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Version 0.10.1 (#66)
* add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link，添加了container的icon * 修改了json和注册表，现在大图全部的device都链接上了 * 修复了小图的json图，线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> * 新增注册表补全功能，修复Protocol执行失败 * 支持通过导入方式补全注册表，新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status，注册表支持python类型 * status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 * 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 * 匹配init param schema格式 * Add channel_sources config in conda_build_config.yaml (#58) * 修复任务执行传参 * Create 5 new protocols & bump version 0.9.8 (#59) * 添加了5个缺失的protocol，验证了可以运行 * bump version to 0.9.8 * 修复新增的Action的字段缺失 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 转换到ros消息时，要进行基础类型转换 * Update work_station.yaml (#60) * Update work_station.yaml * Checklist里面有XDL跟protocol之间没对齐的问题，工作量有点大找时间写完 * Create prcxi.py * Update prcxi.py * Update Prcxi * 更新中析仪器，以及启动示例 * 修改moveit_interface，并在mqtt上报时发送一个时间戳，方便网页端对数据的筛选 (#62) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新实例 * 更新实例 * 更新实例 * 修正prcxi启动 * 更新PRCXI配置，修改主机地址和设置状态，并添加示例用法 * add pickup tips for prcxi * 任意执行错误都应该返回failed * 任意执行错误都应该返回failed * Add plateT6 to PRCXI configuration and enhance error handling in liquid handling * prcxi blending * assert blending_times > 0 * update prcxi * update prcxi registry * Update prcxi.py to fit the function in unilabos. * 不生成已配置action的动作，增加prcxi的debug模式 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * Update prcxi.py * 修复了部分的protocol因为XDL更新导致的问题 (#61) * 修复了部分的protocol因为XDL更新导致的问题 但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器 * 补充了四个action * 添加了固体加样器，丰富了json，修改了add protocol * bump version to 0.9.9 * fix bugs from new actions * protocol完整修复版本& bump version to 0.9.10 * 修补了一些单位处理，bump version to 0.9.11 * 优化了全protocol的运行时间，除了pumptransfer相关的还没 * 补充了剩下的几个protocol --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 修复action移除时的报错，更新注册表 * Update prcxi.py * Update prcxi.py * 新增simulator * Update prcxi.py * Update trash * Update prcxi.py * Update prcxi.py * Update for discard tips * Update prcxi.py * Update PRCXI * 更新axis等参数 * Update 9320 * get_well_container&get_tip_rack * update * Update 9320 * update * deck * 更新注册表&增加资源，parent应为resources字段 * Update 9320 * update * 新增set liquid方法 * 新增set liquid方法 * action to resource & 0.9.12 (#64) * action to resource & 0.9.12 * stir和adjustph的中的bug修不好 * modify prcxi * 0.9.12 update registry * update * update * registry upadte * Update * update * container_for_nothing * mix * registry fix * registry fix * registry fix * Update * Update prcxi.py * SET TIP RACK * bump version * update registry version & category * update set tip rack * yaml dump支持ordered dict，支持config_info * fix devices * fix resource check serialize * fix: Protocol node resource run (#65) * stir和adjustph的中的bug修不好 * fix sub-resource query in protocol node compiling * add resource placeholder to vessels * add the rest yaml * Update work_station.yaml --------- Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn> * 采用http报送resource * 采用http报送resource * update * Update .gitignore * bump version to 0.10.0 * default param simulator * slim * Update * Update for prcxi * Update * Update * Refactor PRCXI9300Deck initialization and update plate configurations - Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300". - Updated plate4 initialization to use get_well_container instead of get_tip_rack. - Modified plate4 material details with new UUID, code, and name. - Renamed output JSON file to "deck_9300_new.json". - Uncommented and adjusted liquid handling operations for clarity and future use. * test * update * Update prcxi_9300.json This one is good * update * fix protocol_node communication transfer * 修复注册表handles类型错误的问题 * 物料添加失败应该直接raise ValueError，不要等待 * 更正注册表中的数字类型 * Delete unnecessary files. * 新增lab_id直接传入 * fix vessel_id param passing in protocols * 新增dll预载，保证部分设备可正常使用unilabos_msgs * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 更新版本到0.10.1 修复Upload Registry镜像不匹配 * 新增用户引导 * Device visualization (#67) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新注册表 --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech> Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
This commit is contained in:
Xuwznln
GitHub
@@ -0,0 +1,43 @@
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kinematics:
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shoulder:
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x: 0
