From 4f1f7bfa1682c6ae7e53f00ecf9a51a96ab75118 Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Wed, 11 Dec 2024 13:58:25 +0300 Subject: [PATCH] add pallette --- data/half-sphere-no-angle.nc | 11119 ---------------- data/half-sphere-no-angle.nc.result | 2216 --- data/half-sphere.nc | 11001 --------------- data/half-sphere.nc.result | 2192 --- gui/visualize.py | 2 +- ...start_axis_coordinates [-17.409513, 10.yml | 29 - ...start_axis_coordinates [-39.428261, 10.yml | 29 - robot/urdf_manager.py | 97 +- robots.json | 12 +- urdf/borunte_macro.urdf | 215 - urdf/europallet.urdf | 24 + urdf/fanucLRMate200ib.urdf | 191 - urdf/fanucM16ib.urdf | 174 - urdf/sample copy.urdf | 182 - urdf/sample.urdf | 42 + urdf/sample_without.urdf | 42 + urdf_support/borunte_support/CMakeLists.txt | 200 - .../borunte_support/config/borunte.rviz | 179 - .../config/borunte_controllers.yaml | 109 - .../borunte_support/config/borunte_stand.rviz | 328 - .../config/create_dummy_signals.py | 40 - .../config/defaults/digital_io_names.yaml | 3 - .../config/defaults/global_waypoints.yaml | 4 - .../config/defaults/machinetalk.yaml | 2 - .../config/defaults/user_config.yaml | 9 - .../config/hal_hw_interface.yaml | 106 - .../borunte_support/config/hal_io.yaml | 58 - .../borunte_support/config/io_config.yaml | 12 - .../config/jog_arm_settings_gui.yaml | 34 - .../config/jog_arm_settings_spacemouse.yaml | 34 - .../borunte_support/halfiles/hal_io.py | 11 - .../borunte_support/halfiles/haltalk.py | 4 - .../borunte_support/halfiles/robot_io_pins.py | 45 - .../borunte_support/halfiles/setup.py | 72 - .../launch/display_borunte.launch | 19 - .../launch/display_borunte_stand.launch | 19 - .../launch/hal_hardware.launch | 76 - .../borunte_support/launch/hw_bringup.launch | 64 - .../borunte_support/launch/jogging.launch | 21 - .../launch/parameter_persistence.launch | 8 - .../launch/tracking_tools.launch | 15 - .../borunte_support/meshes/base_link.stl | Bin 27084 -> 0 bytes .../meshes/base_link_collision.stl | Bin 5484 -> 0 bytes .../meshes/borunte_carriage.stl | Bin 3884 -> 0 bytes .../meshes/borunte_ezgripper_adapter.stl | Bin 15984 -> 0 bytes .../borunte_ezgripper_adapter_collision.stl | Bin 3884 -> 0 bytes .../collision/create_collision_invert.mlx | 37 - .../collision/create_collision_no_invert.mlx | 34 - .../borunte_support/meshes/fish_finger.stl | Bin 1884 -> 0 bytes .../meshes/fish_finger_adapter_left.stl | Bin 1084 -> 0 bytes .../fish_finger_adapter_left_collision.stl | Bin 684 -> 0 bytes .../meshes/fish_finger_adapter_right.stl | Bin 1084 -> 0 bytes .../fish_finger_adapter_right_collision.stl | Bin 684 -> 0 bytes .../meshes/fish_finger_collision.stl | Bin 684 -> 0 bytes .../borunte_support/meshes/link_1.stl | Bin 94784 -> 0 bytes .../meshes/link_1_collision.stl | Bin 14084 -> 0 bytes .../borunte_support/meshes/link_2.stl | Bin 143684 -> 0 bytes .../meshes/link_2_collision.stl | Bin 12784 -> 0 bytes .../borunte_support/meshes/link_3.stl | Bin 129384 -> 0 bytes .../meshes/link_3_collision.stl | Bin 16684 -> 0 bytes .../borunte_support/meshes/link_4.stl | Bin 315184 -> 0 bytes .../meshes/link_4_collision.stl | Bin 12984 -> 0 bytes .../borunte_support/meshes/link_5.stl | Bin 32984 -> 0 bytes .../meshes/link_5_collision.stl | Bin 4884 -> 0 bytes .../borunte_support/meshes/link_6.stl | Bin 6284 -> 0 bytes .../meshes/link_6_collision.stl | Bin 6284 -> 0 bytes .../meshes/robotiq_adapter.stl | Bin 470784 -> 0 bytes .../meshes/robotiq_adapter_collision.stl | Bin 3084 -> 0 bytes .../meshes/robotiq_hand-e_gripper.stl | Bin 200084 -> 0 bytes .../robotiq_hand-e_gripper_collision.stl | Bin 6284 -> 0 bytes .../meshes/simple_grip_finger.stl | Bin 4484 -> 0 bytes .../meshes/simple_grip_finger_collision.stl | Bin 1884 -> 0 bytes urdf_support/borunte_support/package.xml | 67 - .../scripts/run_machinetalk.py | 22 - .../borunte_support/scripts/run_sim_ui.py | 27 - .../borunte_support/src/ros.HAL-IO/HAL-IO.qml | 87 - .../src/ros.HAL-IO/description.ini | 4 - .../borunte_support/urdf/borunte.xacro | 14 - .../borunte_ezgripper_gen2_plus_macro.xacro | 67 - .../borunte_support/urdf/borunte_hand_e.xacro | 14 - .../borunte_hand_e_fish_fingers_macro.xacro | 54 - .../urdf/borunte_hand_e_macro.xacro | 38 - .../borunte_support/urdf/borunte_macro.xacro | 218 - .../urdf/borunte_none_macro.xacro | 18 - .../urdf/borunte_on_stand.xacro | 14 - .../urdf/borunte_on_stand_macro.xacro | 37 - .../urdf/borunte_stand_macro.xacro | 36 - .../borunte_support/urdf/robotiq_hand_e.xacro | 5 - .../urdf/robotiq_hand_e_base_macro.xacro | 52 - .../robotiq_hand_e_fish_fingers_macro.xacro | 145 - .../urdf/robotiq_hand_e_macro.xacro | 53 - .../fanucLRMate200ib.rights | 32 - .../lrmate200ib/collision/base_link.stl | Bin 41784 -> 0 bytes .../meshes/lrmate200ib/collision/link_1.stl | Bin 264584 -> 0 bytes .../meshes/lrmate200ib/collision/link_2.stl | Bin 246284 -> 0 bytes .../meshes/lrmate200ib/collision/link_3.stl | Bin 291184 -> 0 bytes .../meshes/lrmate200ib/collision/link_4.stl | Bin 230884 -> 0 bytes .../meshes/lrmate200ib/collision/link_5.stl | Bin 126984 -> 0 bytes .../meshes/lrmate200ib/collision/link_6.stl | Bin 60084 -> 0 bytes .../meshes/lrmate200ib/visual/base_link.stl | Bin 41784 -> 0 bytes .../meshes/lrmate200ib/visual/link_1.stl | Bin 264584 -> 0 bytes .../meshes/lrmate200ib/visual/link_2.stl | Bin 246284 -> 0 bytes .../meshes/lrmate200ib/visual/link_3.stl | Bin 291184 -> 0 bytes .../meshes/lrmate200ib/visual/link_4.stl | Bin 230884 -> 0 bytes .../meshes/lrmate200ib/visual/link_5.stl | Bin 126984 -> 0 bytes .../meshes/lrmate200ib/visual/link_6.stl | Bin 60084 -> 0 bytes .../meshes/lrmate200ib3l/collision/link_4.stl | Bin 225884 -> 0 bytes .../meshes/lrmate200ib3l/visual/link_4.stl | Bin 225884 -> 0 bytes .../meta-information.json | 16 - .../urdf/fanucLRMate200ib.urdf | 191 - .../fanuc_m16ib_support/fanucM16ib.rights | 32 - .../meshes/m16ib20/collision/base_link.stl | Bin 13484 -> 0 bytes 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insertions(+), 30353 deletions(-) delete mode 100644 data/half-sphere-no-angle.nc delete mode 100644 data/half-sphere-no-angle.nc.result delete mode 100644 data/half-sphere.nc delete mode 100644 data/half-sphere.nc.result delete mode 100644 robot/start_axis_coordinates [-17.409513, 10.yml delete mode 100644 robot/start_axis_coordinates [-39.428261, 10.yml delete mode 100644 urdf/borunte_macro.urdf create mode 100644 urdf/europallet.urdf delete mode 100644 urdf/fanucLRMate200ib.urdf delete mode 100644 urdf/fanucM16ib.urdf delete mode 100644 urdf/sample copy.urdf delete mode 100644 urdf_support/borunte_support/CMakeLists.txt delete mode 100644 urdf_support/borunte_support/config/borunte.rviz delete mode 100644 urdf_support/borunte_support/config/borunte_controllers.yaml delete mode 100644 urdf_support/borunte_support/config/borunte_stand.rviz delete mode 100644 urdf_support/borunte_support/config/create_dummy_signals.py delete mode 100644 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index c84a09a..0000000 --- a/data/half-sphere-no-angle.nc +++ /dev/null @@ -1,11119 +0,0 @@ -%0001 -(PART: Sfera dlia robota_MILLING) -(DATE: 17-SEP-2024 12:38:40) - -(T01|BALL NOSE||D=6|L=35|R=3) - -(MACHINE TIME: 00:43:06) - -N1 G91 G28 Z0. -N2 G90 -N3 G69 -N4 G49 -N5 G54 - -(BALL NOSE||D=6|L=35|R=3) -N6 T01 M06 -N7 G43 H01 -N8 (5X - 5X-PC-FACES) -N9 S10610 M03 -N10 G54 -N11 M61 (A - BRAKE OFF) -N12 M63 (C - BRAKE OFF) -N13 G00 A0. C0. -N14 G43.4 H01 -N15 G68.3 X0. Y0. Z0. I0. J0. K0. -N16 G53.1 -N17 G00 G90 X116.686 Y-36.754 -N18 Z150. 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Y-107.033 Z9.312 C-7716.667 -N1871 X48.315 Y-106.077 Z9.318 C-7715.512 -N1872 X50.443 Y-105.079 Z9.325 C-7714.357 -N1873 X52.55 Y-104.038 Z9.331 C-7713.201 -N1874 X54.637 Y-102.957 Z9.338 C-7712.046 -N1875 X56.991 Y-101.664 Z9.345 C-7710.726 -N1876 X59.027 Y-100.49 Z9.352 C-7709.57 -N1877 X61.04 Y-99.277 Z9.358 C-7708.415 -N1878 X63.029 Y-98.024 Z9.365 C-7707.259 -N1879 X64.992 Y-96.732 Z9.371 C-7706.104 -N1880 X66.927 Y-95.397 Z9.378 C-7704.948 -N1881 X68.834 Y-94.024 Z9.385 C-7703.792 -N1882 X70.714 Y-92.613 Z9.391 C-7702.637 -N1883 X72.566 Y-91.165 Z9.398 C-7701.481 -N1884 X74.389 Y-89.682 Z9.404 C-7700.325 -N1885 X76.183 Y-88.162 Z9.411 C-7699.169 -N1886 X78.19 Y-86.376 Z9.418 C-7697.848 -N1887 X79.914 Y-84.778 Z9.425 C-7696.692 -N1888 X81.606 Y-83.146 Z9.431 C-7695.536 -N1889 X83.266 Y-81.481 Z9.438 C-7694.379 -N1890 X84.892 Y-79.784 Z9.444 C-7693.223 -N1891 X86.481 Y-78.051 Z9.451 C-7692.067 -N1892 X88.034 Y-76.286 Z9.457 C-7690.911 -N1893 X89.553 Y-74.492 Z9.464 C-7689.754 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C-7662.495 -N1918 X114.071 Y-23.195 Z9.623 C-7661.494 -N1919 X114.456 Y-21.196 Z9.629 C-7660.492 -N1920 X114.806 Y-19.191 Z9.634 C-7659.49 -N1921 X115.121 Y-17.18 Z9.64 C-7658.488 -N1922 X115.401 Y-15.164 Z9.646 C-7657.486 -N1923 X115.645 Y-13.143 Z9.651 C-7656.484 -N1924 X115.854 Y-11.118 Z9.657 C-7655.482 -N1925 X116.028 Y-9.09 Z9.663 C-7654.479 -N1926 X116.166 Y-7.058 Z9.669 C-7653.477 -N1927 X116.269 Y-5.025 Z9.674 C-7652.475 -N1928 X116.336 Y-2.99 Z9.68 C-7651.472 -N1929 X116.367 Y-0.954 Z9.686 C-7650.47 -N1930 X116.363 Y1.064 Z9.691 C-7649.476 -N1931 X116.324 Y3.082 Z9.697 C-7648.482 -N1932 X116.25 Y5.1 Z9.703 C-7647.488 -N1933 X116.141 Y7.115 Z9.709 C-7646.494 -N1934 X115.997 Y9.129 Z9.714 C-7645.5 -N1935 X115.819 Y11.141 Z9.72 C-7644.506 -N1936 X115.605 Y13.148 Z9.726 C-7643.511 -N1937 X115.356 Y15.152 Z9.731 C-7642.517 -N1938 X115.073 Y17.152 Z9.737 C-7641.522 -N1939 X114.755 