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unilab添加moveit启动

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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
This commit is contained in:
zhangshixiang
2025-06-06 22:09:35 +08:00
parent 554766924e
commit 3d11a0cc50
80 changed files with 2378 additions and 67 deletions
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9
unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml Normal file
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# Default initial positions for full_dev's ros2_control fake system
initial_positions:
arm_base_joint: 0
arm_link_1_joint: 0
arm_link_2_joint: 0
arm_link_3_joint: 0
gripper_base_joint: 0
gripper_right_joint: 0.03

40
unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml Normal file
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
arm_base_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
arm_link_1_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
arm_link_2_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
arm_link_3_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_base_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
gripper_right_joint:
has_velocity_limits: true
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

4
unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml Normal file
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arm:
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001

56
unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
<ros2_control name="${device_name}benyao_arm" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
</hardware>
<joint name="${device_name}arm_base_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['arm_base_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}arm_link_1_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}arm_link_2_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}arm_link_3_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}gripper_base_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}gripper_right_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

46
unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="benyao_arm_srdf" params="device_name">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="${device_name}arm">
<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
</group>
<group name="${device_name}arm_gripper">
<joint name="${device_name}gripper_right_joint"/>
</group>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
</xacro:macro>
</robot>

14
unilabos/device_mesh/devices/benyao_arm/config/move_group.json Normal file
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{
"arm":
{
"joint_names": [
"arm_base_joint",
"arm_link_1_joint",
"arm_link_2_joint",
"arm_link_3_joint",
"gripper_base_joint"
],
"base_link_name": "device_link",
"end_effector_name": "gripper_base"
}
}

29
unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml Normal file
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# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- arm_controller
- gripper_controller
arm_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- arm_base_joint
- arm_link_1_joint
- arm_link_2_joint
- arm_link_3_joint
- gripper_base_joint
action_ns: follow_joint_trajectory
default: true
gripper_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- gripper_right_joint
action_ns: follow_joint_trajectory
default: true

2
unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml Normal file
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planner_configs:
- ompl_interface/OMPLPlanner

6
unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml Normal file
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# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

39
unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml Normal file
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# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
arm_controller:
ros__parameters:
joints:
- arm_base_joint
- arm_link_1_joint
- arm_link_2_joint
- arm_link_3_joint
- gripper_base_joint
command_interfaces:
- position
state_interfaces:
- position
- velocity
gripper_controller:
ros__parameters:
joints:
- gripper_right_joint
command_interfaces:
- position
state_interfaces:
- position
- velocity

44
unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml Normal file
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joint_limits:
arm_base_joint:
effort: 50
velocity: 1.0
lower: 0
upper: 1.5
arm_link_1_joint:
effort: 50
velocity: 1.0
lower: 0
upper: 0.6
arm_link_2_joint:
effort: 50
velocity: 1.0
lower: !degrees -95
upper: !degrees 95
arm_link_3_joint:
effort: 50
velocity: 1.0
lower: !degrees -195
upper: !degrees 195
gripper_base_joint:
effort: 50
velocity: 1.0
lower: !degrees -95
upper: !degrees 95
gripper_right_joint:
effort: 50
velocity: 1.0
lower: 0
upper: 0.03
gripper_left_joint:
effort: 50
velocity: 1.0
lower: 0
upper: 0.03

