open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-05 22:15:04 +00:00
Code Issues Packages Projects Releases Wiki Activity

add：dummy2

Browse Source
This commit is contained in:
ZiWei
2025-08-13 17:18:31 +08:00
parent 827d88d75a
commit c598886eea
29 changed files with 1853 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

254
test_dummy2_integration.py Normal file
View File

@@ -0,0 +1,254 @@
#!/usr/bin/env python3
"""
Dummy2 机械臂接入 UniLab 系统测试脚本
"""
import os
import sys
import time
import yaml
import json
def test_device_model_files():
"""测试设备模型文件是否完整"""
print("=== 测试设备模型文件 ===")
device_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/device_mesh/devices/dummy2_robot"
required_files = [
"macro_device.xacro",
"dummy2_robot.json",
"config/joint_limits.yaml",
"config/default_kinematics.yaml",
"config/physical_parameters.yaml",
"config/visual_parameters.yaml"
]
required_meshes = [
"meshes/base_link.stl",
"meshes/J1_1.stl",
"meshes/J2_1.stl",
"meshes/J3_1.stl",
"meshes/J4_1.stl",
"meshes/J5_1.stl",
"meshes/J6_1.stl",
"meshes/camera_1.stl"
]
all_files = required_files + required_meshes
missing_files = []
for file_path in all_files:
full_path = os.path.join(device_path, file_path)
if not os.path.exists(full_path):
missing_files.append(file_path)
else:
print(f"✅ {file_path}")
if missing_files:
print(f"❌ 缺少文件: {missing_files}")
return False
else:
print("✅ 所有模型文件都存在")
return True
def test_driver_file():
"""测试驱动文件"""
print("\n=== 测试驱动文件 ===")
driver_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/devices/ros_dev/moveit_interface.py"
if not os.path.exists(driver_path):
print(f"❌ 驱动文件不存在: {driver_path}")
return False
try:
# 尝试导入驱动类
sys.path.insert(0, os.path.dirname(driver_path))
from unilabos.devices.ros_dev.moveit_interface import MoveitInterface
print("✅ 驱动文件存在且可导入")
# 检查必要的方法
required_methods = [
'__init__',
'post_init',
'check_tf_update_actions',
'resource_manager',
'wait_for_resource_action',
'moveit_joint_task',
'moveit_task'
]
missing_methods = []
for method in required_methods:
if not hasattr(MoveitInterface, method):
missing_methods.append(method)
if missing_methods:
print(f"❌ 驱动类缺少方法: {missing_methods}")
return False
else:
print("✅ 驱动类包含所有必要方法")
return True
except ImportError as e:
print(f"❌ 驱动文件导入失败: {e}")
return False
def test_registry_config():
"""测试注册表配置"""
print("\n=== 测试注册表配置 ===")
registry_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/registry/devices/robot_arm.yaml"
if not os.path.exists(registry_path):
print(f"❌ 注册表文件不存在: {registry_path}")
return False
try:
with open(registry_path, 'r', encoding='utf-8') as f:
config = yaml.safe_load(f)
if 'robotic_arm.Dummy2' not in config:
print("❌ 注册表中没有找到 robotic_arm.Dummy2 配置")
return False
dummy2_config = config['robotic_arm.Dummy2']
# 检查必要的配置项
required_keys = [
'category',
'class',
'description',
'init_param_schema',
'model',
'version'
]
missing_keys = []
for key in required_keys:
if key not in dummy2_config:
missing_keys.append(key)
if missing_keys:
print(f"❌ Dummy2配置缺少字段: {missing_keys}")
return False
# 检查模块路径
module_path = dummy2_config.get('class', {}).get('module')
if module_path != 'unilabos.devices.ros_dev.moveit_interface:MoveitInterface':
print(f"❌ 模块路径不正确: {module_path}")
return False
# 检查动作定义
actions = dummy2_config.get('class', {}).get('action_value_mappings', {})
required_actions = [
'auto-check_tf_update_actions',
'auto-post_init',
'auto-resource_manager',
'auto-wait_for_resource_action',
'auto-moveit_joint_task',
'auto-moveit_task',
'pick_and_place'
]
missing_actions = []
for action in required_actions:
if action not in actions:
missing_actions.append(action)
if missing_actions:
print(f"❌ 缺少动作定义: {missing_actions}")
return False
print("✅ 注册表配置完整且正确")
return True
except Exception as e:
print(f"❌ 注册表配置检查失败: {e}")
return False
def test_can2eth_connectivity():
"""测试CAN2ETH连接（可选）"""
print("\n=== 测试CAN2ETH连接 ===")
try:
import socket
import struct
# 尝试连接CAN2ETH网关
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.settimeout(2.0)
can2eth_host = "192.168.8.88"
can2eth_port = 8080
# 发送ping命令
ping_cmd = struct.pack('>B', 0xFF)
sock.sendto(ping_cmd, (can2eth_host, can2eth_port))
try:
data, addr = sock.recvfrom(1024)
if len(data) > 0:
print(f"✅ CAN2ETH网关 {can2eth_host}:{can2eth_port} 连接成功")
return True
except socket.timeout:
print(f"⚠️ CAN2ETH网关 {can2eth_host}:{can2eth_port} 无响应（可能未启动）")
return False
except Exception as e:
print(f"⚠️ CAN2ETH连接测试失败: {e}")
return False
finally:
if 'sock' in locals():
sock.close()
def main():
"""主测试函数"""
print("🤖 Dummy2 机械臂接入 UniLab 系统测试")
print("=" * 50)
tests = [
("设备模型文件", test_device_model_files),
("驱动文件", test_driver_file),
("注册表配置", test_registry_config),
("CAN2ETH连接", test_can2eth_connectivity)
]
results = []
for test_name, test_func in tests:
try:
result = test_func()
results.append((test_name, result))
except Exception as e:
print(f"❌ {test_name}测试异常: {e}")
results.append((test_name, False))
print("\n" + "=" * 50)
print("📊 测试结果汇总:")
passed = 0
total = len(results)
for test_name, result in results:
status = "✅ 通过" if result else "❌ 失败"
print(f" {test_name}: {status}")
if result:
passed += 1
print(f"\n总体结果: {passed}/{total} 项测试通过")
if passed == total:
print("🎉 Dummy2 机械臂已成功接入 UniLab 系统！")
print("\n📋 后续步骤:")
print("1. 启动 CAN2ETH 服务: ros2 launch dummy2_can2eth dummy2_can2eth_server.launch.py")
print("2. 在 UniLab 界面中添加 Dummy2 设备实例")
print("3. 测试设备初始化和基本功能")
else:
print("⚠️ 还有一些问题需要解决才能完全接入")
return passed == total
if __name__ == "__main__":
main()