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y: 0
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z: 0.1930
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roll: 0
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pitch: 0
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yaw: 0
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upperarm:
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x: 0
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y: 0
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z: 0
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roll: 1.570796326589793
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pitch: 0
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yaw: 0
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forearm:
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x: -0.6150
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y: 0
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z: 0
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roll: 0
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pitch: 0
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yaw: 0
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wrist_1:
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x: -0.5710
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y: 0
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z: 0.1775
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roll: 0
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pitch: 0
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yaw: 0
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wrist_2:
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x: 0
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y: -0.1180
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z: 0
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roll: 1.570796326589793
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pitch: 0
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yaw: 0
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wrist_3:
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x: 0
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y: 0.1103
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z: 0
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roll: -1.570796326589793
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pitch: 0
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yaw: 0
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@@ -0,0 +1,61 @@
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joint_limits:
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shoulder_pan_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 330.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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shoulder_lift_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 330.0
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max_position: !degrees 360.0
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max_velocity: !degrees 120.0
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min_position: !degrees -360.0
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elbow_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 150.0
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max_position: !degrees 180.0
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max_velocity: !degrees 180.0
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min_position: !degrees -180.0
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wrist_1_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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wrist_2_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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wrist_3_joint:
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# acceleration limits are not publicly available
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has_acceleration_limits: false
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has_effort_limits: true
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has_position_limits: true
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has_velocity_limits: true
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max_effort: 56.0
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max_position: !degrees 360.0
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max_velocity: !degrees 180.0
