mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-12 18:55:11 +00:00
添加机械臂和移液站
This commit is contained in:
zhangshixiang
@@ -0,0 +1,174 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<!--
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NOTE the macros defined in this file are NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the two macros.
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The macros store the defined properties in the scope of the caller.
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However, users MUST NOT rely on these properties, their contents or their
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names.
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Author: Chen Shichao
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-->
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<xacro:macro name="build_inertial" params="mass cog inertia">
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<inertial>
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<mass value="${mass}" />
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<origin
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xyz="${cog['x']} ${cog['y']} ${cog['z']}"
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rpy="0 0 0" />
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<inertia
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ixx="${inertia['ixx']}"
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ixy="${inertia['ixy']}"
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ixz="${inertia['ixz']}"
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iyy="${inertia['iyy']}"
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iyz="${inertia['iyz']}"
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izz="${inertia['izz']}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="get_visual_params" params="name:=^ type:=^" >
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<xacro:property name="visual_params" value="${sec_mesh_files[name][type]}" scope="parent"/>
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</xacro:macro>
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<!-- Simplification of getting meshes. Available types can be seen in the visual_parameters.yaml (At the time of writing: visual, collision) -->
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<xacro:macro name="get_mesh_path" params="name:=^ type:=^" >
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<xacro:get_visual_params />
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<xacro:if value="${force_abs_paths}">
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<xacro:property name="mesh" value="file://${mesh_path}/devices/elite_robot/${visual_params['mesh']['path']}" scope="parent"/>
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</xacro:if>
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<xacro:unless value="${force_abs_paths}">
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<xacro:property name="mesh" value="package://${visual_params['mesh']['package']}/${visual_params['mesh']['path']}" scope="parent"/>
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</xacro:unless>
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</xacro:macro>
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<xacro:macro name="get_mesh" params="name type" >
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<xacro:get_mesh_path/>
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<mesh filename="${mesh}"/>
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</xacro:macro>
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<xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths mesh_path">
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<xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
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<!-- Read .yaml files from disk, load content into properties -->
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<xacro:property name="config_joint_limit_parameters" value="${xacro.load_yaml(joint_limits_parameters_file)}"/>
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<xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
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<xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
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<xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
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<xacro:property name="mesh_path" value="${mesh_path}" scope="parent"/>
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<!-- Extract subsections from yaml dictionaries -->
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<xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
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<xacro:property name="sec_dh_parameters" value="${config_physical_parameters['dh_parameters']}"/>
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<xacro:property name="sec_offsets" value="${config_physical_parameters['offsets']}"/>
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<xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
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<xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
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<xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
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<!-- JOINTS LIMIT PARAMETERS -->
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<xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
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<xacro:property name="shoulder_pan_upper_limit" value="${sec_limits['shoulder_pan_joint']['max_position']}" scope="parent"/>
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<xacro:property name="shoulder_pan_velocity_limit" value="${sec_limits['shoulder_pan_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="shoulder_pan_effort_limit" value="${sec_limits['shoulder_pan_joint']['max_effort']}" scope="parent"/>
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<xacro:property name="shoulder_lift_lower_limit" value="${sec_limits['shoulder_lift_joint']['min_position']}" scope="parent"/>
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<xacro:property name="shoulder_lift_upper_limit" value="${sec_limits['shoulder_lift_joint']['max_position']}" scope="parent"/>
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<xacro:property name="shoulder_lift_velocity_limit" value="${sec_limits['shoulder_lift_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="shoulder_lift_effort_limit" value="${sec_limits['shoulder_lift_joint']['max_effort']}" scope="parent"/>
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<xacro:property name="elbow_joint_lower_limit" value="${sec_limits['elbow_joint']['min_position']}" scope="parent"/>
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<xacro:property name="elbow_joint_upper_limit" value="${sec_limits['elbow_joint']['max_position']}" scope="parent"/>
