mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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add 3d visualization
This commit is contained in:
zhangshixiang
committed by
Junhan Chang
Junhan Chang
parent
5038219fe6
commit
b7a16cdfc8
@@ -0,0 +1,18 @@
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{
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"first_joint": {
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"child":"first_link",
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"axis" : "-y"
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},
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"second_joint": {
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"child":"second_link",
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"axis" : "-x"
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},
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"third_joint": {
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"child":"third_link",
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"axis" : "-z"
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},
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"fourth_joint": {
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"child":"fourth_link",
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"axis" : "-z"
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}
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}
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@@ -0,0 +1,210 @@
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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="opentrons_liquid_handler"
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params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
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<parent link="${station_name}${device_name}${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<joint name="${station_name}${device_name}device_link_joint" type="fixed">
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<origin xyz="-0.31 0.28 0" rpy="0 0 0" />
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<parent link="${station_name}${device_name}device_link"/>
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<child link="${station_name}${device_name}main_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name='${station_name}${device_name}main_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-0.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}first_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-1.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}second_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-2.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}third_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3a.stl"/>
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</geometry>
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</collision>
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</link>
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<link name='${station_name}${device_name}fourth_link'>
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<visual>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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<material name="">
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<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/opentrons_liquid_handler/meshes/ot2-3b.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name='${station_name}${device_name}first_joint' type='prismatic'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}first_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit effort="-1" lower="-0.2" upper="0.13" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}second_joint' type='prismatic'>
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<parent link="${station_name}${device_name}first_link"/>
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<child link="${station_name}${device_name}second_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="-1 0 0"/>
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<limit effort="-1" lower="-0.15" upper="0.15" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}third_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}third_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<joint name='${station_name}${device_name}fourth_joint' type='prismatic'>
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<parent link="${station_name}${device_name}second_link"/>
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<child link="${station_name}${device_name}fourth_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 -1"/>
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<limit effort="-1" lower="0" upper="0.22" velocity="-1"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_10_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_7_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_4_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_1_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.1795 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_11_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.1825 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_8_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_5_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_2_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.312 -0.454 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_9_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.273 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_6_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.3635 0.07"/>
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</joint>
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<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_3_60_1' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
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<origin rpy="0 0 -1.57" xyz="0.4445 -0.454 0.07"/>
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</joint>
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<link name='${station_name}${device_name}socketTypeHEPAModule'/>
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<joint name='${station_name}${device_name}socketTypeHEPAModule' type='fixed'>
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<parent link="${station_name}${device_name}main_link"/>
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<child link="${station_name}${device_name}socketTypeHEPAModule"/>
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<origin rpy="0 0 0" xyz="0.31 -0.26 0.66"/>
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</joint>
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</xacro:macro>
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</robot>
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@@ -0,0 +1,10 @@
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{
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"private_param":
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{
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},
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"public_param":
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{
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}
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}
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6
unilabos/device_mesh/device/slide_w140/joint_config.json
Normal file
6
unilabos/device_mesh/device/slide_w140/joint_config.json
Normal file
@@ -0,0 +1,6 @@
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{
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"slider_joint": {
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"child":"slider",
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"axis" : "x"
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}
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}
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136
unilabos/device_mesh/device/slide_w140/macro_device.xacro
Normal file
136
unilabos/device_mesh/device/slide_w140/macro_device.xacro
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@@ -0,0 +1,136 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from slide.urdf | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<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" >
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
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<parent link="${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<joint name="${station_name}${device_name}device_link_joint" type="fixed">
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<origin xyz="${-min_d} 0 0" rpy="0 0 0" />
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<parent link="${station_name}${device_name}device_link"/>
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<child link="${station_name}${device_name}base_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
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<mass value="0.88697"/>
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<inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="${station_name}${device_name}slider">
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<inertial>
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<origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
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<mass value="0.27913"/>
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<inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}slider_joint" type="prismatic">
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||||
<origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
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<parent link="${station_name}${device_name}base_link"/>
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<child link="${station_name}${device_name}slider"/>
|
||||
<axis xyz="1 0 0"/>
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<limit effort="100" lower="0" upper="${length}" velocity="1"/>
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||||
</joint>
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<link name="${station_name}${device_name}length">
|
||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
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||||
<mass value="0.050532"/>
|
||||
<inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
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||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
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||||
</material>
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||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
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<mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}length_joint" type="fixed">
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<parent link="${station_name}${device_name}base_link"/>
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<child link="${station_name}${device_name}length"/>
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||||
</joint>
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||||
<link name="${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}/device/slide_w140/meshes/slide_end.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
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||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/device/slide_w140/meshes/slide_end.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${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>
|
||||
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/length.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.STL
Executable file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.fbx
Normal file
BIN
unilabos/device_mesh/device/slide_w140/meshes/slider.fbx
Normal file
Binary file not shown.
