克隆后还缺仿真安装树和两边的编译目录。把 build、build_sim、install_sim 一并放进仓库；仿真入口不再写死本机 conda，build 里指向源码的链接改成相对路径。

Co-authored-by: Cursor <cursoragent@cursor.com>

build/arm_kinematics/arm_kinematics

@@ -0,0 +1 @@
+../../src/arm_kinematics/arm_kinematics

build/arm_kinematics/arm_kinematics.egg-info/PKG-INFO

@@ -0,0 +1,13 @@
+Metadata-Version: 2.4
+Name: arm_kinematics
+Version: 0.1.0
+Summary: 纯几何 / 运动学工具（几何雅可比 + DLS 逆解）
+Maintainer: arm_dev
+Maintainer-email: dev@example.com
+License: Apache-2.0
+Requires-Dist: setuptools
+Dynamic: license
+Dynamic: maintainer
+Dynamic: maintainer-email
+Dynamic: requires-dist
+Dynamic: summary

build/arm_kinematics/arm_kinematics.egg-info/SOURCES.txt

@@ -0,0 +1,18 @@
+package.xml
+setup.cfg
+setup.py
+../../build/arm_kinematics/arm_kinematics.egg-info/PKG-INFO
+../../build/arm_kinematics/arm_kinematics.egg-info/SOURCES.txt
+../../build/arm_kinematics/arm_kinematics.egg-info/dependency_links.txt
+../../build/arm_kinematics/arm_kinematics.egg-info/requires.txt
+../../build/arm_kinematics/arm_kinematics.egg-info/top_level.txt
+../../build/arm_kinematics/arm_kinematics.egg-info/zip-safe
+arm_kinematics/__init__.py
+arm_kinematics/geom_ik.py
+arm_kinematics.egg-info/PKG-INFO
+arm_kinematics.egg-info/SOURCES.txt
+arm_kinematics.egg-info/dependency_links.txt
+arm_kinematics.egg-info/requires.txt
+arm_kinematics.egg-info/top_level.txt
+arm_kinematics.egg-info/zip-safe
+resource/arm_kinematics

build/arm_kinematics/arm_kinematics.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

build/arm_kinematics/arm_kinematics.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

build/arm_kinematics/arm_kinematics.egg-info/top_level.txt

@@ -0,0 +1 @@
+arm_kinematics

build/arm_kinematics/arm_kinematics.egg-info/zip-safe

@@ -0,0 +1 @@
+

build/arm_kinematics/build/lib/arm_kinematics/__init__.py

@@ -0,0 +1,33 @@
+"""纯几何 / 运动学工具（只依赖 numpy，不依赖 ROS）。
+
+目前提供基于 TF 实测位形的几何雅可比与阻尼最小二乘逆解，
+见 :mod:`arm_kinematics.geom_ik`。
+
+单独成包的动机：这套东西同时被应用层（视觉伺服、搜孔装配）和驱动层
+（柔顺下压）需要。原先它放在 ``arm_application`` 里，导致驱动层要反过来依赖
+应用层 —— 层次倒置。提取到这里之后两边都依赖一个无 ROS 依赖的底层包。
+"""
+
+from .geom_ik import (
+    RIZON_LINK_AXES,
+    dls_position_step,
+    dls_translate_hold_ori,
+    dls_twist,
+    geometric_jacobian,
+    load_handeye_T,
+    position_jacobian,
+    quat_xyzw_to_R,
+)
+
+__version__ = "0.1.0"
+
+__all__ = [
+    "RIZON_LINK_AXES",
+    "quat_xyzw_to_R",
+    "geometric_jacobian",
+    "position_jacobian",
+    "dls_position_step",
+    "dls_twist",
+    "dls_translate_hold_ori",
+    "load_handeye_T",
+]

