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Device visualization (#14)

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* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
q434343
2025-05-06 09:37:57 +08:00
committed by GitHub
parent 752442cb37
commit a52133b7d0
53 changed files with 2654 additions and 25 deletions
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18
unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json Normal file
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{
"first_joint": {
"child":"first_link",
"axis" : "-y"
},
"second_joint": {
"child":"second_link",
"axis" : "-x"
},
"third_joint": {
"child":"third_link",
"axis" : "-z"
},
"fourth_joint": {
"child":"fourth_link",
"axis" : "-z"
}
}

210
unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro Normal file
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<?xml version="1.0" ?>
<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:=''">
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<parent link="${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="-0.11565 0.496 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}main_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name='${station_name}${device_name}main_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}first_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}second_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}third_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}fourth_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
</geometry>
</collision>
</link>
<joint name='${station_name}${device_name}first_joint' type='prismatic'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}first_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}second_joint' type='prismatic'>
<parent link="${station_name}${device_name}first_link"/>
<child link="${station_name}${device_name}second_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}third_joint' type='prismatic'>
<parent link="${station_name}${device_name}second_link"/>
<child link="${station_name}${device_name}third_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 -1"/>
<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
<parent link="${station_name}${device_name}second_link"/>
<child link="${station_name}${device_name}fourth_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 -1"/>
<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
<dynamics damping="0.1"/>
</joint>
<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
</joint>
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
<origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
</joint>
<link name='${station_name}${device_name}socketTypeHEPAModule'/>
<joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
<parent link="${station_name}${device_name}main_link"/>
<child link="${station_name}${device_name}socketTypeHEPAModule"/>
<origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
</joint>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json Normal file
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{
"private_param":
{
},
"public_param":
{
}
}

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unilabos/device_mesh/devices/slide_w140/joint_config.json Normal file
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{
"slider_joint": {
"child":"slider",
"axis" : "x"
}
}

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unilabos/device_mesh/devices/slide_w140/macro_device.xacro Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from slide.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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" >
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<parent link="${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="${-min_d} 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
<mass value="0.88697"/>
<inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/slide_w140/meshes/base_link.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://${mesh_path}/devices/slide_w140/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}slider">
<inertial>
<origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
<mass value="0.27913"/>
<inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slider.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://${mesh_path}/devices/slide_w140/meshes/slider.STL" />
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}slider_joint" type="prismatic">
<origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}slider"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="0" upper="${length}" velocity="1"/>
</joint>
<link name="${station_name}${device_name}length">
<inertial>
<origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
<mass value="0.050532"/>
<inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}length_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}length"/>
</joint>
<link name="${station_name}${device_name}slide_end">
<inertial>
<origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
<mass value="0.055452"/>
<inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/slide_w140/meshes/slide_end.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://${mesh_path}/devices/slide_w140/meshes/slide_end.STL"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}slide_end_joint" type="fixed">
<origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}slide_end"/>
</joint>
</xacro:macro>
</robot>

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{
"private_param":
{
"min_d": 0.1 ,
"max_d": 0.1 ,
"slider_d": 0.14
},
"public_param":
{
"length" :0.1
}
}

