diff --git a/test/experiments/plr_test_converted.json b/test/experiments/plr_test_converted.json index 00f778b..6b5cae4 100644 --- a/test/experiments/plr_test_converted.json +++ b/test/experiments/plr_test_converted.json @@ -9645,19 +9645,19 @@ { - "id": "benyao", - "name": "benyao", + "id": "arm_slider", + "name": "arm_slider", "children": [], "parent": null, "type": "device", - "class": "moveit.benyao_arm", + "class": "moveit.arm_slider", "position": { "x": -500, "y": 1000, "z": -100 }, "config": { - "moveit_type": "benyao_arm", + "moveit_type": "arm_slider", "joint_poses": { "arm": { "hotel_1": [ diff --git a/test/experiments/test_moveit.json b/test/experiments/test_moveit.json index 2859dc3..41b003b 100644 --- a/test/experiments/test_moveit.json +++ b/test/experiments/test_moveit.json @@ -8,14 +8,14 @@ ], "parent": null, "type": "device", - "class": "moveit.benyao_arm", + "class": "moveit.arm_slider", "position": { "x": 0, "y": 0, "z": 0 }, "config": { - "moveit_type": "benyao_arm", + "moveit_type": "arm_slider", "joint_poses": { "arm": { "home": [0.0, 0.2, 0.0, 0.0, 0.0], diff --git a/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml b/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml new file mode 100644 index 0000000..94fb9f5 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml @@ -0,0 +1,9 @@ +# Default initial positions for full_dev's ros2_control fake system + +initial_positions: + arm_base_joint: 0 + arm_link_1_joint: 0 + arm_link_2_joint: 0 + arm_link_3_joint: 0 + gripper_base_joint: 0 + gripper_right_joint: 0.03 \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml b/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml new file mode 100644 index 0000000..d4dffc3 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml @@ -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: + arm_base_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_1_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_2_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + arm_link_3_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + gripper_base_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + gripper_right_joint: + has_velocity_limits: true + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml b/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml new file mode 100644 index 0000000..c9a5d60 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin + kinematics_solver_search_resolution: 0.0050000000000000001 + kinematics_solver_timeout: 0.0050000000000000001 diff --git a/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro b/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro new file mode 100644 index 0000000..026d977 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro @@ -0,0 +1,56 @@ + + + + + + + + + mock_components/GenericSystem + + + + + ${initial_positions['arm_base_joint']} + + + + + + + ${initial_positions['arm_link_1_joint']} + + + + + + + ${initial_positions['arm_link_2_joint']} + + + + + + + ${initial_positions['arm_link_3_joint']} + + + + + + + ${initial_positions['gripper_base_joint']} + + + + + + + ${initial_positions['gripper_right_joint']} + + + + + + + diff --git a/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro b/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro new file mode 100644 index 0000000..9c3ef9d --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/unilabos/device_mesh/devices/arm_slider/config/move_group.json b/unilabos/device_mesh/devices/arm_slider/config/move_group.json new file mode 100644 index 0000000..5be9ad3 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/move_group.json @@ -0,0 +1,14 @@ +{ + "arm": + { + "joint_names": [ + "arm_base_joint", + "arm_link_1_joint", + "arm_link_2_joint", + "arm_link_3_joint", + "gripper_base_joint" + ], + "base_link_name": "device_link", + "end_effector_name": "gripper_base" + } +} \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml b/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml new file mode 100644 index 0000000..70a1b55 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml @@ -0,0 +1,29 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - arm_controller + - gripper_controller + + arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - arm_base_joint + - arm_link_1_joint + - arm_link_2_joint + - arm_link_3_joint + - gripper_base_joint + action_ns: follow_joint_trajectory + default: true + gripper_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - gripper_right_joint + action_ns: follow_joint_trajectory + default: true \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml b/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml new file mode 100644 index 0000000..8560e1c --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml @@ -0,0 +1,2 @@ +planner_configs: + - ompl_interface/OMPLPlanner \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml b/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml @@ -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 diff --git a/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml b/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml new file mode 100644 index 0000000..9c68cbf --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml @@ -0,0 +1,39 @@ +# This config file is used by ros2_control +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + arm_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + gripper_controller: + type: joint_trajectory_controller/JointTrajectoryController + + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + +arm_controller: + ros__parameters: + joints: + - arm_base_joint + - arm_link_1_joint + - arm_link_2_joint + - arm_link_3_joint + - gripper_base_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + +gripper_controller: + ros__parameters: + joints: + - gripper_right_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml b/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml new file mode 100644 index 0000000..b141262 --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml @@ -0,0 +1,44 @@ +joint_limits: + + arm_base_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 1.5 + + arm_link_1_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.6 + + arm_link_2_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -95 + upper: !degrees 95 + + arm_link_3_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -195 + upper: !degrees 195 + + gripper_base_joint: + effort: 50 + velocity: 1.0 + lower: !degrees -95 + upper: !degrees 95 + + + gripper_right_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.03 + + gripper_left_joint: + effort: 50 + velocity: 1.0 + lower: 0 + upper: 0.03 diff --git a/unilabos/device_mesh/devices/arm_slider/macro_device.xacro b/unilabos/device_mesh/devices/arm_slider/macro_device.xacro new file mode 100644 index 0000000..871229d --- /dev/null +++ b/unilabos/device_mesh/devices/arm_slider/macro_device.xacro @@ -0,0 +1,293 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL new file mode 100644 index 0000000..804e1c6 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL new file mode 100644 index 0000000..dd1d7c1 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL new file mode 100644 index 0000000..6042fa0 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL new file mode 100644 index 0000000..e8510fb Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL b/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL new file mode 100644 index 0000000..65737ab Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL new