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roboticsleeds / ur5controller

OpenRAVE Controller Plugin for UR5 (Universal Robots UR5) Robot
GNU General Public License v3.0
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./control_ur5.py has trajectory_object, I am trying to read trajectory inside trajectory_object #8

Closed lakshmip001 closed 5 years ago

lakshmip001 commented 5 years ago

For the following lines of code: way_points = trajectory_object.GetWaypoints2D(0, trajectory_object.GetNumWaypoints()) print "trajectory_object" print way_points planningutils.RetimeTrajectory (trajectory_object, hastimestamps=True, maxvelmult=0.5, maxaccelmult=0.5) new_waypoints = trajectory_object.GetWaypoints2D(0, trajectory_object.GetNumWaypoints()) print "new_waypoints" print new_waypoints

gives following output: Menu Action: d ik_solution [-0.35203007 -2.2471289 -0.82091772 -3.21502544 -0.42179542 -3.14166423] trajectory_object [[ -1.05592806e+00 -1.49860460e+00 -1.80591137e+00 -2.97861797e+00 -1.12569410e+00 -3.14158303e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00] [ -1.05564221e+00 -1.49890857e+00 -1.80551137e+00 -2.97871397e+00 -1.12540825e+00 -3.14158306e+00 1.42924371e-01 -1.51985610e-01 2.00000000e-01 -4.80018264e-02 1.42924512e-01 -1.64882459e-05 4.00000000e-03 0.00000000e+00] [ -3.52315918e-01 -2.24682493e+00 -8.21317722e-01 -3.21492944e+00 -4.22081271e-01 -3.14166420e+00 1.42924371e-01 -1.51985610e-01 2.00000000e-01 -4.80018264e-02 1.42924512e-01 -1.64882459e-05 4.92096822e+00 0.00000000e+00] [ -3.52030070e-01 -2.24712890e+00 -8.20917722e-01 -3.21502544e+00 -4.21795422e-01 -3.14166423e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 4.00000000e-03 1.00000000e+00]]

new_waypoints [[ -1.05592806e+00 -1.49860460e+00 -1.80591137e+00 -2.97861797e+00 -1.12569410e+00 -3.14158303e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00] [ -1.05564221e+00 -1.49890857e+00 -1.80551137e+00 -2.97871397e+00 -1.12540825e+00 -3.14158306e+00 1.42924371e-01 -1.51985610e-01 2.00000000e-01 -4.80018264e-02 1.42924512e-01 -1.64882459e-05 4.00000000e-03 0.00000000e+00] [ -3.52315918e-01 -2.24682493e+00 -8.21317722e-01 -3.21492944e+00 -4.22081271e-01 -3.14166420e+00 1.42924371e-01 -1.51985610e-01 2.00000000e-01 -4.80018264e-02 1.42924512e-01 -1.64882459e-05 4.92096822e+00 0.00000000e+00] [ -3.52030070e-01 -2.24712890e+00 -8.20917722e-01 -3.21502544e+00 -4.21795422e-01 -3.14166423e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 4.00000000e-03 1.00000000e+00]] Menu Action: exit I didnt get why I get 14 DOF . Kindly please help me to get trajectory with timestamps , and joint values, joint velocities & joint accelerations
rpapallas commented 5 years ago

Please use the OpenRAVE mailing list here for OpenRAVE-related questions. Questions here are only related to ur5controller issues and bugs.

In short, the waypoints are not only including DOF values but other information about the waypoint as well, so the 14 values you see are not DOF values only.