build/arm_kinematics/build/lib/arm_kinematics/geom_ik.py

@@ -0,0 +1,186 @@
+#!/usr/bin/env python3
+"""基于 TF 实测位形的几何雅可比 + 阻尼最小二乘（DLS）位置级逆解。
+
+为什么不需要 URDF / 正运动学
+---------------------------
+本模块做的是**速度级**逆解，不是位置级解析逆解：
+
+1. 从 TF 直接读每个关节 link 的当前位姿（``link_R`` / ``link_p``）
+2. 用固定的关节轴（``RIZON_LINK_AXES``，来自 Rizon4 URDF）构建几何雅可比 J
+3. 解 ``J dq = dp`` 得到小步 ``dq``，积分即可
+
+雅可比只是**当前位形**的函数，所以用 TF 实测位形算它是正确且实时的；不需要
+"给定关节角预测末端位姿"的正运动学。代价是只能走小步（大位移要迭代多次），
+而这恰好符合装配场景的需求 —— 每次挪 1mm 以内，边动边看力反馈。
+
+依赖：只依赖 numpy。不 import ROS，因此可被驱动层与测试直接复用。
+
+坐标系约定：所有输入输出都在**基座系**，末端位置 ``ee_p`` 与各 link 位置
+``link_p`` 必须同一参考系。
+"""
+
+from __future__ import annotations
+
+from typing import List, Optional, Sequence, Tuple
+
+import numpy as np
+
+#: Rizon4 各关节轴在**子 link 系**下的表达（来自 URDF）。
+#: 顺序对应 joint1..joint7 —— 相邻关节轴交替，标准 7 自由度布局。
+RIZON_LINK_AXES = [
+    (0.0, 0.0, 1.0),  # joint1 -> link1
+    (0.0, 1.0, 0.0),  # joint2 -> link2
+    (0.0, 0.0, 1.0),
+    (0.0, 1.0, 0.0),
+    (0.0, 0.0, 1.0),
+    (0.0, 1.0, 0.0),
+    (0.0, 0.0, 1.0),
+]
+
+
+def quat_xyzw_to_R(q: Sequence[float]) -> np.ndarray:
+    """四元数 (x, y, z, w) 转 3x3 旋转矩阵。自动归一化，零四元数也不炸。"""
+    x, y, z, w = [float(v) for v in q]
+    n = np.sqrt(x * x + y * y + z * z + w * w) + 1e-12
+    x, y, z, w = x / n, y / n, z / n, w / n
+    return np.array(
+        [
+            [1 - 2 * (y * y + z * z), 2 * (x * y - z * w), 2 * (x * z + y * w)],
+            [2 * (x * y + z * w), 1 - 2 * (x * x + z * z), 2 * (y * z - x * w)],
+            [2 * (x * z - y * w), 2 * (y * z + x * w), 1 - 2 * (x * x + y * y)],
+        ],
+        dtype=float,
+    )
+
+
+def geometric_jacobian(
+    link_R: Sequence[np.ndarray],
+    link_p: Sequence[np.ndarray],
+    ee_p: np.ndarray,
+    axes_local: Sequence[Tuple[float, float, float]] = RIZON_LINK_AXES,
+) -> np.ndarray:
+    """构建 6x7 基座系几何雅可比。前 3 行是线速度，后 3 行是角速度。
+
+    参数
+    ----
+    link_R:
+        各关节 link 在基座系下的 3x3 姿态，长度 = 关节数。
+    link_p:
+        各关节 link 在基座系下的 3 维位置。
+    ee_p:
+        末端（法兰）在基座系下的 3 维位置。
+    """
+    n = len(axes_local)
+    J = np.zeros((6, n), dtype=float)
+    pee = np.asarray(ee_p, dtype=float).reshape(3)
+    for i in range(n):
+        R = np.asarray(link_R[i], dtype=float).reshape(3, 3)
+        p = np.asarray(link_p[i], dtype=float).reshape(3)
+        z = R @ np.asarray(axes_local[i], dtype=float).reshape(3)
+        # 平动部分：关节轴 × (末端 − 关节点)；转动部分：关节轴本身
+        J[:3, i] = np.cross(z, pee - p)
+        J[3:, i] = z
+    return J
+
+
+def position_jacobian(
+    link_R: Sequence[np.ndarray],
+    link_p: Sequence[np.ndarray],
+    ee_p: np.ndarray,
+    axes_local: Sequence[Tuple[float, float, float]] = RIZON_LINK_AXES,
+) -> np.ndarray:
