├── .clang-format ├── .devcontainer ├── Dockerfile ├── devcontainer.json └── zshrc ├── .git-blame-ignore-revs ├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── 1_bug_report.md │ ├── 2_feature_request.md │ └── 3_need_help.md ├── pull_request_template.md └── workflows │ ├── ci.yml │ └── pre-commit.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── c_cpp_properties.json ├── extensions.json ├── launch.json └── settings.json ├── LICENSE ├── Makefile ├── README.md ├── bitbots_behavior ├── README.md ├── bitbots_blackboard │ ├── CMakeLists.txt │ ├── bitbots_blackboard │ │ ├── __init__.py │ │ ├── body_blackboard.py │ │ └── capsules │ │ │ ├── __init__.py │ │ │ ├── animation_capsule.py │ │ │ ├── costmap_capsule.py │ │ │ ├── game_status_capsule.py │ │ │ ├── kick_capsule.py │ │ │ ├── misc_capsule.py │ │ │ ├── pathfinding_capsule.py │ │ │ ├── team_data_capsule.py │ │ │ └── world_model_capsule.py │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── mypy.ini │ ├── package.xml │ └── setup.py └── bitbots_body_behavior │ ├── bitbots_body_behavior │ ├── __init__.py │ ├── behavior_dsd │ │ ├── __init__.py │ │ ├── actions │ │ │ ├── __init__.py │ │ │ ├── avoid_ball.py │ │ │ ├── change_action.py │ │ │ ├── change_role.py │ │ │ ├── deactivate_hcm.py │ │ │ ├── dribble_forward.py │ │ │ ├── dynup.py │ │ │ ├── forget_ball.py │ │ │ ├── go_to.py │ │ │ ├── go_to_ball.py │ │ │ ├── go_to_block_position.py │ │ │ ├── go_to_corner_kick_position.py │ │ │ ├── go_to_defense_position.py │ │ │ ├── go_to_pass_position.py │ │ │ ├── go_to_role_position.py │ │ │ ├── head_modes.py │ │ │ ├── kick_ball.py │ │ │ ├── play_animation.py │ │ │ ├── speak.py │ │ │ ├── stand.py │ │ │ ├── timer.py │ │ │ ├── turn.py │ │ │ └── walk.py │ │ ├── decisions │ │ │ ├── __init__.py │ │ │ ├── aligned_to_goal.py │ │ │ ├── avoid_ball.py │ │ │ ├── ball_close.py │ │ │ ├── ball_dangerous.py │ │ │ ├── ball_in_defensive_area.py │ │ │ ├── ball_kick_area.py │ │ │ ├── ball_seen.py │ │ │ ├── closest_to_ball.py │ │ │ ├── config_role.py │ │ │ ├── count_active_players_without_goalie.py │ │ │ ├── current_score.py │ │ │ ├── do_once.py │ │ │ ├── dribble_or_kick.py │ │ │ ├── foot_selection.py │ │ │ ├── game_state_decider.py │ │ │ ├── goal_scored.py │ │ │ ├── goalie_active.py │ │ │ ├── goalie_handling_ball.py │ │ │ ├── is_penalized.py │ │ │ ├── kick_off_time_up.py │ │ │ ├── last_player.py │ │ │ ├── pass_started.py │ │ │ ├── reached_goal.py │ │ │ ├── robot_in_own_percent_of_field.py │ │ │ ├── secondary_state_decider.py │ │ │ └── timer.py │ │ ├── demo.dsd │ │ ├── main.dsd │ │ └── minimal.dsd │ └── body_behavior.py │ ├── config │ ├── LICENSE │ ├── __init__.py │ ├── animations.yaml │ ├── body_behavior.yaml │ ├── fanfare.wav │ └── ole.wav │ ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst │ ├── launch │ ├── behavior.launch │ └── behavior_standalone.launch │ ├── package.xml │ ├── resource │ └── bitbots_body_behavior │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── mypy.ini │ ├── test_dsd_file.py │ └── test_mypy.py ├── bitbots_lowlevel ├── bitbots_buttons │ ├── CMakeLists.txt │ ├── config │ │ └── buttons.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── buttons.launch │ ├── package.xml │ └── src │ │ └── button_node.cpp └── bitbots_ros_control │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── pressure_amy.yaml │ ├── pressure_converter.yaml │ ├── pressure_donna.yaml │ ├── pressure_jack.yaml │ ├── pressure_melody.yaml │ ├── pressure_nobot.yaml │ ├── pressure_rory.yaml │ ├── rviz_imu.rviz │ ├── rviz_interactive_imu.rviz │ ├── rviz_pressure.rviz │ ├── rviz_servos.rviz │ └── wolfgang.yaml │ ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst │ ├── include │ └── bitbots_ros_control │ │ ├── bitfoot_hardware_interface.hpp │ │ ├── button_hardware_interface.hpp │ │ ├── core_hardware_interface.hpp │ │ ├── dynamixel_servo_hardware_interface.hpp │ │ ├── hardware_interface.hpp │ │ ├── imu_hardware_interface.hpp │ │ ├── leds_hardware_interface.hpp │ │ ├── pressure_converter.hpp │ │ ├── servo_bus_interface.hpp │ │ ├── utils.hpp │ │ └── wolfgang_hardware_interface.hpp │ ├── launch │ ├── pressure_converter.launch │ ├── ros_control.launch │ ├── ros_control_standalone.launch │ ├── viz_imu.launch │ ├── viz_pressure.launch │ └── viz_servos.launch │ ├── package.xml │ ├── scripts │ ├── battery_led.py │ ├── imu_interactive_marker.py │ ├── led_error_blink.py │ ├── pose_check.py │ ├── pressure_calibration.py │ ├── send_joint_command.py │ ├── send_sinus_command.py │ └── zero_on_button.py │ └── src │ ├── bitfoot_hardware_interface.cpp │ ├── button_hardware_interface.cpp │ ├── core_hardware_interface.cpp │ ├── dynamixel_servo_hardware_interface.cpp │ ├── imu_hardware_interface.cpp │ ├── leds_hardware_interface.cpp │ ├── node.cpp │ ├── pressure_converter.cpp │ ├── servo_bus_interface.cpp │ ├── utils.cpp │ └── wolfgang_hardware_interface.cpp ├── bitbots_misc ├── bitbots_basler_camera │ ├── CMakeLists.txt │ ├── config │ │ ├── camera_calibration_amy.yaml │ │ ├── camera_calibration_default.yaml │ │ ├── camera_calibration_donna.yaml │ │ ├── camera_calibration_jack.yaml │ │ ├── camera_calibration_melody.yaml │ │ ├── camera_calibration_rory.yaml │ │ └── camera_settings.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── basler_camera.launch │ ├── package.xml │ ├── setup.py │ └── src │ │ └── basler_camera.cpp ├── bitbots_bringup │ ├── CMakeLists.txt │ ├── config │ │ ├── monitoring.rviz │ │ └── monitoring_foxglove.json │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── README.md │ │ ├── audio.launch │ │ ├── demo.launch │ │ ├── highlevel.launch │ │ ├── monitoring.launch │ │ ├── monitoring_pc.launch │ │ ├── motion.launch │ │ ├── motion_standalone.launch │ │ ├── rosbag_record.launch.py │ │ ├── simulator_teamplayer.launch │ │ ├── teamplayer.launch │ │ ├── vision.launch │ │ ├── vision_standalone.launch │ │ ├── visualization.launch │ │ └── viz_monitoring.launch │ ├── package.xml │ └── setup.py ├── bitbots_ceiling_cam │ ├── CMakeLists.txt │ ├── README │ ├── config │ │ ├── april_tag_settings.yaml │ │ ├── april_tags.yaml │ │ ├── camera_calibration_ceiling_cam.yaml │ │ └── camera_settings_ceiling_cam.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── ceiling_cam.launch │ ├── package.xml │ └── setup.py ├── bitbots_containers │ ├── README.md │ └── hlvs │ │ ├── Dockerfile │ │ ├── README.md │ │ └── entrypoint.sh ├── bitbots_diagnostic │ ├── CMakeLists.txt │ ├── config │ │ └── analyzers.yaml │ ├── launch │ │ └── aggregator.launch │ ├── package.xml │ └── setup.py ├── bitbots_docs │ ├── CMakeLists.txt │ ├── cmake │ │ └── enable_bitbots_docs.cmake.in │ ├── docs │ │ ├── _static │ │ │ ├── bitbots_cpp_style.xml │ │ │ ├── bitbots_python_style.xml │ │ │ └── logo.png │ │ ├── conf.py │ │ ├── index.rst │ │ └── manual │ │ │ ├── hardware │ │ │ ├── electronics │ │ │ │ ├── bitfoot.rst │ │ │ │ ├── img │ │ │ │ │ ├── bitfoot.jpeg │ │ │ │ │ ├── bitfoot.svg │ │ │ │ │ ├── bitfoot_mounted.jpeg │ │ │ │ │ ├── constant_voltage.jpg │ │ │ │ │ ├── core.png │ │ │ │ │ ├── core_bodge.png │ │ │ │ │ ├── imu_back.jpg │ │ │ │ │ ├── imu_front_empty.jpg │ │ │ │ │ ├── imu_mounted.jpg │ │ │ │ │ ├── speaker_empty.png │ │ │ │ │ ├── speaker_empty.svg │ │ │ │ │ └── speaker_mounted.jpg │ │ │ │ ├── imu_dxl.rst │ │ │ │ ├── register_tables │ │ │ │ │ ├── bitfoot_registers.ods │ │ │ │ │ ├── core_registers.ods │ │ │ │ │ └── imu_registers.ods │ │ │ │ ├── speaker.rst │ │ │ │ ├── wolfgang_constant_voltage.rst │ │ │ │ └── wolfgang_core.rst │ │ │ └── mechanics │ │ │ │ ├── motorcable.rst │ │ │ │ ├── screws.rst │ │ │ │ ├── screws │ │ │ │ └── screws.jpg │ │ │ │ ├── servo_numbers.rst │ │ │ │ └── servos │ │ │ │ ├── servo_numbers.png │ │ │ │ └── servo_numbers.svg │ │ │ ├── software │ │ │ └── coding_style.rst │ │ │ ├── testing │ │ │ ├── competition_preparation.rst │ │ │ ├── sim_test.rst │ │ │ ├── test_motion.rst │ │ │ ├── test_robot_hardware.rst │ │ │ └── testing.rst │ │ │ └── tutorials │ │ │ ├── Docs-How-To.rst │ │ │ ├── cl_simulation_testing_setup.rst │ │ │ ├── competition_wifi.rst │ │ │ ├── configure_and_flash_robot.rst │ │ │ ├── configure_hostnames.rst │ │ │ ├── extrinsic_calibration.rst │ │ │ ├── extrinsic_calibration │ │ │ ├── camera_coordinate_system.png │ │ │ └── right_handed_coordinate_system.png │ │ │ ├── install_software_ros2.rst │ │ │ ├── launch_files.rst │ │ │ ├── lowlevel.rst │ │ │ ├── lowlevel │ │ │ └── pinouts.jpg │ │ │ ├── optimization_with_optuna.rst │ │ │ ├── vscode-dev-container.rst │ │ │ └── vscode-ros2.rst │ ├── files │ │ ├── _static │ │ │ └── logo.png │ │ ├── _templates │ │ │ └── .gitkeep │ │ ├── conf.py │ │ └── index.rst │ └── package.xml ├── bitbots_extrinsic_calibration │ ├── CMakeLists.txt │ ├── config │ │ ├── amy.yaml │ │ ├── default.yaml │ │ ├── donna.yaml │ │ ├── extrinsic_calibration.rviz │ │ ├── jack.yaml │ │ ├── melody.yaml │ │ └── rory.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── calibration.launch │ │ └── viz_extrinsic_calibration.launch │ ├── package.xml │ └── src │ │ └── extrinsic_calibration.cpp ├── bitbots_ipm │ ├── CMakeLists.txt │ ├── config │ │ ├── ipm.rviz │ │ └── soccer_ipm.yaml │ ├── launch │ │ └── ipm.launch │ ├── package.xml │ └── setup.py ├── bitbots_parameter_blackboard │ ├── CMakeLists.txt │ ├── bitbots_parameter_blackboard │ │ ├── __init__.py │ │ └── game_settings.py │ ├── config │ │ ├── default_game_settings.yaml │ │ ├── fields │ │ │ ├── german_open_2024 │ │ │ │ ├── config.yaml │ │ │ │ └── lines.png │ │ │ ├── labor │ │ │ │ ├── config.yaml │ │ │ │ └── lines.png │ │ │ ├── spl │ │ │ │ ├── config.yaml │ │ │ │ └── lines.png │ │ │ └── webots │ │ │ │ ├── config.yaml │ │ │ │ └── lines.png │ │ ├── game_settings.yaml │ │ ├── game_settings_options.yaml │ │ └── global_parameters.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── parameter_blackboard.launch │ └── package.xml ├── bitbots_robot_description │ ├── CMakeLists.txt │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── load_robot_description.launch │ │ └── move_group.py │ └── package.xml ├── bitbots_teleop │ ├── CMakeLists.txt │ ├── bitbots_teleop │ │ ├── __init__.py │ │ └── joy_node.py │ ├── config │ │ └── controller.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ └── index.rst │ ├── launch │ │ └── robot_teleop.launch │ ├── package.xml │ ├── resource │ │ └── bitbots_teleop │ ├── scripts │ │ └── teleop_keyboard.py │ ├── setup.cfg │ └── setup.py ├── bitbots_tts │ ├── bitbots_tts │ │ ├── __init__.py │ │ └── tts.py │ ├── config │ │ └── tts_config.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── tts.launch │ ├── package.xml │ ├── resource │ │ └── bitbots_tts │ ├── scripts │ │ ├── say.sh │ │ ├── send_text.py │ │ └── speak_ip.py │ ├── setup.cfg │ └── setup.py ├── bitbots_utils │ ├── CMakeLists.txt │ ├── bitbots_utils │ │ ├── __init__.py │ │ ├── transforms.py │ │ └── utils.py │ ├── config │ │ └── welcome_art.txt │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_utils │ │ │ └── utils.hpp │ ├── launch │ │ └── welcome.launch │ ├── package.xml │ ├── scripts │ │ ├── check_robot.py │ │ ├── dummy_imu.py │ │ ├── motor_goals_viz_helper.py │ │ ├── publish_workspace_status.py │ │ ├── set_volume.sh │ │ └── tf_delay_plot.cpp │ └── src │ │ └── utils.cpp └── system_monitor │ ├── config │ ├── config.yaml │ └── plotjuggler_layout.xml │ ├── docs │ ├── _static │ │ └── logo.png │ └── index.rst │ ├── launch │ ├── system_monitor.launch │ └── viz.launch │ ├── package.xml │ ├── resource │ └── system_monitor │ ├── setup.cfg │ ├── setup.py │ └── system_monitor │ ├── __init__.py │ ├── cpus.py │ ├── gpu.py │ ├── memory.py │ ├── monitor.py │ └── network_interfaces.py ├── bitbots_motion ├── README.md ├── bitbots_animation_rqt │ ├── bitbots_animation_rqt │ │ ├── __init__.py │ │ ├── animation_recording.py │ │ ├── record_ui.py │ │ └── utils.py │ ├── package.xml │ ├── plugin.xml │ ├── resource │ │ ├── RecordUI.ui │ │ └── bitbots_animation_rqt │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── mypy.ini │ │ └── test_mypy.py ├── bitbots_animation_server │ ├── bitbots_animation_server │ │ ├── __init__.py │ │ ├── animation.py │ │ ├── animation_node.py │ │ ├── resource_manager.py │ │ └── spline_animator.py │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ ├── index.rst │ │ └── manual │ │ │ └── animation.rst │ ├── launch │ │ ├── animation.launch │ │ └── test.launch │ ├── package.xml │ ├── resource │ │ └── bitbots_animation_server │ ├── scripts │ │ ├── animation_hcm_bridge.py │ │ └── run_animation.py │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── mypy.ini │ │ └── test_mypy.py ├── bitbots_dynamic_kick │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── config │ │ ├── kick_config.yaml │ │ └── kick_sim_config.