Felix von Drigalski felixvd
felixvd
/ gist:87ce31d7f1053410186d70b5a960a213
Created
July 26, 2020 18:13
Valgrind output 2020-7-27
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| [ INFO] [1595786409.984394846]: Moving to bottom of box with cylinder tip | |
| ==2459== Invalid read of size 16 | |
| ==2459== at 0x3365BB: _mm_loadu_pd (emmintrin.h:131) | |
| ==2459== by 0x3365BB: double __vector(2) Eigen::internal::ploadu<double __vector(2)>(Eigen::internal::unpacket_traits<double __vector(2)>::type const*) (PacketMath.h:336) | |
| ==2459== by 0x378616: ploadt<__vector(2) double, 0> (GenericPacketMath.h:465) | |
| ==2459== by 0x378616: double __vector(2) Eigen::internal::mapbase_evaluator<Eigen::Block<Eigen::Matrix<double, 4, 4, 0, 4, 4> const, 3, 3, false>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >::packet<0, double __vector(2)>(long, long) const (CoreEvaluators.h:860) | |
| ==2459== by 0x3B7D21: Eigen::internal::etor_product_packet_impl<0, 1, Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 4, 4, 0, 4, 4> const, 3, 3, false> >, Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 4, 4, 0, 4, 4> const, 3, 3, false> >, double __vector(2), 0>::run(long, long, Eigen::internal::evaluator<Eigen |
felixvd
/ robotiq_control.py
Created
August 6, 2020 12:09
Debugging notes for Modbus RTU/TCP for Robotiq gripper
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| #!/usr/bin/env python | |
| import os | |
| import sys | |
| import socket | |
| from math import ceil | |
| import time | |
| import threading | |
| from pymodbus.client.sync import ModbusTcpClient | |
| from pymodbus.register_read_message import ReadInputRegistersResponse |
felixvd
/ cmodel_urcap.py
Created
August 20, 2020 02:54
Robotiq gripper control node for UR-mounted grippers with URCap installed on the pendant
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| """Module to control Robotiq's gripper 2F-85.""" | |
| # BASED ON: https://dof.robotiq.com/discussion/1962/programming-options-ur16e-2f-85#latest | |
| # ROS/Python2 port by felixvd | |
| import socket | |
| import threading | |
| import time | |
| from enum import Enum | |
| # Added for ROS |
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| ---------------------------------------------------------------------------------------------------------------------- | |
| Profile: default | |
| Extending: [explicit] /opt/ros/melodic | |
| Workspace: /root/linked_ws_moveit | |
| ---------------------------------------------------------------------------------------------------------------------- | |
| Build Space: [exists] /root/linked_ws_moveit/build | |
| Devel Space: [exists] /root/linked_ws_moveit/devel | |
| Install Space: [unused] /root/linked_ws_moveit/install | |
| Log Space: [missing] /root/linked_ws_moveit/logs | |
| Source Space: [exists] /root/linked_ws_moveit/src |
felixvd
/ gist:1915b3aa511262b0950a53d2bd11d4b9
Last active
September 1, 2020 15:32
clang-tidy terminal output
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| root@felix-OMEN-by-HP-Desktop-PC-880-p1xx:~/ws_moveit# catkin build | |
| ------------------------------------------------------------------------------------------------- | |
| Profile: default | |
| Extending: [explicit] /opt/ros/melodic | |
| Workspace: /root/ws_moveit | |
| ------------------------------------------------------------------------------------------------- | |
| Build Space: [exists] /root/ws_moveit/build | |
| Devel Space: [exists] /root/ws_moveit/devel | |
| Install Space: [exists] /root/ws_moveit/install | |
| Log Space: [exists] /root/ws_moveit/logs |
felixvd
/ activate_ros_control_on_ur.cpp
Created
October 1, 2020 01:32
Boilerplate code to activate ROS control script on UR robots ( https://github.com/UniversalRobots/Universal_Robots_ROS_Driver )
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| # Software License Agreement (BSD License) | |
| # | |
| # Copyright (c) 2020, OMRON SINIC X | |
| # 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 |
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| !!python/object/new:trajectory_msgs.msg._JointTrajectory.JointTrajectory {state: [ | |
| !!python/object/new:std_msgs.msg._Header.Header {state: [1, !!python/object/new:rospy.rostime.Time { | |
| state: [1601987639, 899594068]}, world]}, [shoulder_pan_joint, shoulder_lift_joint, | |
| elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint], | |
| [!!python/object/new:trajectory_msgs.msg._JointTrajectoryPoint.JointTrajectoryPoint { | |
| state: [!!python/tuple [2.981921261631558, -1.27472656822998, 1.3204057526082944, | |
| -1.6164710215873699, 3.075542515700016, -6.91763185490812e-07], !!python/tuple [], | |
| !!python/tuple [], !!python/tuple [], !!python/object/new:genpy.rostime.Duration { | |
| state: [0, 20000000]}]}, !!python/object/new:trajectory_msgs.msg._JointTrajectoryPoint.JointTrajectoryPoint { | |
| state: [!!python/tuple [2.9811632914464603, -1.2739736220142608, 1.3194444408261852, |
felixvd
/ cartesian_path_service_capability.cpp
Last active
October 22, 2020 04:27
Comparing time parametrizations
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| /********************************************************************* | |
| * Software License Agreement (BSD License) | |
| * | |
| * Copyright (c) 2012, Willow Garage, Inc. | |
| * All rights reserved. | |
| * | |
| * Redistribution and use in source and binary forms, with or without | |
| * modification, are permitted provided that the following conditions | |
| * are met: | |
| * |
felixvd
/ example_scene.urdf.xacro
Created
November 2, 2020 15:48
URDF with two differently prefixed UR robots
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| <?xml version="1.0"?> | |
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" | |
| name="example_scene" > | |
| <!-- robot arms --> | |
| <xacro:ur5_robot prefix="a_bot_" joint_limited="false" | |
| shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}" | |
| shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}" | |
| elbow_joint_lower_limit="0.0" elbow_joint_upper_limit="${pi}" | |
| wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}" |
felixvd
/ ur_axis_angle_to_quat.py
Created
July 6, 2021 03:21
Convert between ROS Quaternion and UR (Universal Robot) axis-angle rotation representation
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| from math import pi, cos, sin, sqrt, atan2 | |
| def norm2(a, b, c=0.0): | |
| return sqrt(a**2 + b**2 + c**2) | |
| def ur_axis_angle_to_quat(axis_angle): | |
| # https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Unit_quaternions | |
| angle = norm2(*axis_angle) | |
| axis_normed = [axis_angle[0]/angle, axis_angle[1]/angle, axis_angle[2]/angle] | |
| s = sin(angle/2) |