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-1.5700000000000001 \ No newline at end of file diff --git a/models_old/elmmodel_mass_5/data/by.vec b/models_old/elmmodel_mass_5/data/by.vec new file mode 100644 index 0000000..67b4ac7 --- /dev/null +++ b/models_old/elmmodel_mass_5/data/by.vec @@ -0,0 +1,2 @@ +6 +-7.9436700000000000 -94.5084999999999980 -41.5842999999999989 -9.6515199999999997 -5.5412699999999999 -12.1768000000000001 \ No newline at end of file diff --git a/models_old/elmmodel_mass_5/info b/models_old/elmmodel_mass_5/info new file mode 100644 index 0000000..01b5fdf --- /dev/null +++ b/models_old/elmmodel_mass_5/info @@ -0,0 +1 @@ +elm+datascale \ No newline at end of file diff --git a/src/ur5_rtt_gazebo_component.cpp b/src/ur5_rtt_gazebo_component.cpp index 28dd9e6..5468f23 100644 --- a/src/ur5_rtt_gazebo_component.cpp +++ b/src/ur5_rtt_gazebo_component.cpp @@ -225,7 +225,7 @@ class UR5RttGazeboComponent: public RTT::TaskContext { if (!sensibility_file) RTT::log(RTT::Error) << "The file could not be open." << RTT::endlog(); - + pos_file.open ("names.txt"); // Name to modify //For recording data // target_value[0] = 5.6;//0; // target_value[1] = -0.1; @@ -234,11 +234,13 @@ class UR5RttGazeboComponent: public RTT::TaskContext { // target_value[4] = -1.4; // target_value[5] = -1.57; + + /* //For testing positions target_value[0] = 0.1; - target_value[1] = -0.1;//-0.1;//-1.15;//-0.3; - target_value[2] = 3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; - target_value[3] = -1.4064; + target_value[1] = -0.1;//-1.2;//-0.1;//-0.1;//-1.15;//-0.3; + target_value[2] = 3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.9;//3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; + target_value[3] = -1.29; target_value[4] = -1.5318; target_value[5] = -0.3283; @@ -251,15 +253,14 @@ class UR5RttGazeboComponent: public RTT::TaskContext { // target_value[5] = -0.3283; // - //For recording data supp_target_value[0] = 0.1; - supp_target_value[1] = -0.1;//-0.1;//-1.15;//-0.3; - supp_target_value[2] = 3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; - supp_target_value[3] = -1.4064; + supp_target_value[1] = -0.1;//-1.2;//-0.1;//-0.1;//-1.15;//-0.3; + supp_target_value[2] = 3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.9;//3.14 - (+ target_value[1] + acos(sin(-target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; + supp_target_value[3] = -1.29; supp_target_value[4] = -1.5318; supp_target_value[5] = -0.3283; - +*/ jnt_width[0] = 6.28; @@ -335,8 +336,7 @@ class UR5RttGazeboComponent: public RTT::TaskContext { jnt_it[1] = -1; jnt_it[2] = -1; - // jnt_it[1] = -5; - jnt_it[0] = 5; +// jnt_it[0] = 5; nb_wait = wait_step; @@ -349,7 +349,7 @@ class UR5RttGazeboComponent: public RTT::TaskContext { nearest_mass = 0; - + // Force sensitivity measurement test_force.push_back(gazebo::math::Vector3(-1,0,0)); test_force.push_back(gazebo::math::Vector3(1,0,0)); test_force.push_back(gazebo::math::Vector3(0,1,0)); @@ -369,7 +369,7 @@ class UR5RttGazeboComponent: public RTT::TaskContext { test_force.push_back(gazebo::math::Vector3(0,1,-1)); test_force.push_back(gazebo::math::Vector3(0,-1,1)); coef = 0; - id_force = 17; + id_force = 0; test_offset = gazebo::math::Vector3(0.025,0,0); @@ -557,6 +557,86 @@ class UR5RttGazeboComponent: public RTT::TaskContext { /***************************************************************************************************************************************************/ + // Torque collection from joint positions + + if ((nb_iteration == 3410) || (nb_iteration == 3420) || (nb_iteration == 3430) || (nb_iteration == 3440) || (nb_iteration == 3450) || (nb_iteration == 3460) || (nb_iteration == 3470) || (nb_iteration == 3480) || (nb_iteration == 3490) || (nb_iteration == 3500) ) // To check if position is stable. + { + for (unsigned j = 0; j < joints_idx.size(); j++) + { + gazebo::physics::JointWrench w1 = gazebo_joints_[joints_idx[j]]->GetForceTorque(0u); + gazebo::math::Vector3 a1 = gazebo_joints_[joints_idx[j]]->GetLocalAxis(0u); + inter_torque[j].push_back(a1.Dot(w1.body1Torque)); + } + } + + + + if (nb_iteration >= 3500) // For stabilisation of the torque. + { + + + data_file << "{ sim_id = " << sim_id << " ; "; + double mean_of_torques = 0; + for (unsigned j = 0; j < joints_idx.size(); j++) + { + data_file << "jnt " << j << " ; "; + + // Computing