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AS: last commit before testing ur10e

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This commit is contained in:
Alexander Schaefer
2025-04-22 16:04:22 +02:00
parent 8bc29eae94
commit 97cd67a008
7 changed files with 22 additions and 10 deletions
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15
workspace/src/joint_angles.py
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@@ -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")

4
workspace/src/joint_control/setup.py
View File

@@ -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',