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<xacro:property name="elbow_joint_velocity_limit" value="${sec_limits['elbow_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="elbow_joint_effort_limit" value="${sec_limits['elbow_joint']['max_effort']}" scope="parent"/>
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<xacro:property name="wrist_1_lower_limit" value="${sec_limits['wrist_1_joint']['min_position']}" scope="parent"/>
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<xacro:property name="wrist_1_upper_limit" value="${sec_limits['wrist_1_joint']['max_position']}" scope="parent"/>
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<xacro:property name="wrist_1_velocity_limit" value="${sec_limits['wrist_1_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="wrist_1_effort_limit" value="${sec_limits['wrist_1_joint']['max_effort']}" scope="parent"/>
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<xacro:property name="wrist_2_lower_limit" value="${sec_limits['wrist_2_joint']['min_position']}" scope="parent"/>
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<xacro:property name="wrist_2_upper_limit" value="${sec_limits['wrist_2_joint']['max_position']}" scope="parent"/>
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<xacro:property name="wrist_2_velocity_limit" value="${sec_limits['wrist_2_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="wrist_2_effort_limit" value="${sec_limits['wrist_2_joint']['max_effort']}" scope="parent"/>
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<xacro:property name="wrist_3_lower_limit" value="${sec_limits['wrist_3_joint']['min_position']}" scope="parent"/>
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<xacro:property name="wrist_3_upper_limit" value="${sec_limits['wrist_3_joint']['max_position']}" scope="parent"/>
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<xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
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<xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>
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<!-- DH PARAMETERS -->
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<xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
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<xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>
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<xacro:property name="a3" value="${sec_dh_parameters['a3']}" scope="parent"/>
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<xacro:property name="d4" value="${sec_dh_parameters['d4']}" scope="parent"/>
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<xacro:property name="d5" value="${sec_dh_parameters['d5']}" scope="parent"/>
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<xacro:property name="d6" value="${sec_dh_parameters['d6']}" scope="parent"/>
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<!-- kinematics -->
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<xacro:property name="shoulder_x" value="${sec_kinematics['shoulder']['x']}" scope="parent"/>
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<xacro:property name="shoulder_y" value="${sec_kinematics['shoulder']['y']}" scope="parent"/>
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<xacro:property name="shoulder_z" value="${sec_kinematics['shoulder']['z']}" scope="parent"/>
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<xacro:property name="shoulder_roll" value="${sec_kinematics['shoulder']['roll']}" scope="parent"/>
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<xacro:property name="shoulder_pitch" value="${sec_kinematics['shoulder']['pitch']}" scope="parent"/>
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<xacro:property name="shoulder_yaw" value="${sec_kinematics['shoulder']['yaw']}" scope="parent"/>
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<xacro:property name="upperarm_x" value="${sec_kinematics['upperarm']['x']}" scope="parent"/>
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<xacro:property name="upperarm_y" value="${sec_kinematics['upperarm']['y']}" scope="parent"/>
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<xacro:property name="upperarm_z" value="${sec_kinematics['upperarm']['z']}" scope="parent"/>
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<xacro:property name="upperarm_roll" value="${sec_kinematics['upperarm']['roll']}" scope="parent"/>
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<xacro:property name="upperarm_pitch" value="${sec_kinematics['upperarm']['pitch']}" scope="parent"/>
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<xacro:property name="upperarm_yaw" value="${sec_kinematics['upperarm']['yaw']}" scope="parent"/>
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<xacro:property name="forearm_x" value="${sec_kinematics['forearm']['x']}" scope="parent"/>
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<xacro:property name="forearm_y" value="${sec_kinematics['forearm']['y']}" scope="parent"/>
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<xacro:property name="forearm_z" value="${sec_kinematics['forearm']['z']}" scope="parent"/>
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<xacro:property name="forearm_roll" value="${sec_kinematics['forearm']['roll']}" scope="parent"/>
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<xacro:property name="forearm_pitch" value="${sec_kinematics['forearm']['pitch']}" scope="parent"/>
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<xacro:property name="forearm_yaw" value="${sec_kinematics['forearm']['yaw']}" scope="parent"/>
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<xacro:property name="wrist_1_x" value="${sec_kinematics['wrist_1']['x']}" scope="parent"/>
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<xacro:property name="wrist_1_y" value="${sec_kinematics['wrist_1']['y']}" scope="parent"/>
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<xacro:property name="wrist_1_z" value="${sec_kinematics['wrist_1']['z']}" scope="parent"/>
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<xacro:property name="wrist_1_roll" value="${sec_kinematics['wrist_1']['roll']}" scope="parent"/>
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<xacro:property name="wrist_1_pitch" value="${sec_kinematics['wrist_1']['pitch']}" scope="parent"/>
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<xacro:property name="wrist_1_yaw" value="${sec_kinematics['wrist_1']['yaw']}" scope="parent"/>
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<xacro:property name="wrist_2_x" value="${sec_kinematics['wrist_2']['x']}" scope="parent"/>
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<xacro:property name="wrist_2_y" value="${sec_kinematics['wrist_2']['y']}" scope="parent"/>
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<xacro:property name="wrist_2_z" value="${sec_kinematics['wrist_2']['z']}" scope="parent"/>
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<xacro:property name="wrist_2_roll" value="${sec_kinematics['wrist_2']['roll']}" scope="parent"/>
