zhangshixiang
6a33f9986b
提取lh的joint发布
2025-05-13 21:45:13 +08:00
wznln
3d60cb36b8
fix: cloud bridge error fallback to local
2025-05-07 00:31:05 +08:00
wznln
948f590b47
update actions
2025-05-06 12:30:48 +08:00
wznln
164417e1cf
Merge remote-tracking branch 'origin/main' into dev
2025-05-06 11:15:47 +08:00
wznln
65d0cbe28a
Merge remote-tracking branch 'origin/main' into dev
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# Conflicts:
# unilabos/app/main.py
# unilabos/ros/main_slave_run.py
2025-05-06 11:04:34 +08:00
Guangxin Zhang
d1fbea3b7d
3 High level function of PLR ( #17 )
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* Add files via upload
Defined 3 high level functions to depict the action of LH, helper functions included (e.g. mix, touch_tip)
* Update action_defination.py
* Refined function and tests made on chatterbox backend.
* Refined the action, ready to use.
For now, only the on tip mode is tested.
I am a little worried about the move_to function, please pay attention to it. We may need to take the length of tip into account
* Update action_definition.py
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Co-authored-by: Junhan Chang <changjh@pku.edu.cn >
2025-05-06 11:01:37 +08:00
王俊杰
200ebaff31
add devices: laiyu zhida ( #20 )
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add_laiyu_zhida
2025-05-06 10:35:22 +08:00
q434343
a52133b7d0
Device visualization ( #14 )
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* 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
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Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com >
2025-05-06 09:37:57 +08:00
Junhan Chang
c78ac482d8
Initial commit
2025-04-17 15:19:47 +08:00
