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| # chonk_pushing | ||
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| Wholebody Inverse kinematics, use 5-order spline to generate the trajectory in joint space | ||
| 1. roslaunch chonk_pushing gazebo_wholebody.launch | ||
| 2. roslaunch chonk_pushing action_servers_wholebody.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_wholebody.py | ||
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| Without admittance control, MPC tracking joint-space trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_pick.py | ||
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| Without admittance control, MPC tracking operational trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick.py | ||
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| With admittance control in global frame, MPC tracking operational trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD.py | ||
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| With admittance control in global frame and obstacle avoidance, MPC tracking operational trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_longhorizon.py | ||
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| With motion planning of two end-effectors' positions, MPC tracking operational trajectory with admittance control in global frame | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.py | ||
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| With motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory with admittance control in global frame | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_withOrientation.py | ||
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| ########### Below relates to admittance control in local frame ########################### | ||
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| With admittance control in local frame, MPC tracking operational trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD.launch or | ||
| roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_turn.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD.py or | ||
| rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_turn.py | ||
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| With admittance control in local frame and obstacle avoidance, MPC tracking operational trajectory | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.launch or | ||
| roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon_turn.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon.py or | ||
| rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_longhorizon_turn.py | ||
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| With motion planning of two end-effectors' positions, MPC tracking operational trajectory with admittance control in local frame | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch or | ||
| roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_turn.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory.py or | ||
| rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_sensorAD_obstacle_wholetrajectory_turn.py | ||
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| With motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory with admittance control in local frame | ||
| 1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.launch or | ||
| roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn.launch | ||
| 2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.launch | ||
| 3. roslaunch chonk_dynamics chonk_dynamics.launch | ||
| 4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.py or | ||
| rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn.py | ||
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| # chonk_pushing |