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min_position: !degrees -360.0
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@@ -0,0 +1,99 @@
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# Physical parameters
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dh_parameters:
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d1: 0.1930
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a2: -0.6150
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a3: -0.5710
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d4: 0.1775
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d5: 0.1180
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d6: 0.1103
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inertia_parameters:
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base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
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shoulder_mass: 6.83
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upperarm_mass: 13.037
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forearm_mass: 4.827
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wrist_1_mass: 2.315
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wrist_2_mass: 2.195
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wrist_3_mass: 0.616
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inertia:
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base:
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ixx: 0.0029607
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ixy: -1.019E-06
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ixz: 5.2685E-06
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iyy: 0.0026222
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iyz: -2.8951E-06
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izz: 0.0039906
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shoulder:
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ixx: 0.039228
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ixy: -2.8388E-05
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ixz: 3.9289E-05
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iyy: 0.025078
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iyz: -0.00028825
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izz: 0.037499
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upperarm:
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ixx: 0.3734
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ixy: -5.985E-05
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ixz: -0.5014
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iyy: 2.0187
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iyz: -0.00013287
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izz: 1.681
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forearm:
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ixx: 0.030106
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ixy: -1.25E-05
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ixz: -0.076554
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iyy: 0.76404
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iyz: 1.326E-06
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izz: 0.7421
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wrist_1:
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ixx: 0.0060891
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ixy: 1.219E-06
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ixz: -4.067E-06
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iyy: 0.0049703
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iyz: -1.2747E-05
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izz: 0.0033067
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wrist_2:
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ixx: 0.004638045
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ixy: 1.311E-06
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ixz: 3.829E-06
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iyy: 0.003507337
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iyz: 1.4183E-05
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izz: 0.003129668
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wrist_3:
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ixx: 0.0016942
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ixy: 1.27E-07
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ixz: 1.9782E-05
