From d9305bd88ebe00aeb483019135932833b2380dc5 Mon Sep 17 00:00:00 2001 From: Kseninia Mikhaylova Date: Tue, 15 Oct 2024 15:07:14 +0300 Subject: [PATCH] moving --- gui/status.py | 4 +- juce_init.py | 96 ------------------ client.py => robot/client_modbus.py | 0 client_socket.py => robot/client_socket.py | 9 +- func.py => robot/func.py | 2 +- .../borunte_support}/CMakeLists.txt | 0 .../borunte_support}/config/borunte.rviz | 0 .../config/borunte_controllers.yaml | 0 .../config/borunte_stand.rviz | 0 .../config/create_dummy_signals.py | 0 .../config/defaults/digital_io_names.yaml | 0 .../config/defaults/global_waypoints.yaml | 0 .../config/defaults/machinetalk.yaml | 0 .../config/defaults/user_config.yaml | 0 .../config/hal_hw_interface.yaml | 0 .../borunte_support}/config/hal_io.yaml | 0 .../borunte_support}/config/io_config.yaml | 0 .../config/jog_arm_settings_gui.yaml | 0 .../config/jog_arm_settings_spacemouse.yaml | 0 .../borunte_support}/halfiles/hal_io.py | 0 .../borunte_support}/halfiles/haltalk.py | 0 .../halfiles/robot_io_pins.py | 0 .../borunte_support}/halfiles/setup.py | 0 .../launch/display_borunte.launch | 0 .../launch/display_borunte_stand.launch | 0 .../launch/hal_hardware.launch | 0 .../borunte_support}/launch/hw_bringup.launch | 0 .../borunte_support}/launch/jogging.launch | 0 .../launch/parameter_persistence.launch | 0 .../launch/tracking_tools.launch | 0 .../borunte_support}/meshes/base_link.stl | Bin .../meshes/base_link_collision.stl | Bin .../meshes/borunte_carriage.stl | Bin .../meshes/borunte_ezgripper_adapter.stl | Bin .../borunte_ezgripper_adapter_collision.stl | Bin .../collision/create_collision_invert.mlx | 0 .../collision/create_collision_no_invert.mlx | 0 .../borunte_support}/meshes/fish_finger.stl | Bin .../meshes/fish_finger_adapter_left.stl | Bin .../fish_finger_adapter_left_collision.stl | Bin .../meshes/fish_finger_adapter_right.stl | Bin .../fish_finger_adapter_right_collision.stl | Bin .../meshes/fish_finger_collision.stl | Bin .../borunte_support}/meshes/link_1.stl | Bin .../meshes/link_1_collision.stl | Bin .../borunte_support}/meshes/link_2.stl | Bin .../meshes/link_2_collision.stl | Bin .../borunte_support}/meshes/link_3.stl | Bin .../meshes/link_3_collision.stl | Bin .../borunte_support}/meshes/link_4.stl | Bin .../meshes/link_4_collision.stl | Bin .../borunte_support}/meshes/link_5.stl | Bin .../meshes/link_5_collision.stl | Bin .../borunte_support}/meshes/link_6.stl | Bin .../meshes/link_6_collision.stl | Bin .../meshes/robotiq_adapter.stl | Bin .../meshes/robotiq_adapter_collision.stl | Bin .../meshes/robotiq_hand-e_gripper.stl | Bin .../robotiq_hand-e_gripper_collision.stl | Bin .../meshes/simple_grip_finger.stl | Bin .../meshes/simple_grip_finger_collision.stl | Bin .../borunte_support}/package.xml | 0 .../scripts/run_machinetalk.py | 0 .../borunte_support}/scripts/run_sim_ui.py | 0 .../src/ros.HAL-IO/HAL-IO.qml | 0 .../src/ros.HAL-IO/description.ini | 0 .../borunte_support}/urdf/borunte.xacro | 0 .../borunte_ezgripper_gen2_plus_macro.xacro | 0 .../urdf/borunte_hand_e.xacro | 0 .../borunte_hand_e_fish_fingers_macro.xacro | 0 .../urdf/borunte_hand_e_macro.xacro | 0 .../borunte_support}/urdf/borunte_macro.xacro | 0 .../urdf/borunte_none_macro.xacro | 0 .../urdf/borunte_on_stand.xacro | 0 .../urdf/borunte_on_stand_macro.xacro | 0 .../urdf/borunte_stand_macro.xacro | 0 .../urdf/robotiq_hand_e.xacro | 0 .../urdf/robotiq_hand_e_base_macro.xacro | 0 .../robotiq_hand_e_fish_fingers_macro.xacro | 0 .../urdf/robotiq_hand_e_macro.xacro | 0 .../fanucLRMate200ib.rights | 0 .../lrmate200ib/collision/base_link.stl | Bin .../meshes/lrmate200ib/collision/link_1.stl | Bin .../meshes/lrmate200ib/collision/link_2.stl | Bin .../meshes/lrmate200ib/collision/link_3.stl | Bin .../meshes/lrmate200ib/collision/link_4.stl | Bin .../meshes/lrmate200ib/collision/link_5.stl | Bin .../meshes/lrmate200ib/collision/link_6.stl | Bin .../meshes/lrmate200ib/visual/base_link.stl | Bin .../meshes/lrmate200ib/visual/link_1.stl | Bin .../meshes/lrmate200ib/visual/link_2.stl | Bin .../meshes/lrmate200ib/visual/link_3.stl | Bin .../meshes/lrmate200ib/visual/link_4.stl | Bin .../meshes/lrmate200ib/visual/link_5.stl | Bin .../meshes/lrmate200ib/visual/link_6.stl | Bin .../meshes/lrmate200ib3l/collision/link_4.stl | Bin .../meshes/lrmate200ib3l/visual/link_4.stl | Bin .../meta-information.json | 0 .../urdf/fanucLRMate200ib.urdf | 0 .../fanuc_m16ib_support}/fanucM16ib.rights | 0 .../meshes/m16ib20/collision/base_link.stl | Bin .../meshes/m16ib20/collision/link_1.stl | Bin .../meshes/m16ib20/collision/link_2.stl | Bin .../meshes/m16ib20/collision/link_3.stl | Bin .../meshes/m16ib20/collision/link_4.stl | Bin .../meshes/m16ib20/collision/link_5.stl | Bin .../meshes/m16ib20/collision/link_6.stl | Bin .../meshes/m16ib20/visual/base_link.stl | Bin .../meshes/m16ib20/visual/link_1.stl | Bin .../meshes/m16ib20/visual/link_2.stl | Bin .../meshes/m16ib20/visual/link_3.stl | Bin .../meshes/m16ib20/visual/link_4.stl | Bin .../meshes/m16ib20/visual/link_5.stl | Bin .../meshes/m16ib20/visual/link_6.stl | Bin .../meta-information.json | 0 .../fanuc_m16ib_support}/urdf/fanucM16ib.urdf | 0 simple_test.py => utils/simple_test.py | 0 .../test_socket_server.py | 0 urdf_convert.py => utils/urdf_convert.py | 0 119 files changed, 5 insertions(+), 106 deletions(-) delete mode 100644 juce_init.py rename client.py => robot/client_modbus.py (100%) rename client_socket.py => robot/client_socket.py (97%) rename func.py => robot/func.py (98%) rename {borunte_support => urdf_support/borunte_support}/CMakeLists.txt (100%) rename {borunte_support => urdf_support/borunte_support}/config/borunte.rviz (100%) rename {borunte_support => urdf_support/borunte_support}/config/borunte_controllers.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/borunte_stand.rviz (100%) rename {borunte_support => urdf_support/borunte_support}/config/create_dummy_signals.py (100%) rename {borunte_support => urdf_support/borunte_support}/config/defaults/digital_io_names.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/defaults/global_waypoints.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/defaults/machinetalk.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/defaults/user_config.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/hal_hw_interface.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/hal_io.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/io_config.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/jog_arm_settings_gui.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/config/jog_arm_settings_spacemouse.yaml (100%) rename {borunte_support => urdf_support/borunte_support}/halfiles/hal_io.py (100%) rename {borunte_support => urdf_support/borunte_support}/halfiles/haltalk.py (100%) rename {borunte_support => urdf_support/borunte_support}/halfiles/robot_io_pins.py (100%) rename {borunte_support => urdf_support/borunte_support}/halfiles/setup.py (100%) rename {borunte_support => urdf_support/borunte_support}/launch/display_borunte.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/display_borunte_stand.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/hal_hardware.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/hw_bringup.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/jogging.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/parameter_persistence.launch (100%) rename {borunte_support => urdf_support/borunte_support}/launch/tracking_tools.launch (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/base_link.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/base_link_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/borunte_carriage.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/borunte_ezgripper_adapter.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/borunte_ezgripper_adapter_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/collision/create_collision_invert.mlx (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/collision/create_collision_no_invert.mlx (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger_adapter_left.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger_adapter_left_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger_adapter_right.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger_adapter_right_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/fish_finger_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_1.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_1_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_2.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_2_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_3.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_3_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_4.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_4_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_5.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_5_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_6.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/link_6_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/robotiq_adapter.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/robotiq_adapter_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/robotiq_hand-e_gripper.