293
unilabos/device_mesh/devices/benyao_arm/macro_device.xacro Normal file
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
<xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
<!-- Extract subsections from yaml dictionaries -->
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
<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"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}arm_slideway"/>
<axis xyz="0 0 0"/>
</joint>
<!-- JOINTS LIMIT PARAMETERS -->
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
<link name="${station_name}${device_name}arm_slideway">
<inertial>
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
<mass value="13.6578107753627"/>
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
<parent link="${station_name}${device_name}arm_slideway"/>
<child link="${station_name}${device_name}arm_base"/>
<axis xyz="1 0 0"/>
<limit
effort="${limit_arm_base_joint['effort']}"
lower="${limit_arm_base_joint['lower']}"
upper="${limit_arm_base_joint['upper']}"
velocity="${limit_arm_base_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}arm_base">
<inertial>
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
<mass value="16.1341586205194"/>
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}arm_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
<mass value="0.828629227096429"/>
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
<parent link="${station_name}${device_name}arm_base"/>
<child link="${station_name}${device_name}arm_link_1"/>
<axis xyz="0 0 1"/>
<limit
effort="${limit_arm_link_1_joint['effort']}"
lower="${limit_arm_link_1_joint['lower']}"
upper="${limit_arm_link_1_joint['upper']}"
velocity="${limit_arm_link_1_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}arm_link_2">
<inertial>
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
<mass value="2.04764861029349"/>
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}arm_link_1"/>
<child link="${station_name}${device_name}arm_link_2"/>
<axis xyz="0 0 1"/>
<limit
effort="${limit_arm_link_2_joint['effort']}"
lower="${limit_arm_link_2_joint['lower']}"
upper="${limit_arm_link_2_joint['upper']}"
velocity="${limit_arm_link_2_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}arm_link_3">
<inertial>
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
<mass value="1.19870202871083"/>
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
<parent link="${station_name}${device_name}arm_link_2"/>
<child link="${station_name}${device_name}arm_link_3"/>
<axis xyz="0 0 1"/>
<limit
effort="${limit_arm_link_3_joint['effort']}"
lower="${limit_arm_link_3_joint['lower']}"
upper="${limit_arm_link_3_joint['upper']}"
velocity="${limit_arm_link_3_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}gripper_base">
<inertial>
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
<mass value="0.511925198394943"/>
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
<parent link="${station_name}${device_name}arm_link_3"/>
<child link="${station_name}${device_name}gripper_base"/>
<axis xyz="0 0 1"/>
<limit
effort="${limit_gripper_base_joint['effort']}"
lower="${limit_gripper_base_joint['lower']}"
upper="${limit_gripper_base_joint['upper']}"
velocity="${limit_gripper_base_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}gripper_right">
<inertial>
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
<mass value="0.013337481136229"/>
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
<parent link="${station_name}${device_name}gripper_base"/>
<child link="${station_name}${device_name}gripper_right"/>
<axis xyz="1 0 0"/>
<limit
effort="${limit_gripper_right_joint['effort']}"
lower="${limit_gripper_right_joint['lower']}"
upper="${limit_gripper_right_joint['upper']}"
velocity="${limit_gripper_right_joint['velocity']}"/>
</joint>
<link name="${station_name}${device_name}gripper_left">
<inertial>
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
<mass value="0.0133374811362292"/>
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
</inertial>
<visual>
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
<parent link="${station_name}${device_name}gripper_base"/>
<child link="${station_name}${device_name}gripper_left"/>
<axis xyz="1 0 0"/>
<limit
effort="${limit_gripper_left_joint['effort']}"
lower="${limit_gripper_left_joint['lower']}"
upper="${limit_gripper_left_joint['upper']}"
velocity="${limit_gripper_left_joint['velocity']}"/>
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
</joint>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
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@@ -3,11 +3,10 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="opentrons_liquid_handler"
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0 mesh_path:=''">
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>

4
unilabos/device_mesh/devices/slide_w140/macro_device.xacro
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@@ -8,11 +8,11 @@
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>

