diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index 244c679ea..a2609b38e 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -36,7 +36,6 @@ RUN apt-get update -y \ tree \ uvcdynctrl \ vim \ - vlc \ wget \ x11-apps \ zsh diff --git a/.vscode/settings.json b/.vscode/settings.json index 88a30e91a..707c2f422 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -112,6 +112,7 @@ "throwin", "timespec", "tldr", + "torqueless", "tqdm", "unpenalize", "unpenalized", @@ -212,7 +213,8 @@ "variant": "cpp", "regex": "cpp", "future": "cpp", - "*.ipp": "cpp" + "*.ipp": "cpp", + "span": "cpp" }, // Tell the ROS extension where to find the setup.bash // This also utilizes the COLCON_WS environment variable, which needs to be set diff --git a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch index d77b7e573..309a20155 100644 --- a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch +++ b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch @@ -12,7 +12,7 @@ - + diff --git a/bitbots_misc/bitbots_bringup/package.xml b/bitbots_misc/bitbots_bringup/package.xml index 90bd36016..30fbedae9 100644 --- a/bitbots_misc/bitbots_bringup/package.xml +++ b/bitbots_misc/bitbots_bringup/package.xml @@ -16,7 +16,7 @@ bitbots_docs - wolfgang_webots_sim + bitbots_webots_sim audio_common bitbots_basler_camera bitbots_body_behavior diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/bitbots_misc/bitbots_containers/hlvs/Dockerfile index c51e74415..206b10d1e 100644 --- a/bitbots_misc/bitbots_containers/hlvs/Dockerfile +++ b/bitbots_misc/bitbots_containers/hlvs/Dockerfile @@ -62,10 +62,10 @@ RUN cd src/bitbots_main && \ make pull-all && \ rm -rf lib/udp_bridge bitbots_misc/bitbots_containers \ lib/dynamic_stack_decider/dynamic_stack_decider_visualization bitbots_lowlevel \ - bitbots_wolfgang/wolfgang_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \ + bitbots_robot/bitbots_pybullet_sim lib/DynamixelSDK lib/dynamixel-workbench \ bitbots_misc/bitbots_basler_camera && \ sed -i '/plotjuggler/d' bitbots_motion/bitbots_quintic_walk/package.xml && \ - sed -i '/run_depend/d' bitbots_wolfgang/wolfgang_moveit_config/package.xml + sed -i '/run_depend/d' bitbots_robot/wolfgang_moveit_config/package.xml # Install ros dependencies with rosdep RUN sudo apt update && rosdep update @@ -75,7 +75,7 @@ RUN . /opt/ros/iron/setup.sh && colcon build --cmake-args -DBUILD_TESTING=OFF # TODO execute tests -RUN cp src/bitbots_main/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh .local/bin/start +RUN cp src/bitbots_main/bitbots_robot/bitbots_robocup_api/scripts/start.sh .local/bin/start # Volume for logs VOLUME /robocup-logs diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst b/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst index e1ae1e649..9d3b21b10 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst +++ b/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst @@ -6,7 +6,7 @@ Test Motion .. code-block:: bash - ros2 launch wolfgang_webots_sim simulation.launch + ros2 launch bitbots_webots_sim simulation.launch ros2 launch bitbots_bringup motion_standalone.launch sim:=true To control walking of the robot, teleop needs to be startet as well: diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst b/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst index e7df17df7..7ce7b2331 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst +++ b/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst @@ -9,18 +9,19 @@ As such you can lookup some of the needed requirements there. **0. Requirements** - have an LDAP mafiasi account for access to the CLs -- have ros2 aliases setup (see linked docs) -- have GitHub ssh access setup for bitbots_main (see linked docs) **1. Setup and download our software** - SSH into the ``cl0*`` with your mafiasi user +- Add your SSH key to GitHub to access and sync our repositories + - If you don't know what I am talking about or you don't yet have a SSH key, follow this guide: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/checking-for-existing-ssh-keys + - Go to your account settings and add your SSH key (the ``.pub`` file) to `GitHub `_ - setup bitbots_main in your home directory .. code-block:: bash - mkdir -p "~/colcon_ws/src" - cd "~/colcon_ws/src" + mkdir -p "$HOME/colcon_ws/src" + cd "$HOME/colcon_ws/src" git clone git@github.com:bit-bots/bitbots_main.git && cd bitbots_main make install-no-root diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst index 24bd74013..caf93aab6 100644 --- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst +++ b/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst @@ -70,7 +70,7 @@ If you want to install it, you can do so by running ``make webots`` in the bitbo **3. Download our software** -- Create a GitHub account, if not already done (see `here ` for further information) +- Create a GitHub account, if not already done (see `here `_ for further information) - Add your SSH key to GitHub to access and sync our repositories - If you don't know what I am talking about or you don't yet have a SSH key, follow this guide: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/checking-for-existing-ssh-keys - Go to your account settings and add your SSH key (the ``.pub`` file) to `GitHub `_ @@ -137,6 +137,8 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit EOF + source ~/.bashrc + - Configure the robot hostnames, see :doc:`configure_hostnames`. Notes diff --git a/bitbots_misc/system_monitor/config/config.yaml b/bitbots_misc/system_monitor/config/config.yaml index 0e2d5d1e4..4ee829080 100644 --- a/bitbots_misc/system_monitor/config/config.yaml +++ b/bitbots_misc/system_monitor/config/config.yaml @@ -5,11 +5,13 @@ system_monitor: # These settings are quick_switches to completely disable certain parts of statistic collection do_cpu: true + do_gpu: true do_memory: true do_network: false # these are the threshold values at which we start going into a warn state cpu_load_percentage: 80.0 + gpu_load_percentage: 95.0 memory_load_percentage: 80.0 network_rate_received_errors: 10.0 network_rate_send_errors: 10.0 diff --git a/bitbots_misc/system_monitor/config/plotjuggler_layout.xml b/bitbots_misc/system_monitor/config/plotjuggler_layout.xml index 755d653cb..ff46c3d67 100644 --- a/bitbots_misc/system_monitor/config/plotjuggler_layout.xml +++ b/bitbots_misc/system_monitor/config/plotjuggler_layout.xml @@ -1,139 +1,120 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - + - + + - + + + - - - + + + + + + + + + + + + + + - - + + - + - + var prevX = 0 var prevY = 0 - dx = time - prevX -dy = value - prevY -prevX = time -prevY = value - -return dy/dx + + - + var prevY = 0 var alpha = 0.1 - prevY = alpha * value + (1.-alpha) * prevY - -return prevY + + - + var prev_x = 0 var prev_y = 0 var prev_t = 0 - X = $$your_odometry/position/x$$ -Y = $$your_odometry/position/y$$ - -var dist = sqrt( (X-prev_x)*(X-prev_x) + (Y-prev_y)*(Y-prev_y) ) -var dT = time - prev_t - -prev_x = X -prev_y = Y -prev_t = time - -return dist / dT + + - + - a = $$PLOT_A$$ -b = $$PLOT_B$$ - -return (a+b)/2 + + - + var integral = 0 - integral += value -return integral + + - + - return value*180/3.1417 + + - + var is_first = true var first_value = 0 - if (is_first) -{ - is_first = false - first_value = value -} - -return value - first_value + + - + // source: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles function quaternionToYaw(x, y, z, w) @@ -145,7 +126,8 @@ function quaternionToYaw(x, y, z, w) return yaw } - return quaternionToYaw(x, y, z, w); + + diff --git a/bitbots_misc/system_monitor/launch/viz.launch b/bitbots_misc/system_monitor/launch/viz.launch index 47d9e9c56..af193e66c 100644 --- a/bitbots_misc/system_monitor/launch/viz.launch +++ b/bitbots_misc/system_monitor/launch/viz.launch @@ -1,4 +1,4 @@ - diff --git a/bitbots_misc/system_monitor/package.xml b/bitbots_misc/system_monitor/package.xml index 6d479d308..46545bde4 100644 --- a/bitbots_misc/system_monitor/package.xml +++ b/bitbots_misc/system_monitor/package.xml @@ -19,7 +19,7 @@ python3-psutil bitbots_docs rclpy - bitbots_msgs + bitbots_msgs ament_python diff --git a/bitbots_misc/system_monitor/setup.py b/bitbots_misc/system_monitor/setup.py index 7a0ca6099..eb10b08e6 100644 --- a/bitbots_misc/system_monitor/setup.py +++ b/bitbots_misc/system_monitor/setup.py @@ -11,6 +11,8 @@ ("share/" + package_name, ["package.xml"]), ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name + "/config", glob.glob("config/*.yaml")), + ("share/" + package_name + "/config", glob.glob("config/*.rviz")), + ("share/" + package_name + "/config", glob.glob("config/*.xml")), ("share/" + package_name + "/launch", glob.glob("launch/*.launch")), ], install_requires=[ diff --git a/bitbots_misc/system_monitor/system_monitor/cpus.py b/bitbots_misc/system_monitor/system_monitor/cpus.py index 391a3a2b0..886f31af9 100644 --- a/bitbots_misc/system_monitor/system_monitor/cpus.py +++ b/bitbots_misc/system_monitor/system_monitor/cpus.py @@ -36,7 +36,8 @@ def collect_all(): def _get_cpu_stats(): """ read and parse /proc/stat - :returns timings which contains accumulative busy and total cpu time + + :returns: timings which contains accumulative busy and total cpu time """ timings = {} with open("/proc/stat") as file_obj: diff --git a/bitbots_misc/system_monitor/system_monitor/gpu.py b/bitbots_misc/system_monitor/system_monitor/gpu.py new file mode 100644 index 000000000..2f440c031 --- /dev/null +++ b/bitbots_misc/system_monitor/system_monitor/gpu.py @@ -0,0 +1,19 @@ +import pyamdgpuinfo + + +def collect_all(): + """ + use pyamdgpuinfo to get gpu metrics + + :return: (load, vram_used, vram_total, temperature) + """ + if pyamdgpuinfo.detect_gpus() == 0: + return (0, 0, 0, 0) + + gpu = pyamdgpuinfo.get_gpu(0) + load = gpu.query_load() + vram_total = gpu.memory_info["vram_size"] + vram_used = gpu.query_vram_usage() + temperature = gpu.query_temperature() + + return (load, vram_used, vram_total, temperature) diff --git a/bitbots_misc/system_monitor/system_monitor/monitor.py b/bitbots_misc/system_monitor/system_monitor/monitor.py index 5020f16ed..56304400d 100755 --- a/bitbots_misc/system_monitor/system_monitor/monitor.py +++ b/bitbots_misc/system_monitor/system_monitor/monitor.py @@ -7,7 +7,7 @@ from rclpy.node import Node from bitbots_msgs.msg import Workload as WorkloadMsg -from system_monitor import cpus, memory, network_interfaces +from system_monitor import cpus, gpu, memory, network_interfaces def main(): @@ -23,24 +23,31 @@ def main(): # start all names with "SYSTEM" for diagnostic analyzer diag_cpu.name = "SYSTEMCPU" diag_cpu.hardware_id = "CPU" + diag_gpu = DiagnosticStatus() + diag_gpu.name = "SYSTEMGPU" + diag_gpu.hardware_id = "GPU" diag_mem = DiagnosticStatus() diag_mem.name = "SYSTEMMemory" - diag_cpu.hardware_id = "Memory" + diag_mem.hardware_id = "Memory" node.declare_parameter("update_frequency", 10.0) - node.declare_parameter("do_memory", True) node.declare_parameter("do_cpu", True) + node.declare_parameter("do_gpu", True) + node.declare_parameter("do_memory", True) node.declare_parameter("do_network", True) node.declare_parameter("cpu_load_percentage", 80.0) + node.declare_parameter("gpu_load_percentage", 80.0) node.declare_parameter("memory_load_percentage", 80.0) node.declare_parameter("network_rate_received_errors", 10.0) node.declare_parameter("network_rate_send_errors", 10.0) rate = node.get_parameter("update_frequency").get_parameter_value().double_value - do_memory = node.get_parameter("do_memory").get_parameter_value().bool_value do_cpu = node.get_parameter("do_cpu").get_parameter_value().bool_value + do_gpu = node.get_parameter("do_gpu").get_parameter_value().bool_value + do_memory = node.get_parameter("do_memory").get_parameter_value().bool_value do_network = node.get_parameter("do_network").get_parameter_value().bool_value cpu_load_percentage = node.get_parameter("cpu_load_percentage").get_parameter_value().double_value + gpu_load_percentage = node.get_parameter("gpu_load_percentage").get_parameter_value().double_value memory_load_percentage = node.get_parameter("memory_load_percentage").get_parameter_value().double_value network_rate_received_errors = node.get_parameter("network_rate_received_errors").get_parameter_value().double_value network_rate_send_errors = node.get_parameter("network_rate_send_errors").get_parameter_value().double_value @@ -48,6 +55,7 @@ def main(): while rclpy.ok(): last_send_time = time.time() running_processes, cpu_usages, overall_usage_percentage = cpus.collect_all() if do_cpu else (-1, [], 0) + gpu_load, gpu_vram_used, gpu_vram_total, gpu_temperature = gpu.collect_all() if do_gpu else (0, 0, 0, 0) memory_available, memory_used, memory_total = memory.collect_all() if do_memory else (-1, -1, -1) interfaces = network_interfaces.collect_all(node.get_clock()) if do_network else [] @@ -56,6 +64,10 @@ def main(): cpus=cpu_usages, running_processes=running_processes, cpu_usage_overall=overall_usage_percentage, + gpu_load=gpu_load, + gpu_vram_used=gpu_vram_used, + gpu_vram_total=gpu_vram_total, + gpu_temperature=gpu_temperature, memory_available=memory_available, memory_used=memory_used, memory_total=memory_total, @@ -73,6 +85,14 @@ def main(): diag_cpu.level = DiagnosticStatus.OK diag_array.status.append(diag_cpu) + gpu_usage = gpu_load * 100 + diag_gpu.message = str(gpu_usage) + "%" + if gpu_usage >= gpu_load_percentage: + diag_gpu.level = DiagnosticStatus.WARN + else: + diag_gpu.level = DiagnosticStatus.OK + diag_array.status.append(diag_gpu) + memory_usage = round((memory_used / memory_total) * 100, 2) diag_mem.message = str(memory_usage) + "%" if memory_usage >= memory_load_percentage: diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py b/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py index 88300de33..d89806360 100755 --- a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py +++ b/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py @@ -2,17 +2,18 @@ import math import os import sys +from typing import Literal import rclpy from ament_index_python import get_package_share_directory -from PyQt5.QtCore import Qt +from PyQt5.QtCore import QLocale, Qt from PyQt5.QtGui import QKeySequence from PyQt5.QtWidgets import ( QAbstractItemView, + QDoubleSpinBox, QFileDialog, QGroupBox, QLabel, - QLineEdit, QListWidgetItem, QMainWindow, QMessageBox, @@ -84,8 +85,6 @@ def __init__(self, context): # Initialize the working values self._working_angles: dict[str, float] = {} - self.update_time = 0.1 # TODO what is this for? - # QT directory for saving files self._save_directory = None @@ -194,13 +193,17 @@ def q_joint_state_update(self, joint_states: JointState) -> None: return # Update working values of non stiff motors for motor_name in self.motors: - if self._motor_controller_torque_checkbox[motor_name].checkState(0) != Qt.CheckState.Checked: + # Get the state from the UI checkboxes + motor_active = self._motor_switcher_active_checkbox[motor_name].checkState(0) == Qt.CheckState.Checked + motor_torqueless = self._motor_controller_torque_checkbox[motor_name].checkState(0) != Qt.CheckState.Checked + # Check if the we are currently positioning the motor and want to store the value + if motor_active and motor_torqueless: # Update textfield - self._motor_controller_text_fields[motor_name].setText( - str(round(math.degrees(joint_states.position[joint_states.name.index(motor_name)]), 2)) + self._motor_controller_text_fields[motor_name].setValue( + round(math.degrees(joint_states.position[joint_states.name.index(motor_name)]), 2) ) - # React to textfield changes - self.textfield_update() + # Update working values + self._working_angles[motor_name] = joint_states.position[joint_states.name.index(motor_name)] def create_motor_controller(self) -> None: """ @@ -220,9 +223,12 @@ def create_motor_controller(self) -> None: layout.addWidget(label) # Add a textfield to display the exact value of the motor - textfield = QLineEdit() - textfield.setText("0.0") - textfield.textEdited.connect(self.textfield_update) + textfield = QDoubleSpinBox() + textfield.setLocale(QLocale("C")) + textfield.setMaximum(180.0) + textfield.setMinimum(-180.0) + textfield.setValue(0.0) + textfield.valueChanged.connect(self.textfield_update) layout.addWidget(textfield) self._motor_controller_text_fields[motor_name] = textfield @@ -295,8 +301,8 @@ def connect_gui_callbacks(self) -> None: self._widget.actionAnimation_until_Frame.triggered.connect(self.play_until) self._widget.actionDuplicate_Frame.triggered.connect(self.duplicate) self._widget.actionDelete_Frame.triggered.connect(self.delete) - self._widget.actionLeft.triggered.connect(lambda: self.mirror_frame("L")) - self._widget.actionRight.triggered.connect(lambda: self.mirror_frame("R")) + self._widget.actionLeft.triggered.connect(lambda: self.mirror_frame("R")) + self._widget.actionRight.triggered.connect(lambda: self.mirror_frame("L")) self._widget.actionInvert.triggered.connect(self.invert_frame) self._widget.actionUndo.triggered.connect(self.undo) self._widget.actionRedo.triggered.connect(self.redo) @@ -516,6 +522,10 @@ def delete(self): self._node.get_logger().error(str(e)) return assert self._recorder.get_keyframe(frame) is not None, "Selected frame not found in list of keyframes" + # Check if only one frame is remaining + if len(self._widget.frameList) == 1: + QMessageBox.warning(self._widget, "Warning", "Cannot delete last remaining frame") + return self._recorder.delete(frame) self._widget.statusBar.showMessage(f"Deleted frame {frame}") self.update_frames() @@ -576,11 +586,32 @@ def redo(self): self._widget.statusBar.showMessage(status) self.update_frames() - def mirror_frame(self, direction): + def mirror_frame(self, source: Literal["L", "R"]) -> None: """ Copies all motor values from one side of the robot to the other. Inverts values, if necessary """ - raise NotImplementedError("This function is not implemented yet") + # Get direction to mirror to + mirrored_source = {"R": "L", "L": "R"}[source] + + # Go through all active motors + for motor_name, angle in self._working_angles.items(): + # Set mirrored angles + if motor_name.startswith(source): + mirrored_motor_name = mirrored_source + motor_name[1:] + # Make -0.0 to 0.0 + mirrored_angle = -angle if angle != 0 else 0.0 + self._working_angles[mirrored_motor_name] = mirrored_angle + + # Update the UI + for motor_name, angle in self._working_angles.items(): + # Block signals + self._motor_controller_text_fields[motor_name].blockSignals(True) + # Set values + self._motor_controller_text_fields[motor_name].setValue(round(math.degrees(angle), 2)) + # Enable signals again + self._motor_controller_text_fields[motor_name].blockSignals(False) + + self._widget.statusBar.showMessage("Mirrored frame") def invert_frame(self): """ @@ -609,7 +640,12 @@ def invert_frame(self): # Update the UI for motor_name, angle in self._working_angles.items(): - self._motor_controller_text_fields[motor_name].setText(str(round(math.degrees(angle), 2))) + # Block signals + self._motor_controller_text_fields[motor_name].blockSignals(True) + # Set values + self._motor_controller_text_fields[motor_name].setValue(round(math.degrees(angle), 2)) + # Enable signals again + self._motor_controller_text_fields[motor_name].blockSignals(False) self._widget.statusBar.showMessage("Inverted frame") @@ -623,6 +659,26 @@ def frame_select(self): selected_frame_name = self._widget.frameList.currentItem().text() selected_frame = self._recorder.get_keyframe(selected_frame_name) if selected_frame is not None: + # check if unrecorded changes would be lost + unrecorded_changes = [] + current_keyframe_goals = self._recorder.get_keyframe(self._selected_frame)["goals"] + + for motor_name, text_field in self._motor_controller_text_fields.items(): + # Get the angle from the textfield + angle = text_field.value() + # compare with angles in current keyframe + if not current_keyframe_goals[motor_name] == math.radians(angle): + unrecorded_changes.append(motor_name) + + # warn user about unrecorded changes + if unrecorded_changes: + message = ( + f"""This will discard your unrecorded changes for {", ".join(unrecorded_changes)}. Continue?""" + ) + sure = QMessageBox.question(self._widget, "Sure?", message, QMessageBox.Yes | QMessageBox.No) + # Cancel the open if the user does not want to discard the changes + if sure == QMessageBox.No: + return # Update state so we have a new selected frame self._selected_frame = selected_frame_name @@ -653,12 +709,13 @@ def react_to_frame_change(self): # Update the motor angle controls (value and active state) if active: - self._motor_controller_text_fields[motor_name].setText( - str(round(math.degrees(selected_frame["goals"][motor_name]), 2)) + self._motor_controller_text_fields[motor_name].setValue( + round(math.degrees(selected_frame["goals"][motor_name]), 2) ) + self._working_angles[motor_name] = selected_frame["goals"][motor_name] else: - self._motor_controller_text_fields[motor_name].setText("0.0") + self._motor_controller_text_fields[motor_name].setValue(0.0) # Update the duration and pause self._widget.spinBoxDuration.setValue(selected_frame["duration"]) @@ -671,23 +728,12 @@ def textfield_update(self): If the textfield is updated, update working values """ for motor_name, text_field in self._motor_controller_text_fields.items(): - try: - # Get the angle from the textfield - angle = float(text_field.text()) - except ValueError: - # Display QMessageBox stating that the value is not a number - QMessageBox.warning( - self._widget, - "Warning", - f"Please enter a valid number.\n '{text_field.text()}' is not a valid number.", - ) - return - # Clip the angle to the maximum and minimum, we do this in degrees, - # because we do not want introduce rounding errors in the textfield - angle = round(max(-180.0, min(angle, 180.0)), 2) + # Get the angle from the textfield + angle = text_field.value() + angle = round(angle, 2) # Set the angle in the textfield - if float(text_field.text()) != float(angle): - text_field.setText(str(angle)) + if text_field.value() != angle: + text_field.setValue(angle) # Set the angle in the working values if the motor is active if self._motor_switcher_active_checkbox[motor_name].checkState(0) == Qt.CheckState.Checked: self._working_angles[motor_name] = math.radians(angle) diff --git a/bitbots_motion/bitbots_dynup/CMakeLists.txt b/bitbots_motion/bitbots_dynup/CMakeLists.txt index bcea0170c..5760b5ce0 100644 --- a/bitbots_motion/bitbots_dynup/CMakeLists.txt +++ b/bitbots_motion/bitbots_dynup/CMakeLists.txt @@ -11,11 +11,14 @@ set(PYBIND11_FINDPYTHON ON) find_package(ament_cmake REQUIRED) find_package(backward_ros REQUIRED) +find_package(bio_ik REQUIRED) find_package(bitbots_msgs REQUIRED) find_package(bitbots_splines REQUIRED) find_package(bitbots_utils REQUIRED) find_package(control_msgs REQUIRED) find_package(control_toolbox REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(generate_parameter_library REQUIRED) find_package(geometry_msgs REQUIRED) find_package(moveit_ros_planning_interface REQUIRED) find_package(rclcpp REQUIRED) @@ -27,8 +30,6 @@ find_package(tf2 REQUIRED) find_package(tf2_eigen REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_ros REQUIRED) -find_package(Eigen3 REQUIRED) -find_package(generate_parameter_library REQUIRED) find_package(ros2_python_extension REQUIRED) find_package(pybind11 REQUIRED) @@ -64,13 +65,14 @@ add_executable(DynupNode ${SOURCES}) ament_target_dependencies( DynupNode ament_cmake + bio_ik bitbots_msgs bitbots_splines bitbots_utils control_msgs control_toolbox - geometry_msgs generate_parameter_library + geometry_msgs moveit_ros_planning_interface rclcpp ros2_python_extension @@ -94,6 +96,7 @@ ament_target_dependencies( libpy_dynup PUBLIC ament_cmake + bio_ik bitbots_msgs bitbots_splines bitbots_utils diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp index 2f948797f..50a8a6b3b 100644 --- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp +++ b/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp @@ -1,6 +1,7 @@ #ifndef BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_IK_H_ #define BITBOTS_DYNUP_INCLUDE_BITBOTS_DYNUP_DYNUP_IK_H_ +#include #include #include #include diff --git a/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp b/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp index abf2fb119..1e625bd4b 100644 --- a/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp +++ b/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp @@ -1,4 +1,5 @@ #include + namespace bitbots_dynup { DynupIK::DynupIK(rclcpp::Node::SharedPtr node) : node_(node) {} @@ -41,7 +42,7 @@ void DynupIK::setDirection(DynupDirection direction) { direction_ = direction; } bitbots_splines::JointGoals DynupIK::calculate(const DynupResponse& ik_goals) { /* ik options is basically the command which we send to bio_ik and which describes what we want to do */ - auto ik_options = kinematics::KinematicsQueryOptions(); + kinematics::KinematicsQueryOptions ik_options; ik_options.return_approximate_solution = true; geometry_msgs::msg::Pose right_foot_goal_msg, left_foot_goal_msg, right_hand_goal_msg, left_hand_goal_msg; @@ -54,13 +55,19 @@ bitbots_splines::JointGoals DynupIK::calculate(const DynupResponse& ik_goals) { bool success; goal_state_->updateLinkTransforms(); + bio_ik::BioIKKinematicsQueryOptions leg_ik_options; + leg_ik_options.return_approximate_solution = true; + + // Add auxiliary goal to prevent bending the knees in the wrong direction when we go from init to walkready + leg_ik_options.goals.push_back(std::make_unique()); + success = goal_state_->setFromIK(l_leg_joints_group_, left_foot_goal_msg, 0.005, - moveit::core::GroupStateValidityCallbackFn(), ik_options); + moveit::core::GroupStateValidityCallbackFn(), leg_ik_options); goal_state_->updateLinkTransforms(); success &= goal_state_->setFromIK(r_leg_joints_group_, right_foot_goal_msg, 0.005, - moveit::core::GroupStateValidityCallbackFn(), ik_options); + moveit::core::GroupStateValidityCallbackFn(), leg_ik_options); goal_state_->updateLinkTransforms(); diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd index 7d61f6445..fb6cbccc9 100644 --- a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd +++ b/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd @@ -4,7 +4,7 @@ -->HCM $StartHCM START_UP --> $Simulation - YES --> @RobotStateStartup, @PlayAnimationDynup + direction:walkready + r:false + YES --> @RobotStateStartup, @PlayAnimationStartup, @PlayAnimationDynup + direction:walkready + r:false NO --> @RobotStateStartup, @Wait + time:1 + r:false, @PlayAnimationStartup, @PlayAnimationDynup + direction:walkready + r:false RUNNING --> $CheckMotors MOTORS_NOT_STARTED --> @RobotStateStartup, @Wait diff --git a/bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py b/bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py index 48d51ea67..f3b4bc30c 100644 --- a/bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py +++ b/bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py @@ -1,3 +1,5 @@ +from typing import Optional + from biped_interfaces.msg import Phase from bitbots_quintic_walk_py.libpy_quintic_walk import PyWalkWrapper from bitbots_utils.utils import parse_parameter_dict @@ -11,17 +13,24 @@ class PyWalk: - def __init__(self, namespace="", parameters: [Parameter] | None = None, set_force_smooth_step_transition=False): - serialized_parameters = [] - if parameters is not None: - for parameter in parameters: - serialized_parameters.append(serialize_message(parameter)) - if parameter.value.type == 2: - print( - f"Gave parameter {parameter.name} of integer type. If the code crashes it is maybe because this " - f"should be a float. You may need to add an .0 in some yaml file." - ) - self.py_walk_wrapper = PyWalkWrapper(namespace, serialized_parameters, set_force_smooth_step_transition) + def __init__( + self, + namespace="", + walk_parameters: Optional[list[Parameter]] = None, + moveit_parameters: Optional[list[Parameter]] = None, + set_force_smooth_step_transition=False, + ): + def serialize_parameters(parameters): + if parameters is None: + return [] + return list(map(serialize_message, parameters)) + + self.py_walk_wrapper = PyWalkWrapper( + namespace, + serialize_parameters(walk_parameters), + serialize_parameters(moveit_parameters), + set_force_smooth_step_transition, + ) def spin_ros(self): self.py_walk_wrapper.spin_some() @@ -98,24 +107,24 @@ def set_parameters(self, param_dict): for parameter in parameters: self.py_walk_wrapper.set_parameter(serialize_message(parameter)) - def get_phase(self): + def get_phase(self) -> float: return self.py_walk_wrapper.get_phase() - def get_freq(self): + def get_freq(self) -> float: return