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add 3d visualization

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zhangshixiang
2025-04-23 11:01:58 +08:00
committed by Junhan Chang
parent 5038219fe6
commit b7a16cdfc8
40 changed files with 714 additions and 6 deletions
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18
unilabos/device_mesh/device/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/device/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 ${r}" />
<parent link="${station_name}${device_name}${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="-0.31 0.28 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://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}first_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}second_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}third_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
</geometry>
</collision>
</link>
<link name='${station_name}${device_name}fourth_link'>
<visual>
<geometry>
<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
</geometry>
<material name="">
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/device/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/device/opentrons_liquid_handler/param_config.json Normal file
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{
"private_param":
{
},
"public_param":
{
}
}