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Merge branch 'dev' into Mock-Device/Action

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This commit is contained in:
Xuwznln
2025-06-12 20:24:42 +08:00
committed by GitHub
parent f2b3e0743e 34151f5cb2
commit 5c0bdd6f70
186 changed files with 37536 additions and 2850 deletions
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14
unilabos/app/main.py
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@@ -10,6 +10,8 @@ from copy import deepcopy
import yaml
from unilabos.resources.graphio import tree_to_list
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -144,19 +146,19 @@ def main():
else read_graphml(args_dict["graph"])
)
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
args_dict["resources_config"] = list(devices_and_resources.values())
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
args_dict["graph"] = graph_res.physical_setup_graph
else:
if args_dict["devices"] is None or args_dict["resources"] is None:
print_status("Either graph or devices and resources must be provided.", "error")
sys.exit(1)
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
args_dict["resources_config"] = initialize_resources(
list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
)
# args_dict["resources_config"] = initialize_resources(
# list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
# )
args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
for i in args_dict["resources_config"]:

9
unilabos/app/mq.py
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@@ -1,6 +1,7 @@
import json
import time
import traceback
from typing import Optional
import uuid
import paho.mqtt.client as mqtt
@@ -161,12 +162,14 @@ class MQTTClient:
status = {"data": device_status.get(device_id, {}), "device_id": device_id}
address = f"labs/{MQConfig.lab_id}/devices/"
self.client.publish(address, json.dumps(status), qos=2)
logger.critical(f"Device status published: address: {address}, {status}")
logger.debug(f"Device status published: address: {address}, {status}")
def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
if self.mqtt_disable:
return
jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
if return_info is None:
return_info = "{}"
jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
def publish_registry(self, device_id: str, device_info: dict):

10
unilabos/app/web/client.py
View File

@@ -30,18 +30,18 @@ class HTTPClient:
self.auth = MQConfig.lab_id
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
"""
添加资源
Args:
resources: 要添加的资源列表
database_process_later: 后台处理资源
Returns:
Response: API响应对象
"""
response = requests.post(
f"{self.remote_addr}/lab/resource/",
f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
json=resources,
headers={"Authorization": f"lab {self.auth}"},
timeout=5,
@@ -60,7 +60,7 @@ class HTTPClient:
Dict: 返回的资源数据
"""
response = requests.get(
f"{self.remote_addr}/lab/resource/",
f"{self.remote_addr}/lab/resource/?edge_format=1",
params={"id": id, "with_children": with_children},
headers={"Authorization": f"lab {self.auth}"},
timeout=5,
@@ -96,7 +96,7 @@ class HTTPClient:
Response: API响应对象
"""
response = requests.patch(
f"{self.remote_addr}/lab/resource/batch_update/",
f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
json=resources,
headers={"Authorization": f"lab {self.auth}"},
timeout=5,

9
unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml Normal file
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@@ -0,0 +1,9 @@
# 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/arm_slider/config/joint_limits.yaml Normal file
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@@ -0,0 +1,40 @@
# 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/arm_slider/config/kinematics.yaml Normal file
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@@ -0,0 +1,4 @@
arm:
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001

56
unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro Normal file
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@@ -0,0 +1,56 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
<ros2_control name="${device_name}arm_slider" 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/arm_slider/config/macro.srdf.xacro Normal file
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@@ -0,0 +1,46 @@
<?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="arm_slider_srdf" params="device_name">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--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/arm_slider/config/move_group.json Normal file
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@@ -0,0 +1,14 @@
{
"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/arm_slider/config/moveit_controllers.yaml Normal file
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@@ -0,0 +1,29 @@
# 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/arm_slider/config/moveit_planners.yaml Normal file
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@@ -0,0 +1,2 @@
planner_configs:
- ompl_interface/OMPLPlanner

6
unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml Normal file
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@@ -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

