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Synthetic Data

Launch moveit with fake controllers

roslaunch ur10e_moveit_config demo.launch

NOTE: The default fake controller rate is ~10hz however if a faster rate is needed for exactly 10s spacing one can add a fake_interpolating_controller_rate param to the fake_controllers.yaml in the ur10e_moveit_config package.

Run the following script

#!/usr/bin/env python

import rospy

import moveit_commander

from sensor_msgs.msg import JointState

import csv

import time

class UR10eMoverRecorder:

def __init__(self, duration=60.0, rate_hz=10, output_file="/tmp/ur10e_joint_log.csv"):

# Duration and logging config

self.duration = duration

self.rate_hz = rate_hz

self.output_file = output_file

# Data containers

self.joint_names = []

self.joint_data = []

# Initialize ROS

rospy.init_node("ur10e_move_and_record", anonymous=True)

moveit_commander.roscpp_initialize([])

# MoveIt interfaces

self.robot = moveit_commander.RobotCommander()

self.scene = moveit_commander.PlanningSceneInterface()

self.move_group = moveit_commander.MoveGroupCommander("manipulator")

# Subscribe to joint states

rospy.Subscriber("/joint_states", JointState, self.joint_state_callback)

def joint_state_callback(self, msg):

if not self.joint_names:

self.joint_names = list(msg.name)

positions = dict(zip(msg.name, msg.position))

timestamp = time.time()

row = [timestamp] + [positions.get(name, 0.0) for name in self.joint_names]

self.joint_data.append(row)

def move_and_record(self):

rospy.loginfo("Starting UR10e movement and logging...")

start_time = time.time()

rate = rospy.Rate(self.rate_hz)

while not rospy.is_shutdown() and (time.time() - start_time < self.duration):

# Plan and execute a random target

self.move_group.set_random_target()

plan = self.move_group.plan()

if plan and len(plan.joint_trajectory.points) > 0:

self.move_group.execute(plan, wait=True)

else:

rospy.logwarn("Planning failed, skipping this cycle.")

rospy.sleep(1) # brief pause before next move

rate.sleep() # maintain logging frequency

self.save_to_csv()

rospy.loginfo(f"Data logging complete. Saved to {self.output_file}")

def save_to_csv(self):

with open(self.output_file, "w", newline="") as f:

writer = csv.writer(f)

writer.writerow(["time"] + self.joint_names)

writer.writerows(self.joint_data)

if __name__ == "__main__":

try:

app = UR10eMoverRecorder(duration=60.0, rate_hz=10, output_file="/tmp/ur10e_joint_log.csv")

app.move_and_record()

except rospy.ROSInterruptException:

pass

Visualize with

import pandas as pd

import matplotlib.pyplot as plt

# Load the recorded CSV

df = pd.read_csv("/tmp/joint_data.csv")

# Drop the time column for statistical plots

joint_df = df.drop(columns=["time"])

# Create histograms for each joint

fig, axs = plt.subplots(3, 2, figsize=(14, 10))

axs = axs.flatten()

for i, col in enumerate(joint_df.columns):

data = joint_df[col]

axs[i].hist(data, bins=30, alpha=0.7, color='skyblue', edgecolor='black')

axs[i].set_title(

f"{col}: mean={data.mean():.2f}, std={data.std():.2f}, min={data.min():.2f}, max={data.max():.2f}"

)

axs[i].set_xlabel("Angle [rad]")

axs[i].set_ylabel("Frequency")

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