the mean of the torques. + + mean_of_torques = (std::accumulate((inter_torque[j]).begin(),(inter_torque[j]).end(), 0.0))/10.0; + + data_file << "trq "<< mean_of_torques << " ; "; + + data_file << "agl " << model->GetJoints()[joints_idx[j]]->GetAngle(0).Radian() << " ; "; + data_file << "trg_agl " <> word; + pos_file >> word; + target_value[j] = atof(word.c_str()); + + } + + else cout << "Unable to open file"; + + target_value[j] = 10; // To modify + } + + + + } + + + + + + + + + + + + + + + + + /***************************************************************************************************************************************************/ @@ -610,19 +690,19 @@ class UR5RttGazeboComponent: public RTT::TaskContext { */ - comp_wait = comp_wait - 1; - elm_id++; - - if ((elm_id == (mean_trq_step-19*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-18*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-17*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-16*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-15*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-14*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-13*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-12*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-11*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-10*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-9*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-8*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-7*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-6*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-5*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-4*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-3*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-2*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-mean_trq_step/nb_measure_trq)) || (elm_id == mean_trq_step) ) // To check if position is stable. - { - for (unsigned j = 0; j < joints_idx.size(); j++) - { - gazebo::physics::JointWrench w1 = gazebo_joints_[joints_idx[j]]->GetForceTorque(0u); - gazebo::math::Vector3 a1 = gazebo_joints_[joints_idx[j]]->GetLocalAxis(0u); - inter_torque_elm[j].push_back(a1.Dot(w1.body1Torque)); - } - } - +// comp_wait = comp_wait - 1; +// elm_id++; +// +// if ((elm_id == (mean_trq_step-19*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-18*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-17*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-16*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-15*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-14*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-13*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-12*mean_trq_step/nb_measure_trq)) ||(elm_id == (mean_trq_step-11*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-10*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-9*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-8*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-7*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-6*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-5*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-4*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-3*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-2*mean_trq_step/nb_measure_trq)) || (elm_id == (mean_trq_step-mean_trq_step/nb_measure_trq)) || (elm_id == mean_trq_step) ) // To check if position is stable. +// { +// for (unsigned j = 0; j < joints_idx.size(); j++) +// { +// gazebo::physics::JointWrench w1 = gazebo_joints_[joints_idx[j]]->GetForceTorque(0u); +// gazebo::math::Vector3 a1 = gazebo_joints_[joints_idx[j]]->GetLocalAxis(0u); +// inter_torque_elm[j].push_back(a1.Dot(w1.body1Torque)); +// } +// } +// @@ -643,156 +723,156 @@ class UR5RttGazeboComponent: public RTT::TaskContext { - //if ((sim_id % 2000)&&(elm_id >= 1000)&&(sim_id>14000)) - if (elm_id == mean_trq_step) - { - elm_id = 0; - - - - - // ******************************************************************************************************************************** - // * ELM part: - // * Computing the difference between current torque and awaited torque for each joint. - // Create vector containing awaited position. - - RealVectorPtr inputdata = RealVector::create(elm_0->getInputDimension(), 0.0); - for (int