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Device visualization (#67)

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* 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 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 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

* 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

* 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 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* 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

* fix ik error

* 修改moveit_interface，并在mqtt上报时发送一个时间戳

* 添加机械臂和移液站

* 添加

* 添加硬件

* update

* 添加

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
This commit is contained in:
q434343
2025-08-01 01:06:10 +08:00
committed by GitHub
parent b63e281ab7
commit dcc970a091
163 changed files with 23767 additions and 695 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
unilabos/device_mesh/devices/elite_robot/config/cs63/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.1530
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.2700
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.2575
y: 0
z: 0.1445
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.0965
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.0920
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs63/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs63/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.1530
a2: -0.2700
a3: -0.2575
d4: 0.1445
d5: 0.0965
d6: 0.0920
inertia_parameters:
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 3.095
upperarm_mass: 5.073
forearm_mass: 2.425
wrist_1_mass: 1.559
wrist_2_mass: 1.447
wrist_3_mass: 0.500
inertia:
base:
ixx: 0.000549739542527148
ixy: 8.03741216179988E-08
ixz: -9.14780809458034E-06
iyy: 0.000533024165382036
iyz: 3.46908903534662E-07
izz: 0.000655188839052244
shoulder:
ixx: 0.007958
ixy: 5.734E-06
ixz: 3.024E-06
iyy: 0.00484
iyz: -1.77E-05
izz: 0.006686
upperarm:
ixx: 0.074168
ixy: -7.5E-06
ixz: -0.065579
iyy: 0.21937
iyz: -2.19E-05
izz: 0.15104
forearm:
ixx: 0.005082
ixy: -2.7E-06
ixz: -0.0056236
iyy: 0.0924207
iyz: -1.726E-06
izz: 0.0897559
wrist_1:
ixx: 0.0045009
ixy: 1.96E-06
ixz: -2.646E-06
iyy: 0.0042164
iyz: -3.58E-07
izz: 0.0014538
wrist_2:
ixx: 0.0023787
ixy: 1.953E-06
ixz: 2.643E-06
iyy: 0.0020859
iyz: 5.584E-06
izz: 0.0013191
wrist_3:
ixx: 0.001431
ixy: -2.32E-07
ixz: 7.955E-06
iyy: 0.0014299
iyz: 1.266E-06
izz: 0.0003265
center_of_mass:
base_cog:
x: -0.000721181367009438
y: 1.78114684963572E-05
z: 0.0546249293265112
shoulder_cog:
x: 3.7E-05
y: -0.0149
z: -0.0105
upperarm_cog:
x: -0.11596
y: -2.6E-05
z: 0.1148
forearm_cog:
x: -0.1542
y: 1.4E-05
z: 0.0238
wrist_1_cog:
x: 1.3E-05
y: -0.00479
z: -0.02274
wrist_2_cog:
x: -1.4E-05
y: 0.0051
z: -0.0127
wrist_3_cog:
x: -0.000684
y: -0.000175
z: -0.0423

92
unilabos/device_mesh/devices/elite_robot/config/cs63/visual_parameters.yaml Normal file
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@@ -0,0 +1,92 @@
mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist3.stl