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feat: enhance motion sequence capabilities and add configuration support

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- Updated README.md to include examples for data collection and motion sequence testing.
- Modified setting.yaml to change the TCP link for planning from "patron" to "link_ee".
- Refactored move_to_pose_server.py to improve planner configuration readability.
- Updated setup.py to include motion_config.json in package resources and added a new console script for testing motion sequences.
- Introduced motion_config.json to define home joints and poses for motion sequences.
- Added test_motion_sequence.py to implement a test runner for executing motion sequences and recording data to a bag file.
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Даниил Грабарь
2026-05-06 14:03:41 +10:00
parent cd4dcf97ac
commit 9f30b9ff5d
6 changed files with 1168 additions and 9 deletions
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src/iiwa_config/config/setting.yaml
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@@ -34,7 +34,7 @@ controller:
planning:
pose_link: "patron" # TCP-линк для декартовых целей
pose_link: "link_ee" # TCP-линк для декартовых целей
planning_group: "iiwa_arm" # Группа планирования из SRDF
default_frame: "base_link" # Система отсчёта по умолчанию
default_planner: "ompl" # Планировщик по умолчанию