DCMA Behaviors
This repo contains the test-specific states and behaviors of dcma planner.
Behaviors:
Test behaviors:
Test some fixed poses for one ur5 robot with dcma planner
Can define the dcma planner action name, robot id, and plan mode
Plan mode can switch between plan_only, offline, and online.
Dual arm behaviors:
Test some fixed poses for two ur5 robots with dcma planner
Three arms test:
Test some fixed poses for three ur5 robots with dcma planner
States:
Get pose state:
To get a fixed pose to move.
Output: translation (x,y,z) and rotation (3x3 matrix)
Ur5 ik state:
Calculate IK of UR5.
Input: translation (x,y,z) and rotation (3x3 matrix)
Output: target joint values of robot
Planning state:
Send target joint values to the dcma planner
Input: target joint values of robot
Output: planned or executed joint trajectory depend on plan only or not
Robot move state:
Used to move robot in plan only mode
Input: planned joint trajectory