AS: upload log recordings
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cha2080
parent
d4240bc4de
commit
ff3b2a03bf
3191
test/joint_states_cart_logs/cartesian.csv
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test/joint_states_cart_logs/cartesian.csv
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test/joint_states_logs/elbow_joint.csv
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test/joint_states_logs/elbow_joint.csv
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test/joint_states_logs/shoulder_lift_joint.csv
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test/joint_states_logs/shoulder_lift_joint.csv
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test/joint_states_logs/shoulder_pan_joint.csv
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test/joint_states_logs/shoulder_pan_joint.csv
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test/joint_states_logs/wrist_1_joint.csv
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test/joint_states_logs/wrist_1_joint.csv
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test/joint_states_logs/wrist_2_joint.csv
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test/joint_states_logs/wrist_2_joint.csv
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test/joint_states_logs/wrist_3_joint.csv
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test/joint_states_logs/wrist_3_joint.csv
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@ -16,12 +16,12 @@ class JointStateLogger(Node):
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self.joint_states_callback,
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1000
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)
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self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
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self.robot = rtb.ERobot.URDF('/ws/src/ba-alexanderschaefer/ur10e.urdf')
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# Directory to store logs
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self.log_dir = '/BA/joint_states_logs'
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self.log_dir = './joint_states_logs'
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os.makedirs(self.log_dir, exist_ok=True)
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self.log_dir_cart = '/BA/joint_states_cart_logs'
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self.log_dir_cart = './joint_states_cart_logs'
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os.makedirs(self.log_dir_cart, exist_ok=True)
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def joint_states_callback(self, msg: JointState):
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66
test/joint_trajectories/trajectory_0001.csv
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test/joint_trajectories/trajectory_0001.csv
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@ -0,0 +1,66 @@
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timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
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1746007896.1938212,0.34788770822622395,-2.0172928487139554,1.707140608945414,-1.2112463351207257,-1.5266920118170548,-1.2986745258690278
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1746007896.2495637,0.3478875690847305,-1.9947995736698036,1.6195804587452898,-1.1461795051671047,-1.5266920108298896,-1.2986746627127
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1746007896.2639189,0.3478875340792178,-1.9885626932516767,1.5970313759111363,-1.1298673167477213,-1.5266920105209079,-1.298674697024391
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|
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|
66
test/joint_trajectories_cart/trajectory_0001_cart.csv
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66
test/joint_trajectories_cart/trajectory_0001_cart.csv
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@ -0,0 +1,66 @@
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timestamp,x,y,z,roll,pitch,yaw
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1746007895.631715,0.3088828058922495,0.3027269165946418,0.34661821114314917,0.029199972563886116,0.05943114972318121,0.07554418605895213
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|
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|
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|
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|
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|
||||
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||||
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|
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|
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|
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|
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|
||||
1746007896.0044172,0.30894504633060055,0.3027484282083779,0.6324388191838727,0.02919995103476924,0.05943161943167465,0.07554420166652441
|
||||
1746007896.0162115,0.308946464381864,0.3027489215098425,0.6426470323352657,0.02919995324692094,0.05943162029705933,0.07554420169194481
|