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_dynamic_kick │ │ │ ├── kick_engine.hpp │ │ │ ├── kick_ik.hpp │ │ │ ├── kick_node.hpp │ │ │ ├── kick_pywrapper.hpp │ │ │ ├── kick_utils.hpp │ │ │ ├── stabilizer.hpp │ │ │ └── visualizer.hpp │ ├── launch │ │ ├── dynamic_kick.launch │ │ ├── test.launch │ │ └── viz.launch │ ├── msg │ │ └── KickDebug.msg │ ├── package.xml │ ├── scripts │ │ ├── dummy_client.py │ │ └── interactive_test.py │ ├── setup.py │ └── src │ │ ├── bitbots_dynamic_kick │ │ ├── __init__.py │ │ └── py_kick_wrapper.py │ │ ├── kick_engine.cpp │ │ ├── kick_ik.cpp │ │ ├── kick_node.cpp │ │ ├── kick_pywrapper.cpp │ │ ├── stabilizer.cpp │ │ └── visualizer.cpp ├── bitbots_dynup │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── __init__.py │ ├── bitbots_dynup_py │ │ ├── __init__.py │ │ └── py_dynup_wrapper.py │ ├── config │ │ ├── dynup_config.yaml │ │ ├── dynup_optimization.yaml │ │ ├── dynup_sim.yaml │ │ └── dynup_sim_darwin.yaml │ ├── docs │ │ ├── _static │ │ │ ├── flowchart.png │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_dynup │ │ │ ├── dynup_engine.hpp │ │ │ ├── dynup_ik.hpp │ │ │ ├── dynup_node.hpp │ │ │ ├── dynup_pywrapper.hpp │ │ │ ├── dynup_stabilizer.hpp │ │ │ ├── dynup_utils.hpp │ │ │ └── visualizer.hpp │ ├── launch │ │ ├── dynup.launch │ │ └── test.launch │ ├── msg │ │ ├── DynupEngineDebug.msg │ │ ├── DynupIkOffset.msg │ │ └── DynupPoses.msg │ ├── package.xml │ ├── scripts │ │ └── dummy_client.py │ ├── setup.py │ └── src │ │ ├── __init__.py │ │ ├── dynup_engine.cpp │ │ ├── dynup_ik.cpp │ │ ├── dynup_node.cpp │ │ ├── dynup_pywrapper.cpp │ │ ├── dynup_stabilizer.cpp │ │ ├── dynup_utils.cpp │ │ └── visualizer.cpp ├── bitbots_hcm │ ├── CMakeLists.txt │ ├── bitbots_hcm │ │ ├── __init__.py │ │ ├── hcm_dsd │ │ │ ├── __init__.py │ │ │ ├── actions │ │ │ │ ├── __init__.py │ │ │ │ ├── cancel_goals.py │ │ │ │ ├── change_motor_power.py │ │ │ │ ├── change_motor_torque.py │ │ │ │ ├── play_animation.py │ │ │ │ ├── set_foot_zero.py │ │ │ │ ├── speak.py │ │ │ │ ├── squat.py │ │ │ │ ├── state.py │ │ │ │ ├── stop_walking.py │ │ │ │ ├── wait.py │ │ │ │ └── wait_for.py │ │ │ ├── decisions │ │ │ │ ├── __init__.py │ │ │ │ ├── animation.py │ │ │ │ ├── check_hardware.py │ │ │ │ ├── fallen.py │ │ │ │ ├── falling.py │ │ │ │ ├── kicking.py │ │ │ │ ├── pickup.py │ │ │ │ ├── sim.py │ │ │ │ ├── squat.py │ │ │ │ ├── startup.py │ │ │ │ ├── stop.py │ │ │ │ ├── teaching.py │ │ │ │ └── walking.py │ │ │ ├── hcm.dsd │ │ │ └── hcm_blackboard.py │ │ ├── humanoid_control_module.py │ │ └── type_utils.py │ ├── config │ │ └── hcm_wolfgang.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── hcm.launch │ │ └── test.launch │ ├── mypy.ini │ ├── package.xml │ ├── scripts │ │ └── led.py │ ├── src │ │ └── hcm.cpp │ └── test │ │ └── pytest │ │ └── test_dsd_valid.py ├── bitbots_head_mover │ ├── CMakeLists.txt │ ├── config │ │ └── head_config.yml │ ├── launch │ │ ├── head_mover.launch │ │ ├── head_mover_standalone.launch │ │ └── test.launch │ ├── package.xml │ └── src │ │ └── move_head.cpp ├── bitbots_moveit_bindings │ ├── CMakeLists.txt │ ├── bitbots_moveit_bindings │ │ └── __init__.py │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── package.xml │ ├── setup.py │ ├── src │ │ └── bitbots_moveit_bindings.cpp │ └── test │ │ └── test_moveit_bindings.py ├── bitbots_quintic_walk │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bitbots_quintic_walk_py │ │ ├── __init__.py │ │ └── py_walk.py │ ├── cmake │ │ └── FindEigen.cmake │ ├── config │ │ ├── deep_quintic_pybullet_wolfgang.yaml │ │ ├── deep_quintic_robot.yaml │ │ ├── deep_quintic_webots_chape.yaml │ │ ├── deep_quintic_webots_mrl_hsl.yaml │ │ ├── deep_quintic_webots_op3.yaml │ │ ├── deep_quintic_webots_rfc.yaml │ │ ├── deep_quintic_webots_wolfgang.yaml │ │ ├── optimization.yaml │ │ ├── plotjuggler_layout.xml │ │ ├── robots │ │ │ ├── amy.yaml │ │ │ ├── default.yaml │ │ │ ├── donna.yaml │ │ │ ├── jack.yaml │ │ │ ├── melody.yaml │ │ │ └── rory.yaml │ │ ├── walk.rviz │ │ ├── walking_bez_simulator.yaml │ │ ├── walking_chape_simulator.yaml │ │ ├── walking_gankenkun_simulator.yaml │ │ ├── walking_mrl_hsl_simulator.yaml │ │ ├── walking_nao_simulator.yaml │ │ ├── walking_nugus_simulator.yaml │ │ ├── walking_op3_simulator.yaml │ │ ├── walking_rfc_simulator.yaml │ │ ├── walking_robotis_op2_optimized_single_steps.yaml │ │ ├── walking_robotis_op2_simulator.yaml │ │ ├── walking_sahrv74_simulator.yaml │ │ ├── walking_wolfgang_evaluation.yaml │ │ ├── walking_wolfgang_robot.yaml │ │ ├── walking_wolfgang_robot_no_limits.yaml │ │ ├── walking_wolfgang_simulator.yaml │ │ └── walking_wolfgang_viz.yaml │ ├── docs │ │ ├── _static │ │ │ ├── FSM.png │ │ │ ├── approach.png │ │ │ ├── engine_params.png │ │ │ ├── engine_step.png │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_quintic_walk │ │ │ ├── walk_engine.hpp │ │ │ ├── walk_ik.hpp │ │ │ ├── walk_node.hpp │ │ │ ├── walk_pywrapper.hpp │ │ │ ├── walk_stabilizer.hpp │ │ │ ├── walk_utils.hpp │ │ │ └── walk_visualizer.hpp │ ├── launch │ │ ├── quintic_walk.launch │ │ └── test.launch │ ├── msg │ │ ├── WalkDebug.msg │ │ └── WalkEngineDebug.msg │ ├── package.xml │ ├── scripts │ │ └── test_solvable_speeds.py │ ├── setup.py │ └── src │ │ ├── parameters.yaml │ │ ├── walk_engine.cpp │ │ ├── walk_ik.cpp │ │ ├── walk_node.cpp │ │ ├── walk_pywrapper.cpp │ │ ├── walk_stabilizer.cpp │ │ └── walk_visualizer.cpp ├── bitbots_rl_motion │ ├── CMakeLists.txt │ ├── config │ │ └── rl_walk_sim.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ ├── index.rst │ │ └── manual │ │ │ └── rl_motion.rst │ ├── launch │ │ ├── rl_walk.launch │ │ └── test.launch │ ├── package.xml │ ├── scripts │ │ └── rl_walk.py │ └── setup.py └── bitbots_splines │ ├── CMakeLists.txt │ ├── bitbots_splines │ ├── __init__.py │ ├── polynom.py │ ├── smooth_spline.py │ └── test.py │ ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst │ ├── include │ └── bitbots_splines │ │ ├── abstract_engine.hpp │ │ ├── abstract_ik.hpp │ │ ├── abstract_stabilizer.hpp │ │ ├── abstract_visualizer.hpp │ │ ├── combination.hpp │ │ ├── euler.hpp │ │ ├── newton_binomial.hpp │ │ ├── polynom.hpp │ │ ├── pose_spline.hpp │ │ ├── position_spline.hpp │ │ ├── smooth_spline.hpp │ │ ├── spline.hpp │ │ └── spline_container.hpp │ ├── package.xml │ ├── scripts │ └── plot_splines.py │ ├── setup.py │ └── src │ ├── Spline │ ├── polynom.cpp │ ├── pose_spline.cpp │ ├── position_spline.cpp │ ├── smooth_spline.cpp │ └── spline.cpp │ └── Utils │ ├── combination.cpp │ └── newton_binomial.cpp ├── bitbots_msgs ├── CMakeLists.txt ├── README.md ├── action │ ├── Dynup.action │ ├── Kick.action │ ├── LookAt.action │ └── PlayAnimation.action ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst ├── msg │ ├── Animation.msg │ ├── Audio.msg │ ├── Buttons.msg │ ├── Cpu.msg │ ├── Filesystem.msg │ ├── FootPressure.msg │ ├── HeadMode.msg │ ├── JointCommand.msg │ ├── JointTorque.msg │ ├── NetworkInterface.msg │ ├── PoseWithCertainty.msg │ ├── PoseWithCertaintyArray.msg │ ├── RobotControlState.msg │ ├── RobotRelative.msg │ ├── RobotRelativeArray.msg │ ├── Strategy.msg │ ├── TeamData.msg │ └── Workload.msg ├── package.xml ├── pyproject.toml └── srv │ ├── AccelerometerCalibration.srv │ ├── AddAnimation.srv │ ├── ComplementaryFilterParams.srv │ ├── FootScale.srv │ ├── IMURanges.srv │ ├── Leds.srv │ ├── ManualPenalize.srv │ ├── SetAccelerometerCalibrationThreshold.srv │ ├── SetObjectPose.srv │ ├── SetObjectPosition.srv │ ├── SetTeachingMode.srv │ └── SimulatorPush.srv ├── bitbots_navigation ├── bitbots_localization │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── config.yaml │ │ └── localization.rviz │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_localization │ │ │ ├── MotionModel.hpp │ │ │ ├── ObservationModel.hpp │ │ │ ├── Resampling.hpp │ │ │ ├── RobotState.hpp │ │ │ ├── StateDistribution.hpp │ │ │ ├── localization.hpp │ │ │ ├── map.hpp │ │ │ └── tools.hpp │ ├── launch │ │ ├── localization.launch │ │ └── test.launch │ ├── package.xml │ ├── scripts │ │ └── rviz_localization_sim.py │ ├── setup.py │ ├── src │ │ ├── MotionModel.cpp │ │ ├── ObservationModel.cpp │ │ ├── RobotState.cpp │ │ ├── StateDistribution.cpp │ │ ├── localization.cpp │ │ ├── map.cpp │ │ ├── parameters.yml │ │ └── tools.cpp │ ├── srv │ │ ├── ResetFilter.srv │ │ └── SetPaused.srv │ └── test │ │ └── rostests │ │ ├── test_inital_localization_side.launch │ │ └── test_initial_localization_side.py ├── bitbots_localization_handler │ ├── bitbots_localization_handler │ │ ├── __init__.py │ │ ├── localization_dsd │ │ │ ├── __init__.py │ │ │ ├── actions │ │ │ │ ├── __init__.py │ │ │ │ ├── initialize.py │ │ │ │ ├── pick_up.py │ │ │ │ └── stop.py │ │ │ ├── decisions │ │ │ │ ├── __init__.py │ │ │ │ ├── fall.py │ │ │ │ ├── game_state.py │ │ │ │ ├── pick_up.py │ │ │ │ └── walk.py │ │ │ ├── localization.dsd │ │ │ └── localization_blackboard.py │ │ └── localization_handler.py │ ├── package.xml │ ├── resource │ │ └── bitbots_localization_handler │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── mypy.ini │ │ ├── test_dsd_valid.py │ │ └── test_mypy.py ├── bitbots_odometry │ ├── CMakeLists.txt │ ├── config │ │ ├── odometry_config_amy.yaml │ │ ├── odometry_config_default.yaml │ │ ├── odometry_config_donna.yaml │ │ ├── odometry_config_jack.yaml │ │ ├── odometry_config_melody.yaml │ │ ├── odometry_config_rory.yaml │ │ └── odometry_config_template.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── include │ │ └── bitbots_odometry │ │ │ └── motion_odometry.hpp │ ├── launch │ │ └── odometry.launch │ ├── package.xml │ └── src │ │ ├── motion_odometry.cpp │ │ └── odometry_fuser.cpp └── bitbots_path_planning │ ├── bitbots_path_planning │ ├── .gitignore │ ├── __init__.py │ ├── controller.py │ ├── path_planning.py │ └── planner.py │ ├── config │ ├── path_planning_parameters.yaml │ └── path_planning_viz.rviz │ ├── launch │ └── path_planning.launch │ ├── package.xml │ ├── resource │ └── bitbots_path_planning │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── __init__.py │ ├── __snapshots__ │ └── test_controller.ambr │ ├── mypy.ini │ ├── test_controller.py │ └── test_mypy.py ├── bitbots_robot ├── README.md ├── wolfgang_animations │ ├── CMakeLists.txt │ ├── animations │ │ ├── falling │ │ │ ├── falling_back.json │ │ │ ├── falling_front.json │ │ │ ├── falling_left.json │ │ │ └── falling_right.json │ │ ├── goalie │ │ │ ├── goalie_falling_center.json │ │ │ ├── goalie_falling_left.json │ │ │ ├── goalie_falling_right.json │ │ │ └── goalie_prepare_arms.json │ │ ├── kick │ │ │ ├── kick_left.json │ │ │ └── kick_right.json │ │ ├── misc │ │ │ ├── cheering.json │ │ │ ├── init.json │ │ │ ├── init_sim.json │ │ │ ├── startup.json │ │ │ └── verbeugen.json │ │ ├── standup │ │ │ ├── stand_up_back.json │ │ │ ├── stand_up_front.json │ │ │ ├── turning_front_left.json │ │ │ └── turning_front_right.json │ │ └── throw_in │ │ │ ├── grab_ball.json │ │ │ └── throw.json │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── package.xml │ └── rosdoc.yaml ├── wolfgang_description │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── wolfgang.rviz │ │ ├── wolfgang_control.yaml │ │ └── wolfgang_control_simple_physics.