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/robotiq_hand-e_gripper_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/simple_grip_finger.stl (100%) rename {borunte_support => urdf_support/borunte_support}/meshes/simple_grip_finger_collision.stl (100%) rename {borunte_support => urdf_support/borunte_support}/package.xml (100%) rename {borunte_support => urdf_support/borunte_support}/scripts/run_machinetalk.py (100%) rename {borunte_support => urdf_support/borunte_support}/scripts/run_sim_ui.py (100%) rename {borunte_support => urdf_support/borunte_support}/src/ros.HAL-IO/HAL-IO.qml (100%) rename {borunte_support => urdf_support/borunte_support}/src/ros.HAL-IO/description.ini (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte.xacro (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte_ezgripper_gen2_plus_macro.xacro (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte_hand_e.xacro (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte_hand_e_fish_fingers_macro.xacro (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte_hand_e_macro.xacro (100%) rename {borunte_support => urdf_support/borunte_support}/urdf/borunte_macro.xacro (100%) rename 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(100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_1.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_2.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_3.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_4.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_5.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/collision/link_6.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/base_link.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_1.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_2.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_3.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_4.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_5.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib/visual/link_6.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib3l/collision/link_4.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meshes/lrmate200ib3l/visual/link_4.stl (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/meta-information.json (100%) rename {fanuc_lrmate200ib_support => urdf_support/fanuc_lrmate200ib_support}/urdf/fanucLRMate200ib.urdf (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/fanucM16ib.rights (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/base_link.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_1.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_2.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_3.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_4.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_5.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/collision/link_6.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/base_link.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_1.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_2.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_3.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_4.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_5.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meshes/m16ib20/visual/link_6.stl (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/meta-information.json (100%) rename {fanuc_m16ib_support => urdf_support/fanuc_m16ib_support}/urdf/fanucM16ib.urdf (100%) rename simple_test.py => utils/simple_test.py (100%) rename test_socket_server.py => utils/test_socket_server.py (100%) rename urdf_convert.py => utils/urdf_convert.py (100%) diff --git a/gui/status.py b/gui/status.py index 342a2ce..e15d2ca 100644 --- a/gui/status.py +++ b/gui/status.py @@ -23,8 +23,8 @@ class Status(QWidget): self.layout.addWidget(self.statusLabel) self.setLayout(self.layout) - self.setFixedSize(200, 100) # Установка фиксированного размера виджета - + self.setFixedHeight(100) + def paintEvent(self, event): # Установка цвета фона self.setAutoFillBackground(True) diff --git a/juce_init.py b/juce_init.py deleted file mode 100644 index 445f3f8..0000000 --- a/juce_init.py +++ /dev/null @@ -1,96 +0,0 @@ -import os -import sys -import glob -import time -import traceback -from pathlib import Path -from functools import wraps - - -try: - import popsicle as juce - -except ImportError: - folder = Path(__file__).parent.parent / "build" - for ext in ["*.so", "*.pyd"]: - path_to_search = folder / "**" / ext - for f in glob.iglob(str(path_to_search), recursive=True): - if os.path.isfile(f): - sys.path.append(str(Path(f).parent)) - break - - import popsicle as juce - - -def START_JUCE_COMPONENT(ComponentClass, name, **kwargs): - class DefaultWindow(juce.DocumentWindow): - component = None - - def __init__(self): - super().