'2026/06 글 목록

'2026/06'에 해당되는 글 74건

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microhttpd (0)	2026.06.05
tmux (0)	2026.05.11
appimage , AppImageLauncher (0)	2026.04.20
usb device tree viewer (0)	2026.02.22
exaone 경량 모델 (0)	2026.02.04

mycobot280_pi urdf (0)	2026.06.22
블루로봇 밸런스 스테이지 (0)	2026.06.21
elephant robotics cobot python api (0)	2026.06.19
elephant robotics mycobot 280 pi python 예제 (0)	2026.06.16
유니버셜 로봇 polyscope 5 (0)	2026.06.16

mycobot280_pi urdf

URDF 포맷의 정보를 이용하면 관절관의 거리 등이 있어서

ROS2 나 moveit2 에서 충돌 검사를 통해서 자기 파괴하지 않도록 할 수 있다고 한다.

moveit은 ros 1용

moveit2는 ros 2 용인듯. 그런데 단독 사용은 안되려나?

[링크 : https://github.com/moveit/moveit2]

<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >

<xacro:property name="width" value=".2" />

  <link name="g_base">
    <visual>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/G_base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/G_base.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
    </collision>
  </link>

  <link name="joint1">
    <visual>
      <geometry>
     
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint1_pi.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
     
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint1_pi.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint2">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
    </visual>
      <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint2.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="joint3">
    <visual>
      <geometry>

       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint3.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </visual>
      <collision>
        <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint3.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </collision>
  </link>

  <link name="joint4">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </visual>
      <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint4.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </collision>
  </link>

<link name="joint5">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
    </visual>
      <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
      </geometry>
    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
    </collision>
  </link>

  <link name="joint6">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint6.dae"/>
      </geometry>
    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
    </visual>
      <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint6.dae"/>
      </geometry>
    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint6_flange">
    <visual>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </visual>
      <collision>
      <geometry>
       
       <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint7.dae"/>
      </geometry>
    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <joint name="g_base_to_joint1" type="fixed">
    <axis xyz="0 0 0"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="g_base"/>
    <child link="joint1"/>
    <origin xyz= "0 0 0" rpy = "0 0 0"/>
  </joint>

  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>
  </joint>

  <joint name="joint3_to_joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.4434" upper = "2.4434" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
  </joint>

  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>
  </joint>

  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
  </joint>

  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-2.7052" upper = "2.7925" velocity = "0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
  </joint>

  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint6"/>
    <child link="joint6_flange"/>
    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
  </joint>

</robot>

[링크 : https://github.com/elephantrobotics/mycobot_ros/blob/noetic/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf]

엥 ur5e 니가 왜 여기서 나와 -ㅁ-

[링크 : https://github.com/jdj2261/pykin]

[링크 : https://ropiens.tistory.com/177] << 볼 것 링크

저작자표시 (새창열림)

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Posted by 구차니

stm32 port 전체 한번에 출력 변경하기

AVR 때는 자주 쓴거 같은데

stm32 되면서 함수를 통해 1개 핀에 대해서만 바꾸다 보니 불편해서 찾아보는데

머.. 결국은 레지스터 건드릴 수 밖에 없는 듯

ODR 값 읽고 마스킹 후에 한번에 갈아 치우는게 나을 듯

If you want the whole port (all 16 pins) get the value, then you simply write it to the ODR register:
GPIOB->ODR = 0xFFFF; //writing 1/0 in a bit position,
sets/resets that bit. ALL BITS ARE AFFECTED no matter the value your write in.

If you want to set some pins, but not altering the other pins, with one instruction:
GPIOB->BSRR = 0x00F; //writing 1 in a bit position,
sets that bit leaves the others as they are

If you want to reset some pins, but not altering the other pins, with one instruction:
GPIOB->BRR = 0x00F; //writing 1 in a bit position,
clears that bit and leaves the others as they are

If you want a "portion" of a GPIO port to get an specific value, this method is 2 instructions instead of "read-change-write":
GPIOB->BRR = 0x00F; //clear the first 4 bits
GPIOB->BSRR = 0x00A; //set the desired bits in that 4-bit field

ODR 정도는 low level 함수로 존재하나 보다.

using LL API:

LL_GPIO_WriteOutputPort(GPIOA,x);

[링크 : https://electronics.stackexchange.com/questions/683401/can-i-write-a-8-bit-or-16-bit-data-to-the-outport-of-the-stm32-directly]

wtite_bits(uint16_t cmd)
{
    uint32_t data = GPIOA -> ODR;

    data &= ~(0x1fff);
    data |= cmd & 0x1fff;
    GPIOA -> ODR = data;

    data = GPIOB -> ODR;
    data &= ~(0x0007);
    data |= (cmd & 0x8fff) >> 13;
    GPIOB -> ODR = data;
}

[링크 : https://stackoverflow.com/questions/48365156/stm32f4-write-read-16bits-into-two-8-bit-gpio-port]

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Posted by 구차니

블루로봇 밸런스 스테이지

유튜브 보다가 광고를 다 본건 또 첨이네 ㅋㅋㅋ

처음에는 이게 머하는 거여~ 싶었는데

보다보니 만져볼만큼 싼 곳에 들어갈 장비가 아니라는 느낌만 잔뜩~ 드는 녀석

[링크 : https://www.youtube.com/watch?v=jJ7jJ0ciF4g]

[링크 : https://www.youtube.com/watch?v=SKrBfwh6R_8]

[링크 : https://bluerobot.co.kr/]

아래는 유튜브 광고 찾기 ㅋㅋㅋ

[링크 : https://adstransparency.google.com/?platform=YOUTUBE&region=KR]

[링크 : https://www.reddit.com/r/youtube/comments/1kajmpx/how_to_find_an_ad_i_saw/?tl=ko]

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Posted by 구차니

local llm - mcp

로컬 LLM 에서 MCP 연결할 수 있으려나?

일일이 만드는것도 귀찮은데 만들어 둔 mcp 들을 쉽게 붙이면 좋을것 같긴하다.

결국은 json 타입으로 이해하기 쉽게 던져주면 알아서 쓴다.. 이런 컨셉이구나

MCP 도구 목록을 LLM이 이해하는 JSON 형식으로 변환하기
MCP 서버에서 가져온 도구 목록은 그대로 LLM에게 전달할 수 없습니다. OpenAI Responses API가 이해할 수 있는 JSON 형식으로 변환해줘야 합니다. 다음은 그 변환 함수와 적용 예시입니다.

[링크 : https://wikidocs.net/287840] fast mcp

[링크 : https://pypi.org/project/fastmcp/]

[링크 : https://raeul0304.tistory.com/9] mcp-use

[링크 : https://pypi.org/project/mcp-use/]

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