Y19.146 Z9.743 C-7640.528 -N1940 X114.402 Y21.134 Z9.748 C-7639.533 -N1941 X114.015 Y23.116 Z9.754 C-7638.539 -N1942 X113.594 Y25.092 Z9.76 C-7637.544 -N1943 X113.138 Y27.059 Z9.765 C-7636.549 -N1944 X112.648 Y29.019 Z9.771 C-7635.554 -N1945 X112.125 Y30.97 Z9.777 C-7634.559 -N1946 X111.567 Y32.911 Z9.782 C-7633.565 -N1947 X110.976 Y34.843 Z9.788 C-7632.57 -N1948 X110.351 Y36.764 Z9.794 C-7631.574 -N1949 X109.689 Y38.685 Z9.799 C-7630.573 -N1950 X108.993 Y40.596 Z9.805 C-7629.572 -N1951 X108.269 Y42.481 Z9.811 C-7628.576 -N1952 X107.512 Y44.355 Z9.816 C-7627.581 -N1953 X106.722 Y46.214 Z9.822 C-7626.586 -N1954 X105.9 Y48.06 Z9.828 C-7625.59 -N1955 X105.047 Y49.891 Z9.833 C-7624.595 -N1956 X104.161 Y51.707 Z9.839 C-7623.599 -N1957 X103.245 Y53.508 Z9.845 C-7622.604 -N1958 X102.297 Y55.292 Z9.85 C-7621.608 -N1959 X101.318 Y57.06 Z9.856 C-7620.613 -N1960 X100.308 Y58.811 Z9.862 C-7619.617 -N1961 X99.268 Y60.543 Z9.868 C-7618.621 -N1962 X98.199 Y62.258 Z9.873 C-7617.625 -N1963 X97.099 Y63.953 Z9.879 C-7616.629 -N1964 X95.97 Y65.63 Z9.885 C-7615.634 -N1965 X94.813 Y67.286 Z9.89 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X57.608 Y100.898 Z10.033 C-7589.724 -N1991 X55.842 Y101.883 Z10.038 C-7588.727 -N1992 X54.059 Y102.836 Z10.044 C-7587.73 -N1993 X52.26 Y103.759 Z10.05 C-7586.733 -N1994 X50.445 Y104.65 Z10.055 C-7585.736 -N1995 X48.615 Y105.509 Z10.061 C-7584.739 -N1996 X46.77 Y106.337 Z10.067 C-7583.741 -N1997 X44.911 Y107.132 Z10.072 C-7582.744 -N1998 X43.038 Y107.895 Z10.078 C-7581.747 -N1999 X41.152 Y108.624 Z10.084 C-7580.749 -N2000 X39.254 Y109.322 Z10.089 C-7579.752 -N2001 X37.024 Y110.09 Z10.096 C-7578.588 -N2002 X34.779 Y110.815 Z10.103 C-7577.424 -N2003 X32.818 Y111.409 Z10.108 C-7576.413 -N2004 X30.793 Y111.982 Z10.114 C-7575.375 -N2005 X28.811 Y112.505 Z10.12 C-7574.364 -N2006 X26.519 Y113.065 Z10.127 C-7573.2 -N2007 X24.217 Y113.579 Z10.133 C-7572.036 -N2008 X22.235 Y113.98 Z10.139 C-7571.038 -N2009 X20.246 Y114.347 Z10.145 C-7570.041 -N2010 X18.251 Y114.679 Z10.151 C-7569.043 -N2011 X16.251 Y114.977 Z10.156 C-7568.045 -N2012 X14.246 Y115.239 Z10.162 C-7567.047 -N2013 X12.236 Y115.467 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C-1775.403 -N6967 X-39.967 Y81.879 Z43.092 C-1773.982 -N6968 X-41.983 Y80.858 Z43.1 C-1772.561 -N6969 X-43.97 Y79.782 Z43.108 C-1771.14 -N6970 X-45.933 Y78.662 Z43.116 C-1769.718 -N6971 X-47.864 Y77.488 Z43.124 C-1768.297 -N6972 X-49.768 Y76.273 Z43.132 C-1766.876 -N6973 X-51.639 Y75.005 Z43.14 C-1765.454 -N6974 X-53.481 Y73.696 Z43.149 C-1764.032 -N6975 X-55.286 Y72.337 Z43.157 C-1762.61 -N6976 X-57.06 Y70.939 Z43.165 C-1761.188 -N6977 X-58.796 Y69.492 Z43.173 C-1759.766 -N6978 X-60.499 Y68.007 Z43.181 C-1758.344 -N6979 X-62.16 Y66.477 Z43.189 C-1756.922 -N6980 X-63.787 Y64.909 Z43.197 C-1755.5 -N6981 X-65.371 Y63.298 Z43.205 C-1754.077 -N6982 X-66.91 Y61.657 Z43.213 C-1752.66 -N6983 X-68.33 Y60.067 Z43.22 C-1751.318 -N6984 X-69.796 Y58.349 Z43.229 C-1749.895 -N6985 X-70.982 Y56.886 Z43.235 C-1748.709 -N6986 X-72.366 Y55.1 Z43.244 C-1747.286 -N6987 X-73.705 Y53.281 Z43.252 C-1745.863 -N6988 X-74.999 Y51.429 Z43.26 C-1744.44 -N6989 X-76.043 Y49.862 Z43.267 C-1743.253 -N6990 X-77.249 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C3659.803 -N10465 X-34.433 Y18.24 Z74.025 A-19.999 C3662.089 -N10466 X-35.096 Y16.834 Z74.038 C3664.375 -N10467 X-35.703 Y15.404 Z74.051 A-20. C3666.662 -N10468 X-36.249 Y13.951 Z74.064 A-19.999 C3668.95 -N10469 X-36.739 Y12.479 Z74.077 C3671.239 -N10470 X-37.171 Y10.99 Z74.09 A-20. C3673.529 -N10471 X-37.537 Y9.485 Z74.104 A-19.999 C3675.819 -N10472 X-37.845 Y7.968 Z74.117 C3678.111 -N10473 X-38.095 Y6.441 Z74.129 A-20. C3680.403 -N10474 X-38.279 Y4.906 Z74.142 A-19.999 C3682.697 -N10475 X-38.402 Y3.366 Z74.156 C3684.991 -N10476 X-38.467 Y1.823 Z74.169 A-20. C3687.286 -N10477 Y0.28 Z74.181 A-19.999 C3689.583 -N10478 X-38.415 Y-0.994 Z74.192 A-19.996 C3691.483 -N10479 X-38.334 Y-2.238 Z74.202 A-19.999 C3693.341 -N10480 X-38.176 Y-3.734 Z74.215 C3695.586 -N10481 X-37.962 Y-5.222 Z74.228 A-20. C3697.833 -N10482 X-37.745 Y-6.404 Z74.238 A-19.999 C3699.63 -N10483 X-37.494 Y-7.579 Z74.248 C3701.428 -N10484 X-37.209 Y-8.746 Z74.258 A-20. 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C3746.664 -N10505 X-19.555 Y-31.878 Z74.509 A-19.999 C3748.474 -N10506 X-18.522 Y-32.45 Z74.519 C3750.284 -N10507 X-17.473 Y-32.992 Z74.529 A-20. C3752.094 -N10508 X-16.138 Y-33.618 Z74.541 A-19.999 C3754.357 -N10509 X-14.781 Y-34.192 Z74.553 C3756.621 -N10510 X-13.404 Y-34.712 Z74.566 A-20. C3758.886 -N10511 X-12.008 Y-35.173 Z74.579 A-19.999 C3761.151 -N10512 X-10.596 Y-35.581 Z74.591 C3763.417 -N10513 X-9.171 Y-35.936 Z74.603 A-20. C3765.683 -N10514 X-7.734 Y-36.226 Z74.616 A-19.999 C3767.95 -N10515 X-6.287 Y-36.463 Z74.628 C3770.217 -N10516 X-4.835 Y-36.645 Z74.64 A-20. C3772.485 -N10517 X-3.668 Y-36.746 Z74.65 A-19.999 C3774.299 -N10518 X-2.208 Y-36.822 Z74.662 A-20. C3776.568 -N10519 X-0.748 Y-36.836 Z74.675 A-19.999 C3778.837 -N10520 X0.711 Y-36.797 Z74.687 C3781.107 -N10521 X2.166 Y-36.702 Z74.699 A-20. C3783.377 -N10522 X3.614 Y-36.542 Z74.711 A-19.999 C3785.648 -N10523 X5.054 Y-36.329 Z74.724 C3787.92 -N10524 X6.483 Y-36.062 Z74.736 A-20. 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C3831.272 -N10544 X28.836 Y-21.295 Z74.967 A-19.999 C3833.555 -N10545 X29.628 Y-20.106 Z74.979 C3835.839 -N10546 X30.374 Y-18.889 Z74.99 A-20. C3838.124 -N10547 X31.063 Y-17.64 Z75.003 A-19.999 C3840.409 -N10548 X31.704 Y-16.367 Z75.015 C3842.695 -N10549 X32.297 Y-15.073 Z75.027 A-20. C3844.982 -N10550 X32.731 Y-14.02 Z75.036 A-19.999 C3846.812 -N10551 X33.13 Y-12.955 Z75.046 C3848.643 -N10552 X33.496 Y-11.879 Z75.056 A-20. C3850.474 -N10553 X33.874 Y-10.637 Z75.066 C3852.567 -N10554 X34.24 Y-9.171 Z75.081 A-19.998 C3855.006 -N10555 X34.515 Y-7.861 Z75.095 C3857.17 -N10556 X34.743 Y-6.543 Z75.109 A-20. C3859.335 -N10557 X34.914 Y-5.218 Z75.122 A-19.998 C3861.501 -N10558 X35.039 Y-3.888 Z75.136 C3863.668 -N10559 X35.115 Y-2.556 Z75.15 A-20. C3865.836 -N10560 X35.135 Y-1.224 Z75.164 A-19.998 C3868.006 -N10561 X35.108 Y0.094 Z75.177 C3870.154 -N10562 X35.037 Y1.388 Z75.191 A-20. C3872.269 -N10563 X34.912 Y2.675 Z75.204 A-19.998 C3874.382 -N10564 X34.742 Y3.955 Z75.217 C3876.496 -N10565 X34.529 Y5.228 Z75.231 A-20. C3878.61 -N10566 X34.263 Y6.49 Z75.244 A-19.998 C3880.725 -N10567 X33.953 Y7.74 Z75.257 C3882.842 -N10568 X33.503 Y9.284 Z75.274 C3885.488 -N10569 X33.091 Y10.501 Z75.287 C3887.607 -N10570 X32.572 Y11.86 Z75.302 C3890.009 -N10571 X32.061 Y13.051 Z75.315 C3892.15 -N10572 X31.369 Y14.495 Z75.332 C3894.801 -N10573 X30.769 Y15.625 Z75.345 C3896.922 -N10574 X30.13 Y16.732 Z75.358 A-20. C3899.045 -N10575 X29.446 Y17.81 Z75.372 A-19.998 C3901.168 -N10576 X28.726 Y18.863 Z75.385 C3903.292 -N10577 X27.971 Y19.89 Z75.398 A-20. C3905.416 -N10578 X27.174 Y20.882 Z75.411 A-19.998 C3907.541 -N10579 X26.344 Y21.845 Z75.424 C3909.667 -N10580 X25.258 Y23.004 Z75.44 C3912.326 -N10581 X24.353 Y23.892 Z75.454 C3914.453 -N10582 X23.177 Y24.953 Z75.47 C3917.113 -N10583 X22.203 Y25.76 Z75.483 C3919.242 -N10584 X20.946 Y26.716 Z75.499 C3921.904 -N10585 X19.91 Y27.438 Z75.512 C3924.034 -N10586 X18.851 Y28.122 Z75.525 A-20. C3926.165 -N10587 X17.765 Y28.76 Z75.538 A-19.998 C3928.296 -N10588 X16.659 Y29.359 Z75.551 C3930.428 -N10589 X15.535 Y29.919 Z75.564 A-20. C3932.561 -N10590 X14.389 Y30.431 Z75.577 A-19.998 C3934.694 -N10591 X13.227 Y30.901 Z75.59 C3936.828 -N10592 X11.753 Y31.427 Z75.606 C3939.496 -N10593 X10.559 Y31.798 Z75.619 C3941.631 -N10594 X9.055 Y32.196 Z75.635 C3944.293 -N10595 X7.853 Y32.461 Z75.648 C3946.4 -N10596 X6.325 Y32.733 Z75.664 C3949.065 -N10597 X5.092 Y32.898 Z75.677 C3951.202 -N10598 X3.855 Y33.02 Z75.69 A-20. C3953.34 -N10599 X2.617 Y33.091 Z75.702 A-19.998 C3955.479 -N10600 X1.377 Y33.117 Z75.715 C3957.619 -N10601 X0.14 Y33.1 Z75.728 A-20. C3959.758 -N10602 X-1.095 Y33.031 Z75.741 A-19.998 C3961.899 -N10603 X-2.325 Y32.92 Z75.754 C3964.04 -N10604 X-3.549 Y32.764 Z75.766 A-20. C3966.181 -N10605 X-4.763 Y32.558 Z75.779 A-19.998 C3968.323 -N10606 X-5.968 Y32.311 Z75.792 C3970.466 -N10607 X-7.458 Y31.936 Z75.808 C3973.145 -N10608 X-8.635 Y31.588 Z75.821 C3975.289 -N10609 X-9.798 Y31.201 Z75.833 A-20. C3977.434 -N10610 X-10.941 Y30.763 Z75.846 A-19.998 C3979.579 -N10611 X-12.068 Y30.287 Z75.859 C3981.725 -N10612 X-13.175 Y29.772 Z75.871 A-20. C3983.871 -N10613 X-14.259 Y29.212 Z75.884 A-19.998 C3986.018 -N10614 X-15.32 Y28.614 Z75.896 C3988.165 -N10615 X-16.613 Y27.813 Z75.912 C3990.851 -N10616 X-17.618 Y27.131 Z75.924 C3993. -N10617 X-18.597 Y26.413 Z75.937 A-20. C3995.149 -N10618 X-19.776 Y25.462 Z75.953 A-19.998 C3997.837 -N10619 X-20.91 Y24.461 Z75.968 C4000.526 -N10620 X-21.995 Y23.409 Z75.984 A-20. C4003.215 -N10621 X-23.024 Y22.308 Z75.999 A-19.998 C4005.906 -N10622 X-23.789 Y21.424 Z76.012 A-20. C4007.995 -N10623 X-24.692 Y20.279 Z76.027 A-19.998 C4010.605 -N10624 X-25.401 Y19.308 Z76.039 A-20. C4012.76 -N10625 X-26.068 Y18.31 Z76.051 A-19.998 C4014.916 -N10626 X-26.696 Y17.289 Z76.064 C4017.072 -N10627 X-27.289 Y16.249 Z76.076 A-20. C4019.229 -N10628 X-27.837 Y15.186 Z76.089 A-19.998 C4021.387 -N10629 X-28.345 Y14.104 Z76.101 C4023.546 -N10630 X-28.921 Y12.729 Z76.117 C4026.245 -N10631 X-29.436 Y11.331 Z76.132 A-20. C4028.946 -N10632 X-29.876 Y9.911 Z76.148 A-19.998 C4031.648 -N10633 X-30.251 Y8.474 Z76.163 C4034.352 -N10634 X-30.503 Y7.315 Z76.175 C4036.516 -N10635 X-30.711 Y6.148 Z76.188 A-20. C4038.68 -N10636 X-30.871 Y4.975 Z76.2 A-19.998 C4040.846 -N10637 