From 19dfeaee82f3d34824a9f6ebcefb1ff913e1631c Mon Sep 17 00:00:00 2001 From: Scott Kuindersma Date: Sat, 26 Nov 2016 20:19:33 -0500 Subject: [PATCH] Revert "Add an iiwa urdf file and several signal scope scripts" --- drake | 2 +- .../LBRWrenchSineOverlay/LBRWrenchSineOverlay | Bin 50007 -> 50040 bytes util/cfg/signal_scope_kuka_joint_pos.py | 16 ---------- .../signal_scope_kuka_joint_torque_compare.py | 16 ---------- util/cfg/signal_scope_kuka_pos.py | 2 +- util/cfg/signal_scope_kuka_torque.py | 28 ------------------ 6 files changed, 2 insertions(+), 62 deletions(-) delete mode 100644 util/cfg/signal_scope_kuka_joint_pos.py delete mode 100644 util/cfg/signal_scope_kuka_joint_torque_compare.py delete mode 100644 util/cfg/signal_scope_kuka_torque.py diff --git a/drake b/drake index 2e1ef68b3184..246ee41d0dbc 160000 --- a/drake +++ b/drake @@ -1 +1 @@ -Subproject commit 2e1ef68b31845bc0d840b0150a7852eb613cd2cd +Subproject commit 246ee41d0dbc16e523f8b7bbf5d37acc0fb29305 diff --git 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a/util/cfg/signal_scope_kuka_joint_pos.py b/util/cfg/signal_scope_kuka_joint_pos.py deleted file mode 100644 index fb3b8af5c34b..000000000000 --- a/util/cfg/signal_scope_kuka_joint_pos.py +++ /dev/null @@ -1,16 +0,0 @@ -findLCMTypes(os.path.expanduser('~/code/kuka-dev/drake/build/drake/lcmtypes/drake')) - -def positions_measured_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.joint_position_measured[idx]) - return f - -def desired_position_command_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.coefficients[idx]) - return f - -for i in range(7): - addPlot() - addSignalFunction('IIWA_PARAM', desired_position_command_s(i)) - addSignalFunction('IIWA_STATUS', positions_measured_s(i)) \ No newline at end of file diff --git a/util/cfg/signal_scope_kuka_joint_torque_compare.py b/util/cfg/signal_scope_kuka_joint_torque_compare.py deleted file mode 100644 index b891c07b654d..000000000000 --- a/util/cfg/signal_scope_kuka_joint_torque_compare.py +++ /dev/null @@ -1,16 +0,0 @@ -findLCMTypes(os.path.expanduser('~/code/kuka-dev/drake/build/drake/lcmtypes/drake')) - -def feedforward_torque_command_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.coefficients[idx]) - return f - -def feedback_PD_torque_command_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.q_des[idx]) - return f - -for i in range(7): - addPlot() - addSignalFunction('IIWA_PARAM', feedforward_torque_command_s(i)) - addSignalFunction('IIWA_PARAM2', feedback_PD_torque_command_s(i)) diff --git a/util/cfg/signal_scope_kuka_pos.py b/util/cfg/signal_scope_kuka_pos.py index 27f1dbfd025e..7026fd6f910a 100644 --- a/util/cfg/signal_scope_kuka_pos.py +++ b/util/cfg/signal_scope_kuka_pos.py @@ -18,6 +18,6 @@ def velocities_estimated(msg): addSignalFunctions('IIWA_STATUS', positions_measured, range(7)) addPlot() -# add all seven velocity estimated +# add all seven position measurements addSignalFunctions('IIWA_STATUS', velocities_estimated, range(7)) diff --git a/util/cfg/signal_scope_kuka_torque.py b/util/cfg/signal_scope_kuka_torque.py deleted file mode 100644 index 1fa2b16ca5a5..000000000000 --- a/util/cfg/signal_scope_kuka_torque.py +++ /dev/null @@ -1,28 +0,0 @@ -findLCMTypes(os.path.expanduser('~/code/kuka-dev/drake/build/drake/lcmtypes/drake')) - -def torque_measured_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.joint_torque_measured[idx]) - return f - -def torque_commanded_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.joint_torque_commanded[idx]) - return f - -def real_torque_commanded_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.joint_torque[idx]) - return f - -def computed_torque_command_s(idx): - # convert time from nano seconds to milliseconds - f = lambda msg: (int(msg.timestamp*1000), msg.coefficients[idx]) - return f - -addPlot() -# add all seven position measurements -for i in range(7): - # addSignalFunction('IIWA_STATUS', velocities_estimated_s(i)) - addSignalFunction('IIWA_STATUS', torque_measured_s(i)) - addSignalFunction('IIWA_STATUS', torque_commanded_s(i)) \ No newline at end of file