+    """只取几何雅可比的平动部分（3x7）。"""
+    return geometric_jacobian(link_R, link_p, ee_p, axes_local)[:3, :]
+
+
+def dls_position_step(
+    J: np.ndarray,
+    dp_base: np.ndarray,
+    *,
+    damping: float = 0.05,
+    max_dq: float = 0.05,
+) -> np.ndarray:
+    """解 ``J dq = dp``（阻尼最小二乘），并把 ``|dq|`` 逐元素限幅。
+
+    阻尼项 ``λ²I`` 的作用：接近奇异位形时避免关节速度爆掉。代价是有跟踪误差，
+    但对小幅步进（毫米级）可以忽略。
+    """
+    dp = np.asarray(dp_base, dtype=float).reshape(3)
+    JT = J.T
+    A = J @ JT + (damping ** 2) * np.eye(3)
+    dq = JT @ np.linalg.solve(A, dp)
+    dq = np.clip(dq, -abs(max_dq), abs(max_dq))
+    return dq
+
+
+def dls_twist(
+    J6: np.ndarray,
+    v_base: np.ndarray,
+    *,
+    w_base: Optional[np.ndarray] = None,
+    damping: float = 0.08,
+    max_qdot: float = 0.80,
+    ori_weight: float = 1.2,
+) -> np.ndarray:
+    """解 ``J qdot = [v; w]``，默认把角速度压到 0（保持姿态）。
+
+    ``ori_weight`` 给姿态分量额外的权重，让姿态在数值上更"硬"，减少平移时
+    末端姿态的漂移。
+    """
+    dx = np.zeros(6, dtype=float)
+    dx[:3] = np.asarray(v_base, dtype=float).reshape(3)
+    if w_base is not None:
+        dx[3:] = np.asarray(w_base, dtype=float).reshape(3)
+    w = np.array([1.0, 1.0, 1.0, ori_weight, ori_weight, ori_weight], dtype=float)
+    Jw = J6 * w[:, None]
+    dxw = dx * w
+    JT = Jw.T
+    A = Jw @ JT + (damping ** 2) * np.eye(6)
+    qdot = JT @ np.linalg.solve(A, dxw)
+    return np.clip(qdot, -abs(max_qdot), abs(max_qdot))
+
+
+def dls_translate_hold_ori(
+    J6: np.ndarray,
+    dp_base: np.ndarray,
+    *,
+    damping: float = 0.08,
+    max_dq: float = 0.05,
+    ori_weight: float = 1.2,
+) -> np.ndarray:
+    """平移末端 ``dp`` 同时保持姿态。"""
+    dx = np.zeros(6, dtype=float)
+    dx[:3] = np.asarray(dp_base, dtype=float).reshape(3)
+    w = np.array([1.0, 1.0, 1.0, ori_weight, ori_weight, ori_weight], dtype=float)
+    Jw = J6 * w[:, None]
+    dxw = dx * w
+    JT = Jw.T
+    A = Jw @ JT + (damping ** 2) * np.eye(6)
+    dq = JT @ np.linalg.solve(A, dxw)
+    return np.clip(dq, -abs(max_dq), abs(max_dq))
+
+
+def load_handeye_T(path: str) -> np.ndarray:
+    """从手眼结果 YAML 里读 4x4 齐次变换矩阵（键名 ``T_4x4``）。"""
+    import yaml
+
+    with open(path, "r", encoding="utf-8") as f:
+        data = yaml.safe_load(f)
+    if not isinstance(data, dict) or "T_4x4" not in data:
+        raise ValueError(f"No T_4x4 in hand-eye file: {path}")
+    T = np.array(data["T_4x4"], dtype=float)
+    if T.shape != (4, 4):
+        raise ValueError(f"T_4x4 shape {T.shape}, expected (4,4)")
+    return T
+
+
+__all__ = [
+    "RIZON_LINK_AXES",
+    "quat_xyzw_to_R",
+    "geometric_jacobian",
+    "position_jacobian",
+    "dls_position_step",
+    "dls_twist",
+    "dls_translate_hold_ori",
+    "load_handeye_T",
+]