X-30.989 Y3.798 Z76.212 C4043.013 -N10638 X-31.072 Y2.324 Z76.227 C4045.723 -N10639 X-31.089 Y0.85 Z76.242 A-20. C4048.435 -N10640 X-31.051 Y-0.337 Z76.254 C4050.622 -N10641 X-30.959 Y-1.547 Z76.267 A-19.998 C4052.861 -N10642 X-30.834 Y-2.683 Z76.279 C4054.974 -N10643 X-30.67 Y-3.813 Z76.291 A-20. C4057.087 -N10644 X-30.458 Y-4.934 Z76.303 A-19.998 C4059.202 -N10645 X-30.141 Y-6.323 Z76.318 A-20. C4061.847 -N10646 X-29.758 Y-7.692 Z76.332 A-19.998 C4064.493 -N10647 X-29.313 Y-9.04 Z76.347 C4067.141 -N10648 X-28.81 Y-10.366 Z76.362 A-20. C4069.789 -N10649 X-28.243 Y-11.664 Z76.376 A-19.998 C4072.439 -N10650 X-27.75 Y-12.682 Z76.388 A-20. C4074.56 -N10651 X-27.077 Y-13.923 Z76.403 A-19.998 C4077.213 -N10652 X-26.353 Y-15.132 Z76.417 C4079.866 -N10653 X-25.574 Y-16.305 Z76.432 A-20. C4082.52 -N10654 X-24.74 Y-17.437 Z76.446 A-19.998 C4085.176 -N10655 X-23.859 Y-18.528 Z76.461 C4087.833 -N10656 X-22.929 Y-19.576 Z76.476 A-20. C4090.491 -N10657 X-21.951 Y-20.577 Z76.49 A-19.998 C4093.15 -N10658 X-21.065 Y-21.414 Z76.502 A-20. C4095.471 -N10659 X-20.22 Y-22.143 Z76.514 A-19.998 C4097.599 -N10660 X-19.133 Y-23.014 Z76.529 A-20. C4100.261 -N10661 X-18.234 Y-23.67 Z76.54 A-19.998 C4102.391 -N10662 X-17.313 Y-24.291 Z76.552 C4104.521 -N10663 X-16.372 Y-24.879 Z76.563 A-20. C4106.652 -N10664 X-15.41 Y-25.429 Z76.574 A-19.998 C4108.784 -N10665 X-14.43 Y-25.943 Z76.586 C4110.917 -N10666 X-13.18 Y-26.53 Z76.6 C4113.583 -N10667 X-11.908 Y-27.064 Z76.614 A-20. C4116.25 -N10668 X-10.613 Y-27.529 Z76.629 A-19.998 C4118.918 -N10669 X-9.3 Y-27.935 Z76.643 C4121.587 -N10670 X-7.974 Y-28.285 Z76.657 A-20. C4124.257 -N10671 X-6.901 Y-28.511 Z76.669 A-19.998 C4126.393 -N10672 X-5.824 Y-28.7 Z76.68 C4128.53 -N10673 X-4.47 Y-28.882 Z76.694 C4131.203 -N10674 X-3.112 Y-29. Z76.709 A-20. C4133.876 -N10675 X-1.752 Y-29.051 Z76.723 A-19.998 C4136.549 -N10676 X-0.394 Y-29.042 Z76.736 C4139.224 -N10677 X0.961 Y-28.968 Z76.751 A-20. C4141.9 -N10678 X2.307 Y-28.83 Z76.765 A-19.998 C4144.576 -N10679 X3.644 Y-28.631 Z76.779 C4147.254 -N10680 X4.968 Y-28.37 Z76.793 A-20. C4149.932 -N10681 X6.275 Y-28.048 Z76.806 A-19.998 C4152.612 -N10682 X7.308 Y-27.748 Z76.818 A-20. C4154.756 -N10683 X8.446 Y-27.362 Z76.83 A-19.998 C4157.155 -N10684 X9.553 Y-26.942 Z76.843 A-20. C4159.523 -N10685 X10.536 Y-26.52 Z76.853 A-19.998 C4161.669 -N10686 X11.502 Y-26.06 Z76.865 C4163.815 -N10687 X12.45 Y-25.569 Z76.876 A-20. C4165.962 -N10688 X13.49 Y-24.972 Z76.888 A-19.998 C4168.378 -N10689 X14.504 Y-24.335 Z76.901 A-20. C4170.795 -N10690 X15.486 Y-23.654 Z76.913 A-19.998 C4173.213 -N10691 X16.442 Y-22.939 Z76.925 A-20. C4175.631 -N10692 X17.358 Y-22.177 Z76.938 A-19.998 C4178.051 -N10693 X18.245 Y-21.384 Z76.95 A-20. C4180.471 -N10694 X19.094 Y-20.554 Z76.962 A-19.998 C4182.892 -N10695 X19.907 Y-19.69 Z76.975 A-20. C4185.314 -N10696 X20.427 Y-19.096 Z76.983 C4186.929 -N10697 X20.93 Y-18.489 Z76.991 C4188.544 -N10698 X21.649 Y-17.552 Z77.003 A-19.998 C4190.968 -N10699 X22.329 Y-16.587 Z77.016 A-20. C4193.392 -N10700 X22.964 Y-15.596 Z77.028 A-19.998 C4195.818 -N10701 X23.56 Y-14.582 Z77.04 A-20. C4198.245 -N10702 X24.104 Y-13.542 Z77.053 A-19.998 C4200.672 -N10703 X24.611 Y-12.486 Z77.064 A-20. C4203.101 -N10704 X25.066 Y-11.408 Z77.076 A-19.998 C4205.53 -N10705 X25.476 Y-10.313 Z77.089 A-20. C4207.961 -N10706 X25.838 Y-9.205 Z77.101 A-19.998 C4210.392 -N10707 X26.142 Y-8.145 Z77.112 A-20. 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изображения self.timer = QTimer() self.timer.timeout.connect(self.update_image) - self.timer.start(30) + self.timer.start(300) def update_image(self): res = self.get_pybullet_image() diff --git a/robot/start_axis_coordinates [-17.409513, 10.yml b/robot/start_axis_coordinates [-17.409513, 10.yml deleted file mode 100644 index a46cb21..0000000 --- a/robot/start_axis_coordinates [-17.409513, 10.yml +++ /dev/null @@ -1,29 +0,0 @@ -start_axis_coordinates [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] -2024-11-20 11:30:38,423 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 335 -start_world_coordinates [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] -2024-11-20 11:30:38,749 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 335 -2024-11-20 11:30:41,006 - logger - INFO - ((1.1000248922480573, -0.3473308024704409, 0.7827464256721681), (0.1975530130964997, 0.3696691292278632, -0.22915808560139195, 0.8785238264930056), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.100024938583374, -0.34733080863952637, 0.782746434211731), (0.19755300879478455, 0.369669109582901, -0.22915808856487274, 0.8785238265991211)) - client_socket.py - 277 -2024-11-20 11:30:41,045 - logger - INFO - delta by WORLD 0 -0.04676275194265145 - client_socket.py - 283 -2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 1 0.016609529559104885 - client_socket.py - 283 -2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 2 -0.008152327831908224 - client_socket.py - 283 -2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 3 -156.96466380748956 - client_socket.py - 283 -2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 4 19.657652851267038 - client_socket.py - 283 -2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 5 -164.93326011072438 - client_socket.py - 283 -['0'] -2024-11-20 11:30:43,164 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335 - -------------- - -start_axis_coordinates [-17.596806, -48.161888, 66.406982, 177.113632, -2.829787, -159.933365] -2024-11-20 11:32:01,504 - logger - INFO - Координаты осей [-17.596806, -48.161888, 66.406982, 177.113632, -2.829787, -159.933365] - client_socket.py - 335 -start_world_coordinates [1760.178345, -556.172241, 1464.099487, 37.394836, 63.0933, 23.159439] -2024-11-20 11:32:02,175 - logger - INFO - Мировые координаты [1760.178345, -556.172241, 1464.099487, 37.394836, 63.0933, 23.159439] - client_socket.py - 335 -2024-11-20 11:32:04,362 - logger - INFO - ((1.6404114463274249, -0.5154138445656675, 1.3734772183475625), (0.09228901186217398, -0.3143022100029689, -0.10876049893679361, 0.9385456903890044), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.6404114961624146, -0.5154138207435608, 1.3734772205352783), (0.09228900820016861, -0.3143022060394287, -0.10876049846410751, 0.9385457038879395)) - client_socket.py - 277 -2024-11-20 11:32:04,415 - logger - INFO - delta by WORLD 0 -119.76689867257528 - client_socket.py - 283 -2024-11-20 11:32:04,426 - logger - INFO - delta by WORLD 1 40.75839643433244 - client_socket.py - 283 -2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 2 -90.62226865243747 - client_socket.py - 283 -2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 3 -20.29593014843105 - client_socket.py - 283 -2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 4 -97.83649496866383 - client_socket.py - 283 -2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 5 -41.76482033281894 - client_socket.py - 283 -['0'] -2024-11-20 11:32:06,525 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335 \ No newline at end of file diff --git a/robot/start_axis_coordinates [-39.428261, 10.yml b/robot/start_axis_coordinates [-39.428261, 10.yml deleted file mode 100644 index 66a3ab6..0000000 --- a/robot/start_axis_coordinates [-39.428261, 10.yml +++ /dev/null @@ -1,29 +0,0 @@ -start_axis_coordinates [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] -2024-11-20 11:38:42,235 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 335 -start_world_coordinates [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] -2024-11-20 11:38:42,890 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 335 -2024-11-20 11:38:44,993 - logger - INFO - ((0.8941137825799222, -0.7382554970424713, 0.782738013993114), (0.263486804734911, 0.325583439665963, -0.389064554404618, 0.8204869895688798), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.8941137790679932, -0.738255500793457, 0.7827380299568176), (0.2634868323802948, 0.32558345794677734, -0.38906461000442505, 0.8204869627952576)) - client_socket.py - 277 -2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 0 -0.04619042007777807 - client_socket.py - 283 -2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 1 0.04015695752877946 - client_socket.py - 283 -2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 2 -0.010033006886033036 - client_socket.py - 283 -2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 3 -156.85556780744494 - client_socket.py - 283 -2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 4 19.59284939830612 - client_socket.py - 283 -2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 5 -164.2715918767725 - client_socket.py - 283 -['0'] -2024-11-20 11:38:47,065 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335 - ----------- - -start_axis_coordinates [-39.618977, -48.92078, 67.760857, 177.057007, -2.976943, -159.779617] -2024-11-20 11:39:57,253 - logger - INFO - Координаты осей [-39.618977, -48.92078, 67.760857, 177.057007, -2.976943, -159.779617] - client_socket.py - 335 -start_world_coordinates [1424.159302, -1176.359009, 1468.858276, 36.489479, 62.471985, 0.377431] -2024-11-20 11:39:58,005 - logger - INFO - Мировые координаты [1424.159302, -1176.359009, 1468.858276, 36.489479, 62.471985, 0.377431] - client_socket.py - 335 -2024-11-20 11:40:00,085 - logger - INFO - ((1.3187115111473926, -1.086417059358426, 1.3698830235806743), (0.03209621249127363, -0.32684752959709606, -0.282750029118649, 0.9012174801752314), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.318711519241333, -1.0864170789718628, 