25
unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml Normal file
View File

@@ -0,0 +1,25 @@
dummy2_robot:
kinematics:
# DH parameters for Dummy2 6-DOF robot arm
# [theta, d, a, alpha] for each joint
joint_1: [0.0, 0.1, 0.0, 1.5708] # Base rotation
joint_2: [0.0, 0.0, 0.2, 0.0] # Shoulder
joint_3: [0.0, 0.0, 0.15, 0.0] # Elbow
joint_4: [0.0, 0.1, 0.0, 1.5708] # Wrist roll
joint_5: [0.0, 0.0, 0.0, -1.5708] # Wrist pitch
joint_6: [0.0, 0.06, 0.0, 0.0] # Wrist yaw
# Tool center point offset from last joint
tcp_offset:
x: 0.0
y: 0.0
z: 0.04
# Workspace limits
workspace:
x_min: -0.5
x_max: 0.5
y_min: -0.5
y_max: 0.5
z_min: 0.0
z_max: 0.6

45
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf Normal file
View File

@@ -0,0 +1,45 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="dummy2">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="dummy2_arm">
<joint name="virtual_joint"/>
<joint name="Joint1"/>
<joint name="Joint2"/>
<joint name="Joint3"/>
<joint name="Joint4"/>
<joint name="Joint5"/>
<joint name="Joint6"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="dummy2_arm">
<joint name="Joint1" value="0"/>
<joint name="Joint2" value="0"/>
<joint name="Joint3" value="0"/>
<joint name="Joint4" value="0"/>
<joint name="Joint5" value="0"/>
<joint name="Joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="J1_1" link2="J2_1" reason="Adjacent"/>
<disable_collisions link1="J1_1" link2="J3_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="J4_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="base_link" reason="Adjacent"/>
<disable_collisions link1="J2_1" link2="J3_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J4_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J5_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="base_link" reason="Never"/>
<disable_collisions link1="J4_1" link2="J5_1" reason="Adjacent"/>
<disable_collisions link1="J4_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J5_1" link2="J6_1" reason="Adjacent"/>
</robot>