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── rviz.launch │ │ └── standalone.launch │ ├── package.xml │ ├── rosdoc.yaml │ └── urdf │ │ ├── additionalURDF.txt │ │ ├── ankle.scad │ │ ├── ankle.stl │ │ ├── baseplate_odroid_xu4_core.scad │ │ ├── baseplate_odroid_xu4_core.stl │ │ ├── basler_ace_gige_c-mount_v01.scad │ │ ├── basler_ace_gige_c-mount_v01.stl │ │ ├── battery.scad │ │ ├── battery.stl │ │ ├── battery_cage.scad │ │ ├── battery_cage.stl │ │ ├── battery_clip.scad │ │ ├── battery_clip.stl │ │ ├── camera_lower_basler_wolfgang_imu_v2.2.scad │ │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ │ ├── camera_side_basler_wolfgang_v2.2_left.scad │ │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ │ ├── camera_side_basler_wolfgang_v2.2_right.scad │ │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ │ ├── config.json │ │ ├── connector_shoulder.scad │ │ ├── connector_shoulder.stl │ │ ├── core.scad │ │ ├── core.stl │ │ ├── dummy_speaker.scad │ │ ├── dummy_speaker.stl │ │ ├── flex_stollen.scad │ │ ├── flex_stollen.stl │ │ ├── foot_cover.scad │ │ ├── foot_cover.stl │ │ ├── foot_printed_left.scad │ │ ├── foot_printed_left.stl │ │ ├── foot_printed_right.scad │ │ ├── foot_printed_right.stl │ │ ├── hand.scad │ │ ├── hand.stl │ │ ├── hip_u_connector.scad │ │ ├── hip_u_connector.stl │ │ ├── imu_holder.scad │ │ ├── imu_holder.stl │ │ ├── knee_connector.scad │ │ ├── knee_connector.stl │ │ ├── knee_spacer.scad │ │ ├── knee_spacer.stl │ │ ├── lense.scad │ │ ├── lense.stl │ │ ├── load_cell.scad │ │ ├── load_cell.stl │ │ ├── lower_arm.scad │ │ ├── lower_arm.stl │ │ ├── lower_leg.scad │ │ ├── lower_leg.stl │ │ ├── lower_leg_spacer.scad │ │ ├── lower_leg_spacer.stl │ │ ├── motor_connector.scad │ │ ├── motor_connector.stl │ │ ├── mx-106_body.scad │ │ ├── mx-106_body.stl │ │ ├── mx-64-body.scad │ │ ├── mx-64-body.stl │ │ ├── nuc_holder_left_back.scad │ │ ├── nuc_holder_left_back.stl │ │ ├── nuc_holder_left_front.scad │ │ ├── nuc_holder_left_front.stl │ │ ├── nuc_holder_right_back.scad │ │ ├── nuc_holder_right_back.stl │ │ ├── nuc_holder_right_front.scad │ │ ├── nuc_holder_right_front.stl │ │ ├── nuc_main.scad │ │ ├── nuc_main.stl │ │ ├── robot.urdf │ │ ├── sea_connector.scad │ │ ├── sea_connector.stl │ │ ├── sea_ninjaflex.scad │ │ ├── sea_ninjaflex.stl │ │ ├── shoulder_connector.scad │ │ ├── shoulder_connector.stl │ │ ├── speaker_holder.scad │ │ ├── speaker_holder.stl │ │ ├── spring_holder_lower.scad │ │ ├── spring_holder_lower.stl │ │ ├── spring_holder_upper.scad │ │ ├── spring_holder_upper.stl │ │ ├── springholder_bottom.scad │ │ ├── springholder_bottom.stl │ │ ├── springholder_new.scad │ │ ├── springholder_new.stl │ │ ├── thrustbearingholder.scad │ │ ├── thrustbearingholder.stl │ │ ├── torso_bottom.scad │ │ ├── torso_bottom.stl │ │ ├── torso_bumper_left.scad │ │ ├── torso_bumper_left.stl │ │ ├── torso_bumper_right.scad │ │ ├── torso_bumper_right.stl │ │ ├── torso_top.scad │ │ ├── torso_top.stl │ │ ├── upper_arm.scad │ │ ├── upper_arm.stl │ │ ├── upper_arm_spacer.scad │ │ ├── upper_arm_spacer.stl │ │ ├── upper_leg.scad │ │ ├── upper_leg.stl │ │ ├── upper_leg_spacer.scad │ │ ├── upper_leg_spacer.stl │ │ ├── xh-540.scad │ │ └── xh-540.stl └── wolfgang_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_3d.yaml │ └── wolfgang.srdf │ ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst │ ├── package.xml │ └── rosdoc.yaml ├── bitbots_simulation ├── bitbots_pybullet_sim │ ├── CMakeLists.txt │ ├── README.md │ ├── bitbots_pybullet_sim │ │ ├── __init__.py │ │ ├── ros_interface.py │ │ ├── simulation.py │ │ └── terrain.py │ ├── config │ │ └── config.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ └── simulation.launch │ ├── models │ │ └── field │ │ │ ├── config.json │ │ │ ├── field.stl │ │ │ ├── field.urdf │ │ │ ├── goalsally.stl │ │ │ ├── goalsallyback.stl │ │ │ ├── goalsopponent.stl │ │ │ ├── goalsopponentback.stl │ │ │ ├── lines.stl │ │ │ ├── penaltyally.stl │ │ │ ├── penaltyopponent.stl │ │ │ ├── table.stl │ │ │ ├── table2.stl │ │ │ ├── table3.stl │ │ │ └── table4.stl │ ├── package.xml │ ├── scripts │ │ ├── simulation_headless.py │ │ └── simulation_with_gui.py │ └── setup.py ├── bitbots_robocup_api │ ├── .gitignore │ ├── README.md │ ├── bitbots_robocup_api │ │ ├── __init__.py │ │ └── command_proxy.py │ ├── config │ │ ├── bitbots_walk.json │ │ ├── devices.json │ │ └── team.json │ ├── launch │ │ ├── bitbots_robocup_api_bridge.launch │ │ ├── robocup_teamplayer.launch │ │ └── robocup_walk.launch │ ├── package.xml │ ├── resource │ │ └── bitbots_robocup_api │ ├── scripts │ │ └── start.sh │ ├── setup.cfg │ └── setup.py └── bitbots_webots_sim │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── bitbots_webots_sim │ ├── __init__.py │ ├── webots_robot_controller.py │ ├── webots_robot_supervisor_controller.py │ └── webots_supervisor_controller.py │ ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ └── index.rst │ ├── launch │ ├── fake_localization.launch │ ├── imu_filter_sim.launch │ ├── simulation.launch │ └── single_robot_controller.launch │ ├── mypy.ini │ ├── package.xml │ ├── protos │ ├── FreeCamera.proto │ ├── RoboCupBackground.proto │ ├── RobocupGoal.proto │ ├── RobocupSoccerField.proto │ ├── RobocupTexturedSoccerBall.proto │ ├── Wolfgang_meshes │ │ ├── ankle.stl │ │ ├── baseplate_odroid_xu4_core.stl │ │ ├── basler_ace_gige_c-mount_v01.stl │ │ ├── battery.stl │ │ ├── battery_cage.stl │ │ ├── battery_clip.stl │ │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ │ ├── connector_shoulder.stl │ │ ├── core.stl │ │ ├── dummy_speaker.stl │ │ ├── flex_stollen.stl │ │ ├── foot_cover.stl │ │ ├── foot_printed_left.stl │ │ ├── foot_printed_right.stl │ │ ├── hand.stl │ │ ├── hip_u_connector.stl │ │ ├── imu_holder.stl │ │ ├── knee_connector.stl │ │ ├── knee_spacer.stl │ │ ├── lense.stl │ │ ├── load_cell.stl │ │ ├── lower_arm.stl │ │ ├── lower_leg.stl │ │ ├── lower_leg_spacer.stl │ │ ├── motor_connector.stl │ │ ├── mx-106_body.stl │ │ ├── mx-64-body.stl │ │ ├── nuc_holder_left_back.stl │ │ ├── nuc_holder_left_front.stl │ │ ├── nuc_holder_right_back.stl │ │ ├── nuc_holder_right_front.stl │ │ ├── nuc_main.stl │ │ ├── sea_connector.stl │ │ ├── sea_ninjaflex.stl │ │ ├── shoulder_connector.stl │ │ ├── speaker_holder.stl │ │ ├── spring_holder_lower.stl │ │ ├── spring_holder_upper.stl │ │ ├── springholder_bottom.stl │ │ ├── springholder_new.stl │ │ ├── thrustbearingholder.stl │ │ ├── torso_bottom.stl │ │ ├── torso_bumper_left.stl │ │ ├── torso_bumper_right.stl │ │ ├── torso_top.stl │ │ ├── upper_arm.stl │ │ ├── upper_arm_spacer.stl │ │ ├── upper_leg.stl │ │ ├── upper_leg_spacer.stl │ │ └── xh-540.stl │ ├── backgrounds │ │ ├── kiara_1_dawn_back.png │ │ ├── kiara_1_dawn_bottom.png │ │ ├── kiara_1_dawn_front.png │ │ ├── kiara_1_dawn_left.png │ │ ├── kiara_1_dawn_right.png │ │ ├── kiara_1_dawn_top.png │ │ ├── paul_lobe_haus_back.png │ │ ├── paul_lobe_haus_bottom.png │ │ ├── paul_lobe_haus_front.png │ │ ├── paul_lobe_haus_left.png │ │ ├── paul_lobe_haus_right.png │ │ ├── paul_lobe_haus_top.png │ │ ├── sepulchral_chapel_rotunda_back.png │ │ ├── sepulchral_chapel_rotunda_bottom.png │ │ ├── sepulchral_chapel_rotunda_front.png │ │ ├── sepulchral_chapel_rotunda_left.png │ │ ├── sepulchral_chapel_rotunda_right.png │ │ ├── sepulchral_chapel_rotunda_top.png │ │ ├── shanghai_riverside_back.hdr │ │ ├── shanghai_riverside_back.png │ │ ├── shanghai_riverside_bottom.hdr │ │ ├── shanghai_riverside_bottom.png │ │ ├── shanghai_riverside_front.hdr │ │ ├── shanghai_riverside_front.png │ │ ├── shanghai_riverside_left.hdr │ │ ├── shanghai_riverside_left.png │ │ ├── shanghai_riverside_right.hdr │ │ ├── shanghai_riverside_right.png │ │ ├── shanghai_riverside_top.hdr │ │ ├── shanghai_riverside_top.png │ │ ├── stadium_back.png │ │ ├── stadium_dry_back.hdr │ │ ├── stadium_dry_back.png │ │ ├── stadium_dry_bottom.hdr │ │ ├── stadium_dry_bottom.png │ │ ├── stadium_dry_front.hdr │ │ ├── stadium_dry_front.png │ │ ├── stadium_dry_left.hdr │ │ ├── stadium_dry_left.png │ │ ├── stadium_dry_right.hdr │ │ ├── stadium_dry_right.png │ │ ├── stadium_top.hdr │ │ ├── stadium_top.png │ │ ├── sunset_jhbcentral_back.png │ │ ├── sunset_jhbcentral_bottom.png │ │ ├── sunset_jhbcentral_front.png │ │ ├── sunset_jhbcentral_left.png │ │ ├── sunset_jhbcentral_right.png │ │ ├── sunset_jhbcentral_top.png │ │ ├── ulmer_muenster_back.png │ │ ├── ulmer_muenster_bottom.png │ │ ├── ulmer_muenster_front.png │ │ ├── ulmer_muenster_left.png │ │ ├── ulmer_muenster_right.png │ │ └── ulmer_muenster_top.png │ ├── ball_textures │ │ ├── LICENSE │ │ ├── europass.jpg │ │ ├── jabulani.jpg │ │ ├── tango.jpg │ │ ├── teamgeist.jpg │ │ └── telstar.jpg │ ├── hl_supervisor │ │ └── hl_supervisor.proto │ ├── lighting │ │ ├── RoboCupMainLight.proto │ │ ├── RoboCupOffLight.proto │ │ ├── RoboCupTopLight.proto │ │ └── icons │ │ │ ├── RoboCupMainLight.png │ │ │ ├── RoboCupOffLight.png │ │ │ └── RoboCupTopLight.png │ ├── robots │ │ └── Wolfgang │ │ │ ├── Wolfgang.proto │ │ │ ├── WolfgangOptimization.proto │ │ │ ├── WolfgangRobocup.proto │ │ │ ├── Wolfgang_meshes │ │ │ ├── Wolfgang_ankleMesh.proto │ │ │ ├── Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto │ │ │ ├── Wolfgang_batteryMesh.proto │ │ │ ├── Wolfgang_battery_cageMesh.proto │ │ │ ├── Wolfgang_battery_clipMesh.proto │ │ │ ├── Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto │ │ │ ├── Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto │ │ │ ├── Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto │ │ │ ├── Wolfgang_connector_shoulderMesh.proto │ │ │ ├── Wolfgang_coreMesh.proto │ │ │ ├── Wolfgang_dummy_speakerMesh.proto │ │ │ ├── Wolfgang_flex_stollenMesh.proto │ │ │ ├── Wolfgang_foot_coverMesh.proto │ │ │ ├── Wolfgang_foot_printed_leftMesh.proto │ │ │ ├── Wolfgang_foot_printed_rightMesh.proto │ │ │ ├── Wolfgang_handMesh.proto │ │ │ ├── Wolfgang_hip_u_connectorMesh.proto │ │ │ ├── Wolfgang_imu_holderMesh.proto │ │ │ ├── Wolfgang_knee_connectorMesh.proto │ │ │ ├── Wolfgang_knee_spacerMesh.proto │ │ │ ├── Wolfgang_lenseMesh.proto │ │ │ ├── Wolfgang_load_cellMesh.proto │ │ │ ├── Wolfgang_lower_armMesh.proto │ │ │ ├── Wolfgang_lower_legMesh.proto │ │ │ ├── Wolfgang_lower_leg_spacerMesh.proto │ │ │ ├── Wolfgang_motor_connectorMesh.proto │ │ │ ├── Wolfgang_mx-106_bodyMesh.proto │ │ │ ├── Wolfgang_mx-64-bodyMesh.proto │ │ │ ├── Wolfgang_nuc_holder_left_backMesh.proto │ │ │ ├── Wolfgang_nuc_holder_left_frontMesh.proto │ │ │ ├── Wolfgang_nuc_holder_right_backMesh.proto │ │ │ ├── Wolfgang_nuc_holder_right_frontMesh.proto │ │ │ ├── Wolfgang_nuc_mainMesh.proto │ │ │ ├── Wolfgang_sea_connectorMesh.proto │ │ │ ├── Wolfgang_sea_ninjaflexMesh.proto │ │ │ ├── Wolfgang_shoulder_connectorMesh.proto │ │ │ ├── Wolfgang_speaker_holderMesh.proto │ │ │ ├── Wolfgang_spring_holder_lowerMesh.proto │ │ │ ├── Wolfgang_spring_holder_upperMesh.proto │ │ │ ├── Wolfgang_springholder_bottomMesh.proto │ │ │ ├── Wolfgang_springholder_newMesh.proto │ │ │ ├── Wolfgang_thrustbearingholderMesh.proto │ │ │ ├── Wolfgang_torso_bottomMesh.proto │ │ │ ├── Wolfgang_torso_bumper_leftMesh.proto │ │ │ ├── Wolfgang_torso_bumper_rightMesh.proto │ │ │ ├── Wolfgang_torso_topMesh.proto │ │ │ ├── Wolfgang_upper_armMesh.proto │ │ │ ├── Wolfgang_upper_arm_spacerMesh.proto │ │ │ ├── Wolfgang_upper_legMesh.proto │ │ │ ├── Wolfgang_upper_leg_spacerMesh.proto │ │ │ ├── Wolfgang_xh-540Mesh.proto │ │ │ ├── ankle.stl │ │ │ ├── baseplate_odroid_xu4_core.stl │ │ │ ├── basler_ace_gige_c-mount_v01.stl │ │ │ ├── battery.stl │ │ │ ├── battery_cage.stl │ │ │ ├── battery_clip.stl │ │ │ ├── camera_lower_basler_wolfgang_imu_v2.2.stl │ │ │ ├── camera_side_basler_wolfgang_v2.2_left.stl │ │ │ ├── camera_side_basler_wolfgang_v2.2_right.stl │ │ │ ├── connector_shoulder.stl │ │ │ ├── core.stl │ │ │ ├── dummy_speaker.stl │ │ │ ├── flex_stollen.stl │ │ │ ├── foot_cover.stl │ │ │ ├── foot_printed_left.stl │ │ │ ├── foot_printed_right.stl │ │ │ ├── hand.stl │ │ │ ├── hip_u_connector.stl │ │ │ ├── imu_holder.stl │ │ │ ├── knee_connector.stl │ │ │ ├── knee_spacer.stl │ │ │ ├── lense.stl │ │ │ ├── load_cell.stl │ │ │ ├── lower_arm.stl │ │ │ ├── lower_leg.stl │ │ │ ├── lower_leg_spacer.stl │ │ │ ├── motor_connector.stl │ │ │ ├── mx-106_body.stl │ │ │ ├── mx-64-body.stl │ │ │ ├── nuc_holder_left_back.stl │ │ │ ├── nuc_holder_left_front.stl │ │ │ ├── nuc_holder_right_back.stl │ │ │ ├── nuc_holder_right_front.stl │ │ │ ├── nuc_main.stl │ │ │ ├── sea_connector.stl │ │ │ ├── sea_ninjaflex.stl │ │ │ ├── shoulder_connector.stl │ │ │ ├── speaker_holder.stl │ │ │ ├── spring_holder_lower.stl │ │ │ ├── spring_holder_upper.stl │ │ │ ├── springholder_bottom.stl │ │ │ ├── springholder_new.stl │ │ │ ├── thrustbearingholder.stl │ │ │ ├── torso_bottom.stl │ │ │ ├── torso_bumper_left.stl │ │ │ ├── torso_bumper_right.stl │ │ │ ├── torso_top.stl │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_spacer.stl │ │ │ ├── upper_leg.stl │ │ │ ├── upper_leg_spacer.stl │ │ │ └── xh-540.stl │ │ │ └── Wolfgang_textures │ │ │ ├── WolfgangCarbonFiberAppearance.proto │ │ │ ├── WolfgangMarker.proto │ │ │ ├── WolfgangMetal.proto │ │ │ ├── WolfgangMotor.proto │ │ │ ├── WolfgangNUC.proto │ │ │ ├── WolfgangPaintedMetal.proto │ │ │ ├── WolfgangPlastic.proto │ │ │ ├── carbon_fiber.jpg │ │ │ ├── number_0.png │ │ │ ├── number_1.png │ │ │ ├── number_2.png │ │ │ ├── number_3.png │ │ │ ├── number_4.png │ │ │ └── number_5.png │ └── textures │ │ └── net.png │ ├── scripts │ ├── fix_urdf_for_webots.py │ ├── imu_lut_gen.py │ ├── localization_faker.py │ ├── start_simulator.py │ ├── start_single.py │ └── start_webots_ros_supervisor.py │ ├── setup.py │ └── worlds │ ├── 1_bot.wbt │ ├── 4_bots.wbt │ ├── deep_quintic_wolfgang.wbt │ ├── deep_quintic_wolfgang_fast.wbt │ └── optimization_wolfgang.wbt ├── bitbots_team_communication ├── bitbots_team_communication │ ├── CMakeLists.txt │ ├── bitbots_team_communication │ │ ├── __init__.py │ │ ├── bitbots_team_communication.py │ │ ├── communication.py │ │ └── converter │ │ │ ├── __init__.py │ │ │ ├── message_to_team_data_converter.py │ │ │ ├── robocup_protocol_converter.py │ │ │ └── state_to_message_converter.py │ ├── config │ │ ├── team_comm_marker.rviz │ │ └── team_communication_config.yaml │ ├── docs │ │ ├── _static │ │ │ └── logo.png │ │ ├── conf.py │ │ └── index.rst │ ├── launch │ │ ├── team_comm.launch │ │ ├── team_comm_standalone.launch │ │ └── team_comm_test_marker.launch │ ├── mypy.ini │ ├── package.xml │ ├── scripts │ │ ├── show_team_comm.py │ │ ├── team_comm.py │ │ ├── team_comm_test_marker.py │ │ ├── test_team_comm.py │ │ └── tmux_testing_setup.zsh │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── __init__.py │ │ └── converter │ │ ├── __snapshots__ │ │ ├── test_message_to_team_data_converter.ambr │ │ ├── test_robocup_protocol_converter.ambr │ │ └── test_state_to_message_converter.ambr │ │ ├── test_message_to_team_data_converter.py │ │ ├── test_robocup_protocol_converter.py │ │ └── test_state_to_message_converter.py └── bitbots_team_data_sim_rqt │ ├── bitbots_team_data_sim_rqt │ ├── __init__.py │ └── team_data_ui.py │ ├── package.xml │ ├── plugin.xml │ ├── resource │ ├── RobotTeamDataSimulator.ui │ └── bitbots_team_data_sim_rqt │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── mypy.ini │ └── test_mypy.py ├── bitbots_vision ├── README.md ├── bitbots_vision │ ├── __init__.py │ ├── params.py │ ├── vision.py │ └── vision_modules │ │ ├── __init__.py │ │ ├── candidate.py │ │ ├── debug.py │ │ ├── ros_utils.py │ │ └── yoeo │ │ ├── __init__.py │ │ ├── detectors.py │ │ ├── model_config.py │ │ ├── object_manager.py │ │ ├── utils.py │ │ ├── vision_components.py │ │ └── yoeo_handlers.py ├── config │ ├── visionparams.yaml │ └── visionparams_sim.yaml ├── docs │ ├── _static │ │ └── logo.png │ ├── conf.py │ ├── index.rst │ └── manual │ │ ├── tutorials │ │ ├── basler_camera_setting.rst │ │ ├── train_yolo.rst │ │ ├── tvm.rst │ │ └── yolo_open_vino.rst │ │ └── yoeo_vision.rst ├── launch │ └── vision.launch ├── package.xml ├── resource │ └── bitbots_vision ├── rosdoc.yaml ├── scripts │ ├── extract_from_rosbag.py │ ├── imgclean.sh │ └── rosbag_remapper.py ├── setup.cfg ├── setup.py └── test │ ├── mypy.ini │ └── test_mypy.py ├── bitbots_world_model ├── bitbots_ball_filter │ ├── bitbots_ball_filter │ │ ├── .gitignore │ │ ├── __init__.py │ │ ├── ball_filter.py │ │ └── ball_sim.py │ ├── config │ │ ├── ball_filter_parameters.yaml │ │ └── config.rviz │ ├── launch │ │ └── ball_filter.launch │ ├── package.xml │ ├── resource │ │ └── bitbots_ball_filter │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── mypy.ini │ │ └── test_mypy.py └── bitbots_robot_filter │ ├── bitbots_robot_filter │ ├── __init__.py │ └── filter.py │ ├── config │ └── params.yaml │ ├── launch │ └── robot_filter.launch │ ├── package.xml │ ├── resource │ └── bitbots_robot_filter │ ├── setup.cfg │ ├── setup.py │ └── test │ ├── mypy.ini │ ├── test_copyright.py │ └── test_mypy.py ├── logo.png ├── pyproject.toml ├── requirements ├── common.txt ├── dev.txt └── robot.txt ├── scripts ├── README.md ├── deploy │ ├── bitbot.ans │ ├── deploy_robots.py │ ├── known_targets.yaml │ ├── misc.py │ └── tasks │ │ ├── __init__.py │ │ ├── abstract_task.py │ │ ├── build.py │ │ ├── check_repos.py │ │ ├── configure.py │ │ ├── install.py │ │ ├── launch.py │ │ └── sync.py ├── deploy_robots.py ├── make_basler.sh ├── make_webots.sh ├── ros.plugin.sh ├── ros_bind_robot.sh └── setup.sh ├── sync_includes_wolfgang_nuc.yaml └── workspace.repos /.clang-format: -------------------------------------------------------------------------------- 1 | --- 2 | Language: Cpp 3 | BasedOnStyle: Google 4 | ColumnLimit: 120 5 | -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- 1 | .vscode/settings.json filter=removeFullHomePath 2 | -------------------------------------------------------------------------------- /.github/workflows/pre-commit.yml: -------------------------------------------------------------------------------- 1 | name: Code style checks 2 | 3 | on: 4 | pull_request: 5 | push: 6 | branches: [main] 7 | 8 | jobs: 9 | pre-commit: 10 | runs-on: ubuntu-24.04 11 | steps: 12 | - uses: actions/checkout@v4 13 | - uses: actions/setup-python@v4 14 | - name: Install cppcheck 15 | run: sudo apt install cppcheck -y 16 | - uses: pre-commit/action@v3.0.1 17 | -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | "version": "0.2.0", 3 | "configurations": [ 4 | { 5 | "name": "ROS: Attach", 6 | "type": "ros", 7 | "request": "attach" 8 | } 9 | ] 10 | } -------------------------------------------------------------------------------- /bitbots_behavior/README.md: -------------------------------------------------------------------------------- 1 | # bitbots_behavior 2 | 3 | This is the behavior code of the RoboCup Humanoid League team Hamburg Bit-Bots. 4 | It is build using the dynamic_stack_decider framework (https://github.com/bit-bots/dynamic_stack_decider). 5 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_blackboard/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_blackboard/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_blackboard/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_blackboard/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_blackboard/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup(packages=["bitbots_blackboard"], package_dir={"": "src"}) 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/__init__.py: -------------------------------------------------------------------------------- 1 | from bitbots_body_behavior.behavior_dsd import actions, decisions 2 | 3 | __all__ = ["actions", "decisions"] 4 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | # We need to do this again here because the dsd imports 3 | # the decisions and actions from this package in a standalone way 4 | from beartype.claw import beartype_this_package 5 | 6 | beartype_this_package() 7 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | # We need to do this again here because the dsd imports 3 | # the decisions and actions from this package in a standalone way 4 | from beartype.claw import beartype_this_package 5 | 6 | beartype_this_package() 7 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/config/LICENSE: -------------------------------------------------------------------------------- 1 | Files: fanfare.wav 2 | Copyright: 2008 Robinhood76 3 | License: Attribution NonCommercial 4.0 4 | You are free to share (to copy, distribute and transmit) and to remix (to adapt and modify) as long as you credit the author of the sound and do not use the sound for commercial purposes. 5 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/config/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_body_behavior/config/__init__.py -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/config/fanfare.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_body_behavior/config/fanfare.wav -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/config/ole.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_body_behavior/config/ole.wav -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_body_behavior/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/resource/bitbots_body_behavior: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_behavior/bitbots_body_behavior/resource/bitbots_body_behavior -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_body_behavior 3 | [install] 4 | install_scripts=$base/lib/bitbots_body_behavior 5 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_behavior/bitbots_body_behavior/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_buttons/config/buttons.yaml: -------------------------------------------------------------------------------- 1 | bitbots_buttons: 2 | ros__parameters: 3 | manual_penalty: True 4 | speak_active: True 5 | short_time: 2.0 #[s] 6 | debounce_time: 0.1 #[s] 7 | speak: true 8 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_buttons/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_lowlevel/bitbots_buttons/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_buttons/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | pyapi/modules 13 | 14 | 15 | Indices and tables 16 | ================== 17 | 18 | * :ref:`genindex` 19 | * |modindex| 20 | * :ref:`search` 21 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_buttons/launch/buttons.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/.gitignore: -------------------------------------------------------------------------------- 1 | CMakeLists.txt.user 2 | .kate-swp -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/config/pressure_converter.yaml: -------------------------------------------------------------------------------- 1 | pressure_converter: 2 | ros__parameters: 3 | left_topic: "/foot_pressure_left" 4 | right_topic: "/foot_pressure_right" 5 | average: 5 6 | scale_and_zero_average: 50 7 | cop_threshold: 5.0 8 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/config/pressure_donna.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_lowlevel/bitbots_ros_control/config/pressure_donna.yaml -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/config/pressure_jack.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_lowlevel/bitbots_ros_control/config/pressure_jack.yaml -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_lowlevel/bitbots_ros_control/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/launch/pressure_converter.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/launch/viz_imu.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /bitbots_lowlevel/bitbots_ros_control/launch/viz_servos.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_basler_camera/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_basler_camera/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_basler_camera/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_basler_camera/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | # packages=['bitbots_basler_camera'], 7 | # scripts=['bin/myscript'], 8 | # package_dir={'': 'src'} 9 | ) 10 | 11 | setup(**d) 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_bringup) 3 | 4 | find_package(bitbots_docs REQUIRED) 5 | find_package(ament_cmake REQUIRED) 6 | find_package(ament_cmake_python REQUIRED) 7 | 8 | enable_bitbots_docs() 9 | 10 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 11 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 12 | 13 | ament_package() 14 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_bringup/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/launch/monitoring.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/launch/viz_monitoring.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_bringup/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | 3 | package_name = "bitbots_bringup" 4 | 5 | 6 | setup( 7 | name=package_name, 8 | packages=[], 9 | data_files=[], 10 | install_requires=[ 11 | "setuptools", 12 | ], 13 | zip_safe=True, 14 | keywords=["ROS"], 15 | license="MIT", 16 | ) 17 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ceiling_cam/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_ceiling_cam) 3 | 4 | find_package(bitbots_docs REQUIRED) 5 | find_package(ament_cmake REQUIRED) 6 | 7 | enable_bitbots_docs() 8 | 9 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 10 | 11 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 12 | 13 | ament_package() 14 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ceiling_cam/README: -------------------------------------------------------------------------------- 1 | This package is for setting up the ceiling camera in the bitbots lab. 2 | More information on setup is in the bitbots documentation. 3 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ceiling_cam/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ceiling_cam/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | # packages=['bitbots_ceiling_cam'], 7 | # scripts=['bin/myscript'], 8 | # package_dir={'': 'src'} 9 | ) 10 | 11 | setup(**d) 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_containers/README.md: -------------------------------------------------------------------------------- 1 | # Bit-Bots containers 2 | 3 | This repository contains the necessary files to build the containers used by the bit-bots. 4 | 5 | ## HLVS 6 | 7 | This folder contains the necessary files to build the humanoid league virtual season container. 8 | It contains all robot software and interfaces with the simulation using the [hlvs_player](https://github.com/ros-sports/hlvs_player) interface. 9 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_containers/hlvs/entrypoint.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | source /opt/ros/jazzy/setup.bash 4 | source /colcon_ws/install/setup.bash 5 | 6 | exec "$@" 7 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_diagnostic/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_diagnostic) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | 6 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 7 | 8 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 9 | 10 | ament_package() 11 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_diagnostic/launch/aggregator.