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package.xml

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  • eval.tex 1.52 KiB
    \chapter{EVALUVATION}\label{ch:conclusion}
    
    \section{Results}
    
    \subsection{WORLD MODEL TEST RESULTS}
    
    The implementation section gives out results for the Position and Orientation of Joints of Robot Franka Panda Emika .\\
    
    They are 7 in number but only about 3 are shown here as a sample.Here are the results .
    
    \lstset {language=C++}
    \lstset{
    basicstyle=\fontsize{10}{11}\selectfont\ttfamily
    }
    \begin{lstlisting}
    pandalink1 Position is x=0,y=0,z=0.333
    pandalink2 Position is x=0,y=0,z=0.333
    pandalink3 Position is x=-0.120566,y=-1.81861e05,z=0.625095  
    ....	
    pandalink1 Orientation is w=1,x=0,y=0,z=7.54195e05
    pandalink2 Orientation is w=0.693616,x=-0.693595,y=-0.137573,z=-0.137468
    pandalink3 Orientation is w=0.980906,x=1.16121e05,y=-0.194483,z=8.93912e05
    ....
    \end{lstlisting}
    
    The robot was moved in Gazebo Simulator after a motion planning trajectory execution in Rviz motion planner.\\
    
    The node was again built and run giving new values for position and orientation of joints.
    
    \lstset {language=C++}
    \lstset{
    basicstyle=\fontsize{11}{11}\selectfont\ttfamily
    }
    \begin{lstlisting}
    pandalink1 Position is x=0,y=0,z=0.333
    pandalink2 Position is x=0,y=0,z=0.333
    pandalink3 Position is x=-0.00290409,y=0.296506,z=0.442232 
    ....
    pandalink1 Orientation is w=0.703636,x=0,y=0,z=0.710561 
    pandalink2 Orientation is w=0.120731,x=-0.695508,y=-0.127549,z=0.696724 
    pandalink3 Orientation is w=0.443721,x=-0.314109, y=0.478016,z=0.68989
    ....
    \end{lstlisting}
    
    This show a changed set of values for position and orientation for all joints of Robot Franka Panda .