14
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro Normal file
View File

@@ -0,0 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dummy2">
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
<!-- Import dummy2 urdf file -->
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.xacro" />
<!-- Import control_xacro -->
<xacro:include filename="dummy2.ros2_control.xacro" />
<xacro:dummy2_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
</robot>

237
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.xacro Normal file
View File

@@ -0,0 +1,237 @@
<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="J1_1"/>
<child link="J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="J2_1"/>
<child link="J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="J3_1"/>
<child link="J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="J4_1"/>
<child link="J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</robot>

73
unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml Normal file
View File

@@ -0,0 +1,73 @@
###############################################
# Modify all parameters related to servoing here
###############################################
# adapt to dummy2 by Muzhxiaowen, check out the details on bilibili.com
use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
## Properties of incoming commands
command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale:
# Scale parameters are only used if command_in_type=="unitless"
linear: 0.4 # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
rotational: 0.8 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
# Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
joint: 0.5
# Optionally override Servo's internal velocity scaling when near singularity or collision (0.0 = use internal velocity scaling)
# override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]
## Properties of outgoing commands
publish_period: 0.034 # 1/Nominal publish rate [seconds]
low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
# What type of topic does your robot driver expect?
# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
command_out_type: trajectory_msgs/JointTrajectory
# What to publish? Can save some bandwidth as most robots only require positions or velocities
publish_joint_positions: true
publish_joint_velocities: true
publish_joint_accelerations: false
## Plugins for smoothing outgoing commands
smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
# which other nodes can use as a source for information about the planning environment.
# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
# then is_primary_planning_scene_monitor needs to be set to false.
is_primary_planning_scene_monitor: true
## MoveIt properties
move_group_name: dummy2_arm # Often 'manipulator' or 'arm'
planning_frame: base_link # The MoveIt planning frame. Often 'base_link' or 'world'
## Other frames
ee_frame_name: J6_1 # The name of the end effector link, used to return the EE pose
robot_link_command_frame: base_link # commands must be given in the frame of a robot link. Usually either the base or end effector
## Stopping behaviour
incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
# Important because ROS may drop some messages and we need the robot to halt reliably.
num_outgoing_halt_msgs_to_publish: 4
## Configure handling of singularities and joint limits
lower_singularity_threshold: 170.0 # Start decelerating when the condition number hits this (close to singularity)
hard_stop_singularity_threshold: 3000.0 # Stop when the condition number hits this
joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620)
## Topic names
cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands
joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
joint_topic: /joint_states
status_topic: ~/status # Publish status to this topic
command_out_topic: /dummy2_arm_controller/joint_trajectory # Publish outgoing commands here
## Collision checking for the entire robot body
check_collisions: true # Check collisions?
collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
self_collision_proximity_threshold: 0.001 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.002 # Start decelerating when a scene collision is this far [m]

9
unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml Normal file
View File

@@ -0,0 +1,9 @@
# Default initial positions for dummy2's ros2_control fake system
initial_positions:
Joint1: 0
Joint2: 0
Joint3: 0
Joint4: 0
Joint5: 0
Joint6: 0

40
unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml Normal file
View File

@@ -0,0 +1,40 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_2:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_3:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_4:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_5:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_6:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0

4
unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml Normal file
View File

@@ -0,0 +1,4 @@
dummy2_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.5

57
unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro Normal file
View File

@@ -0,0 +1,57 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dummy2_ros2_control" params="name initial_positions_file">
<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
<ros2_control name="${name}" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<!-- <plugin>mock_components/GenericSystem</plugin> -->
<plugin>dummy2_hardware/Dummy2Hardware</plugin>
</hardware>
<joint name="Joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