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import os
from pathlib import Path
from launch import LaunchService
from launch import LaunchDescription
from launch_ros.actions import Node as nd
import xacro
from lxml import etree
from unilabos.registry.registry import lab_registry
class ResourceVisualization:
def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
"""初始化资源可视化类
该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
Args:
device (dict): 设备配置字典,包含设备的类型、位置等信息
resource (dict): 资源配置字典,包含资源的类型、位置等信息
registry (dict): 注册表字典,包含设备和资源类型的注册信息
enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
"""
self.launch_service = LaunchService()
self.launch_description = LaunchDescription()
self.resource_dict = resource
self.resource_model = {}
self.resource_type = ['deck', 'plate', 'container']
self.mesh_path = Path(__file__).parent.absolute()
self.enable_rviz = enable_rviz
registry = lab_registry
self.srdf_str = '''
<?xml version="1.0" encoding="UTF-8"?>
<robot name="minimal">
</robot>
'''
self.robot_state_str= '''<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="full_dev">
<link name="world"/>
</robot>
'''
self.root = etree.fromstring(self.robot_state_str)
xacro_uri = self.root.nsmap["xacro"]
# 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 model_config['type'] == 'resource':
self.resource_model[node['id']] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['mesh']}",
'mesh_tf': model_config['mesh_tf']}
if model_config['children_mesh'] is not None:
self.resource_model[f"{node['id']}_"] = {
'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
'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("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))
else:
print("错误的注册表类型！")
re = etree.tostring(self.root, encoding="unicode")
doc = xacro.parse(re)
xacro.process_doc(doc)
self.urdf_str = doc.toxml()
def create_launch_description(self, urdf_str: str) -> LaunchDescription:
"""
创建launch描述，包含robot_state_publisher和move_group节点
Args:
urdf_str: URDF文本
Returns:
LaunchDescription: launch描述对象
"""
# 解析URDF文件
robot_description = urdf_str
# 创建robot_state_publisher节点
robot_state_publisher = nd(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{
'robot_description': robot_description,
'use_sim_time': False
}]
)
# 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=[{
'robot_description': robot_description,
'robot_description_semantic': self.srdf_str,
'capabilities': '',
'disable_capabilities': '',
'monitor_dynamics': False,
'publish_monitored_planning_scene': True,
'publish_robot_description_semantic': True,
'publish_planning_scene': True,
'publish_geometry_updates': True,
'publish_state_updates': True,
'publish_transforms_updates': True,
}]
)
# 将节点添加到launch描述中
self.launch_description.add_action(robot_state_publisher)
# self.launch_description.add_action(joint_state_publisher_node)
self.launch_description.add_action(move_group)
# 如果启用RViz,添加RViz节点
if self.enable_rviz:
rviz_node = nd(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', f"{str(self.mesh_path)}/view_robot.rviz"],
output='screen'
)
self.launch_description.add_action(rviz_node)
return self.launch_description
def start(self) -> None:
"""
启动可视化服务
Args:
urdf_str: URDF文件路径
"""
launch_description = self.create_launch_description(self.urdf_str)
self.launch_service.include_launch_description(launch_description)
self.launch_service.run()

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{
"fileName": "generic_labware_tube_10_75",
"related": [
"generic_labware_0.5ml_screw_cap_tube",
"generic_labware_0.5ml_tube_rack",
"generic_labware_12_well_plate",
"sarstedt_14x200mm_tube",
"sarstedt_18x200mm_tube",
"generic_labware_1ml_tube_rack",
"generic_labware_24_well_plate",
"generic_labware_2ml_screw_cap_tube",
"generic_labware_5ml_screw_cap_tube",
"generic_labware_6_well_plate",
"generic_labware_96_well_square",
"generic_labware_96_well_pcr_plate_round",
"generic_labware_framedtiprack",
"generic_labware_plate_lid",
"generic_labware_reservoir",
"generic_labware_tip_box",
"generic_labware_tube_10_75"
]
}

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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_labware_tube_10_75">
<link name='0_base_link'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/0_base.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

