felixvd

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felixvd

#!/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

With rST

This command will be rendered normally:

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

felixvd

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

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)

felixvd

<?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

/*********************************************************************
 * 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

!!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

# 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

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