__init__( - juce.JUCEApplication.getInstance().getApplicationName(), - juce.Desktop.getInstance() - .getDefaultLookAndFeel() - .findColour(juce.ResizableWindow.backgroundColourId), - juce.DocumentWindow.allButtons, - True, - ) - - self.component = ComponentClass(**kwargs) - - self.setResizable(True, True) - self.setContentNonOwned(self.component, True) - self.centreWithSize( - self.component.getWidth(), - self.component.getHeight() + self.getTitleBarHeight(), - ) - self.setAlwaysOnTop(kwargs.get("alwaysOnTop", False)) - self.setVisible(True) - - def __del__(self): - self.clearContentComponent() - - if self.component: - self.component.setVisible(False) - del self.component - - def closeButtonPressed(self): - juce.JUCEApplication.getInstance().systemRequestedQuit() - - class DefaultApplication(juce.JUCEApplication): - window = None - - def __init__(self): - super().__init__() - - def getApplicationName(self): - return name - - def getApplicationVersion(self): - return "1.0" - - def initialise(self, commandLineParameters): - self.window = DefaultWindow() - - juce.MessageManager.callAsync(lambda: juce.Process.makeForegroundProcess()) - - def shutdown(self): - if self.window: - del self.window - - def systemRequestedQuit(self): - self.quit() - - # def unhandledException(self, ex: Exception, file: str, line: int): - # if hasattr(ex, "__traceback__"): - # print("Traceback (most recent call last):") - # traceback.print_tb(ex.__traceback__) - # print(ex) - # if isinstance(ex, KeyboardInterrupt): - # juce.JUCEApplication.getInstance().systemRequestedQuit() - - juce.START_JUCE_APPLICATION( - DefaultApplication, - catchExceptionsAndContinue=kwargs.get("catchExceptionsAndContinue", False), - ) - return DefaultApplication \ No newline at end of file diff --git a/client.py b/robot/client_modbus.py similarity index 100% rename from client.py rename to robot/client_modbus.py diff --git a/client_socket.py b/robot/client_socket.py similarity index 97% rename from client_socket.py rename to robot/client_socket.py index 456a945..951e9c7 100644 --- a/client_socket.py +++ b/robot/client_socket.py @@ -33,13 +33,9 @@ class SocketRobotArm: self.socket = None self.host = None self.port = 9760 + self.slave_id = None self.status: SocketRobotArm.Status = "not_connected" - # self.host = MODBUS_SERVER_HOST - # if kwargs['test'] or len(sys.argv) and "--test" in sys.argv: - # self.host = "127.0.0.1" - # self.port = 65432 - self.physics_client = None self.body_id = None threading.Thread(target=self.run_pybullet, daemon=True).start() @@ -65,8 +61,7 @@ class SocketRobotArm: self.socket.close() self.socket = None self.status = "not_connected" - # self.socket = None - # sys.exit() + self.slave_id = None def connect(self, host, slave_id): self.host = host diff --git a/func.py b/robot/func.py similarity index 98% rename from func.py rename to robot/func.py index 753e519..adb4795 100644 --- a/func.py +++ b/robot/func.py @@ -24,7 +24,7 @@ def two_byte_convert(result): return value -def bulb(addr, new_state, client): +def bulb(addr, new_state, client, slave_id): try: coils = client.read_coils(addr, 1, MODBUS_SLAVE_ID) # print("читаем начальное состояние", coils.bits) diff --git a/borunte_support/CMakeLists.txt b/urdf_support/borunte_support/CMakeLists.txt similarity index 100% rename from borunte_support/CMakeLists.txt rename to urdf_support/borunte_support/CMakeLists.txt diff --git a/borunte_support/config/borunte.rviz b/urdf_support/borunte_support/config/borunte.rviz similarity index 100% rename from borunte_support/config/borunte.rviz rename to urdf_support/borunte_support/config/borunte.rviz diff --git a/borunte_support/config/borunte_controllers.yaml b/urdf_support/borunte_support/config/borunte_controllers.yaml similarity index 100% rename from borunte_support/config/borunte_controllers.yaml rename to urdf_support/borunte_support/config/borunte_controllers.yaml diff --git a/borunte_support/config/borunte_stand.rviz b/urdf_support/borunte_support/config/borunte_stand.rviz similarity index 100% rename from borunte_support/config/borunte_stand.rviz rename to urdf_support/borunte_support/config/borunte_stand.rviz diff --git a/borunte_support/config/create_dummy_signals.py b/urdf_support/borunte_support/config/create_dummy_signals.py similarity index 100% rename from borunte_support/config/create_dummy_signals.py rename to urdf_support/borunte_support/config/create_dummy_signals.py diff --git a/borunte_support/config/defaults/digital_io_names.yaml b/urdf_support/borunte_support/config/defaults/digital_io_names.yaml similarity index 100% rename from borunte_support/config/defaults/digital_io_names.yaml rename