build/arm_kinematics/colcon_build.rc

@@ -0,0 +1 @@
+0

build/arm_kinematics/colcon_command_prefix_setup_py.sh

@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em

build/arm_kinematics/colcon_command_prefix_setup_py.sh.env

@@ -0,0 +1,132 @@
+AMENT_PREFIX_PATH=/home/cc/ros2/install/gpio_controller:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
+CMAKE_PREFIX_PATH=/home/cc/ros2/install/gpio_controller:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_msgs
+COLCON=1
+COLCON_PREFIX_PATH=/home/cc/ros2/install
+CONDA_DEFAULT_ENV=ros_flexiv
+CONDA_EXE=/home/cc/anaconda3/bin/conda
+CONDA_PREFIX=/home/cc/anaconda3/envs/ros_flexiv
+CONDA_PREFIX_1=/home/cc/anaconda3/envs/ros_gz_sim
+CONDA_PROMPT_MODIFIER=(ros_flexiv)
+CONDA_PYTHON_EXE=/home/cc/anaconda3/bin/python
+CONDA_SHLVL=2
+GSETTINGS_SCHEMA_DIR=/home/cc/anaconda3/envs/ros_flexiv/share/glib-2.0/schemas
+GSETTINGS_SCHEMA_DIR_CONDA_BACKUP=
+HOME=/home/cc
+LC_CTYPE=C.UTF-8
+LD_LIBRARY_PATH=/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages/tensorrt_libs:/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages/tensorrt:/home/cc/flexiv_install/lib:/home/cc/ros2/install/gpio_controller/lib:/home/cc/ros2/install/flexiv_robot_states_broadcaster/lib:/home/cc/ros2/install/flexiv_gripper/lib:/home/cc/ros2/install/flexiv_msgs/lib:/home/cc/ros2/install/flexiv_hardware/lib:/home/cc/ros2/install/arm_msgs/lib:/home/cc/anaconda3/envs/ros_flexiv/opt/rviz_ogre_vendor/lib:/home/cc/ros2/install_sim/arm_msgs/lib:/home/cc/anaconda3/envs/ros_gz_sim/opt/rviz_ogre_vendor/lib
+OLDPWD=/home/cc/ros2
+PATH=/home/cc/anaconda3/envs/ros_gz_sim/bin:/home/cc/anaconda3/envs/ros_gz_sim/share/rubygems/bin:/home/cc/anaconda3/envs/ros_flexiv/bin:/home/cc/anaconda3/condabin:/usr/bin:/bin:/usr/sbin:/sbin
+PWD=/home/cc/ros2/build/arm_kinematics
+PYTHONPATH=/home/cc/ros2/build/flexiv_test_nodes:/home/cc/ros2/install/flexiv_test_nodes/lib/python3.11/site-packages:/home/cc/ros2/install/flexiv_msgs/lib/python3.11/site-packages:/home/cc/ros2/build/arm_driver_flexiv:/home/cc/ros2/install/arm_driver_flexiv/lib/python3.11/site-packages:/home/cc/ros2/build/arm_control:/home/cc/ros2/install/arm_control/lib/python3.11/site-packages:/home/cc/ros2/build/arm_application:/home/cc/ros2/install/arm_application/lib/python3.11/site-packages:/home/cc/ros2/install/arm_msgs/lib/python3.11/site-packages:/home/cc/ros2/build/arm_kinematics:/home/cc/ros2/install/arm_kinematics/lib/python3.11/site-packages:/home/cc/ros2/build/arm_interfaces:/home/cc/ros2/install/arm_interfaces/lib/python3.11/site-packages:/home/cc/anaconda3/envs/ros_flexiv/lib/python311