Skip to content

Commit

Permalink
change readme
Browse files Browse the repository at this point in the history
  • Loading branch information
@duISIR
duISIR committed Jun 10, 2023
1 parent 6da76ad commit b0d5c10
Showing 1 changed file with 39 additions and 9 deletions.
48 changes: 39 additions & 9 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,8 @@ With motion planning of two end-effectors' positions, MPC tracking operational t
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.launch
roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn_experimentgazebo.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.py or
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory.py or
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn.py
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_turn_experimentgazebo.py

Expand All @@ -75,26 +76,55 @@ With motion planning of two end-effectors' positions and orientation, MPC tracki
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation.launch or
roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.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
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. 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 or
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.py
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_obstacle_wholetrajectory_withOrientation_turn_experimentgazebo.py

########### Below relates to 6-DOF admittance control in local frame ###########################

With admittance control in local frame, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF.launch
With 6-DOF admittance control, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF.py

With admittance control in local frame and obstacle avoidance, MPC tracking operational trajectory

With 6-DOF admittance control and obstacle avoidance, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.launch or
roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon.py or
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_longhorizon_turn.py

With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.launch or
roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.launch or
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.launch or
roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.launch or
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation.py or
rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_obstacle_wholetrajectory_withOrientation_turn.py or

With motion planning of two end-effectors' positions, MPC tracking operational trajectory with admittance control in local frame
########### Add obstacle avoidance in motion tracking ###########################

With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
2. roslaunch chonk_pushing action_servers_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
3. roslaunch chonk_dynamics chonk_dynamics.launch
4. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
5. rosrun chonk_pushing action_client_cmd_pose_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.py

With motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory with admittance control in local frame
########### Parallel Programming ###########################

With 6-DOF admittance control and obstacle avoidance, with motion planning of two end-effectors' positions and orientation, MPC tracking operational trajectory
1. roslaunch chonk_pushing gazebo_planner_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
2. roslaunch chonk_pushing action_servers_planner_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
3. roslaunch chonk_pushing action_servers_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.launch
4. roslaunch chonk_dynamics chonk_dynamics.launch
5. rosrun chonk_pushing action_client_cmd_config_wholetrajectory.py
6. rosrun chonk_pushing action_client_planner_tracking_MPC_BC_operational_pick_localsensorAD_6DOF_bothobstacle_wholetrajectory_withOrientation_turn.py



0 comments on commit b0d5c10

Please sign in to comment.