1.3698830604553223), (0.03209621086716652, -0.32684752345085144, -0.28275004029273987, 0.901217520236969)) - client_socket.py - 277 -2024-11-20 11:40:00,095 - logger - INFO - delta by WORLD 0 -105.44779085260734 - client_socket.py - 283 -2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 1 89.94194964157418 - client_socket.py - 283 -2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 2 -98.97525241932567 - client_socket.py - 283 -2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 3 -19.295606403737718 - client_socket.py - 283 -2024-11-20 11:40:00,164 - logger - INFO - delta by WORLD 4 -97.28994960709068 - client_socket.py - 283 -2024-11-20 11:40:00,164 - logger - INFO - delta by WORLD 5 -40.64308039514445 - client_socket.py - 283 -['0'] -2024-11-20 11:40:02,817 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335 diff --git a/robot/urdf_manager.py b/robot/urdf_manager.py index f5b8d19..4a88bdf 100644 --- a/robot/urdf_manager.py +++ b/robot/urdf_manager.py @@ -34,6 +34,52 @@ class UrdfManager: def run_pybullet(self, type="DIRECT"): self.physics_client = p.connect(getattr(p, type)) logger.info(f"Connect to {self.physics_client} by {type}") + + def create_cube(self, size, position): + # Создание формы коллизии для куба + collision_shape_id = p.createCollisionShape( + shapeType=p.GEOM_BOX, + halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0] # halfExtents задаются радиусами по осям x, y и z + ) + + # Создание визуальной формы для куба + visual_shape_id = p.createVisualShape( + shapeType=p.GEOM_BOX, + halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0], + rgbaColor=[0, 0, 1, 1] # Синий цвет + ) + + # Создание многосоставного тела с формой коллизии и визуальной формой + body_id = p.createMultiBody( + baseMass=1.0, # Масса тела + baseCollisionShapeIndex=collision_shape_id, + baseVisualShapeIndex=visual_shape_id, + basePosition=position + ) + + return body_id + + def create_conveyor(self, size, position): + collision_shape_id = p.createCollisionShape( + shapeType=p.GEOM_BOX, + halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0] + ) + # Создание визуальной формы для конвейера + visual_shape_id = p.createVisualShape( + shapeType=p.GEOM_BOX, + halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0], + rgbaColor=[0.5, 0.5, 0.5, 1] # Серый цвет для конвейера + ) + + # Создание тела для конвейера (можно без массы, если оно не должно взаимодействовать с другими объектами) + conveyor_id = p.createMultiBody( + baseMass=0.0, # Это статичный объект, поэтому масса 0 + baseCollisionShapeIndex=collision_shape_id, + baseVisualShapeIndex=visual_shape_id, + basePosition=position + ) + + return conveyor_id def load_models(self): # p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client) @@ -44,14 +90,53 @@ class UrdfManager: self.body_id = p.loadURDF( urdf_path, self.robot_start_position, useFixedBase=True ) - - urdf_path_tool = os.path.join( - self.application_path, "urdf", f"{self.urdf_filename_tool}.urdf" + + # Путь к URDF модели палеты + urdf_path_pallet = os.path.join( + self.application_path, "urdf", "europallet.urdf" # Убедитесь, что имя файла соответствует ) - num_joints = p.getNumJoints(self.body_id) - end_state = p.getLinkState(self.body_id, num_joints - 1) - # self.tool_id = p.loadURDF(urdf_path_tool) + # Загрузка палеты рядом с роботом + # Предположим, что вы хотите расположить палету на расстоянии от робота + pallet_offset_x = 1.5 # Расстояние в метрах по оси X + pallet_offset_y = 0.0 # Расстояние по оси Y + pallet_height = 0.145 # Высота палеты (подгонка под высоту робота) + + pallet_position = [ + self.robot_start_position[0] + pallet_offset_x, + self.robot_start_position[1] + pallet_offset_y, + pallet_height / 2.0 # Разместите палету выше, чтобы она не находилась на земле + ] + pallet_orientation = p.getQuaternionFromEuler([0, 0, np.deg2rad(90)]) + self.pallet_id = p.loadURDF( + urdf_path_pallet, pallet_position, pallet_orientation, useFixedBase=True + ) + + # Создание коробок на палете + box_size = [0.2, 0.2, 0.2] # Размеры коробки: [ширина, высота, глубина] + boxes_per_row = 3 + boxes_per_column = 2 + + for row in range(boxes_per_column): + for col in range(boxes_per_row): + box_x_offset = col * (box_size[0] + 0.05) + box_y_offset = row * (box_size[1] + 0.05) + box_z_position = pallet_height + (box_size[2] / 2) + + box_position = [ + pallet_position[0] + box_x_offset - (boxes_per_row * (box_size[0] + 0.05) / 2), + pallet_position[1] + box_y_offset - (boxes_per_column * (box_size[1] + 0.05) / 2), + box_z_position + ] + + # Создаем кубик + self.create_cube(box_size, box_position) + + # Создание конвейера + conveyor_size = [3.0, 0.5, 0.1] # Длина, ширина и высота + conveyor_position = [0.5, 1.5, 0.5] # Позиция в пространстве (выше уровня земли) + self.conveyor_id = self.create_conveyor(conveyor_size, conveyor_position) + time.sleep(1) def get_pybullet_image(self): diff --git a/robots.json b/robots.json index 4a27da9..31d0c0b 100644 --- a/robots.json +++ b/robots.json @@ -12,16 +12,16 @@ "slave_id": 11, "urdf": "sample_without" }, - { - "name": "small", - "host": "192.168.70.65", - "slave_id": 22, - "urdf": "sample" - }, { "name": "test", "host": "127.0.0.1", "slave_id": 11, "urdf": "sample" + }, + { + "name": "test WITHOUT", + "host": "127.0.0.1", + "slave_id": 11, + "urdf": "sample_without" } ] \ No newline at end of file diff --git a/urdf/borunte_macro.urdf b/urdf/borunte_macro.urdf deleted file mode 100644 index 6b2bcd2..0000000 --- a/urdf/borunte_macro.urdf +++ /dev/null @@ -1,215 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/europallet.urdf b/urdf/europallet.urdf new file mode 100644 index 0000000..98bbd49 --- /dev/null +++ b/urdf/europallet.urdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/fanucLRMate200ib.urdf b/urdf/fanucLRMate200ib.urdf deleted file mode 100644 index 7c140c8..0000000 --- a/urdf/fanucLRMate200ib.urdf +++ /dev/null @@ -1,191 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/fanucM16ib.urdf b/urdf/fanucM16ib.urdf deleted file mode 100644 index 981ee2a..0000000 --- a/urdf/fanucM16ib.urdf +++ /dev/null @@ -1,174 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf/sample copy.urdf b/urdf/sample copy.urdf deleted file mode 100644 index 14d19ea..0000000 --- a/urdf/sample copy.urdf +++ /dev/null @@ -1,182 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/urdf/sample.urdf b/urdf/sample.urdf index e634888..c631a3d 100644 --- a/urdf/sample.urdf +++ b/urdf/sample.urdf @@ -33,6 +33,12 @@ + + + + + + @@ -43,6 +49,12 @@ + + + + + + @@ -53,6 +65,12 @@ + + + + + + @@ -63,6 +81,12 @@ + + + + + + @@ -73,6 +97,12 @@ + + + + + + @@ -83,6 +113,12 @@ + + + + + + @@ -93,6 +129,12 @@ + + + + + + diff --git a/urdf/sample_without.urdf b/urdf/sample_without.urdf index 33c3669..d9e1113 100644 --- a/urdf/sample_without.urdf +++ b/urdf/sample_without.urdf @@ -33,6 +33,12 @@ + + + + + + @@ -43,6 +49,12 @@ + + + + + + @@ -53,6 +65,12 @@ + + + + + + @@ -63,6 +81,12 @@ + + + + + + @@ -73,6 +97,12 @@ + + + + + + @@ -83,6 +113,12 @@ + + + + + + @@ -93,6 +129,12 @@ + + + + + + diff --git a/urdf_support/borunte_support/CMakeLists.txt b/urdf_support/borunte_support/CMakeLists.txt deleted file mode 100644 index 85ca9ca..0000000 --- a/urdf_support/borunte_support/CMakeLists.txt +++ /dev/null @@ -1,200 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(borunte_support) - -#~ Find catkin macros and libraries -#~ if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -#~ is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs -) - -#~ System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -#~ Uncomment this if the package has a setup.py. This macro ensures -#~ modules and global scripts declared therein get installed -#~ See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -#~ Declare ROS messages, services and actions ## -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -#~ To declare and build messages, services or actions from within this -#~ package, follow these steps: -#~ * Let MSG_DEP_SET be the set of packages whose message types you use in -#~ your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -#~ * In the file package.xml: -#~ * add a build_depend tag for "message_generation" -#~ * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -#~ * If MSG_DEP_SET isn't empty the following dependency has been pulled in -#~ but can be declared for certainty nonetheless: -#~ * add a run_depend tag for "message_runtime" -#~ * In this file (CMakeLists.txt): -#~ * add "message_generation" and every package in MSG_DEP_SET to -#~ find_package(catkin REQUIRED COMPONENTS ...) -#~ * add "message_runtime" and every package in MSG_DEP_SET to -#~ catkin_package(CATKIN_DEPENDS ...) -#~ * uncomment the add_*_files sections below as needed -#~ and list every .msg/.srv/.action file to be processed -#~ * uncomment the generate_messages entry below -#~ * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -#~ Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -#~ Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -#~ Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -#~ Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -#~ Declare ROS dynamic reconfigure parameters ## -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -#~ To declare and build dynamic reconfigure parameters within this -#~ package, follow these steps: -#~ * In the file package.xml: -#~ * add a build_depend and a run_depend tag for "dynamic_reconfigure" -#~ * In this file (CMakeLists.txt): -#~ * add "dynamic_reconfigure" to -#~ find_package(catkin REQUIRED COMPONENTS ...) -#~ * uncomment the "generate_dynamic_reconfigure_options" section below -#~ and list every .cfg file to be processed - -#~ Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -#~ catkin specific configuration ## -#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -#~ The catkin_package macro generates cmake config files for your package -#~ Declare things to be passed to dependent projects -#~ INCLUDE_DIRS: uncomment this if you package contains header files -#~ LIBRARIES: libraries you create in this project that dependent projects also need -#~ CATKIN_DEPENDS: catkin_packages dependent projects also need -#~ DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES borunte_support - CATKIN_DEPENDS - roscpp - rospy - std_msgs -# DEPENDS system_lib -) - -#~~~~~~~~~~ -#~ Build ## -#~~~~~~~~~~ - -#~ Specify additional locations of header files -#~ Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -#~ Declare a C++ library -# add_library(borunte_support -# src/${PROJECT_NAME}/borunte_support.cpp -# ) - -#~ Add cmake target dependencies of the library -#~ as an example, code may need to be generated before libraries -#~ either from message generation or dynamic reconfigure -# add_dependencies(borunte_support ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -#~ Declare a C++ executable -# add_executable(borunte_support_node src/borunte_support_node.cpp) - -#~ Add cmake target dependencies of the executable -#~ same as for the library above -# add_dependencies(borunte_support_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -#~ Specify libraries to link a library or executable target against -# target_link_libraries(borunte_support_node -# ${catkin_LIBRARIES} -# ) - -#~~~~~~~~~~~~ -#~ Install ## -#~~~~~~~~~~~~ - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -#~ Mark executable scripts (Python etc.) for installation -#~ in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -#~ Mark executables and/or libraries for installation -# install(TARGETS borunte_support borunte_support_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -#~ Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -#~ Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -# Install python executables -catkin_install_python( - PROGRAMS - scripts/run_sim_ui.py - scripts/run_machinetalk.py - - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -#~~~~~~~~~~~~ -#~ Testing ## -#~~~~~~~~~~~~ - -#~ Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_borunte_support.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -#~ Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/urdf_support/borunte_support/config/borunte.rviz b/urdf_support/borunte_support/config/borunte.rviz deleted file mode 100644 index e691383..0000000 --- a/urdf_support/borunte_support/config/borunte.rviz +++ /dev/null @@ -1,179 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /RobotModel1/Links1 - Splitter Ratio: 0.5 - Tree Height: 466 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Axes - Enabled: true - Length: 1 - Name: Axes - Radius: 0.1 - Reference Frame: world - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - arm_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - milling_machine: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 4.1036 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 2.12118 - Y: 0.100075 - Z: 0.851119 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.329797 - Target Frame: - Value: Orbit (rviz) - Yaw: 6.07196 - Saved: ~ -Window Geometry: - Displays: - collapsed: true - Height: 744 - Hide Left Dock: true - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000002a200000261fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000261000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067000000010b000001d70000000000000000000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003bfc0100000002fb0000000800540069006d0065010000000000000515000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005150000026100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1301 - X: 65 - Y: 24 diff --git a/urdf_support/borunte_support/config/borunte_controllers.yaml b/urdf_support/borunte_support/config/borunte_controllers.yaml deleted file mode 100644 index 08055e2..0000000 --- a/urdf_support/borunte_support/config/borunte_controllers.yaml +++ /dev/null @@ -1,109 +0,0 @@ -# Moveit -controller_list: - - name: /hardware_interface/position_trajectory_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] - - # Settings for ros_control hardware interface -hardware_interface: - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - # choose the control mode - # 0: position - # 1: velocity - control_mode: 0 - sim_control_mode: 0 # 0: position, 1: velocity - -# Publish all joint states -# Creates the /joint_states topic necessary in ROS -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - -# Joint Trajectory Controller -# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller -position_trajectory_controller: - type: position_controllers/JointTrajectoryController - # These joints can likely just be copied from the - # hardware_interface list above - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - constraints: - goal_time: 5.0 - #stopped_position_tolerance: 0.4 # Defaults to 0.01 - joint_1: - trajectory: 0.60 - goal: 0.15 - joint_2: - trajectory: 0.60 - goal: 0.15 - joint_3: - trajectory: 0.60 - goal: 0.15 - joint_4: - trajectory: 0.60 - goal: 0.15 - joint_5: - trajectory: 0.60 - goal: 0.15 - joint_6: - trajectory: 0.60 - goal: 0.15 - # gains: - # joint1: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - # joint2: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - - # state_publish_rate: 50 # Defaults to 50 - # action_monitor_rate: 20 # Defaults to 20 - #hold_trajectory_duration: 0 # Defaults to 0.5 - -# Individual Position Controllers -# Allows to send individual ROS msg of Float64 to each joint separately -joint_1_position_controller: - type: position_controllers/JointPositionController - joint: joint_1 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_2_position_controller: - type: position_controllers/JointPositionController - joint: joint_2 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_3_position_controller: - type: position_controllers/JointPositionController - joint: joint_3 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_4_position_controller: - type: position_controllers/JointPositionController - joint: joint_4 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_5_position_controller: - type: position_controllers/JointPositionController - joint: joint_4 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_6_position_controller: - type: position_controllers/JointPositionController - joint: joint_6 - pid: {p: 100.0, i: 0.01, d: 10.0} - -# Group Position Controllers --------------------------------------- -# Allows to send single ROS msg of Float64MultiArray to all joints -joint_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 diff --git a/urdf_support/borunte_support/config/borunte_stand.rviz b/urdf_support/borunte_support/config/borunte_stand.rviz deleted file mode 100644 index 6f3db4f..0000000 --- a/urdf_support/borunte_support/config/borunte_stand.rviz +++ /dev/null @@ -1,328 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 138 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /TF1 - - /TF1/Frames1 - Splitter Ratio: 0.5 - Tree Height: 1368 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base: - Value: true - base_link: - Value: true - borunte_ezgripper_adapter: - Value: true - borunte_stand_flange: - Value: true - borunte_stand_link: - Value: true - depth_camera_link: - Value: true - flange: - Value: true - link_1: - Value: true - link_2: - Value: true - link_3: - Value: true - link_4: - Value: true - link_5: - Value: true - link_6: - Value: true - main_ezgripper_finger_L1_1: - Value: true - main_ezgripper_finger_L1_2: - Value: true - main_ezgripper_finger_L2_1: - Value: true - main_ezgripper_finger_L2_2: - Value: true - main_ezgripper_finger_L2_pad_1: - Value: true - main_ezgripper_finger_L2_pad_2: - Value: true - main_ezgripper_palm_link: - Value: true - rgb_camera_link: - Value: true - tool0: - Value: true - world: - Value: true - Marker Scale: 0.20000000298023224 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - borunte_stand_link: - borunte_stand_flange: - base_link: - base: - {} - link_1: - link_2: - link_3: - link_4: - link_5: - link_6: - flange: - borunte_ezgripper_adapter: - depth_camera_link: - {} - main_ezgripper_palm_link: - main_ezgripper_finger_L1_1: - main_ezgripper_finger_L2_1: - main_ezgripper_finger_L2_pad_1: - {} - main_ezgripper_finger_L1_2: - main_ezgripper_finger_L2_2: - main_ezgripper_finger_L2_pad_2: - {} - rgb_camera_link: - {} - tool0: - {} - world: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - borunte_ezgripper_adapter: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - borunte_stand_flange: - Alpha: 1 - Show Axes: false - Show Trail: false - borunte_stand_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - depth_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - flange: - Alpha: 1 - Show Axes: false - Show Trail: false - link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L1_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L1_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L2_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L2_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L2_pad_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_finger_L2_pad_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - main_ezgripper_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rgb_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - tool0: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: borunte_stand_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 3.2491230964660645 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.1167607307434082 - Y: 0.004363108426332474 - Z: 0.720638632774353 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5397963523864746 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.2585954666137695 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1732 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001d50000061cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a0000061c000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002aafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000040000002aa0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000b0f0000004efc0100000002fb0000000800540069006d0065010000000000000b0f0000024600fffffffb0000000800540069006d00650100000000000004500000000000000000000009340000061c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 2831 - X: -200 - Y: 261 diff --git a/urdf_support/borunte_support/config/create_dummy_signals.py b/urdf_support/borunte_support/config/create_dummy_signals.py deleted file mode 100644 index b79a15e..0000000 --- a/urdf_support/borunte_support/config/create_dummy_signals.py +++ /dev/null @@ -1,40 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -# very small helper script for short-cutting -# input and output pins when passing data -# thru HAL shared memory setup -import sys -import time -import subprocess - -from machinekit import launcher -from machinekit import hal - -try: - launcher.check_installation() - launcher.cleanup_session() # kill any running Machinekit instances - launcher.start_realtime() # start Machinekit realtime environment - - while 'ul_iface_component.joint_6.pos-cmd' not in hal.pins: - time.sleep(0.5) - - print('found HAL pin, connecting') - # create 6 signals between pos-cmd and pos-fb pins - # when machinekit_ros_control has started with - # parameter machinekit_interface: 0 - for i in range(1, 7): - hal.Pin('ul_iface_component.joint_%s.pos-cmd' % i).link( - 'ul_iface_component.joint_%s.pos-fb' % i - ) - - launcher.register_exit_handler() # enable on ctrl-C, needs to executed after HAL files - - while True: - launcher.check_processes() - time.sleep(1) - -except subprocess.CalledProcessError: - launcher.end_session() - sys.exit(1) - -sys.exit(0) diff --git a/urdf_support/borunte_support/config/defaults/digital_io_names.yaml b/urdf_support/borunte_support/config/defaults/digital_io_names.yaml deleted file mode 100644 index 0bc6e18..0000000 --- a/urdf_support/borunte_support/config/defaults/digital_io_names.yaml +++ /dev/null @@ -1,3 +0,0 @@ -io: - digital_in_names: {} - digital_out_names: {} diff --git a/urdf_support/borunte_support/config/defaults/global_waypoints.yaml b/urdf_support/borunte_support/config/defaults/global_waypoints.yaml deleted file mode 100644 index 347e39d..0000000 --- a/urdf_support/borunte_support/config/defaults/global_waypoints.yaml +++ /dev/null @@ -1,4 +0,0 @@ -global_waypoints: - home: - - JOINTS - - [0, 0, 0, 0, 0, 0] diff --git a/urdf_support/borunte_support/config/defaults/machinetalk.yaml b/urdf_support/borunte_support/config/defaults/machinetalk.yaml deleted file mode 100644 index a624a4b..0000000 --- a/urdf_support/borunte_support/config/defaults/machinetalk.yaml +++ /dev/null @@ -1,2 +0,0 @@ -machinetalk: - nodes: [] diff --git a/urdf_support/borunte_support/config/defaults/user_config.yaml b/urdf_support/borunte_support/config/defaults/user_config.yaml deleted file mode 100644 index e3fc2a5..0000000 --- a/urdf_support/borunte_support/config/defaults/user_config.yaml +++ /dev/null @@ -1,9 +0,0 @@ -user_config: - jograte: 0.1 - feedrate: 0.1 - maximum_velocity: 0.1 - jog: - continuous: false - step_size: 0 - recent_paths: [] - optional_stop: false diff --git a/urdf_support/borunte_support/config/hal_hw_interface.yaml b/urdf_support/borunte_support/config/hal_hw_interface.yaml deleted file mode 100644 index a985782..0000000 --- a/urdf_support/borunte_support/config/hal_hw_interface.yaml +++ /dev/null @@ -1,106 +0,0 @@ -hal_mgr: - hal_files: - # Load a HAL file that sets up the realtime configuration - - setup.py - - hal_io.py - - robot_io_pins.py - - haltalk.py - -# Settings for ros_control hardware interface -hardware_interface: - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - sim_control_mode: 0 # 0: position, 1: velocity - -# Publish all joint states ---------------------------------- -# Creates the /joint_states topic necessary in ROS -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - -# Joint Trajectory Controller ------------------------------- -# For detailed explanations of parameter see -# http://wiki.ros.org/joint_trajectory_controller -position_trajectory_controller: - type: position_controllers/JointTrajectoryController - # These joints can likely just be copied from the hardware_interface - # list above - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 - constraints: - goal_time: 5.0 - #stopped_position_tolerance: 0.4 # Defaults to 0.01 - joint_1: - trajectory: 0.60 - goal: 0.15 - joint_2: - trajectory: 0.60 - goal: 0.15 - joint_3: - trajectory: 0.60 - goal: 0.15 - joint_4: - trajectory: 0.60 - goal: 0.15 - joint_5: - trajectory: 0.60 - goal: 0.15 - joint_6: - trajectory: 0.60 - goal: 0.15 - # gains: - # joint_1: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - # joint_2: {p: 2.0, i: 0.0, d: 0.01, i_clamp: 1} - - state_publish_rate: 50 # Defaults to 50 - action_monitor_rate: 20 # Defaults to 20 - stop_trajectory_duration: 0 # Defaults to 0.5 - -# Individual Position Controllers --------------------------------------- -# Allows to send individual ROS msg of Float64 to each joint separately -joint_1_position_controller: - type: position_controllers/JointPositionController - joint: joint_1 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_2_position_controller: - type: position_controllers/JointPositionController - joint: joint_2 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_3_position_controller: - type: position_controllers/JointPositionController - joint: joint_3 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_4_position_controller: - type: position_controllers/JointPositionController - joint: joint_4 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_5_position_controller: - type: position_controllers/JointPositionController - joint: joint_5 - pid: {p: 100.0, i: 0.01, d: 10.0} -joint_6_position_controller: - type: position_controllers/JointPositionController - joint: joint_6 - pid: {p: 100.0, i: 0.01, d: 10.0} - -# Group Position Controllers --------------------------------------- -# Allows to send single ROS msg of Float64MultiArray to all joints -joint_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - joint_1 - - joint_2 - - joint_3 - - joint_4 - - joint_5 - - joint_6 diff --git a/urdf_support/borunte_support/config/hal_io.yaml b/urdf_support/borunte_support/config/hal_io.yaml deleted file mode 100644 index 2e28b7a..0000000 --- a/urdf_support/borunte_support/config/hal_io.yaml +++ /dev/null @@ -1,58 +0,0 @@ -hal_io: - - # I/O main loop publish rate in Hz - update_rate: 10 - - # Pin definitions - # - # output_pins: are read from a topic (default) or service - - # HAL pins are named hal_io. - - # valid keys for all pins: - # hal_type: BIT, FLOAT, S32, U32 - - publish_pins: - # publish_pins values from HAL pin published to ROS topic - # valid keys: - # hal_dir: IN (default), IO - # pub_topic: (any valid ROS topic name, default /hal_io/) - digital_in_1: - hal_type: BIT - digital_in_2: - hal_type: BIT - digital_in_3: - hal_type: BIT - digital_in_4: - hal_type: BIT - state_fb: - hal_type: S32 - subscribe_pins: - # subscribe_pins values from ROS topic copied to HAL output pin - # valid keys: - # hal_dir: OUT (default), IO - # sub_topic: (any valid ROS topic name, default /hal_io/) - digital_out_1: - hal_type: BIT - digital_out_2: - hal_type: BIT - digital_out_3: - hal_type: BIT - digital_out_4: - hal_type: BIT - zero_all_joints: - hal_type: BIT - hal_dir: IO - state_cmd: - hal_type: U32 - hal_dir: IO - reset: - hal_type: BIT - hal_dir: IO -# service_pins: - # service_pins values from ROS service copied to HAL output pin - # and published topic - # valid keys: - # hal_dir: OUT (default), IO - # service_name: (any valid ROS service name, default /hal_io/) - # pub_topic: (any valid ROS topic name, default /hal_io/) diff --git a/urdf_support/borunte_support/config/io_config.yaml b/urdf_support/borunte_support/config/io_config.yaml deleted file mode 100644 index f0702e9..0000000 --- a/urdf_support/borunte_support/config/io_config.yaml +++ /dev/null @@ -1,12 +0,0 @@ -# hal_io publish/subscribe topics for IO pins -io: - digital_in_topics: - - /hal_io/digital_in_1 - - /hal_io/digital_in_2 - - /hal_io/digital_in_3 - - /hal_io/digital_in_4 - digital_out_topics: - - /hal_io/digital_out_1 - - /hal_io/digital_out_2 - - /hal_io/digital_out_3 - - /hal_io/digital_out_4 diff --git a/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml b/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml deleted file mode 100644 index d9a0828..0000000 --- a/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml +++ /dev/null @@ -1,34 +0,0 @@ -gazebo: false # Whether the robot is started in simulation environment -collision_check: false # Check collisions? -command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s -scale: # Only used if command_in_type=="unitless" - linear: 0.008 # Max linear velocity. Meters per publish_period. Units is [m/s] - rotational: 0.016 # Max angular velocity. Rads per publish_period. Units is [rad/s] - joint: 0.04 # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s]. -cartesian_command_in_topic: jog_arm_server/frame_delta_jog_cmds # Topic for xyz commands -joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands -command_frame: world # TF frame that incoming cmds are given in -incoming_command_timeout: 1 # Stop jogging if X seconds elapse without a new cmd -joint_topic: joint_states -move_group_name: manipulator # Often 'manipulator' or 'arm' -lower_singularity_threshold: 30 # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity -hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity -lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m] -hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m] -planning_frame: world # The MoveIt! planning frame. Often 'base_link' -# Larger c --> trust the filtered data more, trust the measurements less. -low_pass_filter_coeff: 2. # Larger-> more smoothing to jog commands, but more lag. -publish_period: 0.008 # 1/Nominal publish rate [seconds] -publish_delay: 0.005 # delay between calculation and execution start of command -collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often. -warning_topic: jog_arm_server/warning # Publish boolean warnings to this topic -joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger. -command_out_topic: position_trajectory_controller/command -# What type of topic does your robot driver expect? -# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController) -# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots) -command_out_type: trajectory_msgs/JointTrajectory -# Can save some bandwidth as most robots only require positions or velocities -publish_joint_positions: true -publish_joint_velocities: true -publish_joint_accelerations: false diff --git a/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml b/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml deleted file mode 100644 index 86e42ab..0000000 --- a/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml +++ /dev/null @@ -1,34 +0,0 @@ -gazebo: false # Whether the robot is started in simulation environment -collision_check: false # Check collisions? -command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s -scale: # Only used if command_in_type=="unitless" - linear: 0.002 # Max linear velocity. Meters per publish_period. Units is [m/s] - rotational: 0.004 # Max angular velocity. Rads per publish_period. Units is [rad/s] - joint: 0.01 # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s]. -cartesian_command_in_topic: jog_arm_server/frame_delta_jog_cmds_spacemouse # Topic for xyz commands -joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds_spacemouse # Topic for angle commands -command_frame: world # TF frame that incoming cmds are given in -incoming_command_timeout: 0.5 # Stop jogging if X seconds elapse without a new cmd -joint_topic: joint_states -move_group_name: manipulator # Often 'manipulator' or 'arm' -lower_singularity_threshold: 30 # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity -hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity -lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m] -hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m] -planning_frame: world # The MoveIt! planning frame. Often 'base_link' -# Larger c --> trust the filtered data more, trust the measurements less. -low_pass_filter_coeff: 2. # Larger-> more smoothing to jog commands, but more lag. -publish_period: 0.008 # 1/Nominal publish rate [seconds] -publish_delay: 0.005 # delay between calculation and execution start of command -collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often. -warning_topic: jog_arm_server/warning # Publish boolean warnings to this topic -joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger. -command_out_topic: position_trajectory_controller/command -# What type of topic does your robot driver expect? -# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController) -# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots) -command_out_type: trajectory_msgs/JointTrajectory -# Can save some bandwidth as most robots only require positions or velocities -publish_joint_positions: true -publish_joint_velocities: true -publish_joint_accelerations: false diff --git a/urdf_support/borunte_support/halfiles/hal_io.py b/urdf_support/borunte_support/halfiles/hal_io.py deleted file mode 100644 index 28b999e..0000000 --- a/urdf_support/borunte_support/halfiles/hal_io.py +++ /dev/null @@ -1,11 +0,0 @@ -# -*- coding: utf-8 -*- -from machinekit import hal - - -def load_hal_io_component(): - # Load hal_io user component - cmd = 'rosrun hal_hw_interface hal_io' - hal.loadusr(cmd, wait=True, wait_name='hal_io', wait_timeout=10.0) - - -load_hal_io_component() diff --git a/urdf_support/borunte_support/halfiles/haltalk.py b/urdf_support/borunte_support/halfiles/haltalk.py deleted file mode 100644 index 0ae0472..0000000 --- a/urdf_support/borunte_support/halfiles/haltalk.py +++ /dev/null @@ -1,4 +0,0 @@ -# -*- coding: utf-8 -*- -from machinekit import hal - -hal.loadusr('haltalk', wait=True) diff --git a/urdf_support/borunte_support/halfiles/robot_io_pins.py b/urdf_support/borunte_support/halfiles/robot_io_pins.py deleted file mode 100644 index 001d983..0000000 --- a/urdf_support/borunte_support/halfiles/robot_io_pins.py +++ /dev/null @@ -1,45 +0,0 @@ -# -*- coding: utf-8 -*- - -import rospy -from machinekit import hal - - -def setup_sim_pins(): - rospy.loginfo('Creating io-rcomp HAL remote component') - # mirror hal_io to rcomp - hal_io = hal.components['hal_io'] - rcomp = hal.RemoteComponent('io-rcomp', timer=100) - for pin in hal_io.pins(): - name = '.'.join(pin.name.split('.')[1:]) - if not name.startswith('digital_'): - continue - dir_map = {hal.HAL_IN: hal.HAL_OUT, hal.HAL_OUT: hal.HAL_IN} - rcomp.newpin(name, pin.type, dir_map.get(pin.dir, hal.HAL_IO)) - if pin.linked: - continue - if pin.dir == hal.HAL_IN: - rcomp.pin(name).link(hal.pins[pin.name]) - else: - hal.pins[pin.name].link(rcomp.pin(name)) - rcomp.ready() - - -def setup_gripper_pins(): - hal.Pin('hal_io.digital_out_1').link('gripper-open-close') - hal.Pin('hal_io.digital_in_1').link('gripper-opened') - - -def setup_robot_control_pins(): - hal.Pin('hal_io.state_cmd').link(hal.Signal('state-cmd')) - hal.Pin('hal_io.state_fb').link(hal.Signal('state-fb')) - hal.Pin('hal_io.reset').link(hal.Signal('reset-in')) - - -def setup_pins(): - sim_mode = rospy.get_param('/hal_hardware/sim_mode', True) - if sim_mode: - setup_sim_pins() - setup_robot_control_pins() - - -setup_pins() diff --git a/urdf_support/borunte_support/halfiles/setup.py b/urdf_support/borunte_support/halfiles/setup.py deleted file mode 100644 index f926a41..0000000 --- a/urdf_support/borunte_support/halfiles/setup.py +++ /dev/null @@ -1,72 +0,0 @@ -# -*- coding: utf-8 -*- -import os -import sys -import time - -import rospy -from machinekit import launcher -from machinekit import rtapi as rt -from machinekit import hal - -HARDWARE_RESET_DELAY_S = 0.1 -HARDWARE_SETTLE_TIME_S = 1.0 -NUM_JOINTS = 6 - -HAL_CONFIG_PATH = rospy.get_param('/hal_config_path', '') -sys.path.append(HAL_CONFIG_PATH) -os.environ['PYTHONPATH'] += ':{}'.format(HAL_CONFIG_PATH) - - -def install_rt_comps(): - launcher.install_comp( - os.path.join(HAL_CONFIG_PATH, 'components', 'absolute_joint.icomp') - ) - - -def create_hw_interface(thread): - rt.loadrt('{}/hal_hw_interface'.format(os.environ['COMP_DIR'])) - hal.addf('hal_hw_interface', thread.name) - - oneshot = rt.newinst('oneshot', 'oneshot.hw_reset') - hal.addf(oneshot.name, thread.name) - oneshot.pin('in').link('power-on') - oneshot.pin('out').link('hw-reset') - oneshot.pin('width').set(HARDWARE_RESET_DELAY_S) - - -def connect_hw_interface(): - for nr in range(1, NUM_JOINTS + 1): - hal.Pin('hal_hw_interface.joint_{}.pos-cmd'.format(nr)).link( - 'joint-{}-cmd-pos'.format(nr) - ) - hal.Pin('hal_hw_interface.joint_{}.pos-fb'.format(nr)).link( - 'joint-{}-fb-out-pos'.format(nr) - ) - - hal.Pin('hal_hw_interface.reset').link('hw-reset') - - -def setup_hal(): - sim_mode = rospy.get_param('/hal_hardware/sim_mode', True) - tool = rospy.get_param('/hal_hardware/tool', 'none') - rospy.loginfo('tool {}'.format(tool)) - if sim_mode: - os.environ['SIM_MODE'] = '1' - os.environ['ROBOT_TOOL'] = tool - - from borunte_hal.robot import setup_thread, configure_hal - - cgname = rospy.get_param('/hal_mgr/rt_cgname', None) - thread = setup_thread(cgname) - create_hw_interface(thread) - configure_hal(thread) - time.sleep(HARDWARE_SETTLE_TIME_S) - connect_hw_interface() - - # start the sim config "powered on" - # if sim: - # hal.Signal('state-cmd').set(1) - - -install_rt_comps() -setup_hal() diff --git a/urdf_support/borunte_support/launch/display_borunte.launch b/urdf_support/borunte_support/launch/display_borunte.launch deleted file mode 100644 index 3e30f1a..0000000 --- a/urdf_support/borunte_support/launch/display_borunte.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/launch/display_borunte_stand.launch b/urdf_support/borunte_support/launch/display_borunte_stand.launch deleted file mode 100644 index c64d6f7..0000000 --- a/urdf_support/borunte_support/launch/display_borunte_stand.