From 97cd67a008a969be9a6c720efe5bc63dc5d62e58 Mon Sep 17 00:00:00 2001 From: Alexander Schaefer Date: Tue, 22 Apr 2025 16:04:22 +0200 Subject: [PATCH] AS: last commit before testing ur10e --- .../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 | 15 ++++++++------- workspace/src/joint_control/setup.py | 4 ++++ 7 files changed, 22 insertions(+), 10 deletions(-) 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 68ac059..bfdd302 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/workspace/src +OLDPWD=/BA/workspace/src/joint_control/joint_control 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 74965c4..a1b91c4 100644 --- a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt +++ b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt @@ -18,9 +18,12 @@ 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_max_acc.py joint_control/trajectory_server_cart_fast_smooth.py +joint_control/trajectory_server_new.py +joint_control/trajectory_server_new_cart.py +joint_control/trajectory_server_trapezoidal.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 0199c65..9d24714 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 @@ -9,5 +9,9 @@ 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_max_acc = joint_control.trajectory_server_cart_fast_max_acc:main trajectory_server_cart_fast_smooth = joint_control.trajectory_server_cart_fast_smooth:main +trajectory_server_new = joint_control.trajectory_server_new:main +trajectory_server_new_cart = joint_control.trajectory_server_new_cart:main +trajectory_server_trapezoidal = joint_control.trajectory_server_trapezoidal: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 3d8afb0ca7fc0fc302f7f2b1ed99dd479d3d9e7d..134ad9103185c754daf033e17e68a15c69ba96eb 100644 GIT binary patch delta 20 acmZ3=w3LZEpO=@50SNeSux#X(Vgvvxi36_y delta 20 acmZ3=w3LZEpO=@50SK-nGH&FSVgvv!69f7H diff --git a/workspace/log/latest_build b/workspace/log/latest_build index 1b59e89..5c06eb6 120000 --- a/workspace/log/latest_build +++ b/workspace/log/latest_build @@ -1 +1 @@ -build_2025-04-17_20-17-24 \ No newline at end of file +build_2025-04-20_11-18-39 \ No newline at end of file diff --git a/workspace/src/joint_angles.py b/workspace/src/joint_angles.py index eeabd96..f6a801c 100644 --- a/workspace/src/joint_angles.py +++ b/workspace/src/joint_angles.py @@ -1,6 +1,7 @@ from osc4py3.as_eventloop import * from osc4py3 import oscbuildparse import time +import roboticstoolbox as rtb def main(): # Start the OSC system @@ -9,15 +10,15 @@ def main(): # Make client channels to send packets osc_udp_client("172.18.0.3", 8000, "osc_client") - + robot = rtb.Robot.URDF("/BA/ur10e.urdf") # Example joint positions to send - 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] + joint_positions1 = [-0.4,0.6, 0.4, 0.0, 0.0, 0.0] + joint_positions2 = [-0.4,-0.6, 0.4, 0.0,0.0, 0.0] + joint_positions3 = [-0.4,-0.6, 0.6, 0.0, 0.0, 0.0] + joint_positions4 = [-0.4,-0.6, 0.2, 0.0, 0.0, 0.0] + joint_positions5 = [-0.4,0.6, 0.2, 0.0, 0.0, 0.0] - msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2, joint_positions3, joint_positions4, joint_positions5]) + msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2])#, joint_positions3, joint_positions4, joint_positions5]) osc_send(msg, "osc_client") osc_process() print("Sending joint positions") diff --git a/workspace/src/joint_control/setup.py b/workspace/src/joint_control/setup.py index 5102a7e..429803d 100644 --- a/workspace/src/joint_control/setup.py +++ b/workspace/src/joint_control/setup.py @@ -24,9 +24,13 @@ setup( 'joint_control = joint_control.joint_angles_server:main', 'cart_coords = joint_control.cart_tcp_server:main', 'trajectory_server = joint_control.trajectory_server:main', + 'trajectory_server_trapezoidal = joint_control.trajectory_server_trapezoidal:main', + 'trajectory_server_new = joint_control.trajectory_server_new:main', + 'trajectory_server_new_cart = joint_control.trajectory_server_new_cart: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', + 'trajectory_server_cart_fast_max_acc = joint_control.trajectory_server_cart_fast_max_acc:main', 'plugdata = joint_control.plugdata:main', 'plugdata_cart = joint_control.plugdata_cart:main', 'plugdata_cart_fix = joint_control.plugdata_cart_fix:main',