/site-packages:/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_control/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_application/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_msgs/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_kinematics/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_interfaces/lib/python3.11/site-packages:/home/cc/anaconda3/envs/ros_gz_sim/lib/python311/site-packages:/home/cc/anaconda3/envs/ros_gz_sim/lib/python3.11/site-packages
+ROBOT_SN=Rizon4-063989
+ROS2_WS=/home/cc/ros2
+ROS_DISTRO=humble
+ROS_DOMAIN_ID=77
+ROS_ETC_DIR=/home/cc/anaconda3/envs/ros_flexiv/etc/ros
+ROS_LOCALHOST_ONLY=0
+ROS_OS_OVERRIDE=conda:linux
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHLVL=0
+SITE_BASE_FRAME=Rizon4-063989_base_link
+SITE_CAMERA_FRAME=d405_left_color_optical_frame
+SITE_CAM_AE_LIMIT_US=4000.0
+SITE_CAM_AUTO_EXPOSURE=1
+SITE_CAM_EMITTER=0
+SITE_CAM_ENABLE_DEPTH=1
+SITE_CAM_ENABLE_INFRA=1
+SITE_CAM_EXPOSURE_US=0.0
+SITE_CAM_FPS=30
+SITE_CAM_GAIN=0.0
+SITE_CAM_HEIGHT=480
+SITE_CAM_LASER_POWER=0.0
+SITE_CAM_NAME=d405_left
+SITE_CAM_OVERLAY_HOLD=0.1
+SITE_CAM_PREVIEW=1
+SITE_CAM_PREVIEW_STEREO=1
+SITE_CAM_SERIAL=352122274408
+SITE_CAM_USE_SITE_RES=1
+SITE_CAM_WIDTH=848
+SITE_CONFIG=/home/cc/ros2/config/site.yaml
+SITE_D405_LEFT_SERIAL=352122274408
+SITE_D405_RIGHT_SERIAL=260522274442
+SITE_D435_FPS=30
+SITE_D435_HEIGHT=720
+SITE_D435_SERIAL=262522073161
+SITE_D435_WIDTH=1280
+SITE_EE_FRAME=Rizon4-063989_flange
+SITE_EE_X_M=0.25
+SITE_EE_Y_M=0.0
+SITE_EE_Z_M=0.35
+SITE_FASTDDS_PROFILE=
+SITE_GO_HOME_POSE=home
+SITE_GO_HOME_SPEED=0.25
+SITE_GRIP_AUTO_INIT=true
+SITE_GRIP_BACKEND=usb
+SITE_GRIP_BAUD=115200
+SITE_GRIP_DEVICE=GripperDahuanModbus
+SITE_GRIP_FORCE=20
+SITE_GRIP_FORCE_N=50.0
+SITE_GRIP_MODEL=PGEA-100-20-W
+SITE_GRIP_PORT=/dev/ttyUSB0
+SITE_GRIP_RS485_RTS=
+SITE_GRIP_SLAVE=1
+SITE_GRIP_SN=26610799
+SITE_GRIP_SPEED=50
+SITE_GRIP_STROKE_MM=20.0
+SITE_GRIP_VEL_MPS=0.05
+SITE_GRIP_VENDOR=dh
+SITE_HANDEYE_BOARD_COLS=8
+SITE_HANDEYE_BOARD_ROWS=11
+SITE_HANDEYE_CALIBRATE=/home/cc/ros2/handeye/calibrate.yaml
+SITE_HANDEYE_FILE=/home/cc/ros2/handeye/results/89_eye_in_hand.yaml
+SITE_HANDEYE_MODE=eye_in_hand
+SITE_HANDEYE_MOVE_T=8.0
+SITE_HANDEYE_PIN_HOLDS=2
+SITE_HANDEYE_PIN_SEC=0.45
+SITE_HANDEYE_SETTLE_QD=0.015
+SITE_HANDEYE_SETTLE_SEC=1.5
+SITE_HANDEYE_SETTLE_STABLE=0.6
+SITE_HANDEYE_SETTLE_TO=8.0
+SITE_HANDEYE_SKIP_UNSTABLE=true
+SITE_HANDEYE_SQUARE_M=0.015
+SITE_HANDEYE_TOUR=/home/cc/ros2/handeye/waypoints.yaml
+SITE_HANDEYE_VEL_SCALE=0.05
+SITE_HANDEYE_WAYPOINTS=/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml
+SITE_HANDEYE_WORKDIR=/home/cc/ros2/handeye/tmp/89
+SITE_HOLE_BACKEND=two_stage
+SITE_HOLE_CONFIG=/home/cc/ros2/src/arm_application/config/hole_detect.yaml
+SITE_HOLE_WEIGHTS=/home/cc/ros2/models/hole_insert/detect_best_1.onnx
+SITE_HOLE_WORKPIECE_WEIGHTS=/home/cc/ros2/models/hole_insert/detect_best_1.onnx
+SITE_JOINT_PREFIX=Rizon4-063989_
+SITE_NAMED_POSES_FILE=/home/cc/ros2/src/arm_control/config/named_poses_89.yaml
+SITE_NET_IFACE=enp4s0
+SITE_PC_IP=192.168.2.10
+SITE_ROBOT_ARM=left
+SITE_ROBOT_CATALOG=Rizon4-063989,Rizon4-063991
+SITE_ROBOT_IP=192.168.2.101
+SITE_ROBOT_LABEL=左臂89
+SITE_ROBOT_SN=Rizon4-063989
+SITE_ROBOT_TOOL_NAME=
+SITE_ROS2_ROOT=/home/cc/ros2
+SITE_SERVO_WATCHDOG=1.2
+SITE_SERVO_Z_REF=0.22
+SITE_TACTILE_BACKEND=orisys
+SITE_TACTILE_CONFIG=dd03
+SITE_TACTILE_CONFIG_FILE=/home/cc/ros2/devices/sensors/orisys/models/dd03/config.json
+SITE_TACTILE_LEFT=/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0
+SITE_TACTILE_RIGHT=/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0
+SITE_YOLO_CONF=0.1
+SITE_YOLO_DEVICE=0
+SITE_YOLO_IMGSZ=640
+SITE_YOLO_MIN_CONF=0.12
+SITE_YOLO_WEIGHTS=/home/cc/ros2/models/yolo/detect_best_0.onnx
+SITE_YOLO_WEIGHTS_RESOLVED=/home/cc/ros2/models/yolo/detect_best_0.onnx
+TERM=dumb
+XML_CATALOG_FILES=file:///home/cc/anaconda3/envs/ros_flexiv/etc/xml/catalog file:///etc/xml/catalog
+YOLO_AUTOINSTALL=false
+_=/home/cc/anaconda3/envs/ros_gz_sim/bin/colcon
+_CE_CONDA=
+_CE_M=
+_CONDA_EXE=/home/cc/anaconda3/bin/conda
+_CONDA_ROOT=/home/cc/anaconda3

build/arm_kinematics/package.xml

@@ -0,0 +1 @@
+../../src/arm_kinematics/package.xml

build/arm_kinematics/prefix_override/sitecustomize.py

@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/home/cc/anaconda3/envs/ros_gz_sim':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/home/cc/ros2/install/arm_kinematics'

build/arm_kinematics/resource/arm_kinematics

@@ -0,0 +1 @@
+../../../src/arm_kinematics/resource/arm_kinematics

build/arm_kinematics/setup.cfg

@@ -0,0 +1 @@
+../../src/arm_kinematics/setup.cfg

build/arm_kinematics/setup.py

@@ -0,0 +1 @@
+../../src/arm_kinematics/setup.py

build/arm_kinematics/share/arm_kinematics/hook/pythonpath_develop.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/home/cc/ros2/build/arm_kinematics

build/arm_kinematics/share/arm_kinematics/hook/pythonpath_develop.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//home/cc/ros2/build/arm_kinematics"

build/arm_kinematics/share/arm_kinematics/hook/pythonpath_develop.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/home/cc/ros2/build/arm_kinematics"