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_diagnostic/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup() 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_docs/docs/_static/bitbots_python_style.xml: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_docs/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_docs/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.jpeg: -------------------------------------------------------------------------------- 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cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/amy.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: -0.04 4 | offset_y: 0.0 5 | offset_z: 0.0 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: 0.28 10 | offset_y: 0.06 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/default.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: 0.0 4 | offset_y: 0.0 5 | offset_z: 0.0 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: 0.0 10 | offset_y: 0.0 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/donna.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: -0.08 4 | offset_y: 0.08 5 | offset_z: 0.05 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: 0.05 10 | offset_y: 0.13 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: -0.02 4 | offset_y: 0.0 5 | offset_z: 0.0 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: 0.04 10 | offset_y: 0.01 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/melody.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: 0.0 4 | offset_y: 0.0 5 | offset_z: 0.0 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: 0.0 10 | offset_y: 0.0 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml: -------------------------------------------------------------------------------- 1 | /bitbots_extrinsic_camera_calibration: 2 | ros__parameters: 3 | offset_x: -0.06 4 | offset_y: 0.01 5 | offset_z: 0.0 6 | 7 | /bitbots_extrinsic_imu_calibration: 8 | ros__parameters: 9 | offset_x: -0.03 10 | offset_y: -0.06 11 | offset_z: 0.0 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_extrinsic_calibration/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_extrinsic_calibration/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ipm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_ipm) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | 6 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 7 | 8 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 9 | 10 | ament_package() 11 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_ipm/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup() 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /bitbots_misc/bitbots_parameter_blackboard/config/global_parameters.yaml: -------------------------------------------------------------------------------- 1 | parameter_blackboard: 2 | ros__parameters: 3 | 4 | robot_type_name: Wolfgang 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_parameter_blackboard/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_parameter_blackboard/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_parameter_blackboard/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_robot_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_robot_description) 3 | 4 | find_package(bitbots_docs REQUIRED) 5 | find_package(ament_cmake REQUIRED) 6 | 7 | enable_bitbots_docs() 8 | 9 | install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 10 | 11 | ament_package() 12 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_robot_description/docs/_static/logo.png: 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-------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(bitbots_teleop) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | find_package(bitbots_docs REQUIRED) 6 | find_package(bitbots_msgs REQUIRED) 7 | find_package(rclpy REQUIRED) 8 | 9 | enable_bitbots_docs() 10 | 11 | ament_python_install_package(${PROJECT_NAME}) 12 | 13 | ament_package() 14 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_teleop/bitbots_teleop/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_teleop/bitbots_teleop/__init__.py -------------------------------------------------------------------------------- /bitbots_misc/bitbots_teleop/docs/_static/logo.png: 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_teleop/resource/bitbots_teleop -------------------------------------------------------------------------------- /bitbots_misc/bitbots_teleop/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_teleop 3 | [install] 4 | install_scripts=$base/lib/bitbots_teleop 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/bitbots_tts/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/config/tts_config.yaml: -------------------------------------------------------------------------------- 1 | speaker: 2 | ros__parameters: 3 | # print what it says also to loginfo 4 | print: true 5 | # active audio output 6 | talk: true 7 | # minimum priority for beeing accepted 8 | msg_level: 0 9 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_tts/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | pyapi/modules 13 | 14 | 15 | Indices and tables 16 | ================== 17 | 18 | * :ref:`genindex` 19 | * |modindex| 20 | * :ref:`search` 21 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/resource/bitbots_tts: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_tts/resource/bitbots_tts -------------------------------------------------------------------------------- /bitbots_misc/bitbots_tts/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_tts 3 | [install] 4 | install_scripts=$base/lib/bitbots_tts 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_utils/bitbots_utils/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_utils/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/bitbots_utils/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/bitbots_utils/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_utils/launch/welcome.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /bitbots_misc/bitbots_utils/scripts/set_volume.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | if [[ -n $1 ]]; then 4 | amixer set Master $1 5 | else 6 | amixer set Master 100% 7 | fi >/dev/null 8 | exit 0 9 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/system_monitor/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/launch/system_monitor.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/launch/viz.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/resource/system_monitor: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_misc/system_monitor/resource/system_monitor -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/system_monitor 3 | [install] 4 | install_scripts=$base/lib/system_monitor 5 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/system_monitor/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_misc/system_monitor/system_monitor/memory.py: -------------------------------------------------------------------------------- 1 | import psutil 2 | 3 | 4 | def collect_all(): 5 | """ 6 | :return: (memory_available, memory_used, memory_total) 7 | """ 8 | memory_usage = psutil.virtual_memory() 9 | return (memory_usage.available, memory_usage.used, memory_usage.total) 10 | -------------------------------------------------------------------------------- /bitbots_motion/README.md: -------------------------------------------------------------------------------- 1 | # bitbots_motion 2 | 3 | This folder contains all ROS packages of the RoboCup Humanoid League team Hamburg Bit-Bots which are related to the motion skills of the robot. 4 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_rqt/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_animation_rqt 3 | [install] 4 | install_scripts=$base/lib/bitbots_animation_rqt 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_rqt/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | disable_error_code = attr-defined 7 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_rqt/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_animation_server/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_animation_server 3 | [install] 4 | install_scripts=$base/lib/bitbots_animation_server 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_animation_server/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynamic_kick/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynamic_kick/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | packages=["bitbots_dynamic_kick"], 7 | package_dir={"": "src"}, 8 | ) 9 | 10 | setup(**d) 11 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/__init__.py: -------------------------------------------------------------------------------- 1 | from bitbots_dynamic_kick.py_kick_wrapper import PyKick 2 | 3 | __all__ = [ 4 | "PyKick", 5 | ] 6 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/.gitignore: -------------------------------------------------------------------------------- 1 | # auto-generated documentation 2 | **/docs/_build 3 | **/docs/_out 4 | **/docs/cppapi 5 | **/docs/pyapi 6 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/README.md: -------------------------------------------------------------------------------- 1 | Bit-Bots Dynup 2 | ============== 3 | 4 | This is the dynamic stand up package. 5 | It generates stand-up motion from the front and back, as well as rising from and descending into a squat position. 6 | Full documentation can be found [on our website](http://doku.bit-bots.de/package/bitbots_dynup/latest/). 7 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_dynup/__init__.py -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/bitbots_dynup_py/__init__.py: -------------------------------------------------------------------------------- 1 | # from bitbots_dynup.py_dynup_wrapper import PyDynup 2 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/docs/_static/flowchart.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_dynup/docs/_static/flowchart.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_dynup/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/msg/DynupIkOffset.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | # offset between goal position and position computed by running FK on the IK results 4 | geometry_msgs/Pose left_foot_ik_offset 5 | geometry_msgs/Pose right_foot_ik_offset 6 | geometry_msgs/Pose left_hand_ik_offset 7 | geometry_msgs/Pose right_hand_ik_offset 8 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/msg/DynupPoses.msg: -------------------------------------------------------------------------------- 1 | # 2 | # Message containing all current poses. 3 | # 4 | 5 | std_msgs/Header header 6 | 7 | geometry_msgs/Pose l_leg_pose 8 | geometry_msgs/Pose r_leg_pose 9 | geometry_msgs/Pose l_arm_pose 10 | geometry_msgs/Pose r_arm_pose -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup(packages=["bitbots_dynup"], scripts=["scripts"], package_dir={"": "src"}) 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_dynup/src/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_dynup/src/__init__.py -------------------------------------------------------------------------------- /bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py: -------------------------------------------------------------------------------- 1 | from bitbots_hcm.hcm_dsd import actions, decisions, hcm_blackboard 2 | 3 | __all__ = ["actions", "decisions", "hcm_blackboard"] 4 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_hcm/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_hcm/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_hcm/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_head_mover/launch/head_mover.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_moveit_bindings/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_moveit_bindings/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_moveit_bindings/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup 2 | 3 | setup( 4 | name="bitbots_moveit_bindings", 5 | packages=["bitbots_moveit_bindings"], 6 | zip_safe=True, 7 | keywords=["ROS"], 8 | license="MIT", 9 | ) 10 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/__init__.py -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/__init__.py: -------------------------------------------------------------------------------- 1 | # from bitbots_quintic_walk.py_walk_wrapper import PyWalk 2 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/amy.yaml: -------------------------------------------------------------------------------- 1 | # This file contains robot specific overrides to account for slight the differences in the robots. 