From 56fce1702d4b6daf6ec20d1e0356ff56dcba4ddf Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Thu, 19 Oct 2023 16:18:00 +0200
Subject: [PATCH] just basic reshuffling before clik on ur_rtde + pinocchio is
implemented
---
README.md | 20 ++++++++----------
.../.main.cpp.swp | Bin
.../CMakeLists.txt | 0
.../build/CMakeCache.txt | 0
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.../examples/resources/rtde_input_recipe.txt | 0
.../examples/resources/rtde_output_recipe.txt | 0
.../build/resources/external_control.urscript | 0
.../build/rtde-client | Bin
.../compile_commands.json | 0
.../main.cpp | 1 -
.../resources/rtde_input_recipe.txt | 0
.../resources/rtde_output_recipe.txt | 0
.../rtde_client.cpp | 0
.../spline_example.cpp | 0
.../__pycache__/make_run.cpython-310.pyc | Bin
.../__pycache__/make_run.cpython-311.pyc | Bin
.../arms/another_debug_dh | 0
.../arms/j2n6s300_dh_params | 0
.../arms/j2s7s300_dh_params | 0
.../arms/kinova_jaco_params | 0
.../arms/kuka_lbw_iiwa_dh_params | 0
.../arms/lbr_iiwa_jos_jedan_dh | 0
.../arms/robot_parameters2 | 0
.../arms/testing_dh_parameters | 0
.../arms/ur10e_dh_parameters_from_the_ur_site | 0
.../arms/ur5e_dh | 0
.../ellipse.py | 0
.../embedding_in_tk_sgskip.py | 0
.../main.py | 0
.../make_run.py | 0
.../manipulator_visual_motion_analyzer.py | 0
.../robot_stuff/InverseKinematics.py | 0
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.../InverseKinematics.cpython-311.pyc | Bin
.../__pycache__/drawing.cpython-310.pyc | Bin
.../__pycache__/drawing.cpython-311.pyc | Bin
.../drawing_for_anim.cpython-310.pyc | Bin
.../drawing_for_anim.cpython-311.pyc | Bin
.../__pycache__/follow_curve.cpython-310.pyc | Bin
.../__pycache__/follow_curve.cpython-311.pyc | Bin
.../__pycache__/forw_kinm.cpython-310.pyc | Bin
.../__pycache__/forw_kinm.cpython-311.pyc | Bin
.../__pycache__/inv_kinm.cpython-310.pyc | Bin
.../__pycache__/inv_kinm.cpython-311.pyc | Bin
.../joint_as_hom_mat.cpython-310.pyc | Bin
.../joint_as_hom_mat.cpython-311.pyc | Bin
.../__pycache__/utils.cpython-310.pyc | Bin
.../__pycache__/utils.cpython-311.pyc | Bin
.../webots_api_helper_funs.cpython-310.pyc | Bin
.../webots_api_helper_funs.cpython-311.pyc | Bin
.../robot_stuff/drawing.py | 0
.../robot_stuff/drawing_for_anim.py | 0
.../robot_stuff/follow_curve.py | 0
.../robot_stuff/forw_kinm.py | 0
.../robot_stuff/inv_kinm.py | 0
.../robot_stuff/joint_as_hom_mat.py | 0
.../robot_stuff/utils.py | 0
.../robot_stuff/webots_api_helper_funs.py | 0
.../run_classic_ik_algs.py | 0
90 files changed, 9 insertions(+), 12 deletions(-)
rename {simple_raw_comm => basic_ur_rtde_usage}/.main.cpp.swp (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/CMakeLists.txt (100%)
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rename {simple_raw_comm => basic_ur_rtde_usage}/build/examples/resources/rtde_input_recipe.txt (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/build/examples/resources/rtde_output_recipe.txt (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/build/resources/external_control.urscript (100%)
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rename {simple_raw_comm => basic_ur_rtde_usage}/main.cpp (99%)
rename {simple_raw_comm => basic_ur_rtde_usage}/resources/rtde_input_recipe.txt (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/resources/rtde_output_recipe.txt (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/rtde_client.cpp (100%)
rename {simple_raw_comm => basic_ur_rtde_usage}/spline_example.cpp (100%)
rename {manipulator_viz => initial_python_solution}/__pycache__/make_run.cpython-310.pyc (100%)
rename {manipulator_viz => initial_python_solution}/__pycache__/make_run.cpython-311.pyc (100%)
rename {manipulator_viz => initial_python_solution}/arms/another_debug_dh (100%)
rename {manipulator_viz => initial_python_solution}/arms/j2n6s300_dh_params (100%)
rename {manipulator_viz => initial_python_solution}/arms/j2s7s300_dh_params (100%)
rename {manipulator_viz => initial_python_solution}/arms/kinova_jaco_params (100%)
rename {manipulator_viz => initial_python_solution}/arms/kuka_lbw_iiwa_dh_params (100%)
rename {manipulator_viz => initial_python_solution}/arms/lbr_iiwa_jos_jedan_dh (100%)
rename {manipulator_viz => initial_python_solution}/arms/robot_parameters2 (100%)
rename {manipulator_viz => initial_python_solution}/arms/testing_dh_parameters (100%)
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rename {manipulator_viz => initial_python_solution}/robot_stuff/drawing_for_anim.py (100%)
rename {manipulator_viz => initial_python_solution}/robot_stuff/follow_curve.py (100%)
rename {manipulator_viz => initial_python_solution}/robot_stuff/forw_kinm.py (100%)
rename {manipulator_viz => initial_python_solution}/robot_stuff/inv_kinm.py (100%)
rename {manipulator_viz => initial_python_solution}/robot_stuff/joint_as_hom_mat.py (100%)
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diff --git a/README.md b/README.md
index 4b77358..20f3f9e 100644
--- a/README.md
+++ b/README.md
@@ -1,17 +1,15 @@
# general info
-- ur provided ros driver gets me the implemented reading that i want,
-- but it also uses up some sockets i want control over