||||
1746007896.0281155,0.3089478275606671,0.30274939566401804,0.6528552482702403,0.029199955588356648,0.059431620453180414,0.07554420169660579
|
||||
1746007896.0401306,0.3089491367557536,0.30274985094276635,0.6630634640488007,0.029199958062472265,0.059431619907257614,0.07554420168071893
|
||||
1746007896.052259,0.3089503928354988,0.30275028761161277,0.6732716766518473,0.029199960673444023,0.05943161866361672,0.07554420164441025
|
||||
1746007896.064502,0.30895159663762256,0.30275070592599673,0.6834798829718505,0.029199963426223594,0.05943161672371424,0.07554420158772354
|
||||
1746007896.076862,0.3089527489596979,0.30275110612778017,0.6936880798013536,0.029199966326538533,0.05943161408614957,0.07554420151061769
|
||||
1746007896.0893412,0.30895385055027114,0.3027514884419554,0.7038962638192854,0.029199969380906004,0.05943161074664109,0.07554420141296699
|
||||
1746007896.1019423,0.3089549021004305,0.30275185307349173,0.7141044315749581,0.029199972596657218,0.059431606697980005,0.0755442012945609
|
||||
1746007896.114668,0.3089559042356463,0.3027522002042608,0.724312579469608,0.029199975981973235,0.05943160192995359,0.07554420115510091
|
||||
1746007896.1275208,0.308956857507723,0.3027525299899805,0.7345207037352596,0.029199979545933345,0.05943159642923779,0.07554420099419647
|
||||
1746007896.1405046,0.3089577623866825,0.30275284255711743,0.7447288004106216,0.02919998329857209,0.0594315901792604,0.07554420081136332
|
||||
1746007896.1536226,0.30895861925241597,0.3027531379996822,0.7549368653136748,0.029199987250955482,0.05943158316002108,0.07554420060601655
|
||||
1746007896.1668787,0.3089594283859099,0.3027534163758522,0.7651448940104941,0.029199991415267128,0.05943157534788118,0.07554420037746386
|
||||
1746007896.1802766,0.3089601899598486,0.3027536777043444,0.7753528817797725,0.029199995804913316,0.059431566715297736,0.07554420012489954
|
||||
1746007896.1938212,0.3089609040283793,0.3027539219604599,0.7855608235723841,0.029200000434645736,0.05943155723051351,0.07554419984739473
|
||||
1746007896.207517,0.30896157051579043,0.3027541490717056,0.79576871396518,0.029200005320706098,0.059431546857189016,0.07554419954388544
|
||||
1746007896.2213688,0.30896218920382756,0.3027543589128905,0.8059765471080536,0.029200010480993372,0.059431535553965895,0.07554419921316151
|
||||
1746007896.2353826,0.3089627597173225,0.30275455130057066,0.8161843166630853,0.0292000159352609,0.0594315232739523,0.07554419885385112
|
||||
1746007896.2495637,0.3089632815077614,0.302754725986703,0.8263920157343401,0.02920002170534537,0.05943150996412084,0.07554419846440165
|
||||
1746007896.2639189,0.30896375383434194,0.3027548826513375,0.836599636786554,0.02920002781543515,0.05943149556460065,0.07554419804306192
|
||||
1746007896.278455,0.308964175741984,0.30275502089413564,0.8468071715505788,0.029200034292383475,0.05943148000783994,0.07554419758785429
|
||||
1746007896.293179,0.30896454603563994,0.30275514022447814,0.8570146109129313,0.029200041166077693,0.05943146321762438,0.07554419709654864
|
||||
1746007896.3080993,0.3089648632501172,0.3027552400498464,0.8672219447861991,0.029200048469873403,0.05943144510791264,0.07554419656662707
|
||||
1746007896.3232243,0.3089651256144225,0.30275531966210817,0.877429161956241,0.029200056241107695,0.05943142558146048,0.07554419599524276
|
||||
1746007896.3385634,0.3089653310094254,0.3027553782212435,0.8876362499011259,0.029200064521707824,0.059431404528183324,0.07554419537917491
|
||||
1746007896.3541267,0.3089654769173044,0.30275541473591944,0.8978431945754486,0.029200073358920633,0.05943138182319465,0.07554419471476809
|
||||
1746007896.3699253,0.308965560360866,0.3027554280401851,0.9080499801519605,0.029200082806182356,0.05943135732445806,0.07554419399786509
|
||||
1746007896.3859713,0.3089655778302918,0.30275541676534584,0.9182565887102463,0.02920009292417168,0.05943133086995622,0.0755441932237239
|
||||
1746007896.4022775,0.30896552519417725,0.30275537930581714,0.9284629998592813,0.02920010378208407,0.05943130227424764,0.0755441923869175
|
||||
1746007896.4188583,0.30896539759083397,0.3027553137774056,0.938669190276764,0.02920011545918448,0.059431271324283094,0.07554419148121018
|
||||
1746007896.4357297,0.30896518929456074,0.3027552179659922,0.9488751331429803,0.029200128046722867,0.05943123777424447,0.07554419049940657
|
||||
1746007896.4529092,0.3089648935499541,0.3027550892639529,0.9590807974397872,0.029200141650296274,0.05943120133917503,0.07554418943316638
|
||||
1746007896.4704158,0.3089645023650244,0.302754924590772,0.9692861470756484,0.029200156392801088,0.059431161687030276,0.07554418827277107
|
||||
1746007896.4882708,0.3089640062507063,0.3027547202930812,0.9794911397841307,0.02920017241814515,0.05943111842868737,0.07554418700683074
|
||||
1746007896.5064976,0.30896339388991495,0.302754472017653,0.9896957257243316,0.029200189895963125,0.059431071105262925,0.07554418562191367
|
||||
1746007896.5251236,0.3089626517129394,0.30275417454843034,0.9998998456846993,0.029200209027662124,0.05943101917186524,0.0755441841020697
|
||||
|
@ -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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user