diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py
index e3708a23bdba9ecf57bfb5e6e8997b362d6b688c..53f734f687c5882207b315593d295b9cba6e4e34 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_1_eval.py
@@ -22,7 +22,7 @@ for i, (current, expected) in enumerate(zip(current_joint_values, expected_value
if abs(current - expected) > error_margin:
roscpp_shutdown()
- print('Joint {} is not in the correct position'.format(i))
+ print('Joint {} is not in the correct position.'.format(i))
print('false')
sys.exit(0)
diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_2_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_2_eval.py
index 2aac46c7ba647c91439cbd532c4c8d9a76bf0b74..4d50e47738ca41f6a2e8df53766cb096905b6a58 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_2_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/move_it/move_it_basics/move_it_basics_2_eval.py
@@ -39,7 +39,7 @@ for i, (current, expected) in enumerate(zip(current_values, expected_pose)):
roscpp_shutdown()
- print("Pose component \'{}\' is not in the correct position".format(value_names[i]))
+ print("Pose component \'{}\' is not in the correct position.".format(value_names[i]))
print("false")
sys.exit(0)
diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_1_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_1_eval.py
index cd936d2f2d0236295771e97212ab680765b86291..49aa3acab744640c35d0d360002d9a638b3c502e 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_1_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_1_eval.py
@@ -64,11 +64,11 @@ if node_exists and msg_received:
print('true')
elif not node_exists:
- print('Node not found')
+ print('Node not found.')
print('false')
else:
- print('No messages received on the /chatter topic')
+ print('No messages received on the /chatter topic.')
print('false')
diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_2_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_2_eval.py
index 9d617367ddbbd31b811c2e2d2217a80f8e6f7117..88cd6f79d2a1d4d581c7354752a6cbef4008e4e5 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_2_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_basics/ros_basics_2_eval.py
@@ -70,11 +70,11 @@ if node_exist and sub_exist:
print('true')
elif not node_exist:
- print('node not found')
+ print('Node not found.')
print('false')
else:
- print('subscriber does not exist')
+ print('Subscriber does not exist.')
print('false')
rospy.signal_shutdown('evaluation done')
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_1_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_1_eval.py
index 188e9b16427e9dffe9faeb6292e3a5cb73c3dfa0..bd5e815e1fc2f1b46d0775a1f480d6cd64a6db26 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_1_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_1_eval.py
@@ -18,7 +18,7 @@ for i, (current, expected) in enumerate(zip(current_joint_values, expected_value
if abs(current - expected) > error_margin:
roscpp_shutdown()
- print("Joint {} is not in the correct position".format(i+1))
+ print("Joint {} is not in the correct position".format(i))
print('false')
sys.exit(0)
diff --git a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_2_eval.py b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_2_eval.py
index acdaac6ba533e10bd3ca4e4344d00f37a6b33b11..f3db0f1e45b1215d9b5ab9cd43ffccbca5e07aba 100644
--- a/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_2_eval.py
+++ b/catkin_ws/src/learn_environment/task_pool/evaluation_scripts/ros/ros_intermediate/ros_intermediate_2_eval.py
@@ -20,7 +20,7 @@ class Eval():
def joint_state_callback(self, msg):
self.current_joint_values = msg
- def joint_trajectory_callback(self, msg):
+ def joint_trajectory_callback(self):
self.received_msg = True
def evaluate_position(self, target_position):
@@ -70,9 +70,9 @@ if sucessful_positions == 3:
print('true')
elif not x.received_msg:
- print('no message received on the topic')
+ print('No message received on the topic.')
print('false')
else:
- print('position {} not reached'.format(sucessful_positions + 1))
+ print('Position {} not reached.'.format(sucessful_positions + 1))
print('false')
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
index 269af91a8d8002ead8284cf6f2510f100dc3437a..ad3ffacd91217a524394491fadecabd018f52d0d 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/move_it/move_it_basics/move_it_basics_2.ipynb
@@ -82,7 +82,12 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "To speed up the movement with the ``MoveIt Commander``, you can adjust the ``set_max_velocity_scaling_factor()`` and ``set_max_acceleration_scaling_factor()`` of the ``MoveGroupCommander`` object. Set both to ``1``."
+ "To speed up the movement with the ``MoveIt Commander``, you can adjust the ``set_max_velocity_scaling_factor()`` and ``set_max_acceleration_scaling_factor()`` of the ``MoveGroupCommander`` object. \n",
+ "\n",
+ "ToDo:\n",
+ "\n",
+ "- set ``set_max_velocity_scaling_factor()`` to ``1``\n",
+ "- set ``set_max_acceleration_scaling_factor()`` to ``1``."
]
},
{
@@ -148,7 +153,9 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "Next, we aim to retrieve the joint values required to move the ``gripper`` to specific Cartesian positions. To achieve this, we use the ``plan()`` method of the ``MoveGroupCommander``. This method generates a motion plan to the defined goal state, essentially providing a sequence of joint values the robot must follow to reach the target joint state. Our focus is on extracting the last joint values in the sequence, representing the final goal corresponding to the target Cartesian position. Check the terminal to verify if the final goal joint values remain consistent for the same Cartesian position (look for the 'Output of Robot Script:' lines)."
+ "Next, we aim to retrieve the joint values required to move the ``gripper`` to specific Cartesian positions. To achieve this, we use the ``plan()`` method of the ``MoveGroupCommander``. This method generates a motion plan to the defined goal state, essentially providing a sequence of joint values the robot must follow to reach the target joint state. Our focus is on extracting the last joint values in the sequence, representing the final goal corresponding to the target Cartesian position. \n",
+ "\n",
+ "Check the terminal to verify if the final goal joint values remain consistent for the same Cartesian position (look for the ``'Output of Robot Script:'`` lines)."