-- IDEA1: if possible, use their implementation for reading and send your own commands
-- IDEA2: use the ultra basic python-to-urscript code and just add the force reading
-
+- c++ implementation because python is too slow, and we're just doing math anyway
+- but there are python versions of everything for students who don't need the best performance
+# some specifics
+- using the ur_rtde implementation of the client-side real-time interface for ur robots
+- using pinocchio for dynamics intergration on the client side
+- basic closed-loop inverse kinematics control will be implemented
+- some basic tests will be here as well, other projects built on this will be in separate repos
# TODO
-1. get the absolute simplest possible gripper (open/close via raw socket) + kinematic arm control (movej/l and speedj/l)
-2. get the absolute simplest possible sensors readings -- possible help from applied robotics project group
-3. make a ROS2 node for the arm
-4. make a ROS2 node for the gripper
-5. find a convenient, fast and correct way to integrate dynamics client side
-6. force control on the gripper
+5. find a convenient, fast and correct way to integrate dynamics client side --> pinocchio
+6. force control on the gripper
7. get a project group to do impedance/admittance control
8. see if something needs to be c++ed
9. basic environment simulation: dynamics with lugre friction via straight o.d.e. integration
diff --git a/simple_raw_comm/.main.cpp.swp b/basic_ur_rtde_usage/.main.cpp.swp
similarity index 100%
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rename to basic_ur_rtde_usage/.main.cpp.swp
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similarity index 100%
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similarity index 100%
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similarity index 100%
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/compiler_depend.make b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/compiler_depend.make
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/main.cpp.o b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/main.cpp.o
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/main.cpp.o.d b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/main.cpp.o.d
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diff --git a/simple_raw_comm/build/CMakeFiles/rtde-client.dir/progress.make b/basic_ur_rtde_usage/build/CMakeFiles/rtde-client.dir/progress.make
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rename from simple_raw_comm/build/Makefile
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diff --git a/simple_raw_comm/build/cmake_install.cmake b/basic_ur_rtde_usage/build/cmake_install.cmake
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rename from simple_raw_comm/build/cmake_install.cmake
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diff --git a/simple_raw_comm/build/examples/resources/rtde_input_recipe.txt b/basic_ur_rtde_usage/build/examples/resources/rtde_input_recipe.txt
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similarity index 100%
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rename to basic_ur_rtde_usage/build/examples/resources/rtde_output_recipe.txt
diff --git a/simple_raw_comm/build/resources/external_control.urscript b/basic_ur_rtde_usage/build/resources/external_control.urscript
similarity index 100%
rename from simple_raw_comm/build/resources/external_control.urscript
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diff --git a/simple_raw_comm/build/rtde-client b/basic_ur_rtde_usage/build/rtde-client
similarity index 100%
rename from simple_raw_comm/build/rtde-client
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diff --git a/simple_raw_comm/compile_commands.json b/basic_ur_rtde_usage/compile_commands.json
similarity index 100%
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diff --git a/simple_raw_comm/main.cpp b/basic_ur_rtde_usage/main.cpp
similarity index 99%
rename from simple_raw_comm/main.cpp
rename to basic_ur_rtde_usage/main.cpp
index 4932b72..d7b6cd3 100644
--- a/simple_raw_comm/main.cpp
+++ b/basic_ur_rtde_usage/main.cpp
@@ -116,7 +116,6 @@ int main(int argc, char *argv[]) {
INPUT_RECIPE, &handleRobotProgramState,
HEADLESS, std::move(tool_comm_setup),
CALIBRATION_CHECKSUM));
-
// Once RTDE communication is started, we have to make sure to read from the
// interface buffer, as otherwise we will get pipeline overflows. Therefor, do
// this directly before starting your main loop.
diff --git a/simple_raw_comm/resources/rtde_input_recipe.txt b/basic_ur_rtde_usage/resources/rtde_input_recipe.txt
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diff --git a/simple_raw_comm/rtde_client.cpp b/basic_ur_rtde_usage/rtde_client.cpp
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diff --git a/simple_raw_comm/spline_example.cpp b/basic_ur_rtde_usage/spline_example.cpp
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rename from manipulator_viz/arms/testing_dh_parameters
rename to initial_python_solution/arms/testing_dh_parameters
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--
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