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<xacro:property name="wrist_2_pitch" value="${sec_kinematics['wrist_2']['pitch']}" scope="parent"/>
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<xacro:property name="wrist_2_yaw" value="${sec_kinematics['wrist_2']['yaw']}" scope="parent"/>
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<xacro:property name="wrist_3_x" value="${sec_kinematics['wrist_3']['x']}" scope="parent"/>
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<xacro:property name="wrist_3_y" value="${sec_kinematics['wrist_3']['y']}" scope="parent"/>
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<xacro:property name="wrist_3_z" value="${sec_kinematics['wrist_3']['z']}" scope="parent"/>
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<xacro:property name="wrist_3_roll" value="${sec_kinematics['wrist_3']['roll']}" scope="parent"/>
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<xacro:property name="wrist_3_pitch" value="${sec_kinematics['wrist_3']['pitch']}" scope="parent"/>
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<xacro:property name="wrist_3_yaw" value="${sec_kinematics['wrist_3']['yaw']}" scope="parent"/>
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<!-- INERTIA PARAMETERS -->
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<!-- mass -->
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<xacro:property name="base_mass" value="${sec_inertia_parameters['base_mass']}" scope="parent"/>
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<xacro:property name="shoulder_mass" value="${sec_inertia_parameters['shoulder_mass']}" scope="parent"/>
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<xacro:property name="upperarm_mass" value="${sec_inertia_parameters['upperarm_mass']}" scope="parent"/>
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<xacro:property name="forearm_mass" value="${sec_inertia_parameters['forearm_mass']}" scope="parent"/>
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<xacro:property name="wrist_1_mass" value="${sec_inertia_parameters['wrist_1_mass']}" scope="parent"/>
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<xacro:property name="wrist_2_mass" value="${sec_inertia_parameters['wrist_2_mass']}" scope="parent"/>
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<xacro:property name="wrist_3_mass" value="${sec_inertia_parameters['wrist_3_mass']}" scope="parent"/>
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<!-- center of mass -->
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<xacro:property name="prop_base_cog" value="${sec_inertia_parameters['center_of_mass']['base_cog']}" scope="parent"/>
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<xacro:property name="prop_shoulder_cog" value="${sec_inertia_parameters['center_of_mass']['shoulder_cog']}" scope="parent"/>
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<xacro:property name="prop_upperarm_cog" value="${sec_inertia_parameters['center_of_mass']['upperarm_cog']}" scope="parent"/>
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<xacro:property name="prop_forearm_cog" value="${sec_inertia_parameters['center_of_mass']['forearm_cog']}" scope="parent"/>
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<xacro:property name="prop_wrist_1_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_1_cog']}" scope="parent"/>
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<xacro:property name="prop_wrist_2_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_2_cog']}" scope="parent"/>
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<xacro:property name="prop_wrist_3_cog" value="${sec_inertia_parameters['center_of_mass']['wrist_3_cog']}" scope="parent"/>
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<!-- inertia -->
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<xacro:property name="prop_base_inertia" value="${sec_inertia_parameters['inertia']['base']}" scope="parent"/>
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<xacro:property name="prop_shoulder_inertia" value="${sec_inertia_parameters['inertia']['shoulder']}" scope="parent"/>
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<xacro:property name="prop_upperarm_inertia" value="${sec_inertia_parameters['inertia']['upperarm']}" scope="parent"/>
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<xacro:property name="prop_forearm_inertia" value="${sec_inertia_parameters['inertia']['forearm']}" scope="parent"/>
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<xacro:property name="prop_wrist_1_inertia" value="${sec_inertia_parameters['inertia']['wrist_1']}" scope="parent"/>
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<xacro:property name="prop_wrist_2_inertia" value="${sec_inertia_parameters['inertia']['wrist_2']}" scope="parent"/>
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<xacro:property name="prop_wrist_3_inertia" value="${sec_inertia_parameters['inertia']['wrist_3']}" scope="parent"/>
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</xacro:macro>
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</robot>
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@@ -0,0 +1,73 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://wiki.ros.org/xacro">
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<!--
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NOTE the macro defined in this file is NOT part of the public API of this
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package. Users CANNOT rely on this file being available, or stored in
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this location. Nor can they rely on the existence of the macro.
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-->
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<xacro:macro name="cs_arm_transmission" params="prefix hw_interface">
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<transmission name="${prefix}shoulder_pan_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}shoulder_pan_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}shoulder_pan_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}shoulder_lift_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}shoulder_lift_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}shoulder_lift_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}elbow_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}elbow_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}elbow_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_1_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_1_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_2_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_2_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_2_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${prefix}wrist_3_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}wrist_3_joint">
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<hardwareInterface>${hw_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}wrist_3_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot>
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Reference in New Issue
Block a user