to urdf_support/borunte_support/config/defaults/digital_io_names.yaml diff --git a/borunte_support/config/defaults/global_waypoints.yaml b/urdf_support/borunte_support/config/defaults/global_waypoints.yaml similarity index 100% rename from borunte_support/config/defaults/global_waypoints.yaml rename to urdf_support/borunte_support/config/defaults/global_waypoints.yaml diff --git a/borunte_support/config/defaults/machinetalk.yaml b/urdf_support/borunte_support/config/defaults/machinetalk.yaml similarity index 100% rename from borunte_support/config/defaults/machinetalk.yaml rename to urdf_support/borunte_support/config/defaults/machinetalk.yaml diff --git a/borunte_support/config/defaults/user_config.yaml b/urdf_support/borunte_support/config/defaults/user_config.yaml similarity index 100% rename from borunte_support/config/defaults/user_config.yaml rename to urdf_support/borunte_support/config/defaults/user_config.yaml diff --git a/borunte_support/config/hal_hw_interface.yaml b/urdf_support/borunte_support/config/hal_hw_interface.yaml similarity index 100% rename from borunte_support/config/hal_hw_interface.yaml rename to urdf_support/borunte_support/config/hal_hw_interface.yaml diff --git a/borunte_support/config/hal_io.yaml b/urdf_support/borunte_support/config/hal_io.yaml similarity index 100% rename from borunte_support/config/hal_io.yaml rename to urdf_support/borunte_support/config/hal_io.yaml diff --git a/borunte_support/config/io_config.yaml b/urdf_support/borunte_support/config/io_config.yaml similarity index 100% rename from borunte_support/config/io_config.yaml rename to urdf_support/borunte_support/config/io_config.yaml diff --git a/borunte_support/config/jog_arm_settings_gui.yaml b/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml similarity index 100% rename from borunte_support/config/jog_arm_settings_gui.yaml rename to urdf_support/borunte_support/config/jog_arm_settings_gui.yaml diff --git a/borunte_support/config/jog_arm_settings_spacemouse.yaml b/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml similarity index 100% rename from borunte_support/config/jog_arm_settings_spacemouse.yaml rename to urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml diff --git a/borunte_support/halfiles/hal_io.py b/urdf_support/borunte_support/halfiles/hal_io.py similarity index 100% rename from borunte_support/halfiles/hal_io.py rename to urdf_support/borunte_support/halfiles/hal_io.py diff --git a/borunte_support/halfiles/haltalk.py b/urdf_support/borunte_support/halfiles/haltalk.py similarity index 100% rename from borunte_support/halfiles/haltalk.py rename to urdf_support/borunte_support/halfiles/haltalk.py diff --git a/borunte_support/halfiles/robot_io_pins.py b/urdf_support/borunte_support/halfiles/robot_io_pins.py similarity index 100% rename from borunte_support/halfiles/robot_io_pins.py rename to urdf_support/borunte_support/halfiles/robot_io_pins.py diff --git a/borunte_support/halfiles/setup.py b/urdf_support/borunte_support/halfiles/setup.py similarity index 100% rename from borunte_support/halfiles/setup.py rename to urdf_support/borunte_support/halfiles/setup.py diff --git a/borunte_support/launch/display_borunte.launch b/urdf_support/borunte_support/launch/display_borunte.launch similarity index 100% rename from borunte_support/launch/display_borunte.launch rename to urdf_support/borunte_support/launch/display_borunte.launch diff --git a/borunte_support/launch/display_borunte_stand.launch b/urdf_support/borunte_support/launch/display_borunte_stand.launch similarity index 100% rename from borunte_support/launch/display_borunte_stand.launch rename to urdf_support/borunte_support/launch/display_borunte_stand.launch diff --git a/borunte_support/launch/hal_hardware.launch b/urdf_support/borunte_support/launch/hal_hardware.launch similarity index 100% rename from borunte_support/launch/hal_hardware.launch rename to urdf_support/borunte_support/launch/hal_hardware.launch diff --git a/borunte_support/launch/hw_bringup.launch b/urdf_support/borunte_support/launch/hw_bringup.launch similarity index 100% rename from borunte_support/launch/hw_bringup.launch rename to urdf_support/borunte_support/launch/hw_bringup.launch diff --git a/borunte_support/launch/jogging.launch b/urdf_support/borunte_support/launch/jogging.launch similarity index 100% rename from borunte_support/launch/jogging.launch rename to urdf_support/borunte_support/launch/jogging.launch diff --git a/borunte_support/launch/parameter_persistence.launch b/urdf_support/borunte_support/launch/parameter_persistence.launch similarity index 100% rename from borunte_support/launch/parameter_persistence.launch rename to