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iyy: 0.0017123
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iyz: 7.7E-06
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izz: 0.0005701
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center_of_mass:
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base_cog:
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x: 5.6715E-05
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y: -0.00010524
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z: 0.065979
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shoulder_cog:
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x: 9.3E-05
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y: -0.02697
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z: -0.02115
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upperarm_cog:
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x: -0.2304
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y: -3.9E-05
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z: 0.16068
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forearm_cog:
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x: -0.2998
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y: 1.3E-05
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z: 0.06176
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wrist_1_cog:
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x: 1.0E-05
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y: -0.0148
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z: -0.01682
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wrist_2_cog:
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x: -1.3E-05
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y: 0.015559
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z: -0.011803
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wrist_3_cog:
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x: -0.001704
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y: -0.000705
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z: -0.039231
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@@ -0,0 +1,92 @@
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mesh_files:
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base:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/base.dae
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material:
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name: "LightGrey"
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color: "0.7 0.7 0.7 1.0"
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collision:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/collision/base.stl
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shoulder:
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visual:
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mesh:
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package: eli_cs_robot_description
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path: meshes/cs612/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs612/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1930
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.5520
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.4300
|
||||
y: 0
|
||||
z: 0.1775
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1180
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1103
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 330.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1930
|
||||
a2: -0.5520
|
||||
a3: -0.4300
|
||||
d4: 0.1775
|
||||
d5: 0.1180
|
||||
d6: 0.1103
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 6.83
|
||||
upperarm_mass: 13.00
|
||||
forearm_mass: 4.700
|
||||
wrist_1_mass: 2.315
|
||||
wrist_2_mass: 2.195
|
||||
wrist_3_mass: 0.616
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0029607
|
||||
ixy: -1.019E-06
|
||||
ixz: 5.2685E-06
|
||||
iyy: 0.0026222
|
||||
iyz: -2.8951E-06
|
||||
izz: 0.0039906
|
||||
shoulder:
|
||||
ixx: 0.039229834
|
||||
ixy: -2.8388E-05
|
||||
ixz: 3.9289E-05
|
||||
iyy: 0.025077817
|
||||
iyz: -0.000288247
|
||||
izz: 0.03749924
|
||||
upperarm:
|
||||
ixx: 0.373432462
|
||||
ixy: -5.5512E-05
|
||||
ixz: -0.451785393
|
||||
iyy: 1.696418762
|
||||
iyz: -0.000133438
|
||||
izz: 1.358657204
|
||||
forearm:
|
||||
ixx: 0.030213183
|
||||
ixy: -8.368E-06
|
||||
ixz: -0.056600087
|
||||
iyy: 0.434775735
|
||||
iyz: 1.585E-06
|
||||
izz: 0.412836422
|
||||
wrist_1:
|
||||
ixx: 0.006091086
|
||||
ixy: 1.256E-06
|
||||
ixz: -4.067E-06
|
||||
iyy: 0.004972529
|
||||
iyz: -1.2709E-05
|
||||
izz: 0.003307235
|
||||
wrist_2:
|
||||
ixx: 0.004639166
|
||||
ixy: 1.311E-06
|
||||
ixz: 3.829E-06
|
||||
iyy: 0.003508643
|
||||
iyz: 1.4183E-05
|
||||
izz: 0.003130199
|
||||
wrist_3:
|
||||
ixx: 0.001695059
|
||||
ixy: 1.27E-07
|
||||
ixz: 1.9782E-05
|
||||
iyy: 0.001713327
|
||||
iyz: 7.7E-06
|
||||
izz: 0.000570629
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: 5.6715E-05
|
||||
y: -0.00010524
|
||||
z: 0.065979
|
||||
shoulder_cog:
|
||||
x: 9.3E-05
|
||||
y: -0.02697
|
||||
z: -0.02115
|
||||
upperarm_cog:
|
||||
x: -0.2069
|
||||
y: -4.4E-05
|
||||
z: 0.16068
|
||||
forearm_cog:
|
||||
x: -0.2303
|
||||
y: 1.5E-05
|
||||
z: 0.06220
|
||||
wrist_1_cog:
|
||||
x: 1.0E-05
|
||||
y: -0.0148
|
||||
z: -0.01682
|
||||
wrist_2_cog:
|
||||
x: -1.3E-05
|
||||
y: 0.015559
|
||||
z: -0.011803
|
||||
wrist_3_cog:
|
||||
x: -0.001704
|
||||
y: -0.000705
|
||||
z: -0.039231
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs616/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.9000
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.7720
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.9000
|
||||
a3: -0.7720
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.5056 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.927
|
||||
forearm_mass: 8.386
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0067829
|
||||
ixy: 2.6762E-07
|
||||
ixz: -2.569E-06
|
||||
iyy: 0.0068523
|
||||
iyz: 9.4263E-05
|
||||
izz: 0.010044
|
||||
shoulder:
|
||||
ixx: 0.130294671
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.000106701
|
||||
iyy: 0.085215288
|
||||
iyz: -0.000663345
|
||||
izz: 0.113859158
|
||||
upperarm:
|
||||
ixx: 1.204318595
|
||||
ixy: -0.000466936
|
||||
ixz: -1.78878432
|
||||
iyy: 8.073725654
|
||||
iyz: -0.000305158
|
||||
izz: 6.980457042
|
||||
forearm:
|
||||
ixx: 0.070042956
|
||||
ixy: 9.0183E-05
|
||||
ixz: -0.165661846
|
||||
iyy: 2.160436707
|
||||
iyz: 1.3854E-05
|
||||
izz: 2.109199584
|
||||
wrist_1:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: -5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: -1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4009E-05
|
||||
y: 0.0011775
|
||||
z: 0.076293
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.323686
|
||||
y: -3.9E-05
|
||||
z: 0.200968
|
||||
forearm_cog:
|
||||
x: -0.376841
|
||||
y: 1.5E-05
|
||||
z: 0.070311
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs620/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.2350
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.7500
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.6220
|
||||
y: 0
|
||||
z: 0.1725
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.1280
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.1250
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 730.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 120.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 430.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 150.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 100.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 210.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.2350
|
||||
a2: -0.7500
|
||||
a3: -0.6220
|
||||
d4: 0.1725
|
||||
d5: 0.1280
|
||||
d6: 0.1250
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 1.50561968754018 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 17.04
|
||||
upperarm_mass: 26.543
|
||||
forearm_mass: 7.816
|
||||
wrist_1_mass: 3.095
|
||||
wrist_2_mass: 3.095
|
||||
wrist_3_mass: 0.879
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.00678289120631133
|
||||
ixy: 2.67618063769984E-07
|
||||
ixz: -2.56895564177072E-06
|
||||
iyy: 0.00685230321535615
|
||||
iyz: 9.42628790478668E-05
|
||||
izz: 0.0100437671447022
|
||||
shoulder:
|
||||
ixx: 0.13029
|
||||
ixy: -8.271E-05
|
||||
ixz: 0.0001067
|
||||
iyy: 0.085215
|
||||
iyz: -0.00066335
|
||||
izz: 0.11386
|
||||
upperarm:
|
||||
ixx: 1.197
|
||||
ixy: -0.00083272
|
||||
ixz: -1.5396
|
||||
iyy: 6.1117
|
||||
iyz: -0.00015496
|
||||
izz: 5.022
|
||||
forearm:
|
||||
ixx: 0.067797
|
||||
ixy: 4.4997E-05
|
||||
ixz: -0.12636
|
||||
iyy: 1.3409
|
||||
iyz: 1.45E-05
|
||||
izz: 1.2908
|
||||
wrist_1:
|
||||
ixx: 0.0079584
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.0066863
|
||||
iyz: 1.766E-05
|
||||
izz: 0.0048407
|
||||
wrist_2:
|
||||
