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

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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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unilabos/devices/resource_container/__init__.py Normal file