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/launch/hal_hardware.launch b/urdf_support/borunte_support/launch/hal_hardware.launch deleted file mode 100644 index 9d2655c..0000000 --- a/urdf_support/borunte_support/launch/hal_hardware.launch +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/launch/hw_bringup.launch b/urdf_support/borunte_support/launch/hw_bringup.launch deleted file mode 100644 index 91cbabc..0000000 --- a/urdf_support/borunte_support/launch/hw_bringup.launch +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - {main:[1]} - - - {main:[1]} - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/launch/jogging.launch b/urdf_support/borunte_support/launch/jogging.launch deleted file mode 100644 index 8088b76..0000000 --- a/urdf_support/borunte_support/launch/jogging.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/launch/parameter_persistence.launch b/urdf_support/borunte_support/launch/parameter_persistence.launch deleted file mode 100644 index 61f9cfd..0000000 --- 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roscpp - rospy - std_msgs - xacro - roscpp - rospy - std_msgs - hal_hw_interface - borunte_hal - ezgripper_driver - joint_state_publisher - robot_state_publisher - rviz - controller_manager - joy - jog_arm - robot_jog - redis_store - - - - - - - diff --git a/urdf_support/borunte_support/scripts/run_machinetalk.py b/urdf_support/borunte_support/scripts/run_machinetalk.py deleted file mode 100755 index 6b12d8e..0000000 --- a/urdf_support/borunte_support/scripts/run_machinetalk.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -import subprocess -import sys -import time - -from machinekit import launcher -import rospy - -try: - launcher.register_exit_handler() # enable on ctrl-C, needs to executed after HAL files - path = rospy.get_param('/hal_config_path', '') - launcher.start_process('mklauncher') - launcher.start_process('configserver -n Borunte-Control {}'.format(path)) - - while True: - launcher.check_processes() - time.sleep(1) - -except subprocess.CalledProcessError: - launcher.end_session() - sys.exit(1) diff --git a/urdf_support/borunte_support/scripts/run_sim_ui.py b/urdf_support/borunte_support/scripts/run_sim_ui.py deleted file mode 100755 index 016ebe9..0000000 --- a/urdf_support/borunte_support/scripts/run_sim_ui.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- -import subprocess -import sys -import time - -from machinekit import launcher -import rospkg - -PACKAGE_NAME = 'borunte_support' - -rospack = rospkg.RosPack() - -try: - launcher.register_exit_handler() # enable on ctrl-C, needs to executed after HAL files - launcher.ensure_mklauncher() # ensure mklauncher is started - launcher.start_process( - 'configserver -n HAL-IO {}'.format(rospack.get_path(PACKAGE_NAME)) - ) - - while True: - launcher.check_processes() - time.sleep(1) - -except subprocess.CalledProcessError: - launcher.end_session() - sys.exit(1) diff --git a/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml b/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml deleted file mode 100644 index 99d36aa..0000000 --- a/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml +++ /dev/null @@ -1,87 +0,0 @@ -import QtQuick 2.0 -import QtQuick.Controls 1.1 -import QtQuick.Layouts 1.1 -import Machinekit.Controls 1.0 -import Machinekit.HalRemote.Controls 1.0 -import Machinekit.HalRemote 1.0 - -HalApplicationWindow { - id: main - - name: "io-rcomp" - title: qsTr("HAL-IO") - - ColumnLayout { - anchors.fill: parent - anchors.margins: 10 - - Item { - Layout.fillHeight: true - } - HalButton { - Layout.alignment: Layout.Center - name: "digital_in_1" - text: "Digital In 1" - checkable: true - } - HalButton { - Layout.alignment: Layout.Center - name: "digital_in_2" - text: "Digital In 2" - checkable: true - } - HalButton { - Layout.alignment: Layout.Center - name: "digital_in_3" - text: "Digital In 3" - checkable: true - } - HalButton { - Layout.alignment: Layout.Center - name: "digital_in_4" - text: "Digital In 4" - checkable: true - } - - RowLayout { - Layout.alignment: Layout.Center - Label { - text: "Digital Out 1: " - } - HalLed { - name: "digital_out_1" - } - } - RowLayout { - Layout.alignment: Layout.Center - Label { - text: "Digital Out 2: " - } - HalLed { - name: "digital_out_2" - } - } - RowLayout { - Layout.alignment: Layout.Center - Label { - text: "Digital Out 3: " - } - HalLed { - name: "digital_out_3" - } - } - RowLayout { - Layout.alignment: Layout.Center - Label { - text: "Digital Out 4: " - } - HalLed { - name: "digital_out_4" - } - } - - Item { - Layout.fillHeight: true - } - } -} diff --git a/urdf_support/borunte_support/src/ros.HAL-IO/description.ini b/urdf_support/borunte_support/src/ros.HAL-IO/description.ini deleted file mode 100644 index 1671ee3..0000000 --- a/urdf_support/borunte_support/src/ros.HAL-IO/description.ini +++ /dev/null @@ -1,4 +0,0 @@ -[Default] -name=HAL-IO -description=HAL IO Interface -type=QT5_QML diff --git a/urdf_support/borunte_support/urdf/borunte.xacro b/urdf_support/borunte_support/urdf/borunte.xacro deleted file mode 100644 index 420b901..0000000 --- a/urdf_support/borunte_support/urdf/borunte.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro b/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro deleted file mode 100644 index 26008ee..0000000 --- a/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e.xacro deleted file mode 100644 index 7277a6d..0000000 --- a/urdf_support/borunte_support/urdf/borunte_hand_e.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro deleted file mode 100644 index 7fe1b12..0000000 --- a/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro deleted file mode 100644 index a00a8c4..0000000 --- a/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_macro.xacro b/urdf_support/borunte_support/urdf/borunte_macro.xacro deleted file mode 100644 index 0d4180c..0000000 --- a/urdf_support/borunte_support/urdf/borunte_macro.xacro +++ /dev/null @@ -1,218 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_none_macro.xacro b/urdf_support/borunte_support/urdf/borunte_none_macro.xacro deleted file mode 100644 index c539274..0000000 --- a/urdf_support/borunte_support/urdf/borunte_none_macro.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_on_stand.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand.xacro deleted file mode 100644 index 119d9f7..0000000 --- a/urdf_support/borunte_support/urdf/borunte_on_stand.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro deleted file mode 100644 index e330ab6..0000000 --- a/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro deleted file mode 100644 index a63eec2..0000000 --- a/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro deleted file mode 100644 index a80b58c..0000000 --- a/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro deleted file mode 100644 index 55aa5d8..0000000 --- a/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro deleted file mode 100644 index a1afa6d..0000000 --- a/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro +++ /dev/null @@ -1,145 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro deleted file mode 100644 index 76218f6..0000000 --- a/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights b/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights deleted file mode 100644 index 81669a6..0000000 --- a/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights +++ /dev/null @@ -1,32 +0,0 @@ -Software License Agreement (BSD License) - -Copyright (c) 2012-2015, TU Delft Robotics Institute -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - * Neither the name of the TU Delft Robotics Institute nor the names - of its contributors may be used to endorse or promote products - derived from this software without specific prior written - permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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diff --git a/urdf_support/fanuc_m16ib_support/fanucM16ib.rights b/urdf_support/fanuc_m16ib_support/fanucM16ib.rights deleted file mode 100644 index e4277af..0000000 --- a/urdf_support/fanuc_m16ib_support/fanucM16ib.rights +++ /dev/null @@ -1,32 +0,0 @@ -Software License Agreement (BSD License) - -Copyright (c) 2012, 2013, TU Delft Robotics Institute -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - * Neither the name of the TU Delft Robotics Institute nor the names - of its contributors may be used to endorse or promote products - derived from this software without specific prior written - permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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--git a/utils/test_socket_server.py b/utils/test_socket_server.py index 9d8b81f..c23916f 100644 --- a/utils/test_socket_server.py +++ b/utils/test_socket_server.py @@ -85,21 +85,6 @@ c_angles = [ "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479], }, ] -tool_angles = [ - { - "world": [1292.602, -119.999, 1023.335, 20.742, 0.367, -91.615], - "axis": [-9.053, 37.962, -47.169, -44.937, 12.879, 44.209], - }, - { - "world": [1084.151, 643.621, 644.947, 20.743, 0.367, -91.616], - "axis": [45.855, 19.494, -55.437, 60.337, 55.666, -44.703], - }, - { - "world": [768.497, -577.398, 1688.266, 20.738, 0.382, -91.610], - "axis": [-63.241, 38.711, -11.748, -102.888, 66.357, 119.693], - }, -] -c_angles = tool_angles coordinates_index = 0

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