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{
"fileName": "tecan_nested_tip_rack",
"related": [
"tecan_techrom",
"tecan_holder_transfer_tool",
"tecan_fluent_9_grid_segment_cutout",
"tecan_fluent_centric_gripper",
"tecan_fluent_eccentric_gripper",
"tecan_evo100",
"tecan_fluent_mp_diti_nest_segment",
"tecan_fluent_4x100_trough",
"tecan_fluent_1080_extended",
"tecan_fluent_1_1_1000_trough",
"tecan_fluent_50ml_tube_runner_10_v2",
"tecan_fluent_15ml_tube_runner_16_v2",
"tecan_fluent_1_16_16_tube_runner",
"tecan_fluent_1.5ml_tube_runner_v2",
"tecan_fluent_1_24_10_tube_runner",
"tecan_fluent_1_24_13_tube_runner",
"tecan_fluent_3x320_reagent_trough_v2",
"tecan_fluent_32_tube_runner_v2",
"tecan_fluent_1_4_100_trough",
"tecan_fluent_2_grid_segment",
"tecan_fluent_2_4_100_trough_waste",
"tecan_fluent_3_grid_segment",
"tecan_fluent_nest_waste_segment_v2",
"tecan_fluent_320ml_reagent_trough",
"tecan_fluent_4_landscape_61mm_nest_segment",
"tecan_fluent_4_landscape_61mm_nest_segment_waste",
"tecan_fluent_4_landscape_7mm_nest_segment",
"tecan_fluent_4_landscape_7mm_nest_segment_waste",
"tecan_fluent_hotel_deck_4",
"tecan_fluent_480_extended",
"tecan_fluent_4x100_reagent_trough_v2",
"tecan_fluent_5_landscape_61mm_nest_segment",
"tecan_fluent_5_landscape_7mm_nest_segment",
"tecan_fluent_hotel_deck_5",
"tecan_fluent_6_grid_segment",
"tecan_fluent_nest_landscape_segment_v2",
"tecan_fluent_6_landscape_7mm_nest_segment",
"tecan_fluent_deck_segment_6_v2",
"tecan_fluent_fca_diti_segment_v2",
"tecan_fluent_6_nest_incubator",
"tecan_fluent_plate_nest",
"tecan_fluent_780_extended",
"tecan_fluent_plate_holder",
"tecan_fluent_8_grid_segment",
"tecan_fluent_8_grid_segment_evo",
"tecan_fluent_hotel_deck_9",
"tecan_carousel",
"tecan_carousel_stacker_10",
"tecan_carousel_stacker_25",
"tecan_carousel_stacker_6",
"tecan_fluent_coolheat_microplate_segment_v2",
"tecan_fluent_fca_diti_tray",
"tecan_fluent_trough_waste",
"tecan_fluent_id_left",
"tecan_fluent_id_middle",
"tecan_fluent_lower_6_grid_v2",
"tecan_fluent_mc384_nest",
"tecan_fluent_mca_44mm_nest",
"tecan_fluent_deck_segment_4_v2",
"tecan_fluent_mca_base_segment_384_v2",
"tecan_fluent_waste_module",
"tecan_fluent_reagent_block",
"tecan_fluent_tube_grippers",
"tecan_fluent_washstation_waste_v2",
"tecan_carrier_additive_trough_3_pce_max_100ml",
"tecan_carrier_384_well_mp_3_pos_accessible_roma",
"tecan_carrier_rack_3_diti_width_6",
"tecan_transport_box_diti_tray_1000ul",
"tecan_transport_box_diti_tray_200ul",
"tecan_magicprep_ngs_sample_deck",
"tecan_fluent_shelf_large",
"tecan_fluent_shelf_small",
"tecan_spacer_29_9_te_chrom",
"tecan_teshake_adapter_2",
"tecan_teshake_base",
"tecan_tevacs_base",
"tecan_tevacs_plate_park",
"tecan_tevacs_spacer",
"tecan_tevacs_vacuum",
"tecan_tip_box",
"tecan_nested_tip_rack"
]
}

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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tecan_nested_tip_rack">
<link name='plate_link'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/plate.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

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Panels:
- Class: rviz_common/Displays
Help Height: 138
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
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: moveit_rviz_plugin/PlanningScene
Enabled: false
Move Group Namespace: ""
Name: PlanningScene
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
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
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: false
Value: false
- Attached Body Color: 150; 50; 150
Class: moveit_rviz_plugin/RobotState
Collision Enabled: false
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: RobotState
Robot Alpha: 1
Robot Description: robot_description
Robot State Topic: display_robot_state
Show All Links: true
Show Highlights: true
Value: false
Visual Enabled: true
- Acceleration_Scaling_Factor: 0.1
Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
Move Group Namespace: ""
MoveIt_Allow_Approximate_IK: false
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: false
MoveIt_Workspace:
Center:
X: 0
Y: 0
Z: 0
Size:
X: 2
Y: 2
Z: 2
Name: MotionPlanning
Planned Path:
Color Enabled: false
Interrupt Display: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
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
world:
Alpha: 1
Show Axes: false
Show Trail: false
Loop Animation: false
Robot Alpha: 0.5
Robot Color: 150; 50; 150
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 3x
Trail Step Size: 1
Trajectory Topic: /display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: ""
Query Goal State: false
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
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
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
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
world:
Alpha: 1
Show Axes: false
Show Trail: false
Robot Alpha: 1
Show Robot Collision: false
Show Robot Visual: true
Value: true
Velocity_Scaling_Factor: 0.1
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.49553644657135
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.0440783500671387
Y: 0.27775266766548157
Z: 0.42559614777565
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.40479573607444763
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.090748310089111
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1656
Hide Left Dock: false
Hide Right Dock: true
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 2518
X: 385
Y: 120