39
unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml Normal file
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@@ -0,0 +1,39 @@
# 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/arm_slider/joint_limit.yaml Normal file
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@@ -0,0 +1,44 @@
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/arm_slider/macro_device.xacro Normal file
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@@ -0,0 +1,293 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
<xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
<!-- Extract subsections from yaml dictionaries -->
<xacro:property name= "sec_limits" value="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
</geometry>
</collision>
</link>
<link name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/arm_slider/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://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
</geometry>
</collision>
</link>
<joint name="${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/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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@@ -0,0 +1,59 @@
<?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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@@ -0,0 +1,10 @@
{
"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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@@ -0,0 +1,10 @@
<?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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@@ -0,0 +1,20 @@
{
"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
}
}

266
unilabos/device_mesh/resource_visalization.py
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@@ -1,13 +1,38 @@
import json
import os
from pathlib import Path
import re
import yaml
from launch import LaunchService
from launch import LaunchDescription
from launch_ros.actions import Node as nd
import xacro
from lxml import etree
from launch_param_builder import load_yaml
from launch_ros.parameter_descriptions import ParameterFile
from unilabos.registry.registry import lab_registry
from ament_index_python.packages import get_package_share_directory
def get_pattern_matches(folder, pattern):
"""Given all the files in the folder, find those that match the pattern.
If there are groups defined, the groups are returned. Otherwise the path to the matches are returned.
"""
matches = []
if not folder.exists():
return matches
for child in folder.iterdir():
if not child.is_file():
continue
m = pattern.search(child.name)
if m:
groups = m.groups()
if groups:
matches.append(groups[0])
else:
matches.append(child)
return matches
class ResourceVisualization:
def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
@@ -31,9 +56,8 @@ class ResourceVisualization:
self.enable_rviz = enable_rviz
registry = lab_registry
self.srdf_str = '''
<?xml version="1.0" encoding="UTF-8"?>
<robot name="minimal">
self.srdf_str = '''<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
</robot>
'''
@@ -43,23 +67,46 @@ class ResourceVisualization:
</robot>
'''
self.root = etree.fromstring(self.robot_state_str)
self.root_srdf = etree.fromstring(self.srdf_str)
xacro_uri = self.root.nsmap["xacro"]
self.moveit_nodes = {}
self.moveit_nodes_kinematics = {}
self.moveit_controllers_yaml = {
"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
"moveit_simple_controller_manager": {
"controller_names": []
}
}
self.ros2_controllers_yaml = {
"controller_manager": {
"ros__parameters": {
"update_rate": 100,
"joint_state_broadcaster": {
"type": "joint_state_broadcaster/JointStateBroadcaster",
}
}
}
}
# 遍历设备节点
for node in device.values():
if node['type'] == 'device' and node['class'] != '':
device_class = node['class']
# 检查设备类型是否在注册表中
if device_class not in registry.device_type_registry.keys():
raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
elif node['type'] in self.resource_type:
# print(registry.resource_type_registry)
resource_class = node['class']
if resource_class not in registry.resource_type_registry.keys():
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
elif "model" in registry.resource_type_registry[resource_class].keys():
model_config = registry.resource_type_registry[resource_class]['model']