2 | 3 | walking: 4 | ros__parameters: 5 | engine: 6 | trunk_x_offset: -0.01 7 | node: 8 | x_bias: -0.01 9 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/default.yaml: -------------------------------------------------------------------------------- 1 | # Empty placeholder file if no robot is specified 2 | # DO NOT USE THIS FILE TO CHANGE PARAMETERS 3 | # Use the general config file instead 4 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml: -------------------------------------------------------------------------------- 1 | # This file contains robot specific overrides to account for slight the differences in the robots. 2 | 3 | walking: 4 | ros__parameters: 5 | engine: 6 | trunk_x_offset: 0.01 7 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml: -------------------------------------------------------------------------------- 1 | # This file contains robot specific overrides to account for slight the differences in the robots. 2 | 3 | walking: 4 | ros__parameters: 5 | engine: 6 | trunk_x_offset: 0.0 7 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/melody.yaml: -------------------------------------------------------------------------------- 1 | # This file contains robot specific overrides to account for slight the differences in the robots. 2 | 3 | walking: 4 | ros__parameters: 5 | engine: 6 | trunk_x_offset: 0.0 7 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/config/robots/rory.yaml: -------------------------------------------------------------------------------- 1 | # This file contains robot specific overrides to account for slight the differences in the robots. 2 | 3 | walking: 4 | ros__parameters: 5 | engine: 6 | trunk_x_offset: -0.005 7 | 8 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_quintic_walk/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup(packages=["bitbots_quintic_walk"], scripts=["scripts"], package_dir={"": "src"}) 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_rl_motion/config/rl_walk_sim.yaml: -------------------------------------------------------------------------------- 1 | rl_walk: 2 | ros__parameters: 3 | model_folder: 'webots_neu' 4 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_rl_motion/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_rl_motion/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_rl_motion/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_rl_motion/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | packages=["bitbots_rl_motion"], 7 | # scripts=['bin/myscript'], 8 | package_dir={"": "src"}, 9 | ) 10 | 11 | setup(**d) 12 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_splines/bitbots_splines/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_splines/bitbots_splines/test.py: -------------------------------------------------------------------------------- 1 | from bitbots_splines.smooth_spline import SmoothSpline 2 | 3 | s = SmoothSpline() 4 | 5 | s.add_point(0, 0, 0, 0) 6 | s.add_point(1, 1, 0, 0) 7 | s.compute_splines() 8 | print(s.pos(0.5)) 9 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_splines/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_motion/bitbots_splines/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_motion/bitbots_splines/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_motion/bitbots_splines/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | packages=["bitbots_splines"], 7 | # scripts=['bin/myscript'], 8 | package_dir={"": "src"}, 9 | ) 10 | 11 | setup(**d) 12 | -------------------------------------------------------------------------------- /bitbots_msgs/README.md: -------------------------------------------------------------------------------- 1 | # bitbots_msgs 2 | ROS package with message definitions from the RoboCup team Hamburg Bit-Bots 3 | -------------------------------------------------------------------------------- /bitbots_msgs/action/LookAt.action: -------------------------------------------------------------------------------- 1 | geometry_msgs/PointStamped look_at_position 2 | --- 3 | bool success 4 | --- 5 | int32 percentage_done 6 | float64 distance_to_goal -------------------------------------------------------------------------------- /bitbots_msgs/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_msgs/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_msgs/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/Animation.msg: -------------------------------------------------------------------------------- 1 | # Is this animation coming from the humanoid control module and can be executed during all robot states 2 | bool from_hcm 3 | 4 | bitbots_msgs/JointCommand joint_command 5 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/Buttons.msg: -------------------------------------------------------------------------------- 1 | # This message tells with buttons are pressed on the IMU and Button module (https://github.com/bit-bots/bitbots_imu_dxl) 2 | 3 | bool button1 4 | bool button2 5 | bool button3 6 | 7 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/Cpu.msg: -------------------------------------------------------------------------------- 1 | string cpu_name 2 | float32 cpu_usage 3 | 4 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/Filesystem.msg: -------------------------------------------------------------------------------- 1 | string mount_point 2 | int32 bytes_available 3 | int32 bytes_used 4 | 5 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/FootPressure.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | # 8 values for the 8 sensors 3 | # names are made of which foot, which side on the foot and front/back 4 | float64 left_back 5 | float64 left_front 6 | float64 right_front 7 | float64 right_back 8 | 9 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/JointCommand.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header header 2 | 3 | # Mark this message so it has prio 4 | bool from_hcm 5 | 6 | string[] joint_names 7 | float64[] positions 8 | 9 | # set to -1.0 for maximum 10 | float64[] velocities 11 | float64[] accelerations 12 | float64[] max_currents 13 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/JointTorque.msg: -------------------------------------------------------------------------------- 1 | string[] joint_names 2 | bool[] on -------------------------------------------------------------------------------- /bitbots_msgs/msg/PoseWithCertainty.msg: -------------------------------------------------------------------------------- 1 | # A pose with covariance (accuracy of the pose) and confidence (accuracy of the detection) 2 | geometry_msgs/PoseWithCovariance pose 3 | float32 confidence 4 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/PoseWithCertaintyArray.msg: -------------------------------------------------------------------------------- 1 | # An array of poses with certainty with a header for global reference. 2 | std_msgs/Header header 3 | bitbots_msgs/PoseWithCertainty[] poses 4 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/RobotRelativeArray.msg: -------------------------------------------------------------------------------- 1 | # The header is included to get the time stamp for later use in tf 2 | std_msgs/Header header 3 | 4 | RobotRelative[] robots 5 | -------------------------------------------------------------------------------- /bitbots_msgs/msg/Workload.msg: -------------------------------------------------------------------------------- 1 | string hostname 2 | 3 | Cpu[] cpus 4 | int32 running_processes 5 | float32 cpu_usage_overall 6 | 7 | float32 gpu_load 8 | int64 gpu_vram_used 9 | int64 gpu_vram_total 10 | float32 gpu_temperature 11 | 12 | int64 memory_available 13 | int64 memory_used 14 | int64 memory_total 15 | 16 | Filesystem[] filesystems 17 | NetworkInterface[] network_interfaces 18 | 19 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/AccelerometerCalibration.srv: -------------------------------------------------------------------------------- 1 | 2 | --- 3 | 4 | float32[] biases 5 | float32[] scales 6 | float32 threshold -------------------------------------------------------------------------------- /bitbots_msgs/srv/AddAnimation.srv: -------------------------------------------------------------------------------- 1 | string json 2 | 3 | --- 4 | 5 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/ComplementaryFilterParams.srv: -------------------------------------------------------------------------------- 1 | bool do_adaptive_gain 2 | bool do_bias_estimation 3 | float32 bias_alpha 4 | float32 accel_gain 5 | 6 | --- -------------------------------------------------------------------------------- /bitbots_msgs/srv/FootScale.srv: -------------------------------------------------------------------------------- 1 | int8 L_F = 0 2 | int8 L_B = 1 3 | int8 R_F = 2 4 | int8 R_B = 3 5 | 6 | int8 sensor 7 | float32 weight 8 | --- 9 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/IMURanges.srv: -------------------------------------------------------------------------------- 1 | int8 ACCEL_RANGE_2G = 0 2 | int8 ACCEL_RANGE_4G = 1 3 | int8 ACCEL_RANGE_8G = 2 4 | int8 ACCEL_RANGE_16G = 3 5 | 6 | int8 GYRO_RANGE_250DPS = 0 7 | int8 GYRO_RANGE_500DPS = 1 8 | int8 GYRO_RANGE_1000DPS = 2 9 | int8 GYRO_RANGE_2000DPS = 3 10 | 11 | int8 gyro_range 12 | int8 accel_range 13 | 14 | --- 15 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/Leds.srv: -------------------------------------------------------------------------------- 1 | std_msgs/ColorRGBA[] leds 2 | --- 3 | # return previous color of leds in case the caller wants to reset them to this color 4 | std_msgs/ColorRGBA[] previous_leds 5 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/ManualPenalize.srv: -------------------------------------------------------------------------------- 1 | #request 2 | 3 | uint8 OFF = 0 4 | uint8 ON = 1 5 | uint8 SWITCH = 2 6 | 7 | uint8 penalize 8 | 9 | --- 10 | #response 11 | 12 | # returns false if was already in this state 13 | bool success -------------------------------------------------------------------------------- /bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv: -------------------------------------------------------------------------------- 1 | float32 threshold 2 | --- -------------------------------------------------------------------------------- /bitbots_msgs/srv/SetObjectPose.srv: -------------------------------------------------------------------------------- 1 | string object_name 2 | geometry_msgs/Pose pose 3 | --- 4 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/SetObjectPosition.srv: -------------------------------------------------------------------------------- 1 | geometry_msgs/Point position 2 | --- 3 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/SetTeachingMode.srv: -------------------------------------------------------------------------------- 1 | int8 OFF = 0 2 | int8 HOLD = 1 3 | int8 TEACH = 2 4 | int8 SWITCH = 3 # Activates the taching mode if it is off otherwise it cycles between HOLD and TEACH. 5 | 6 | int8 state 7 | 8 | --- 9 | 10 | bool success 11 | -------------------------------------------------------------------------------- /bitbots_msgs/srv/SimulatorPush.srv: -------------------------------------------------------------------------------- 1 | geometry_msgs/Vector3 force 2 | bool relative 3 | string robot "amy" 4 | --- 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization/README.md: -------------------------------------------------------------------------------- 1 | # bitbots_localization 2 | 3 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_navigation/bitbots_localization/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup(packages=["bitbots_localization"], package_dir={"": "src"}) 6 | 7 | setup(**d) 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization/srv/SetPaused.srv: -------------------------------------------------------------------------------- 1 | # Pauses and unpauses the localisation system e.g. if the robot falls down. 2 | bool paused 3 | --- 4 | bool success 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/__init__.py: -------------------------------------------------------------------------------- 1 | from bitbots_localization_handler.localization_dsd import actions, decisions, localization_blackboard 2 | 3 | __all__ = ["actions", "decisions", "localization_blackboard"] 4 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_localization_handler 3 | [install] 4 | install_scripts=$base/lib/bitbots_localization_handler 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_localization_handler/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_amy.