felixvd / testdiagram-de-en.xml

Last active August 8, 2022 01:05

<mxfile host="app.diagrams.net" modified="2022-08-08T00:21:03.699Z" agent="5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/103.0.0.0 Safari/537.36" etag="Ew5GSj-MdiIKkWVcNSuW" version="20.2.3" type="device"><diagram id="Cpf80pf9YbQiV9m7Jv06" name="Page-1">dZNNU8MgEIZ/DcfMENC2HrWJ9aKX6Hh0aNgGlIQMoSbtrzcpkI+pncmBffZdWN4liG7LbmdYLV41B4UI5h2iCSIkviMEDR/mJ0fWa+pAYST3oglk8gweYk+PkkOzEFqtlZX1Eua6qiC3C8aM0e1SdtBqeWrNCrgCWc7UNf2U3ApHN/d44i8gCxFOjrHPlCyIPWgE47qdIZoiujVaW7cquy2owbzgi6t7vpEdGzNQ2X8K9P578INgxfb9TC6CtCqUbISrvPAvqKKP7GaWQ5SkLpvA0Ta5z4Ym+NuZKmItfuCHolo9vv9EWRSPlxubbuwpGNoKaSGrWT7Ebf9oEH0Sthw6jPul2/8XjIXu5kXnJ+xAl2DNqZf4Ahoc90+ObHzcTgOMg0bMhrfyjPk3U4xbT7b2C3+rEHqjQzgN9CKd/RY0/QM=</diagram></mxfile>

felixvd / drawioGettext.py

Last active September 11, 2024 08:40

Read draw.io diagrams in Python and read/write text fields

	#!/usr/bin/python3

	# Provides gettext-like functionality for drawio files:
	# - Extract translatable strings from drawio diagram files (svg, png, xml) to PO files
	# - Replace translatable strings in drawio diagram file with translations from a PO file
	# - Regenerate the diagram in another language

	# Reads .drawio.svg or .drawio.xml file, prints (or modifies) the `value` fields of the diagram, then writes a new file.
	# Only changes the metadata, not the SVG. Use drawio to generate the SVG from the new metadata, e.g.:
	# drawio -x -e -f svg -o regenerated.drawio.svg changed.drawio.svg

felixvd / autodoc-myst-parser-bug.md

Created June 15, 2022 07:11

Content to reproduce a bug in MyST-Parser

With rST

This command will be rendered normally:

.. autoclass:: sphinx.util.docfields.Field
    :members:
    :noindex:

felixvd / petstore-upload-example.yaml

Created March 30, 2022 02:22

	openapi: 3.0.0
	servers:
	- url: 'http://petstore.swagger.io/v2'
	info:
	description: >-
	This is a sample server Petstore server. For this sample, you can use the api key
	`special-key` to test the authorization filters.
	version: 1.0.0
	title: OpenAPI Petstore
	license:

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

	from math import pi, cos, sin, sqrt, atan2

	def norm2(a, b, c=0.0):
	return sqrt(a2 + b2 + 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)

felixvd / example_scene.urdf.xacro

Created November 2, 2020 15:48

URDF with two differently prefixed UR robots

	<?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 / cartesian_path_service_capability.cpp

Last active October 22, 2020 04:27

Comparing time parametrizations

	/*********************************************************************
	* 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 / ur5e_problem_trajectory.yaml

Last active October 8, 2020 12:06

ur5e_problem_trajectory

	!!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 / 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 )

	# 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

felixvd / gist:1915b3aa511262b0950a53d2bd11d4b9

Last active September 1, 2020 15:32

clang-tidy terminal output

This file has been truncated, but you can view the full file.

	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

Felix von Drigalski felixvd

With rST