if node['type'] in self.resource_type or (node['type'] == 'device' and node['class'] != ''):
model_config = {}
if node['type'] in self.resource_type:
resource_class = node['class']
if resource_class not in registry.resource_type_registry.keys():
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
elif "model" in registry.resource_type_registry[resource_class].keys():
model_config = registry.resource_type_registry[resource_class]['model']
elif node['type'] == 'device' and node['class'] != '':
device_class = node['class']
if device_class not in registry.device_type_registry.keys():
raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
elif "model" in registry.device_type_registry[device_class].keys():
model_config = registry.device_type_registry[device_class]['model']
if model_config:
if model_config['type'] == 'resource':
self.resource_model[node['id']] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
@@ -71,18 +118,45 @@ class ResourceVisualization:
'mesh_tf': model_config['children_mesh_tf']
}
elif model_config['type'] == 'device':
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
new_dev.set("parent_link", "world")
new_dev.set("mesh_path", str(self.mesh_path))
new_dev.set("device_name", node["id"]+"_")
new_dev.set("station_name", node["parent"]+'_')
# if node["parent"] is not None:
# new_dev.set("station_name", node["parent"]+'_')
print('o'*20)
node["parent"]
node["id"]
print('o'*20)
new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "device_config" in node["config"]:
for key, value in node["config"]["device_config"].items():
new_dev.set(key, str(float(value)))
# 添加ros2_controller
if node['class'].startswith('moveit.'):
new_include_controller = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include_controller.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/config/macro.ros2_control.xacro")
new_controller = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}_ros2_control")
new_controller.set("device_name", node["id"]+"_")
new_controller.set("mesh_path", str(self.mesh_path))
# 添加moveit的srdf
new_include_srdf = etree.SubElement(self.root_srdf, f"{{{xacro_uri}}}include")
new_include_srdf.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/config/macro.srdf.xacro")
new_srdf = etree.SubElement(self.root_srdf, f"{{{xacro_uri}}}{model_config['mesh']}_srdf")
new_srdf.set("device_name", node["id"]+"_")
self.moveit_nodes[node["id"]] = model_config['mesh']
else:
print("错误的注册表类型！")
re = etree.tostring(self.root, encoding="unicode")
@@ -90,8 +164,37 @@ class ResourceVisualization:
xacro.process_doc(doc)
self.urdf_str = doc.toxml()
re_srdf = etree.tostring(self.root_srdf, encoding="unicode")
doc_srdf = xacro.parse(re_srdf)
xacro.process_doc(doc_srdf)
self.urdf_str_srdf = doc_srdf.toxml()
if self.moveit_nodes:
self.moveit_init()
def create_launch_description(self, urdf_str: str) -> LaunchDescription:
def moveit_init(self):
for name, config in self.moveit_nodes.items():
controller_dict = yaml.safe_load(open(f"{str(self.mesh_path)}/devices/{config}/config/ros2_controllers.yaml", "r"))
moveit_dict = yaml.safe_load(open(f"{str(self.mesh_path)}/devices/{config}/config/moveit_controllers.yaml", "r"))
kinematics_dict = yaml.safe_load(open(f"{str(self.mesh_path)}/devices/{config}/config/kinematics.yaml", "r"))
for key_kinematics, value_kinematics in kinematics_dict.items():
self.moveit_nodes_kinematics[f'{name}_{key_kinematics}'] = value_kinematics
for key, value in controller_dict['controller_manager']['ros__parameters'].items():
if key == 'update_rate' or key == 'joint_state_broadcaster':
continue
self.ros2_controllers_yaml['controller_manager']['ros__parameters'][f"{name}_{key}"] = value
controller_dict[key]['ros__parameters']['joints'] = [f"{name}_{joint}" for joint in controller_dict[key]['ros__parameters']['joints']]
self.ros2_controllers_yaml[f"{name}_{key}"] = controller_dict[key]
for controller_name in moveit_dict['moveit_simple_controller_manager']['controller_names']:
self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names'].append(f"{name}_{controller_name}")
moveit_dict['moveit_simple_controller_manager'][controller_name]['joints'] = [f"{name}_{joint}" for joint in moveit_dict['moveit_simple_controller_manager'][controller_name]['joints']]