urdf_support/borunte_support/launch/parameter_persistence.launch diff --git a/borunte_support/launch/tracking_tools.launch b/urdf_support/borunte_support/launch/tracking_tools.launch similarity index 100% rename from borunte_support/launch/tracking_tools.launch rename to urdf_support/borunte_support/launch/tracking_tools.launch diff --git a/borunte_support/meshes/base_link.stl b/urdf_support/borunte_support/meshes/base_link.stl similarity index 100% rename from borunte_support/meshes/base_link.stl rename to urdf_support/borunte_support/meshes/base_link.stl diff --git a/borunte_support/meshes/base_link_collision.stl b/urdf_support/borunte_support/meshes/base_link_collision.stl similarity index 100% rename from borunte_support/meshes/base_link_collision.stl rename to urdf_support/borunte_support/meshes/base_link_collision.stl diff --git a/borunte_support/meshes/borunte_carriage.stl b/urdf_support/borunte_support/meshes/borunte_carriage.stl similarity index 100% rename from borunte_support/meshes/borunte_carriage.stl rename to urdf_support/borunte_support/meshes/borunte_carriage.stl diff --git a/borunte_support/meshes/borunte_ezgripper_adapter.stl b/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter.stl similarity index 100% rename from borunte_support/meshes/borunte_ezgripper_adapter.stl rename to urdf_support/borunte_support/meshes/borunte_ezgripper_adapter.stl diff --git a/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl b/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl similarity index 100% rename from borunte_support/meshes/borunte_ezgripper_adapter_collision.stl rename to urdf_support/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl diff --git a/borunte_support/meshes/collision/create_collision_invert.mlx b/urdf_support/borunte_support/meshes/collision/create_collision_invert.mlx similarity index 100% rename from borunte_support/meshes/collision/create_collision_invert.mlx rename to urdf_support/borunte_support/meshes/collision/create_collision_invert.mlx diff --git a/borunte_support/meshes/collision/create_collision_no_invert.mlx b/urdf_support/borunte_support/meshes/collision/create_collision_no_invert.mlx similarity index 100% rename from borunte_support/meshes/collision/create_collision_no_invert.mlx rename to urdf_support/borunte_support/meshes/collision/create_collision_no_invert.mlx diff --git a/borunte_support/meshes/fish_finger.stl b/urdf_support/borunte_support/meshes/fish_finger.stl similarity index 100% rename from borunte_support/meshes/fish_finger.stl rename to urdf_support/borunte_support/meshes/fish_finger.stl diff --git a/borunte_support/meshes/fish_finger_adapter_left.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_left.stl similarity index 100% rename from borunte_support/meshes/fish_finger_adapter_left.stl rename to urdf_support/borunte_support/meshes/fish_finger_adapter_left.stl diff --git a/borunte_support/meshes/fish_finger_adapter_left_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_left_collision.stl similarity index 100% rename from borunte_support/meshes/fish_finger_adapter_left_collision.stl rename to urdf_support/borunte_support/meshes/fish_finger_adapter_left_collision.stl diff --git a/borunte_support/meshes/fish_finger_adapter_right.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_right.stl similarity index 100% rename from borunte_support/meshes/fish_finger_adapter_right.stl rename to urdf_support/borunte_support/meshes/fish_finger_adapter_right.stl diff --git a/borunte_support/meshes/fish_finger_adapter_right_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_right_collision.stl similarity index 100% rename from borunte_support/meshes/fish_finger_adapter_right_collision.stl rename to urdf_support/borunte_support/meshes/fish_finger_adapter_right_collision.stl diff --git a/borunte_support/meshes/fish_finger_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_collision.stl similarity index 100% rename from borunte_support/meshes/fish_finger_collision.stl rename to urdf_support/borunte_support/meshes/fish_finger_collision.stl diff --git a/borunte_support/meshes/link_1.stl b/urdf_support/borunte_support/meshes/link_1.stl similarity index 100% rename from borunte_support/meshes/link_1.stl rename to urdf_support/borunte_support/meshes/link_1.stl diff --git a/borunte_support/meshes/link_1_collision.stl b/urdf_support/borunte_support/meshes/link_1_collision.stl similarity index 100% rename from borunte_support/meshes/link_1_collision.stl rename to urdf_support/borunte_support/meshes/link_1_collision.stl diff --git a/borunte_support/meshes/link_2.stl b/urdf_support/borunte_support/meshes/link_2.stl similarity index 100% rename from