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 1.0 6 | yaw_scaling: 0.6 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_default.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 0.9 6 | yaw_scaling: 1.0 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_donna.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 1.0 6 | yaw_scaling: 0.6 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_jack.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 1.0 6 | yaw_scaling: 0.6 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_melody.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 1.0 6 | yaw_scaling: 0.6 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/config/odometry_config_rory.yaml: -------------------------------------------------------------------------------- 1 | motion_odometry: 2 | ros__parameters: 3 | x_forward_scaling: 1.25 4 | x_backward_scaling: 0.95 5 | y_scaling: 1.0 6 | yaw_scaling: 0.6 7 | publish_walk_odom_tf: false 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_navigation/bitbots_odometry/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_odometry/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/bitbots_path_planning/.gitignore: -------------------------------------------------------------------------------- 1 | path_planning_parameters.py 2 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/launch/path_planning.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_path_planning 3 | [install] 4 | install_scripts=$base/lib/bitbots_path_planning 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/test/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_navigation/bitbots_path_planning/test/__init__.py -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | ignore_missing_imports = true 5 | -------------------------------------------------------------------------------- /bitbots_navigation/bitbots_path_planning/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_animations/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(wolfgang_animations) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | find_package(bitbots_docs REQUIRED) 6 | 7 | enable_bitbots_docs() 8 | 9 | install(DIRECTORY animations DESTINATION share/${PROJECT_NAME}) 10 | 11 | ament_package() 12 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_animations/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_animations/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_animations/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_animations/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/README.md: -------------------------------------------------------------------------------- 1 | This URDF is generated using https://github.com/bit-bots/onshape-to-robot 2 | 3 | Don't change it manually. -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/ankle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/ankle.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/baseplate_odroid_xu4_core.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("baseplate_odroid_xu4_core.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/baseplate_odroid_xu4_core.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/baseplate_odroid_xu4_core.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/basler_ace_gige_c-mount_v01.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("basler_ace_gige_c-mount_v01.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-(42/2+12),0]){ 5 | cube([29, 42, 29], center=true); 6 | } 7 | translate([0,-6,0]){ 8 | rotate([90,0,0]){ 9 | cylinder(r=14, h=12, center=true); 10 | } 11 | } 12 | // sphere(10); 13 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/basler_ace_gige_c-mount_v01.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/basler_ace_gige_c-mount_v01.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-20,0]) 5 | { 6 | cube([140, 40, 44], center=true); 7 | } 8 | // cylinder(r=10, h=10, center=true); 9 | // sphere(10); 10 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/battery.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery_cage.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery_cage.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery_cage.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/battery_cage.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery_clip.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("battery_clip.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/battery_clip.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/battery_clip.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/camera_lower_basler_wolfgang_imu_v2.2.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("camera_side_basler_wolfgang_v2.2_left.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([-72.71864,-15,-2.10102]){ 5 | cube([127, 55, 7.10102]); 6 | }// cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_left.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("camera_side_basler_wolfgang_v2.2_right.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([-72.71864,-15,-25.0]){ 8 | cube([127, 55, 7.10102]); 9 | } -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/camera_side_basler_wolfgang_v2.2_right.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/connector_shoulder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("connector_shoulder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0,9.3/2]){ 5 | cube([36, 40, 9.3], center=true); 6 | }// cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/connector_shoulder.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/core.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("core.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/core.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/core.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/dummy_speaker.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("dummy_speaker.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/dummy_speaker.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/dummy_speaker.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/flex_stollen.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("flex_stollen.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,5]){ 6 | cylinder(r=6, h=10, center=true); 7 | } 8 | sphere(6); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/flex_stollen.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/flex_stollen.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/foot_cover.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/foot_cover.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/foot_printed_left.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/foot_printed_right.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/foot_printed_right.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/hand.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/hand.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/hip_u_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/hip_u_connector.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/imu_holder.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("imu_holder.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/imu_holder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/imu_holder.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/knee_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("knee_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,17.98262/2-4,-(24.5/2-30.34724)]){ 5 | cube([42, 17.98262, 24.5], center=true); 6 | } 7 | 8 | translate([0,24.81250/2-4,-(4/2-30.34724)]){ 9 | cube([34, 24.81250, 4], center=true); 10 | } 11 | // cylinder(r=10, h=10, center=true); 12 | // sphere(10); 13 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/knee_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/knee_connector.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/knee_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("knee_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([-27.97000, -19.019, 154.130]){ 6 | rotate([90,0,0]){ 7 | cylinder(r=18, h=1.5, center=true); 8 | } 9 | } 10 | // sphere(10); 11 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/knee_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lense.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lense.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // sphere(10); 6 | rotate([90, 0, 0]){ 7 | translate([0,0,16.2/2]){ 8 | cylinder(r=43/2, h=16.2, center=true); 9 | } 10 | translate([0,0,16.2+12/2]){ 11 | cylinder(r=33.5/2, h=12, center=true); 12 | } 13 | } -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lense.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/lense.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/load_cell.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("load_cell.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0,2]){ 5 | cube([8, 40, 4], center=true); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/load_cell.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/load_cell.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lower_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/lower_arm.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lower_leg.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/lower_leg.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("lower_leg_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([54-64.485/2,-30.75000+33.5/2,51/2]){ 5 | cube([64.48500, 33.50000, 51], center=true); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/motor_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("motor_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-6,0]){ 5 | cube([28, 6, 5.7]); 6 | } 7 | translate([0,-6,5.7]){ 8 | cube([28, 3.5, 5.9]); 9 | } 10 | // cylinder(r=10, h=10, center=true); 11 | // sphere(10); 12 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/motor_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/motor_connector.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/mx-106_body.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("mx-106_body.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,0, -(65.1/2)+14.5]){ 5 | cube([40.2, 46, 65.10000], center=true);} 6 | // cylinder(r=10, h=10, center=true); 7 | // sphere(10); 8 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/mx-106_body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/mx-106_body.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/mx-64-body.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("mx-64-body.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0, 0, -(61.1/2)+13]){ 5 | cube([40.2, 41, 61.1], center=true); 6 | } 7 | 8 | // cylinder(r=10, h=10, center=true); 9 | // sphere(10); 10 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/mx-64-body.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/mx-64-body.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_left_back.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_left_front.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_right_back.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("nuc_holder_right_front.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/sea_connector.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("sea_connector.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,2.5]){ 6 | cylinder(r=25, h=5, center=true); 7 | } 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/sea_connector.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/sea_connector.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("sea_ninjaflex.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | translate([0,0,4.5]){ 6 | cylinder(r=25, h=9, center=true); 7 | } 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("spring_holder_lower.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | 9 | translate([-17.3,-6.80000-9.1,89.92880-3]){ 10 | rotate([0,-5,0]){ 11 | cube([14, 9.1, 31]); 12 | } 13 | } -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("spring_holder_upper.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | cylinder(r=14, h=22); 6 | // sphere(10); 7 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("springholder_bottom.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | rotate([90,0,0]){ 9 | cylinder(r=15, h=2.7); 10 | } 11 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/springholder_new.stl: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/torso_bottom.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("torso_bottom.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | translate([0,-150,0]){ 5 | cube([120, 150, 80]); 6 | } 7 | // cylinder(r=10, h=10, center=true); 8 | // sphere(10); 9 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/torso_bottom.