self.moveit_controllers_yaml['moveit_simple_controller_manager'][f"{name}_{controller_name}"] = moveit_dict['moveit_simple_controller_manager'][controller_name]
def create_launch_description(self) -> LaunchDescription:
"""
创建launch描述，包含robot_state_publisher和move_group节点
@@ -101,10 +204,93 @@ class ResourceVisualization:
Returns:
LaunchDescription: launch描述对象
"""
moveit_configs_utils_path = Path(get_package_share_directory("moveit_configs_utils"))
default_folder = moveit_configs_utils_path / "default_configs"
planning_pattern = re.compile("^(.*)_planning.yaml$")
pipelines = []
for pipeline in get_pattern_matches(default_folder, planning_pattern):
if pipeline not in pipelines:
pipelines.append(pipeline)
if "ompl" in pipelines:
default_planning_pipeline = "ompl"
else:
default_planning_pipeline = pipelines[0]
planning_pipelines = {
"planning_pipelines": pipelines,
"default_planning_pipeline": default_planning_pipeline,
}
for pipeline in pipelines:
planning_pipelines[pipeline] = load_yaml(
default_folder / f"{pipeline}_planning.yaml"
)
if "ompl" in planning_pipelines:
ompl_config = planning_pipelines["ompl"]
if "planner_configs" not in ompl_config:
ompl_config.update(load_yaml(default_folder / "ompl_defaults.yaml"))
yaml.safe_dump(self.ros2_controllers_yaml, open(f"{str(self.mesh_path)}/ros2_controllers.yaml", "w"))
robot_description_planning = {
"default_velocity_scaling_factor": 0.1,
"default_acceleration_scaling_factor": 0.1,
"cartesian_limits": {
"max_trans_vel": 1.0,
"max_trans_acc": 2.25,
"max_trans_dec": -5.0,
"max_rot_vel": 1.57
}
}
# 解析URDF文件
robot_description = urdf_str
robot_description = self.urdf_str
urdf_str_srdf = self.urdf_str_srdf
kinematics_dict = self.moveit_nodes_kinematics
if self.moveit_nodes:
controllers = []
ros2_controllers = ParameterFile(f"{str(self.mesh_path)}/ros2_controllers.yaml", allow_substs=True)
controllers.append(
nd(
package="controller_manager",
executable="ros2_control_node",
output='screen',
parameters=[
{"robot_description": robot_description},
ros2_controllers,
]
)
)
for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
controllers.append(
nd(
package="controller_manager",
executable="spawner",
arguments=[f"{controller}", "--controller-manager", f"controller_manager"],
output="screen",
)
)
controllers.append(
nd(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"],
output="screen",
)
)
for i in controllers:
self.launch_description.add_action(i)
else:
ros2_controllers = None
# 创建robot_state_publisher节点
robot_state_publisher = nd(
@@ -115,23 +301,21 @@ class ResourceVisualization:
parameters=[{
'robot_description': robot_description,
'use_sim_time': False
}]
},
# kinematics_dict
]
)
# joint_state_publisher_node = nd(
# package='joint_state_publisher_gui', # 或 joint_state_publisher
# executable='joint_state_publisher_gui',
# name='joint_state_publisher',
# output='screen'
# )
# 创建move_group节点
move_group = nd(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[{
'allow_trajectory_execution': True,
'robot_description': robot_description,
'robot_description_semantic': self.srdf_str,
'robot_description_semantic': urdf_str_srdf,
'robot_description_kinematics': kinematics_dict,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
@@ -141,7 +325,13 @@ class ResourceVisualization:
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
}]
# 'robot_description_planning': robot_description_planning,
},
self.moveit_controllers_yaml,
# ompl_planning_pipeline_config,
robot_description_planning,
planning_pipelines,
]
)
# 将节点添加到launch描述中
@@ -156,7 +346,14 @@ class ResourceVisualization:
executable='rviz2',
name='rviz2',
arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
output='screen'
output='screen',
parameters=[
{'robot_description_kinematics': kinematics_dict,
},
robot_description_planning,
planning_pipelines,
]
)
self.launch_description.add_action(rviz_node)
@@ -169,6 +366,11 @@ class ResourceVisualization:
Args:
urdf_str: URDF文件路径
"""
launch_description = self.create_launch_description(self.urdf_str)
launch_description = self.create_launch_description()
# print('--------------------------------')
# print(self.moveit_controllers_yaml)
# print('--------------------------------')
# print(self.urdf_str)
# print('--------------------------------')
self.launch_service.include_launch_description(launch_description)
self.launch_service.run()

