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AS: fixed trajectories and MATLAB

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This commit is contained in:
Alexander Schaefer
2025-04-18 15:18:35 +02:00
parent 648007498b
commit 8bc29eae94
8 changed files with 17 additions and 9 deletions
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10
workspace/src/joint_angles.py
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@@ -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")

3
workspace/src/joint_control/setup.py
View File

@@ -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',
],
},