Add trajectory stitching demo objective #84
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@MikeWrock does adding an example to kinova_gen3_mujoco_config count towards our behavior coverage %? Should we instead be adding this to lab_sim? |
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@davetcoleman I count everything in the entire workspace, not exclusively the lab_sim |
| joint_state_msg="{target_state}" | ||
| velocities="0.0;0.0;0.0;0.0;0.0;0.0;0.0" | ||
| /> | ||
| <Action |
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This behavior is used to get {start_joint_state} above, is this usage here a duplicate? I don't see {joint_state} getting used
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the {target_state} that gets output here gets used in the first GeneratePointToPointTrajectory
| target_state="{stitch_target_state}" | ||
| joint_trajectory_msg="{stitch_joint_trajectory_msg}" | ||
| velocity_scale_factor="1.0" | ||
| start_time="0.8" |
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Should this match the delay so that we stitch in the trajectory from the same point in time?
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The delay just needs to be shorter than this value, so 0.8 is fine here with the delay of 0.4 seconds
| goal_position_tolerance="0.001000" | ||
| joint_trajectory_msg="{joint_trajectory_msg}" | ||
| /> | ||
| <Decorator ID="Delay" delay_msec="400"> |
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| <Decorator ID="Delay" delay_msec="400"> | |
| <Decorator ID="Delay" delay_msec="800"> |
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See above response on why I don't think this needs to be changed
| <Action | ||
| ID="ExecuteTrajectoryWithAdmittance" | ||
| joint_trajectory_msg="{stitch_joint_trajectory_msg}" | ||
| absolute_force_torque_threshold="450;450;450;100;100;100" |
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I think this has to be so high because of a typo using 4ms instead of 8ms, and then the robot has to use a lot of jerk to align on the stitch trajectory. Does that sound likely or is there another reason to have different values?
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That shouldn't be an issue as long as the stitching time is in the future when the new trajectory is sent but you're right these values are higher than expected, I'll turn them down a bit
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| <?xml version="1.0" encoding="UTF-8" ?> | |||
| <root BTCPP_format="4" main_tree_to_execute="Demo Trajectory Stitching"> | |||
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I'd be interested in a better name that tells a story. I think @MikeWrock has some ideas after chatting with him today
| ID="Demo Trajectory Stitching" | ||
| _description="Take a pointcloud snapshot of the scene with a depth camera" | ||
| _favorite="false" | ||
| _subtreeOnly="false" |
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Needs a category - i think it goes in this meta data right?
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Added it to the "Application - Advanced Examples" category
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@dyackzan we had a robot config meeting today and this needs to retarget one of our top 3 robot configs - Lab, Hangar, or Factory Sim. |
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Factory Sim and Hangar Sim do not exist yet correct? |
Adding to get behavior coverage up:
Covers
GeneratePointToPointTrajectoryandGetTrajectoryStateAtTime