12
unilabos/device_mesh/device/slide_w140/param_config.json
Normal file
12
unilabos/device_mesh/device/slide_w140/param_config.json
Normal file
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"private_param":
|
||||
{
|
||||
"min_d": 0.1 ,
|
||||
"max_d": 0.1 ,
|
||||
"slider_d": 0.14
|
||||
},
|
||||
"public_param":
|
||||
{
|
||||
"length" :0.1
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 59 KiB |
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,22 @@
|
||||
{
|
||||
"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"
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
<?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>
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,86 @@
|
||||
{
|
||||
"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"
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
<?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>
|
||||
BIN
unilabos/device_mesh/resource/tecan_nested_tip_rack/plate.png
Normal file
BIN
unilabos/device_mesh/resource/tecan_nested_tip_rack/plate.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 128 KiB |
132
unilabos/device_mesh/resource_visalization.py
Normal file
132
unilabos/device_mesh/resource_visalization.py
Normal file
@@ -0,0 +1,132 @@
|
||||
from launch import LaunchService
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node as nd
|
||||
import xacro
|
||||
from lxml import etree
|
||||
|
||||
|
||||
class ResourceVisualization:
|
||||
def __init__(self, device: dict, registry: dict, resource: dict, enable_rviz: bool = False):
|
||||
|
||||
"""初始化资源可视化类
|
||||
|
||||
Args:
|
||||
device: 设备配置字典
|
||||
registry: 注册表字典
|
||||
"""
|
||||
self.launch_service = LaunchService()
|
||||
self.launch_description = LaunchDescription()
|
||||
self.resource_dict = resource
|
||||
self.resource_model = {}
|
||||
self.resource_type = ['plate', 'container']
|
||||
|
||||
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['nodes']:
|
||||
if node['type'] == 'device':
|
||||
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 "model" in device_class.keys():
|
||||
model_config = registry.device_type_registry[device_class]['model']
|
||||
|
||||
if model_config['type'] == 'device':
|
||||
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
|
||||
new_include.set("filename", f"{model_config['mesh']}/macro_device.xacro")
|
||||
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
|
||||
new_dev.set("parent_link", "world")
|
||||
|
||||
elif 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")
|
||||
if model_config['type'] == 'resource':
|
||||
model_config = registry.resource_type_registry[resource_class]['model']
|
||||
self.resource_model[node['id']] = model_config['mesh']
|
||||
if model_config['children_mesh'] is not None:
|
||||
self.resource_model[f"{node['id']}_"] = model_config['children_mesh']
|
||||
|
||||
re = etree.tostring(self.root, encoding="unicode")
|
||||
doc = xacro.parse(re)
|
||||
xacro.process_doc(doc)
|
||||
|
||||
|
||||
def create_launch_description(self, urdf_str: str, enable_rviz: bool = False) -> LaunchDescription:
|
||||
"""
|
||||
创建launch描述，包含robot_state_publisher和move_group节点
|
||||
|
||||
Args:
|
||||
urdf_str: URDF文本
|
||||
enable_rviz: 是否启用RViz可视化
|
||||
|
||||
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
|
||||
}]
|
||||
)
|
||||
|
||||
# 创建move_group节点
|
||||
move_group = nd(
|
||||
package='moveit_ros_move_group',
|
||||
executable='move_group',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'robot_description': robot_description,
|
||||
'allow_trajectory_execution': True,
|
||||
'capabilities': '',
|
||||
'disable_capabilities': '',
|
||||
'monitor_dynamics': False,
|
||||
'publish_monitored_planning_scene': True
|
||||
}]
|
||||
)
|
||||
|
||||
# 将节点添加到launch描述中
|
||||
self.launch_description.add_action(robot_state_publisher)
|
||||
self.launch_description.add_action(move_group)
|
||||
|
||||
# 如果启用RViz,添加RViz节点
|
||||
if enable_rviz:
|
||||
rviz_node = nd(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
output='screen'
|
||||
)
|
||||
self.launch_description.add_action(rviz_node)
|
||||
|
||||
return self.launch_description
|
||||
|
||||
def start(self, urdf_str: str) -> None:
|
||||
"""
|
||||
启动可视化服务
|
||||
|
||||
Args:
|
||||
urdf_str: URDF文件路径
|
||||
"""
|
||||
launch_description = self.create_launch_description(urdf_str)
|
||||
self.launch_service.include_launch_description(launch_description)
|
||||
self.launch_service.run()
|
||||
@@ -77,9 +77,6 @@ class UrArmTask():
|
||||
if n > retry:
|
||||
raise Exception('Can not connect to the arm info server!')
