wired up voice and vision, testing motion

This commit is contained in:
Jaroslav Vizner
2026-08-28 11:26:40 +02:00
parent 8d88495f6f
commit 3982c6fb6b
84 changed files with 7696 additions and 8984 deletions
@@ -0,0 +1,19 @@
# Consider dependencies only in project.
set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
# The set of languages for which implicit dependencies are needed:
set(CMAKE_DEPENDS_LANGUAGES
)
# The set of dependency files which are needed:
set(CMAKE_DEPENDS_DEPENDENCY_FILES
"/home/jvizner/esarobotech/r1/src/motion_node.cc" "CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o" "gcc" "CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o.d"
)
# Targets to which this target links.
set(CMAKE_TARGET_LINKED_INFO_FILES
)
# Fortran module output directory.
set(CMAKE_Fortran_TARGET_MODULE_DIR "")
@@ -0,0 +1,141 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.22
# Delete rule output on recipe failure.
.DELETE_ON_ERROR:
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Disable VCS-based implicit rules.
% : %,v
# Disable VCS-based implicit rules.
% : RCS/%
# Disable VCS-based implicit rules.
% : RCS/%,v
# Disable VCS-based implicit rules.
% : SCCS/s.%
# Disable VCS-based implicit rules.
% : s.%
.SUFFIXES: .hpux_make_needs_suffix_list
# Command-line flag to silence nested $(MAKE).
$(VERBOSE)MAKESILENT = -s
#Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /usr/bin/cmake
# The command to remove a file.
RM = /usr/bin/cmake -E rm -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/jvizner/esarobotech/r1
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/jvizner/esarobotech/r1/build
# Include any dependencies generated for this target.
include CMakeFiles/r1_motion_node.dir/depend.make
# Include any dependencies generated by the compiler for this target.
include CMakeFiles/r1_motion_node.dir/compiler_depend.make
# Include the progress variables for this target.
include CMakeFiles/r1_motion_node.dir/progress.make
# Include the compile flags for this target's objects.
include CMakeFiles/r1_motion_node.dir/flags.make
CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o: CMakeFiles/r1_motion_node.dir/flags.make
CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o: ../src/motion_node.cc
CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o: CMakeFiles/r1_motion_node.dir/compiler_depend.ts
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/jvizner/esarobotech/r1/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o"
/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o -MF CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o.d -o CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o -c /home/jvizner/esarobotech/r1/src/motion_node.cc
CMakeFiles/r1_motion_node.dir/src/motion_node.cc.i: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/r1_motion_node.dir/src/motion_node.cc.i"
/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/jvizner/esarobotech/r1/src/motion_node.cc > CMakeFiles/r1_motion_node.dir/src/motion_node.cc.i
CMakeFiles/r1_motion_node.dir/src/motion_node.cc.s: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/r1_motion_node.dir/src/motion_node.cc.s"
/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/jvizner/esarobotech/r1/src/motion_node.cc -o CMakeFiles/r1_motion_node.dir/src/motion_node.cc.s
# Object files for target r1_motion_node
r1_motion_node_OBJECTS = \
"CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o"
# External object files for target r1_motion_node
r1_motion_node_EXTERNAL_OBJECTS =
r1_motion_node: CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o
r1_motion_node: CMakeFiles/r1_motion_node.dir/build.make
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libfmt.so.12.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_parsers.so.4.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_sensor.so.6.0.1
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_model.so.6.0.1
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_world.so.6.0.1
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libsdformat.so.16.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libgz-math.so.9.2.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libgz-utils.so.4.0.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_collision.so.4.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libcoal.so.3.0.4
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libboost_filesystem.so
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/liboctomap.so.1.10.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/liboctomath.so.1.10.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libgomp.so
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libpthread.a
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_extra.so.4.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_default.so.4.1.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libboost_serialization.so
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libqhullcpp.a
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libqhull_r.so.8.0.2
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_highgui.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_videoio.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_imgcodecs.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_calib3d.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_features2d.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_imgproc.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_flann.so.4.13.0
r1_motion_node: /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_core.so.4.13.0
r1_motion_node: /home/jvizner/unitree_sdk2/lib/x86_64/libunitree_sdk2.a
r1_motion_node: /home/jvizner/unitree_sdk2/thirdparty/lib/x86_64/libddsc.so
r1_motion_node: /home/jvizner/unitree_sdk2/thirdparty/lib/x86_64/libddscxx.so
r1_motion_node: CMakeFiles/r1_motion_node.dir/link.txt
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/jvizner/esarobotech/r1/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX executable r1_motion_node"
$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/r1_motion_node.dir/link.txt --verbose=$(VERBOSE)