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59
unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/macro_device.xacro Normal file
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<?xml version='1.0'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="thermo_orbitor_rs2_hotel"
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
mesh_path:=''">
<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"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name='${station_name}${device_name}base_link'>
<visual name='visual'>
<origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
</geometry>
<material name="clay">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
<xacro:property name="delta" value="0.073" />
<xacro:macro name='platetargets' params='num'>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_${num}_60_1' type='fixed'>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 ${pi/2}" xyz="-0.002 0.011 ${(num - 1) * delta + 0.038}"/>
</joint>
</xacro:macro>
<xacro:platetargets num='1' />
<xacro:platetargets num='2' />
<xacro:platetargets num='3' />
<xacro:platetargets num='4' />
<xacro:platetargets num='5' />
<xacro:platetargets num='6' />
<xacro:platetargets num='7' />
<xacro:platetargets num='8' />
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/meta.json Normal file
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{
"fileName": "thermo_orbitor_rs2_hotel",
"related": [
"thermo_skyline_stacker",
"thermo_cytomat2c_stacker_15",
"thermo_fisher_cytomat_stacker_16",
"thermo_cytomat2c_stacker_21",
"thermo_orbitor_rs2_hotel"
]
}

10
unilabos/device_mesh/devices/toyo_xyz/config/full_dev.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="full_dev">
<xacro:arg name="device_name" default=""/>
<xacro:arg name="mesh_path" default="/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh" />
<xacro:include filename="macro.ros2_control.xacro" />
<xacro:toyo_xyz_ros2_control device_name="$(arg device_name)" mesh_path="$(arg mesh_path)" />
</robot>

6
unilabos/device_mesh/devices/toyo_xyz/config/initial_positions.yaml Normal file
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# Default initial positions for full_dev's ros2_control fake system
initial_positions:
slider1_joint: 0
slider2_joint: 0
slider3_joint: 0

25
unilabos/device_mesh/devices/toyo_xyz/config/joint_limits.yaml Normal file
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@@ -0,0 +1,25 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
slider1_joint:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
slider2_joint:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
slider3_joint:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

4
unilabos/device_mesh/devices/toyo_xyz/config/kinematics.yaml Normal file
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@@ -0,0 +1,4 @@
toyo_xyz:
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001

35
unilabos/device_mesh/devices/toyo_xyz/config/macro.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="toyo_xyz_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/toyo_xyz/config/initial_positions.yaml')['initial_positions']}"/>
<ros2_control name="${device_name}toyo_xyz" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
</hardware>
<joint name="${device_name}slider1_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['slider1_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}slider2_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['slider2_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}slider3_joint">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['slider3_joint']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

109
unilabos/device_mesh/devices/toyo_xyz/config/macro.srdf.xacro Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="toyo_xyz_srdf" params="device_name">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="${device_name}toyo_xyz">
<chain base_link="${device_name}base_link" tip_link="${device_name}slider3_link"/>
</group>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="${device_name}base2_link" link2="${device_name}base3_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}base_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}chain_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end2_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end3_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length2_link" reason="Default"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}base_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}chain_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end2_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end3_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}chain_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}end2_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}end3_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}end_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}length1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end2_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end3_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}fixed_link" reason="Default"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}end3_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}end_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length2_link" reason="Default"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}end_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length3_link" reason="Default"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}fixed_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}length1_link" reason="Default"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length1_link" reason="Never"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length3_link" reason="Default"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider2_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}length1_link" link2="${device_name}length2_link" reason="Never"/>
<disable_collisions link1="${device_name}length1_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}length2_link" link2="${device_name}length3_link" reason="Never"/>
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider2_link" reason="Never"/>
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider1_link" reason="Never"/>
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}slider1_link" link2="${device_name}slider2_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}slider1_link" link2="${device_name}slider3_link" reason="Never"/>
<disable_collisions link1="${device_name}slider2_link" link2="${device_name}slider3_link" reason="Adjacent"/>
</xacro:macro>
</robot>

12
unilabos/device_mesh/devices/toyo_xyz/config/move_group.json Normal file
View File

@@ -0,0 +1,12 @@
{
"toyo_xyz":
{
"joint_names": [
"slider1_joint",
"slider2_joint",
"slider3_joint"
],
"base_link_name": "device_link",
"end_effector_name": "slider3_link"
}
}

16
unilabos/device_mesh/devices/toyo_xyz/config/moveit_controllers.yaml Normal file
View File