borunte_support/meshes/link_2.stl rename to urdf_support/borunte_support/meshes/link_2.stl diff --git a/borunte_support/meshes/link_2_collision.stl b/urdf_support/borunte_support/meshes/link_2_collision.stl similarity index 100% rename from borunte_support/meshes/link_2_collision.stl rename to urdf_support/borunte_support/meshes/link_2_collision.stl diff --git a/borunte_support/meshes/link_3.stl b/urdf_support/borunte_support/meshes/link_3.stl similarity index 100% rename from borunte_support/meshes/link_3.stl rename to urdf_support/borunte_support/meshes/link_3.stl diff --git a/borunte_support/meshes/link_3_collision.stl b/urdf_support/borunte_support/meshes/link_3_collision.stl similarity index 100% rename from borunte_support/meshes/link_3_collision.stl rename to urdf_support/borunte_support/meshes/link_3_collision.stl diff --git a/borunte_support/meshes/link_4.stl b/urdf_support/borunte_support/meshes/link_4.stl similarity index 100% rename from borunte_support/meshes/link_4.stl rename to urdf_support/borunte_support/meshes/link_4.stl diff --git a/borunte_support/meshes/link_4_collision.stl b/urdf_support/borunte_support/meshes/link_4_collision.stl similarity index 100% rename from borunte_support/meshes/link_4_collision.stl rename to urdf_support/borunte_support/meshes/link_4_collision.stl diff --git a/borunte_support/meshes/link_5.stl b/urdf_support/borunte_support/meshes/link_5.stl similarity index 100% rename from borunte_support/meshes/link_5.stl rename to urdf_support/borunte_support/meshes/link_5.stl diff --git a/borunte_support/meshes/link_5_collision.stl b/urdf_support/borunte_support/meshes/link_5_collision.stl similarity index 100% rename from borunte_support/meshes/link_5_collision.stl rename to urdf_support/borunte_support/meshes/link_5_collision.stl diff --git a/borunte_support/meshes/link_6.stl b/urdf_support/borunte_support/meshes/link_6.stl similarity index 100% rename from borunte_support/meshes/link_6.stl rename to urdf_support/borunte_support/meshes/link_6.stl diff --git a/borunte_support/meshes/link_6_collision.stl b/urdf_support/borunte_support/meshes/link_6_collision.stl similarity index 100% rename from borunte_support/meshes/link_6_collision.stl rename to urdf_support/borunte_support/meshes/link_6_collision.stl diff --git a/borunte_support/meshes/robotiq_adapter.stl b/urdf_support/borunte_support/meshes/robotiq_adapter.stl similarity index 100% rename from borunte_support/meshes/robotiq_adapter.stl rename to urdf_support/borunte_support/meshes/robotiq_adapter.stl diff --git a/borunte_support/meshes/robotiq_adapter_collision.stl b/urdf_support/borunte_support/meshes/robotiq_adapter_collision.stl similarity index 100% rename from borunte_support/meshes/robotiq_adapter_collision.stl rename to urdf_support/borunte_support/meshes/robotiq_adapter_collision.stl diff --git a/borunte_support/meshes/robotiq_hand-e_gripper.stl b/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper.stl similarity index 100% rename from borunte_support/meshes/robotiq_hand-e_gripper.stl rename to urdf_support/borunte_support/meshes/robotiq_hand-e_gripper.stl diff --git a/borunte_support/meshes/robotiq_hand-e_gripper_collision.stl b/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper_collision.stl similarity index 100% rename from borunte_support/meshes/robotiq_hand-e_gripper_collision.stl rename to urdf_support/borunte_support/meshes/robotiq_hand-e_gripper_collision.stl diff --git a/borunte_support/meshes/simple_grip_finger.stl b/urdf_support/borunte_support/meshes/simple_grip_finger.stl similarity index 100% rename from borunte_support/meshes/simple_grip_finger.stl rename to urdf_support/borunte_support/meshes/simple_grip_finger.stl diff --git a/borunte_support/meshes/simple_grip_finger_collision.stl b/urdf_support/borunte_support/meshes/simple_grip_finger_collision.stl similarity index 100% rename from borunte_support/meshes/simple_grip_finger_collision.stl rename to urdf_support/borunte_support/meshes/simple_grip_finger_collision.stl diff --git a/borunte_support/package.xml b/urdf_support/borunte_support/package.xml similarity index 100% rename from borunte_support/package.xml rename to urdf_support/borunte_support/package.xml diff --git a/borunte_support/scripts/run_machinetalk.py b/urdf_support/borunte_support/scripts/run_machinetalk.py similarity index 100% rename from borunte_support/scripts/run_machinetalk.py rename to urdf_support/borunte_support/scripts/run_machinetalk.py diff --git a/borunte_support/scripts/run_sim_ui.py b/urdf_support/borunte_support/scripts/run_sim_ui.py similarity index 100% rename from borunte_support/scripts/run_sim_ui.py rename to urdf_support/borunte_support/scripts/run_sim_ui.py