# Rule to build all files generated by this target.
CMakeFiles/r1_motion_node.dir/build: r1_motion_node
.PHONY : CMakeFiles/r1_motion_node.dir/build
CMakeFiles/r1_motion_node.dir/clean:
$(CMAKE_COMMAND) -P CMakeFiles/r1_motion_node.dir/cmake_clean.cmake
.PHONY : CMakeFiles/r1_motion_node.dir/clean
CMakeFiles/r1_motion_node.dir/depend:
cd /home/jvizner/esarobotech/r1/build && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/jvizner/esarobotech/r1 /home/jvizner/esarobotech/r1 /home/jvizner/esarobotech/r1/build /home/jvizner/esarobotech/r1/build /home/jvizner/esarobotech/r1/build/CMakeFiles/r1_motion_node.dir/DependInfo.cmake --color=$(COLOR)
.PHONY : CMakeFiles/r1_motion_node.dir/depend
@@ -0,0 +1,11 @@
file(REMOVE_RECURSE
"CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o"
"CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o.d"
"r1_motion_node"
"r1_motion_node.pdb"
)
# Per-language clean rules from dependency scanning.
foreach(lang CXX)
include(CMakeFiles/r1_motion_node.dir/cmake_clean_${lang}.cmake OPTIONAL)
endforeach()
@@ -0,0 +1,2 @@
# Empty compiler generated dependencies file for r1_motion_node.
# This may be replaced when dependencies are built.
@@ -0,0 +1,2 @@
# CMAKE generated file: DO NOT EDIT!
# Timestamp file for compiler generated dependencies management for r1_motion_node.
@@ -0,0 +1,2 @@
# Empty dependencies file for r1_motion_node.
# This may be replaced when dependencies are built.
@@ -0,0 +1,10 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.22
# compile CXX with /home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++
CXX_DEFINES = -DBOOST_FUSION_INVOKE_MAX_ARITY=12 -DBOOST_MPL_CFG_NO_PREPROCESSED_HEADERS -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFMT_SHARED -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=10 -DOCTOMAP_PATCH_VERSION=0 -DPINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION -DPINOCCHIO_URDFDOM_HEADERS_MAJOR_VERSION=3 -DPINOCCHIO_URDFDOM_HEADERS_MINOR_VERSION=0 -DPINOCCHIO_URDFDOM_HEADERS_PATCH_VERSION=0 -DPINOCCHIO_WITH_COLLISION -DPINOCCHIO_WITH_EXTRA_SUPPORT -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_SDFORMAT -DPINOCCHIO_WITH_URDFDOM -DUNITREE_SDK2_DIR=\"/home/jvizner/unitree_sdk2\"
CXX_INCLUDES = -I/home/jvizner/esarobotech/r1/include -isystem /home/jvizner/unitree_sdk2/include -isystem /home/jvizner/miniconda3/envs/ai_robot/include/opencv4 -isystem /home/jvizner/miniconda3/envs/ai_robot/include/eigen3 -isystem /home/jvizner/miniconda3/envs/ai_robot/include/pinocchio/deprecated -isystem /home/jvizner/miniconda3/envs/ai_robot/include/gz/sdformat16 -isystem /home/jvizner/miniconda3/envs/ai_robot/include/gz/math9 -isystem /home/jvizner/miniconda3/envs/ai_robot/include/gz/utils4 -isystem /home/jvizner/unitree_sdk2/thirdparty/include -isystem /home/jvizner/unitree_sdk2/thirdparty/include/ddscxx
CXX_FLAGS = -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -O3 -DNDEBUG -fopenmp -std=c++17
@@ -0,0 +1 @@
/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -O3 -DNDEBUG -Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,--allow-shlib-undefined -Wl,-rpath,/home/jvizner/miniconda3/envs/ai_robot/lib -Wl,-rpath-link,/home/jvizner/miniconda3/envs/ai_robot/lib -L/home/jvizner/miniconda3/envs/ai_robot/lib CMakeFiles/r1_motion_node.dir/src/motion_node.cc.o -o r1_motion_node -L/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64 -Wl,-rpath,/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64: /home/jvizner/miniconda3/envs/ai_robot/lib/libfmt.so.12.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_parsers.so.4.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_sensor.so.6.0.1 /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_model.so.6.0.1 /home/jvizner/miniconda3/envs/ai_robot/lib/liburdfdom_world.so.6.0.1 /home/jvizner/miniconda3/envs/ai_robot/lib/libsdformat.so.16.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libgz-math.so.9.2.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libgz-utils.so.4.0.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_collision.so.4.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libcoal.so.3.0.4 /home/jvizner/miniconda3/envs/ai_robot/lib/libboost_filesystem.so /home/jvizner/miniconda3/envs/ai_robot/lib/liboctomap.so.1.10.0 /home/jvizner/miniconda3/envs/ai_robot/lib/liboctomath.so.1.10.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libgomp.so /home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libpthread.a /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_extra.so.4.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libpinocchio_default.so.4.1.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libboost_serialization.so /home/jvizner/miniconda3/envs/ai_robot/lib/libqhullcpp.a /home/jvizner/miniconda3/envs/ai_robot/lib/libqhull_r.so.8.0.2 -lm /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_highgui.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_videoio.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_imgcodecs.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_calib3d.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_features2d.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_imgproc.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_flann.so.4.13.0 /home/jvizner/miniconda3/envs/ai_robot/lib/libopencv_core.so.4.13.0 /home/jvizner/unitree_sdk2/lib/x86_64/libunitree_sdk2.a -lddsc -lddscxx
@@ -0,0 +1,3 @@
CMAKE_PROGRESS_1 = 74
CMAKE_PROGRESS_2 = 75
File diff suppressed because it is too large Load Diff