AS: creating final node

osc_recieve.py

@@ -1,13 +1,12 @@
 from osc4py3.as_eventloop import *
 from osc4py3 import oscmethod as osm
 import time
-def handler(*args):
+def handler(address,*args):
-    print('recieved')
     print(args)
 
 osc_startup()
-osc_udp_server("0.0.0.0", 8000, "osc_server")
+osc_udp_server("0.0.0.0", 7000, "osc_server")
-osc_method("/joint_angles", handler, argscheme=osm.OSCARG_MESSAGE)
+osc_method("/joint_states/counter", handler, argscheme=osm.OSCARG_ADDRESS+ osm.OSCARG_DATAUNPACK)
 
 
 while True:

osc_recieve_no_buffer.py

@@ -0,0 +1,35 @@
+from pythonosc.dispatcher import Dispatcher
+from pythonosc.osc_server import BlockingOSCUDPServer
+import threading
+import time
+
+latest_value = None
+lock = threading.Lock()
+
+def handle_value(address, *args):
+    global latest_value
+    with lock:
+        latest_value = args
+
+def printer_loop():
+    global latest_value
+    while True:
+        time.sleep(1)
+        with lock:
+            if latest_value is not None:
+                print(f"Latest value: {latest_value}")
+                latest_value = None  # Clear after printing
+
+if __name__ == "__main__":
+    dispatcher = Dispatcher()
+    dispatcher.map("/tcp_coordinates", handle_value)
+
+    ip = "0.0.0.0"   # Listen on all interfaces
+    port = 7000      # Adjust if needed
+    server = BlockingOSCUDPServer((ip, port), dispatcher)
+
+    # Start printing thread
+    threading.Thread(target=printer_loop, daemon=True).start()
+
+    print(f"Listening for OSC messages on {ip}:{port} ...")
+    server.serve_forever()

osc_ws/simple_server.py

@@ -1,36 +0,0 @@
-"""Small example OSC server
-
-This program listens to several addresses, and prints some information about
-received packets.
-"""
-import argparse
-import math
-
-from pythonosc.dispatcher import Dispatcher
-from pythonosc import osc_server
-
-def print_volume_handler(unused_addr, args, volume):
-  print("[{0}] ~ {1}".format(args[0], volume))
-
-def print_compute_handler(unused_addr, args, volume):
-  try:
-    print("[{0}] ~ {1}".format(args[0], args[1](volume)))
-  except ValueError: pass
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--ip",
-      default="127.0.0.1", help="The ip to listen on")
-  parser.add_argument("--port",
-      type=int, default=5005, help="The port to listen on")
-  args = parser.parse_args()
-
-  dispatcher = Dispatcher()
-  dispatcher.map("/filter", print)
-  dispatcher.map("/volume", print_volume_handler, "Volume")
-  dispatcher.map("/logvolume", print_compute_handler, "Log volume", math.log)
-
-  server = osc_server.ThreadingOSCUDPServer((args.ip, args.port), dispatcher)
-  
-  print("Serving on {}".format(server.server_address))
-  server.serve_forever()

test/joint_trajectories/trajectory_0001.csv

@@ -1,49 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
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test/joint_trajectories/trajectory_0002.csv

@@ -1,50 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
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test/joint_trajectories/trajectory_0003.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories/trajectory_0004.csv

@@ -1,50 +0,0 @@
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test/joint_trajectories/trajectory_0005.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories/trajectory_0006.csv

@@ -1,50 +0,0 @@
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test/joint_trajectories/trajectory_0007.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories/trajectory_0008.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories/trajectory_0009.csv

@@ -1,42 +0,0 @@
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test/joint_trajectories/trajectory_0010.csv

@@ -1,24 +0,0 @@
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test/joint_trajectories/trajectory_0011.csv

@@ -1,18 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
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test/joint_trajectories/trajectory_0012.csv

@@ -1,4 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018850.109841,-2.313011843897503,-1.6483278638043584,-2.001973134912872,-1.631473607524726,1.8723022286671673,-1.6616605676847982
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test/joint_trajectories/trajectory_0013.csv

@@ -1,6 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018851.5973852,-2.6608992184765543,-2.391989626851453,-0.8884322127188211,-2.0610011947501348,1.6746442142862108,-1.9545087957586498
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test/joint_trajectories/trajectory_0014.csv

@@ -1,5 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018853.1196609,-2.3130113520279294,-1.648325580267437,-2.0019753776066005,-1.6314736381361497,1.8723036414963827,-1.6616607582297658
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test/joint_trajectories/trajectory_0015.csv

@@ -1,6 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018854.5857203,-2.6608992364924906,-2.391998742211375,-0.8884133845660367,-2.0610109650372497,1.674644204602144,-1.9545088150235257
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test/joint_trajectories/trajectory_0016.csv