14
unilabos/device_mesh/devices/dummy2_robot/config/move_group.json Normal file
View File

@@ -0,0 +1,14 @@
{
"arm": {
"joint_names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"base_link_name": "base_link",
"end_effector_name": "tool_link"
}
}

51
unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz Normal file
View File

@@ -0,0 +1,51 @@
Panels:
- Class: rviz_common/Displays
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Displays:
- Class: rviz_default_plugins/Grid
Name: Grid
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
Name: MotionPlanning
Planned Path:
Loop Animation: true
State Display Time: 0.05 s
Trajectory Topic: display_planned_path
Planning Scene Topic: monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Robot:
Robot Alpha: 0.5
Value: true
Global Options:
Fixed Frame: base_link
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.0
Focal Point:
X: -0.1
Y: 0.25
Z: 0.30
Name: Current View
Pitch: 0.5
Target Frame: base_link
Yaw: -0.623
Window Geometry:
Height: 975
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Width: 1200

21
unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml Normal file
View File

@@ -0,0 +1,21 @@
# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- dummy2_arm_controller
dummy2_arm_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- Joint1
- Joint2
- Joint3
- Joint4
- Joint5
- Joint6
action_ns: follow_joint_trajectory
default: true

39
unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml Normal file
View File

@@ -0,0 +1,39 @@
dummy2_robot:
# Physical properties for each link
link_masses:
base_link: 5.0
link_1: 3.0
link_2: 2.5
link_3: 2.0
link_4: 1.5
link_5: 1.0
link_6: 0.5
# Center of mass for each link (relative to joint frame)
link_com:
base_link: [0.0, 0.0, 0.05]
link_1: [0.0, 0.0, 0.05]
link_2: [0.1, 0.0, 0.0]
link_3: [0.08, 0.0, 0.0]
link_4: [0.0, 0.0, 0.05]
link_5: [0.0, 0.0, 0.03]
link_6: [0.0, 0.0, 0.02]
# Moment of inertia matrices
link_inertias:
base_link: [0.02, 0.0, 0.0, 0.02, 0.0, 0.02]
link_1: [0.01, 0.0, 0.0, 0.01, 0.0, 0.01]
link_2: [0.008, 0.0, 0.0, 0.008, 0.0, 0.008]
link_3: [0.006, 0.0, 0.0, 0.006, 0.0, 0.006]
link_4: [0.004, 0.0, 0.0, 0.004, 0.0, 0.004]
link_5: [0.002, 0.0, 0.0, 0.002, 0.0, 0.002]
link_6: [0.001, 0.0, 0.0, 0.001, 0.0, 0.001]
# Motor specifications
motor_specs:
joint_1: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_2: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_3: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_4: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
joint_5: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
joint_6: { max_torque: 25.0, max_speed: 2.0, gear_ratio: 25 }

6
unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml Normal file
View File

@@ -0,0 +1,6 @@
# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

26
unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml Normal file
View File

@@ -0,0 +1,26 @@
# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
dummy2_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
dummy2_arm_controller:
ros__parameters:
joints:
- Joint1
- Joint2
- Joint3
- Joint4
- Joint5
- Joint6
command_interfaces:
- position
state_interfaces:
- position
- velocity

35
unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml Normal file
View File

@@ -0,0 +1,35 @@
dummy2_robot:
# Visual appearance settings
materials:
base_material:
color: [0.8, 0.8, 0.8, 1.0] # Light gray
metallic: 0.1
roughness: 0.3
link_material:
color: [0.2, 0.2, 0.8, 1.0] # Blue
metallic: 0.3
roughness: 0.2
joint_material:
color: [0.6, 0.6, 0.6, 1.0] # Dark gray
metallic: 0.5
roughness: 0.1
camera_material:
color: [0.1, 0.1, 0.1, 1.0] # Black
metallic: 0.0
roughness: 0.8
# Mesh scaling factors
mesh_scale: [0.001, 0.001, 0.001] # Convert mm to m
# Collision geometry simplification
collision_geometries:
base_link: "cylinder" # radius: 0.08, height: 0.1
link_1: "cylinder" # radius: 0.05, height: 0.15
link_2: "box" # size: [0.2, 0.08, 0.08]
link_3: "box" # size: [0.15, 0.06, 0.06]
link_4: "cylinder" # radius: 0.03, height: 0.1
link_5: "cylinder" # radius: 0.025, height: 0.06
link_6: "cylinder" # radius: 0.02, height: 0.04