|
||||
|
||||
self.pose_data = {}
|
||||
self.pose_file = 'C:\\auto\\unilabos\\unilabos\\devices\\agv\\pose.json'
|
||||
self.reload_pose()
|
||||
self.dash_c.stop()
|
||||
|
||||
def arm_init(self):
|
||||
|
||||
0
unilabos/devices/ros_dev/__init__.py
Normal file
0
unilabos/devices/ros_dev/__init__.py
Normal file
51
unilabos/devices/ros_dev/joint_republisher.py
Normal file
51
unilabos/devices/ros_dev/joint_republisher.py
Normal file
@@ -0,0 +1,51 @@
|
||||
import rclpy,json
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import String
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
|
||||
class JointRepublisher(Node):
|
||||
def __init__(self,device_id):
|
||||
super().__init__(device_id)
|
||||
|
||||
# print('-'*20,device_id)
|
||||
self.joint_repub = self.create_publisher(String,f'/devices/{device_id}/joint_state_repub',10)
|
||||
# 创建订阅者
|
||||
self.create_subscription(
|
||||
JointState,
|
||||
'/joint_states',
|
||||
self.listener_callback,
|
||||
10,
|
||||
callback_group=ReentrantCallbackGroup()
|
||||
)
|
||||
self.msg = String()
|
||||
|
||||
def listener_callback(self, msg:JointState):
|
||||
|
||||
try:
|
||||
json_dict = {}
|
||||
json_dict["name"] = list(msg.name)
|
||||
json_dict["position"] = list(msg.position)
|
||||
json_dict["velocity"] = list(msg.velocity)
|
||||
json_dict["effort"] = list(msg.effort)
|
||||
|
||||
self.msg.data = str(json_dict)
|
||||
self.joint_repub.publish(self.msg)
|
||||
# print('-'*20)
|
||||
# print(self.msg.data)
|
||||
|
||||
except Exception as e:
|
||||
print(e)
|
||||
|
||||
|
||||
def main():
|
||||
|
||||
rclpy.init()
|
||||
subscriber = JointRepublisher()
|
||||
rclpy.spin(subscriber)
|
||||
subscriber.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -19,7 +19,9 @@ gripper.mock:
|
||||
result:
|
||||
position: position
|
||||
effort: torque
|
||||
|
||||
model:
|
||||
tpye: device
|
||||
mesh: slide_w140
|
||||
|
||||
gripper.misumi_rz:
|
||||
description: Misumi RZ gripper
|
||||
@@ -35,4 +37,4 @@ gripper.misumi_rz:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
success: success
|
||||
|
||||
@@ -51,7 +51,11 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
|
||||
type: pylabrobot
|
||||
|
||||
model:
|
||||
type: resource
|
||||
mesh: /home/z43/git_pj/uni-lab-assets/device_models/tecan_nested_tip_rack/meshes/plate.stl
|
||||
children_mesh: /home/z43/git_pj/uni-lab-assets/device_models/generic_labware_tube_10_75/meshes/0_base.stl
|
||||
|
||||
appliedbiosystemsmicroamp_384_wellplate_40ul:
|
||||
description: Applied Biosystems microamp 384 wellplate 40ul
|
||||
class:
|
||||
|
||||
Reference in New Issue
Block a user