@@ -0,0 +1,16 @@
# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- toyo_xyz_controller
toyo_xyz_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- slider1_joint
- slider2_joint
- slider3_joint

6
unilabos/device_mesh/devices/toyo_xyz/config/pilz_cartesian_limits.yaml Normal file
View File

@@ -0,0 +1,6 @@
# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

34
unilabos/device_mesh/devices/toyo_xyz/config/ros2_controllers.yaml Normal file
View File

@@ -0,0 +1,34 @@
# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
# action_ns: $(var device_id)
toyo_xyz_controller:
type: joint_trajectory_controller/JointTrajectoryController
# joint_state_broadcaster:
# ros__parameters: {}
toyo_xyz_controller:
ros__parameters:
joints:
- slider1_joint
- slider2_joint
- slider3_joint
command_interfaces:
- position
state_interfaces:
- position
- velocity
allow_partial_joints_goal: false
open_loop_control: true
allow_integration_in_goal_trajectories: true
action_monitor_rate: 20.0
# goal_time: 0.0
# constraints:
# stopped_velocity_tolerance: 0.01
# goal_time: 0.0

14
unilabos/device_mesh/devices/toyo_xyz/joint_config.json Normal file
View File

@@ -0,0 +1,14 @@
{
"slider1_joint": {
"child":"slider1_link",
"axis" : "x"
},
"slider2_joint": {
"child":"slider2_link",
"axis" : "x"
},
"slider3_joint": {
"child":"slider3_link",
"axis" : "x"
}
}

465
unilabos/device_mesh/devices/toyo_xyz/macro_device.xacro Normal file
View File