self.py_walk_wrapper.get_freq() - def get_support_state(self): + def get_support_state(self) -> Phase: return deserialize_message(self.py_walk_wrapper.get_support_state(), Phase) - def is_left_support(self): + def is_left_support(self) -> bool: return self.py_walk_wrapper.is_left_support() - def get_odom(self): + def get_odom(self) -> Odometry: odom = self.py_walk_wrapper.get_odom() result = deserialize_message(odom, Odometry) return result - def publish_debug(self): + def publish_debug(self) -> None: self.py_walk_wrapper.publish_debug() def reset_and_test_if_speed_possible(self, cmd_vel_msg, threshold=0.001): diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml b/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml index f893f55c4..843c69281 100644 --- a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml +++ b/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml @@ -15,7 +15,7 @@ walking: kick_rise_factor: 1.5 double_support_ratio: 0.0264282002140171 - first_step_swing_factor: 1.80591386587488 + first_step_swing_factor: 2.9 foot_distance: 0.179900277671633 foot_rise: 0.0819786291304007 freq: 1.2 @@ -75,23 +75,23 @@ walking: phase_reset: min_phase: 0.90 foot_pressure: - active: False + active: True ground_min_pressure: 1.5 effort: active: False joint_min_effort: 30.0 imu: - active: True + active: False y_acceleration_threshold: 1.4 trunk_pid: pitch: - p: 0.0 + p: 0.0035 i: 0.0 - d: 0.0 + d: 0.004 i_clamp_min: 0.0 i_clamp_max: 0.0 - antiwindup: False + antiwindup: false roll: p: 0.0 i: 0.0 diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp index 057e65639..ad2da928c 100644 --- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp +++ b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp @@ -54,7 +54,7 @@ namespace bitbots_quintic_walk { class WalkNode { public: explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string &ns = "", - std::vector parameters = {}); + const std::vector &moveit_parameters = {}); bitbots_msgs::msg::JointCommand step(double dt); bitbots_msgs::msg::JointCommand step(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg, sensor_msgs::msg::Imu::SharedPtr imu_msg, @@ -112,8 +112,6 @@ class WalkNode { nav_msgs::msg::Odometry getOdometry(); - rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector ¶meters); - void publish_debug(); rclcpp::TimerBase::SharedPtr startTimer(); double getTimerFreq(); diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp index 48c2961e3..258689f77 100644 --- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp +++ b/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp @@ -23,7 +23,8 @@ using namespace ros2_python_extension; class PyWalkWrapper { public: - explicit PyWalkWrapper(std::string ns, std::vector parameter_msgs = {}, + explicit PyWalkWrapper(const std::string &ns, const std::vector &walk_parameter_msgs = {}, + const std::vector &moveit_parameter_msgs = {}, bool force_smooth_step_transition = false); py::bytes step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg, py::bytes &pressure_left, py::bytes &pressure_right); diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp index 5e220ee40..8f238f2ff 100644 --- a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp +++ b/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp @@ -9,7 +9,8 @@ using namespace std::chrono_literals; namespace bitbots_quintic_walk { -WalkNode::WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns, std::vector parameters) +WalkNode::WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns, + const std::vector& moveit_parameters) : node_(node), param_listener_(node_), config_(param_listener_.get_params()), @@ -17,21 +18,15 @@ WalkNode::WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns, std::vec stabilizer_(node_), ik_(node_, config_.node.ik), visualizer_(node_, config_.node.tf) { - // Create dummy node for moveit - auto moveit_node = std::make_shared(ns + "walking_moveit_node"); - - // when called from python, parameters are given to the constructor - for (auto parameter : parameters) { - if (node_->has_parameter(parameter.get_name())) { - // this is the case for walk engine params set via python - node_->set_parameter(parameter); - } else { - // parameter is not for the walking, set on moveit node - moveit_node->declare_parameter(parameter.get_name(), parameter.get_type()); - moveit_node->set_parameter(parameter); - } - } - + // Create dummy node for moveit. This is necessary for dynamic reconfigure to work (moveit does some bullshit with + // parameter declarations, so we need to isolate the walking parameters from the moveit parameters). + // If the walking is instantiated using the python wrapper, moveit parameters are passed because no moveit config + // is loaded in the conventional way. Normally the moveit config is loaded via launch file and the passed vector is + // empty. + auto moveit_node = std::make_shared( + "walking_moveit_node", ns, + rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true).parameter_overrides( + moveit_parameters)); // get all kinematics parameters from the move_group node if they are not set manually via constructor std::string check_kinematic_parameters; if (!moveit_node->get_parameter("robot_description_kinematics.LeftLeg.kinematics_solver", diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp index f4587962f..3d83ae465 100644 --- a/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp +++ b/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp @@ -2,21 +2,37 @@ void PyWalkWrapper::spin_some() { rclcpp::spin_some(node_); } -PyWalkWrapper::PyWalkWrapper(std::string ns, std::vector parameter_msgs, bool force_smooth_step_transition) { +PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector &walk_parameter_msgs, + const std::vector &moveit_parameter_msgs, bool force_smooth_step_transition) { // initialize rclcpp if not already done if (!rclcpp::contexts::get_global_default_context()->is_valid()) { rclcpp::init(0, nullptr); } - // create parameters from serialized messages - std::vector cpp_parameters = {}; - for (auto ¶meter_msg : parameter_msgs) { - cpp_parameters.push_back( - rclcpp::Parameter::from_parameter_msg(fromPython(parameter_msg))); - } - - node_ = rclcpp::Node::make_shared(ns + "walking"); - walk_node_ = std::make_shared(node_, ns, cpp_parameters); + // internal function to deserialize the parameter messages + auto deserialize_parameters = [](std::vector parameter_msgs) { + std::vector cpp_parameters = {}; + for (auto ¶meter_msg : parameter_msgs) { + cpp_parameters.push_back( + rclcpp::Parameter::from_parameter_msg(fromPython(parameter_msg))); + } + return cpp_parameters; + }; + + // Create a node object + // Even tho we use python bindings instead of ros's dds, we still need a node object for logging and parameter + // handling Because the walking is not started using the launch infrastructure and an appropriate parameter file, we + // need to manually set the parameters + node_ = rclcpp::Node::make_shared( + "walking", ns, rclcpp::NodeOptions().parameter_overrides(deserialize_parameters(walk_parameter_msgs))); + + // Create the walking object + // We pass it the node we created. But the walking also creates a helper node for moveit (otherwise dynamic + // reconfigure does not work, because moveit does some bullshit with their parameter declarations leading dynamic + // reconfigure not working). This way the walking parameters are isolated from the moveit parameters, allowing dynamic + // reconfigure to work. Therefore we need to pass the moveit parameters to the walking. + walk_node_ = + std::make_shared(node_, ns, deserialize_parameters(moveit_parameter_msgs)); set_robot_state(0); walk_node_->initializeEngine(); walk_node_->getEngine()->setForceSmoothStepTransition(force_smooth_step_transition); @@ -197,7 +213,7 @@ PYBIND11_MODULE(libpy_quintic_walk, m) { using namespace bitbots_quintic_walk; py::class_>(m, "PyWalkWrapper") - .def(py::init, bool>()) + .def(py::init, std::vector, bool>()) .def("step", &PyWalkWrapper::step) .def("step_relative", &PyWalkWrapper::step_relative) .def("step_open_loop", &PyWalkWrapper::step_open_loop) diff --git a/bitbots_msgs/msg/Workload.msg b/bitbots_msgs/msg/Workload.msg index 9b708ddcf..cdde1e0bf 100644 --- a/bitbots_msgs/msg/Workload.msg +++ b/bitbots_msgs/msg/Workload.msg @@ -4,6 +4,11 @@ Cpu[] cpus int32 running_processes float32 cpu_usage_overall +float32 gpu_load +int64 gpu_vram_used +int64 gpu_vram_total +float32 gpu_temperature + int64 memory_available int64 memory_used int64 memory_total diff --git a/bitbots_wolfgang/README.md b/bitbots_robot/README.md similarity index 100% rename from bitbots_wolfgang/README.md rename to bitbots_robot/README.md diff --git a/bitbots_wolfgang/wolfgang_animations/CMakeLists.txt b/bitbots_robot/wolfgang_animations/CMakeLists.txt similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/CMakeLists.txt rename to bitbots_robot/wolfgang_animations/CMakeLists.txt diff --git a/bitbots_wolfgang/wolfgang_animations/animations/falling/falling_back.json b/bitbots_robot/wolfgang_animations/animations/falling/falling_back.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/falling/falling_back.json rename to bitbots_robot/wolfgang_animations/animations/falling/falling_back.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/falling/falling_front.json b/bitbots_robot/wolfgang_animations/animations/falling/falling_front.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/falling/falling_front.json rename to bitbots_robot/wolfgang_animations/animations/falling/falling_front.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/falling/falling_left.json b/bitbots_robot/wolfgang_animations/animations/falling/falling_left.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/falling/falling_left.json rename to bitbots_robot/wolfgang_animations/animations/falling/falling_left.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/falling/falling_right.json b/bitbots_robot/wolfgang_animations/animations/falling/falling_right.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/falling/falling_right.json rename to bitbots_robot/wolfgang_animations/animations/falling/falling_right.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_center.json b/bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_center.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_center.json rename to bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_center.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_left.json b/bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_left.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_left.json rename to bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_left.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_right.json b/bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_right.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_falling_right.json rename to bitbots_robot/wolfgang_animations/animations/goalie/goalie_falling_right.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_prepare_arms.json b/bitbots_robot/wolfgang_animations/animations/goalie/goalie_prepare_arms.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/goalie/goalie_prepare_arms.json rename to bitbots_robot/wolfgang_animations/animations/goalie/goalie_prepare_arms.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/kick/kick_left.json b/bitbots_robot/wolfgang_animations/animations/kick/kick_left.json similarity index 100% rename from bitbots_wolfgang/wolfgang_animations/animations/kick/kick_left.json rename to bitbots_robot/wolfgang_animations/animations/kick/kick_left.json diff --git a/bitbots_wolfgang/wolfgang_animations/animations/kick/kick_right.json b/bitbots_robot/wolfgang_animations/animations/kick/kick_right.json similarity index 100% rename from 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b/bitbots_robot/wolfgang_description/urdf/hip_u_connector.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/hip_u_connector.scad rename to bitbots_robot/wolfgang_description/urdf/hip_u_connector.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/hip_u_connector.stl b/bitbots_robot/wolfgang_description/urdf/hip_u_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/hip_u_connector.stl rename to bitbots_robot/wolfgang_description/urdf/hip_u_connector.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/imu_holder.scad b/bitbots_robot/wolfgang_description/urdf/imu_holder.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/imu_holder.scad rename to bitbots_robot/wolfgang_description/urdf/imu_holder.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/imu_holder.stl b/bitbots_robot/wolfgang_description/urdf/imu_holder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/imu_holder.stl rename to bitbots_robot/wolfgang_description/urdf/imu_holder.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/knee_connector.scad b/bitbots_robot/wolfgang_description/urdf/knee_connector.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/knee_connector.scad rename to bitbots_robot/wolfgang_description/urdf/knee_connector.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/knee_connector.stl b/bitbots_robot/wolfgang_description/urdf/knee_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/knee_connector.stl rename to bitbots_robot/wolfgang_description/urdf/knee_connector.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/knee_spacer.scad b/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/knee_spacer.scad rename to bitbots_robot/wolfgang_description/urdf/knee_spacer.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/knee_spacer.stl b/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/knee_spacer.stl rename to bitbots_robot/wolfgang_description/urdf/knee_spacer.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lense.scad b/bitbots_robot/wolfgang_description/urdf/lense.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lense.scad rename to bitbots_robot/wolfgang_description/urdf/lense.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lense.stl b/bitbots_robot/wolfgang_description/urdf/lense.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lense.stl rename to bitbots_robot/wolfgang_description/urdf/lense.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/load_cell.scad b/bitbots_robot/wolfgang_description/urdf/load_cell.