j=0; jgetDimension(); j++) inputdata->setValueEquals(j,target_value[j]/*model->GetJoints()[joints_idx[j]]->GetAngle(0).Radian()*/); - RealVectorPtr result; - if (nearest_mass == 0) - { - // Create vector containing the torque which should be applied. - result = elm_0->evaluate(inputdata); - } - else if (nearest_mass == 1) - { - // Create vector containing the torque which should be applied. - result = elm_1->evaluate(inputdata); - } - else if (nearest_mass == 3) - { - // Create vector containing the torque which should be applied. - result = elm_3->evaluate(inputdata); - } - else if (nearest_mass == 5) - { - // Create vector containing the torque which should be applied. - result = elm_5->evaluate(inputdata); - } - - - error_file << "{" ; - - for (unsigned j = 0; j < joints_idx.size(); j++) - { - double mean_of_torques_elm = 0; - mean_of_torques_elm = (std::accumulate((inter_torque_elm[j]).begin(),(inter_torque_elm[j]).end(), 0.0))/nb_measure_trq; - - torque_difference[j] = result->getValue(j) - mean_of_torques_elm; - //RTT::log(RTT::Warning) << "Torque difference: " << torque_difference[j] << RTT::endlog(); - error_file << "joint " << j << ": " << torque_difference[j] << " dsrTrq: " << result->getValue(j) << " realTrq: " << mean_of_torques_elm << " ;"; - - // ******************************************************************************************************************************** - - - // ******************************************************************************************************************************** - // * Compliance part: only every T seconds - to be decided. - - if ((sim_id >= 10000)&&(sim_id%elm_step == 0)) - { - // if (!wait) - // { - double curr_threshold; - if (nearest_mass == 0) - { - curr_threshold = thresholds[0][j]; - } - else if (nearest_mass == 1) - { - curr_threshold = thresholds[1][j]; - } - else if (nearest_mass == 3) - { - curr_threshold = thresholds[2][j]; - } - else if (nearest_mass == 5) - { - curr_threshold = thresholds[3][j]; - } - // RTT::log(RTT::Warning) << "Joint " << j << "velocity " << model->GetJoints()[joints_idx[j]]->GetVelocity(0) << RTT::endlog(); - - if (comp_wait == 0) - { - trq_err_1 = torque_difference[1]; - trq_err_2 = torque_difference[2]; - trq1 = control_value[1]; - trq2 = control_value[2]; - } - - if ((abs(torque_difference[j]) > curr_threshold)&&(abs(model->GetJoints()[joints_idx[j]]->GetVelocity(0))< 0.04)&&(comp_wait <= 0)) - { - // gazebo::physics::JointWrench w1 = gazebo_joints_[joints_idx[j]]->GetForceTorque(0u); - // gazebo::math::Vector3 a1 = gazebo_joints_[joints_idx[j]]->GetLocalAxis(0u); - // error_file << "{" ; - // error_file << "joint " << j << ": " << torque_difference[j] << " dsrTrq: " << result->getValue(j) << " realTrq: " << (a1.Dot(w1.body1Torque)) << " ;"; - // error_file << "tgtPos" << target_value[j]; - // Test: the new target value is the current position. To be evaluated because there is no deformation compared to soft robots! - // target_value[j] = model->GetJoints()[joints_idx[j]]->GetAngle(0).Radian(); - // error_file << "newPos" << target_value[j]; - // error_file << "}" << std::endl; - - - - // Test: the new target value: we add an angle: has to be set for each joint> - if (torque_difference[j] > 0) - { - target_value[j] = target_value[j] + add_trq[j]*abs(torque_difference[j]); - } - else - { - target_value[j] = target_value[j] - add_trq[j]*abs(torque_difference[j]); - } - error_file << "joint " << j << "modified! "; - error_file << "trgt_val " << target_value[j] << " prv_val " << supp_target_value[j] ; - temp_wait = true; - RTT::log(RTT::Warning) << "Joint " << j << "set to " << target_value[j] << RTT::endlog(); - } - - - - // } - - - - } - inter_torque_elm[j] = {0}; - mean_of_torques_elm = 0; - } - if (temp_wait) - { - wait = true; - temp_wait = false; - } - error_file << "trgt_val5 " << target_value[5] << " prv_val " << supp_target_value[2] ; - error_file << "trgt_val4 " << target_value[4] << " prv_val " << supp_target_value[1] ; - error_file << "trgt_val3 " << target_value[3] << " prv_val " << supp_target_value[0] ; - error_file << "trgt_val2 " << target_value[2] << " prv_val " << supp_target_value[2] ; - error_file << "trgt_val1 " << target_value[1] << " prv_val " << supp_target_value[1] ; - error_file << "trgt_val0 " << target_value[0] << " prv_val " << supp_target_value[0] ; - error_file << "}" << std::endl; - - } - - if (wait) - { - nb_wait = nb_wait-1; - if (nb_wait<=0) - { - wait = false; - nb_wait = wait_step; - } -} - +// //if ((sim_id % 2000)&&(elm_id >= 1000)&&(sim_id>14000)) +// if (elm_id == mean_trq_step) +// { +// elm_id = 0; +// +// +// +// +// // ******************************************************************************************************************************** +// // * ELM part: +// // * Computing the difference between current torque and awaited torque for each joint. +// // Create vector containing awaited position. +// +// RealVectorPtr inputdata = RealVector::create(elm_0->getInputDimension(), 0.0); +// for (int j=0; jgetDimension(); j++) inputdata->setValueEquals(j,target_value[j]/*model->GetJoints()[joints_idx[j]]->GetAngle(0).Radian()*/); +// RealVectorPtr result; +// if (nearest_mass == 0) +// { +// // Create vector containing the torque which should be applied. +// result = elm_0->evaluate(inputdata); +// } +// else if (nearest_mass == 1) +// { +// // Create vector containing the torque which should be applied. +// result = elm_1->evaluate(inputdata); +// } +// else if (nearest_mass == 3) +// { +// // Create vector containing the torque which should be applied. +// result = elm_3->evaluate(inputdata); +// } +// else if (nearest_mass == 5) +// { +// // Create vector containing the torque which should be applied. +// result = elm_5->evaluate(inputdata); +// } +// +// +// error_file << "{" ; +// +// for (unsigned j = 0; j < joints_idx.size(); j++) +// { +// double mean_of_torques_elm = 0; +// mean_of_torques_elm = (std::accumulate((inter_torque_elm[j]).begin(),(inter_torque_elm[j]).end(), 0.0))/nb_measure_trq; +// +// torque_difference[j] = result->getValue(j) - mean_of_torques_elm; +// //RTT::log(RTT::Warning) << "Torque difference: " << torque_difference[j] << RTT::endlog(); +// error_file << "joint " << j << ": " << torque_difference[j] << " dsrTrq: " << result->getValue(j) << " realTrq: " << mean_of_torques_elm << " ;"; +// +// // ******************************************************************************************************************************** +// +// +// // ******************************************************************************************************************************** +// // * Compliance part: only every T seconds - to be decided. +// +// if ((sim_id >= 10000)&&(sim_id%elm_step == 0)) +// { +// // if (!wait) +// // { +// double curr_threshold; +// if (nearest_mass == 0) +// { +// curr_threshold = thresholds[0][j]; +// } +// else if (nearest_mass == 1) +// { +// curr_threshold = thresholds[1][j]; +// } +// else if (nearest_mass == 3) +// { +// curr_threshold = thresholds[2][j]; +// } +// else if (nearest_mass == 5) +// { +// curr_threshold = thresholds[3][j]; +// } +// // RTT::log(RTT::Warning) << "Joint " << j << "velocity " << model->GetJoints()[joints_idx[j]]->GetVelocity(0) << RTT::endlog(); +// +// if (comp_wait == 0) +// { +// trq_err_1 = torque_difference[1]; +// trq_err_2 = torque_difference[2]; +// trq1 = control_value[1]; +// trq2 = control_value[2]; +// } +// +// if ((abs(torque_difference[j]) > curr_threshold)&&(abs(model->GetJoints()[joints_idx[j]]->GetVelocity(0))< 0.04)&&(comp_wait <= 0)) +// { +// // gazebo::physics::JointWrench w1 = gazebo_joints_[joints_idx[j]]->GetForceTorque(0u); +// // gazebo::math::Vector3 a1 = gazebo_joints_[joints_idx[j]]->GetLocalAxis(0u); +// // error_file << "{" ; +// // error_file << "joint " << j << ": " << torque_difference[j] << " dsrTrq: " << result->getValue(j) << " realTrq: " << (a1.Dot(w1.body1Torque)) << " ;"; +// // error_file << "tgtPos" << target_value[j]; +// // Test: the new target value is the current position. To be evaluated because there is no deformation compared to soft robots! +// // target_value[j] = model->GetJoints()[joints_idx[j]]->GetAngle(0).Radian(); +// // error_file << "newPos" << target_value[j]; +// // error_file << "}" << std::endl; +// +// +// +// // Test: the new target value: we add an angle: has to be set for each joint> +// if (torque_difference[j] > 0) +// { +// target_value[j] = target_value[j] + add_trq[j]*abs(torque_difference[j]); +// } +// else +// { +// target_value[j] = target_value[j] - add_trq[j]*abs(torque_difference[j]); +// } +// error_file << "joint " << j << "modified! "; +// error_file << "trgt_val " << target_value[j] << " prv_val " << supp_target_value[j] ; +// temp_wait = true; +// RTT::log(RTT::Warning) << "Joint " << j << "set to " << target_value[j] << RTT::endlog(); +// } +// +// +// +// // } +// +// +// +// } +// inter_torque_elm[j] = {0}; +// mean_of_torques_elm = 0; +// } +// if (temp_wait) +// { +// wait = true; +// temp_wait = false; +// } +// error_file << "trgt_val5 " << target_value[5] << " prv_val " << supp_target_value[2] ; +// error_file << "trgt_val4 " << target_value[4] << " prv_val " << supp_target_value[1] ; +// error_file << "trgt_val3 " << target_value[3] << " prv_val " << supp_target_value[0] ; +// error_file << "trgt_val2 " << target_value[2] << " prv_val " << supp_target_value[2] ; +// error_file << "trgt_val1 " << target_value[1] << " prv_val " << supp_target_value[1] ; +// error_file << "trgt_val0 " << target_value[0] << " prv_val " << supp_target_value[0] ; +// error_file << "}" << std::endl; +// +// } +// +// if (wait) +// { +// nb_wait = nb_wait-1; +// if (nb_wait<=0) +// { +// wait = false; +// nb_wait = wait_step; +// } +//} +// /***************************************************************************************************************************************************/ @@ -1076,57 +1156,59 @@ class UR5RttGazeboComponent: public RTT::TaskContext { eeMass(0.001 , model); } */ - - - if ((sim_id > 12000) /*&& (sim_id < 14000)*/) - { - model_links_[links_idx[links_idx.back()]]->AddLinkForce(coef*test_force[id_force],test_offset); - } - - - - - - - if ((sim_id%6000 == 0)&&(sim_id > 18000)) - { - bool modif = false; - for (unsigned j = 0; j < 3; j++) - { - if (supp_target_value[j] != target_value[j]) - { - modif = true; - } - } - if (modif) - { - sensibility_file << "{ x: " << test_force[id_force].x << " ; y: " << test_force[id_force].y << " ; z: " << test_force[id_force].z << " ; force: " << (coef*test_force[id_force]).GetLength()<< " }" << std::endl; - //For recording data - supp_target_value[0] = 0.1; - supp_target_value[1] = -0.1;//-0.1;//-1.15;//-0.3; - supp_target_value[2] = 3.14 - (+ supp_target_value[1] + acos(sin(-supp_target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; - supp_target_value[3] = -1.4064; - supp_target_value[4] = -1.5318; - supp_target_value[5] = -0.3283; - - - target_value[2] = supp_target_value[2]; - target_value[1] = supp_target_value[1]; - target_value[0] = supp_target_value[0]; - target_value[3] = supp_target_value[3]; - target_value[4] = supp_target_value[4]; - target_value[5] = supp_target_value[5]; - id_force ++; - coef = 0; - - } - else - { - coef = coef + 0.1; - RTT::log(RTT::Warning) << "Force set to " << coef << RTT::endlog(); - } - } - +// +// + // Sensibility in "3D" +// if ((sim_id > 12000)) +// { +// model_links_[links_idx[links_idx.back()]]->AddLinkForce(coef*test_force[id_force],test_offset); +// // model_links_[links_idx[links_idx.back()]]->AddLinkForce(0.5*gazebo::math::Vector3(0,0,-1),test_offset); +// } +// +// +// +// +// +// +// if ((sim_id%6000 == 0)&&(sim_id > 18000)) +// { +// bool modif = false; +// for (unsigned j = 0; j < 3; j++) +// { +// if (supp_target_value[j] != target_value[j]) +// { +// modif = true; +// } +// } +// if (modif) +// { +// sensibility_file << "{ x: " << test_force[id_force].x << " ; y: " << test_force[id_force].y << " ; z: " << test_force[id_force].z << " ; force: " << (coef*test_force[id_force]).GetLength()<< " }" << std::endl; +// //For recording data +// supp_target_value[0] = 0.1; +// supp_target_value[1] = -1.2;//-0.1;//-1.15;//-0.3; +// supp_target_value[2] = 0.9;//3.14 - (+ supp_target_value[1] + acos(sin(-supp_target_value[1])*l1/l2) + 1.57) - 0.3 -0.4;//0.2;//0.7;//0.2; +// supp_target_value[3] = -1.29;//-1.4064; +// supp_target_value[4] = -1.5318; +// supp_target_value[5] = -0.3283; +// +// +// target_value[2] = supp_target_value[2]; +// target_value[1] = supp_target_value[1]; +// target_value[0] = supp_target_value[0]; +// target_value[3] = supp_target_value[3]; +// target_value[4] = supp_target_value[4]; +// target_value[5] = supp_target_value[5]; +// id_force ++; +// coef = 0; +// +// } +// else +// { +// coef = coef + 0.1; +// RTT::log(RTT::Error) << coef << RTT::endlog() ; +// } +// } +// sim_id ++; @@ -1250,6 +1332,10 @@ class UR5RttGazeboComponent: public RTT::TaskContext { double coef; int id_force; + + // Read position file + ifstream pos_file; + }; ORO_LIST_COMPONENT_TYPE(UR5RttGazeboComponent)