98 lines
2.6 KiB
Plaintext
98 lines
2.6 KiB
Plaintext
touch_screen_task {
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id: "touch_screen"
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devices {
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arm_id: "right_arm"
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dexhand_id: "paxini_tip_1"
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camera_id: "right_hand_cam"
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}
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initialization {
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before_start: true
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after_finish: true
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joint_positions { joint_name: "R_SHOULDER_P" rad: -0.3678 }
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joint_positions { joint_name: "R_SHOULDER_R" rad: 1.1127 }
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joint_positions { joint_name: "R_SHOULDER_Y" rad: 1.6084 }
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joint_positions { joint_name: "R_ELBOW_R" rad: 1.61 }
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joint_positions { joint_name: "R_WRIST_P" rad: -2.5718 }
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joint_positions { joint_name: "R_WRIST_Y" rad: 0.1276 }
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joint_positions { joint_name: "R_WRIST_R" rad: 0.1297 }
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velocity: 1.0
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acceleration: 2.0
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}
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perception {
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apriltag {
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tag_size_m: 0.012
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depth_policy: TOUCH_SCREEN_DEPTH_POLICY_NONE
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target_point_method: TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE
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}
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}
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alignment {
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ibvs {
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camera_link: "R_CAM"
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lambda: 0.4
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mu: 0.1
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qdot_max: 1.0
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vmax6 { x: 1.0 y: 1.0 z: 1.0 rx: 0.6 ry: 0.6 rz: 0.6 }
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amax6 { x: 2.4 y: 2.4 z: 4.5 rx: 2.5 ry: 2.5 rz: 2.5 }
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twist_filter_alpha: 1.0
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r_camera_to_visp {
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m00: 1.0 m01: 0.0 m02: 0.0
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m10: 0.0 m11: 1.0 m12: 0.0
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m20: 0.0 m21: 0.0 m22: 1.0
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}
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r_camera_to_urdf {
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m00: 1.0 m01: 0.0 m02: 0.0
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m10: 0.0 m11: 1.0 m12: 0.0
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m20: 0.0 m21: 0.0 m22: 1.0
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}
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control_joint_names: "R_SHOULDER_P"
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control_joint_names: "R_SHOULDER_R"
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control_joint_names: "R_SHOULDER_Y"
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control_joint_names: "R_ELBOW_R"
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control_joint_names: "R_WRIST_P"
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control_joint_names: "R_WRIST_Y"
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control_joint_names: "R_WRIST_R"
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}
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target {
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position_in_camera { x: -0.001 y: 0.08 z: 0.15 }
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rotation_vector { x: 3.14159265358979323846 y: 0.0 z: 0.0 }
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mode: TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION
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}
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error_threshold {
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x: 0.005
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y: 0.005
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z: 0.01
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rx: 0.1026646259971647
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ry: 0.1026646259971647
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rz: 0.1026646259971647
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}
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stable_frames: 2
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timeout_s: 20.0
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pause_when_reached: false
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}
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touch {
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speed_l {
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twist_tool { x: 0.0 y: -0.04 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
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acceleration: 6.0
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max_distance_m: 0.035
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}
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tactile {
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finger: TOUCH_SCREEN_FINGER_TYPE_INDEX
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region: TOUCH_SCREEN_TACTILE_REGION_TIP
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criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ
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force_threshold: 1.0
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}
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dwell_time_s: 0.0
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}
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retract {
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twist_tool { x: 0.0 y: 0.08 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
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acceleration: 8.0
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duration_s: 0.45
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}
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}
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