@@ -1,4 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018856.150761,-2.313009953566788,-1.6483215379860596,-2.0019795627446983,-1.631472905032882,1.8723066215453645,-1.6616604891281928
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test/joint_trajectories/trajectory_0017.csv

@@ -1,7 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018857.5495617,-2.660899302230865,-2.392025404827116,-0.8883582428013344,-2.0610396015402404,1.6746441699032264,-1.9545088818412941
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test/joint_trajectories/trajectory_0018.csv

@@ -1,4 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018859.1601691,-2.313008228565413,-1.6483158278494643,-2.0019854696581354,-1.631472115415696,1.872310711194097,-1.6616604176314222
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test/joint_trajectories/trajectory_0019.csv

@@ -1,7 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018860.5458684,-2.6608993141666497,-2.3920293955061878,-0.8883499955898984,-2.0610438801437265,1.6746441636646425,-1.9545088935264285
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test/joint_trajectories/trajectory_0020.csv

@@ -1,4 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018862.1515627,-2.313008521539318,-1.6483168722231125,-2.0019843899417324,-1.631472238564406,1.872309973057284,-1.6616604031041338
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test/joint_trajectories/trajectory_0021.csv

@@ -1,7 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018863.5637312,-2.6608992903786857,-2.392021009144001,-0.8883673324424155,-2.0610348828617324,1.674644176109414,-1.9545088700368323
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test/joint_trajectories/trajectory_0022.csv

@@ -1,4 +0,0 @@
-timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint
-1746018865.1454973,-2.3130094134797368,-1.6483198465856737,-2.001981312549549,-1.6314726439594216,1.8723078443112016,-1.6616604315564611
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test/joint_trajectories_cart/trajectory_0001_cart.csv

@@ -1,49 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
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test/joint_trajectories_cart/trajectory_0002_cart.csv

@@ -1,50 +0,0 @@
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test/joint_trajectories_cart/trajectory_0003_cart.csv

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test/joint_trajectories_cart/trajectory_0004_cart.csv

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test/joint_trajectories_cart/trajectory_0005_cart.csv

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test/joint_trajectories_cart/trajectory_0006_cart.csv

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test/joint_trajectories_cart/trajectory_0007_cart.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories_cart/trajectory_0008_cart.csv

@@ -1,49 +0,0 @@
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test/joint_trajectories_cart/trajectory_0009_cart.csv

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test/joint_trajectories_cart/trajectory_0010_cart.csv

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test/joint_trajectories_cart/trajectory_0011_cart.csv

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-1746018848.8568728,0.8746392130039544,0.33793815235574254,0.3543772863297318,0.35491228502665234,0.5401605421626795,0.9298309453883272
-1746018848.9800177,0.843485265823824,0.33795666455609796,0.3543895648695141,0.35491559847201287,0.540162694158454,0.9298342993505829
-1746018849.0967052,0.8123157653640375,0.33796565332673506,0.3543961314896692,0.35492042325308404,0.54016637776686,0.9298387504361137
-1746018849.2078116,0.7811356279812804,0.3379673839653477,0.35439848388738193,0.35492682871816644,0.5401715862204244,0.9298443979473233
-1746018849.3140135,0.7499480704734274,0.3379632350676856,0.3543975618405587,0.3549349671190365,0.5401784141005402,0.9298514030021741
-1746018849.4180765,0.7187553581549995,0.33795413112190864,0.35439403531443364,0.3549450715790903,0.5401870376842642,0.9298599905605887
-1746018849.5209816,0.6875591477915445,0.33794070447293506,0.3543884125624668,0.3549574595973635,0.5401977162780988,0.9298704570970021
-1746018849.623092,0.6563606929302407,0.3379233974367479,0.3543811112756897,0.3549725431800478,0.5402108012761616,0.9298831833208678
-1746018849.7247272,0.6251609682670684,0.33790252797637044,0.35437250813514276,0.3549908444429329,0.5402267523337033,0.9298986517742928
-1746018849.8261704,0.5939607449667617,0.33787833450458526,0.3543629773062246,0.3550130162632814,0.540246160823194,0.9299174694889244
-1746018849.9276726,0.5627606339207122,0.3378510083771943,0.35435292402149887,0.35503986762696044,0.5402697813532412,0.9299403958656436
-1746018850.029455,0.5315611059304126,0.3378207188944283,0.35434281716627125,0.35507239290919174,0.5402985724188303,0.9299683755098243
-1746018850.1317062,0.5003624932217149,0.3377876333507215,0.35433322352514074,0.35511180327864755,0.5403337471166165,0.9300025746597204

