From d8a0c5e715981fa94717cad03a694d1202fae6ac Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 10 Jun 2025 01:28:09 +0800 Subject: [PATCH] Device visualization (#41) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明,为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料:"plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang Co-authored-by: Guangxin Zhang Co-authored-by: qxw138 --- test/experiments/plr_test_converted.json | 8 +- test/experiments/test_moveit.json | 4 +- .../arm_slider/config/initial_positions.yaml | 9 + .../arm_slider/config/joint_limits.yaml | 40 +++ .../devices/arm_slider/config/kinematics.yaml | 4 + .../config/macro.ros2_control.xacro | 56 ++++ .../arm_slider/config/macro.srdf.xacro | 46 +++ .../devices/arm_slider/config/move_group.json | 14 + .../arm_slider/config/moveit_controllers.yaml | 29 ++ .../arm_slider/config/moveit_planners.yaml | 2 + .../config/pilz_cartesian_limits.yaml | 6 + .../arm_slider/config/ros2_controllers.yaml | 39 +++ .../devices/arm_slider/joint_limit.yaml | 44 +++ .../devices/arm_slider/macro_device.xacro | 293 ++++++++++++++++++ .../devices/arm_slider/meshes/arm_base.STL | Bin 0 -> 269384 bytes .../devices/arm_slider/meshes/arm_link_1.STL | Bin 0 -> 6184 bytes .../devices/arm_slider/meshes/arm_link_2.STL | Bin 0 -> 12584 bytes .../devices/arm_slider/meshes/arm_link_3.STL | Bin 0 -> 10884 bytes .../arm_slider/meshes/arm_slideway.STL | Bin 0 -> 666884 bytes .../arm_slider/meshes/gripper_base.STL | Bin 0 -> 278384 bytes .../arm_slider/meshes/gripper_left.STL | Bin 0 -> 99884 bytes .../arm_slider/meshes/gripper_right.STL | Bin 0 -> 99284 bytes unilabos/device_mesh/ros2_controllers.yaml | 20 +- unilabos/device_mesh/view_robot.rviz | 182 +++++------ unilabos/registry/devices/moveit_config.yaml | 6 +- 25 files changed, 692 insertions(+), 110 deletions(-) create mode 100644 unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro create mode 100644 unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro create mode 100644 unilabos/device_mesh/devices/arm_slider/config/move_group.json create mode 100644 unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/joint_limit.yaml create mode 100644 unilabos/device_mesh/devices/arm_slider/macro_device.xacro create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL create mode 100644 unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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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