ixx: 0.007958413
|
||||
ixy: -3.024E-06
|
||||
ixz: 5.734E-06
|
||||
iyy: 0.006686348
|
||||
iyz: 1.766E-05
|
||||
izz: 0.004840671
|
||||
wrist_3:
|
||||
ixx: 0.004065851
|
||||
ixy: 1.5185E-05
|
||||
ixz: -1.1453E-05
|
||||
iyy: 0.004060372
|
||||
iyz: 4.2152E-05
|
||||
izz: 0.001170392
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -2.4008693014781E-05
|
||||
y: 0.00117748953656619
|
||||
z: 0.0762927770474629
|
||||
shoulder_cog:
|
||||
x: 9.9E-05
|
||||
y: -0.026311
|
||||
z: -0.026723
|
||||
upperarm_cog:
|
||||
x: -0.27762
|
||||
y: -1.7E-05
|
||||
z: 0.20184
|
||||
forearm_cog:
|
||||
x: -0.30259
|
||||
y: 2.1E-05
|
||||
z: 0.07237
|
||||
wrist_1_cog:
|
||||
x: -3.7E-05
|
||||
y: -0.01051
|
||||
z: -0.014865
|
||||
wrist_2_cog:
|
||||
x: 3.7E-05
|
||||
y: 0.01051
|
||||
z: -0.014865
|
||||
wrist_3_cog:
|
||||
x: 0.000242
|
||||
y: -0.001192
|
||||
z: -0.050422
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs625/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1530
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.2700
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.2575
|
||||
y: 0
|
||||
z: 0.1445
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 56.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 12.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 360.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1530
|
||||
a2: -0.2700
|
||||
a3: -0.2575
|
||||
d4: 0.1445
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 3.095
|
||||
upperarm_mass: 5.073
|
||||
forearm_mass: 2.425
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.000549739542527148
|
||||
ixy: 8.03741216179988E-08
|
||||
ixz: -9.14780809458034E-06
|
||||
iyy: 0.000533024165382036
|
||||
iyz: 3.46908903534662E-07
|
||||
izz: 0.000655188839052244
|
||||
shoulder:
|
||||
ixx: 0.007958
|
||||
ixy: 5.734E-06
|
||||
ixz: 3.024E-06
|
||||
iyy: 0.00484
|
||||
iyz: -1.77E-05
|
||||
izz: 0.006686
|
||||
upperarm:
|
||||
ixx: 0.074168
|
||||
ixy: -7.5E-06
|
||||
ixz: -0.065579
|
||||
iyy: 0.21937
|
||||
iyz: -2.19E-05
|
||||
izz: 0.15104
|
||||
forearm:
|
||||
ixx: 0.005082
|
||||
ixy: -2.7E-06
|
||||
ixz: -0.0056236
|
||||
iyy: 0.0924207
|
||||
iyz: -1.726E-06
|
||||
izz: 0.0897559
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.96E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014538
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.001431
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.000721181367009438
|
||||
y: 1.78114684963572E-05
|
||||
z: 0.0546249293265112
|
||||
shoulder_cog:
|
||||
x: 3.7E-05
|
||||
y: -0.0149
|
||||
z: -0.0105
|
||||
upperarm_cog:
|
||||
x: -0.11596
|
||||
y: -2.6E-05
|
||||
z: 0.1148
|
||||
forearm_cog:
|
||||
x: -0.1542
|
||||
y: 1.4E-05
|
||||
z: 0.0238
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.0051
|
||||
z: -0.0127
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.0423
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs63/collision/wrist3.stl
|
||||
@@ -0,0 +1,43 @@
|
||||
kinematics:
|
||||
shoulder:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.1625
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: -0.16
|
||||
upperarm:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
forearm:
|
||||
x: -0.4270
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_1:
|
||||
x: -0.3905
|
||||
y: 0
|
||||
z: 0.1475
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0.04
|
||||
wrist_2:
|
||||
x: 0
|
||||
y: -0.0965
|
||||
z: 0
|
||||
roll: 1.570796326589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_3:
|
||||
x: 0
|
||||
y: 0.0920
|
||||
z: 0
|
||||
roll: -1.570796326589793
|
||||
pitch: -0.59
|
||||
yaw: 0
|
||||
@@ -0,0 +1,61 @@
|
||||
joint_limits:
|
||||
shoulder_pan_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
shoulder_lift_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
elbow_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 150.0
|
||||
max_position: !degrees 180.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -180.0
|
||||
wrist_1_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_2_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
wrist_3_joint:
|
||||
# acceleration limits are not publicly available
|
||||
has_acceleration_limits: false
|
||||
has_effort_limits: true
|
||||
has_position_limits: true
|
||||
has_velocity_limits: true
|
||||
max_effort: 28.0
|
||||
max_position: !degrees 360.0
|
||||
max_velocity: !degrees 180.0
|
||||
min_position: !degrees -360.0
|
||||