file mode 100644 index 0000000..5de88d0 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL new file mode 100644 index 0000000..0a5fd52 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL differ diff --git a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL new file mode 100644 index 0000000..0c5ac69 Binary files /dev/null and b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL differ diff --git a/unilabos/device_mesh/ros2_controllers.yaml b/unilabos/device_mesh/ros2_controllers.yaml index e54c64c..7dbad85 100644 --- a/unilabos/device_mesh/ros2_controllers.yaml +++ b/unilabos/device_mesh/ros2_controllers.yaml @@ -1,30 +1,30 @@ -benyao_arm_controller: +arm_slider_arm_controller: ros__parameters: command_interfaces: - position joints: - - benyao_arm_base_joint - - benyao_arm_link_1_joint - - benyao_arm_link_2_joint - - benyao_arm_link_3_joint - - benyao_gripper_base_joint + - arm_slider_arm_base_joint + - arm_slider_arm_link_1_joint + - arm_slider_arm_link_2_joint + - arm_slider_arm_link_3_joint + - arm_slider_gripper_base_joint state_interfaces: - position - velocity -benyao_gripper_controller: +arm_slider_gripper_controller: ros__parameters: command_interfaces: - position joints: - - benyao_gripper_right_joint + - arm_slider_gripper_right_joint state_interfaces: - position - velocity controller_manager: ros__parameters: - benyao_arm_controller: + arm_slider_arm_controller: type: joint_trajectory_controller/JointTrajectoryController - benyao_gripper_controller: + arm_slider_gripper_controller: type: joint_trajectory_controller/JointTrajectoryController joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster diff --git a/unilabos/device_mesh/view_robot.rviz b/unilabos/device_mesh/view_robot.rviz index 368a2ed..ea5eadc 100644 --- a/unilabos/device_mesh/view_robot.rviz +++ b/unilabos/device_mesh/view_robot.rviz @@ -105,83 +105,83 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - PLR_STATION_deck_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_first_link: + arm_slider_arm_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_fourth_link: + arm_slider_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_main_link: + arm_slider_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_second_link: + arm_slider_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_third_link: + arm_slider_arm_slideway: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_base: + arm_slider_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_slider_gripper_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_1: + arm_slider_gripper_left: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_2: + arm_slider_gripper_right: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_3: + deck_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_first_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_slideway: + deck_fourth_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - benyao_gripper_base: + deck_main_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_left: + deck_second_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_right: + deck_socketTypeGenericSbsFootprint: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_socketTypeHEPAModule: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_third_link: Alpha: 1 Show Axes: false Show Trail: false @@ -256,83 +256,83 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - PLR_STATION_deck_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_first_link: + arm_slider_arm_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_fourth_link: + arm_slider_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_main_link: + arm_slider_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_second_link: + arm_slider_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_third_link: + arm_slider_arm_slideway: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_base: + arm_slider_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_slider_gripper_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_1: + arm_slider_gripper_left: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_2: + arm_slider_gripper_right: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_3: + deck_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_first_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_slideway: + deck_fourth_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - benyao_gripper_base: + deck_main_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_left: + deck_second_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_right: + deck_socketTypeGenericSbsFootprint: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_socketTypeHEPAModule: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_third_link: Alpha: 1 Show Axes: false Show Trail: false @@ -377,7 +377,7 @@ Visualization Manager: Goal State Color: 250; 128; 0 Interactive Marker Size: 0 Joint Violation Color: 255; 0; 255 - Planning Group: benyao_arm + Planning Group: arm_slider_arm Query Goal State: false Query Start State: false Show Workspace: false @@ -400,83 +400,83 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - PLR_STATION_deck_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_first_link: + arm_slider_arm_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_fourth_link: + arm_slider_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_main_link: + arm_slider_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_second_link: + arm_slider_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - PLR_STATION_deck_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - PLR_STATION_deck_third_link: + arm_slider_arm_slideway: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_base: + arm_slider_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + arm_slider_gripper_base: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_1: + arm_slider_gripper_left: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_2: + arm_slider_gripper_right: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_link_3: + deck_device_link: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_first_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_arm_slideway: + deck_fourth_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - benyao_gripper_base: + deck_main_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_left: + deck_second_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - benyao_gripper_right: + deck_socketTypeGenericSbsFootprint: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_socketTypeHEPAModule: + Alpha: 1 + Show Axes: false + Show Trail: false + deck_third_link: Alpha: 1 Show Axes: false Show Trail: false @@ -564,10 +564,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.48479583859443665 + Pitch: 0.4297958016395569 Target Frame: Value: Orbit (rviz) - Yaw: 0.042561568319797516 + Yaw: 0.3525616228580475 Saved: ~ Window Geometry: Displays: @@ -579,7 +579,7 @@ Window Geometry: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Tool Properties: diff --git a/unilabos/registry/devices/moveit_config.yaml b/unilabos/registry/devices/moveit_config.yaml index 383affc..6236855 100644 --- a/unilabos/registry/devices/moveit_config.yaml +++ b/unilabos/registry/devices/moveit_config.yaml @@ -27,11 +27,11 @@ moveit.toyo_xyz: type: device mesh: toyo_xyz -moveit.benyao_arm: - description: Benyao Arm +moveit.arm_slider: + description: Arm with Slider model: type: device - mesh: benyao_arm + mesh: arm_slider class: module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface type: python