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
2025-12-17 21:11:12 +00:00 · 2025-06-06 22:09:35 +08:00
parent 554766924e
commit 3d11a0cc50
80 changed files with 2378 additions and 67 deletions
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/end_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/end_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/fixed_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/fixed_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/fixed_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/fixed_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length1_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length1_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length1_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length1_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length2_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length2_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length2_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length2_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length3_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length3_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/length3_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/length3_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider1_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider1_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider1_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider1_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider2_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider2_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider2_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider2_link.fbx
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider3_link.STL
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider3_link.STL
--- a/unilabos/device_mesh/devices/toyo_xyz/meshes/slider3_link.fbx
+++ b/unilabos/device_mesh/devices/toyo_xyz/meshes/slider3_link.fbx