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/load_cell.scad rename to bitbots_robot/wolfgang_description/urdf/load_cell.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/load_cell.stl b/bitbots_robot/wolfgang_description/urdf/load_cell.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/load_cell.stl rename to bitbots_robot/wolfgang_description/urdf/load_cell.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_arm.scad b/bitbots_robot/wolfgang_description/urdf/lower_arm.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_arm.scad rename to bitbots_robot/wolfgang_description/urdf/lower_arm.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_arm.stl b/bitbots_robot/wolfgang_description/urdf/lower_arm.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_arm.stl rename to bitbots_robot/wolfgang_description/urdf/lower_arm.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_leg.scad b/bitbots_robot/wolfgang_description/urdf/lower_leg.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_leg.scad rename to bitbots_robot/wolfgang_description/urdf/lower_leg.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_leg.stl b/bitbots_robot/wolfgang_description/urdf/lower_leg.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_leg.stl rename to bitbots_robot/wolfgang_description/urdf/lower_leg.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_leg_spacer.scad b/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_leg_spacer.scad rename to bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/lower_leg_spacer.stl b/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/lower_leg_spacer.stl rename to bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/motor_connector.scad b/bitbots_robot/wolfgang_description/urdf/motor_connector.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/motor_connector.scad rename to bitbots_robot/wolfgang_description/urdf/motor_connector.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/motor_connector.stl b/bitbots_robot/wolfgang_description/urdf/motor_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/motor_connector.stl rename to bitbots_robot/wolfgang_description/urdf/motor_connector.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/mx-106_body.scad b/bitbots_robot/wolfgang_description/urdf/mx-106_body.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/mx-106_body.scad rename to bitbots_robot/wolfgang_description/urdf/mx-106_body.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/mx-106_body.stl b/bitbots_robot/wolfgang_description/urdf/mx-106_body.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/mx-106_body.stl rename to bitbots_robot/wolfgang_description/urdf/mx-106_body.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/mx-64-body.scad b/bitbots_robot/wolfgang_description/urdf/mx-64-body.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/mx-64-body.scad rename to bitbots_robot/wolfgang_description/urdf/mx-64-body.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/mx-64-body.stl b/bitbots_robot/wolfgang_description/urdf/mx-64-body.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/mx-64-body.stl rename to bitbots_robot/wolfgang_description/urdf/mx-64-body.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_back.scad b/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_back.scad rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_back.stl b/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_back.stl rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_front.scad b/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_front.scad rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_front.stl b/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_left_front.stl rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_back.scad b/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_back.scad rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_back.stl b/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_back.stl rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_front.scad b/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_front.scad rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_front.stl b/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_holder_right_front.stl rename to bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_main.scad b/bitbots_robot/wolfgang_description/urdf/nuc_main.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_main.scad rename to bitbots_robot/wolfgang_description/urdf/nuc_main.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/nuc_main.stl b/bitbots_robot/wolfgang_description/urdf/nuc_main.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/nuc_main.stl rename to bitbots_robot/wolfgang_description/urdf/nuc_main.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/robot.urdf b/bitbots_robot/wolfgang_description/urdf/robot.urdf similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/robot.urdf rename to bitbots_robot/wolfgang_description/urdf/robot.urdf diff --git a/bitbots_wolfgang/wolfgang_description/urdf/sea_connector.scad b/bitbots_robot/wolfgang_description/urdf/sea_connector.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/sea_connector.scad rename to bitbots_robot/wolfgang_description/urdf/sea_connector.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/sea_connector.stl b/bitbots_robot/wolfgang_description/urdf/sea_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/sea_connector.stl rename to bitbots_robot/wolfgang_description/urdf/sea_connector.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/sea_ninjaflex.scad b/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/sea_ninjaflex.scad rename to bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/sea_ninjaflex.stl b/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/sea_ninjaflex.stl rename to bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/shoulder_connector.scad b/bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/shoulder_connector.scad rename to bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/shoulder_connector.stl b/bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/shoulder_connector.stl rename to bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/speaker_holder.scad b/bitbots_robot/wolfgang_description/urdf/speaker_holder.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/speaker_holder.scad rename to bitbots_robot/wolfgang_description/urdf/speaker_holder.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/speaker_holder.stl b/bitbots_robot/wolfgang_description/urdf/speaker_holder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/speaker_holder.stl rename to bitbots_robot/wolfgang_description/urdf/speaker_holder.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/spring_holder_lower.scad b/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/spring_holder_lower.scad rename to bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/spring_holder_lower.stl b/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/spring_holder_lower.stl rename to bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/spring_holder_upper.scad b/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/spring_holder_upper.scad rename to bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/spring_holder_upper.stl b/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/spring_holder_upper.stl rename to bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/springholder_bottom.scad b/bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/springholder_bottom.scad rename to bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/springholder_bottom.stl b/bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/springholder_bottom.stl rename to bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/springholder_new.scad b/bitbots_robot/wolfgang_description/urdf/springholder_new.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/springholder_new.scad rename to bitbots_robot/wolfgang_description/urdf/springholder_new.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/springholder_new.stl b/bitbots_robot/wolfgang_description/urdf/springholder_new.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/springholder_new.stl rename to bitbots_robot/wolfgang_description/urdf/springholder_new.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/thrustbearingholder.scad b/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/thrustbearingholder.scad rename to bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/thrustbearingholder.stl b/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/thrustbearingholder.stl rename to bitbots_robot/wolfgang_description/urdf/thrustbearingholder.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bottom.scad b/bitbots_robot/wolfgang_description/urdf/torso_bottom.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bottom.scad rename to bitbots_robot/wolfgang_description/urdf/torso_bottom.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bottom.stl b/bitbots_robot/wolfgang_description/urdf/torso_bottom.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bottom.stl rename to bitbots_robot/wolfgang_description/urdf/torso_bottom.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_left.scad b/bitbots_robot/wolfgang_description/urdf/torso_bumper_left.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_left.scad rename to bitbots_robot/wolfgang_description/urdf/torso_bumper_left.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_left.stl b/bitbots_robot/wolfgang_description/urdf/torso_bumper_left.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_left.stl rename to bitbots_robot/wolfgang_description/urdf/torso_bumper_left.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_right.scad b/bitbots_robot/wolfgang_description/urdf/torso_bumper_right.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_right.scad rename to bitbots_robot/wolfgang_description/urdf/torso_bumper_right.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_right.stl b/bitbots_robot/wolfgang_description/urdf/torso_bumper_right.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_bumper_right.stl rename to bitbots_robot/wolfgang_description/urdf/torso_bumper_right.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_top.scad b/bitbots_robot/wolfgang_description/urdf/torso_top.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_top.scad rename to bitbots_robot/wolfgang_description/urdf/torso_top.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/torso_top.stl b/bitbots_robot/wolfgang_description/urdf/torso_top.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/torso_top.stl rename to bitbots_robot/wolfgang_description/urdf/torso_top.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_arm.scad b/bitbots_robot/wolfgang_description/urdf/upper_arm.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_arm.scad rename to bitbots_robot/wolfgang_description/urdf/upper_arm.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_arm.stl b/bitbots_robot/wolfgang_description/urdf/upper_arm.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_arm.stl rename to bitbots_robot/wolfgang_description/urdf/upper_arm.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_arm_spacer.scad b/bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_arm_spacer.scad rename to bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_arm_spacer.stl b/bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_arm_spacer.stl rename to bitbots_robot/wolfgang_description/urdf/upper_arm_spacer.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_leg.scad b/bitbots_robot/wolfgang_description/urdf/upper_leg.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_leg.scad rename to bitbots_robot/wolfgang_description/urdf/upper_leg.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_leg.stl b/bitbots_robot/wolfgang_description/urdf/upper_leg.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_leg.stl rename to bitbots_robot/wolfgang_description/urdf/upper_leg.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_leg_spacer.scad b/bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_leg_spacer.scad rename to bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/upper_leg_spacer.stl b/bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/upper_leg_spacer.stl rename to bitbots_robot/wolfgang_description/urdf/upper_leg_spacer.stl diff --git a/bitbots_wolfgang/wolfgang_description/urdf/xh-540.scad b/bitbots_robot/wolfgang_description/urdf/xh-540.scad similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/xh-540.scad rename to bitbots_robot/wolfgang_description/urdf/xh-540.scad diff --git a/bitbots_wolfgang/wolfgang_description/urdf/xh-540.stl b/bitbots_robot/wolfgang_description/urdf/xh-540.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_description/urdf/xh-540.stl rename to bitbots_robot/wolfgang_description/urdf/xh-540.stl diff --git a/bitbots_wolfgang/wolfgang_moveit_config/.setup_assistant b/bitbots_robot/wolfgang_moveit_config/.setup_assistant similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/.setup_assistant rename to bitbots_robot/wolfgang_moveit_config/.setup_assistant diff --git a/bitbots_wolfgang/wolfgang_moveit_config/CMakeLists.txt b/bitbots_robot/wolfgang_moveit_config/CMakeLists.txt similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/CMakeLists.txt rename to bitbots_robot/wolfgang_moveit_config/CMakeLists.txt diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/fake_controllers.yaml b/bitbots_robot/wolfgang_moveit_config/config/fake_controllers.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/fake_controllers.yaml rename to bitbots_robot/wolfgang_moveit_config/config/fake_controllers.yaml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/joint_limits.yaml b/bitbots_robot/wolfgang_moveit_config/config/joint_limits.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/joint_limits.yaml rename to bitbots_robot/wolfgang_moveit_config/config/joint_limits.yaml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/kinematics.yaml b/bitbots_robot/wolfgang_moveit_config/config/kinematics.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/kinematics.yaml rename to bitbots_robot/wolfgang_moveit_config/config/kinematics.yaml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/ompl_planning.yaml b/bitbots_robot/wolfgang_moveit_config/config/ompl_planning.