@@ -0,0 +1,99 @@
|
||||
# Physical parameters
|
||||
|
||||
dh_parameters:
|
||||
d1: 0.1625
|
||||
a2: -0.4270
|
||||
a3: -0.3905
|
||||
d4: 0.1475
|
||||
d5: 0.0965
|
||||
d6: 0.0920
|
||||
|
||||
inertia_parameters:
|
||||
base_mass: 0.57127 # base mass, base inertia, base cog might be incorrect
|
||||
shoulder_mass: 4.521
|
||||
upperarm_mass: 7.533
|
||||
forearm_mass: 3.009
|
||||
wrist_1_mass: 1.559
|
||||
wrist_2_mass: 1.447
|
||||
wrist_3_mass: 0.500
|
||||
|
||||
inertia:
|
||||
base:
|
||||
ixx: 0.0010759
|
||||
ixy: 7.8337E-08
|
||||
ixz: -1.3213E-05
|
||||
iyy: 0.0010109
|
||||
iyz: 4.5992E-07
|
||||
izz: 0.001408
|
||||
shoulder:
|
||||
ixx: 0.014192
|
||||
ixy: 1.7839E-05
|
||||
ixz: -1.027E-06
|
||||
iyy: 0.0091982
|
||||
iyz: -4.6778E-05
|
||||
izz: 0.012777
|
||||
upperarm:
|
||||
ixx: 0.13719
|
||||
ixy: -7.5676E-05
|
||||
ixz: -0.17551
|
||||
iyy: 0.6614
|
||||
iyz: 7.59E-06
|
||||
izz: 0.53649
|
||||
forearm:
|
||||
ixx: 0.0087604
|
||||
ixy: 1.7762E-05
|
||||
ixz: -0.010765
|
||||
iyy: 0.22281
|
||||
iyz: -4.13E-07
|
||||
izz: 0.2176
|
||||
wrist_1:
|
||||
ixx: 0.0045009
|
||||
ixy: 1.961E-06
|
||||
ixz: -2.646E-06
|
||||
iyy: 0.0042164
|
||||
iyz: -3.58E-07
|
||||
izz: 0.0014539
|
||||
wrist_2:
|
||||
ixx: 0.0023787
|
||||
ixy: 1.953E-06
|
||||
ixz: 2.643E-06
|
||||
iyy: 0.0020859
|
||||
iyz: 5.584E-06
|
||||
izz: 0.0013191
|
||||
wrist_3:
|
||||
ixx: 0.0014314
|
||||
ixy: -2.32E-07
|
||||
ixz: 7.955E-06
|
||||
iyy: 0.0014299
|
||||
iyz: 1.266E-06
|
||||
izz: 0.0003265
|
||||
|
||||
center_of_mass:
|
||||
base_cog:
|
||||
x: -0.00060346
|
||||
y: 1.4311E-05
|
||||
z: 0.060221
|
||||
shoulder_cog:
|
||||
x: 2.2E-05
|
||||
y: -0.016526
|
||||
z: -0.014442
|
||||
upperarm_cog:
|
||||
x: -0.17828
|
||||
y: 4.0E-06
|
||||
z: 0.12803
|
||||
forearm_cog:
|
||||
x: -0.20416
|
||||
y: -7.0E-06
|
||||
z: 0.03064
|
||||
wrist_1_cog:
|
||||
x: 1.3E-05
|
||||
y: -0.00479
|
||||
z: -0.02274
|
||||
wrist_2_cog:
|
||||
x: -1.4E-05
|
||||
y: 0.005107
|
||||
z: -0.012702
|
||||
wrist_3_cog:
|
||||
x: -0.000684
|
||||
y: -0.000175
|
||||
z: -0.04234
|
||||
@@ -0,0 +1,92 @@
|
||||
mesh_files:
|
||||
base:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/base.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/base.stl
|
||||
|
||||
shoulder:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/shoulder.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/shoulder.stl
|
||||
|
||||
upperarm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/upperarm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/upperarm.stl
|
||||
mesh_files:
|
||||
|
||||
forearm:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/forearm.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/forearm.stl
|
||||
|
||||
wrist_1:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist1.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist1.stl
|
||||
|
||||
wrist_2:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist2.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist2.stl
|
||||
|
||||
wrist_3:
|
||||
visual:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/visual/wrist3.dae
|
||||
material:
|
||||
name: "LightGrey"
|
||||
color: "0.7 0.7 0.7 1.0"
|
||||
collision:
|
||||
mesh:
|
||||
package: eli_cs_robot_description
|
||||
path: meshes/cs66/collision/wrist3.stl
|
||||
@@ -0,0 +1,6 @@
|
||||
shoulder_pan_joint: 0.0
|
||||
shoulder_lift_joint: -1.57
|
||||
elbow_joint: 0.0
|
||||
wrist_1_joint: -1.57
|
||||
wrist_2_joint: 1.57
|
||||
wrist_3_joint: 0.0
|
||||
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
@@ -0,0 +1,159 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
|
||||
<xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
|
||||
<!-- robot name parameter -->
|
||||
<xacro:arg name="name" default="cs"/>
|
||||
<!-- import main macro -->
|
||||
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
|
||||
|
||||
<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
|
||||
<!-- the default value should raise an error in case this was called without defining the type -->
|
||||
<xacro:arg name="cs_type" default="${cs_type}"/>
|
||||
|
||||
<!-- parameters -->
|
||||
<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
|
||||
<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
|
||||
<xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
|
||||
<xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
|
||||
<xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
|
||||