37
unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml Normal file
View File

@@ -0,0 +1,37 @@
joint_limits:
joint_1:
effort: 150
velocity: 2.0
lower: !degrees -180
upper: !degrees 180
joint_2:
effort: 150
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_3:
effort: 150
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_4:
effort: 50
velocity: 2.0
lower: !degrees -180
upper: !degrees 180
joint_5:
effort: 50
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_6:
effort: 25
velocity: 2.0
lower: !degrees -180
upper: !degrees 180

314
unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro Normal file
View File

@@ -0,0 +1,314 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="dummy2_robot">
<xacro:macro name="dummy2_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<!-- Read .yaml files from disk, load content into properties -->
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/dummy2_robot/joint_limit.yaml')}"/>
<!-- Extract subsections from yaml dictionaries -->
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
<!-- robot name parameter -->
<xacro:arg name="name" default="dummy2"/>
<!-- parameters -->
<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/dummy2_robot/config/joint_limits.yaml"/>
<xacro:arg name="kinematics_params" default="${mesh_path}/devices/dummy2_robot/config/default_kinematics.yaml"/>
<xacro:arg name="physical_params" default="${mesh_path}/devices/dummy2_robot/config/physical_parameters.yaml"/>
<xacro:arg name="visual_params" default="${mesh_path}/devices/dummy2_robot/config/visual_parameters.yaml"/>
<xacro:arg name="transmission_hw_interface" default=""/>
<xacro:arg name="safety_limits" default="false"/>
<xacro:arg name="safety_pos_margin" default="0.15"/>
<xacro:arg name="safety_k_position" default="20"/>
<!-- CAN2ETH related parameters -->
<xacro:arg name="can2eth_ip" default="192.168.8.88" />
<xacro:arg name="can2eth_port" default="8080" />
<!-- JOINTS LIMIT PARAMETERS -->
<xacro:property name="limit_joint_1" value="${sec_limits['joint_1']}" />
<xacro:property name="limit_joint_2" value="${sec_limits['joint_2']}" />
<xacro:property name="limit_joint_3" value="${sec_limits['joint_3']}" />
<xacro:property name="limit_joint_4" value="${sec_limits['joint_4']}" />
<xacro:property name="limit_joint_5" value="${sec_limits['joint_5']}" />
<xacro:property name="limit_joint_6" value="${sec_limits['joint_6']}" />
<!-- create link fixed to parent -->
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<!-- base_link -->
<link name="${station_name}${device_name}base_link">
<inertial>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<mass value="5.0"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.02" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_base_material">
<color rgba="0.8 0.8 0.8 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.08" length="0.1"/>
</geometry>
</collision>
</link>
<!-- Joint 1 -->
<joint name="${station_name}${device_name}joint_1" type="revolute">
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}link_1"/>
<axis xyz="0 0 1"/>
<limit lower="${limit_joint_1['lower']}" upper="${limit_joint_1['upper']}" effort="${limit_joint_1['effort']}" velocity="${limit_joint_1['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_1">
<inertial>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<mass value="3.0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material">
<color rgba="0.2 0.2 0.8 1.0"/>
</material>
</visual>
</link>
<!-- Joint 2 -->
<joint name="${station_name}${device_name}joint_2" type="revolute">
<origin xyz="0 0 0.15" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_1"/>
<child link="${station_name}${device_name}link_2"/>
<axis xyz="0 1 0"/>
<limit lower="${limit_joint_2['lower']}" upper="${limit_joint_2['upper']}" effort="${limit_joint_2['effort']}" velocity="${limit_joint_2['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_2">
<inertial>
<origin xyz="0.1 0 0" rpy="0 0 0"/>
<mass value="2.5"/>
<inertia ixx="0.008" ixy="0" ixz="0" iyy="0.008" iyz="0" izz="0.008"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material"/>
</visual>
</link>
<!-- Joint 3 -->
<joint name="${station_name}${device_name}joint_3" type="revolute">
<origin xyz="0.2 0 0" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_2"/>
<child link="${station_name}${device_name}link_3"/>
<axis xyz="0 1 0"/>
<limit lower="${limit_joint_3['lower']}" upper="${limit_joint_3['upper']}" effort="${limit_joint_3['effort']}" velocity="${limit_joint_3['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_3">
<inertial>
<origin xyz="0.08 0 0" rpy="0 0 0"/>
<mass value="2.0"/>
<inertia ixx="0.006" ixy="0" ixz="0" iyy="0.006" iyz="0" izz="0.006"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material"/>