test/joint_trajectories_cart/trajectory_0012_cart.csv

@@ -1,4 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018850.109841,0.499992043122568,0.338709140222359,0.3548392169436988,0.3548463175336527,0.540070041861325,0.9297780547560188
-1746018850.9285998,0.7499973046315764,0.33870293312379074,0.35483361032338595,0.3548395049421963,0.5400746772839561,0.9297769699209532
-1746018851.9807262,0.9998356122475539,0.3386132202252099,0.3547730142926479,0.35483843990819075,0.5400718696528575,0.9297760873954152

test/joint_trajectories_cart/trajectory_0013_cart.csv

@@ -1,6 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018851.5973852,0.9999433781397413,0.33868086429244976,0.35481929187095496,0.35483836835081034,0.5400740168144992,0.9297762924632146
-1746018852.1919017,0.8749498931177248,0.3386927310763343,0.35484343399624013,0.3549024998178859,0.5400723101628678,0.9298106454335342
-1746018852.650539,0.7499420133523669,0.3386750043994965,0.35484102897222214,0.3549068055176385,0.5400842016916279,0.9298151092698327
-1746018853.0620122,0.6249191509860896,0.3386403636395043,0.3548390731756355,0.354945265870671,0.5401027962998316,0.9298401102697195
-1746018853.4696677,0.499875584105039,0.3385745548597752,0.35484071434453474,0.35504725952431515,0.5401451711343492,0.9299056005373023

test/joint_trajectories_cart/trajectory_0014_cart.csv

@@ -1,5 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018853.1196609,0.49999084438380526,0.3387084934158545,0.3548393873007208,0.3548478037444571,0.5400698452652806,0.9297787023959861
-1746018853.6607533,0.666064626102785,0.33866578932364383,0.35488467204663354,0.3549347970851296,0.5400421724810315,0.9298238923251426
-1746018854.222654,0.8325228461228629,0.33852860158610715,0.35479637037843237,0.354831378690314,0.5400500613890574,0.9297743564996565
-1746018854.9840958,0.9999875006688111,0.33870240888305936,0.3548337336022367,0.3548387138094628,0.5400744126782482,0.9297764919382692

test/joint_trajectories_cart/trajectory_0015_cart.csv

@@ -1,6 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018854.5857203,0.9999474315208599,0.33868295563742656,0.3548207000685034,0.3548384000591708,0.5400740653141097,0.9297763119430412
-1746018855.1802669,0.8749498925957069,0.3386927251913073,0.35484343255512185,0.3549025050221844,0.5400723111120405,0.9298106484680194
-1746018855.638904,0.7499420133477953,0.3386750043989203,0.35484102897289266,0.35490680551982146,0.5400842016915113,0.9298151092706827
-1746018856.0503771,0.6249191509860967,0.3386403636395169,0.35483907317563734,0.3549452658706545,0.5401027962998273,0.9298401102697097
-1746018856.4580326,0.4998755841050389,0.338574554859775,0.35484071434453496,0.35504725952431504,0.5401451711343493,0.929905600537302

test/joint_trajectories_cart/trajectory_0016_cart.csv

@@ -1,4 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018856.150761,0.49998853114052927,0.338707677573972,0.35483961884533083,0.3548504943665232,0.54006909797661,0.9297796613536519
-1746018856.9695346,0.7499973042956015,0.3387029324915161,0.3548336097637454,0.3548395050147193,0.5400746772867365,0.9297769699623466
-1746018858.021661,0.9998356122458891,0.33861322022428136,0.35477301429200314,0.3548384399081783,0.5400718696528185,0.9297760873954044

test/joint_trajectories_cart/trajectory_0017_cart.csv

@@ -1,7 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018857.5495617,0.9999592984167665,0.3386890622517516,0.35482485824181675,0.354838487803229,0.5400741960315382,0.9297763654757398
-1746018858.03965,0.8999562727380719,0.3387090881666049,0.35484194256190416,0.3548600656380242,0.5400735032343046,0.9297878984267088
-1746018858.4300761,0.799968719413789,0.33870486490712504,0.3548432532415722,0.3548607494088734,0.5400769645450677,0.9297887937355175
-1746018858.7666776,0.6999654810738004,0.3386959861882976,0.35484275087611616,0.35486885616066466,0.5400810797017587,0.9297939844530492
-1746018859.0931258,0.5999551160118943,0.33868197589617544,0.3548426315096846,0.35488723825658325,0.5400882992429289,0.9298055232783259
-1746018859.419361,0.4999369673011772,0.33865879620851624,0.35484395770809113,0.3549268632794481,0.5401026815139718,0.9298300626069816