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/ompl_planning.yaml rename to bitbots_robot/wolfgang_moveit_config/config/ompl_planning.yaml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/sensors_3d.yaml b/bitbots_robot/wolfgang_moveit_config/config/sensors_3d.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/sensors_3d.yaml rename to bitbots_robot/wolfgang_moveit_config/config/sensors_3d.yaml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/config/wolfgang.srdf b/bitbots_robot/wolfgang_moveit_config/config/wolfgang.srdf similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/config/wolfgang.srdf rename to bitbots_robot/wolfgang_moveit_config/config/wolfgang.srdf diff --git a/bitbots_wolfgang/wolfgang_moveit_config/package.xml b/bitbots_robot/wolfgang_moveit_config/package.xml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/package.xml rename to bitbots_robot/wolfgang_moveit_config/package.xml diff --git a/bitbots_wolfgang/wolfgang_moveit_config/rosdoc.yaml b/bitbots_robot/wolfgang_moveit_config/rosdoc.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_moveit_config/rosdoc.yaml rename to bitbots_robot/wolfgang_moveit_config/rosdoc.yaml diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/CMakeLists.txt b/bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt similarity index 98% rename from bitbots_wolfgang/wolfgang_pybullet_sim/CMakeLists.txt rename to bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt index 0ab119830..8bf69dfe2 100644 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/CMakeLists.txt +++ b/bitbots_simulation/bitbots_pybullet_sim/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(wolfgang_pybullet_sim) +project(bitbots_pybullet_sim) # Add support for C++17 if(NOT CMAKE_CXX_STANDARD) diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/README.md b/bitbots_simulation/bitbots_pybullet_sim/README.md similarity index 56% rename from bitbots_wolfgang/wolfgang_pybullet_sim/README.md rename to bitbots_simulation/bitbots_pybullet_sim/README.md index 50207aabf..c6390a6f7 100644 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/README.md +++ b/bitbots_simulation/bitbots_pybullet_sim/README.md @@ -1,8 +1,8 @@ -This package provides a PyBullet simulation environment with ROS topic support for the Wolfgang Robot. +This package provides a PyBullet simulation environment with ROS topic support. There are different options to use this: -1. Start the simulation with interface `rosrun wolfgang_pybullet_sim simulation_with_gui.py` -2. Start the simulation without interface `rosrun wolfgang_pybullet_sim simulation_headless.py` +1. Start the simulation with interface `rosrun bitbots_pybullet_sim simulation_with_gui.py` +2. Start the simulation without interface `rosrun bitbots_pybullet_sim simulation_headless.py` 3. Use the python class `Simulation` in `simulation.py` to directly run a simulation without using ROS Shortcuts in gui: @@ -15,4 +15,4 @@ Shortcuts in gui: `s` hold to step while pausing -`n` gravity on/off \ No newline at end of file +`n` gravity on/off diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/__init__.py b/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/__init__.py rename to bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/__init__.py diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/ros_interface.py b/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/ros_interface.py similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/ros_interface.py rename to bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/ros_interface.py diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/simulation.py b/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py similarity index 99% rename from bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/simulation.py rename to bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py index 824b84914..8c79474f6 100644 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/simulation.py +++ b/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/simulation.py @@ -14,7 +14,7 @@ from transforms3d.euler import euler2quat, quat2euler from transforms3d.quaternions import qinverse, quat2mat, rotate_vector -from wolfgang_pybullet_sim.terrain import Terrain +from bitbots_pybullet_sim.terrain import Terrain class Simulation: @@ -177,7 +177,7 @@ def load_models(self): # Load field rospack = rospkg.RosPack() - path = os.path.join(rospack.get_path("wolfgang_pybullet_sim"), "models") + path = os.path.join(rospack.get_path("bitbots_pybullet_sim"), "models") p.setAdditionalSearchPath(path) # needed to find field model self.field_index = p.loadURDF("field/field.urdf") diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/terrain.py b/bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/terrain.py similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/wolfgang_pybullet_sim/terrain.py rename to bitbots_simulation/bitbots_pybullet_sim/bitbots_pybullet_sim/terrain.py diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/config/config.yaml b/bitbots_simulation/bitbots_pybullet_sim/config/config.yaml similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/config/config.yaml rename to bitbots_simulation/bitbots_pybullet_sim/config/config.yaml diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/docs/_static/logo.png b/bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/docs/_static/logo.png rename to bitbots_simulation/bitbots_pybullet_sim/docs/_static/logo.png diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/docs/conf.py b/bitbots_simulation/bitbots_pybullet_sim/docs/conf.py similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/docs/conf.py rename to bitbots_simulation/bitbots_pybullet_sim/docs/conf.py diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/docs/index.rst b/bitbots_simulation/bitbots_pybullet_sim/docs/index.rst similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/docs/index.rst rename to bitbots_simulation/bitbots_pybullet_sim/docs/index.rst diff --git a/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch b/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch new file mode 100644 index 000000000..1421e403f --- /dev/null +++ b/bitbots_simulation/bitbots_pybullet_sim/launch/simulation.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/config.json b/bitbots_simulation/bitbots_pybullet_sim/models/field/config.json similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/config.json rename to bitbots_simulation/bitbots_pybullet_sim/models/field/config.json diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/field.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/field.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/field.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/field.urdf b/bitbots_simulation/bitbots_pybullet_sim/models/field/field.urdf similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/field.urdf rename to bitbots_simulation/bitbots_pybullet_sim/models/field/field.urdf diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsally.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsally.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsally.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/goalsally.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsallyback.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsallyback.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsallyback.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/goalsallyback.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsopponent.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponent.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsopponent.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponent.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsopponentback.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponentback.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/goalsopponentback.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/goalsopponentback.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/lines.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/lines.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/lines.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/lines.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/penaltyally.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyally.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/penaltyally.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyally.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/penaltyopponent.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyopponent.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/penaltyopponent.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/penaltyopponent.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/table.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/table.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table2.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/table2.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table2.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/table2.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table3.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table3.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/table3.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table4.stl b/bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/models/field/table4.stl rename to bitbots_simulation/bitbots_pybullet_sim/models/field/table4.stl diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/package.xml b/bitbots_simulation/bitbots_pybullet_sim/package.xml similarity index 75% rename from bitbots_wolfgang/wolfgang_pybullet_sim/package.xml rename to bitbots_simulation/bitbots_pybullet_sim/package.xml index e7870fe2e..f39988600 100644 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/package.xml +++ b/bitbots_simulation/bitbots_pybullet_sim/package.xml @@ -1,9 +1,9 @@ - wolfgang_pybullet_sim + bitbots_pybullet_sim 1.3.0 - Simulation environment using PyBullet for Wolfgang robot. + Simulation environment using PyBullet. Marc Bestmann Hamburg Bit-Bots @@ -21,15 +21,15 @@ rosgraph_msgs std_msgs bitbots_docs - wolfgang_webots_sim + bitbots_webots_sim tf_transformations python3-transforms3d python3-numpy - - unknown - python - + + unknown + python + diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_headless.py b/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py similarity index 78% rename from bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_headless.py rename to bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py index 5a7f699cd..ee9e5c9f0 100755 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_headless.py +++ b/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_headless.py @@ -2,9 +2,9 @@ import threading import rclpy +from bitbots_pybullet_sim.ros_interface import ROSInterface +from bitbots_pybullet_sim.simulation import Simulation from rclpy.node import Node -from wolfgang_pybullet_sim.ros_interface import ROSInterface -from wolfgang_pybullet_sim.simulation import Simulation if __name__ == "__main__": rclpy.init(args=None) diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_with_gui.py b/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py similarity index 78% rename from bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_with_gui.py rename to bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py index d5cb5b66d..5e7f2c89f 100755 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/scripts/simulation_with_gui.py +++ b/bitbots_simulation/bitbots_pybullet_sim/scripts/simulation_with_gui.py @@ -2,9 +2,9 @@ import threading import rclpy +from bitbots_pybullet_sim.ros_interface import ROSInterface +from bitbots_pybullet_sim.simulation import Simulation from rclpy.node import Node -from wolfgang_pybullet_sim.ros_interface import ROSInterface -from wolfgang_pybullet_sim.simulation import Simulation if __name__ == "__main__": rclpy.init(args=None) diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/setup.py b/bitbots_simulation/bitbots_pybullet_sim/setup.py similarity index 83% rename from bitbots_wolfgang/wolfgang_pybullet_sim/setup.py rename to bitbots_simulation/bitbots_pybullet_sim/setup.py index fc4a872a6..f4df7a765 100644 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/setup.py +++ b/bitbots_simulation/bitbots_pybullet_sim/setup.py @@ -3,7 +3,7 @@ from catkin_pkg.python_setup import generate_distutils_setup d = generate_distutils_setup( - packages=["wolfgang_pybullet_sim"], + packages=["bitbots_pybullet_sim"], # scripts=['bin/myscript'], package_dir={"": "src"}, ) diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/src/wolfgang_pybullet_sim/ros_interface.py b/bitbots_simulation/bitbots_pybullet_sim/src/bitbots_pybullet_sim/ros_interface.py similarity index 100% rename from bitbots_wolfgang/wolfgang_pybullet_sim/src/wolfgang_pybullet_sim/ros_interface.py rename to bitbots_simulation/bitbots_pybullet_sim/src/bitbots_pybullet_sim/ros_interface.py diff --git a/bitbots_wolfgang/wolfgang_robocup_api/.gitignore b/bitbots_simulation/bitbots_robocup_api/.gitignore similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/.gitignore rename to bitbots_simulation/bitbots_robocup_api/.gitignore diff --git a/bitbots_wolfgang/wolfgang_robocup_api/README.md b/bitbots_simulation/bitbots_robocup_api/README.md similarity index 67% rename from bitbots_wolfgang/wolfgang_robocup_api/README.md rename to bitbots_simulation/bitbots_robocup_api/README.md index bcad66f6f..1021d8b1f 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/README.md +++ b/bitbots_simulation/bitbots_robocup_api/README.md @@ -1 +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 for the Wolfgang Robot. +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. diff --git a/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json b/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json new file mode 100644 index 000000000..ce9a44088 --- /dev/null +++ b/bitbots_simulation/bitbots_robocup_api/config/bitbots_walk.json @@ -0,0 +1,62 @@ +{ + "name": "Bit-Bots", + "players": { + "1": { + "proto": "Wolfgang", + "dockerTag": "latest", + "dockerCmd": "roslaunch