@@ -0,0 +1,465 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="toyo_xyz"
params="length1:=0.1 min_d1:=0.01 max_d1:=0.01 slider_d1:=0.135
length2:=0.1 min_d2:=0.01 max_d2:=0.01 slider_d2:=0.116
length3:=0.1 min_d3:=0.01 max_d3:=0.01 slider_d3:=0.090
parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
mesh_path:=''">
<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"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="${-min_d1} 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0120236017581094 -0.0517106842624209 0.0409192044637189"/>
<mass value="0.69481680376074"/>
<inertia ixx="0.000936712501344659" ixy="7.23677144617562E-06" ixz="-1.24166862138852E-06" iyy="0.000379264833590696" iyz="9.52650081379508E-07" izz="0.000898185165939333"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}length1_link">
<inertial>
<origin rpy="0 0 0" xyz="0.494579219297241 -0.0104662192149046 0.020043711867505"/>
<mass value="5.94417515905243"/>
<inertia ixx="0.00674507129097306" ixy="9.38238612394185E-09" ixz="4.35684774317116E-06" iyy="0.485770401104387" iyz="2.57353070463078E-06" izz="0.489757831272925"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length1_link.STL" scale="${(length1 + min_d1 + max_d1 + slider_d1)} 1 1"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length1_link.STL" scale="${(length1 + min_d1 + max_d1 + slider_d1)} 1 1"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}length1_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}length1_link"/>
<axis xyz="0 0 1"/>
</joint>
<link name="${station_name}${device_name}slider1_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.00730412052530301"/>
<mass value="0.118155140657232"/>
<inertia ixx="6.43342434854928E-05" ixy="-2.31210361323828E-11" ixz="3.06922820322201E-10" iyy="0.000154199389116579" iyz="1.20524516927812E-08" izz="0.000215806482689218"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider1_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider1_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}slider1_joint" type="prismatic">
<origin rpy="0 0 0" xyz="${min_d1 + slider_d1/2} 0 0.078"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}slider1_link"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="0" upper="${length1}" velocity="0"/>
</joint>
<link name="${station_name}${device_name}chain_link">
<inertial>
<origin rpy="0 0 0" xyz="0.49922930196331 -0.00327071484975672 0.0207539916460562"/>
<mass value="2.00787563607981"/>
<inertia ixx="0.00240786362662634" ixy="1.44801915606072E-05" ixz="-3.1726019259437E-05" iyy="0.167850452350525" iyz="-0.000138217054257536" izz="0.168373005725347"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/chain_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/chain_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}chain_joint" type="fixed">
<origin rpy="0 0 1.5708" xyz="-0.02 -0.041 -0.0005"/>
<parent link="${station_name}${device_name}slider1_link"/>
<child link="${station_name}${device_name}chain_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base2_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00645898766177746 0.0354023221709439 0.0277640039757229"/>
<mass value="0.341816215620884"/>
<inertia ixx="0.000246380769664854" ixy="-3.5162220656232E-06" ixz="3.72156984182819E-08" iyy="0.00014938476423929" iyz="-2.01567401863811E-06" izz="0.000271539741067036"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}base2_joint" type="fixed">
<origin rpy="1.5708 0 1.5708" xyz="-0.0145 0.0295 0.04915"/>
<parent link="${station_name}${device_name}slider1_link"/>
<child link="${station_name}${device_name}base2_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}slider2_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.94863440558524E-06 -4.2412482447185E-05 -0.00600639156586869"/>
<mass value="0.0568102419437891"/>
<inertia ixx="1.29719509999494E-05" ixy="-2.84670156002291E-09" ixz="-1.99529353027075E-10" iyy="5.43277686573641E-05" iyz="-5.94709690026503E-09" izz="6.6299564390705E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}slider2_joint" type="prismatic">
<origin rpy="1.5708 0 1.5708" xyz="0.0455 ${min_d2 + slider_d2/2 + 0.0295} 0.049"/>
<parent link="${station_name}${device_name}slider1_link"/>
<child link="${station_name}${device_name}slider2_link"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="0" upper="${length2}" velocity="0"/>
</joint>
<link name="${station_name}${device_name}length2_link">
<inertial>
<origin
xyz="0.495 -0.00012803097983341 0.0216248093421714"
rpy="0 0 0" />
<mass value="2.0281266583716" />
<inertia
ixx="0.000735867784216875"
ixy="4.46823528502648E-18"
ixz="1.62564733709183E-17"
iyy="0.166018547616233"
iyz="8.35811182464874E-07"
izz="0.166011809812984" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length2_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length2_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}length2_joint" type="fixed">
<origin xyz="-0.0145 0.0295 0.04915" rpy="1.5708 0 1.5708" />
<parent link="${station_name}${device_name}slider1_link" />
<child link="${station_name}${device_name}length2_link" />
<axis xyz="0 0 0" />
</joint>
<link name="${station_name}${device_name}fixed_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0841027924880233 -1.38777878078145E-17 -0.00753342821771308"/>
<mass value="0.114714657110459"/>