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/torso_bottom.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/torso_bumper_left.stl: 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-------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_arm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/upper_arm.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("upper_arm_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([-4,-23+4,0]){ 9 | cube([37.60000, 23, 46]); 10 | } -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_leg.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/upper_leg.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("upper_leg_spacer.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | 8 | translate([-1.65,-4,0]){ 9 | cube([35.15, 38, 53]); 10 | } -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/xh-540.scad: -------------------------------------------------------------------------------- 1 | % scale(1000) import("xh-540.stl"); 2 | 3 | // Append pure shapes (cube, cylinder and sphere), e.g: 4 | // cube([10, 10, 10], center=true); 5 | // cylinder(r=10, h=10, center=true); 6 | // sphere(10); 7 | translate([0,-58.5/2+13.75,0]){ 8 | cube([34, 58.5, 44], center=true); 9 | } 10 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_description/urdf/xh-540.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_description/urdf/xh-540.stl -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: wolfgang_description 4 | relative_path: urdf/robot.urdf 5 | xacro_args: "" 6 | SRDF: 7 | relative_path: config/wolfgang.srdf 8 | CONFIG: 9 | author_name: Marc Bestmann 10 | author_email: bestmann@informatik.uni-hamburg.de 11 | generated_timestamp: 1601969583 -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(wolfgang_moveit_config) 3 | 4 | find_package(ament_cmake REQUIRED) 5 | find_package(bitbots_docs REQUIRED) 6 | 7 | enable_bitbots_docs() 8 | 9 | install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) 10 | 11 | ament_package() 12 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - "dummy" 4 | 5 | # This is needed to suppress an error message during every launch 6 | dummy: 7 | sensor_plugin: "~" 8 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_robot/wolfgang_moveit_config/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_robot/wolfgang_moveit_config/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/config/config.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | simulation_active: true 4 | use_sim_time: true 5 | contact_stiffness: -1.0 6 | contact_damping: -1.0 7 | lateral_friction: 1.0 8 | spinning_friction: 0.1 9 | rolling_friction: 0.1 10 | restitution: 0.9 11 | order: 5 12 | cutoff: 10 -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | pyapi/modules 14 | 15 | 16 | Indices and tables 17 | ================== 18 | 19 | * :ref:`genindex` 20 | * |modindex| 21 | * :ref:`search` 22 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/models/field/config.json: -------------------------------------------------------------------------------- 1 | { 2 | "documentId": "7c9b2b33f4117af700005b74", 3 | "outputFormat": "urdf", 4 | "noDynamics": true, 5 | "useFixedLinks": true 6 | } 7 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_pybullet_sim/setup.py: -------------------------------------------------------------------------------- 1 | from distutils.core import setup 2 | 3 | from catkin_pkg.python_setup import generate_distutils_setup 4 | 5 | d = generate_distutils_setup( 6 | packages=["bitbots_pybullet_sim"], 7 | # scripts=['bin/myscript'], 8 | package_dir={"": "src"}, 9 | ) 10 | 11 | setup(**d) 12 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_robocup_api/.gitignore: -------------------------------------------------------------------------------- 1 | *pb2.py 2 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_robocup_api/README.md: -------------------------------------------------------------------------------- 1 | This package bridges between the [official Humanoid League RoboCup Proto3 API](https://cdn.robocup.org/hl/wp/2021/05/v-hsc_simulator_api_v1.0.pdf) and our ROS topics. 2 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/__init__.py: -------------------------------------------------------------------------------- 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/bitbots_simulation/bitbots_webots_sim/.gitignore: -------------------------------------------------------------------------------- 1 | protos/**/*.cache 2 | worlds/.*.wbproj 3 | -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_webots_sim/README.md: -------------------------------------------------------------------------------- 1 | This package provides a Webots simulation environment with ROS topic support for the Wolfgang Robot. 2 | 3 | The model is generated from the URDF by using the urdf2webots package. -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | 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http://www.apache.org/licenses/LICENSE-2.0 4 | # tags: hidden 5 | # Extracted from: wolfgang.urdf 6 | 7 | PROTO WolfgangMotor [ 8 | ] 9 | { 10 | PBRAppearance { 11 | baseColor 0.1 0.1 0.1 12 | roughness 1 13 | metalness 0 14 | } 15 | } -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg -------------------------------------------------------------------------------- /bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_0.png: -------------------------------------------------------------------------------- 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beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/docs/index.rst: -------------------------------------------------------------------------------- 1 | Welcome to |project|'s documentation! 2 | ================================================ 3 | 4 | Description 5 | ----------- 6 | 7 | |description| 8 | 9 | .. toctree:: 10 | :maxdepth: 2 11 | 12 | cppapi/library_root 13 | 14 | 15 | Indices and tables 16 | ================== 17 | 18 | * :ref:`genindex` 19 | * |modindex| 20 | * :ref:`search` 21 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | 7 | # Ignore var-annotations because it is in autogenerated code from protobuf 8 | disable_error_code = var-annotated 9 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/scripts/team_comm.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | import sys 4 | 5 | from bitbots_team_communication.bitbots_team_communication import main 6 | 7 | sys.exit(main()) 8 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_team_communication 3 | [install] 4 | install_scripts=$base/lib/bitbots_team_communication 5 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages, setup 2 | 3 | package_name = "bitbots_team_communication" 4 | 5 | setup( 6 | name=package_name, 7 | packages=find_packages(exclude=["test"]), 8 | install_requires=[ 9 | "setuptools", 10 | ], 11 | tests_require=["pytest", "syrupy"], 12 | ) 13 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_communication/test/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_team_communication/bitbots_team_communication/test/__init__.py -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_data_sim_rqt/resource/bitbots_team_data_sim_rqt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_team_communication/bitbots_team_data_sim_rqt/resource/bitbots_team_data_sim_rqt -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_data_sim_rqt/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_team_data_sim_rqt 3 | [install] 4 | install_scripts=$base/lib/bitbots_team_data_sim_rqt 5 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_data_sim_rqt/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_team_communication/bitbots_team_data_sim_rqt/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_vision/bitbots_vision/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_vision/bitbots_vision/vision_modules/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_vision/bitbots_vision/vision_modules/__init__.py -------------------------------------------------------------------------------- /bitbots_vision/docs/_static/logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_vision/docs/_static/logo.png -------------------------------------------------------------------------------- /bitbots_vision/resource/bitbots_vision: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_vision/resource/bitbots_vision -------------------------------------------------------------------------------- /bitbots_vision/rosdoc.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | - builder: sphinx 3 | sphinx_root_dir: doc -------------------------------------------------------------------------------- /bitbots_vision/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_vision 3 | [install] 4 | install_scripts=$base/lib/bitbots_vision 5 | -------------------------------------------------------------------------------- /bitbots_vision/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | check_untyped_defs = True 5 | ignore_missing_imports = True 6 | -------------------------------------------------------------------------------- /bitbots_vision/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore generate parameter library build artifacts 2 | ball_filter_parameters.py 3 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/launch/ball_filter.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_ball_filter 3 | [install] 4 | install_scripts=$base/lib/bitbots_ball_filter 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | ignore_missing_imports = true 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_ball_filter/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/__init__.py: -------------------------------------------------------------------------------- 1 | # Setting up runtime type checking for this package 2 | from beartype.claw import beartype_this_package 3 | 4 | beartype_this_package() 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/config/params.yaml: -------------------------------------------------------------------------------- 1 | bitbots_robot_filter: 2 | ros__parameters: 3 | # Topics 4 | robot_observation_topic: 'robots_relative' 5 | team_data_topic: 'team_data' 6 | robots_publish_topic: 'robots_relative_filtered' 7 | 8 | filter_frame: 'map' 9 | robot_dummy_size: 0.6 10 | robot_merge_distance: 0.5 11 | robot_storage_time: 10e9 12 | team_data_timeout: 1e9 13 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/bitbots_robot_filter 3 | [install] 4 | install_scripts=$base/lib/bitbots_robot_filter 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/test/mypy.ini: -------------------------------------------------------------------------------- 1 | # Global options: 2 | 3 | [mypy] 4 | ignore_missing_imports = true 5 | -------------------------------------------------------------------------------- /bitbots_world_model/bitbots_robot_filter/test/test_mypy.py: -------------------------------------------------------------------------------- 1 | from pathlib import Path 2 | 3 | import pytest 4 | from ament_mypy.main import main 5 | 6 | 7 | @pytest.mark.mypy 8 | def test_mypy(): 9 | rc = main(argv=["--config", str((Path(__file__).parent / "mypy.ini").resolve())]) 10 | assert rc == 0, "Found code style errors / warnings" 11 | -------------------------------------------------------------------------------- /logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bit-bots/bitbots_main/fb3a6ae3b0f50eb7295dbed52af6952106d07108/logo.png -------------------------------------------------------------------------------- /requirements/robot.txt: -------------------------------------------------------------------------------- 1 | # This file is used for installation of dependencies on the robot 2 | -r common.txt # Includes all common dependencies 3 | mycroft-mimic3-tts 4 | protobuf==3.20.3 # Required for mycroft-mimic3-tts, but we want to enshure that the version is compatible binaries build using the system version, but it should also be compatiple with all the python dependencies 5 | pyttsx3 6 | playsound 7 | pyamdgpuinfo 8 | -------------------------------------------------------------------------------- /scripts/deploy_robots.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | import sys 3 | 4 | from deploy.deploy_robots import DeployRobots 5 | from deploy.misc import print_error 6 | 7 | if __name__ == "__main__": 8 | try: 9 | DeployRobots() 10 | except KeyboardInterrupt: 11 | print_error("Interrupted by user") 12 | sys.exit(1) 13 | --------------------------------------------------------------------------------