</visual>
</link>
<!-- Joint 4 -->
<joint name="${station_name}${device_name}joint_4" type="revolute">
<origin xyz="0.15 0 0" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_3"/>
<child link="${station_name}${device_name}link_4"/>
<axis xyz="1 0 0"/>
<limit lower="${limit_joint_4['lower']}" upper="${limit_joint_4['upper']}" effort="${limit_joint_4['effort']}" velocity="${limit_joint_4['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_4">
<inertial>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<mass value="1.5"/>
<inertia ixx="0.004" ixy="0" ixz="0" iyy="0.004" iyz="0" izz="0.004"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material"/>
</visual>
</link>
<!-- Joint 5 -->
<joint name="${station_name}${device_name}joint_5" type="revolute">
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_4"/>
<child link="${station_name}${device_name}link_5"/>
<axis xyz="0 1 0"/>
<limit lower="${limit_joint_5['lower']}" upper="${limit_joint_5['upper']}" effort="${limit_joint_5['effort']}" velocity="${limit_joint_5['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_5">
<inertial>
<origin xyz="0 0 0.03" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material"/>
</visual>
</link>
<!-- Joint 6 (end effector) -->
<joint name="${station_name}${device_name}joint_6" type="revolute">
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_5"/>
<child link="${station_name}${device_name}link_6"/>
<axis xyz="1 0 0"/>
<limit lower="${limit_joint_6['lower']}" upper="${limit_joint_6['upper']}" effort="${limit_joint_6['effort']}" velocity="${limit_joint_6['velocity']}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${station_name}${device_name}link_6">
<inertial>
<origin xyz="0 0 0.02" rpy="0 0 0"/>
<mass value="0.5"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_link_material"/>
</visual>
</link>
<!-- Tool center point -->
<joint name="${station_name}${device_name}tool_joint" type="fixed">
<origin xyz="0 0 0.04" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_6"/>
<child link="${station_name}${device_name}tool_link"/>
</joint>
<link name="${station_name}${device_name}tool_link"/>
<!-- Camera link (if needed) -->
<joint name="${station_name}${device_name}camera_joint" type="fixed">
<origin xyz="0.05 0 0.02" rpy="0 0 0"/>
<parent link="${station_name}${device_name}link_6"/>
<child link="${station_name}${device_name}camera_link"/>
</joint>
<link name="${station_name}${device_name}camera_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dummy2_camera_material">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
</visual>
</link>
<!-- ROS2 control (if needed) -->
<xacro:unless value="${fake_dev}">
<ros2_control name="${station_name}${device_name}ros2_control" type="system">
<hardware>
<plugin>dummy2_hardware_interface/Dummy2HardwareInterface</plugin>
<param name="can2eth_ip">$(arg can2eth_ip)</param>
<param name="can2eth_port">$(arg can2eth_port)</param>
</hardware>
<joint name="${station_name}${device_name}joint_1">
<command_interface name="position">
<param name="min">${limit_joint_1['lower']}</param>
<param name="max">${limit_joint_1['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${station_name}${device_name}joint_2">
<command_interface name="position">
<param name="min">${limit_joint_2['lower']}</param>
<param name="max">${limit_joint_2['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${station_name}${device_name}joint_3">
<command_interface name="position">
<param name="min">${limit_joint_3['lower']}</param>
<param name="max">${limit_joint_3['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${station_name}${device_name}joint_4">
<command_interface name="position">
<param name="min">${limit_joint_4['lower']}</param>
<param name="max">${limit_joint_4['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${station_name}${device_name}joint_5">
<command_interface name="position">
<param name="min">${limit_joint_5['lower']}</param>
<param name="max">${limit_joint_5['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${station_name}${device_name}joint_6">
<command_interface name="position">
<param name="min">${limit_joint_6['lower']}</param>
<param name="max">${limit_joint_6['upper']}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:unless>
</xacro:macro>
</robot>

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J1_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J2_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J3_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J4_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J5_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/J6_1.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/base_link.stl Normal file
View File

Binary file not shown.

