_cart = '/BA/joint_states_cart_logs'
self.log_dir_cart = './joint_states_cart_logs'
os.makedirs(self.log_dir_cart, exist_ok=True)
def joint_states_callback(self, msg: JointState):

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@ -0,0 +1,66 @@
timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
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1746007895.8750865,0.3478890258079246,-2.056894019132308,2.1974393595827584,-1.6619439552685238,-1.5266920094558305,-1.298673209411392
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1746007895.8995812,0.3478888729348073,-2.061804512369776,2.163873583217299,-1.6234676608962553,-1.526692010303092,-1.2986733630419678
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1 timestamp shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint
2 1746007895.631715 0.34789084579519747 -1.9303232409378663 2.4531551499040436 -2.0442310079927557 -1.5266919925384135 -1.2986713702047135
3 1746007895.6482904 0.34789071292771734 -1.9430107452460468 2.4398062433934307 -2.0181945459258777 -1.5266919948685196 -1.2986715068961738
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5 1746007895.680433 0.347890469009442 -1.9660724370784124 2.412378225451552 -1.9677047513122585 -1.5266919976624596 -1.2986717540212458
6 1746007895.6960235 0.3478903477169517 -1.9765001943259384 2.3983167564079633 -1.9432154866680131 -1.5266919989396688 -1.2986718767390126
7 1746007895.711309 0.34789022794986924 -1.9862279086393635 2.3840341149992756 -1.9192050951739712 -1.5266920001383708 -1.2986719978209438
8 1746007895.7263014 0.34789011027011085 -1.995281278992278 2.36953738450567 -1.8956549609930118 -1.5266920012611176 -1.2986721167126836
9 1746007895.7410126 0.3478899951251999 -2.003685262513461 2.3548330689403674 -1.8725466308710357 -1.5266920023107295 -1.2986722329737916
10 1746007895.755454 0.34788988286316025 -2.0114640165651374 2.3399271195049085 -1.8498618985148652 -1.526692003290204 -1.2986723462628438
11 1746007895.7696373 0.3478897737461759 -2.018640857097043 2.32482496021555 -1.827582871865184 -1.5266920042026413 -1.298672456323774
12 1746007895.7835736 0.3478896679629502 -2.02523823073822 2.3095315124979514 -1.8056920255997955 -1.5266920050511816 -1.2986725629735267
13 1746007895.7972734 0.34788956563977314 -2.0312776983833114 2.294051218600062 -1.7841722409603784 -1.5266920058389577 -1.2986726660910082
14 1746007895.8107479 0.34788946685034094 -2.0367799283024826 2.2783880637159015 -1.7630068347663652 -1.526692006569055 -1.2986727656072838
15 1746007895.8240068 0.3478893716244009 -2.0417646970563603 2.2625455967474872 -1.7421795792618433 -1.5266920072444816 -1.2986728614969603
16 1746007895.8370607 0.34788927995530106 -2.0462508967274355 2.2465269496595086 -1.7216747142386455 -1.5266920078681463 -1.2986729537706567
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18 1746007895.8625913 0.34788910711743615 -2.0537988122985964 2.213971664397395 -1.68157148110318 -1.5266920089712261 -1.2986731276543866
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20 1746007895.8874135 0.3478889477827254 -2.0595576793872965 2.1807395700410908 -1.6425804925065342 -1.5266920098990386 -1.2986732878374436
21 1746007895.8995812 0.3478888729348073 -2.061804512369776 2.163873583217299 -1.6234676608962553 -1.526692010303092 -1.2986733630419678
22 1746007895.9115975 0.34788880114832477 -2.0636484689613557 2.146842355752031 -1.6045924661423367 -1.52669201067009 -1.2986734351429532
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45 1746007896.1938212 0.34788770822622395 -2.0172928487139554 1.707140608945414 -1.2112463351207257 -1.5266920118170548 -1.2986745258690278
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View File

@ -0,0 +1,66 @@
timestamp,x,y,z,roll,pitch,yaw
1746007895.631715,0.3088828058922495,0.3027269165946418,0.34661821114314917,0.029199972563886116,0.05943114972318121,0.07554418605895213
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1 timestamp x y z roll pitch yaw
2 1746007895.631715 0.3088828058922495 0.3027269165946418 0.34661821114314917 0.029199972563886116 0.05943114972318121 0.07554418605895213
3 1746007895.6482904 0.3088855911078177 0.30272787071202345 0.3568255033119091 0.029199964638559815 0.05943119446554579 0.07554418922775448
4 1746007895.664526 0.3088882837882884 0.3027287960216436 0.3670331335094078 0.029199958806133082 0.05943123261893196 0.07554419034480084
5 1746007895.680433 0.30889099465575065 0.30272972779103025 0.3772407440158607 0.02919995378263869 0.05943126821229602 0.07554419138624326