bitbots_robocup_api robocup_walk.launch", + "halfTimeStartingPose": { + "translation": [ + -3.6, + -3.20, + 0.43 + ], + "rotation": [ + 0.13, + -0.13, + -0.98, + -1.57 + ] + }, + "reentryStartingPose": { + "translation": [ + -3.6, + -3.20, + 0.43 + ], + "rotation": [ + 0.0, + -0.0, + -1.0, + -1.57 + ] + }, + "shootoutStartingPose": { + "translation": [ + 2.6, + 0, + 0.43 + ], + "rotation": [ + 0, + 0.98, + 0.13, + 0.26 + ] + }, + "goalKeeperStartingPose": { + "translation": [ + -4.47, + 0, + 0.43 + ], + "rotation": [ + -0.13, + 0, + 0.98, + 3.14 + ] + } + } + } +} diff --git a/bitbots_wolfgang/wolfgang_robocup_api/config/devices.json b/bitbots_simulation/bitbots_robocup_api/config/devices.json similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/config/devices.json rename to bitbots_simulation/bitbots_robocup_api/config/devices.json diff --git a/bitbots_wolfgang/wolfgang_robocup_api/config/team.json b/bitbots_simulation/bitbots_robocup_api/config/team.json similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/config/team.json rename to bitbots_simulation/bitbots_robocup_api/config/team.json diff --git a/bitbots_wolfgang/wolfgang_robocup_api/launch/wolfgang_robocup_api_bridge.launch b/bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch similarity index 68% rename from bitbots_wolfgang/wolfgang_robocup_api/launch/wolfgang_robocup_api_bridge.launch rename to bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch index eb6350905..903bd8543 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/launch/wolfgang_robocup_api_bridge.launch +++ b/bitbots_simulation/bitbots_robocup_api/launch/bitbots_robocup_api_bridge.launch @@ -1,16 +1,16 @@ - + - + - + diff --git a/bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_teamplayer.launch b/bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch similarity index 89% rename from bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_teamplayer.launch rename to bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch index 8b4fb2534..7c145e37a 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_teamplayer.launch +++ b/bitbots_simulation/bitbots_robocup_api/launch/robocup_teamplayer.launch @@ -10,7 +10,7 @@ - + diff --git a/bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_walk.launch b/bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch similarity index 79% rename from bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_walk.launch rename to bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch index 9fb758d90..ec8b05e69 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/launch/robocup_walk.launch +++ b/bitbots_simulation/bitbots_robocup_api/launch/robocup_walk.launch @@ -1,6 +1,6 @@ - + diff --git a/bitbots_wolfgang/wolfgang_robocup_api/package.xml b/bitbots_simulation/bitbots_robocup_api/package.xml similarity index 94% rename from bitbots_wolfgang/wolfgang_robocup_api/package.xml rename to bitbots_simulation/bitbots_robocup_api/package.xml index cdc392e07..b7b2c2954 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/package.xml +++ b/bitbots_simulation/bitbots_robocup_api/package.xml @@ -1,7 +1,7 @@ - wolfgang_robocup_api + bitbots_robocup_api 0.0.0 Bridge between the official Humanoid League RoboCup Proto3 API and our ROS topics for the Wolfgang Robot @@ -23,7 +23,7 @@ hlvs_player rclpy sensor_msgs - wolfgang_webots_sim + bitbots_webots_sim protobuf-dev urdfdom_py topic_tools diff --git a/bitbots_wolfgang/wolfgang_robocup_api/resource/wolfgang_robocup_api b/bitbots_simulation/bitbots_robocup_api/resource/bitbots_robocup_api similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/resource/wolfgang_robocup_api rename to bitbots_simulation/bitbots_robocup_api/resource/bitbots_robocup_api diff --git a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh b/bitbots_simulation/bitbots_robocup_api/scripts/start.sh similarity index 97% rename from bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh rename to bitbots_simulation/bitbots_robocup_api/scripts/start.sh index 5793d5586..ec5cbe0a3 100755 --- a/bitbots_wolfgang/wolfgang_robocup_api/scripts/start.sh +++ b/bitbots_simulation/bitbots_robocup_api/scripts/start.sh @@ -138,4 +138,4 @@ sed -i "/^ target_ip:/s/^.*$/ target_ip: $ROBOCUP_MIRROR_SERVER_IP/" $TEAM # Start ROS # ############# -exec ros2 launch wolfgang_robocup_api robocup_teamplayer.launch record:=$RECORD +exec ros2 launch bitbots_robocup_api robocup_teamplayer.launch record:=$RECORD diff --git a/bitbots_simulation/bitbots_robocup_api/setup.cfg b/bitbots_simulation/bitbots_robocup_api/setup.cfg new file mode 100644 index 000000000..dddd43c45 --- /dev/null +++ b/bitbots_simulation/bitbots_robocup_api/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/bitbots_robocup_api +[install] +install_scripts=$base/lib/bitbots_robocup_api diff --git a/bitbots_wolfgang/wolfgang_robocup_api/setup.py b/bitbots_simulation/bitbots_robocup_api/setup.py similarity index 95% rename from bitbots_wolfgang/wolfgang_robocup_api/setup.py rename to bitbots_simulation/bitbots_robocup_api/setup.py index 702ab9448..94fdf23af 100644 --- a/bitbots_wolfgang/wolfgang_robocup_api/setup.py +++ b/bitbots_simulation/bitbots_robocup_api/setup.py @@ -3,7 +3,7 @@ from setuptools import find_packages, setup -package_name = "wolfgang_robocup_api" +package_name = "bitbots_robocup_api" setup( name=package_name, diff --git a/bitbots_wolfgang/wolfgang_robocup_api/wolfgang_robocup_api/__init__.py b/bitbots_simulation/bitbots_robocup_api/wolfgang_robocup_api/__init__.py similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/wolfgang_robocup_api/__init__.py rename to bitbots_simulation/bitbots_robocup_api/wolfgang_robocup_api/__init__.py diff --git a/bitbots_wolfgang/wolfgang_robocup_api/wolfgang_robocup_api/command_proxy.py b/bitbots_simulation/bitbots_robocup_api/wolfgang_robocup_api/command_proxy.py similarity index 100% rename from bitbots_wolfgang/wolfgang_robocup_api/wolfgang_robocup_api/command_proxy.py rename to bitbots_simulation/bitbots_robocup_api/wolfgang_robocup_api/command_proxy.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/.gitignore b/bitbots_simulation/bitbots_webots_sim/.gitignore similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/.gitignore rename to bitbots_simulation/bitbots_webots_sim/.gitignore diff --git a/bitbots_wolfgang/wolfgang_webots_sim/CMakeLists.txt b/bitbots_simulation/bitbots_webots_sim/CMakeLists.txt similarity index 98% rename from bitbots_wolfgang/wolfgang_webots_sim/CMakeLists.txt rename to bitbots_simulation/bitbots_webots_sim/CMakeLists.txt index e93ad4a15..2562bc709 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/CMakeLists.txt +++ b/bitbots_simulation/bitbots_webots_sim/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(wolfgang_webots_sim) +project(bitbots_webots_sim) # Add support for C++17 if(NOT CMAKE_CXX_STANDARD) diff --git a/bitbots_wolfgang/wolfgang_webots_sim/README.md b/bitbots_simulation/bitbots_webots_sim/README.md similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/README.md rename to bitbots_simulation/bitbots_webots_sim/README.md diff --git a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/__init__.py b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/__init__.py rename to bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/__init__.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_controller.py b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py similarity index 98% rename from bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_controller.py rename to bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py index 0ba93ed38..925fb1db3 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_controller.py +++ b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_controller.py @@ -645,6 +645,12 @@ def __init__( self.pub_pres_left = self.ros_node.create_publisher(FootPressure, base_ns + "foot_pressure_left/raw", 1) self.pub_pres_right = self.ros_node.create_publisher(FootPressure, base_ns + "foot_pressure_right/raw", 1) + self.pub_pres_left_filtered = self.ros_node.create_publisher( + FootPressure, base_ns + "foot_pressure_left/filtered", 1 + ) + self.pub_pres_right_filtered = self.ros_node.create_publisher( + FootPressure, base_ns + "foot_pressure_right/filtered", 1 + ) self.cop_l_pub_ = self.ros_node.create_publisher(PointStamped, base_ns + "cop_l", 1) self.cop_r_pub_ = self.ros_node.create_publisher(PointStamped, base_ns + "cop_r", 1) self.ros_node.create_subscription(JointCommand, base_ns + "DynamixelController/command", self.command_cb, 1) @@ -1009,6 +1015,8 @@ def get_pressure_message(self): def publish_pressure(self): left, right, cop_l, cop_r = self.get_pressure_message() self.pub_pres_left.publish(left) + self.pub_pres_left_filtered.publish(left) self.pub_pres_right.publish(right) + self.pub_pres_right_filtered.publish(right) self.cop_l_pub_.publish(cop_l) self.cop_r_pub_.publish(cop_r) diff --git a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_supervisor_controller.py b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py similarity index 91% rename from bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_supervisor_controller.py rename to bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py index 48bcd47b5..e9c80b80a 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_robot_supervisor_controller.py +++ b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_robot_supervisor_controller.py @@ -1,5 +1,5 @@ -from wolfgang_webots_sim.webots_robot_controller import RobotController -from wolfgang_webots_sim.webots_supervisor_controller import SupervisorController +from bitbots_webots_sim.webots_robot_controller import RobotController +from bitbots_webots_sim.webots_supervisor_controller import SupervisorController class RobotSupervisorController(SupervisorController, RobotController): diff --git a/bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_supervisor_controller.py b/bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_supervisor_controller.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/wolfgang_webots_sim/webots_supervisor_controller.py rename to bitbots_simulation/bitbots_webots_sim/bitbots_webots_sim/webots_supervisor_controller.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/docs/_static/logo.png b/bitbots_simulation/bitbots_webots_sim/docs/_static/logo.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/docs/_static/logo.png rename to bitbots_simulation/bitbots_webots_sim/docs/_static/logo.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/docs/conf.py b/bitbots_simulation/bitbots_webots_sim/docs/conf.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/docs/conf.py rename to bitbots_simulation/bitbots_webots_sim/docs/conf.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/docs/index.rst b/bitbots_simulation/bitbots_webots_sim/docs/index.rst similarity index 98% rename from bitbots_wolfgang/wolfgang_webots_sim/docs/index.rst rename to bitbots_simulation/bitbots_webots_sim/docs/index.rst index b44687ef4..f7ce365dc 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/docs/index.rst +++ b/bitbots_simulation/bitbots_webots_sim/docs/index.rst @@ -28,7 +28,7 @@ Run the script to adapt the urdf to be usable by webots2urdf .. code-block:: bash - roscd wolfgang_webots_sim + roscd bitbots_webots_sim python scripts/fix_urdf_for_webots.py ../wolfgang_description/urdf/robot.urdf webots_robot.urdf Run the conversion script from urdf to proto file diff --git a/bitbots_wolfgang/wolfgang_webots_sim/launch/fake_localization.launch b/bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch similarity index 85% rename from bitbots_wolfgang/wolfgang_webots_sim/launch/fake_localization.launch rename to bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch index b0f4e9674..61964745c 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/launch/fake_localization.launch +++ b/bitbots_simulation/bitbots_webots_sim/launch/fake_localization.launch @@ -6,5 +6,5 @@ - - \ No newline at end of file + + diff --git a/bitbots_wolfgang/wolfgang_webots_sim/launch/imu_filter_sim.launch b/bitbots_simulation/bitbots_webots_sim/launch/imu_filter_sim.launch similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/launch/imu_filter_sim.launch rename to bitbots_simulation/bitbots_webots_sim/launch/imu_filter_sim.launch diff --git a/bitbots_wolfgang/wolfgang_webots_sim/launch/simulation.launch b/bitbots_simulation/bitbots_webots_sim/launch/simulation.launch similarity index 70% rename from bitbots_wolfgang/wolfgang_webots_sim/launch/simulation.launch rename to bitbots_simulation/bitbots_webots_sim/launch/simulation.launch index b9511ea3f..65d452475 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/launch/simulation.launch +++ b/bitbots_simulation/bitbots_webots_sim/launch/simulation.launch @@ -1,10 +1,8 @@ - - + + @@ -22,18 +20,17 @@ - - + + - + - + @@ -41,7 +38,7 @@ - + @@ -49,11 +46,11 @@ - + - + @@ -61,11 +58,11 @@ - + - + @@ -73,11 +70,11 @@ - + - + @@ -85,7 +82,7 @@ - + diff --git a/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch b/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch new file mode 100644 index 000000000..d51ff1a32 --- /dev/null +++ b/bitbots_simulation/bitbots_webots_sim/launch/single_robot_controller.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/bitbots_wolfgang/wolfgang_webots_sim/package.xml b/bitbots_simulation/bitbots_webots_sim/package.xml similarity index 88% rename from bitbots_wolfgang/wolfgang_webots_sim/package.xml rename to bitbots_simulation/bitbots_webots_sim/package.xml index 831610bd3..dc368db75 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/package.xml +++ b/bitbots_simulation/bitbots_webots_sim/package.xml @@ -1,7 +1,7 @@ - wolfgang_webots_sim + bitbots_webots_sim 1.4.0 Simulation environment using Webots for Wolfgang robot. @@ -34,10 +34,10 @@ - - unknown - python - + + unknown + python + ament_cmake diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/FreeCamera.proto b/bitbots_simulation/bitbots_webots_sim/protos/FreeCamera.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/FreeCamera.proto rename to bitbots_simulation/bitbots_webots_sim/protos/FreeCamera.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/RoboCupBackground.proto b/bitbots_simulation/bitbots_webots_sim/protos/RoboCupBackground.