<xacro:arg name="transmission_hw_interface" default=""/>
|
||||
<xacro:arg name="safety_limits" default="false"/>
|
||||
<xacro:arg name="safety_pos_margin" default="0.15"/>
|
||||
<xacro:arg name="safety_k_position" default="20"/>
|
||||
<!-- ros2_control related parameters -->
|
||||
<xacro:arg name="headless_mode" default="false" />
|
||||
<xacro:arg name="robot_ip" default="0.0.0.0" />
|
||||
<xacro:arg name="script_filename" default=""/>
|
||||
<xacro:arg name="output_recipe_filename" default=""/>
|
||||
<xacro:arg name="input_recipe_filename" default=""/>
|
||||
<xacro:arg name="local_ip" default="0.0.0.0"/>
|
||||
<xacro:arg name="script_command_port" default="50004"/>
|
||||
<xacro:arg name="reverse_port" default="50001"/>
|
||||
<xacro:arg name="script_sender_port" default="50002"/>
|
||||
<xacro:arg name="trajectory_port" default="50003"/>
|
||||
<!-- tool communication related parameters-->
|
||||
<xacro:arg name="use_tool_communication" default="false" />
|
||||
<xacro:arg name="tool_voltage" default="0" />
|
||||
<xacro:arg name="tool_parity" default="0" />
|
||||
<xacro:arg name="tool_baud_rate" default="115200" />
|
||||
<xacro:arg name="tool_stop_bits" default="1" />
|
||||
<xacro:arg name="tool_tcp_port" default="54321" />
|
||||
|
||||
<!-- Simulation parameters -->
|
||||
<xacro:arg name="use_fake_hardware" default="${fake_dev}" />
|
||||
<xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
|
||||
<xacro:arg name="sim_gazebo" default="false" />
|
||||
<xacro:arg name="sim_ignition" default="false" />
|
||||
<xacro:arg name="simulation_controllers" default="" />
|
||||
|
||||
<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
|
||||
<xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
|
||||
|
||||
<!-- convert to property to use substitution in function -->
|
||||
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
|
||||
|
||||
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
|
||||
<!-- arm -->
|
||||
<xacro:cs_robot
|
||||
name="$(arg name)"
|
||||
tf_prefix="$(arg tf_prefix)"
|
||||
parent="${station_name}${device_name}device_link"
|
||||
joint_limits_parameters_file="$(arg joint_limit_params)"
|
||||
kinematics_parameters_file="$(arg kinematics_params)"
|
||||
physical_parameters_file="$(arg physical_params)"
|
||||
visual_parameters_file="$(arg visual_params)"
|
||||
transmission_hw_interface="$(arg transmission_hw_interface)"
|
||||
safety_limits="$(arg safety_limits)"
|
||||
safety_pos_margin="$(arg safety_pos_margin)"
|
||||
safety_k_position="$(arg safety_k_position)"
|
||||
use_fake_hardware="$(arg use_fake_hardware)"
|
||||
fake_sensor_commands="$(arg fake_sensor_commands)"
|
||||
sim_gazebo="$(arg sim_gazebo)"
|
||||
sim_ignition="$(arg sim_ignition)"
|
||||
headless_mode="$(arg headless_mode)"
|
||||
initial_positions="${xacro.load_yaml(initial_positions_file)}"
|
||||
use_tool_communication="$(arg use_tool_communication)"
|
||||
tool_voltage="$(arg tool_voltage)"
|
||||
tool_parity="$(arg tool_parity)"
|
||||
tool_baud_rate="$(arg tool_baud_rate)"
|
||||
tool_stop_bits="$(arg tool_stop_bits)"
|
||||
tool_tcp_port="$(arg tool_tcp_port)"
|
||||
robot_ip="$(arg robot_ip)"
|
||||
script_filename="$(arg script_filename)"
|
||||
output_recipe_filename="$(arg output_recipe_filename)"
|
||||
input_recipe_filename="$(arg input_recipe_filename)"
|
||||
local_ip="$(arg local_ip)"
|
||||
script_command_port="$(arg script_command_port)"
|
||||
reverse_port="$(arg reverse_port)"
|
||||
script_sender_port="$(arg script_sender_port)"
|
||||
trajectory_port="$(arg trajectory_port)"
|
||||
mesh_path="${mesh_path}"
|
||||
>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
|
||||
</xacro:cs_robot>
|
||||
|
||||
<link name="${station_name}${device_name}gripper">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.2571510360664" />
|
||||
<inertia
|
||||
ixx="0.000164806957167171"
|
||||
ixy="1.52519074989277E-08"
|
||||
ixz="9.6332716899636E-08"
|
||||
iyy="8.72759579414916E-05"
|
||||
iyz="-5.40735277087457E-07"
|
||||
izz="0.000196871100878503" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_joint"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 -0.003"
|
||||
rpy="0 0 -1.570796326589793" />
|
||||
<parent
|
||||
link="${station_name}${device_name}tool0" />
|
||||
<child
|
||||
link="${station_name}${device_name}gripper" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
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Reference in New Issue
Block a user