6 1746007895.6960235 0.30889370223480245 0.3027306587285221 0.38744834908754394 0.029199949515663983 0.059431301225840144 0.07554419235226106
7 1746007895.711309 0.3088963972896752 0.30273158577189635 0.39765595910243334 0.029199945922609605 0.05943133182217294 0.07554419324758674
8 1746007895.7263014 0.3088990714824175 0.3027325061324509 0.4078635824717611 0.02919994292931875 0.059431360155208356 0.0755441940767172
9 1746007895.7410126 0.30890171745379064 0.30273341732848624 0.41807122595075796 0.029199940469544758 0.05943138637048122 0.07554419484390476
10 1746007895.755454 0.3089043287766588 0.3027343171746473 0.4282788948436116 0.02919993848438856 0.05943141060476556 0.07554419555314677
11 1746007895.7696373 0.30890689989847614 0.3027352037667931 0.4384865931929611 0.029199936921723103 0.05943143298590282 0.0755441962081792
12 1746007895.7835736 0.3089094260781315 0.30273607546427433 0.44869432395158765 0.02919993573561735 0.05943145363282832 0.07554419681247815
13 1746007895.7972734 0.3089119033198907 0.30273693087061665 0.45890208913631175 0.029199934885769586 0.05943147265574899 0.07554419736926588
14 1746007895.8107479 0.3089143283066322 0.30273776881342374 0.46910988996467684 0.029199934336967468 0.05943149015642133 0.07554419788151615
15 1746007895.8240068 0.3089166983340241 0.30273858832412953 0.47931772697531755 0.02919993405858135 0.05943150622849517 0.0755441983519675
16 1746007895.8370607 0.3089190112468673 0.30273938861807653 0.489525600133156 0.02919993402408845 0.059431520957914236 0.07554419878313261
17 1746007895.8499188 0.3089212653784559 0.30274016907527135 0.49973350892067 0.029199934210642927 0.05943153442332451 0.07554419917731087
18 1746007895.8625913 0.3089234594935124 0.3027409292220562 0.509941452416514 0.029199934598676914 0.05943154669650706 0.07554419953660217
19 1746007895.8750865 0.3089255927350384 0.3027416687138618 0.5201494293627695 0.029199935171546437 0.05943155784279278 0.07554419986291581
20 1746007895.8874135 0.30892766457521814 0.30274238731913083 0.5303574382220267 0.02919993591520902 0.05943156792147708 0.07554420015798692
21 1746007895.8995812 0.30892967477040084 0.30274308490445184 0.5405654772254435 0.029199936817939084 0.05943157698621335 0.0755442004233848
22 1746007895.9115975 0.3089316233200682 0.30274376142090714 0.5507735444128308 0.029199937870074962 0.059431585085376895 0.07554420066052397
23 1746007895.9234705 0.3089335104296283 0.30274441689160636 0.5609816376657 0.029199939063795685 0.059431592262417864 0.07554420087067526
24 1746007895.935208 0.30893533647683225 0.3027450514003559 0.5711897547341369 0.029199940392925974 0.05943159855617638 0.07554420105497582
25 1746007895.9468176 0.3089371019815646 0.3027456650813995 0.581397893258247 0.02919994185276755 0.059431604001173 0.0755442012144349
26 1746007895.9583063 0.30893880757875797 0.3027462581101627 0.5916060507848278 0.02919994343995118 0.059431608627875464 0.07554420134994387
27 1746007895.9696813 0.30894045399415543 0.30274683069491576 0.6018142247798426 0.029199945152311862 0.05943161246293387 0.07554420146228316
28 1746007895.9811532 0.3089420420226653 0.3027473830692811 0.6120224126371856 0.02919994698878389 0.05943161552938765 0.07554420155212573
29 1746007895.9927316 0.3089435725090348 0.30274791548549934 0.6222306116841378 0.029199948949309745 0.05943161784685309 0.07554420162004695
30 1746007896.0044172 0.30894504633060055 0.3027484282083779 0.6324388191838727 0.02919995103476924 0.05943161943167465 0.07554420166652441
31 1746007896.0162115 0.308946464381864 0.3027489215098425 0.6426470323352657 0.02919995324692094 0.05943162029705933 0.07554420169194481
32 1746007896.0281155 0.3089478275606671 0.30274939566401804 0.6528552482702403 0.029199955588356648 0.059431620453180414 0.07554420169660579
33 1746007896.0401306 0.3089491367557536 0.30274985094276635 0.6630634640488007 0.029199958062472265 0.059431619907257614 0.07554420168071893
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@ -10,10 +10,10 @@ class JointTrajectoryLogger(Node):
super().__init__('joint_trajectory_logger_minimal')
# Folder to store CSV files
self.log_dir = '/BA/joint_trajectories'
self.log_dir = './joint_trajectories'
os.makedirs(self.log_dir, exist_ok=True)
self.log_dir_cart = '/BA/joint_trajectories_cart'
self.log_dir_cart = './joint_trajectories_cart'
os.makedirs(self.log_dir_cart, exist_ok=True)
# Subscriber to JointTrajectory messages
@ -25,7 +25,7 @@ class JointTrajectoryLogger(Node):
)
self.counter = 0
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
self.robot = rtb.ERobot.URDF('/ws/src/ba-alexanderschaefer/ur10e.urdf')
def trajectory_callback(self, msg: JointTrajectory):
self.counter += 1