BIN
unilabos/device_mesh/devices/dummy2_robot/meshes/camera_1.stl Normal file
View File

Binary file not shown.

237
unilabos/device_mesh/devices/dummy2_robot/meshes/dummy2.xacro Normal file
View File

@@ -0,0 +1,237 @@
<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="J1_1"/>
<child link="J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="J2_1"/>
<child link="J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="J3_1"/>
<child link="J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="J4_1"/>
<child link="J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</robot>

315
unilabos/registry/devices/robot_arm.yaml
View File

@@ -1,3 +1,318 @@
robotic_arm.Dummy2:
category:
- robot_arm
class:
action_value_mappings:
auto-check_tf_update_actions:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: check_tf_update_actions的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: check_tf_update_actions参数
type: object
type: UniLabJsonCommand
auto-moveit_joint_task:
feedback: {}
goal: {}
goal_default:
joint_names: null
joint_positions: null
move_group: null
retry: 10
speed: 1
handles: []
result: {}
schema:
description: moveit_joint_task的参数schema（关节空间规划）
properties:
feedback: {}
goal:
properties:
joint_names:
type: string
joint_positions:
type: string
move_group:
type: string
retry:
default: 10
type: string
speed:
default: 1
type: string
required:
- move_group
- joint_positions
type: object
result: {}
required:
- goal
title: moveit_joint_task参数
type: object
type: UniLabJsonCommand
auto-moveit_task:
feedback: {}
goal: {}
goal_default:
cartesian: false
move_group: null
offsets:
- 0
- 0
- 0
position: null
quaternion: null
retry: 10
speed: 1
target_link: null
handles: []
result: {}
schema:
description: moveit_task的参数schema（笛卡尔空间/位姿规划）
properties:
feedback: {}
goal:
properties:
cartesian:
default: false
type: string
move_group:
type: string
offsets:
default:
- 0
- 0
- 0
type: string
position:
type: string
quaternion:
type: string
retry:
default: 10
type: string
speed:
default: 1
type: string
target_link:
type: string
required:
- move_group
- position
- quaternion
type: object
result: {}
required:
- goal
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: []
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
goal_default:
parent_link: null
resource: null
handles: []
result: {}
schema:
description: resource_manager的参数schema
properties:
feedback: {}
goal:
properties:
parent_link:
type: string
resource:
type: string
required:
- resource
- parent_link
type: object
result: {}
required:
- goal
title: resource_manager参数
type: object
type: UniLabJsonCommand
auto-set_position:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_position参数
type: object
type: UniLabJsonCommand
auto-set_status:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_status参数
type: object
type: UniLabJsonCommand
auto-wait_for_resource_action:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: wait_for_resource_action的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_resource_action参数
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
goal:
command: command
goal_default:
command: ''
handles: []
result: {}
schema:
description: ''
properties:
feedback:
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
status_types: {}
type: python
config_info: []
description: Dummy2 六自由度机械臂（与线性滑台可选配）使用 MoveIt2 进行运动规划与控制。 通过 ROS2 Action 与 MoveItInterface
对接，支持关节空间与笛卡尔空间规划、 轨迹执行、碰撞检测与逆运动学。底层 CAN2ETH 通信由独立服务提供，本设备 不直接管理网络参数。
handles: []
icon: dummy2_robot
init_param_schema:
config:
properties:
device_config:
type: string
joint_poses:
type: string
moveit_type:
type: string
rotation:
type: string
required:
- moveit_type
- joint_poses
type: object
data:
properties: {}
required: []
type: object
model:
mesh: dummy2_robot
type: device
version: 1.0.0
robotic_arm.SCARA_with_slider.virtual:
category:
- robot_arm