diff --git a/borunte_support/src/ros.HAL-IO/HAL-IO.qml b/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml similarity index 100% rename from borunte_support/src/ros.HAL-IO/HAL-IO.qml rename to urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml diff --git a/borunte_support/src/ros.HAL-IO/description.ini b/urdf_support/borunte_support/src/ros.HAL-IO/description.ini similarity index 100% rename from borunte_support/src/ros.HAL-IO/description.ini rename to urdf_support/borunte_support/src/ros.HAL-IO/description.ini diff --git a/borunte_support/urdf/borunte.xacro b/urdf_support/borunte_support/urdf/borunte.xacro similarity index 100% rename from borunte_support/urdf/borunte.xacro rename to urdf_support/borunte_support/urdf/borunte.xacro diff --git a/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro b/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro diff --git a/borunte_support/urdf/borunte_hand_e.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e.xacro similarity index 100% rename from borunte_support/urdf/borunte_hand_e.xacro rename to urdf_support/borunte_support/urdf/borunte_hand_e.xacro diff --git a/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro diff --git a/borunte_support/urdf/borunte_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_hand_e_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro diff --git a/borunte_support/urdf/borunte_macro.xacro b/urdf_support/borunte_support/urdf/borunte_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_macro.xacro diff --git a/borunte_support/urdf/borunte_none_macro.xacro b/urdf_support/borunte_support/urdf/borunte_none_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_none_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_none_macro.xacro diff --git a/borunte_support/urdf/borunte_on_stand.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand.xacro similarity index 100% rename from borunte_support/urdf/borunte_on_stand.xacro rename to urdf_support/borunte_support/urdf/borunte_on_stand.xacro diff --git a/borunte_support/urdf/borunte_on_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_on_stand_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro diff --git a/borunte_support/urdf/borunte_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro similarity index 100% rename from borunte_support/urdf/borunte_stand_macro.xacro rename to urdf_support/borunte_support/urdf/borunte_stand_macro.xacro diff --git a/borunte_support/urdf/robotiq_hand_e.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro similarity index 100% rename from borunte_support/urdf/robotiq_hand_e.xacro rename to urdf_support/borunte_support/urdf/robotiq_hand_e.xacro diff --git a/borunte_support/urdf/robotiq_hand_e_base_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro similarity index 100% rename from borunte_support/urdf/robotiq_hand_e_base_macro.xacro rename to urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro diff --git a/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro similarity index 100% rename from borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro rename to urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro diff --git a/borunte_support/urdf/robotiq_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro similarity index 100% rename from borunte_support/urdf/robotiq_hand_e_macro.xacro rename to urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro diff --git a/fanuc_lrmate200ib_support/fanucLRMate200ib.rights b/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights similarity index 100% rename from fanuc_lrmate200ib_support/fanucLRMate200ib.rights rename to urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights diff --git a/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl similarity index 100% rename from fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl rename to urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl diff --git a/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl similarity index 100% rename from fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl rename to urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl diff --git a/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl similarity index 100% rename from fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl rename to urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl diff --git a/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl similarity index 100% rename from fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl rename to urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl diff --git 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