open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-05 05:45:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

change arm's name

Browse Source
This commit is contained in:
zhangshixiang
2025-06-10 00:49:42 +08:00
parent a72b97c454
commit 00e5714d24
25 changed files with 133 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
test/experiments/plr_test_converted.json
View File

@@ -9645,19 +9645,19 @@
{
"id": "benyao",
"name": "benyao",
"id": "arm_slider",
"name": "arm_slider",
"children": [],
"parent": null,
"type": "device",
"class": "moveit.benyao_arm",
"class": "moveit.arm_slider",
"position": {
"x": -500,
"y": 1000,
"z": -100
},
"config": {
"moveit_type": "benyao_arm",
"moveit_type": "arm_slider",
"joint_poses": {
"arm": {
"hotel_1": [

4
test/experiments/test_moveit.json
View File

@@ -8,14 +8,14 @@
],
"parent": null,
"type": "device",
"class": "moveit.benyao_arm",
"class": "moveit.arm_slider",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"moveit_type": "benyao_arm",
"moveit_type": "arm_slider",
"joint_poses": {
"arm": {
"home": [0.0, 0.2, 0.0, 0.0, 0.0],

0
unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml → unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml → unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml → unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml
View File

6
unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro → unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
View File

@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
<xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
<ros2_control name="${device_name}benyao_arm" type="system">
<ros2_control name="${device_name}arm_slider" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>

2
unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro → unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
View File

@@ -4,7 +4,7 @@
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="benyao_arm_srdf" params="device_name">
<xacro:macro name="arm_slider_srdf" params="device_name">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->

0
unilabos/device_mesh/devices/benyao_arm/config/move_group.json → unilabos/device_mesh/devices/arm_slider/config/move_group.json
View File

0
unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml → unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml → unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml → unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml → unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml
View File

0
unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml → unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
View File

38
unilabos/device_mesh/devices/benyao_arm/macro_device.xacro → unilabos/device_mesh/devices/arm_slider/macro_device.xacro
View File

@@ -1,9 +1,9 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
<xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
<!-- Extract subsections from yaml dictionaries -->
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
@@ -40,7 +40,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
@@ -49,7 +49,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
</geometry>
</collision>
</link>
@@ -75,7 +75,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -84,7 +84,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
</geometry>
</collision>
</link>
@@ -98,7 +98,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -107,7 +107,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
</geometry>
</collision>
</link>
@@ -131,7 +131,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -140,7 +140,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
</geometry>
</collision>
</link>
@@ -164,7 +164,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -173,7 +173,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
</geometry>
</collision>
</link>
@@ -197,7 +197,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -206,7 +206,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
</geometry>
</collision>
</link>
@@ -230,7 +230,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -239,7 +239,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
</geometry>
</collision>
</link>
@@ -263,7 +263,7 @@
<visual>
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
@@ -272,7 +272,7 @@
<collision>
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
</geometry>
</collision>
</link>

0
unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL → unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL → unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL → unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL → unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL → unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL → unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL → unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
View File

0
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL → unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
View File

20
unilabos/device_mesh/ros2_controllers.yaml
View File

@@ -1,30 +1,30 @@
benyao_arm_controller:
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- benyao_arm_base_joint
- benyao_arm_link_1_joint
- benyao_arm_link_2_joint
- benyao_arm_link_3_joint
- benyao_gripper_base_joint
- arm_slider_arm_base_joint
- arm_slider_arm_link_1_joint
- arm_slider_arm_link_2_joint
- arm_slider_arm_link_3_joint
- arm_slider_gripper_base_joint
state_interfaces:
- position
- velocity
benyao_gripper_controller:
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- benyao_gripper_right_joint
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
benyao_arm_controller:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
benyao_gripper_controller:
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

182
unilabos/device_mesh/view_robot.rviz
View File

@@ -105,83 +105,83 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
PLR_STATION_deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_first_link:
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_fourth_link:
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_main_link:
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_second_link:
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_third_link:
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_base:
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_1:
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_2:
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_3:
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_slideway:
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
benyao_gripper_base:
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_left:
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_right:
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -256,83 +256,83 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
PLR_STATION_deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_first_link:
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_fourth_link:
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_main_link:
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_second_link:
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_third_link:
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_base:
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_1:
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_2:
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_3:
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_slideway:
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
benyao_gripper_base:
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_left:
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_right:
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -377,7 +377,7 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: benyao_arm
Planning Group: arm_slider_arm
Query Goal State: false
Query Start State: false
Show Workspace: false
@@ -400,83 +400,83 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
PLR_STATION_deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_first_link:
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_fourth_link:
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_main_link:
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_second_link:
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_third_link:
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_base:
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_1:
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_2:
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_link_3:
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_arm_slideway:
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
benyao_gripper_base:
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_left:
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
benyao_gripper_right:
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -564,10 +564,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.48479583859443665
Pitch: 0.3197958767414093
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.042561568319797516
Yaw: 0.40756163001060486
Saved: ~
Window Geometry:
Displays:
@@ -579,7 +579,7 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:

6
unilabos/registry/devices/moveit_config.yaml
View File

@@ -27,11 +27,11 @@ moveit.toyo_xyz:
type: device
mesh: toyo_xyz
moveit.benyao_arm:
description: Benyao Arm
moveit.arm_slider:
description: Arm with Slider
model:
type: device
mesh: benyao_arm
mesh: arm_slider
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: python