justagist

# From https://stackoverflow.com/a/36593218/2066118

# Remove the submodule entry from .git/config
git submodule deinit -f path/to/submodule

# Remove the submodule directory from the superproject's .git/modules directory
rm -rf .git/modules/path/to/submodule

# Remove the entry in .gitmodules and remove the submodule directory located at path/to/submodule
git rm -f path/to/submodule

justagist

"""This is a standalone file for interfacing with any robot in pybullet.

FEATURES:
    - Main use-case is for controlling the robot. Not implemented for testing vision/camera stuff.
    - Handles prismatic, revolute and continuous joints.
    - Control in torque (Position, velocity, torque targets) or in direct position mode.
    - Retrieve kinematic and dynamics data for links and robot.
    - Get contact states for specified end-effectors (or links)

TODO:

justagist

"""Provides utility interface class for inverse kinematics and dynamics computations using PINK library.

If the functionalities of this class are required only intermittently and is not super performance-demanding,
the utility functions in ik_utils.py might be enough.

This is a standalone file.
pypi dependencies: [numpy, pin, pin-pink]
"""
from pink import Configuration, solve_ik, custom_configuration_vector
from pink.tasks import FrameTask, PostureTask, Task

justagist

"""Provides utilities for kinematics and dynamics parameters retrievals.

This is a standalone file.
pypi dependencies: [numpy, pin]

FEATURES:
    - Retrieve all dynamics and kinematics info for any robot (urdf).
    - All methods become available after a single call to the `update()` method of the class, which will compute
        all required kinematics and dynamics data, which can be retreived using the other methods in the class.
    - Handles continuous joints in addition to revolute and prismatic joints.

justagist

#!/usr/bin/env python

import rospy
from argparse import ArgumentParser

COMMON_PARAMS = ["franka", "panda", "controller", "control", "camera", "gazebo", "state", "arm", "robot", "dynamic_reconfigure", "interactive_marker", "sim_time"]

def delete_params_containing(string_list, verbose=False):
    """
    Delete ros parameters from server containing strings listed in 'string_list'.

justagist

  # feedback control loop for hybrid force motion control (simplified)
  def compute_cmd(self, time_elapsed=None):

        robot_state    = robot.state() # from FRI

        # calculate the jacobian of the end effector
        jac_ee         = robot_state['jacobian']

        # get position of the end-effector
        curr_pos = robot_state['ee_point']

justagist

Keybase proof

I hereby claim:

• I am justagist on github.
• I am justagist (https://keybase.io/justagist) on keybase.
• I have a public key whose fingerprint is 1663 461F FB34 C742 63E7 9880 7464 276E CBA4 DF8E

To claim this, I am signing this object:

justagist

"""
Download all listed companies from raipro.co.uk.

Saves to a single csv/xlsx file with columns 
"Company Name", "Address", "Phone", "Website"
"""
import re
import urllib.request
import pandas as pd
import html

justagist

import numpy as np

def get_transformation(points1, points2):
    """
    Get the transformation matrix that would define
    frame 2 wrt frame 1, given 4 points from coordinate
    frame 1 and corresponding 4 points from coordinate
    frame 2. Can be used to find the camera frame wrt 
    robot base frame when the end-effector positions are
    collected from the robot as well as the camera

justagist

• Change all sudo pip to pip --user

Franka ROS Interface

• Python 2 + 3 compatibility. Current issue: shebangs for node scripts.
• Disable switching to default controller if current controller is position controller. (maybe?)
• GrippperInterface->close() method bug: if gripper is already closed, the method causes the gripper to open instead.
• Rename set_joint_positions_velocities to set_joint_positions_impedance_ctrl or something more meaningful. Leave old method for backward compatibility.

backburner