]
},
{
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
index c14d00f8c446bff7b5549384fcc3334301f97a89..0cc2ae9a1962433c70df72f9d2790729ade6a2a8 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_1.ipynb
@@ -85,7 +85,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "Now we want to create a ``Publisher`` that sends ``Strings`` messages to the ``'chatter'`` topic. The ``queue_size`` argument specifies the number of messages that can be held in a buffer when ``subscribers`` to the ``topic`` are not immediately ready to process them."
+ "Now we want to create a ``Publisher`` that sends ``String`` messages to the ``'/chatter'`` topic. The ``queue_size`` argument specifies the number of messages that can be held in a buffer when ``Subscribers`` to the ``topic`` are not immediately ready to process them."
]
},
{
@@ -109,7 +109,7 @@
"\n",
"ToDo: \n",
"- Set the loop rate to 10Hz by modify the ``rate`` variable and \n",
- "- call the ``publish()`` method of the Publisher to send the message."
+ "- call the ``publish()`` method of the Publisher to send the ``msg`` variable."
]
},
{
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
index efd2bf9f9e0dae6c6b85327ab33ee51dc24ccf53..1d4861720b6d0934bdaaac5275623586558f30c8 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_basics/ros_basics_2.ipynb
@@ -18,7 +18,7 @@
"---\n",
"> In this task, you will learn ...\n",
">\n",
- "> - ... how to create a simple ``ROS`` topic subscriber.\n",
+ "> - ... how to create a simple ``ROS topic`` Subscriber.\n",
"\n",
"---"
]
@@ -40,7 +40,6 @@
"\n",
"import rospy\n",
"import time\n",
- "import sys\n",
"\n",
"from std_msgs.msg import String\n",
"\n",
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
index 69f07081f9264d02a5fe2002b5a5fe397e31dcfb..60c3a6be9e096336b0cb6f40ee5c2a8a37ff69c6 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_1.ipynb
@@ -55,7 +55,7 @@
"\n",
"ToDo:\n",
"- create a ``ROS node`` with the name ``joint_manipulator``\n",
- "- implement the `Publisher` that publishes data to the ``/effort_joint_trajectory_controller`` topic using the JointTrajectory message type"
+ "- implement the `Publisher` that publishes data to the ``/effort_joint_trajectory_controller/command`` topic using the ``JointTrajectory`` message type, for this use the ``pub`` variable"
]
},
{
@@ -140,7 +140,7 @@
"\n",
"ToDo:\n",
"\n",
- "- rotate the joint1 to 90 degrees,\n",
+ "- rotate the joint2 to 90 degrees,\n",
"- rotate the joint4 to 155 degrees. \n",
"\n",
"Tip:\n",
diff --git a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
index 080800a29c9d6d7f333f8bff4a54b197cafe085e..cee103b02d274b74c7cf9b12259acd03134309aa 100644
--- a/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
+++ b/catkin_ws/src/learn_environment/task_pool/solution_scripts/ros/ros_intermediate/ros_intermediate_2.ipynb
@@ -27,7 +27,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "First import ``rospy``, ``math``, ``JointTrajectory`` and ``JointTrajectoryPoint``."
+ "First we import ``rospy``, ``math``, ``JointTrajectory``, ``JointTrajectoryPoint`` and ``JointState``."
]
},
{
diff --git a/catkin_ws/src/learn_environment/task_pool/task_definitions.json b/catkin_ws/src/learn_environment/task_pool/task_definitions.json
index c6b804c9210368adf31b89cfcb58225f8e3b8f4f..a180dd551609115a4412963aad07ec18cd16f181 100644
--- a/catkin_ws/src/learn_environment/task_pool/task_definitions.json
+++ b/catkin_ws/src/learn_environment/task_pool/task_definitions.json
@@ -8,7 +8,7 @@
"subtasks": [
{
"title": "Task 1",
- "description": "Explains the ROS system and implement a simple publisher.",
+ "description": "Explains the ROS system and implement a simple Publisher.",
"solution_file": "/ros_basics_1.ipynb",
"evaluation_file": "/ros_basics_1_eval.py",
"parallelized_evaluation_required": true,
@@ -16,7 +16,7 @@
},
{
"title": "Task 2",
- "description": "Implement a simple subscriber.",
+ "description": "Implement a simple Subscriber.",
"solution_file": "/ros_basics_2.ipynb",
"evaluation_file": "/ros_basics_2_eval.py",
"parallelized_evaluation_required": true,
@@ -39,7 +39,7 @@
"subtasks": [
{
"title": "Task 1",
- "description": "Implement your first simple movement.",
+ "description": "Implement your first movement.",
"solution_file": "/ros_intermediate_1.ipynb",
"evaluation_file": "/ros_intermediate_1_eval.py"
},
@@ -60,13 +60,13 @@
"subtasks": [
{
"title": "Task 1",
- "description": "Implement a simple movement with MoveIt.",
+ "description": "Implement a movement with the MoveIt Package.",
"solution_file": "/move_it_basics_1.ipynb",
"evaluation_file": "/move_it_basics_1_eval.py"
},
{
"title": "Task 2",
- "description": "Implement a simple movement with MoveIt.",
+ "description": "Move the robot to cartesian coordinates.",
"solution_file": "/move_it_basics_2.ipynb",
"evaluation_file": "/move_it_basics_2_eval.py"
}