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/RoboCupBackground.proto rename to bitbots_simulation/bitbots_webots_sim/protos/RoboCupBackground.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupGoal.proto b/bitbots_simulation/bitbots_webots_sim/protos/RobocupGoal.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupGoal.proto rename to bitbots_simulation/bitbots_webots_sim/protos/RobocupGoal.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupSoccerField.proto b/bitbots_simulation/bitbots_webots_sim/protos/RobocupSoccerField.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupSoccerField.proto rename to bitbots_simulation/bitbots_webots_sim/protos/RobocupSoccerField.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupTexturedSoccerBall.proto b/bitbots_simulation/bitbots_webots_sim/protos/RobocupTexturedSoccerBall.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/RobocupTexturedSoccerBall.proto rename to bitbots_simulation/bitbots_webots_sim/protos/RobocupTexturedSoccerBall.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/ankle.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/ankle.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/ankle.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/ankle.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/baseplate_odroid_xu4_core.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/baseplate_odroid_xu4_core.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/baseplate_odroid_xu4_core.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/baseplate_odroid_xu4_core.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery_cage.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery_cage.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery_cage.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery_cage.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery_clip.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery_clip.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/battery_clip.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/battery_clip.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/connector_shoulder.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/connector_shoulder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/connector_shoulder.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/connector_shoulder.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/core.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/core.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/core.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/core.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/dummy_speaker.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/dummy_speaker.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/dummy_speaker.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/dummy_speaker.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/flex_stollen.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/flex_stollen.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/flex_stollen.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/flex_stollen.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_cover.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_cover.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_cover.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_cover.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_printed_left.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_printed_left.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_printed_left.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_printed_left.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_printed_right.stl b/bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_printed_right.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/foot_printed_right.stl rename to bitbots_simulation/bitbots_webots_sim/protos/Wolfgang_meshes/foot_printed_right.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/Wolfgang_meshes/hand.stl 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a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_bottom.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_bottom.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_bottom.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_bottom.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_bottom.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_bottom.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_bottom.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_bottom.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_front.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_front.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_front.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_front.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_front.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_front.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_front.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_front.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_left.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_left.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_left.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_left.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_left.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_left.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_left.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_left.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_right.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_right.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_right.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/shanghai_riverside_right.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/shanghai_riverside_right.png 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a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_front.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_front.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_front.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_front.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_front.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_front.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_front.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_front.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_left.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_left.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_left.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_left.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_left.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_left.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_left.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_left.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_right.hdr b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_right.hdr similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_right.hdr rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/stadium_dry_right.hdr diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/stadium_dry_right.png 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a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_back.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_back.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_back.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_back.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_bottom.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_bottom.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_bottom.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_bottom.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_front.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_front.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_front.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_front.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_left.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_left.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_left.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_left.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_right.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_right.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_right.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_right.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_top.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_top.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/sunset_jhbcentral_top.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_top.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_back.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_back.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_back.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_back.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_front.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_front.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_front.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_front.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_left.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_left.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_left.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_left.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_right.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_right.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_right.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_right.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_top.png b/bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_top.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/backgrounds/ulmer_muenster_top.png rename to bitbots_simulation/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_top.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/LICENSE b/bitbots_simulation/bitbots_webots_sim/protos/ball_textures/LICENSE similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/LICENSE rename to bitbots_simulation/bitbots_webots_sim/protos/ball_textures/LICENSE diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/europass.jpg b/bitbots_simulation/bitbots_webots_sim/protos/ball_textures/europass.jpg similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/europass.jpg rename to bitbots_simulation/bitbots_webots_sim/protos/ball_textures/europass.jpg diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/jabulani.jpg b/bitbots_simulation/bitbots_webots_sim/protos/ball_textures/jabulani.jpg similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/jabulani.jpg rename to bitbots_simulation/bitbots_webots_sim/protos/ball_textures/jabulani.jpg diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/ball_textures/tango.jpg b/bitbots_simulation/bitbots_webots_sim/protos/ball_textures/tango.jpg similarity index 100% rename from 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b/bitbots_simulation/bitbots_webots_sim/protos/hl_supervisor/hl_supervisor.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/hl_supervisor/hl_supervisor.proto rename to bitbots_simulation/bitbots_webots_sim/protos/hl_supervisor/hl_supervisor.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupMainLight.proto b/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupMainLight.proto rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupOffLight.proto b/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupOffLight.proto rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupTopLight.proto b/bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/RoboCupTopLight.proto rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupMainLight.png b/bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupMainLight.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupMainLight.png rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupMainLight.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupOffLight.png b/bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupOffLight.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupOffLight.png rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupOffLight.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupTopLight.png b/bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/lighting/icons/RoboCupTopLight.png rename to bitbots_simulation/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto similarity index 99% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto index 53ad73c84..e2d546987 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto +++ b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto @@ -483,6 +483,7 @@ PROTO Wolfgang [ RotationalMotor { name "RShoulderRoll" maxVelocity IS MX64-vel + minPosition -0.4 maxPosition 3.14159 maxTorque IS MX64-torque controlPID IS pid @@ -1041,6 +1042,7 @@ PROTO Wolfgang [ name "LShoulderRoll" maxVelocity IS MX64-vel minPosition -3.14159 + maxPosition 0.4 maxTorque IS MX64-torque controlPID IS pid } @@ -1135,7 +1137,7 @@ PROTO Wolfgang [ RotationalMotor { name "LElbow" maxVelocity IS MX64-vel - minPosition -1.5708 + minPosition -1.7 maxPosition 1.0472 maxTorque IS MX64-torque controlPID IS pid @@ -1735,6 +1737,7 @@ PROTO Wolfgang [ name "RKnee" maxVelocity IS XH540W270-vel minPosition -2.96706 + maxPosition 0.2 maxTorque IS XH540W270-torque controlPID IS pid } @@ -1826,7 +1829,7 @@ PROTO Wolfgang [ name "RAnklePitch" maxVelocity IS MX106-vel minPosition -1.74533 - maxPosition 1.22173 + maxPosition 1.45 maxTorque IS MX106-torque controlPID IS pid } @@ -3154,6 +3157,7 @@ PROTO Wolfgang [ RotationalMotor { name "LKnee" maxVelocity IS XH540W270-vel + minPosition -0.2 maxPosition 2.96706 maxTorque IS XH540W270-torque controlPID IS pid @@ -3245,7 +3249,7 @@ PROTO Wolfgang [ RotationalMotor { name "LAnklePitch" maxVelocity IS MX106-vel - minPosition -1.22173 + minPosition -1.45 maxPosition 1.74533 maxTorque IS MX106-torque controlPID IS pid diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_left.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_left.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_left.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_left.