31
unilabos/device_mesh/ros2_controllers.yaml Normal file
View File

@@ -0,0 +1,31 @@
arm_slider_arm_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_arm_base_joint
- arm_slider_arm_link_1_joint
- arm_slider_arm_link_2_joint
- arm_slider_arm_link_3_joint
- arm_slider_gripper_base_joint
state_interfaces:
- position
- velocity
arm_slider_gripper_controller:
ros__parameters:
command_interfaces:
- position
joints:
- arm_slider_gripper_right_joint
state_interfaces:
- position
- velocity
controller_manager:
ros__parameters:
arm_slider_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
arm_slider_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
update_rate: 100

336
unilabos/device_mesh/view_robot.rviz
View File

@@ -1,23 +1,15 @@
Panels:
- Class: rviz_common/Displays
Help Height: 138
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1
- /TF1/Tree1
- /RobotModel1
- /PlanningScene1
- /PlanningScene1/Scene Geometry1
- /RobotState1
- /RobotState1/Links1
- /MotionPlanning1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5
Tree Height: 345
Splitter Ratio: 0.5016146302223206
Tree Height: 575
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -93,7 +85,7 @@ Visualization Manager:
Value: false
Visual Enabled: true
- Class: moveit_rviz_plugin/PlanningScene
Enabled: false
Enabled: true
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /monitored_planning_scene
@@ -104,7 +96,7 @@ Visualization Manager:
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Voxel Rendering: Disabled
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
@@ -113,10 +105,108 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
hotel_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
Value: false
Value: true
- Attached Body Color: 150; 50; 150
Class: moveit_rviz_plugin/RobotState
Collision Enabled: false
@@ -166,43 +256,100 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
PLR_STATION_deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_first_link:
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_fourth_link:
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_main_link:
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_second_link:
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_third_link:
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
hotel_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
@@ -230,7 +377,7 @@ Visualization Manager:
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: ""
Planning Group: arm_slider_arm
Query Goal State: false
Query Start State: false
Show Workspace: false
@@ -242,9 +389,9 @@ Visualization Manager:
Scene Alpha: 0.8999999761581421
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Show Scene Geometry: false
Voxel Coloring: Cell Probability
Voxel Rendering: All Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
@@ -253,43 +400,100 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
PLR_STATION_deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_first_link:
arm_slider_arm_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_fourth_link:
arm_slider_arm_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_main_link:
arm_slider_arm_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_second_link:
arm_slider_arm_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
PLR_STATION_deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
PLR_STATION_deck_third_link:
arm_slider_arm_slideway:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
arm_slider_gripper_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
arm_slider_gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
deck_first_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_fourth_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_main_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_second_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
deck_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
deck_socketTypeHEPAModule:
Alpha: 1
Show Axes: false
Show Trail: false
deck_third_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hotel_device_link:
Alpha: 1
Show Axes: false
Show Trail: false
hotel_socketTypeGenericSbsFootprint:
Alpha: 1
Show Axes: false
Show Trail: false
world:
Alpha: 1
Show Axes: false
@@ -345,43 +549,43 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.0284695625305176
Distance: 2.622864246368408
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.29730814695358276
Y: 0.21228469908237457
Z: 0.20008830726146698
X: -0.2880733013153076
Y: -0.16004444658756256
Z: -0.16730672121047974
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.38979560136795044
Pitch: 0.4297958016395569
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.06074193865060806
Yaw: 0.3525616228580475
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1656
Hide Left Dock: false
collapsed: true
Height: 1061
Hide Left Dock: true
Hide Right Dock: true
MotionPlanning:
collapsed: false
collapsed: true
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000003f2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000170000027b000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004300fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000296000001730000013e00ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000003f200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2518
X: 385
Y: 120
Width: 1924
X: 140
Y: 54

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