From 8bc29eae94f0d64d4dbabc1bd73d7c65d1ba379f Mon Sep 17 00:00:00 2001 From: Alexander Schaefer Date: Fri, 18 Apr 2025 15:18:35 +0200 Subject: [PATCH] AS: fixed trajectories and MATLAB --- .DS_Store | Bin 8196 -> 8196 bytes .../colcon_command_prefix_setup_py.sh.env | 2 +- .../joint_control.egg-info/SOURCES.txt | 5 ++++- .../joint_control.egg-info/entry_points.txt | 4 +++- .../__pycache__/sitecustomize.cpython-310.pyc | Bin 293 -> 293 bytes workspace/log/latest_build | 2 +- workspace/src/joint_angles.py | 10 +++++----- workspace/src/joint_control/setup.py | 3 +++ 8 files changed, 17 insertions(+), 9 deletions(-) diff --git a/.DS_Store b/.DS_Store index 5d217228c16dbc3a06e0985331425d7467906f8e..8002f1987d5b67c1543bff0fb0d930f4c8262620 100644 GIT binary patch delta 300 zcmZp1XmOa}FDl8vz`)4BAi%)j$l&Celb@WFlb^J)a2or>2Hwr=94s8RAQfy3zCig9 z1|MWqKyjcp#=k&%$$u~ave48{mJw=TH!?BQQ82WaoG&Un`GAm0J&I{L>4w3{`MCvP zy$}LLJ~!XR1>`266vqamleR85k2#{-lAE7GP)$Jw%pN7URVWsf1sCPz_d}EnxE0i;tPyFY`hDD43F!B>4 diff --git a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env index 7d3e525..68ac059 100644 --- a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env +++ b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env @@ -7,7 +7,7 @@ LANG=C.UTF-8 LC_ALL=C.UTF-8 LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: -OLDPWD=/BA +OLDPWD=/BA/workspace/src PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin PWD=/BA/workspace/build/joint_control PYTHONPATH=/BA/workspace/build/painting_robot_control:/BA/workspace/install/painting_robot_control/lib/python3.10/site-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages diff --git a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt index 19cb741..74965c4 100644 --- a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt +++ b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt @@ -13,11 +13,14 @@ joint_control/cart_tcp_server.py joint_control/joint_angles_server.py joint_control/plugdata.py joint_control/plugdata_cart.py +joint_control/plugdata_cart_fix.py +joint_control/plugdata_cart_smooth.py joint_control/test.py joint_control/trajectory_server.py joint_control/trajectory_server_cart.py +joint_control/trajectory_server_cart_fast copy.py joint_control/trajectory_server_cart_fast.py -joint_control/trajectory_server_cart_fast_1.py +joint_control/trajectory_server_cart_fast_smooth.py joint_control.egg-info/PKG-INFO joint_control.egg-info/SOURCES.txt joint_control.egg-info/dependency_links.txt diff --git a/workspace/build/joint_control/joint_control.egg-info/entry_points.txt b/workspace/build/joint_control/joint_control.egg-info/entry_points.txt index bd96f59..0199c65 100644 --- a/workspace/build/joint_control/joint_control.egg-info/entry_points.txt +++ b/workspace/build/joint_control/joint_control.egg-info/entry_points.txt @@ -3,9 +3,11 @@ cart_coords = joint_control.cart_tcp_server:main joint_control = joint_control.joint_angles_server:main plugdata = joint_control.plugdata:main plugdata_cart = joint_control.plugdata_cart:main +plugdata_cart_fix = joint_control.plugdata_cart_fix:main +plugdata_cart_smooth = joint_control.plugdata_cart_smooth:main test = joint_control.test:main trajectory_server = joint_control.trajectory_server:main trajectory_server_cart = joint_control.trajectory_server_cart:main trajectory_server_cart_fast = joint_control.trajectory_server_cart_fast:main -trajectory_server_cart_fast_1 = joint_control.trajectory_server_cart_fast_1:main +trajectory_server_cart_fast_smooth = joint_control.trajectory_server_cart_fast_smooth:main diff --git a/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc index 8a68619bfbc7a91f08efb3c89bbbaf5b21dea50d..3d8afb0ca7fc0fc302f7f2b1ed99dd479d3d9e7d 100644 GIT binary patch delta 21 bcmZ3=w3LY_pO=@50SK-nGG=V#kz@n_GEf9# delta 21 bcmZ3=w3LY_pO=@50SI0$`JKLzN0Jc$I-~`( diff --git a/workspace/log/latest_build b/workspace/log/latest_build index 3fcf334..1b59e89 120000 --- a/workspace/log/latest_build +++ b/workspace/log/latest_build @@ -1 +1 @@ -build_2025-04-13_11-50-00 \ No newline at end of file +build_2025-04-17_20-17-24 \ No newline at end of file diff --git a/workspace/src/joint_angles.py b/workspace/src/joint_angles.py index 73b456f..eeabd96 100644 --- a/workspace/src/joint_angles.py +++ b/workspace/src/joint_angles.py @@ -11,11 +11,11 @@ def main(): # Example joint positions to send - joint_positions1 = [0.3,0.3, 0.2, 0.0, 0.0, 0.0] - joint_positions2 = [0.3,0.1, 0.6, 0.0,0.0, 0.0] - joint_positions3 = [0.3,0.4, 0.6, 0.0, 0.0, 0.0] - joint_positions4 = [0.4,0.3, 0.2, 0.0, 0.0, 0.0] - joint_positions5 = [0.3,0.3, 0.2, 0.0, 0.0, 0.0] + joint_positions1 = [-0.5,0.2, 0.6, 0.0, 0.0, 0.0] + joint_positions2 = [-0.5,-0.2, 0.6, 0.0,0.0, 0.0] + joint_positions3 = [-0.5,-0.3, 0.2, 0.0, 0.0, 0.0] + joint_positions4 = [-0.5,0.3, 0.3, 0.0, 0.0, 0.0] + joint_positions5 = [-0.5,0.2, 0.6, 0.0, 0.0, 0.0] msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2, joint_positions3, joint_positions4, joint_positions5]) osc_send(msg, "osc_client") diff --git a/workspace/src/joint_control/setup.py b/workspace/src/joint_control/setup.py index 701c2b6..5102a7e 100644 --- a/workspace/src/joint_control/setup.py +++ b/workspace/src/joint_control/setup.py @@ -26,8 +26,11 @@ setup( 'trajectory_server = joint_control.trajectory_server:main', 'trajectory_server_cart = joint_control.trajectory_server_cart:main', 'trajectory_server_cart_fast = joint_control.trajectory_server_cart_fast:main', + 'trajectory_server_cart_fast_smooth = joint_control.trajectory_server_cart_fast_smooth:main', 'plugdata = joint_control.plugdata:main', 'plugdata_cart = joint_control.plugdata_cart:main', + 'plugdata_cart_fix = joint_control.plugdata_cart_fix:main', + 'plugdata_cart_smooth = joint_control.plugdata_cart_smooth:main', 'test=joint_control.test:main', ], },