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_right.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_right.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_right.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_right.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hand.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hand.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hand.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hand.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hip_u_connector.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hip_u_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hip_u_connector.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hip_u_connector.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/imu_holder.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/imu_holder.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/imu_holder.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/imu_holder.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_connector.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_connector.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_connector.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_spacer.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_spacer.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_spacer.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_spacer.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lense.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lense.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lense.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lense.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/load_cell.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/load_cell.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/load_cell.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/load_cell.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_arm.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_arm.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_arm.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_arm.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg_spacer.stl 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100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-106_body.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-106_body.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-64-body.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-64-body.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-64-body.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-64-body.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_left_back.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_left_back.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_left_back.stl rename to 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--git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_connector.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_connector.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_connector.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_connector.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_ninjaflex.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_ninjaflex.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_ninjaflex.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_ninjaflex.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/shoulder_connector.stl 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a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/xh-540.stl b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/xh-540.stl similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/xh-540.stl rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/xh-540.stl diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangCarbonFiberAppearance.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangCarbonFiberAppearance.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangCarbonFiberAppearance.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangCarbonFiberAppearance.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMetal.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMetal.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMetal.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMetal.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMotor.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMotor.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMotor.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMotor.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangNUC.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangNUC.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangNUC.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangNUC.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto diff --git 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bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png b/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png rename to bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/protos/textures/net.png b/bitbots_simulation/bitbots_webots_sim/protos/textures/net.png similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/protos/textures/net.png rename to bitbots_simulation/bitbots_webots_sim/protos/textures/net.png diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/fix_urdf_for_webots.py b/bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/fix_urdf_for_webots.py rename to bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/imu_lut_gen.py b/bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/imu_lut_gen.py rename to bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/localization_faker.py b/bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/localization_faker.py rename to bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_simulator.py b/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py similarity index 97% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/start_simulator.py rename to bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py index 57d696dd6..f03caeec8 100755 --- a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_simulator.py +++ b/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py @@ -12,7 +12,7 @@ class WebotsSim(Node): def __init__(self, nogui, multi_robot, headless, sim_port, robot_type): super().__init__("webots_sim") - pkg_path = get_package_share_directory("wolfgang_webots_sim") + pkg_path = get_package_share_directory("bitbots_webots_sim") # construct arguments with which webots is started depending on this scripts args extra_args = set() diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_single.py b/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py similarity index 96% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/start_single.py rename to bitbots_simulation/bitbots_webots_sim/scripts/start_single.py index 688388b41..9047ab0fc 100755 --- a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_single.py +++ b/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py @@ -4,9 +4,9 @@ import threading import rclpy +from bitbots_webots_sim.webots_robot_controller import RobotController from controller import Robot from rclpy.node import Node -from wolfgang_webots_sim.webots_robot_controller import RobotController class RobotNode: diff --git a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_webots_ros_supervisor.py b/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py similarity index 92% rename from bitbots_wolfgang/wolfgang_webots_sim/scripts/start_webots_ros_supervisor.py rename to bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py index 30eb80bae..ac213c113 100755 --- a/bitbots_wolfgang/wolfgang_webots_sim/scripts/start_webots_ros_supervisor.py +++ b/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py @@ -4,8 +4,8 @@ import threading import rclpy +from bitbots_webots_sim.webots_supervisor_controller import SupervisorController from rclpy.node import Node -from wolfgang_webots_sim.webots_supervisor_controller import SupervisorController class SupervisorNode: diff --git a/bitbots_wolfgang/wolfgang_webots_sim/setup.py b/bitbots_simulation/bitbots_webots_sim/setup.py similarity index 84% rename from bitbots_wolfgang/wolfgang_webots_sim/setup.py rename to bitbots_simulation/bitbots_webots_sim/setup.py index 2df2fb1d9..2a0353425 100644 --- a/bitbots_wolfgang/wolfgang_webots_sim/setup.py +++ b/bitbots_simulation/bitbots_webots_sim/setup.py @@ -3,7 +3,7 @@ from catkin_pkg.python_setup import generate_distutils_setup d = generate_distutils_setup( - packages=["wolfgang_webots_sim"], + packages=["bitbots_webots_sim"], # scripts=['bin/myscript'], package_dir={"": "src"}, ) diff --git a/bitbots_wolfgang/wolfgang_webots_sim/worlds/1_bot.wbt b/bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/worlds/1_bot.wbt rename to bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt diff --git a/bitbots_wolfgang/wolfgang_webots_sim/worlds/4_bots.wbt b/bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/worlds/4_bots.wbt rename to bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt diff --git a/bitbots_wolfgang/wolfgang_webots_sim/worlds/deep_quintic_wolfgang.wbt b/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/worlds/deep_quintic_wolfgang.wbt rename to bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt diff --git a/bitbots_wolfgang/wolfgang_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt b/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt rename to bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt diff --git a/bitbots_wolfgang/wolfgang_webots_sim/worlds/optimization_wolfgang.wbt b/bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt similarity index 100% rename from bitbots_wolfgang/wolfgang_webots_sim/worlds/optimization_wolfgang.wbt rename to bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt diff --git a/bitbots_wolfgang/wolfgang_pybullet_sim/launch/simulation.launch b/bitbots_wolfgang/wolfgang_pybullet_sim/launch/simulation.launch deleted file mode 100644 index 73b09c4b3..000000000 --- a/bitbots_wolfgang/wolfgang_pybullet_sim/launch/simulation.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/bitbots_wolfgang/wolfgang_robocup_api/config/bitbots_walk.json b/bitbots_wolfgang/wolfgang_robocup_api/config/bitbots_walk.json deleted file mode 100644 index 6a25ee9db..000000000 --- a/bitbots_wolfgang/wolfgang_robocup_api/config/bitbots_walk.json +++ /dev/null @@ -1,26 +0,0 @@ -{ - "name": "Bit-Bots", - "players": { - "1": { - "proto": "Wolfgang", - "dockerTag": "latest", - "dockerCmd": "roslaunch wolfgang_robocup_api robocup_walk.launch", - "halfTimeStartingPose": { - "translation": [-3.6, -3.20, 0.43], - "rotation": [0.13, -0.13, -0.98, -1.57] - }, - "reentryStartingPose": { - "translation": [-3.6, -3.20, 0.43], - "rotation": [0.0, -0.0, -1.0, -1.57] - }, - "shootoutStartingPose": { - "translation": [2.6, 0, 0.43], - "rotation": [0, 0.98, 0.13, 0.26] - }, - "goalKeeperStartingPose": { - "translation": [-4.47, 0, 0.43], - "rotation": [-0.13, 0, 0.98, 3.14] - } - } - } -} diff --git a/bitbots_wolfgang/wolfgang_robocup_api/setup.cfg b/bitbots_wolfgang/wolfgang_robocup_api/setup.cfg deleted file mode 100644 index fe694faa0..000000000 --- a/bitbots_wolfgang/wolfgang_robocup_api/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/wolfgang_robocup_api -[install] -install_scripts=$base/lib/wolfgang_robocup_api diff --git a/bitbots_wolfgang/wolfgang_webots_sim/launch/single_robot_controller.launch b/bitbots_wolfgang/wolfgang_webots_sim/launch/single_robot_controller.launch deleted file mode 100644 index 89d00ef19..000000000 --- a/bitbots_wolfgang/wolfgang_webots_sim/launch/single_robot_controller.launch +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/requirements/common.txt b/requirements/common.txt index e4f93bdd0..79e894b3e 100644 --- a/requirements/common.txt +++ b/requirements/common.txt @@ -3,6 +3,7 @@ pip transforms3d==0.4.1 git+https://github.com/Flova/pyastar2d git+https://github.com/bit-bots/YOEO +simpleeval # The following dependencies are only needed for rl walking and we don't actively use them currently #git+https://github.com/bit-bots/deep_quintic.git diff --git a/requirements/robot.txt b/requirements/robot.txt index a39b75534..a41d3b8cd 100644 --- a/requirements/robot.txt +++ b/requirements/robot.txt @@ -4,4 +4,4 @@ mycroft-mimic3-tts 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 pyttsx3 playsound -simpleeval +pyamdgpuinfo diff --git a/scripts/make_basler.sh b/scripts/make_basler.sh index 7becc3e72..e3ad8a01f 100755 --- a/scripts/make_basler.sh +++ b/scripts/make_basler.sh @@ -5,7 +5,7 @@ set -eEo pipefail # The pylon driver can be found in the download section of the following link: # https://www.baslerweb.com/en/downloads/software-downloads/ # Go to the download button and copy the link address. -PYLON_DOWNLOAD_URL="https://www2.baslerweb.com/media/downloads/software/pylon_software/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz" +PYLON_DOWNLOAD_URL="https://data.bit-bots.de/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz.gpg" PYLON_VERSION="7.4.0" # Check let the user confirm that they read the license agreement on the basler website and agree with it. @@ -47,9 +47,12 @@ else exit 1 fi # Download the pylon driver to temp folder - wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz + wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg # Extract the pylon driver mkdir /tmp/pylon + # Decrypt the pylon driver + gpg --batch --yes --passphrase "12987318371043223" -o /tmp/pylon_${PYLON_VERSION}.tar.gz -d /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg + # Extract the pylon driver tar -xzf /tmp/pylon_${PYLON_VERSION}.tar.gz -C /tmp/pylon/ # Install the pylon driver sudo apt-get install /tmp/pylon/pylon_${PYLON_VERSION}*.deb -y diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml index cd9d26c73..d3b11f678 100644 --- a/sync_includes_wolfgang_nuc.yaml +++ b/sync_includes_wolfgang_nuc.yaml @@ -40,7 +40,7 @@ include: - bitbots_team_communication - bitbots_team_data_sim_rqt - bitbots_vision - - bitbots_wolfgang: + - bitbots_robot: - wolfgang_animations - wolfgang_description - wolfgang_moveit_config