<inertia ixx="4.09226560926746E-05" ixy="-1.19246814602201E-20" ixz="1.10812310425511E-07" iyy="0.000219464025912457" iyz="-3.47441993328604E-22" izz="0.000257639354963189"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/fixed_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/fixed_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}fixed_joint" type="fixed">
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
<parent link="${station_name}${device_name}slider2_link"/>
<child link="${station_name}${device_name}fixed_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base3_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0898266891415951 -0.000686554465181816 0.0214841690633115"/>
<mass value="0.253768676399038"/>
<inertia ixx="7.3143781299483E-05" ixy="-9.27468544438197E-07" ixz="-6.25920202213005E-07" iyy="0.000222729105415939" iyz="1.73297633775367E-06" izz="0.000226940773440045"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base3_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base3_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}base3_joint" type="fixed">
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
<parent link="${station_name}${device_name}slider2_link"/>
<child link="${station_name}${device_name}base3_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}length3_link">
<inertial>
<origin rpy="0 0 0" xyz="0.495 2.22485346140083E-05 0.017182121490278"/>
<mass value="1.46660245378617"/>
<inertia ixx="0.000378412905544255" ixy="6.68641853450019E-20" ixz="1.30946080093724E-18" iyy="0.119979432170624" iyz="5.03952092605041E-07" izz="0.11996849156089"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length3_link.STL" scale="${(length3 + min_d3 + max_d3 + slider_d3)} 1 1"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length3_link.STL" scale="${(length3 + min_d3 + max_d3 + slider_d3)} 1 1"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}length3_joint" type="fixed">
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
<parent link="${station_name}${device_name}slider2_link"/>
<child link="${station_name}${device_name}length3_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}slider3_link">
<inertial>
<origin rpy="0 0 0" xyz="6.92336766672241E-06 2.33762226242717E-09 -0.0056316911606703"/>
<mass value="0.0319537658681183"/>
<inertia ixx="4.74895305241407E-06" ixy="-2.68838717157416E-13" ixz="4.74105113238926E-10" iyy="1.78967089054364E-05" iyz="-4.41481885417567E-13" izz="2.21974556051535E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider3_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider3_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}slider3_joint" type="prismatic">
<origin rpy="0 0 -1.5708" xyz="0 ${0.113 - min_d3 - slider_d3/2} 0.0635"/>
<parent link="${station_name}${device_name}slider2_link"/>
<child link="${station_name}${device_name}slider3_link"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="0" upper="${length3}" velocity="0"/>
</joint>
<link name="${station_name}${device_name}end3_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00497294496885192 -2.44043265976157E-06 0.0183349877681029"/>
<mass value="0.0140489551253671"/>
<inertia ixx="3.43932725883609E-06" ixy="4.00452842192135E-11" ixz="-1.53817578472123E-08" iyy="1.94727500633638E-06" iyz="-3.82376052540752E-10" izz="1.72263562631362E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end3_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end3_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}end3_joint" type="fixed">
<origin rpy="0 0 -1.5708" xyz="0 -${min_d3 + slider_d3 + length3 + max_d3 -0.113} 0.013"/>
<parent link="${station_name}${device_name}slider2_link"/>
<child link="${station_name}${device_name}end3_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}end2_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00495670363919842 -8.74633492434218E-06 0.0214414396703796"/>
<mass value="0.0200788183514264"/>
<inertia ixx="7.16397592830092E-06" ixy="4.75643325623778E-11" ixz="-2.20469268570818E-08" iyy="3.90488015971723E-06" iyz="-3.17180365916489E-09" izz="3.58779761734039E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end2_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}end2_joint" type="fixed">
<origin rpy="1.5708 0 1.5708" xyz="-0.0135 ${min_d2 + slider_d2 + length2 + max_d2 + 0.0295} 0.0492"/>
<parent link="${station_name}${device_name}slider1_link"/>
<child link="${station_name}${device_name}end2_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}end_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00744127217617607 -2.30544170541074E-06 0.0287548952899474"/>
<mass value="0.0648209796507272"/>
<inertia ixx="4.85939921252094E-05" ixy="1.05486327324319E-09" ixz="-4.17427158603031E-08" iyy="2.1549381051207E-05" iyz="2.1129085201095E-09" izz="2.9433994127647E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end_link.STL"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end_link.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}end_joint" type="fixed">
<origin rpy="0 0 0" xyz="${min_d1 + length1 + max_d1 + slider_d1} 0 0.001"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}end_link"/>
<axis xyz="0 0 0"/>
</joint>
</xacro:macro>
</robot>

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{
"private_param":
{
"min_d1": 0.01 ,
"max_d1": 0.01 ,
"slider_d1": 0.135,
"min_d2": 0.01 ,
"max_d2": 0.01 ,
"slider_d2": 0.116,
"min_d3": 0.01 ,
"max_d3": 0.01 ,
"slider_d3": 0.09
},
"public_param":
{
"length1" :0.5,
"length2" :0.2,
"length3" :0.2
}
}