test/joint_trajectories_cart/trajectory_0018_cart.csv

@@ -1,4 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018859.1601691,0.49998533177233717,0.3387063621105274,0.35483993505553313,0.35485437982058404,0.5400681850395332,0.9297811219484226
-1746018859.9789567,0.7499973039890306,0.33870293191704115,0.3548336092550731,0.3548395050807673,0.540074677289148,0.9297769700000567
-1746018861.0310829,0.9998356122443709,0.3386132202234346,0.35477301429141483,0.3548384399081676,0.5400718696527826,0.9297760873953944

test/joint_trajectories_cart/trajectory_0019_cart.csv

@@ -1,7 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018860.5458684,0.9999610750659504,0.3386899739017742,0.3548254772061733,0.35483850024602265,0.5400742140443552,0.929776373006245
-1746018861.03597,0.8999562713841975,0.3387090882560545,0.3548419428312903,0.3548600675532033,0.5400735029793525,0.9297878994221204
-1746018861.4263961,0.7999687194147795,0.33870486490766455,0.3548432532414361,0.3548607494072374,0.5400769645449378,0.9297887937345831
-1746018861.7629974,0.6999654810737996,0.3386959861882967,0.3548427508761163,0.3548688561606662,0.5400810797017589,0.9297939844530497
-1746018862.0894456,0.5999551160118943,0.33868197589617544,0.3548426315096846,0.35488723825658325,0.5400882992429289,0.9298055232783259
-1746018862.4156811,0.4999369673011772,0.33865879620851624,0.35484395770809113,0.3549268632794481,0.5401026815139718,0.9298300626069816

test/joint_trajectories_cart/trajectory_0020_cart.csv

@@ -1,4 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018862.1515627,0.49998591070260895,0.33870661712031336,0.35483987803105016,0.35485366085642783,0.5400683402487926,0.9297808455433704
-1746018862.970348,0.7499973040441732,0.33870293202059265,0.3548336093474972,0.354839505068949,0.540074677288707,0.9297769699933072
-1746018864.022474,0.9998356122446445,0.33861322022358703,0.3547730142915205,0.3548384399081691,0.5400718696527892,0.9297760873953962

test/joint_trajectories_cart/trajectory_0021_cart.csv

@@ -1,7 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018863.5637312,0.9999573415902931,0.33868805653797474,0.35482417337976296,0.3548384739247426,0.5400741756848338,0.9297763570464891
-1746018864.053805,0.8999562742297146,0.33870908806717387,0.35484194226548893,0.35486006352541904,0.5400735035161047,0.9297878973286712
-1746018864.4442313,0.7999687194126974,0.3387048649065311,0.35484325324172145,0.35486074941067625,0.5400769645452117,0.9297887937365478
-1746018864.7808328,0.699965481073801,0.3386959861882985,0.35484275087611616,0.3548688561606629,0.5400810797017583,0.9297939844530482
-1746018865.107281,0.5999551160118943,0.33868197589617577,0.3548426315096847,0.3548872382565834,0.5400882992429288,0.9298055232783266
-1746018865.4335163,0.49993696730117715,0.3386587962085161,0.35484395770809085,0.35492686327944817,0.5401026815139722,0.9298300626069815

test/joint_trajectories_cart/trajectory_0022_cart.csv

@@ -1,4 +0,0 @@
-timestamp,x,y,z,roll,pitch,yaw
-1746018865.1454973,0.499987575675419,0.33870730662912885,0.35483971389291424,0.35485163273874254,0.5400688123076307,0.9297800812744245
-1746018865.9642751,0.7499973042036086,0.33870293231940085,0.35483360961229005,0.35483950503462186,0.5400746772874496,0.9297769699737076
-1746018867.0164015,0.999835612245434,0.33861322022402784,0.3547730142918266,0.35483843990817504,0.5400718696528076,0.9297760873954016

test/osc_ws/simple_server.py

@@ -0,0 +1,27 @@
+"""Small example OSC server
+
+This program listens to several addresses, and prints some information about
+received packets.
+"""
+
+from pythonosc.dispatcher import Dispatcher
+from pythonosc import osc_server
+
+def handler(unused_addr, args, volume):
+
+
+
+ parser = argparse.ArgumentParser()
+  parser.add_argument("--ip",
+      default="127.0.0.1", help="The ip to listen on")
+  parser.add_argument("--port",
+      type=int, default=5005, help="The port to listen on")
+  args = parser.parse_args()
+
+  dispatcher = Dispatcher()
+  dispatcher.map("/joint_states", handler)
+
+  server = osc_server.ThreadingOSCUDPServer(("127.0.0.1", 8000), dispatcher)
+  
+  print("Serving on {}".format(server.server_address))
+  server.serve_forever()